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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs1454
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs993
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs3703
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs443
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs1960
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs2328
8 files changed, 11029 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d46341b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
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
28using System.Reflection;
29using System.Runtime.InteropServices;
30
31// Information about this assembly is defined by the following
32// attributes.
33//
34// change them to the information which is associated with the assembly
35// you compile.
36
37[assembly : AssemblyTitle("OdePlugin")]
38[assembly : AssemblyDescription("Ubit Variation")]
39[assembly : AssemblyConfiguration("")]
40[assembly : AssemblyCompany("http://opensimulator.org")]
41[assembly : AssemblyProduct("OdePlugin")]
42[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
43[assembly : AssemblyTrademark("")]
44[assembly : AssemblyCulture("")]
45
46// This sets the default COM visibility of types in the assembly to invisible.
47// If you need to expose a type to COM, use [ComVisible(true)] on that type.
48
49[assembly : ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..9a22331
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -0,0 +1,1454 @@
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// Revision by Ubit 2011/12
30
31using System;
32using System.Collections.Generic;
33using System.Reflection;
34using OpenMetaverse;
35using OdeAPI;
36using OpenSim.Framework;
37using OpenSim.Region.Physics.Manager;
38using log4net;
39
40namespace OpenSim.Region.Physics.OdePlugin
41{
42 /// <summary>
43 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
44 /// </summary>
45
46 public enum dParam : int
47 {
48 LowStop = 0,
49 HiStop = 1,
50 Vel = 2,
51 FMax = 3,
52 FudgeFactor = 4,
53 Bounce = 5,
54 CFM = 6,
55 StopERP = 7,
56 StopCFM = 8,
57 LoStop2 = 256,
58 HiStop2 = 257,
59 Vel2 = 258,
60 FMax2 = 259,
61 StopERP2 = 7 + 256,
62 StopCFM2 = 8 + 256,
63 LoStop3 = 512,
64 HiStop3 = 513,
65 Vel3 = 514,
66 FMax3 = 515,
67 StopERP3 = 7 + 512,
68 StopCFM3 = 8 + 512
69 }
70
71 public class OdeCharacter : PhysicsActor
72 {
73 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
74
75 private Vector3 _position;
76 private Vector3 _zeroPosition;
77 private bool _zeroFlag = false;
78 private Vector3 _velocity;
79 private Vector3 _target_velocity;
80 private Vector3 _acceleration;
81 private Vector3 m_rotationalVelocity;
82 private float m_mass = 80f;
83 public float m_density = 60f;
84 private bool m_pidControllerActive = true;
85 public float PID_D = 800.0f;
86 public float PID_P = 900.0f;
87 //private static float POSTURE_SERVO = 10000.0f;
88 public float CAPSULE_RADIUS = 0.37f;
89 public float CAPSULE_LENGTH = 2.140599f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool m_iscolliding = false;
94 private bool m_iscollidingGround = false;
95 private bool m_iscollidingObj = false;
96 private bool m_alwaysRun = false;
97 private int m_requestedUpdateFrequency = 0;
98 public uint m_localID = 0;
99 public bool m_returnCollisions = false;
100 // taints and their non-tainted counterparts
101 public bool m_isPhysical = false; // the current physical status
102 public float MinimumGroundFlightOffset = 3f;
103
104 private float m_buoyancy = 0f;
105
106 // private CollisionLocker ode;
107
108 private string m_name = String.Empty;
109 // other filter control
110 int m_colliderfilter = 0;
111 // int m_colliderGroundfilter = 0;
112 int m_colliderObjectfilter = 0;
113
114 // Default we're a Character
115 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
116
117 // Default, Collide with Other Geometries, spaces, bodies and characters.
118 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
119 | CollisionCategories.Space
120 | CollisionCategories.Body
121 | CollisionCategories.Character
122 );
123 // we do land collisions not ode | CollisionCategories.Land);
124 public IntPtr Body = IntPtr.Zero;
125 private OdeScene _parent_scene;
126 public IntPtr Shell = IntPtr.Zero;
127 public IntPtr Amotor = IntPtr.Zero;
128 public d.Mass ShellMass;
129// public bool collidelock = false;
130
131 private bool m_haseventsubscription = false;
132 public int m_eventsubscription = 0;
133 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
134
135 // unique UUID of this character object
136 public UUID m_uuid;
137 public bool bad = false;
138
139 float mu;
140 float bounce;
141
142 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
143 {
144 m_uuid = UUID.Random();
145
146 if (pos.IsFinite())
147 {
148 if (pos.Z > 99999f)
149 {
150 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
151 }
152 if (pos.Z < -100f) // shouldn't this be 0 ?
153 {
154 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
155 }
156 _position = pos;
157 }
158 else
159 {
160 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
161 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
162 }
163
164 _parent_scene = parent_scene;
165
166 PID_D = pid_d;
167 PID_P = pid_p;
168 CAPSULE_RADIUS = capsule_radius;
169 m_density = density;
170 m_mass = 80f; // sure we have a default
171
172 mu = parent_scene.AvatarFriction;
173 bounce = parent_scene.AvatarBounce;
174
175 walkDivisor = walk_divisor;
176 runDivisor = rundivisor;
177
178 CAPSULE_LENGTH = size.Z * 1.15f - CAPSULE_RADIUS * 2.0f;
179 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
180
181 m_isPhysical = false; // current status: no ODE information exists
182
183 m_name = avName;
184
185 AddChange(changes.Add, null);
186 }
187
188 public override int PhysicsActorType
189 {
190 get { return (int)ActorTypes.Agent; }
191 set { return; }
192 }
193
194 public override void getContactData(ref ContactData cdata)
195 {
196 cdata.mu = mu;
197 cdata.bounce = bounce;
198 cdata.softcolide = false;
199 }
200
201 public override bool Building { get; set; }
202
203 /// <summary>
204 /// If this is set, the avatar will move faster
205 /// </summary>
206 public override bool SetAlwaysRun
207 {
208 get { return m_alwaysRun; }
209 set { m_alwaysRun = value; }
210 }
211
212 public override uint LocalID
213 {
214 set { m_localID = value; }
215 }
216
217 public override bool Grabbed
218 {
219 set { return; }
220 }
221
222 public override bool Selected
223 {
224 set { return; }
225 }
226
227 public override float Buoyancy
228 {
229 get { return m_buoyancy; }
230 set { m_buoyancy = value; }
231 }
232
233 public override bool FloatOnWater
234 {
235 set { return; }
236 }
237
238 public override bool IsPhysical
239 {
240 get { return false; }
241 set { return; }
242 }
243
244 public override bool ThrottleUpdates
245 {
246 get { return false; }
247 set { return; }
248 }
249
250 public override bool Flying
251 {
252 get { return flying; }
253 set
254 {
255 flying = value;
256 // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
257 }
258 }
259
260 /// <summary>
261 /// Returns if the avatar is colliding in general.
262 /// This includes the ground and objects and avatar.
263 /// </summary>
264 public override bool IsColliding
265 {
266 get { return (m_iscolliding || m_iscollidingGround); }
267 set
268 {
269 if (value)
270 {
271 m_colliderfilter += 2;
272 if (m_colliderfilter > 2)
273 m_colliderfilter = 2;
274 }
275 else
276 {
277 m_colliderfilter--;
278 if (m_colliderfilter < 0)
279 m_colliderfilter = 0;
280 }
281
282 if (m_colliderfilter == 0)
283 m_iscolliding = false;
284 else
285 {
286// SetPidStatus(false);
287 m_pidControllerActive = true;
288 m_iscolliding = true;
289 }
290 }
291 }
292
293 /// <summary>
294 /// Returns if an avatar is colliding with the ground
295 /// </summary>
296 public override bool CollidingGround
297 {
298 get { return m_iscollidingGround; }
299 set
300 {
301 /* we now control this
302 if (value)
303 {
304 m_colliderGroundfilter += 2;
305 if (m_colliderGroundfilter > 2)
306 m_colliderGroundfilter = 2;
307 }
308 else
309 {
310 m_colliderGroundfilter--;
311 if (m_colliderGroundfilter < 0)
312 m_colliderGroundfilter = 0;
313 }
314
315 if (m_colliderGroundfilter == 0)
316 m_iscollidingGround = false;
317 else
318 m_iscollidingGround = true;
319 */
320 }
321
322 }
323
324 /// <summary>
325 /// Returns if the avatar is colliding with an object
326 /// </summary>
327 public override bool CollidingObj
328 {
329 get { return m_iscollidingObj; }
330 set
331 {
332 // Ubit filter this also
333 if (value)
334 {
335 m_colliderObjectfilter += 2;
336 if (m_colliderObjectfilter > 2)
337 m_colliderObjectfilter = 2;
338 }
339 else
340 {
341 m_colliderObjectfilter--;
342 if (m_colliderObjectfilter < 0)
343 m_colliderObjectfilter = 0;
344 }
345
346 if (m_colliderObjectfilter == 0)
347 m_iscollidingObj = false;
348 else
349 m_iscollidingObj = true;
350
351 // m_iscollidingObj = value;
352/*
353 if (m_iscollidingObj)
354 m_pidControllerActive = false;
355 else
356 m_pidControllerActive = true;
357 */
358 }
359 }
360
361 /// <summary>
362 /// turn the PID controller on or off.
363 /// The PID Controller will turn on all by itself in many situations
364 /// </summary>
365 /// <param name="status"></param>
366 public void SetPidStatus(bool status)
367 {
368 m_pidControllerActive = status;
369 }
370
371 public override bool Stopped
372 {
373 get { return _zeroFlag; }
374 }
375
376 /// <summary>
377 /// This 'puts' an avatar somewhere in the physics space.
378 /// Not really a good choice unless you 'know' it's a good
379 /// spot otherwise you're likely to orbit the avatar.
380 /// </summary>
381 public override Vector3 Position
382 {
383 get { return _position; }
384 set
385 {
386 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
387 {
388 if (value.IsFinite())
389 {
390 if (value.Z > 9999999f)
391 {
392 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
393 }
394 if (value.Z < -100f)
395 {
396 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
397 }
398 AddChange(changes.Position, value);
399 }
400 else
401 {
402 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
403 }
404 }
405 }
406 }
407
408 public override Vector3 RotationalVelocity
409 {
410 get { return m_rotationalVelocity; }
411 set { m_rotationalVelocity = value; }
412 }
413
414 /// <summary>
415 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
416 /// and use it to offset landings properly
417 /// </summary>
418 public override Vector3 Size
419 {
420 get {
421 float d = CAPSULE_RADIUS * 2;
422 return new Vector3(d, d, (CAPSULE_LENGTH +d)/1.15f); }
423 set
424 {
425 if (value.IsFinite())
426 {
427 AddChange(changes.Size, value);
428 }
429 else
430 {
431 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
432 }
433 }
434 }
435
436 /// <summary>
437 /// This creates the Avatar's physical Surrogate at the position supplied
438 /// </summary>
439 /// <param name="npositionX"></param>
440 /// <param name="npositionY"></param>
441 /// <param name="npositionZ"></param>
442
443 //
444 /// <summary>
445 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
446 /// This may be used in calculations in the scene/scenepresence
447 /// </summary>
448 public override float Mass
449 {
450 get
451 {
452 float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
453 return m_density * AVvolume;
454 }
455 }
456 public override void link(PhysicsActor obj)
457 {
458
459 }
460
461 public override void delink()
462 {
463
464 }
465
466 public override void LockAngularMotion(Vector3 axis)
467 {
468
469 }
470
471
472 public override Vector3 Force
473 {
474 get { return _target_velocity; }
475 set { return; }
476 }
477
478 public override int VehicleType
479 {
480 get { return 0; }
481 set { return; }
482 }
483
484 public override void VehicleFloatParam(int param, float value)
485 {
486
487 }
488
489 public override void VehicleVectorParam(int param, Vector3 value)
490 {
491
492 }
493
494 public override void VehicleRotationParam(int param, Quaternion rotation)
495 {
496
497 }
498
499 public override void VehicleFlags(int param, bool remove)
500 {
501
502 }
503
504 public override void SetVolumeDetect(int param)
505 {
506
507 }
508
509 public override Vector3 CenterOfMass
510 {
511 get
512 {
513 Vector3 pos = _position;
514 return pos;
515 }
516 }
517
518 public override Vector3 GeometricCenter
519 {
520 get
521 {
522 Vector3 pos = _position;
523 return pos;
524 }
525 }
526
527 //UBit mess
528 /* for later use
529 public override Vector3 PrimOOBsize
530 {
531 get
532 {
533 Vector3 s=Size;
534 s.X *=0.5f;
535 s.Y *=0.5f;
536 s.Z *=0.5f;
537 return s;
538 }
539 }
540
541 public override Vector3 PrimOOBoffset
542 {
543 get
544 {
545 return Vector3.Zero;
546 }
547 }
548 */
549
550 public override PrimitiveBaseShape Shape
551 {
552 set { return; }
553 }
554
555 public override Vector3 Velocity
556 {
557 get
558 {
559 return _velocity;
560 }
561 set
562 {
563 if (value.IsFinite())
564 {
565 AddChange(changes.Velocity, value);
566 }
567 else
568 {
569 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
570 }
571 }
572 }
573
574 public override Vector3 Torque
575 {
576 get { return Vector3.Zero; }
577 set { return; }
578 }
579
580 public override float CollisionScore
581 {
582 get { return 0f; }
583 set { }
584 }
585
586 public override bool Kinematic
587 {
588 get { return false; }
589 set { }
590 }
591
592 public override Quaternion Orientation
593 {
594 get { return Quaternion.Identity; }
595 set
596 {
597 }
598 }
599
600 public override Vector3 Acceleration
601 {
602 get { return _acceleration; }
603 set { }
604 }
605
606 public void SetAcceleration(Vector3 accel)
607 {
608 m_pidControllerActive = true;
609 _acceleration = accel;
610 }
611
612 /// <summary>
613 /// Adds the force supplied to the Target Velocity
614 /// The PID controller takes this target velocity and tries to make it a reality
615 /// </summary>
616 /// <param name="force"></param>
617 public override void AddForce(Vector3 force, bool pushforce)
618 {
619 if (force.IsFinite())
620 {
621 if (pushforce)
622 {
623 AddChange(changes.Force, force * m_density / _parent_scene.ODE_STEPSIZE / 28f);
624 }
625 else
626 {
627 AddChange(changes.Velocity, force);
628 }
629 }
630 else
631 {
632 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
633 }
634 //m_lastUpdateSent = false;
635 }
636
637 public override void AddAngularForce(Vector3 force, bool pushforce)
638 {
639
640 }
641
642 public override void SetMomentum(Vector3 momentum)
643 {
644 }
645
646
647 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
648 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
649 // place that is safe to call this routine AvatarGeomAndBodyCreation.
650 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
651 {
652 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
653 if (CAPSULE_LENGTH <= 0)
654 {
655 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
656 CAPSULE_LENGTH = 0.01f;
657
658 }
659
660 if (CAPSULE_RADIUS <= 0)
661 {
662 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
663 CAPSULE_RADIUS = 0.01f;
664
665 }
666 Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
667
668 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
669 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
670
671 d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
672
673 m_mass = ShellMass.mass; // update mass
674
675 // rescale PID parameters
676 PID_D = _parent_scene.avPIDD;
677 PID_P = _parent_scene.avPIDP;
678
679 // rescale PID parameters so that this aren't affected by mass
680 // and so don't get unstable for some masses
681 // also scale by ode time step so you don't need to refix them
682
683 PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
684 PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
685 PID_P /= 50 * 80;
686 PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
687
688 Body = d.BodyCreate(_parent_scene.world);
689
690 d.BodySetAutoDisableFlag(Body, false);
691 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
692
693 _position.X = npositionX;
694 _position.Y = npositionY;
695 _position.Z = npositionZ;
696
697 d.BodySetMass(Body, ref ShellMass);
698 d.GeomSetBody(Shell, Body);
699
700 // The purpose of the AMotor here is to keep the avatar's physical
701 // surrogate from rotating while moving
702 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
703 d.JointAttach(Amotor, Body, IntPtr.Zero);
704
705 d.JointSetAMotorMode(Amotor, 0);
706 d.JointSetAMotorNumAxes(Amotor, 3);
707 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
708 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
709 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
710
711 d.JointSetAMotorAngle(Amotor, 0, 0);
712 d.JointSetAMotorAngle(Amotor, 1, 0);
713 d.JointSetAMotorAngle(Amotor, 2, 0);
714
715 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
716 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
717 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
718 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
719 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
720 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
721
722 // These lowstops and high stops are effectively (no wiggle room)
723 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
724 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
725 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
726 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
727 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
728 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
729
730 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
731 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
732 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
733
734 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
735 d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
736 d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
737 }
738
739 /// <summary>
740 /// Destroys the avatar body and geom
741
742 private void AvatarGeomAndBodyDestroy()
743 {
744 // Kill the Amotor
745 if (Amotor != IntPtr.Zero)
746 {
747 d.JointDestroy(Amotor);
748 Amotor = IntPtr.Zero;
749 }
750
751 if (Body != IntPtr.Zero)
752 {
753 //kill the body
754 d.BodyDestroy(Body);
755 Body = IntPtr.Zero;
756 }
757
758 //kill the Geometry
759 if (Shell != IntPtr.Zero)
760 {
761 _parent_scene.geom_name_map.Remove(Shell);
762 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
763 d.GeomDestroy(Shell);
764 _parent_scene.geom_name_map.Remove(Shell);
765 Shell = IntPtr.Zero;
766 }
767 }
768
769 /// <summary>
770 /// Called from Simulate
771 /// This is the avatar's movement control + PID Controller
772 /// </summary>
773 /// <param name="timeStep"></param>
774 public void Move(float timeStep, List<OdeCharacter> defects)
775 {
776 // no lock; for now it's only called from within Simulate()
777
778 // If the PID Controller isn't active then we set our force
779 // calculating base velocity to the current position
780
781 if (Body == IntPtr.Zero)
782 return;
783
784 d.Vector3 dtmp;
785 d.BodyCopyPosition(Body, out dtmp);
786 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
787
788 // the Amotor still lets avatar rotation to drift during colisions
789 // so force it back to identity
790
791 d.Quaternion qtmp;
792 qtmp.W = 1;
793 qtmp.X = 0;
794 qtmp.Y = 0;
795 qtmp.Z = 0;
796 d.BodySetQuaternion(Body, ref qtmp);
797
798 if (m_pidControllerActive == false)
799 {
800 _zeroPosition = localpos;
801 }
802 //PidStatus = true;
803
804
805 if (!localpos.IsFinite())
806 {
807
808 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
809 defects.Add(this);
810 // _parent_scene.RemoveCharacter(this);
811
812 // destroy avatar capsule and related ODE data
813 AvatarGeomAndBodyDestroy();
814
815 return;
816 }
817
818 Vector3 vec = Vector3.Zero;
819 dtmp = d.BodyGetLinearVel(Body);
820 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
821
822 float movementdivisor = 1f;
823 //Ubit change divisions into multiplications below
824 if (!m_alwaysRun)
825 {
826 movementdivisor = 1 / walkDivisor;
827 }
828 else
829 {
830 movementdivisor = 1 / runDivisor;
831 }
832
833 // colide with land
834
835 d.AABB aabb;
836 d.GeomGetAABB(Shell, out aabb);
837 float chrminZ = aabb.MinZ;
838
839 Vector3 posch = localpos;
840
841 float ftmp;
842
843 if (flying)
844 {
845 ftmp = timeStep;
846 posch.X += vel.X * ftmp;
847 posch.Y += vel.Y * ftmp;
848 }
849
850 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
851 if (chrminZ < terrainheight)
852 {
853 float depth = terrainheight - chrminZ;
854 if (!flying)
855 {
856 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
857 }
858 else
859 vec.Z = depth * PID_P * 50;
860
861 /*
862 Vector3 vtmp;
863 vtmp.X = _target_velocity.X * timeStep;
864 vtmp.Y = _target_velocity.Y * timeStep;
865 // fake and avoid squares
866 float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y));
867 if (k > 0)
868 {
869 posch.X += vtmp.X;
870 posch.Y += vtmp.Y;
871 terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
872 k = 1 + Math.Abs(terrainheight) / k;
873 movementdivisor /= k;
874
875 if (k < 1)
876 k = 1;
877 }
878 */
879
880
881 if (depth < 0.1f)
882 {
883 m_iscolliding = true;
884 m_colliderfilter = 2;
885 m_iscollidingGround = true;
886
887 ContactPoint contact = new ContactPoint();
888 contact.PenetrationDepth = depth;
889 contact.Position.X = localpos.X;
890 contact.Position.Y = localpos.Y;
891 contact.Position.Z = chrminZ;
892 contact.SurfaceNormal.X = 0f;
893 contact.SurfaceNormal.Y = 0f;
894 contact.SurfaceNormal.Z = -1f;
895 AddCollisionEvent(0, contact);
896
897 vec.Z *= 0.5f;
898 }
899
900 else
901 m_iscollidingGround = false;
902 }
903 else
904 m_iscollidingGround = false;
905
906
907 // if velocity is zero, use position control; otherwise, velocity control
908 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
909 && m_iscolliding)
910 {
911 // keep track of where we stopped. No more slippin' & slidin'
912 if (!_zeroFlag)
913 {
914 _zeroFlag = true;
915 _zeroPosition = localpos;
916 }
917 if (m_pidControllerActive)
918 {
919 // We only want to deactivate the PID Controller if we think we want to have our surrogate
920 // react to the physics scene by moving it's position.
