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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs46
1 files changed, 23 insertions, 23 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 613606f..064ce3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -253,7 +253,7 @@ public sealed class BSPrim : BSPhysObject
253 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() 253 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
254 { 254 {
255 if (PhysBody.HasPhysicalBody) 255 if (PhysBody.HasPhysicalBody)
256 BulletSimAPI.ClearAllForces2(PhysBody.ptr); 256 PhysicsScene.PE.ClearAllForces(PhysBody);
257 }); 257 });
258 } 258 }
259 public override void ZeroAngularMotion(bool inTaintTime) 259 public override void ZeroAngularMotion(bool inTaintTime)
@@ -266,7 +266,7 @@ public sealed class BSPrim : BSPhysObject
266 if (PhysBody.HasPhysicalBody) 266 if (PhysBody.HasPhysicalBody)
267 { 267 {
268 PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); 268 PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
269 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); 269 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
270 } 270 }
271 }); 271 });
272 } 272 }
@@ -292,7 +292,7 @@ public sealed class BSPrim : BSPhysObject
292 */ 292 */
293 293
294 // don't do the GetObjectPosition for root elements because this function is called a zillion times. 294 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
295 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); 295 // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody);
296 return _position; 296 return _position;
297 } 297 }
298 set { 298 set {
@@ -405,10 +405,10 @@ public sealed class BSPrim : BSPhysObject
405 { 405 {
406 if (IsStatic) 406 if (IsStatic)
407 { 407 {
408 BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity); 408 PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
409 Inertia = OMV.Vector3.Zero; 409 Inertia = OMV.Vector3.Zero;
410 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); 410 PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
411 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 411 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
412 } 412 }
413 else 413 else
414 { 414 {
@@ -423,14 +423,14 @@ public sealed class BSPrim : BSPhysObject
423 } 423 }
424 424
425 // The computation of mass props requires gravity to be set on the object. 425 // The computation of mass props requires gravity to be set on the object.
426 BulletSimAPI.SetGravity2(PhysBody.ptr, grav); 426 PhysicsScene.PE.SetGravity(PhysBody, grav);
427 427
428 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 428 Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
429 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 429 PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
430 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 430 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
431 431
432 // center of mass is at the zero of the object 432 // center of mass is at the zero of the object
433 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 433 // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
434 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); 434 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
435 435
436 if (inWorld) 436 if (inWorld)
@@ -440,7 +440,7 @@ public sealed class BSPrim : BSPhysObject
440 440
441 // Must set gravity after it has been added to the world because, for unknown reasons, 441 // Must set gravity after it has been added to the world because, for unknown reasons,
442 // adding the object resets the object's gravity to world gravity 442 // adding the object resets the object's gravity to world gravity
443 BulletSimAPI.SetGravity2(PhysBody.ptr, grav); 443 PhysicsScene.PE.SetGravity(PhysBody, grav);
444 444
445 } 445 }
446 } 446 }
@@ -483,7 +483,7 @@ public sealed class BSPrim : BSPhysObject
483 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); 483 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
484 if (PhysBody.HasPhysicalBody) 484 if (PhysBody.HasPhysicalBody)
485 { 485 {
486 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); 486 PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
487 ActivateIfPhysical(false); 487 ActivateIfPhysical(false);
488 } 488 }
489 } 489 }
@@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
583 _velocity = value; 583 _velocity = value;
584 if (PhysBody.HasPhysicalBody) 584 if (PhysBody.HasPhysicalBody)
585 { 585 {
586 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); 586 PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
587 ActivateIfPhysical(false); 587 ActivateIfPhysical(false);
588 } 588 }
589 } 589 }
@@ -809,7 +809,7 @@ public sealed class BSPrim : BSPhysObject
809 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); 809 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
810 810
811 // Center of mass is at the center of the object 811 // Center of mass is at the center of the object
812 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation); 812 // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
813 813
814 // A dynamic object has mass 814 // A dynamic object has mass
815 UpdatePhysicalMassProperties(RawMass, false); 815 UpdatePhysicalMassProperties(RawMass, false);
@@ -822,9 +822,9 @@ public sealed class BSPrim : BSPhysObject
822 } 822 }
823 823
824 // Various values for simulation limits 824 // Various values for simulation limits
825 BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); 825 PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
826 PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); 826 PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
827 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); 827 PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
828 PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); 828 PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
829 829
830 // This collides like an object. 830 // This collides like an object.
@@ -901,10 +901,10 @@ public sealed class BSPrim : BSPhysObject
901 901
902 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. 902 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
903 // Replace this when the new AddObjectToWorld function is complete. 903 // Replace this when the new AddObjectToWorld function is complete.
904 BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); 904 PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
905 905
906 // Collision filter can be set only when the object is in the world 906 // Collision filter can be set only when the object is in the world
907 if (!PhysBody.ApplyCollisionMask()) 907 if (!PhysBody.ApplyCollisionMask(PhysicsScene))
908 { 908 {
909 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); 909 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
910 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); 910 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
@@ -969,7 +969,7 @@ public sealed class BSPrim : BSPhysObject
969 _rotationalVelocity = value; 969 _rotationalVelocity = value;
970 if (PhysBody.HasPhysicalBody) 970 if (PhysBody.HasPhysicalBody)
971 { 971 {
972 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); 972 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
973 ActivateIfPhysical(false); 973 ActivateIfPhysical(false);
974 } 974 }
975 } 975 }
@@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
1061 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); 1061 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
1062 if (PhysBody.HasPhysicalBody) 1062 if (PhysBody.HasPhysicalBody)
1063 { 1063 {
1064 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); 1064 PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
1065 ActivateIfPhysical(false); 1065 ActivateIfPhysical(false);
1066 } 1066 }
1067 }); 1067 });
@@ -1085,7 +1085,7 @@ public sealed class BSPrim : BSPhysObject
1085 { 1085 {
1086 if (PhysBody.HasPhysicalBody) 1086 if (PhysBody.HasPhysicalBody)
1087 { 1087 {
1088 BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); 1088 PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
1089 ActivateIfPhysical(false); 1089 ActivateIfPhysical(false);
1090 } 1090 }
1091 }); 1091 });
@@ -1108,7 +1108,7 @@ public sealed class BSPrim : BSPhysObject
1108 { 1108 {
1109 if (PhysBody.HasPhysicalBody) 1109 if (PhysBody.HasPhysicalBody)
1110 { 1110 {
1111 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); 1111 PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
1112 ActivateIfPhysical(false); 1112 ActivateIfPhysical(false);
1113 } 1113 }
1114 }); 1114 });