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-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs58
1 files changed, 32 insertions, 26 deletions
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index cc55f6e..c969f9a 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -29,13 +29,15 @@
29 29
30using System; 30using System;
31using System.Collections.Generic; 31using System.Collections.Generic;
32using OpenMetaverse;
32using MonoXnaCompactMaths; 33using MonoXnaCompactMaths;
33using OpenSim.Framework; 34using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager; 35using OpenSim.Region.Physics.Manager;
35using XnaDevRu.BulletX; 36using XnaDevRu.BulletX;
36using XnaDevRu.BulletX.Dynamics; 37using XnaDevRu.BulletX.Dynamics;
37using Nini.Config; 38using Nini.Config;
38using AxiomQuaternion = Axiom.Math.Quaternion; 39using Vector3 = MonoXnaCompactMaths.Vector3;
40using Quaternion = MonoXnaCompactMaths.Quaternion;
39 41
40#endregion 42#endregion
41 43
@@ -61,14 +63,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
61 } 63 }
62 64
63 //Quaternion 65 //Quaternion
64 public static Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion) 66 public static Quaternion QuaternionToXnaQuaternion(OpenMetaverse.Quaternion quaternion)
65 { 67 {
66 return new Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w); 68 return new Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
67 } 69 }
68 70
69 public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(Quaternion xnaQuaternion) 71 public static OpenMetaverse.Quaternion XnaQuaternionToQuaternion(Quaternion xnaQuaternion)
70 { 72 {
71 return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z); 73 return new OpenMetaverse.Quaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
72 } 74 }
73 75
74 //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license): 76 //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license):
@@ -92,7 +94,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
92 94
93 internal static Quaternion GetRotation(Matrix m) 95 internal static Quaternion GetRotation(Matrix m)
94 { 96 {
95 Quaternion q = new Quaternion(); 97 Quaternion q;
96 98
97 float trace = m.M11 + m.M22 + m.M33; 99 float trace = m.M11 + m.M22 + m.M33;
98 100
@@ -108,6 +110,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
108 } 110 }
109 else 111 else
110 { 112 {
113 q.X = q.Y = q.Z = q.W = 0f;
114
111 int i = m.M11 < m.M22 115 int i = m.M11 < m.M22
112 ? 116 ?
113 (m.M22 < m.M33 ? 2 : 1) 117 (m.M22 < m.M33 ? 2 : 1)
@@ -601,13 +605,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
601 } 605 }
602 606
603 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 607 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
604 PhysicsVector size, AxiomQuaternion rotation) 608 PhysicsVector size, OpenMetaverse.Quaternion rotation)
605 { 609 {
606 return AddPrimShape(primName, pbs, position, size, rotation, false); 610 return AddPrimShape(primName, pbs, position, size, rotation, false);
607 } 611 }
608 612
609 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 613 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
610 PhysicsVector size, AxiomQuaternion rotation, bool isPhysical) 614 PhysicsVector size, OpenMetaverse.Quaternion rotation, bool isPhysical)
611 { 615 {
612 PhysicsActor result; 616 PhysicsActor result;
613 617
@@ -634,7 +638,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
634 return result; 638 return result;
635 } 639 }
636 640
637 public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, 641 public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, OpenMetaverse.Quaternion rotation,
638 IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical) 642 IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
639 { 643 {
640 BulletXPrim newPrim = null; 644 BulletXPrim newPrim = null;
@@ -680,7 +684,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
680 //Try to remove garbage 684 //Try to remove garbage
681 RemoveForgottenRigidBodies(); 685 RemoveForgottenRigidBodies();
682 //End of remove 686 //End of remove
683 MoveAllObjects(timeStep); 687 MoveAPrimitives(timeStep);
684 688
685 689
686 fps = (timeStep*simulationSubSteps); 690 fps = (timeStep*simulationSubSteps);
@@ -694,7 +698,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
694 return fps; 698 return fps;
695 } 699 }
696 700
697 private void MoveAllObjects(float timeStep) 701 private void MoveAPrimitives(float timeStep)
698 { 702 {
699 foreach (BulletXCharacter actor in _characters.Values) 703 foreach (BulletXCharacter actor in _characters.Values)
700 { 704 {
@@ -867,7 +871,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
867 protected PhysicsVector _velocity; 871 protected PhysicsVector _velocity;
868 protected PhysicsVector _size; 872 protected PhysicsVector _size;
869 protected PhysicsVector _acceleration; 873 protected PhysicsVector _acceleration;
870 protected AxiomQuaternion _orientation; 874 protected OpenMetaverse.Quaternion _orientation;
871 protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 875 protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
872 protected RigidBody rigidBody; 876 protected RigidBody rigidBody;
873 protected int m_PhysicsActorType; 877 protected int m_PhysicsActorType;
@@ -972,7 +976,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
972 get { return _acceleration; } 976 get { return _acceleration; }
973 } 977 }
974 978
975 public override AxiomQuaternion Orientation 979 public override OpenMetaverse.Quaternion Orientation
976 { 980 {
977 get { return _orientation; } 981 get { return _orientation; }
978 set 982 set
@@ -1148,10 +1152,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1148 ReOrient(_orientation); 1152 ReOrient(_orientation);
1149 } 1153 }
1150 1154