921 // Avatar to Avatar collisions
922 // Prim to avatar collisions
923
924 vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
925 vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
926 if (flying)
927 {
928 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
929 }
930 }
931 //PidStatus = true;
932 }
933 else
934 {
935 m_pidControllerActive = true;
936 _zeroFlag = false;
937
938 if (m_iscolliding)
939 {
940 if (!flying)
941 {
942 if (_target_velocity.Z > 0.0f)
943 {
944 // We're colliding with something and we're not flying but we're moving
945 // This means we're walking or running. JUMPING
946 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
947 }
948 // We're standing on something
949 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
950 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
951 }
952 else
953 {
954 // We're flying and colliding with something
955 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
956 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
957 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
958 }
959 }
960 else // ie not colliding
961 {
962 if (flying) //(!m_iscolliding && flying)
963 {
964 // we're in mid air suspended
965 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
966 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
967 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
968 }
969
970 else
971 {
972 // we're not colliding and we're not flying so that means we're falling!
973 // m_iscolliding includes collisions with the ground.
974
975 // d.Vector3 pos = d.BodyGetPosition(Body);
976 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
977 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
978 }
979 }
980 }
981
982 if (flying)
983 {
984 vec.Z -= _parent_scene.gravityz * m_mass;
985
986 //Added for auto fly height. Kitto Flora
987 float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
988
989 if (localpos.Z < target_altitude)
990 {
991 vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
992 }
993 // end add Kitto Flora
994 }
995
996 if (vec.IsFinite())
997 {
998 if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
999 d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
1000 }
1001 else
1002 {
1003 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1004 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1005 defects.Add(this);
1006 // _parent_scene.RemoveCharacter(this);
1007 // destroy avatar capsule and related ODE data
1008 AvatarGeomAndBodyDestroy();
1009 }
1010 }
1011
1012 /// <summary>
1013 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1014 /// </summary>
1015 public void UpdatePositionAndVelocity()
1016 {
1017 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1018 if (Body == IntPtr.Zero)
1019 return;
1020
1021 d.Vector3 vec;
1022 try
1023 {
1024 d.BodyCopyPosition(Body, out vec);
1025 }
1026 catch (NullReferenceException)
1027 {
1028 bad = true;
1029 _parent_scene.BadCharacter(this);
1030 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1031 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1032 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1033 }
1034
1035 _position.X = vec.X;
1036 _position.Y = vec.Y;
1037 _position.Z = vec.Z;
1038
1039 bool fixbody = false;
1040
1041 if (_position.X < 0.0f)
1042 {
1043 fixbody = true;
1044 _position.X = 0.1f;
1045 }
1046 else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f)
1047 {
1048 fixbody = true;
1049 _position.X = (int)_parent_scene.WorldExtents.X - 0.1f;
1050 }
1051
1052 if (_position.Y < 0.0f)
1053 {
1054 fixbody = true;
1055 _position.Y = 0.1f;
1056 }
1057 else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1)
1058 {
1059 fixbody = true;
1060 _position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f;
1061 }
1062
1063 if (fixbody)
1064 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1065
1066 // Did we move last? = zeroflag
1067 // This helps keep us from sliding all over
1068/*
1069 if (_zeroFlag)
1070 {
1071 _velocity.X = 0.0f;
1072 _velocity.Y = 0.0f;
1073 _velocity.Z = 0.0f;
1074
1075 // Did we send out the 'stopped' message?
1076 if (!m_lastUpdateSent)
1077 {
1078 m_lastUpdateSent = true;
1079 base.RequestPhysicsterseUpdate();
1080 }
1081 }
1082 else
1083 {
1084 m_lastUpdateSent = false;
1085 */
1086 try
1087 {
1088 vec = d.BodyGetLinearVel(Body);
1089 }
1090 catch (NullReferenceException)
1091 {
1092 vec.X = _velocity.X;
1093 vec.Y = _velocity.Y;
1094 vec.Z = _velocity.Z;
1095 }
1096 _velocity.X = (vec.X);
1097 _velocity.Y = (vec.Y);
1098 _velocity.Z = (vec.Z);
1099 // }
1100 }
1101
1102 /// <summary>
1103 /// Cleanup the things we use in the scene.
1104 /// </summary>
1105 public void Destroy()
1106 {
1107 AddChange(changes.Remove, null);
1108 }
1109
1110 public override void CrossingFailure()
1111 {
1112 }
1113
1114 public override Vector3 PIDTarget { set { return; } }
1115 public override bool PIDActive { set { return; } }
1116 public override float PIDTau { set { return; } }
1117
1118 public override float PIDHoverHeight { set { return; } }
1119 public override bool PIDHoverActive { set { return; } }
1120 public override PIDHoverType PIDHoverType { set { return; } }
1121 public override float PIDHoverTau { set { return; } }
1122
1123 public override Quaternion APIDTarget { set { return; } }
1124
1125 public override bool APIDActive { set { return; } }
1126
1127 public override float APIDStrength { set { return; } }
1128
1129 public override float APIDDamping { set { return; } }
1130
1131
1132 public override void SubscribeEvents(int ms)
1133 {
1134 m_requestedUpdateFrequency = ms;
1135 m_eventsubscription = ms;
1136 _parent_scene.AddCollisionEventReporting(this);
1137 m_haseventsubscription = true;
1138 }
1139
1140 public override void UnSubscribeEvents()
1141 {
1142 m_haseventsubscription = false;
1143 _parent_scene.RemoveCollisionEventReporting(this);
1144 m_requestedUpdateFrequency = 0;
1145 m_eventsubscription = 0;
1146 }
1147
1148 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1149 {
1150 if (m_haseventsubscription)
1151 {
1152 // m_log.DebugFormat(
1153 // "[PHYSICS]: Adding collision event for {0}, collidedWith {1}, contact {2}", "", CollidedWith, contact);
1154
1155 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
1156 }
1157 }
1158
1159 public void SendCollisions()
1160 {
1161 if (m_haseventsubscription && m_eventsubscription > m_requestedUpdateFrequency)
1162 {
1163 if (CollisionEventsThisFrame != null)
1164 {
1165 base.SendCollisionUpdate(CollisionEventsThisFrame);
1166 }
1167 CollisionEventsThisFrame = new CollisionEventUpdate();
1168 m_eventsubscription = 0;
1169 }
1170 }
1171
1172 public override bool SubscribedEvents()
1173 {
1174 return m_haseventsubscription;
1175 }
1176
1177 private void changePhysicsStatus(bool NewStatus)
1178 {
1179 if (NewStatus != m_isPhysical)
1180 {
1181 if (NewStatus)
1182 {
1183 // Create avatar capsule and related ODE data
1184 if ((Shell != IntPtr.Zero))
1185 {
1186 // a lost shell ?
1187 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1188 + (Shell != IntPtr.Zero ? "Shell " : "")
1189 + (Body != IntPtr.Zero ? "Body " : "")
1190 + (Amotor != IntPtr.Zero ? "Amotor " : ""));
1191 AvatarGeomAndBodyDestroy();
1192 }
1193
1194 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1195 _parent_scene.geom_name_map[Shell] = m_name;
1196 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1197 _parent_scene.AddCharacter(this);
1198 }
1199 else
1200 {
1201 _parent_scene.RemoveCharacter(this);
1202 // destroy avatar capsule and related ODE data
1203 AvatarGeomAndBodyDestroy();
1204 }
1205
1206 m_isPhysical = NewStatus;
1207 }
1208 }
1209
1210 private void changeAdd()
1211 {
1212 changePhysicsStatus(true);
1213 }
1214
1215 private void changeRemove()
1216 {
1217 changePhysicsStatus(false);
1218 }
1219
1220 private void changeShape(PrimitiveBaseShape arg)
1221 {
1222 }
1223
1224 private void changeSize(Vector3 Size)
1225 {
1226 if (Size.IsFinite())
1227 {
1228 float caplen = Size.Z;
1229
1230 caplen = caplen * 1.15f - CAPSULE_RADIUS * 2.0f;
1231
1232 if (caplen != CAPSULE_LENGTH)
1233 {
1234 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1235 {
1236 AvatarGeomAndBodyDestroy();
1237
1238 float prevCapsule = CAPSULE_LENGTH;
1239 CAPSULE_LENGTH = caplen;
1240
1241 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1242 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
1243
1244 Velocity = Vector3.Zero;
1245
1246 _parent_scene.geom_name_map[Shell] = m_name;
1247 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
1248 }
1249 else
1250 {
1251 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1252 + (Shell == IntPtr.Zero ? "Shell " : "")
1253 + (Body == IntPtr.Zero ? "Body " : "")
1254 + (Amotor == IntPtr.Zero ? "Amotor " : ""));
1255 }
1256 }
1257
1258 m_pidControllerActive = true;
1259 }
1260 else
1261 {
1262 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
1263 }
1264 }
1265
1266 private void changePosition( Vector3 newPos)
1267 {
1268 if (Body != IntPtr.Zero)
1269 d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
1270 _position = newPos;
1271 }
1272
1273 private void changeOrientation(Quaternion newOri)
1274 {
1275 }
1276
1277 private void changeVelocity(Vector3 newVel)
1278 {
1279 m_pidControllerActive = true;
1280 _target_velocity = newVel;
1281 }
1282
1283 private void changeSetTorque(Vector3 newTorque)
1284 {
1285 }
1286
1287 private void changeAddForce(Vector3 newForce)
1288 {
1289 }
1290
1291 private void changeAddAngularForce(Vector3 arg)
1292 {
1293 }
1294
1295 private void changeAngularLock(Vector3 arg)
1296 {
1297 }
1298
1299 private void changeFloatOnWater(bool arg)
1300 {
1301 }
1302
1303 private void changeVolumedetetion(bool arg)
1304 {
1305 }
1306
1307 private void changeSelectedStatus(bool arg)
1308 {
1309 }
1310
1311 private void changeDisable(bool arg)
1312 {
1313 }
1314
1315 private void changeBuilding(bool arg)
1316 {
1317 }
1318
1319 private void changeForce(Vector3 newForce)
1320 {
1321 m_pidControllerActive = false;
1322 if (Body != IntPtr.Zero)
1323 {
1324 if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
1325 d.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
1326 }
1327 }
1328
1329 private void donullchange()
1330 {
1331 }
1332
1333 public bool DoAChange(changes what, object arg)
1334 {
1335 if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
1336 {
1337 return false;
1338 }
1339
1340 // nasty switch
1341 switch (what)
1342 {
1343 case changes.Add:
1344 changeAdd();
1345 break;
1346 case changes.Remove:
1347 changeRemove();
1348 break;
1349
1350 case changes.Position:
1351 changePosition((Vector3)arg);
1352 break;
1353
1354 case changes.Orientation:
1355 changeOrientation((Quaternion)arg);
1356 break;
1357
1358 case changes.PosOffset:
1359 donullchange();
1360 break;
1361
1362 case changes.OriOffset:
1363 donullchange();
1364 break;
1365
1366 case changes.Velocity:
1367 changeVelocity((Vector3)arg);
1368 break;
1369
1370 // case changes.Acceleration:
1371 // changeacceleration((Vector3)arg);
1372 // break;
1373 // case changes.AngVelocity:
1374 // changeangvelocity((Vector3)arg);
1375 // break;
1376
1377 case changes.Force:
1378 changeForce((Vector3)arg);
1379 break;
1380
1381 case changes.Torque:
1382 changeSetTorque((Vector3)arg);
1383 break;
1384
1385 case changes.AddForce:
1386 changeAddForce((Vector3)arg);
1387 break;
1388
1389 case changes.AddAngForce:
1390 changeAddAngularForce((Vector3)arg);
1391 break;
1392
1393 case changes.AngLock:
1394 changeAngularLock((Vector3)arg);
1395 break;
1396
1397 case changes.Size:
1398 changeSize((Vector3)arg);
1399 break;
1400/* not in use for now
1401 case changes.Shape:
1402 changeShape((PrimitiveBaseShape)arg);
1403 break;
1404
1405 case changes.CollidesWater:
1406 changeFloatOnWater((bool)arg);
1407 break;
1408
1409 case changes.VolumeDtc:
1410 changeVolumedetetion((bool)arg);
1411 break;
1412
1413 case changes.Physical:
1414 changePhysicsStatus((bool)arg);
1415 break;
1416
1417 case changes.Selected:
1418 changeSelectedStatus((bool)arg);
1419 break;
1420
1421 case changes.disabled:
1422 changeDisable((bool)arg);
1423 break;
1424
1425 case changes.building:
1426 changeBuilding((bool)arg);
1427 break;
1428*/
1429 case changes.Null:
1430 donullchange();
1431 break;
1432
1433 default:
1434 donullchange();
1435 break;
1436 }
1437 return false;
1438 }
1439
1440 public void AddChange(changes what, object arg)
1441 {
1442 _parent_scene.AddChange((PhysicsActor)this, what, arg);
1443 }
1444
1445
1446 internal void AddCollisionFrameTime(int p)
1447 {
1448 // protect it from overflow crashing
1449 if (m_eventsubscription + p >= int.MaxValue)
1450 m_eventsubscription = 0;
1451 m_eventsubscription += p;
1452 }
1453 }
1454}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..d0b4546
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -0,0 +1,993 @@
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/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
29 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
30 * ODEPrim.cs contains methods dealing with Prim editing, Prim
31 * characteristics and Kinetic motion.
32 * ODEDynamics.cs contains methods dealing with Prim Physical motion
33 * (dynamics) and the associated settings. Old Linear and angular
34 * motors for dynamic motion have been replace with MoveLinear()
35 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
36 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
37 * switch between 'VEHICLE' parameter use and general dynamics
38 * settings use.
