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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs66
1 files changed, 44 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6a4365c..3421e30 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -172,11 +172,8 @@ public sealed class BSPrim : BSPhysObject
172 } 172 }
173 // Scale is what we set in the physics engine. It is different than 'size' in that 173 // Scale is what we set in the physics engine. It is different than 'size' in that
174 // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. 174 // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
175 public OMV.Vector3 Scale 175 public override OMV.Vector3 Scale { get; set; }
176 { 176
177 get { return _scale; }
178 set { _scale = value; }
179 }
180 public override PrimitiveBaseShape Shape { 177 public override PrimitiveBaseShape Shape {
181 set { 178 set {
182 _pbs = value; 179 _pbs = value;
@@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
325 } 322 }
326 323
327 // A version of the sanity check that also makes sure a new position value is 324 // A version of the sanity check that also makes sure a new position value is
328 // pushed back to the physics engine. This routine would be used by anyone 325 // pushed to the physics engine. This routine would be used by anyone
329 // who is not already pushing the value. 326 // who is not already pushing the value.
330 private bool PositionSanityCheck2(bool inTaintTime) 327 private bool PositionSanityCheck(bool inTaintTime)
331 { 328 {
332 bool ret = false; 329 bool ret = false;
333 if (PositionSanityCheck()) 330 if (PositionSanityCheck())
@@ -336,8 +333,8 @@ public sealed class BSPrim : BSPhysObject
336 // just assign to "Position" because of potential call loops. 333 // just assign to "Position" because of potential call loops.
337 BSScene.TaintCallback sanityOperation = delegate() 334 BSScene.TaintCallback sanityOperation = delegate()
338 { 335 {
339 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); 336 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
340 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); 337 ForcePosition = _position;
341 }; 338 };
342 if (inTaintTime) 339 if (inTaintTime)
343 sanityOperation(); 340 sanityOperation();
@@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
547 } 544 }
548 545
549 // An object is static (does not move) if selected or not physical 546 // An object is static (does not move) if selected or not physical
550 private bool IsStatic 547 public override bool IsStatic
551 { 548 {
552 get { return _isSelected || !IsPhysical; } 549 get { return _isSelected || !IsPhysical; }
553 } 550 }
554 551
555 // An object is solid if it's not phantom and if it's not doing VolumeDetect 552 // An object is solid if it's not phantom and if it's not doing VolumeDetect
556 public bool IsSolid 553 public override bool IsSolid
557 { 554 {
558 get { return !IsPhantom && !_isVolumeDetect; } 555 get { return !IsPhantom && !_isVolumeDetect; }
559 } 556 }
@@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
631 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); 628 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
632 // There is no inertia in a static object 629 // There is no inertia in a static object
633 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); 630 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
631 // Set collision detection parameters
632 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
633 {
634 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
635 BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
636 }
634 // There can be special things needed for implementing linksets 637 // There can be special things needed for implementing linksets
635 Linkset.MakeStatic(this); 638 Linkset.MakeStatic(this);
636 // The activation state is 'disabled' so Bullet will not try to act on it. 639 // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
662 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); 665 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
663 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); 666 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
664 667
668 // Set collision detection parameters
669 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
670 {
671 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
672 BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
673 }
674
665 // Various values for simulation limits 675 // Various values for simulation limits
666 BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); 676 BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
667 BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); 677 BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -812,14 +822,21 @@ public sealed class BSPrim : BSPhysObject
812 set { 822 set {
813 _buoyancy = value; 823 _buoyancy = value;
814 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() 824 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
815 { 825 {
816 // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 826 ForceBuoyancy = _buoyancy;
817 // Buoyancy is faked by changing the gravity applied to the object
818 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
819 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
820 }); 827 });
821 } 828 }
822 } 829 }
830 public override float ForceBuoyancy {
831 get { return _buoyancy; }
832 set {
833 _buoyancy = value;
834 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
835 // Buoyancy is faked by changing the gravity applied to the object
836 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
837 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
838 }
839 }
823 840
824 // Used for MoveTo 841 // Used for MoveTo
825 public override OMV.Vector3 PIDTarget { 842 public override OMV.Vector3 PIDTarget {
@@ -1269,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject
1269 const float VELOCITY_TOLERANCE = 0.001f; 1286 const float VELOCITY_TOLERANCE = 0.001f;
1270 const float POSITION_TOLERANCE = 0.05f; 1287 const float POSITION_TOLERANCE = 0.05f;
1271 const float ACCELERATION_TOLERANCE = 0.01f; 1288 const float ACCELERATION_TOLERANCE = 0.01f;
1272 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; 1289 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
1273 1290
1274 public override void UpdateProperties(EntityProperties entprop) 1291 public override void UpdateProperties(EntityProperties entprop)
1275 { 1292 {
1276 /* 1293 /*
@@ -1326,11 +1343,13 @@ public sealed class BSPrim : BSPhysObject
1326 _orientation = entprop.Rotation; 1343 _orientation = entprop.Rotation;
1327 _velocity = entprop.Velocity; 1344 _velocity = entprop.Velocity;
1328 _acceleration = entprop.Acceleration; 1345 _acceleration = entprop.Acceleration;
1329 _rotationalVelocity = entprop.RotationalVelocity; 1346 _rotationalVelocity = entprop.RotationalVelocity;
1347
1348 // remember the current and last set values
1349 LastEntityProperties = CurrentEntityProperties;
1350 CurrentEntityProperties = entprop;
1330 1351
1331 PositionSanityCheck2(true); 1352 PositionSanityCheck(true);
1332
1333 Linkset.UpdateProperties(this);
1334 1353
1335 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1354 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1336 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1355 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
1348 entprop.Acceleration, entprop.RotationalVelocity); 1367 entprop.Acceleration, entprop.RotationalVelocity);
1349 } 1368 }
1350 */ 1369 */
1370 // The linkset implimentation might want to know about this.
1371
1372 Linkset.UpdateProperties(this);
1351 } 1373 }
1352} 1374}
1353} 1375}