1151 protected internal void ReOrient(AxiomQuaternion _newOrient) 1155 protected internal void ReOrient(OpenMetaverse.Quaternion _newOrient)
1152 { 1156 {
1153 Quaternion _newOrientation; 1157 Quaternion _newOrientation;
1154 _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); 1158 _newOrientation = BulletXMaths.QuaternionToXnaQuaternion(_newOrient);
1155 Matrix _comTransform = rigidBody.CenterOfMassTransform; 1159 Matrix _comTransform = rigidBody.CenterOfMassTransform;
1156 BulletXMaths.SetRotation(ref _comTransform, _newOrientation); 1160 BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
1157 rigidBody.CenterOfMassTransform = _comTransform; 1161 rigidBody.CenterOfMassTransform = _comTransform;
@@ -1206,12 +1210,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1206 1210
1207 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos) 1211 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
1208 : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), 1212 : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
1209 AxiomQuaternion.Identity) 1213 OpenMetaverse.Quaternion.Identity)
1210 { 1214 {
1211 } 1215 }
1212 1216
1213 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 1217 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
1214 PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) 1218 PhysicsVector size, PhysicsVector acceleration, OpenMetaverse.Quaternion orientation)
1215 : base(avName) 1219 : base(avName)
1216 { 1220 {
1217 //This fields will be removed. They're temporal 1221 //This fields will be removed. They're temporal
@@ -1289,7 +1293,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1289 get { return base.Acceleration; } 1293 get { return base.Acceleration; }
1290 } 1294 }
1291 1295
1292 public override AxiomQuaternion Orientation 1296 public override OpenMetaverse.Quaternion Orientation
1293 { 1297 {
1294 get { return base.Orientation; } 1298 get { return base.Orientation; }
1295 set { base.Orientation = value; } 1299 set { base.Orientation = value; }
@@ -1404,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1404 1408
1405 1409
1406 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, 1410 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
1407 AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical) 1411 OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
1408 : this( 1412 : this(
1409 primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs, 1413 primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs,
1410 isPhysical) 1414 isPhysical)
@@ -1413,12 +1417,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1413 1417
1414 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 1418 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
1415 PhysicsVector size, 1419 PhysicsVector size,
1416 PhysicsVector acceleration, AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, 1420 PhysicsVector acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
1417 bool isPhysical) 1421 bool isPhysical)
1418 : base(primName) 1422 : base(primName)
1419 { 1423 {
1420 if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0"); 1424 if ((size.X == 0) || (size.Y == 0) || (size.Z == 0))
1421 if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity; 1425 throw new Exception("Size 0");
1426 if (OpenMetaverse.Quaternion.Normalize(rotation).Length() == 0f)
1427 rotation = OpenMetaverse.Quaternion.Identity;
1422 1428
1423 _position = pos; 1429 _position = pos;
1424 _physical = isPhysical; 1430 _physical = isPhysical;
@@ -1468,7 +1474,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1468 get { return base.Acceleration; } 1474 get { return base.Acceleration; }
1469 } 1475 }
1470 1476
1471 public override AxiomQuaternion Orientation 1477 public override OpenMetaverse.Quaternion Orientation
1472 { 1478 {
1473 get { return base.Orientation; } 1479 get { return base.Orientation; }
1474 set { base.Orientation = value; } 1480 set { base.Orientation = value; }
@@ -1565,7 +1571,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1565 _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); 1571 _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
1566 1572
1567 _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); 1573 _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
1568 _orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); 1574 _orientation = BulletXMaths.XnaQuaternionToQuaternion(rigidBody.Orientation);
1569 1575
1570 if ((Math.Abs(m_prev_position.X - _position.X) < 0.03) 1576 if ((Math.Abs(m_prev_position.X - _position.X) < 0.03)
1571 && (Math.Abs(m_prev_position.Y - _position.Y) < 0.03) 1577 && (Math.Abs(m_prev_position.Y - _position.Y) < 0.03)
@@ -1687,7 +1693,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1687 { 1693 {
1688 private PhysicsVector _staticPosition; 1694 private PhysicsVector _staticPosition;
1689// private PhysicsVector _staticVelocity; 1695// private PhysicsVector _staticVelocity;
1690// private AxiomQuaternion _staticOrientation; 1696// private OpenMetaverse.Quaternion _staticOrientation;
1691 private float _mass; 1697 private float _mass;
1692 // private BulletXScene _parentscene; 1698 // private BulletXScene _parentscene;
1693 internal float[] _heightField; 1699 internal float[] _heightField;
@@ -1702,7 +1708,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1702 { 1708 {
1703 _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0); 1709 _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0);
1704// _staticVelocity = new PhysicsVector(); 1710// _staticVelocity = new PhysicsVector();
1705// _staticOrientation = AxiomQuaternion.Identity; 1711// _staticOrientation = OpenMetaverse.Quaternion.Identity;
1706 _mass = 0; //No active 1712 _mass = 0; //No active
1707 // _parentscene = parent_scene; 1713 // _parentscene = parent_scene;
1708 _heightField = heightField; 1714 _heightField = heightField;