39 */
40
41// Extensive change Ubit 2012
42
43using System;
44using System.Collections.Generic;
45using System.Reflection;
46using System.Runtime.InteropServices;
47using log4net;
48using OpenMetaverse;
49using OdeAPI;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager;
52
53namespace OpenSim.Region.Physics.OdePlugin
54{
55 public class ODEDynamics
56 {
57 public Vehicle Type
58 {
59 get { return m_type; }
60 }
61
62 private OdePrim rootPrim;
63 private OdeScene _pParentScene;
64
65 // Vehicle properties
66 private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
67 private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
68
69 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
70
71 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
72 // HOVER_TERRAIN_ONLY
73 // HOVER_GLOBAL_HEIGHT
74 // NO_DEFLECTION_UP
75 // HOVER_WATER_ONLY
76 // HOVER_UP_ONLY
77 // LIMIT_MOTOR_UP
78 // LIMIT_ROLL_ONLY
79 private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
80
81 // Linear properties
82 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
83 private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
84 private float m_linearMotorDecayTimescale = 120;
85 private float m_linearMotorTimescale = 1000;
86 private Vector3 m_linearMotorOffset = Vector3.Zero;
87
88 //Angular properties
89 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
90 private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
91 private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
92 private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
93
94 //Deflection properties
95 private float m_angularDeflectionEfficiency = 0;
96 private float m_angularDeflectionTimescale = 1000;
97 private float m_linearDeflectionEfficiency = 0;
98 private float m_linearDeflectionTimescale = 1000;
99
100 //Banking properties
101 private float m_bankingEfficiency = 0;
102 private float m_bankingMix = 0;
103 private float m_bankingTimescale = 1000;
104
105 //Hover and Buoyancy properties
106 private float m_VhoverHeight = 0f;
107 private float m_VhoverEfficiency = 0f;
108 private float m_VhoverTimescale = 1000f;
109 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
110 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
111 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
112 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
113
114 //Attractor properties
115 private float m_verticalAttractionEfficiency = 1.0f; // damped
116 private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
117
118
119 // auxiliar
120 private float m_lmEfect = 0; // current linear motor eficiency
121 private float m_amEfect = 0; // current angular motor eficiency
122 private float m_ffactor = 1.0f;
123
124 public float FrictionFactor
125 {
126 get
127 {
128 return m_ffactor;
129 }
130 }
131
132 public ODEDynamics(OdePrim rootp)
133 {
134 rootPrim = rootp;
135 _pParentScene = rootPrim._parent_scene;
136 }
137
138 public void DoSetVehicle(VehicleData vd)
139 {
140
141 float timestep = _pParentScene.ODE_STEPSIZE;
142 float invtimestep = 1.0f / timestep;
143
144 m_type = vd.m_type;
145 m_flags = vd.m_flags;
146
147 // Linear properties
148 m_linearMotorDirection = vd.m_linearMotorDirection;
149
150 m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
151 if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
152 if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
153 if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
154
155 m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
156 if (m_linearMotorDecayTimescale < 0.5f) m_linearMotorDecayTimescale = 0.5f;
157 m_linearMotorDecayTimescale *= invtimestep;
158
159 m_linearMotorTimescale = vd.m_linearMotorTimescale;
160 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
161
162
163 m_linearMotorOffset = vd.m_linearMotorOffset;
164
165 //Angular properties
166 m_angularMotorDirection = vd.m_angularMotorDirection;
167 m_angularMotorTimescale = vd.m_angularMotorTimescale;
168 if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
169
170 m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
171 if (m_angularMotorDecayTimescale < 0.5f) m_angularMotorDecayTimescale = 0.5f;
172 m_angularMotorDecayTimescale *= invtimestep;
173
174 m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
175 if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
176 if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
177 if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
178
179 //Deflection properties
180 m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
181 m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
182 if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
183
184 m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
185 m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
186 if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
187
188 //Banking properties
189 m_bankingEfficiency = vd.m_bankingEfficiency;
190 m_bankingMix = vd.m_bankingMix;
191 m_bankingTimescale = vd.m_bankingTimescale;
192 if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
193
194 //Hover and Buoyancy properties
195 m_VhoverHeight = vd.m_VhoverHeight;
196 m_VhoverEfficiency = vd.m_VhoverEfficiency;
197 m_VhoverTimescale = vd.m_VhoverTimescale;
198 if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
199
200 m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
201
202 //Attractor properties
203 m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
204 m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
205 if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
206
207 // Axis
208 m_referenceFrame = vd.m_referenceFrame;
209
210 m_lmEfect = 0;
211 m_amEfect = 0;
212 m_ffactor = 1.0f;
213 }
214
215 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
216 {
217 float len;
218 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
219 float timestep = _pParentScene.ODE_STEPSIZE;
220
221 switch (pParam)
222 {
223 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
224 if (pValue < 0f) pValue = 0f;
225 if (pValue > 1f) pValue = 1f;
226 m_angularDeflectionEfficiency = pValue;
227 break;
228 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
229 if (pValue < timestep) pValue = timestep;
230 m_angularDeflectionTimescale = pValue;
231 break;
232 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
233 // if (pValue < timestep) pValue = timestep;
234 // try to make impulses to work a bit better
235 if (pValue < 0.5f) pValue = 0.5f;
236 else if (pValue > 120) pValue = 120;
237 m_angularMotorDecayTimescale = pValue * invtimestep;
238 break;
239 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
240 if (pValue < timestep) pValue = timestep;
241 m_angularMotorTimescale = pValue;
242 break;
243 case Vehicle.BANKING_EFFICIENCY:
244 if (pValue < -1f) pValue = -1f;
245 if (pValue > 1f) pValue = 1f;
246 m_bankingEfficiency = pValue;
247 break;
248 case Vehicle.BANKING_MIX:
249 if (pValue < 0f) pValue = 0f;
250 if (pValue > 1f) pValue = 1f;
251 m_bankingMix = pValue;
252 break;
253 case Vehicle.BANKING_TIMESCALE:
254 if (pValue < timestep) pValue = timestep;
255 m_bankingTimescale = pValue;
256 break;
257 case Vehicle.BUOYANCY:
258 if (pValue < -1f) pValue = -1f;
259 if (pValue > 1f) pValue = 1f;
260 m_VehicleBuoyancy = pValue;
261 break;
262 case Vehicle.HOVER_EFFICIENCY:
263 if (pValue < 0f) pValue = 0f;
264 if (pValue > 1f) pValue = 1f;
265 m_VhoverEfficiency = pValue;
266 break;
267 case Vehicle.HOVER_HEIGHT:
268 m_VhoverHeight = pValue;
269 break;
270 case Vehicle.HOVER_TIMESCALE:
271 if (pValue < timestep) pValue = timestep;
272 m_VhoverTimescale = pValue;
273 break;
274 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
275 if (pValue < 0f) pValue = 0f;
276 if (pValue > 1f) pValue = 1f;
277 m_linearDeflectionEfficiency = pValue;
278 break;
279 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
280 if (pValue < timestep) pValue = timestep;
281 m_linearDeflectionTimescale = pValue;
282 break;
283 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
284 // if (pValue < timestep) pValue = timestep;
285 // try to make impulses to work a bit better
286 if (pValue < 0.5f) pValue = 0.5f;
287 else if (pValue > 120) pValue = 120;
288 m_linearMotorDecayTimescale = pValue * invtimestep;
289 break;
290 case Vehicle.LINEAR_MOTOR_TIMESCALE:
291 if (pValue < timestep) pValue = timestep;
292 m_linearMotorTimescale = pValue;
293 break;
294 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
295 if (pValue < 0f) pValue = 0f;
296 if (pValue > 1f) pValue = 1f;
297 m_verticalAttractionEfficiency = pValue;
298 break;
299 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
300 if (pValue < timestep) pValue = timestep;
301 m_verticalAttractionTimescale = pValue;
302 break;
303
304 // These are vector properties but the engine lets you use a single float value to
305 // set all of the components to the same value
306 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
307 if (pValue < timestep) pValue = timestep;
308 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
309 break;
310 case Vehicle.ANGULAR_MOTOR_DIRECTION:
311 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
312 len = m_angularMotorDirection.Length();
313 if (len > 12.566f)
314 m_angularMotorDirection *= (12.566f / len);
315 m_amEfect = 1.0f; // turn it on
316 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
317 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
318 d.BodyEnable(rootPrim.Body);
319 break;
320 case Vehicle.LINEAR_FRICTION_TIMESCALE:
321 if (pValue < timestep) pValue = timestep;
322 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
323 break;
324 case Vehicle.LINEAR_MOTOR_DIRECTION:
325 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
326 len = m_linearMotorDirection.Length();
327 if (len > 30.0f)
328 m_linearMotorDirection *= (30.0f / len);
329 m_lmEfect = 1.0f; // turn it on
330 m_ffactor = 0.01f;
331 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
332 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
333 d.BodyEnable(rootPrim.Body);
334 break;
335 case Vehicle.LINEAR_MOTOR_OFFSET:
336 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
337 len = m_linearMotorOffset.Length();
338 if (len > 100.0f)
339 m_linearMotorOffset *= (100.0f / len);
340 break;
341 }
342 }//end ProcessFloatVehicleParam
343
344 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
345 {
346 float len;
347 float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
348 float timestep = _pParentScene.ODE_STEPSIZE;
349 switch (pParam)
350 {
351 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
352 if (pValue.X < timestep) pValue.X = timestep;
353 if (pValue.Y < timestep) pValue.Y = timestep;
354 if (pValue.Z < timestep) pValue.Z = timestep;
355
356 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
357 break;
358 case Vehicle.ANGULAR_MOTOR_DIRECTION:
359 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
360 // Limit requested angular speed to 2 rps= 4 pi rads/sec
361 len = m_angularMotorDirection.Length();
362 if (len > 12.566f)
363 m_angularMotorDirection *= (12.566f / len);
364 m_amEfect = 1.0f; // turn it on
365 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
366 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
367 d.BodyEnable(rootPrim.Body);
368 break;
369 case Vehicle.LINEAR_FRICTION_TIMESCALE:
370 if (pValue.X < timestep) pValue.X = timestep;
371 if (pValue.Y < timestep) pValue.Y = timestep;
372 if (pValue.Z < timestep) pValue.Z = timestep;
373 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
374 break;
375 case Vehicle.LINEAR_MOTOR_DIRECTION:
376 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
377 len = m_linearMotorDirection.Length();
378 if (len > 30.0f)
379 m_linearMotorDirection *= (30.0f / len);
380 m_lmEfect = 1.0f; // turn it on
381 m_ffactor = 0.01f;
382 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
383 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
384 d.BodyEnable(rootPrim.Body);
385 break;
386 case Vehicle.LINEAR_MOTOR_OFFSET:
387 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
388 len = m_linearMotorOffset.Length();
389 if (len > 100.0f)
390 m_linearMotorOffset *= (100.0f / len);
391 break;
392 case Vehicle.BLOCK_EXIT:
393 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
394 break;
395 }
396 }//end ProcessVectorVehicleParam
397
398 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
399 {
400 switch (pParam)
401 {
402 case Vehicle.REFERENCE_FRAME:
403 m_referenceFrame = Quaternion.Inverse(pValue);
404 break;
405 case Vehicle.ROLL_FRAME:
406 m_RollreferenceFrame = pValue;
407 break;
408 }
409 }//end ProcessRotationVehicleParam
410
411 internal void ProcessVehicleFlags(int pParam, bool remove)
412 {
413 if (remove)
414 {
415 m_flags &= ~((VehicleFlag)pParam);
416 }
417 else
418 {
419 m_flags |= (VehicleFlag)pParam;
420 }
421 }//end ProcessVehicleFlags
422
423 internal void ProcessTypeChange(Vehicle pType)
424 {
425 float invtimestep = _pParentScene.ODE_STEPSIZE;
426 m_lmEfect = 0;
427 m_amEfect = 0;
428 m_ffactor = 1f;
429
430 m_linearMotorDirection = Vector3.Zero;
431 m_angularMotorDirection = Vector3.Zero;
432
433 m_BlockingEndPoint = Vector3.Zero;
434 m_RollreferenceFrame = Quaternion.Identity;
435 m_linearMotorOffset = Vector3.Zero;
436
437 m_referenceFrame = Quaternion.Identity;
438
439 // Set Defaults For Type
440 m_type = pType;
441 switch (pType)
442 {
443 case Vehicle.TYPE_NONE:
444 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
445 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
446 m_linearMotorTimescale = 1000;
447 m_linearMotorDecayTimescale = 120;
448 m_angularMotorTimescale = 1000;
449 m_angularMotorDecayTimescale = 1000;
450 m_VhoverHeight = 0;
451 m_VhoverEfficiency = 1;
452 m_VhoverTimescale = 1000;
453 m_VehicleBuoyancy = 0;
454 m_linearDeflectionEfficiency = 0;
455 m_linearDeflectionTimescale = 1000;
456 m_angularDeflectionEfficiency = 0;
457 m_angularDeflectionTimescale = 1000;
458 m_bankingEfficiency = 0;
459 m_bankingMix = 1;
460 m_bankingTimescale = 1000;
461 m_verticalAttractionEfficiency = 0;
462 m_verticalAttractionTimescale = 1000;
463
464 m_flags = (VehicleFlag)0;
465 break;
466
467 case Vehicle.TYPE_SLED:
468 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
469 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
470 m_linearMotorTimescale = 1000;
471 m_linearMotorDecayTimescale = 120 * invtimestep;
472 m_angularMotorTimescale = 1000;
473 m_angularMotorDecayTimescale = 120 * invtimestep;
474 m_VhoverHeight = 0;
475 m_VhoverEfficiency = 1;
476 m_VhoverTimescale = 10;
477 m_VehicleBuoyancy = 0;
478 m_linearDeflectionEfficiency = 1;
479 m_linearDeflectionTimescale = 1;
480 m_angularDeflectionEfficiency = 0;
481 m_angularDeflectionTimescale = 1000;
482 m_bankingEfficiency = 0;
483 m_bankingMix = 1;
484 m_bankingTimescale = 10;
485 m_flags &=
486 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
487 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
488 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
489 break;
490 case Vehicle.TYPE_CAR:
491 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
492 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
493 m_linearMotorTimescale = 1;
494 m_linearMotorDecayTimescale = 60 * invtimestep;
495 m_angularMotorTimescale = 1;
496 m_angularMotorDecayTimescale = 0.8f * invtimestep;
497 m_VhoverHeight = 0;
498 m_VhoverEfficiency = 0;
499 m_VhoverTimescale = 1000;
500 m_VehicleBuoyancy = 0;
501 m_linearDeflectionEfficiency = 1;
502 m_linearDeflectionTimescale = 2;
503 m_angularDeflectionEfficiency = 0;
504 m_angularDeflectionTimescale = 10;
505 m_verticalAttractionEfficiency = 1f;
506 m_verticalAttractionTimescale = 10f;
507 m_bankingEfficiency = -0.2f;
508 m_bankingMix = 1;
509 m_bankingTimescale = 1;
510 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
511 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
512 VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
513 break;
514 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2);
516 m_angularFrictionTimescale = new Vector3(10, 10, 10);
517 m_linearMotorTimescale = 5;
518 m_linearMotorDecayTimescale = 60 * invtimestep;
519 m_angularMotorTimescale = 4;
520 m_angularMotorDecayTimescale = 4 * invtimestep;
521 m_VhoverHeight = 0;
522 m_VhoverEfficiency = 0.5f;
523 m_VhoverTimescale = 2;
524 m_VehicleBuoyancy = 1;
525 m_linearDeflectionEfficiency = 0.5f;
526 m_linearDeflectionTimescale = 3;
527 m_angularDeflectionEfficiency = 0.5f;
528 m_angularDeflectionTimescale = 5;
529 m_verticalAttractionEfficiency = 0.5f;
530 m_verticalAttractionTimescale = 5f;
531 m_bankingEfficiency = -0.3f;
532 m_bankingMix = 0.8f;
533 m_bankingTimescale = 1;
534 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
535 VehicleFlag.HOVER_GLOBAL_HEIGHT |
536 VehicleFlag.HOVER_UP_ONLY |
537 VehicleFlag.LIMIT_ROLL_ONLY);
538 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
539 VehicleFlag.LIMIT_MOTOR_UP |
540 VehicleFlag.HOVER_WATER_ONLY);
541 break;
542 case Vehicle.TYPE_AIRPLANE:
543 m_linearFrictionTimescale = new Vector3(200, 10, 5);
544 m_angularFrictionTimescale = new Vector3(20, 20, 20);
545 m_linearMotorTimescale = 2;
546 m_linearMotorDecayTimescale = 60 * invtimestep;
547 m_angularMotorTimescale = 4;
548 m_angularMotorDecayTimescale = 8 * invtimestep;
549 m_VhoverHeight = 0;
550 m_VhoverEfficiency = 0.5f;
551 m_VhoverTimescale = 1000;
552 m_VehicleBuoyancy = 0;
553 m_linearDeflectionEfficiency = 0.5f;
554 m_linearDeflectionTimescale = 0.5f;
555 m_angularDeflectionEfficiency = 1;
556 m_angularDeflectionTimescale = 2;
557 m_verticalAttractionEfficiency = 0.9f;
558 m_verticalAttractionTimescale = 2f;
559 m_bankingEfficiency = 1;
560 m_bankingMix = 0.7f;
561 m_bankingTimescale = 2;
562 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
563 VehicleFlag.HOVER_TERRAIN_ONLY |
564 VehicleFlag.HOVER_GLOBAL_HEIGHT |
565 VehicleFlag.HOVER_UP_ONLY |
566 VehicleFlag.NO_DEFLECTION_UP |
567 VehicleFlag.LIMIT_MOTOR_UP);
568 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
569 break;
570 case Vehicle.TYPE_BALLOON:
571 m_linearFrictionTimescale = new Vector3(5, 5, 5);
572 m_angularFrictionTimescale = new Vector3(10, 10, 10);
573 m_linearMotorTimescale = 5;
574 m_linearMotorDecayTimescale = 60 * invtimestep;
575 m_angularMotorTimescale = 6;
576 m_angularMotorDecayTimescale = 10 * invtimestep;
577 m_VhoverHeight = 5;
578 m_VhoverEfficiency = 0.8f;
579 m_VhoverTimescale = 10;
580 m_VehicleBuoyancy = 1;
581 m_linearDeflectionEfficiency = 0;
582 m_linearDeflectionTimescale = 5 * invtimestep;
583 m_angularDeflectionEfficiency = 0;
584 m_angularDeflectionTimescale = 5;
585 m_verticalAttractionEfficiency = 0f;
586 m_verticalAttractionTimescale = 1000f;
587 m_bankingEfficiency = 0;
588 m_bankingMix = 0.7f;
589 m_bankingTimescale = 5;
590 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
591 VehicleFlag.HOVER_TERRAIN_ONLY |
592 VehicleFlag.HOVER_UP_ONLY |
593 VehicleFlag.NO_DEFLECTION_UP |
594 VehicleFlag.LIMIT_MOTOR_UP);
595 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
596 VehicleFlag.HOVER_GLOBAL_HEIGHT);
597 break;
598 }
599
600 }//end SetDefaultsForType
601
602 internal void Stop()
603 {
604 m_lmEfect = 0;
605 m_amEfect = 0;
606 m_ffactor = 1f;
607 }
608
609 public static Vector3 Xrot(Quaternion rot)
610 {
611 Vector3 vec;
612 rot.Normalize(); // just in case
613 vec.X = 2 * (rot.X * rot.X + rot.W * rot.W) - 1;
614 vec.Y = 2 * (rot.X * rot.Y + rot.Z * rot.W);
615 vec.Z = 2 * (rot.X * rot.Z - rot.Y * rot.W);
616 return vec;
617 }
618
619 public static Vector3 Zrot(Quaternion rot)
620 {
621 Vector3 vec;
622 rot.Normalize(); // just in case
623 vec.X = 2 * (rot.X * rot.Z + rot.Y * rot.W);
624 vec.Y = 2 * (rot.Y * rot.Z - rot.X * rot.W);
625 vec.Z = 2 * (rot.Z * rot.Z + rot.W * rot.W) - 1;
626
627 return vec;
628 }
629
630 private const float pi = (float)Math.PI;
631 private const float halfpi = 0.5f * (float)Math.PI;
632
633 public static Vector3 ubitRot2Euler(Quaternion rot)
634 {
635 // returns roll in X
636 // pitch in Y
637 // yaw in Z
638 Vector3 vec;
639
640 // assuming rot is normalised
641 // rot.Normalize();
642
643 float zX = rot.X * rot.Z + rot.Y * rot.W;
644
645 if (zX < -0.49999f)
646 {
647 vec.X = 0;
648 vec.Y = -halfpi;
649 vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
650 }
651 else if (zX > 0.49999f)
652 {
653 vec.X = 0;
654 vec.Y = halfpi;
655 vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
656 }
657 else
658 {
659 vec.Y = (float)Math.Asin(2 * zX);
660
661 float sqw = rot.W * rot.W;
662
663 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
664 float zZ = rot.Z * rot.Z + sqw - 0.5f;
665
666 vec.X = (float)Math.Atan2(minuszY, zZ);
667
668 float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
669 float yY = rot.X * rot.X + sqw - 0.5f;
670 vec.Z = (float)Math.Atan2(yX, yY);
671 }
672 return vec;
673 }
674
675 public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
676 {
677 // assuming rot is normalised
678 // rot.Normalize();
679
680 float zX = rot.X * rot.Z + rot.Y * rot.W;
681
682 if (zX < -0.49999f)
683 {
684 roll = 0;
685 pitch = -halfpi;
686 }
687 else if (zX > 0.49999f)
688 {
689 roll = 0;
690 pitch = halfpi;
691 }
692 else
693 {
694 pitch = (float)Math.Asin(2 * zX);
695
696 float minuszY = rot.X * rot.W - rot.Y * rot.Z;
697 float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
698
699 roll = (float)Math.Atan2(minuszY, zZ);
700 }
701 return ;
702 }
703
704 internal void Step()//float pTimestep)
705 {
706 IntPtr Body = rootPrim.Body;
707
708 d.Quaternion rot = d.BodyGetQuaternion(Body);
709 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
710 Quaternion rotq = objrotq; // rotq = rotation of object
711 rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
712 Quaternion irotq = Quaternion.Inverse(rotq);
713
714 d.Vector3 dvtmp;
715 Vector3 tmpV;
716 Vector3 curVel; // velocity in world
717 Vector3 curAngVel; // angular velocity in world
718 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
719 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
720 d.Vector3 dtorque = new d.Vector3();
721
722 dvtmp = d.BodyGetLinearVel(Body);
723 curVel.X = dvtmp.X;
724 curVel.Y = dvtmp.Y;
725 curVel.Z = dvtmp.Z;
726 Vector3 curLocalVel = curVel * irotq; // current velocity in local
727
728 dvtmp = d.BodyGetAngularVel(Body);
729 curAngVel.X = dvtmp.X;
730 curAngVel.Y = dvtmp.Y;
731 curAngVel.Z = dvtmp.Z;
732 Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
733
734 // linear motor
735 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
736 {
737 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
738 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
739 tmpV *= rotq; // to world
740
741 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
742 tmpV.Z = 0;
743
744 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
745 {
746 // have offset, do it now
747 tmpV *= rootPrim.Mass;
748 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
749 }
750 else
751 {
752 force.X += tmpV.X;
753 force.Y += tmpV.Y;
754 force.Z += tmpV.Z;
755 }
756 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
757
758 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
759 }
760 else
761 {
762 m_lmEfect = 0;
763 m_ffactor = 1f;
764 }
765
766 // friction
767 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
768 {
769 tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
770 tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
771 tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
772 tmpV *= rotq; // to world
773 force.X += tmpV.X;
774 force.Y += tmpV.Y;
775 force.Z += tmpV.Z;
776 }
777
778 // hover
779 if (m_VhoverTimescale < 300)
780 {
781 d.Vector3 pos = d.BodyGetPosition(Body);
782
783 // default to global
784 float perr = m_VhoverHeight - pos.Z;;
785
786 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
787 {
788 perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
789 }
790 else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
791 {
792 perr += _pParentScene.GetWaterLevel();
793 }
794 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
795 {
796 float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
797 float w = _pParentScene.GetWaterLevel();
798 if (t > w)
799 perr += t;
800 else
801 perr += w;
802 }
803
804 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
805 {
806 force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
807 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
808 }
809 else // no buoyancy
810 force.Z += _pParentScene.gravityz;
811 }
812 else
813 {
814 // default gravity and buoancy
815 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
816 }
817
818 // linear deflection
819 if (m_linearDeflectionEfficiency > 0)
820 {
821 float len = curVel.Length();
822 Vector3 atAxis;
823 atAxis = Xrot(rotq); // where are we pointing to
824 atAxis *= len; // make it same size as world velocity vector
825 tmpV = -atAxis; // oposite direction
826 atAxis -= curVel; // error to one direction
827 len = atAxis.LengthSquared();
828 tmpV -= curVel; // error to oposite
829 float lens = tmpV.LengthSquared();
830 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
831 {
832 if (len < lens)
833 tmpV = atAxis;
834
835 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
836 force.X += tmpV.X;
837 force.Y += tmpV.Y;
838 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
839 force.Z += tmpV.Z;
840 }
841 }
842
843 // angular motor
844 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
845 {
846 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
847 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
848 torque.X += tmpV.X;
849 torque.Y += tmpV.Y;
850 torque.Z += tmpV.Z;
851 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
852 }
853 else
854 m_amEfect = 0;
855
856 // angular friction
857 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
858 {
859 torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
860 torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
861 torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
862 }
863
864 // angular deflection
865 if (m_angularDeflectionEfficiency > 0)
866 {
867 Vector3 dirv;
868
869 if (curLocalVel.X > 0.01f)
870 dirv = curLocalVel;
871 else if (curLocalVel.X < -0.01f)
872 // use oposite
873 dirv = -curLocalVel;
874 else
875 {
876 // make it fall into small positive x case
877 dirv.X = 0.01f;
878 dirv.Y = curLocalVel.Y;
879 dirv.Z = curLocalVel.Z;
880 }
881
882 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
883
884 if (Math.Abs(dirv.Z) > 0.01)
885 {
886 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
887 }
888
889 if (Math.Abs(dirv.Y) > 0.01)
890 {
891 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
892 }
893 }
894
895 // vertical atractor
896 if (m_verticalAttractionTimescale < 300)
897 {
898 float roll;
899 float pitch;
900
901 GetRollPitch(irotq, out roll, out pitch);
902
903 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
904 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
905
906 if (roll > halfpi)
907 roll = pi - roll;
908 else if (roll < -halfpi)
909 roll = -pi - roll;
910
911 float effroll = pitch / halfpi;
912 effroll *= effroll;
913 effroll = 1 - effroll;
914 effroll *= roll;
915
916 if (Math.Abs(effroll) > 0.01) // roll
917 {
918 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
919 }
920
921 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
922 {
923 float effpitch = roll / halfpi;
924 effpitch *= effpitch;
925 effpitch = 1 - effpitch;
926 effpitch *= pitch;
927
928 if (Math.Abs(effpitch) > 0.01) // pitch
929 {
930 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
931 }
932 }
933
934 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
935 {
936
937 float broll = effroll;
938/*
939 if (broll > halfpi)
940 broll = pi - broll;
941 else if (broll < -halfpi)
942 broll = -pi - broll;
943*/
944 broll *= m_bankingEfficiency;
945 if (m_bankingMix != 0)
946 {
947 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
948 if (vfact > 1.0f) vfact = 1.0f;
949
950 if (curLocalVel.X >= 0)
951 broll *= (1 + (vfact - 1) * m_bankingMix);
952 else
953 broll *= -(1 + (vfact - 1) * m_bankingMix);
954 }
955 // make z rot be in world Z not local as seems to be in sl
956
957 broll = broll / m_bankingTimescale;
958
959 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
960
961 tmpV.X = ftmp * curAngVel.X;
962 tmpV.Y = ftmp * curAngVel.Y;
963 tmpV.Z = broll + ftmp * curAngVel.Z;
964 tmpV *= irotq;
965
966 torque.X += tmpV.X;
967 torque.Y += tmpV.Y;
968 torque.Z += tmpV.Z;
969 }
970 }
971
972 d.Mass dmass;
973 d.BodyGetMass(Body,out dmass);
974
975 if (force.X != 0 || force.Y != 0 || force.Z != 0)
976 {
977 force *= dmass.mass;
978 d.BodySetForce(Body, force.X, force.Y, force.Z);
979 }
980
981 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
982 {
983 torque *= m_referenceFrame; // to object frame
984 dtorque.X = torque.X;
985 dtorque.Y = torque.Y;
986 dtorque.Z = torque.Z;
987
988 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
989 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
990 }
991 }
992 }
993}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..39b89d3
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -0,0 +1,3703 @@
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/* Revision 2011/12 by Ubit Umarov
29 *
30 *
31 */
32
33/*
34 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
35 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
36 * ODEPrim.cs contains methods dealing with Prim editing, Prim
37 * characteristics and Kinetic motion.
38 * ODEDynamics.cs contains methods dealing with Prim Physical motion
39 * (dynamics) and the associated settings. Old Linear and angular
40 * motors for dynamic motion have been replace with MoveLinear()
41 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
42 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
43 * switch between 'VEHICLE' parameter use and general dynamics
44 * settings use.
45 */
46
47//#define SPAM
48
49using System;
50using System.Collections.Generic;
51using System.Reflection;
52using System.Runtime.InteropServices;
53using System.Threading;
54using log4net;
55using OpenMetaverse;
56using OdeAPI;
57using OpenSim.Framework;
58using OpenSim.Region.Physics.Manager;
59
60
61namespace OpenSim.Region.Physics.OdePlugin
62{
63 public class OdePrim : PhysicsActor
64 {
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66
67 private bool m_isphysical;
68 private bool m_fakeisphysical;
69 private bool m_isphantom;
70 private bool m_fakeisphantom;
71
72 protected bool m_building;
73 private Quaternion m_lastorientation = new Quaternion();
74 private Quaternion _orientation;
75
76 private Vector3 _position;
77 private Vector3 _velocity;
78 private Vector3 _torque;
79 private Vector3 m_lastVelocity;
80 private Vector3 m_lastposition;
81 private Vector3 m_rotationalVelocity;
82 private Vector3 _size;
83 private Vector3 _acceleration;
84 private Vector3 m_angularlock = Vector3.One;
85 private IntPtr Amotor = IntPtr.Zero;
86
87 private Vector3 m_force;
88 private Vector3 m_forceacc;
89 private Vector3 m_angularForceacc;
90
91 private Vector3 m_PIDTarget;
92 private float m_PIDTau;
93 private float PID_D = 35f;
94 private float PID_G = 25f;
95 private bool m_usePID;
96
97 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
98 // and are for non-VEHICLES only.
99
100 private float m_PIDHoverHeight;
101 private float m_PIDHoverTau;
102 private bool m_useHoverPID;
103 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
104 private float m_targetHoverHeight;
105 private float m_groundHeight;
106 private float m_waterHeight;
107 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
108
109 private int body_autodisable_frames = 20;
110
111 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
112 | CollisionCategories.Space
113 | CollisionCategories.Body
114 | CollisionCategories.Character
115 );
116// private bool m_collidesLand = true;
117 private bool m_collidesWater;
118 public bool m_returnCollisions;
119 private bool m_softcolide;
120
121 private bool m_NoColide; // for now only for internal use for bad meshs
122
123 // Default we're a Geometry
124 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
125
126 // Default, Collide with Other Geometries, spaces and Bodies
127 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
128
129 public bool m_disabled;
130
131
132 public uint m_localID;
133
134 private PrimitiveBaseShape _pbs;
135 public OdeScene _parent_scene;
136
137 /// <summary>
138 /// The physics space which contains prim geometry
139 /// </summary>
140 public IntPtr m_targetSpace = IntPtr.Zero;
141
142 public IntPtr prim_geom;
143 public IntPtr _triMeshData;
144
145 private PhysicsActor _parent;
146
147 private List<OdePrim> childrenPrim = new List<OdePrim>();
148
149 private bool m_iscolliding;
150
151 public bool m_isSelected;
152 private bool m_delaySelect;
153 private bool m_lastdoneSelected;
154 public bool m_outbounds;
155
156 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
157
158 private bool m_throttleUpdates;
159 private int throttleCounter;
160 public float m_collisionscore;
161 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 = 10.000006836f; // Aluminum g/cm3;
166
167 public bool _zeroFlag;
168 private bool m_lastUpdateSent;
169
170 public IntPtr Body = IntPtr.Zero;
171 public String Name { get; private set; }
172 private Vector3 _target_velocity;
173
174 public Vector3 primOOBsize; // prim real dimensions from mesh
175 public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
176 public float primOOBradiusSQ;
177 public d.Mass primdMass; // prim inertia information on it's own referencial
178 float primMass; // prim own mass
179 float _mass; // object mass acording to case
180 private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
181
182 public int givefakepos = 0;
183 private Vector3 fakepos;
184 public int givefakeori = 0;
185 private Quaternion fakeori;
186
187 public int m_eventsubscription;
188 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
189
190 public volatile bool childPrim;
191
192 public ODEDynamics m_vehicle;
193
194 internal int m_material = (int)Material.Wood;
195 private float mu;
196 private float bounce;
197
198 /// <summary>
199 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
200 /// </summary>
201 public override bool IsPhysical // this is not reliable for internal use
202 {
203 get { return m_fakeisphysical; }
204 set
205 {
206 m_fakeisphysical = value; // we show imediatly to outside that we changed physical
207 // and also to stop imediatly some updates
208 // but real change will only happen in taintprocessing
209
210 if (!value) // Zero the remembered last velocity
211 m_lastVelocity = Vector3.Zero;
212 AddChange(changes.Physical, value);
213 }
214 }
215
216 public override bool Phantom // this is not reliable for internal use
217 {
218 get { return m_fakeisphantom; }
219 set
220 {
221 m_fakeisphantom = value; // we show imediatly to outside that we changed physical
222 // and also to stop imediatly some updates
223 // but real change will only happen in taintprocessing
224
225 AddChange(changes.Phantom, value);
226 }
227 }
228
229 public override bool Building // this is not reliable for internal use
230 {
231 get { return m_building; }
232 set
233 {
234 if (value)
235 m_building = true;
236 AddChange(changes.building, value);
237 }
238 }
239
240 public override void getContactData(ref ContactData cdata)
241 {
242 cdata.mu = mu;
243 cdata.bounce = bounce;
244
245 // cdata.softcolide = m_softcolide;
246 cdata.softcolide = false;
247
248 if (m_isphysical)
249 {
250 ODEDynamics veh;
251 if (_parent != null)
252 veh = ((OdePrim)_parent).m_vehicle;
253 else
254 veh = m_vehicle;
255
256 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
257 cdata.mu *= veh.FrictionFactor;
258 }
259 }
260
261 public override int PhysicsActorType
262 {
263 get { return (int)ActorTypes.Prim; }
264 set { return; }
265 }
266
267 public override bool SetAlwaysRun
268 {
269 get { return false; }
270 set { return; }
271 }
272
273 public override uint LocalID
274 {
275 get
276 {
277 return m_localID;
278 }
279 set
280 {
281 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
282 m_localID = value;
283 }
284 }
285
286 public override bool Grabbed
287 {
288 set { return; }
289 }
290
291 public override bool Selected
292 {
293 set
294 {
295 if (value)
296 m_isSelected = value; // if true set imediatly to stop moves etc
297 AddChange(changes.Selected, value);
298 }
299 }
300
301 public override bool Flying
302 {
303 // no flying prims for you
304 get { return false; }
305 set { }
306 }
307
308 public override bool IsColliding
309 {
310 get { return m_iscolliding; }
311 set
312 {
313 if (value)
314 {
315 m_colliderfilter += 2;
316 if (m_colliderfilter > 2)
317 m_colliderfilter = 2;
318 }
319 else
320 {
321 m_colliderfilter--;
322 if (m_colliderfilter < 0)
323 m_colliderfilter = 0;
324 }
325
326 if (m_colliderfilter == 0)
327 {
328 m_softcolide = false;
329 m_iscolliding = false;
330 }
331 else
332 m_iscolliding = true;
333 }
334 }
335
336 public override bool CollidingGround
337 {
338 get { return false; }
339 set { return; }
340 }
341
342 public override bool CollidingObj
343 {
344 get { return false; }
345 set { return; }
346 }
347
348 public override bool ThrottleUpdates
349 {
350 get { return m_throttleUpdates; }
351 set { m_throttleUpdates = value; }
352 }
353
354 public override bool Stopped
355 {
356 get { return _zeroFlag; }
357 }
358
359 public override Vector3 Position
360 {
361 get
362 {
363 if (givefakepos > 0)
364 return fakepos;
365 else
366 return _position;
367 }
368
369 set
370 {
371 fakepos = value;
372 givefakepos++;
373 AddChange(changes.Position, value);
374 }
375 }
376
377 public override Vector3 Size
378 {
379 get { return _size; }
380 set
381 {
382 if (value.IsFinite())
383 {
384 AddChange(changes.Size, value);
385 }
386 else
387 {
388 m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name);
389 }
390 }
391 }
392
393 public override float Mass
394 {
395 get { return _mass; }
396 }
397
398 public override Vector3 Force
399 {
400 //get { return Vector3.Zero; }
401 get { return m_force; }
402 set
403 {
404 if (value.IsFinite())
405 {
406 AddChange(changes.Force, value);
407 }
408 else
409 {
410 m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name);
411 }
412 }
413 }
414
415 public override void SetVolumeDetect(int param)
416 {
417 AddChange(changes.VolumeDtc, (param != 0));
418 }
419
420 public override Vector3 GeometricCenter
421 {
422 get
423 {
424 return Vector3.Zero;
425 }
426 }
427
428 public override Vector3 CenterOfMass
429 {
430 get
431 {
432 d.Vector3 dtmp;
433 if (IsPhysical && !childPrim && Body != IntPtr.Zero)
434 {
435 dtmp = d.BodyGetPosition(Body);
436 return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
437 }
438 else if (prim_geom != IntPtr.Zero)
439 {
440 d.Quaternion dq;
441 d.GeomCopyQuaternion(prim_geom, out dq);
442 Quaternion q;
443 q.X = dq.X;
444 q.Y = dq.Y;
445 q.Z = dq.Z;
446 q.W = dq.W;
447
448 Vector3 vtmp = primOOBoffset * q;
449 dtmp = d.GeomGetPosition(prim_geom);
450 return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
451 }
452 else
453 return Vector3.Zero;
454 }
455 }
456 /*
457 public override Vector3 PrimOOBsize
458 {
459 get
460 {
461 return primOOBsize;
462 }
463 }
464
465 public override Vector3 PrimOOBoffset
466 {
467 get
468 {
469 return primOOBoffset;
470 }
471 }
472
473 public override float PrimOOBRadiusSQ
474 {
475 get
476 {
477 return primOOBradiusSQ;
478 }
479 }
480 */
481 public override PrimitiveBaseShape Shape
482 {
483 set
484 {
485 AddChange(changes.Shape, value);
486 }
487 }
488
489 public override Vector3 Velocity
490 {
491 get
492 {
493 if (_zeroFlag)
494 return Vector3.Zero;
495 return _velocity;
496 }
497 set
498 {
499 if (value.IsFinite())
500 {
501 AddChange(changes.Velocity, value);
502 // _velocity = value;
503
504 }
505 else
506 {
507 m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name);
508 }
509
510 }
511 }
512
513 public override Vector3 Torque
514 {
515 get
516 {
517 if (!IsPhysical || Body == IntPtr.Zero)
518 return Vector3.Zero;
519
520 return _torque;
521 }
522
523 set
524 {
525 if (value.IsFinite())
526 {
527 AddChange(changes.Torque, value);
528 }
529 else
530 {
531 m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name);
532 }
533 }
534 }
535
536 public override float CollisionScore
537 {
538 get { return m_collisionscore; }
539 set { m_collisionscore = value; }
540 }
541
542 public override bool Kinematic
543 {
544 get { return false; }
545 set { }
546 }
547
548 public override Quaternion Orientation
549 {
550 get
551 {
552 if (givefakeori > 0)
553 return fakeori;
554 else
555
556 return _orientation;
557 }
558 set
559 {
560 if (QuaternionIsFinite(value))
561 {
562 fakeori = value;
563 givefakeori++;
564 AddChange(changes.Orientation, value);
565 }
566 else
567 m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name);
568
569 }
570 }
571
572 public override Vector3 Acceleration
573 {
574 get { return _acceleration; }
575 set { }
576 }
577
578 public override Vector3 RotationalVelocity
579 {
580 get
581 {
582 Vector3 pv = Vector3.Zero;
583 if (_zeroFlag)
584 return pv;
585 m_lastUpdateSent = false;
586
587 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
588 return pv;
589
590 return m_rotationalVelocity;
591 }
592 set
593 {
594 if (value.IsFinite())
595 {
596 m_rotationalVelocity = value;
597 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
598 d.BodyEnable(Body);
599 }
600 else
601 {
602 m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name);
603 }
604 }
605 }
606
607
608 public override float Buoyancy
609 {
610 get { return m_buoyancy; }
611 set
612 {
613 m_buoyancy = value;
614 }
615 }
616
617 public override bool FloatOnWater
618 {
619 set
620 {
621 AddChange(changes.CollidesWater, value);
622 }
623 }
624
625 public override Vector3 PIDTarget
626 {
627 set
628 {
629 if (value.IsFinite())
630 {
631 m_PIDTarget = value;
632 }
633 else
634 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
635 }
636 }
637
638 public override bool PIDActive { set { m_usePID = value; } }
639 public override float PIDTau { set { m_PIDTau = value; } }
640
641 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
642 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
643 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
644 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
645
646 public override Quaternion APIDTarget { set { return; } }
647
648 public override bool APIDActive { set { return; } }
649
650 public override float APIDStrength { set { return; } }
651
652 public override float APIDDamping { set { return; } }
653
654 public override int VehicleType
655 {
656 // we may need to put a fake on this
657 get
658 {
659 if (m_vehicle == null)
660 return (int)Vehicle.TYPE_NONE;
661 else
662 return (int)m_vehicle.Type;
663 }
664 set
665 {
666 AddChange(changes.VehicleType, value);
667 }
668 }
669
670 public override void VehicleFloatParam(int param, float value)
671 {
672 strVehicleFloatParam fp = new strVehicleFloatParam();
673 fp.param = param;
674 fp.value = value;
675 AddChange(changes.VehicleFloatParam, fp);
676 }
677
678 public override void VehicleVectorParam(int param, Vector3 value)
679 {
680 strVehicleVectorParam fp = new strVehicleVectorParam();
681 fp.param = param;
682 fp.value = value;
683 AddChange(changes.VehicleVectorParam, fp);
684 }
685
686 public override void VehicleRotationParam(int param, Quaternion value)
687 {
688 strVehicleQuatParam fp = new strVehicleQuatParam();
689 fp.param = param;
690 fp.value = value;
691 AddChange(changes.VehicleRotationParam, fp);
692 }
693
694 public override void VehicleFlags(int param, bool value)
695 {
696 strVehicleBoolParam bp = new strVehicleBoolParam();
697 bp.param = param;
698 bp.value = value;
699 AddChange(changes.VehicleFlags, bp);
700 }
701
702 public override void SetVehicle(object vdata)
703 {
704 AddChange(changes.SetVehicle, vdata);
705 }
706 public void SetAcceleration(Vector3 accel)
707 {
708 _acceleration = accel;
709 }
710
711 public override void AddForce(Vector3 force, bool pushforce)
712 {
713 if (force.IsFinite())
714 {
715 AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);
716 }
717 else
718 {
719 m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name);
720 }
721 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
722 }
723
724 public override void AddAngularForce(Vector3 force, bool pushforce)
725 {
726 if (force.IsFinite())
727 {
728 AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);
729 }
730 else
731 {
732 m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name);
733 }
734 }
735
736 public override void CrossingFailure()
737 {
738 if (m_outbounds)
739 {
740 _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
741 _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
742 _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
743
744 m_lastposition = _position;
745 _velocity.X = 0;
746 _velocity.Y = 0;
747 _velocity.Z = 0;
748
749 m_lastVelocity = _velocity;
750 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
751 m_vehicle.Stop();
752
753 if(Body != IntPtr.Zero)
754 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
755 if (prim_geom != IntPtr.Zero)
756 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
757
758 m_outbounds = false;
759 changeDisable(false);
760 base.RequestPhysicsterseUpdate();
761 }
762 }
763
764 public override void SetMomentum(Vector3 momentum)
765 {
766 }
767
768 public override void SetMaterial(int pMaterial)
769 {
770 m_material = pMaterial;
771 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
772 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
773 }
774
775 public void setPrimForRemoval()
776 {
777 AddChange(changes.Remove, null);
778 }
779
780 public override void link(PhysicsActor obj)
781 {
782 AddChange(changes.Link, obj);
783 }
784
785 public override void delink()
786 {
787 AddChange(changes.DeLink, null);
788 }
789
790 public override void LockAngularMotion(Vector3 axis)
791 {
792 // reverse the zero/non zero values for ODE.
793 if (axis.IsFinite())
794 {
795 axis.X = (axis.X > 0) ? 1f : 0f;
796 axis.Y = (axis.Y > 0) ? 1f : 0f;
797 axis.Z = (axis.Z > 0) ? 1f : 0f;
798 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
799 AddChange(changes.AngLock, axis);
800 }
801 else
802 {
803 m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
804 }
805 }
806
807 public override void SubscribeEvents(int ms)
808 {
809 m_eventsubscription = ms;
810 _parent_scene.AddCollisionEventReporting(this);
811 }
812
813 public override void UnSubscribeEvents()
814 {
815 _parent_scene.RemoveCollisionEventReporting(this);
816 m_eventsubscription = 0;
817 }
818
819 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
820 {
821 if (CollisionEventsThisFrame == null)
822 CollisionEventsThisFrame = new CollisionEventUpdate();
823
824 CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
825 }
826
827 public void SendCollisions()
828 {
829 if (CollisionEventsThisFrame == null)
830 return;
831
832 base.SendCollisionUpdate(CollisionEventsThisFrame);
833
834 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
835 CollisionEventsThisFrame = null;
836 else
837 CollisionEventsThisFrame = new CollisionEventUpdate();
838 }
839
840 public override bool SubscribedEvents()
841 {
842 if (m_eventsubscription > 0)
843 return true;
844 return false;
845 }
846
847
848 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
849 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,uint plocalID)
850 {
851 Name = primName;
852 LocalID = plocalID;
853
854 m_vehicle = null;
855
856 if (!pos.IsFinite())
857 {
858 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
859 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
860 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name);
861 }
862 _position = pos;
863 givefakepos = 0;
864
865 PID_D = parent_scene.bodyPIDD;
866 PID_G = parent_scene.bodyPIDG;
867 m_density = parent_scene.geomDefaultDensity;
868 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
869 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
870
871 prim_geom = IntPtr.Zero;
872 collide_geom = IntPtr.Zero;
873 Body = IntPtr.Zero;
874
875 if (!size.IsFinite())
876 {
877 size = new Vector3(0.5f, 0.5f, 0.5f);
878 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name);
879 }
880
881 if (size.X <= 0) size.X = 0.01f;
882 if (size.Y <= 0) size.Y = 0.01f;
883 if (size.Z <= 0) size.Z = 0.01f;
884
885 _size = size;
886
887 if (!QuaternionIsFinite(rotation))
888 {
889 rotation = Quaternion.Identity;
890 m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name);
891 }
892
893 _orientation = rotation;
894 givefakeori = 0;
895
896 _pbs = pbs;
897
898 _parent_scene = parent_scene;
899 m_targetSpace = IntPtr.Zero;
900
901 if (pos.Z < 0)
902 {
903 m_isphysical = false;
904 }
905 else
906 {
907 m_isphysical = pisPhysical;
908 }
909 m_fakeisphysical = m_isphysical;
910
911 m_isVolumeDetect = false;
912
913 m_force = Vector3.Zero;
914
915 m_iscolliding = false;
916 m_colliderfilter = 0;
917 m_softcolide = true;
918 m_NoColide = false;
919
920 hasOOBoffsetFromMesh = false;
921 _triMeshData = IntPtr.Zero;
922
923 m_lastdoneSelected = false;
924 m_isSelected = false;
925 m_delaySelect = false;
926
927 m_isphantom = pisPhantom;
928 m_fakeisphantom = pisPhantom;
929
930 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
931 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
932
933 CalcPrimBodyData();
934
935 m_building = true; // control must set this to false when done
936
937 AddChange(changes.Add, null);
938 }
939
940 private void resetCollisionAccounting()
941 {
942 m_collisionscore = 0;
943 }
944
945 private void createAMotor(Vector3 axis)
946 {
947 if (Body == IntPtr.Zero)
948 return;
949
950 if (Amotor != IntPtr.Zero)
951 {
952 d.JointDestroy(Amotor);
953 Amotor = IntPtr.Zero;
954 }
955
956 int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z);
957
958 if (axisnum <= 0)
959 return;
960
961 // stop it
962 d.BodySetTorque(Body, 0, 0, 0);
963 d.BodySetAngularVel(Body, 0, 0, 0);
964
965 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
966 d.JointAttach(Amotor, Body, IntPtr.Zero);
967
968 d.JointSetAMotorMode(Amotor, 0);
969
970 d.JointSetAMotorNumAxes(Amotor, axisnum);
971
972 // get current orientation to lock
973
974 d.Quaternion dcur = d.BodyGetQuaternion(Body);
975 Quaternion curr; // crap convertion between identical things
976 curr.X = dcur.X;
977 curr.Y = dcur.Y;
978 curr.Z = dcur.Z;
979 curr.W = dcur.W;
980 Vector3 ax;
981
982 int i = 0;
983 int j = 0;
984 if (axis.X == 0)
985 {
986 ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
987 // ODE should do this with axis relative to body 1 but seems to fail
988 d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
989 d.JointSetAMotorAngle(Amotor, 0, 0);
990 d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f);
991 d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f);
992 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
993 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
994 d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
995 d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
996 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
997 d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
998 i++;
999 j = 256; // move to next axis set
1000 }
1001
1002 if (axis.Y == 0)
1003 {
1004 ax = (new Vector3(0, 1, 0)) * curr;
1005 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1006 d.JointSetAMotorAngle(Amotor, i, 0);
1007 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1008 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1009 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1010 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1011 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1012 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1013 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1014 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1015 i++;
1016 j += 256;
1017 }
1018
1019 if (axis.Z == 0)
1020 {
1021 ax = (new Vector3(0, 0, 1)) * curr;
1022 d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
1023 d.JointSetAMotorAngle(Amotor, i, 0);
1024 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f);
1025 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f);
1026 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
1027 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
1028 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
1029 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
1030 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
1031 d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
1032 }
1033 }
1034
1035 private bool setMesh(OdeScene parent_scene)
1036 {
1037 if (Body != IntPtr.Zero)
1038 {
1039 if (childPrim)
1040 {
1041 if (_parent != null)
1042 {
1043 OdePrim parent = (OdePrim)_parent;
1044 parent.ChildDelink(this, false);
1045 }
1046 }
1047 else
1048 {
1049 DestroyBody();
1050 }
1051 }
1052
1053 IMesh mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, (int)LevelOfDetail.High, true);
1054 if (mesh == null)
1055 {
1056 m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z);
1057 return false;
1058 }
1059
1060 IntPtr vertices, indices;
1061 int vertexCount, indexCount;
1062 int vertexStride, triStride;
1063
1064 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1065 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1066
1067 if (vertexCount == 0 || indexCount == 0)
1068 {
1069 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1070 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1071 mesh.releaseSourceMeshData();
1072 return false;
1073 }
1074
1075 primOOBoffset = mesh.GetCentroid();
1076 hasOOBoffsetFromMesh = true;
1077
1078 mesh.releaseSourceMeshData();
1079
1080 IntPtr geo = IntPtr.Zero;
1081
1082 try
1083 {
1084 _triMeshData = d.GeomTriMeshDataCreate();
1085
1086 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1087 d.GeomTriMeshDataPreprocess(_triMeshData);
1088
1089 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1090 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1091 }
1092
1093 catch (Exception e)
1094 {
1095 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1096 if (_triMeshData != IntPtr.Zero)
1097 {
1098 d.GeomTriMeshDataDestroy(_triMeshData);
1099 _triMeshData = IntPtr.Zero;
1100 }
1101 return false;
1102 }
1103
1104 SetGeom(geo);
1105 return true;
1106 }
1107
1108 private void SetGeom(IntPtr geom)
1109 {
1110 prim_geom = geom;
1111 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1112 if (prim_geom != IntPtr.Zero)
1113 {
1114 if (m_NoColide)
1115 {
1116 d.GeomSetCategoryBits(prim_geom, 0);
1117 if (m_isphysical)
1118 {
1119 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1120 }
1121 else
1122 {
1123 d.GeomSetCollideBits(prim_geom, 0);
1124 d.GeomDisable(prim_geom);
1125 }
1126 }
1127 else
1128 {
1129 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1130 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1131 }
1132
1133 CalcPrimBodyData();
1134
1135 _parent_scene.geom_name_map[prim_geom] = Name;
1136 _parent_scene.actor_name_map[prim_geom] = this;
1137
1138 }
1139 else
1140 m_log.Warn("Setting bad Geom");
1141 }
1142
1143
1144 /// <summary>
1145 /// Create a geometry for the given mesh in the given target space.
1146 /// </summary>
1147 /// <param name="m_targetSpace"></param>
1148 /// <param name="mesh">If null, then a mesh is used that is based on the profile shape data.</param>
1149 private void CreateGeom()
1150 {
1151 if (_triMeshData != IntPtr.Zero)
1152 {
1153 d.GeomTriMeshDataDestroy(_triMeshData);
1154 _triMeshData = IntPtr.Zero;
1155 }
1156
1157 bool haveMesh = false;
1158 hasOOBoffsetFromMesh = false;
1159 m_NoColide = false;
1160
1161 if (_parent_scene.needsMeshing(_pbs))
1162 {
1163 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1164 if (!haveMesh)
1165 m_NoColide = true;
1166 }
1167
1168 if (!haveMesh)
1169 {
1170 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
1171 && _size.X == _size.Y && _size.Y == _size.Z)
1172 { // it's a sphere
1173 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1174 try
1175 {
1176 SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f));
1177 }
1178 catch (Exception e)
1179 {
1180 m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e);
1181 return;
1182 }
1183 }
1184 else
1185 {// do it as a box
1186 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1187 try
1188 {
1189 //Console.WriteLine(" CreateGeom 4");
1190 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1191 }
1192 catch (Exception e)
1193 {
1194 m_log.Warn("[PHYSICS]: Create box failed: {0}", e);
1195 return;
1196 }
1197 }
1198 }
1199 }
1200
1201 /// <summary>
1202 /// Set a new geometry for this prim.
1203 /// </summary>
1204 /// <param name="geom"></param>
1205 private void RemoveGeom()
1206 {
1207 if (prim_geom != IntPtr.Zero)
1208 {
1209 _parent_scene.geom_name_map.Remove(prim_geom);
1210 _parent_scene.actor_name_map.Remove(prim_geom);
1211 try
1212 {
1213 d.GeomDestroy(prim_geom);
1214 if (_triMeshData != IntPtr.Zero)
1215 {
1216 d.GeomTriMeshDataDestroy(_triMeshData);
1217 _triMeshData = IntPtr.Zero;
1218 }
1219 }
1220 // catch (System.AccessViolationException)
1221 catch (Exception e)
1222 {
1223 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
1224 }
1225
1226 prim_geom = IntPtr.Zero;
1227 }
1228 else
1229 {
1230 m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name);
1231 }
1232 Body = IntPtr.Zero;
1233 hasOOBoffsetFromMesh = false;
1234 CalcPrimBodyData();
1235 }
1236
1237 private void ChildSetGeom(OdePrim odePrim)
1238 {
1239 // well..
1240 DestroyBody();
1241 MakeBody();
1242 }
1243
1244 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
1245 // should only be called for non physical prims unless they are becoming non physical
1246 private void SetInStaticSpace(OdePrim prim)
1247 {
1248 IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
1249 prim.m_targetSpace = targetSpace;
1250 d.GeomEnable(prim_geom);
1251 }
1252
1253 public void enableBodySoft()
1254 {
1255 if (!childPrim && !m_isSelected)
1256 {
1257 if (m_isphysical && Body != IntPtr.Zero)
1258 {
1259 if (m_isphantom && !m_isVolumeDetect)
1260 {
1261 m_collisionCategories = 0;
1262 m_collisionFlags = CollisionCategories.Land;
1263 }
1264 else
1265 {
1266 m_collisionCategories |= CollisionCategories.Body;
1267 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1268 }
1269
1270 foreach (OdePrim prm in childrenPrim)
1271 {
1272 prm.m_collisionCategories = m_collisionCategories;
1273 prm.m_collisionFlags = m_collisionFlags;
1274
1275 if (prm.prim_geom != IntPtr.Zero)
1276 {
1277 if (prm.m_NoColide)
1278 {
1279 d.GeomSetCategoryBits(prm.prim_geom, 0);
1280 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1281 }
1282 else
1283 {
1284 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1285 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1286 }
1287 d.GeomEnable(prm.prim_geom);
1288 }
1289 }
1290
1291 if (prim_geom != IntPtr.Zero)
1292 {
1293 if (m_NoColide)
1294 {
1295 d.GeomSetCategoryBits(prim_geom, 0);
1296 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1297 }
1298 else
1299 {
1300 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1301 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1302 }
1303 d.GeomEnable(prim_geom);
1304 }
1305 d.BodyEnable(Body);
1306 }
1307 }
1308 m_disabled = false;
1309 resetCollisionAccounting(); // this sets m_disable to false
1310 }
1311
1312 private void disableBodySoft()
1313 {
1314 m_disabled = true;
1315 if (!childPrim)
1316 {
1317 if (m_isphysical && Body != IntPtr.Zero)
1318 {
1319 m_collisionCategories &= ~CollisionCategories.Body;
1320 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1321
1322 foreach (OdePrim prm in childrenPrim)
1323 {
1324 prm.m_collisionCategories = m_collisionCategories;
1325 prm.m_collisionFlags = m_collisionFlags;
1326
1327 if (prm.prim_geom != IntPtr.Zero)
1328 {
1329 if (prm.m_NoColide)
1330 {
1331 d.GeomSetCategoryBits(prm.prim_geom, 0);
1332 d.GeomSetCollideBits(prm.prim_geom, 0);
1333 }
1334 else
1335 {
1336 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1337 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1338 }
1339 d.GeomDisable(prm.prim_geom);
1340 }
1341 }
1342
1343 if (prim_geom != IntPtr.Zero)
1344 {
1345 if (m_NoColide)
1346 {
1347 d.GeomSetCategoryBits(prim_geom, 0);
1348 d.GeomSetCollideBits(prim_geom, 0);
1349 }
1350 else
1351 {
1352 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1353 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1354 }
1355 d.GeomDisable(prim_geom);
1356 }
1357
1358 d.BodyDisable(Body);
1359 }
1360 }
1361 }
1362
1363 private void MakeBody()
1364 {
1365 if (!m_isphysical) // only physical get bodies
1366 return;
1367
1368 if (childPrim) // child prims don't get bodies;
1369 return;
1370
1371 if (m_building)
1372 return;
1373
1374 if (prim_geom == IntPtr.Zero)
1375 {
1376 m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
1377 return;
1378 }
1379
1380 if (Body != IntPtr.Zero)
1381 {
1382 d.BodyDestroy(Body);
1383 Body = IntPtr.Zero;
1384 m_log.Warn("[PHYSICS]: MakeBody called having a body");
1385 }
1386
1387
1388 if (d.GeomGetBody(prim_geom) != IntPtr.Zero)
1389 {
1390 d.GeomSetBody(prim_geom, IntPtr.Zero);
1391 m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
1392 }
1393
1394 d.Matrix3 mymat = new d.Matrix3();
1395 d.Quaternion myrot = new d.Quaternion();
1396 d.Mass objdmass = new d.Mass { };
1397
1398 Body = d.BodyCreate(_parent_scene.world);
1399
1400 DMassDup(ref primdMass, out objdmass);
1401
1402 // rotate inertia
1403 myrot.X = _orientation.X;
1404 myrot.Y = _orientation.Y;
1405 myrot.Z = _orientation.Z;
1406 myrot.W = _orientation.W;
1407
1408 d.RfromQ(out mymat, ref myrot);
1409 d.MassRotate(ref objdmass, ref mymat);
1410
1411 // set the body rotation and position
1412 d.BodySetRotation(Body, ref mymat);
1413
1414 // recompute full object inertia if needed
1415 if (childrenPrim.Count > 0)
1416 {
1417 d.Matrix3 mat = new d.Matrix3();
1418 d.Quaternion quat = new d.Quaternion();
1419 d.Mass tmpdmass = new d.Mass { };
1420 Vector3 rcm;
1421
1422 rcm.X = _position.X + objdmass.c.X;
1423 rcm.Y = _position.Y + objdmass.c.Y;
1424 rcm.Z = _position.Z + objdmass.c.Z;
1425
1426 lock (childrenPrim)
1427 {
1428 foreach (OdePrim prm in childrenPrim)
1429 {
1430 if (prm.prim_geom == IntPtr.Zero)
1431 {
1432 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
1433 continue;
1434 }
1435
1436 DMassCopy(ref prm.primdMass, ref tmpdmass);
1437
1438 // apply prim current rotation to inertia
1439 quat.X = prm._orientation.X;
1440 quat.Y = prm._orientation.Y;
1441 quat.Z = prm._orientation.Z;
1442 quat.W = prm._orientation.W;
1443 d.RfromQ(out mat, ref quat);
1444 d.MassRotate(ref tmpdmass, ref mat);
1445
1446 Vector3 ppos = prm._position;
1447 ppos.X += tmpdmass.c.X - rcm.X;
1448 ppos.Y += tmpdmass.c.Y - rcm.Y;
1449 ppos.Z += tmpdmass.c.Z - rcm.Z;
1450
1451 // refer inertia to root prim center of mass position
1452 d.MassTranslate(ref tmpdmass,
1453 ppos.X,
1454 ppos.Y,
1455 ppos.Z);
1456
1457 d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
1458 // fix prim colision cats
1459
1460 if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
1461 {
1462 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
1463 m_log.Warn("[PHYSICS]: MakeBody child geom already had a body");
1464 }
1465
1466 d.GeomClearOffset(prm.prim_geom);
1467 d.GeomSetBody(prm.prim_geom, Body);
1468 prm.Body = Body;
1469 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
1470 }
1471 }
1472 }
1473
1474 d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
1475 // associate root geom with body
1476 d.GeomSetBody(prim_geom, Body);
1477
1478 d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
1479 d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
1480
1481 d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
1482 myrot.W = -myrot.W;
1483 d.RfromQ(out mymat, ref myrot);
1484 d.MassRotate(ref objdmass, ref mymat);
1485 d.BodySetMass(Body, ref objdmass);
1486 _mass = objdmass.mass;
1487
1488 // disconnect from world gravity so we can apply buoyancy
1489 d.BodySetGravityMode(Body, false);
1490
1491 d.BodySetAutoDisableFlag(Body, true);
1492 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1493 // d.BodySetLinearDampingThreshold(Body, 0.01f);
1494 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1495 d.BodySetDamping(Body, .002f, .002f);
1496
1497
1498 if (m_targetSpace != IntPtr.Zero)
1499 {
1500 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1501 if (d.SpaceQuery(m_targetSpace, prim_geom))
1502 d.SpaceRemove(m_targetSpace, prim_geom);
1503 }
1504
1505
1506 if (childrenPrim.Count == 0)
1507 {
1508 collide_geom = prim_geom;
1509 m_targetSpace = _parent_scene.ActiveSpace;
1510 d.SpaceAdd(m_targetSpace, prim_geom);
1511 }
1512 else
1513 {
1514 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1515 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1516 d.SpaceSetSublevel(m_targetSpace, 3);
1517 d.SpaceSetCleanup(m_targetSpace, false);
1518 d.SpaceAdd(m_targetSpace, prim_geom);
1519 collide_geom = m_targetSpace;
1520 }
1521
1522 if (m_delaySelect)
1523 {
1524 m_isSelected = true;
1525 m_delaySelect = false;
1526 }
1527
1528 lock (childrenPrim)
1529 {
1530 foreach (OdePrim prm in childrenPrim)
1531 {
1532 if (prm.prim_geom == IntPtr.Zero)
1533 continue;
1534
1535 Vector3 ppos = prm._position;
1536 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1537
1538 if (prm.m_targetSpace != m_targetSpace)
1539 {
1540 if (prm.m_targetSpace != IntPtr.Zero)
1541 {
1542 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1543 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1544 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1545 }
1546 prm.m_targetSpace = m_targetSpace;
1547 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1548 }
1549
1550 if (m_isSelected || m_disabled)
1551 {
1552 prm.m_collisionCategories &= ~CollisionCategories.Body;
1553 prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1554 d.GeomDisable(prm.prim_geom);
1555 }
1556 else
1557 {
1558 if (m_isphantom && !m_isVolumeDetect)
1559 {
1560 prm.m_collisionCategories = 0;
1561 prm.m_collisionFlags = CollisionCategories.Land;
1562 }
1563 else
1564 {
1565 prm.m_collisionCategories |= CollisionCategories.Body;
1566 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1567 }
1568 d.GeomEnable(prm.prim_geom);
1569 }
1570
1571 if (prm.m_NoColide)
1572 {
1573 d.GeomSetCategoryBits(prm.prim_geom, 0);
1574 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1575 d.GeomEnable(prm.prim_geom);
1576 }
1577 else
1578 {
1579 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1580 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1581 }
1582 prm.m_collisionscore = 0;
1583
1584 if(!m_disabled)
1585 prm.m_disabled = false;
1586
1587 _parent_scene.addActivePrim(prm);
1588 }
1589 }
1590
1591 // The body doesn't already have a finite rotation mode set here
1592 if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
1593 {
1594 createAMotor(m_angularlock);
1595 }
1596
1597 if (m_isSelected || m_disabled)
1598 {
1599 m_collisionCategories &= ~CollisionCategories.Body;
1600 m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1601
1602 d.GeomDisable(prim_geom);
1603 d.BodyDisable(Body);
1604 }
1605 else
1606 {
1607 if (m_isphantom && !m_isVolumeDetect)
1608 {
1609 m_collisionCategories = 0;
1610 m_collisionFlags = CollisionCategories.Land;
1611 }
1612 else
1613 {
1614 m_collisionCategories |= CollisionCategories.Body;
1615 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1616 }
1617
1618 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1619 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1620 }
1621
1622 if (m_NoColide)
1623 {
1624 d.GeomSetCategoryBits(prim_geom, 0);
1625 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1626 }
1627 else
1628 {
1629 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1630 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1631 }
1632
1633 m_collisionscore = 0;
1634
1635 m_softcolide = true;
1636 _parent_scene.addActivePrim(this);
1637 _parent_scene.addActiveGroups(this);
1638 }
1639
1640 private void DestroyBody()
1641 {
1642 if (Body != IntPtr.Zero)
1643 {
1644 _parent_scene.remActivePrim(this);
1645 m_collisionCategories &= ~CollisionCategories.Body;
1646 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1647 if (prim_geom != IntPtr.Zero)
1648 {
1649 if (m_NoColide)
1650 {
1651 d.GeomSetCategoryBits(prim_geom, 0);
1652 d.GeomSetCollideBits(prim_geom, 0);
1653 }
1654 else
1655 {
1656 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1657 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1658 }
1659 UpdateDataFromGeom();
1660 d.GeomSetBody(prim_geom, IntPtr.Zero);
1661 SetInStaticSpace(this);
1662 }
1663
1664 if (!childPrim)
1665 {
1666 lock (childrenPrim)
1667 {
1668 foreach (OdePrim prm in childrenPrim)
1669 {
1670 _parent_scene.remActivePrim(prm);
1671 prm.m_collisionCategories = m_collisionCategories;
1672 prm.m_collisionFlags = m_collisionFlags;
1673 if (prm.prim_geom != IntPtr.Zero)
1674 {
1675 if (prm.m_NoColide)
1676 {
1677 d.GeomSetCategoryBits(prm.prim_geom, 0);
1678 d.GeomSetCollideBits(prm.prim_geom, 0);
1679 }
1680 else
1681 {
1682 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1683 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1684 }
1685 prm.UpdateDataFromGeom();
1686 SetInStaticSpace(prm);
1687 }
1688 prm.Body = IntPtr.Zero;
1689 prm._mass = prm.primMass;
1690 prm.m_collisionscore = 0;
1691 }
1692 }
1693 if (Amotor != IntPtr.Zero)
1694 {
1695 d.JointDestroy(Amotor);
1696 Amotor = IntPtr.Zero;
1697 }
1698 _parent_scene.remActiveGroup(this);
1699 d.BodyDestroy(Body);
1700 }
1701 Body = IntPtr.Zero;
1702 }
1703 _mass = primMass;
1704 m_collisionscore = 0;
1705 }
1706
1707 #region Mass Calculation
1708
1709 private float CalculatePrimVolume()
1710 {
1711 float volume = _size.X * _size.Y * _size.Z; // default
1712 float tmp;
1713
1714 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
1715 float hollowVolume = hollowAmount * hollowAmount;
1716
1717 switch (_pbs.ProfileShape)
1718 {
1719 case ProfileShape.Square:
1720 // default box
1721
1722 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1723 {
1724 if (hollowAmount > 0.0)
1725 {
1726 switch (_pbs.HollowShape)
1727 {
1728 case HollowShape.Square:
1729 case HollowShape.Same:
1730 break;
1731
1732 case HollowShape.Circle:
1733
1734 hollowVolume *= 0.78539816339f;
1735 break;
1736
1737 case HollowShape.Triangle:
1738
1739 hollowVolume *= (0.5f * .5f);
1740 break;
1741
1742 default:
1743 hollowVolume = 0;
1744 break;
1745 }
1746 volume *= (1.0f - hollowVolume);
1747 }
1748 }
1749
1750 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1751 {
1752 //a tube
1753
1754 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
1755 tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY);
1756 volume -= volume * tmp * tmp;
1757
1758 if (hollowAmount > 0.0)
1759 {
1760 hollowVolume *= hollowAmount;
1761
1762 switch (_pbs.HollowShape)
1763 {
1764 case HollowShape.Square:
1765 case HollowShape.Same:
1766 break;
1767
1768 case HollowShape.Circle:
1769 hollowVolume *= 0.78539816339f;
1770 break;
1771
1772 case HollowShape.Triangle:
1773 hollowVolume *= 0.5f * 0.5f;
1774 break;
1775 default:
1776 hollowVolume = 0;
1777 break;
1778 }
1779 volume *= (1.0f - hollowVolume);
1780 }
1781 }
1782
1783 break;
1784
1785 case ProfileShape.Circle:
1786
1787 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1788 {
1789 volume *= 0.78539816339f; // elipse base
1790
1791 if (hollowAmount > 0.0)
1792 {
1793 switch (_pbs.HollowShape)
1794 {
1795 case HollowShape.Same:
1796 case HollowShape.Circle:
1797 break;
1798
1799 case HollowShape.Square:
1800 hollowVolume *= 0.5f * 2.5984480504799f;
1801 break;
1802
1803 case HollowShape.Triangle:
1804 hollowVolume *= .5f * 1.27323954473516f;
1805 break;
1806
1807 default:
1808 hollowVolume = 0;
1809 break;
1810 }
1811 volume *= (1.0f - hollowVolume);
1812 }
1813 }
1814
1815 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1816 {
1817 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
1818 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1819 volume *= (1.0f - tmp * tmp);
1820
1821 if (hollowAmount > 0.0)
1822 {
1823
1824 // calculate the hollow volume by it's shape compared to the prim shape
1825 hollowVolume *= hollowAmount;
1826
1827 switch (_pbs.HollowShape)
1828 {
1829 case HollowShape.Same:
1830 case HollowShape.Circle:
1831 break;
1832
1833 case HollowShape.Square:
1834 hollowVolume *= 0.5f * 2.5984480504799f;
1835 break;
1836
1837 case HollowShape.Triangle:
1838 hollowVolume *= .5f * 1.27323954473516f;
1839 break;
1840
1841 default:
1842 hollowVolume = 0;
1843 break;
1844 }
1845 volume *= (1.0f - hollowVolume);
1846 }
1847 }
1848 break;
1849
1850 case ProfileShape.HalfCircle:
1851 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1852 {
1853 volume *= 0.52359877559829887307710723054658f;
1854 }
1855 break;
1856
1857 case ProfileShape.EquilateralTriangle:
1858
1859 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1860 {
1861 volume *= 0.32475953f;
1862
1863 if (hollowAmount > 0.0)
1864 {
1865
1866 // calculate the hollow volume by it's shape compared to the prim shape
1867 switch (_pbs.HollowShape)
1868 {
1869 case HollowShape.Same:
1870 case HollowShape.Triangle:
1871 hollowVolume *= .25f;
1872 break;
1873
1874 case HollowShape.Square:
1875 hollowVolume *= 0.499849f * 3.07920140172638f;
1876 break;
1877
1878 case HollowShape.Circle:
1879 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1880 // Cyllinder hollow volume calculation
1881
1882 hollowVolume *= 0.1963495f * 3.07920140172638f;
1883 break;
1884
1885 default:
1886 hollowVolume = 0;
1887 break;
1888 }
1889 volume *= (1.0f - hollowVolume);
1890 }
1891 }
1892 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1893 {
1894 volume *= 0.32475953f;
1895 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
1896 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1897 volume *= (1.0f - tmp * tmp);
1898
1899 if (hollowAmount > 0.0)
1900 {
1901
1902 hollowVolume *= hollowAmount;
1903
1904 switch (_pbs.HollowShape)
1905 {
1906 case HollowShape.Same:
1907 case HollowShape.Triangle:
1908 hollowVolume *= .25f;
1909 break;
1910
1911 case HollowShape.Square:
1912 hollowVolume *= 0.499849f * 3.07920140172638f;
1913 break;
1914
1915 case HollowShape.Circle:
1916
1917 hollowVolume *= 0.1963495f * 3.07920140172638f;
1918 break;
1919
1920 default:
1921 hollowVolume = 0;
1922 break;
1923 }
1924 volume *= (1.0f - hollowVolume);
1925 }
1926 }
1927 break;
1928
1929 default:
1930 break;
1931 }
1932
1933 float taperX1;
1934 float taperY1;
1935 float taperX;
1936 float taperY;
1937 float pathBegin;
1938 float pathEnd;
1939 float profileBegin;
1940 float profileEnd;
1941
1942 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
1943 {
1944 taperX1 = _pbs.PathScaleX * 0.01f;
1945 if (taperX1 > 1.0f)
1946 taperX1 = 2.0f - taperX1;
1947 taperX = 1.0f - taperX1;
1948
1949 taperY1 = _pbs.PathScaleY * 0.01f;
1950 if (taperY1 > 1.0f)
1951 taperY1 = 2.0f - taperY1;
1952 taperY = 1.0f - taperY1;
1953 }
1954 else
1955 {
1956 taperX = _pbs.PathTaperX * 0.01f;
1957 if (taperX < 0.0f)
1958 taperX = -taperX;
1959 taperX1 = 1.0f - taperX;
1960
1961 taperY = _pbs.PathTaperY * 0.01f;
1962 if (taperY < 0.0f)
1963 taperY = -taperY;
1964 taperY1 = 1.0f - taperY;
1965 }
1966
1967 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1968
1969 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
1970 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
1971 volume *= (pathEnd - pathBegin);
1972
1973 // this is crude aproximation
1974 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
1975 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
1976 volume *= (profileEnd - profileBegin);
1977
1978 return volume;
1979 }
1980
1981
1982 private void CalcPrimBodyData()
1983 {
1984 float volume;
1985
1986 if (prim_geom == IntPtr.Zero)
1987 {
1988 // Ubit let's have a initial basic OOB
1989 primOOBsize.X = _size.X;
1990 primOOBsize.Y = _size.Y;
1991 primOOBsize.Z = _size.Z;
1992 primOOBoffset = Vector3.Zero;
1993 }
1994 else
1995 {
1996 d.AABB AABB;
1997 d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom
1998
1999 primOOBsize.X = (AABB.MaxX - AABB.MinX);
2000 primOOBsize.Y = (AABB.MaxY - AABB.MinY);
2001 primOOBsize.Z = (AABB.MaxZ - AABB.MinZ);
2002 if (!hasOOBoffsetFromMesh)
2003 {
2004 primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f;
2005 primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f;
2006 primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f;
2007 }
2008 }
2009
2010 // also its own inertia and mass
2011 // keep using basic shape mass for now
2012 volume = CalculatePrimVolume();
2013
2014 primMass = m_density * volume;
2015
2016 if (primMass <= 0)
2017 primMass = 0.0001f;//ckrinke: Mass must be greater then zero.
2018 if (primMass > _parent_scene.maximumMassObject)
2019 primMass = _parent_scene.maximumMassObject;
2020
2021 _mass = primMass; // just in case
2022
2023 d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z);
2024
2025 d.MassTranslate(ref primdMass,
2026 primOOBoffset.X,
2027 primOOBoffset.Y,
2028 primOOBoffset.Z);
2029
2030 primOOBsize *= 0.5f; // let obb size be a corner coords
2031 primOOBradiusSQ = primOOBsize.LengthSquared();
2032 }
2033
2034
2035 #endregion
2036
2037
2038 /// <summary>
2039 /// Add a child prim to this parent prim.
2040 /// </summary>
2041 /// <param name="prim">Child prim</param>
2042 // I'm the parent
2043 // prim is the child
2044 public void ParentPrim(OdePrim prim)
2045 {
2046 //Console.WriteLine("ParentPrim " + m_primName);
2047 if (this.m_localID != prim.m_localID)
2048 {
2049 DestroyBody(); // for now we need to rebuil entire object on link change
2050
2051 lock (childrenPrim)
2052 {
2053 // adopt the prim
2054 if (!childrenPrim.Contains(prim))
2055 childrenPrim.Add(prim);
2056
2057 // see if this prim has kids and adopt them also
2058 // should not happen for now
2059 foreach (OdePrim prm in prim.childrenPrim)
2060 {
2061 if (!childrenPrim.Contains(prm))
2062 {
2063 if (prm.Body != IntPtr.Zero)
2064 {
2065 if (prm.prim_geom != IntPtr.Zero)
2066 d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
2067 if (prm.Body != prim.Body)
2068 prm.DestroyBody(); // don't loose bodies around
2069 prm.Body = IntPtr.Zero;
2070 }
2071
2072 childrenPrim.Add(prm);
2073 prm._parent = this;
2074 }
2075 }
2076 }
2077 //Remove old children from the prim
2078 prim.childrenPrim.Clear();
2079
2080 if (prim.Body != IntPtr.Zero)
2081 {
2082 if (prim.prim_geom != IntPtr.Zero)
2083 d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
2084 prim.DestroyBody(); // don't loose bodies around
2085 prim.Body = IntPtr.Zero;
2086 }
2087
2088 prim.childPrim = true;
2089 prim._parent = this;
2090
2091 MakeBody(); // full nasty reconstruction
2092 }
2093 }
2094
2095 private void UpdateChildsfromgeom()
2096 {
2097 if (childrenPrim.Count > 0)
2098 {
2099 foreach (OdePrim prm in childrenPrim)
2100 prm.UpdateDataFromGeom();
2101 }
2102 }
2103
2104 private void UpdateDataFromGeom()
2105 {
2106 if (prim_geom != IntPtr.Zero)
2107 {
2108 d.Vector3 lpos;
2109 d.GeomCopyPosition(prim_geom, out lpos);
2110 _position.X = lpos.X;
2111 _position.Y = lpos.Y;
2112 _position.Z = lpos.Z;
2113 d.Quaternion qtmp = new d.Quaternion { };
2114 d.GeomCopyQuaternion(prim_geom, out qtmp);
2115 _orientation.W = qtmp.W;
2116 _orientation.X = qtmp.X;
2117 _orientation.Y = qtmp.Y;
2118 _orientation.Z = qtmp.Z;
2119 }
2120 }
2121
2122 private void ChildDelink(OdePrim odePrim, bool remakebodies)
2123 {
2124 // Okay, we have a delinked child.. destroy all body and remake
2125 if (odePrim != this && !childrenPrim.Contains(odePrim))
2126 return;
2127
2128 DestroyBody();
2129
2130 if (odePrim == this) // delinking the root prim
2131 {
2132 OdePrim newroot = null;
2133 lock (childrenPrim)
2134 {
2135 if (childrenPrim.Count > 0)
2136 {
2137 newroot = childrenPrim[0];
2138 childrenPrim.RemoveAt(0);
2139 foreach (OdePrim prm in childrenPrim)
2140 {
2141 newroot.childrenPrim.Add(prm);
2142 }
2143 childrenPrim.Clear();
2144 }
2145 if (newroot != null)
2146 {
2147 newroot.childPrim = false;
2148 newroot._parent = null;
2149 if (remakebodies)
2150 newroot.MakeBody();
2151 }
2152 }
2153 }
2154
2155 else
2156 {
2157 lock (childrenPrim)
2158 {
2159 childrenPrim.Remove(odePrim);
2160 odePrim.childPrim = false;
2161 odePrim._parent = null;
2162 // odePrim.UpdateDataFromGeom();
2163 if (remakebodies)
2164 odePrim.MakeBody();
2165 }
2166 }
2167 if (remakebodies)
2168 MakeBody();
2169 }
2170
2171 protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
2172 {
2173 // Okay, we have a delinked child.. destroy all body and remake
2174 if (odePrim != this && !childrenPrim.Contains(odePrim))
2175 return;
2176
2177 DestroyBody();
2178
2179 if (odePrim == this)
2180 {
2181 OdePrim newroot = null;
2182 lock (childrenPrim)
2183 {
2184 if (childrenPrim.Count > 0)
2185 {
2186 newroot = childrenPrim[0];
2187 childrenPrim.RemoveAt(0);
2188 foreach (OdePrim prm in childrenPrim)
2189 {
2190 newroot.childrenPrim.Add(prm);
2191 }
2192 childrenPrim.Clear();
2193 }
2194 if (newroot != null)
2195 {
2196 newroot.childPrim = false;
2197 newroot._parent = null;
2198 newroot.MakeBody();
2199 }
2200 }
2201 if (reMakeBody)
2202 MakeBody();
2203 return;
2204 }
2205 else
2206 {
2207 lock (childrenPrim)
2208 {
2209 childrenPrim.Remove(odePrim);
2210 odePrim.childPrim = false;
2211 odePrim._parent = null;
2212 if (reMakeBody)
2213 odePrim.MakeBody();
2214 }
2215 }
2216 MakeBody();
2217 }
2218
2219 #region changes
2220
2221 private void changeadd()
2222 {
2223 CreateGeom();
2224
2225 if (prim_geom != IntPtr.Zero)
2226 {
2227 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2228 d.Quaternion myrot = new d.Quaternion();
2229 myrot.X = _orientation.X;
2230 myrot.Y = _orientation.Y;
2231 myrot.Z = _orientation.Z;
2232 myrot.W = _orientation.W;
2233 d.GeomSetQuaternion(prim_geom, ref myrot);
2234
2235 if (!m_isphysical)
2236 SetInStaticSpace(this);
2237 }
2238
2239 if (m_isphysical && Body == IntPtr.Zero)
2240 {
2241 MakeBody();
2242 }
2243 }
2244
2245 private void changeAngularLock(Vector3 newLock)
2246 {
2247 // do we have a Physical object?
2248 if (Body != IntPtr.Zero)
2249 {
2250 //Check that we have a Parent
2251 //If we have a parent then we're not authorative here
2252 if (_parent == null)
2253 {
2254 if (!newLock.ApproxEquals(Vector3.One, 0f))
2255 {
2256 createAMotor(newLock);
2257 }
2258 else
2259 {
2260 if (Amotor != IntPtr.Zero)
2261 {
2262 d.JointDestroy(Amotor);
2263 Amotor = IntPtr.Zero;
2264 }
2265 }
2266 }
2267 }
2268 // Store this for later in case we get turned into a separate body
2269 m_angularlock = newLock;
2270 }
2271
2272 private void changeLink(OdePrim NewParent)
2273 {
2274 if (_parent == null && NewParent != null)
2275 {
2276 NewParent.ParentPrim(this);
2277 }
2278 else if (_parent != null)
2279 {
2280 if (_parent is OdePrim)
2281 {
2282 if (NewParent != _parent)
2283 {
2284 (_parent as OdePrim).ChildDelink(this, false); // for now...
2285 childPrim = false;
2286
2287 if (NewParent != null)
2288 {
2289 NewParent.ParentPrim(this);
2290 }
2291 }
2292 }
2293 }
2294 _parent = NewParent;
2295 }
2296
2297
2298 private void Stop()
2299 {
2300 if (!childPrim)
2301 {
2302 m_force = Vector3.Zero;
2303 m_forceacc = Vector3.Zero;
2304 m_angularForceacc = Vector3.Zero;
2305 _torque = Vector3.Zero;
2306 _velocity = Vector3.Zero;
2307 _acceleration = Vector3.Zero;
2308 m_rotationalVelocity = Vector3.Zero;
2309 _target_velocity = Vector3.Zero;
2310 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
2311 m_vehicle.Stop();
2312 }
2313
2314 if (Body != IntPtr.Zero)
2315 {
2316 d.BodySetForce(Body, 0f, 0f, 0f);
2317 d.BodySetTorque(Body, 0f, 0f, 0f);
2318 d.BodySetLinearVel(Body, 0f, 0f, 0f);
2319 d.BodySetAngularVel(Body, 0f, 0f, 0f);
2320 }
2321 }
2322
2323
2324 private void changePhantomStatus(bool newval)
2325 {
2326 m_isphantom = newval;
2327
2328 if (m_isSelected)
2329 {
2330 m_collisionCategories = CollisionCategories.Selected;
2331 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2332 }
2333 else
2334 {
2335 if (m_isphantom && !m_isVolumeDetect)
2336 {
2337 m_collisionCategories = 0;
2338 if (m_isphysical)
2339 m_collisionFlags = CollisionCategories.Land;
2340 else
2341 m_collisionFlags = 0; // should never happen
2342 }
2343
2344 else
2345 {
2346 m_collisionCategories = CollisionCategories.Geom;
2347 if (m_isphysical)
2348 m_collisionCategories |= CollisionCategories.Body;
2349
2350 m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
2351
2352 if (m_collidesWater)
2353 m_collisionFlags |= CollisionCategories.Water;
2354 }
2355 }
2356
2357 if (!childPrim)
2358 {
2359 foreach (OdePrim prm in childrenPrim)
2360 {
2361 prm.m_collisionCategories = m_collisionCategories;
2362 prm.m_collisionFlags = m_collisionFlags;
2363
2364 if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
2365 {
2366 if (prm.m_NoColide)
2367 {
2368 d.GeomSetCategoryBits(prm.prim_geom, 0);
2369 if (m_isphysical)
2370 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
2371 else
2372 d.GeomSetCollideBits(prm.prim_geom, 0);
2373 }
2374 else
2375 {
2376 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2377 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2378 }
2379 if(!m_isSelected)
2380 d.GeomEnable(prm.prim_geom);
2381 }
2382 }
2383 }
2384
2385 if (!m_disabled && prim_geom != IntPtr.Zero)
2386 {
2387 if (m_NoColide)
2388 {
2389 d.GeomSetCategoryBits(prim_geom, 0);
2390 if (m_isphysical)
2391 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2392 else
2393 d.GeomSetCollideBits(prim_geom, 0);
2394 }
2395 else
2396 {
2397 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2398 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2399 }
2400 if(!m_isSelected)
2401 d.GeomEnable(prim_geom);
2402 }
2403 }
2404
2405 private void changeSelectedStatus(bool newval)
2406 {
2407 if (m_lastdoneSelected == newval)
2408 return;
2409
2410 m_lastdoneSelected = newval;
2411 DoSelectedStatus(newval);
2412 }
2413
2414 private void CheckDelaySelect()
2415 {
2416 if (m_delaySelect)
2417 {
2418 DoSelectedStatus(m_isSelected);
2419 }
2420 }
2421
2422 private void DoSelectedStatus(bool newval)
2423 {
2424 m_isSelected = newval;
2425 Stop();
2426
2427 if (newval)
2428 {
2429 if (!childPrim && Body != IntPtr.Zero)
2430 d.BodyDisable(Body);
2431
2432 if (m_delaySelect || m_isphysical)
2433 {
2434 m_collisionCategories = CollisionCategories.Selected;
2435 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2436
2437 if (!childPrim)
2438 {
2439 foreach (OdePrim prm in childrenPrim)
2440 {
2441 prm.m_collisionCategories = m_collisionCategories;
2442 prm.m_collisionFlags = m_collisionFlags;
2443
2444 if (prm.prim_geom != null)
2445 {
2446
2447 if (prm.m_NoColide)
2448 {
2449 d.GeomSetCategoryBits(prm.prim_geom, 0);
2450 d.GeomSetCollideBits(prm.prim_geom, 0);
2451 }
2452 else
2453 {
2454 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2455 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2456 }
2457 d.GeomDisable(prm.prim_geom);
2458 }
2459 prm.m_delaySelect = false;
2460 }
2461 }
2462
2463 if (prim_geom != null)
2464 {
2465 if (m_NoColide)
2466 {
2467 d.GeomSetCategoryBits(prim_geom, 0);
2468 d.GeomSetCollideBits(prim_geom, 0);
2469 }
2470 else
2471 {
2472 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2473 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2474 }
2475 d.GeomDisable(prim_geom);
2476 }
2477
2478 m_delaySelect = false;
2479 }
2480 else if(!m_isphysical)
2481 {
2482 m_delaySelect = true;
2483 }
2484 }
2485 else
2486 {
2487 if (!childPrim && Body != IntPtr.Zero && !m_disabled)
2488 d.BodyEnable(Body);
2489
2490 if (m_isphantom && !m_isVolumeDetect)
2491 {
2492 m_collisionCategories = 0;
2493 if(m_isphysical)
2494 m_collisionFlags = CollisionCategories.Land;
2495 else
2496 m_collisionFlags = 0;
2497 }
2498 else
2499 {
2500 m_collisionCategories = CollisionCategories.Geom;
2501 if (m_isphysical)
2502 m_collisionCategories |= CollisionCategories.Body;
2503
2504 m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
2505
2506 if (m_collidesWater)
2507 m_collisionFlags |= CollisionCategories.Water;
2508 }
2509
2510 if (!childPrim)
2511 {
2512 foreach (OdePrim prm in childrenPrim)
2513 {
2514 prm.m_collisionCategories = m_collisionCategories;
2515 prm.m_collisionFlags = m_collisionFlags;
2516
2517 if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
2518 {
2519 if (prm.m_NoColide)
2520 {
2521 d.GeomSetCategoryBits(prm.prim_geom, 0);
2522 if (m_isphysical)
2523 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
2524 else
2525 d.GeomSetCollideBits(prm.prim_geom, 0);
2526 }
2527 else
2528 {
2529 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2530 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2531 }
2532 d.GeomEnable(prm.prim_geom);
2533 }
2534 prm.m_delaySelect = false;
2535 prm.m_softcolide = true;
2536 }
2537 }
2538
2539 if (!m_disabled && prim_geom != IntPtr.Zero)
2540 {
2541 if (m_NoColide)
2542 {
2543 d.GeomSetCategoryBits(prim_geom, 0);
2544 if (m_isphysical)
2545 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2546 else
2547 d.GeomSetCollideBits(prim_geom, 0);
2548 }
2549 else
2550 {
2551 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2552 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2553 }
2554 d.GeomEnable(prim_geom);
2555 }
2556
2557 m_delaySelect = false;
2558 m_softcolide = true;
2559 }
2560
2561 resetCollisionAccounting();
2562 }
2563
2564 private void changePosition(Vector3 newPos)
2565 {
2566 CheckDelaySelect();
2567 if (m_isphysical)
2568 {
2569 if (childPrim) // inertia is messed, must rebuild
2570 {
2571 if (m_building)
2572 {
2573 _position = newPos;
2574 }
2575 }
2576 else
2577 {
2578 if (_position != newPos)
2579 {
2580 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2581 _position = newPos;
2582 }
2583 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2584 d.BodyEnable(Body);
2585 }
2586 }
2587 else
2588 {
2589 if (prim_geom != IntPtr.Zero)
2590 {
2591 if (newPos != _position)
2592 {
2593 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2594 _position = newPos;
2595
2596 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2597 }
2598 }
2599 }
2600 givefakepos--;
2601 if (givefakepos < 0)
2602 givefakepos = 0;
2603 // changeSelectedStatus();
2604 m_softcolide = true;
2605 resetCollisionAccounting();
2606 }
2607
2608 private void changeOrientation(Quaternion newOri)
2609 {
2610 CheckDelaySelect();
2611 if (m_isphysical)
2612 {
2613 if (childPrim) // inertia is messed, must rebuild
2614 {
2615 if (m_building)
2616 {
2617 _orientation = newOri;
2618 }
2619 }
2620 else
2621 {
2622 if (newOri != _orientation)
2623 {
2624 d.Quaternion myrot = new d.Quaternion();
2625 myrot.X = newOri.X;
2626 myrot.Y = newOri.Y;
2627 myrot.Z = newOri.Z;
2628 myrot.W = newOri.W;
2629 d.GeomSetQuaternion(prim_geom, ref myrot);
2630 _orientation = newOri;
2631 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2632 createAMotor(m_angularlock);
2633 }
2634 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2635 d.BodyEnable(Body);
2636 }
2637 }
2638 else
2639 {
2640 if (prim_geom != IntPtr.Zero)
2641 {
2642 if (newOri != _orientation)
2643 {
2644 d.Quaternion myrot = new d.Quaternion();
2645 myrot.X = newOri.X;
2646 myrot.Y = newOri.Y;
2647 myrot.Z = newOri.Z;
2648 myrot.W = newOri.W;
2649 d.GeomSetQuaternion(prim_geom, ref myrot);
2650 _orientation = newOri;
2651 }
2652 }
2653 }
2654 givefakeori--;
2655 if (givefakeori < 0)
2656 givefakeori = 0;
2657 m_softcolide = true;
2658 resetCollisionAccounting();
2659 }
2660
2661 private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
2662 {
2663 CheckDelaySelect();
2664 if (m_isphysical)
2665 {
2666 if (childPrim && m_building) // inertia is messed, must rebuild
2667 {
2668 _position = newPos;
2669 _orientation = newOri;
2670 }
2671 else
2672 {
2673 if (newOri != _orientation)
2674 {
2675 d.Quaternion myrot = new d.Quaternion();
2676 myrot.X = newOri.X;
2677 myrot.Y = newOri.Y;
2678 myrot.Z = newOri.Z;
2679 myrot.W = newOri.W;
2680 d.GeomSetQuaternion(prim_geom, ref myrot);
2681 _orientation = newOri;
2682 if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f))
2683 createAMotor(m_angularlock);
2684 }
2685 if (_position != newPos)
2686 {
2687 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2688 _position = newPos;
2689 }
2690 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2691 d.BodyEnable(Body);
2692 }
2693 }
2694 else
2695 {
2696 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
2697 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
2698
2699 if (prim_geom != IntPtr.Zero)
2700 {
2701 if (newOri != _orientation)
2702 {
2703 d.Quaternion myrot = new d.Quaternion();
2704 myrot.X = newOri.X;
2705 myrot.Y = newOri.Y;
2706 myrot.Z = newOri.Z;
2707 myrot.W = newOri.W;
2708 d.GeomSetQuaternion(prim_geom, ref myrot);
2709 _orientation = newOri;
2710 }
2711
2712 if (newPos != _position)
2713 {
2714 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2715 _position = newPos;
2716
2717 m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
2718 }
2719 }
2720 }
2721 givefakepos--;
2722 if (givefakepos < 0)
2723 givefakepos = 0;
2724 givefakeori--;
2725 if (givefakeori < 0)
2726 givefakeori = 0;
2727
2728 m_softcolide = true;
2729 resetCollisionAccounting();
2730 }
2731
2732
2733 private void changeDisable(bool disable)
2734 {
2735 if (disable)
2736 {
2737 if (!m_disabled)
2738 disableBodySoft();
2739 }
2740 else
2741 {
2742 if (m_disabled)
2743 enableBodySoft();
2744 }
2745 }
2746
2747 private void changePhysicsStatus(bool NewStatus)
2748 {
2749 CheckDelaySelect();
2750
2751 m_isphysical = NewStatus;
2752
2753 if (!childPrim)
2754 {
2755 if (NewStatus)
2756 {
2757 if (Body == IntPtr.Zero)
2758 MakeBody();
2759 }
2760 else
2761 {
2762 if (Body != IntPtr.Zero)
2763 {
2764 DestroyBody();
2765 }
2766 Stop();
2767 }
2768 }
2769
2770 resetCollisionAccounting();
2771 }
2772
2773 private void changeprimsizeshape()
2774 {
2775 CheckDelaySelect();
2776
2777 OdePrim parent = (OdePrim)_parent;
2778
2779 bool chp = childPrim;
2780
2781 if (chp)
2782 {
2783 if (parent != null)
2784 {
2785 parent.DestroyBody();
2786 }
2787 }
2788 else
2789 {
2790 DestroyBody();
2791 }
2792
2793 RemoveGeom();
2794
2795 // we don't need to do space calculation because the client sends a position update also.
2796 if (_size.X <= 0)
2797 _size.X = 0.01f;
2798 if (_size.Y <= 0)
2799 _size.Y = 0.01f;
2800 if (_size.Z <= 0)
2801 _size.Z = 0.01f;
2802 // Construction of new prim
2803
2804 CreateGeom();
2805
2806 if (prim_geom != IntPtr.Zero)
2807 {
2808 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2809 d.Quaternion myrot = new d.Quaternion();
2810 myrot.X = _orientation.X;
2811 myrot.Y = _orientation.Y;
2812 myrot.Z = _orientation.Z;
2813 myrot.W = _orientation.W;
2814 d.GeomSetQuaternion(prim_geom, ref myrot);
2815 }
2816
2817 if (chp)
2818 {
2819 if (parent != null)
2820 {
2821 parent.MakeBody();
2822 }
2823 }
2824 else
2825 MakeBody();
2826
2827 m_softcolide = true;
2828 resetCollisionAccounting();
2829 }
2830
2831 private void changeSize(Vector3 newSize)
2832 {
2833 _size = newSize;
2834 changeprimsizeshape();
2835 }
2836
2837 private void changeShape(PrimitiveBaseShape newShape)
2838 {
2839 _pbs = newShape;
2840 changeprimsizeshape();
2841 }
2842
2843 private void changeFloatOnWater(bool newval)
2844 {
2845 m_collidesWater = newval;
2846
2847 if (prim_geom != IntPtr.Zero && !m_isphantom)
2848 {
2849 if (m_collidesWater)
2850 {
2851 m_collisionFlags |= CollisionCategories.Water;
2852 }
2853 else
2854 {
2855 m_collisionFlags &= ~CollisionCategories.Water;
2856 }
2857 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2858 }
2859 }
2860
2861 private void changeSetTorque(Vector3 newtorque)
2862 {
2863 if (!m_isSelected)
2864 {
2865 if (m_isphysical && Body != IntPtr.Zero)
2866 {
2867 if (m_disabled)
2868 enableBodySoft();
2869 else if (!d.BodyIsEnabled(Body))
2870 d.BodyEnable(Body);
2871
2872 }
2873 _torque = newtorque;
2874 }
2875 }
2876
2877 private void changeForce(Vector3 force)
2878 {
2879 m_force = force;
2880 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2881 d.BodyEnable(Body);
2882 }
2883
2884 private void changeAddForce(Vector3 force)
2885 {
2886 m_forceacc += force;
2887 if (!m_isSelected)
2888 {
2889 lock (this)
2890 {
2891 //m_log.Info("[PHYSICS]: dequeing forcelist");
2892 if (m_isphysical && Body != IntPtr.Zero)
2893 {
2894 if (m_disabled)
2895 enableBodySoft();
2896 else if (!d.BodyIsEnabled(Body))
2897 d.BodyEnable(Body);
2898 }
2899 }
2900
2901 m_collisionscore = 0;
2902 }
2903 }
2904
2905 private void changeAddAngularForce(Vector3 aforce)
2906 {
2907 m_angularForceacc += aforce;
2908 if (!m_isSelected)
2909 {
2910 lock (this)
2911 {
2912 if (m_isphysical && Body != IntPtr.Zero)
2913 {
2914 if (m_disabled)
2915 enableBodySoft();
2916 else if (!d.BodyIsEnabled(Body))
2917 d.BodyEnable(Body);
2918 }
2919 }
2920 m_collisionscore = 0;
2921 }
2922 }
2923
2924 private void changevelocity(Vector3 newVel)
2925 {
2926 if (!m_isSelected)
2927 {
2928 if (Body != IntPtr.Zero)
2929 {
2930 if (m_disabled)
2931 enableBodySoft();
2932 else if (!d.BodyIsEnabled(Body))
2933 d.BodyEnable(Body);
2934
2935 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
2936 }
2937 //resetCollisionAccounting();
2938 }
2939 _velocity = newVel;
2940 }
2941
2942 private void changeVolumedetetion(bool newVolDtc)
2943 {
2944 m_isVolumeDetect = newVolDtc;
2945 }
2946
2947 protected void changeBuilding(bool newbuilding)
2948 {
2949 if ((bool)newbuilding)
2950 {
2951 m_building = true;
2952 if (!childPrim)
2953 DestroyBody();
2954 }
2955 else
2956 {
2957 m_building = false;
2958 CheckDelaySelect();
2959 if (!childPrim)
2960 MakeBody();
2961 }
2962 if (!childPrim && childrenPrim.Count > 0)
2963 {
2964 foreach (OdePrim prm in childrenPrim)
2965 prm.changeBuilding(m_building); // call directly
2966 }
2967 }
2968
2969 public void changeSetVehicle(VehicleData vdata)
2970 {
2971 if (m_vehicle == null)
2972 m_vehicle = new ODEDynamics(this);
2973 m_vehicle.DoSetVehicle(vdata);
2974 }
2975 private void changeVehicleType(int value)
2976 {
2977 if (value == (int)Vehicle.TYPE_NONE)
2978 {
2979 if (m_vehicle != null)
2980 m_vehicle = null;
2981 }
2982 else
2983 {
2984 if (m_vehicle == null)
2985 m_vehicle = new ODEDynamics(this);
2986
2987 m_vehicle.ProcessTypeChange((Vehicle)value);
2988 }
2989 }
2990
2991 private void changeVehicleFloatParam(strVehicleFloatParam fp)
2992 {
2993 if (m_vehicle == null)
2994 return;
2995
2996 m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
2997 }
2998
2999 private void changeVehicleVectorParam(strVehicleVectorParam vp)
3000 {
3001 if (m_vehicle == null)
3002 return;
3003 m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
3004 }
3005
3006 private void changeVehicleRotationParam(strVehicleQuatParam qp)
3007 {
3008 if (m_vehicle == null)
3009 return;
3010 m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
3011 }
3012
3013 private void changeVehicleFlags(strVehicleBoolParam bp)
3014 {
3015 if (m_vehicle == null)
3016 return;
3017 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3018 }
3019
3020 #endregion
3021
3022 public void Move()
3023 {
3024 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3025 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
3026 // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3027 {
3028// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
3029
3030 float timestep = _parent_scene.ODE_STEPSIZE;
3031
3032 // check outside region
3033 d.Vector3 lpos;
3034 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
3035
3036 if (lpos.Z < -100 || lpos.Z > 100000f)
3037 {
3038 m_outbounds = true;
3039
3040 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
3041 _acceleration.X = 0;
3042 _acceleration.Y = 0;
3043 _acceleration.Z = 0;
3044
3045 _velocity.X = 0;
3046 _velocity.Y = 0;
3047 _velocity.Z = 0;
3048 m_rotationalVelocity.X = 0;
3049 m_rotationalVelocity.Y = 0;
3050 m_rotationalVelocity.Z = 0;
3051
3052 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3053 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
3054 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
3055 m_lastposition = _position;
3056 m_lastorientation = _orientation;
3057
3058 base.RequestPhysicsterseUpdate();
3059
3060 m_throttleUpdates = false;
3061 throttleCounter = 0;
3062 _zeroFlag = true;
3063
3064 disableBodySoft(); // disable it and colisions
3065 base.RaiseOutOfBounds(_position);
3066 return;
3067 }
3068
3069 if (lpos.X < 0f)
3070 {
3071 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
3072 m_outbounds = true;
3073 }
3074 else if(lpos.X > _parent_scene.WorldExtents.X)
3075 {
3076 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
3077 m_outbounds = true;
3078 }
3079 if (lpos.Y < 0f)
3080 {
3081 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
3082 m_outbounds = true;
3083 }
3084 else if(lpos.Y > _parent_scene.WorldExtents.Y)
3085 {
3086 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
3087 m_outbounds = true;
3088 }
3089
3090 if(m_outbounds)
3091 {
3092 m_lastposition = _position;
3093 m_lastorientation = _orientation;
3094
3095 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3096 m_rotationalVelocity.X = dtmp.X;
3097 m_rotationalVelocity.Y = dtmp.Y;
3098 m_rotationalVelocity.Z = dtmp.Z;
3099
3100 dtmp = d.BodyGetLinearVel(Body);
3101 _velocity.X = dtmp.X;
3102 _velocity.Y = dtmp.Y;
3103 _velocity.Z = dtmp.Z;
3104
3105 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3106 d.BodySetAngularVel(Body, 0, 0, 0);
3107 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
3108 disableBodySoft(); // stop collisions
3109 base.RequestPhysicsterseUpdate();
3110 return;
3111 }
3112
3113
3114 float fx = 0;
3115 float fy = 0;
3116 float fz = 0;
3117
3118 if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
3119 {
3120 // 'VEHICLES' are dealt with in ODEDynamics.cs
3121 m_vehicle.Step();
3122 }
3123 else
3124 {
3125 float m_mass = _mass;
3126
3127 // fz = 0f;
3128 //m_log.Info(m_collisionFlags.ToString());
3129 if (m_usePID)
3130 {
3131
3132 // If the PID Controller isn't active then we set our force
3133 // calculating base velocity to the current position
3134
3135 if ((m_PIDTau < 1) && (m_PIDTau != 0))
3136 {
3137 //PID_G = PID_G / m_PIDTau;
3138 m_PIDTau = 1;
3139 }
3140
3141 if ((PID_G - m_PIDTau) <= 0)
3142 {
3143 PID_G = m_PIDTau + 1;
3144 }
3145
3146 d.Vector3 vel = d.BodyGetLinearVel(Body);
3147 d.Vector3 pos = d.BodyGetPosition(Body);
3148 _target_velocity =
3149 new Vector3(
3150 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
3151 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
3152 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
3153 );
3154
3155 // if velocity is zero, use position control; otherwise, velocity control
3156
3157 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3158 {
3159 // keep track of where we stopped. No more slippin' & slidin'
3160
3161 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3162 // react to the physics scene by moving it's position.
3163 // Avatar to Avatar collisions
3164 // Prim to avatar collisions
3165
3166 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
3167 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
3168 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
3169 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3170 d.BodySetLinearVel(Body, 0, 0, 0);
3171 d.BodyAddForce(Body, 0, 0, fz);
3172 return;
3173 }
3174 else
3175 {
3176 _zeroFlag = false;
3177
3178 // We're flying and colliding with something
3179 fx = ((_target_velocity.X) - vel.X) * (PID_D);
3180 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
3181
3182 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
3183
3184 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3185 }
3186 } // end if (m_usePID)
3187
3188 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
3189 else if (m_useHoverPID)
3190 {
3191 //Console.WriteLine("Hover " + Name);
3192
3193 // If we're using the PID controller, then we have no gravity
3194
3195 // no lock; for now it's only called from within Simulate()
3196
3197 // If the PID Controller isn't active then we set our force
3198 // calculating base velocity to the current position
3199
3200 if ((m_PIDTau < 1))
3201 {
3202 PID_G = PID_G / m_PIDTau;
3203 }
3204
3205 if ((PID_G - m_PIDTau) <= 0)
3206 {
3207 PID_G = m_PIDTau + 1;
3208 }
3209
3210 // Where are we, and where are we headed?
3211 d.Vector3 pos = d.BodyGetPosition(Body);
3212 d.Vector3 vel = d.BodyGetLinearVel(Body);
3213
3214 // Non-Vehicles have a limited set of Hover options.
3215 // determine what our target height really is based on HoverType
3216 switch (m_PIDHoverType)
3217 {
3218 case PIDHoverType.Ground:
3219 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3220 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3221 break;
3222 case PIDHoverType.GroundAndWater:
3223 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3224 m_waterHeight = _parent_scene.GetWaterLevel();
3225 if (m_groundHeight > m_waterHeight)
3226 {
3227 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3228 }
3229 else
3230 {
3231 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3232 }
3233 break;
3234
3235 } // end switch (m_PIDHoverType)
3236
3237
3238 _target_velocity =
3239 new Vector3(0.0f, 0.0f,
3240 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3241 );
3242
3243 // if velocity is zero, use position control; otherwise, velocity control
3244
3245 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3246 {
3247 // keep track of where we stopped. No more slippin' & slidin'
3248
3249 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3250 // react to the physics scene by moving it's position.
3251 // Avatar to Avatar collisions
3252 // Prim to avatar collisions
3253
3254 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3255 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
3256 // ? d.BodyAddForce(Body, 0, 0, fz);
3257 return;
3258 }
3259 else
3260 {
3261 _zeroFlag = false;
3262
3263 // We're flying and colliding with something
3264 fz = ((_target_velocity.Z - vel.Z) * (PID_D));
3265 }
3266 }
3267 else
3268 {
3269 float b = (1.0f - m_buoyancy);
3270 fx = _parent_scene.gravityx * b;
3271 fy = _parent_scene.gravityy * b;
3272 fz = _parent_scene.gravityz * b;
3273 }
3274
3275 fx *= m_mass;
3276 fy *= m_mass;
3277 fz *= m_mass;
3278
3279 // constant force
3280 fx += m_force.X;
3281 fy += m_force.Y;
3282 fz += m_force.Z;
3283
3284 fx += m_forceacc.X;
3285 fy += m_forceacc.Y;
3286 fz += m_forceacc.Z;
3287
3288 m_forceacc = Vector3.Zero;
3289
3290 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3291 if (fx != 0 || fy != 0 || fz != 0)
3292 {
3293 d.BodyAddForce(Body, fx, fy, fz);
3294 //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3295 }
3296
3297 Vector3 trq;
3298
3299 trq = _torque;
3300 trq += m_angularForceacc;
3301 m_angularForceacc = Vector3.Zero;
3302 if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
3303 {
3304 d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
3305 }
3306
3307 }
3308 }
3309 else
3310 { // is not physical, or is not a body or is selected
3311 // _zeroPosition = d.BodyGetPosition(Body);
3312 return;
3313 //Console.WriteLine("Nothing " + Name);
3314
3315 }
3316 }
3317
3318
3319 public void UpdatePositionAndVelocity(float simulatedtime)
3320 {
3321 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
3322 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
3323 {
3324 if (Body != IntPtr.Zero)
3325 {
3326 Vector3 pv = Vector3.Zero;
3327 bool lastZeroFlag = _zeroFlag;
3328
3329 d.Vector3 lpos;
3330 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
3331
3332
3333 d.Quaternion ori;
3334 d.GeomCopyQuaternion(prim_geom, out ori);
3335 d.Vector3 vel = d.BodyGetLinearVel(Body);
3336 d.Vector3 rotvel = d.BodyGetAngularVel(Body);
3337
3338 if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)
3339 && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)
3340 && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)
3341 && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)
3342 && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)
3343 && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)
3344 )
3345 {
3346 _zeroFlag = true;
3347 //Console.WriteLine("ZFT 2");
3348 m_throttleUpdates = false;
3349 }
3350 else
3351 {
3352 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3353 _zeroFlag = false;
3354 m_lastUpdateSent = false;
3355 //m_throttleUpdates = false;
3356 }
3357
3358 if (_zeroFlag)
3359 {
3360 m_lastposition = _position;
3361 m_lastorientation = _orientation;
3362
3363 _velocity.X = 0.0f;
3364 _velocity.Y = 0.0f;
3365 _velocity.Z = 0.0f;
3366
3367 _acceleration.X = 0;
3368 _acceleration.Y = 0;
3369 _acceleration.Z = 0;
3370
3371 m_rotationalVelocity.X = 0;
3372 m_rotationalVelocity.Y = 0;
3373 m_rotationalVelocity.Z = 0;
3374 if (!m_lastUpdateSent)
3375 {
3376 m_throttleUpdates = false;
3377 throttleCounter = 0;
3378 m_rotationalVelocity = pv;
3379
3380 base.RequestPhysicsterseUpdate();
3381
3382 m_lastUpdateSent = true;
3383 }
3384 }
3385 else
3386 {
3387 if (lastZeroFlag != _zeroFlag)
3388 {
3389 base.RequestPhysicsterseUpdate();
3390 }
3391
3392 m_lastVelocity = _velocity;
3393
3394 _position.X = lpos.X;
3395 _position.Y = lpos.Y;
3396 _position.Z = lpos.Z;
3397
3398 _velocity.X = vel.X;
3399 _velocity.Y = vel.Y;
3400 _velocity.Z = vel.Z;
3401
3402 _orientation.X = ori.X;
3403 _orientation.Y = ori.Y;
3404 _orientation.Z = ori.Z;
3405 _orientation.W = ori.W;
3406
3407 _acceleration = ((_velocity - m_lastVelocity) / simulatedtime);
3408
3409 if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
3410 {
3411 m_rotationalVelocity = pv;
3412 }
3413 else
3414 {
3415 m_rotationalVelocity.X = rotvel.X;
3416 m_rotationalVelocity.Y = rotvel.Y;
3417 m_rotationalVelocity.Z = rotvel.Z;
3418 }
3419
3420 m_lastUpdateSent = false;
3421 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3422 {
3423 m_lastposition = _position;
3424 m_lastorientation = _orientation;
3425 base.RequestPhysicsterseUpdate();
3426 }
3427 else
3428 {
3429 throttleCounter++;
3430 }
3431 }
3432 }
3433 else if (!m_lastUpdateSent || !_zeroFlag)
3434 {
3435 // Not a body.. so Make sure the client isn't interpolating
3436 _velocity.X = 0;
3437 _velocity.Y = 0;
3438 _velocity.Z = 0;
3439
3440 _acceleration.X = 0;
3441 _acceleration.Y = 0;
3442 _acceleration.Z = 0;
3443
3444 m_rotationalVelocity.X = 0;
3445 m_rotationalVelocity.Y = 0;
3446 m_rotationalVelocity.Z = 0;
3447 _zeroFlag = true;
3448
3449 if (!m_lastUpdateSent)
3450 {
3451 m_throttleUpdates = false;
3452 throttleCounter = 0;
3453
3454 base.RequestPhysicsterseUpdate();
3455
3456 m_lastUpdateSent = true;
3457 }
3458 }
3459 }
3460 }
3461
3462 internal static bool QuaternionIsFinite(Quaternion q)
3463 {
3464 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
3465 return false;
3466 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
3467 return false;
3468 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
3469 return false;
3470 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
3471 return false;
3472 return true;
3473 }
3474
3475 internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3476 {
3477 dst.c.W = src.c.W;
3478 dst.c.X = src.c.X;
3479 dst.c.Y = src.c.Y;
3480 dst.c.Z = src.c.Z;
3481 dst.mass = src.mass;
3482 dst.I.M00 = src.I.M00;
3483 dst.I.M01 = src.I.M01;
3484 dst.I.M02 = src.I.M02;
3485 dst.I.M10 = src.I.M10;
3486 dst.I.M11 = src.I.M11;
3487 dst.I.M12 = src.I.M12;
3488 dst.I.M20 = src.I.M20;
3489 dst.I.M21 = src.I.M21;
3490 dst.I.M22 = src.I.M22;
3491 }
3492
3493 private static void DMassDup(ref d.Mass src, out d.Mass dst)
3494 {
3495 dst = new d.Mass { };
3496
3497 dst.c.W = src.c.W;
3498 dst.c.X = src.c.X;
3499 dst.c.Y = src.c.Y;
3500 dst.c.Z = src.c.Z;
3501 dst.mass = src.mass;
3502 dst.I.M00 = src.I.M00;
3503 dst.I.M01 = src.I.M01;
3504 dst.I.M02 = src.I.M02;
3505 dst.I.M10 = src.I.M10;
3506 dst.I.M11 = src.I.M11;
3507 dst.I.M12 = src.I.M12;
3508 dst.I.M20 = src.I.M20;
3509 dst.I.M21 = src.I.M21;
3510 dst.I.M22 = src.I.M22;
3511 }
3512 private void donullchange()
3513 {
3514 }
3515
3516 public bool DoAChange(changes what, object arg)
3517 {
3518 if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove)
3519 {
3520 return false;
3521 }
3522
3523 // nasty switch
3524 switch (what)
3525 {
3526 case changes.Add:
3527 changeadd();
3528 break;
3529 case changes.Remove:
3530 //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff...
3531 //When we return true, it destroys all of the prims in the linkset anyway
3532 if (_parent != null)
3533 {
3534 OdePrim parent = (OdePrim)_parent;
3535 parent.ChildRemove(this, false);
3536 }
3537 else
3538 ChildRemove(this, false);
3539
3540 m_vehicle = null;
3541 RemoveGeom();
3542 m_targetSpace = IntPtr.Zero;
3543 if (m_eventsubscription > 0)
3544 UnSubscribeEvents();
3545 return true;
3546
3547 case changes.Link:
3548 OdePrim tmp = (OdePrim)arg;
3549 changeLink(tmp);
3550 break;
3551
3552 case changes.DeLink:
3553 changeLink(null);
3554 break;
3555
3556 case changes.Position:
3557 changePosition((Vector3)arg);
3558 break;
3559
3560 case changes.Orientation:
3561 changeOrientation((Quaternion)arg);
3562 break;
3563
3564 case changes.PosOffset:
3565 donullchange();
3566 break;
3567
3568 case changes.OriOffset:
3569 donullchange();
3570 break;
3571
3572 case changes.Velocity:
3573 changevelocity((Vector3)arg);
3574 break;
3575
3576 // case changes.Acceleration:
3577 // changeacceleration((Vector3)arg);
3578 // break;
3579 // case changes.AngVelocity:
3580 // changeangvelocity((Vector3)arg);
3581 // break;
3582
3583 case changes.Force:
3584 changeForce((Vector3)arg);
3585 break;
3586
3587 case changes.Torque:
3588 changeSetTorque((Vector3)arg);
3589 break;
3590
3591 case changes.AddForce:
3592 changeAddForce((Vector3)arg);
3593 break;
3594
3595 case changes.AddAngForce:
3596 changeAddAngularForce((Vector3)arg);
3597 break;
3598
3599 case changes.AngLock:
3600 changeAngularLock((Vector3)arg);
3601 break;
3602
3603 case changes.Size:
3604 changeSize((Vector3)arg);
3605 break;
3606
3607 case changes.Shape:
3608 changeShape((PrimitiveBaseShape)arg);
3609 break;
3610
3611 case changes.CollidesWater:
3612 changeFloatOnWater((bool)arg);
3613 break;
3614
3615 case changes.VolumeDtc:
3616 changeVolumedetetion((bool)arg);
3617 break;
3618
3619 case changes.Phantom:
3620 changePhantomStatus((bool)arg);
3621 break;
3622
3623 case changes.Physical:
3624 changePhysicsStatus((bool)arg);
3625 break;
3626
3627 case changes.Selected:
3628 changeSelectedStatus((bool)arg);
3629 break;
3630
3631 case changes.disabled:
3632 changeDisable((bool)arg);
3633 break;
3634
3635 case changes.building:
3636 changeBuilding((bool)arg);
3637 break;
3638
3639 case changes.VehicleType:
3640 changeVehicleType((int)arg);
3641 break;
3642
3643 case changes.VehicleFlags:
3644 changeVehicleFlags((strVehicleBoolParam) arg);
3645 break;
3646
3647 case changes.VehicleFloatParam:
3648 changeVehicleFloatParam((strVehicleFloatParam) arg);
3649 break;
3650
3651 case changes.VehicleVectorParam:
3652 changeVehicleVectorParam((strVehicleVectorParam) arg);
3653 break;
3654
3655 case changes.VehicleRotationParam:
3656 changeVehicleRotationParam((strVehicleQuatParam) arg);
3657 break;
3658
3659 case changes.SetVehicle:
3660 changeSetVehicle((VehicleData) arg);
3661 break;
3662 case changes.Null:
3663 donullchange();
3664 break;
3665
3666 default:
3667 donullchange();
3668 break;
3669 }
3670 return false;
3671 }
3672
3673 public void AddChange(changes what, object arg)
3674 {
3675 _parent_scene.AddChange((PhysicsActor) this, what, arg);
3676 }
3677
3678
3679 private struct strVehicleBoolParam
3680 {
3681 public int param;
3682 public bool value;
3683 }
3684
3685 private struct strVehicleFloatParam
3686 {
3687 public int param;
3688 public float value;
3689 }
3690
3691 private struct strVehicleQuatParam
3692 {
3693 public int param;
3694 public Quaternion value;
3695 }
3696
3697 private struct strVehicleVectorParam
3698 {
3699 public int param;
3700 public Vector3 value;
3701 }
3702 }
3703} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..4b3f83b
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,443 @@
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
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using OdeAPI;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending ray requests
49 /// </summary>
50 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 IntPtr ray;
58
59 private const int ColisionContactGeomsPerTest = 5;
60
61 /// <summary>
62 /// ODE near callback delegate
63 /// </summary>
64 private d.NearCallback nearCallback;
65 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
66 private List<ContactResult> m_contactResults = new List<ContactResult>();
67
68 public ODERayCastRequestManager(OdeScene pScene)
69 {
70 m_scene = pScene;
71 nearCallback = near;
72 ray = d.CreateRay(IntPtr.Zero, 1.0f);
73 }
74
75 /// <summary>
76 /// Queues a raycast
77 /// </summary>
78 /// <param name="position">Origin of Ray</param>
79 /// <param name="direction">Ray normal</param>
80 /// <param name="length">Ray length</param>
81 /// <param name="retMethod">Return method to send the results</param>
82 public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
83 {
84 ODERayRequest req = new ODERayRequest();
85 req.geom = IntPtr.Zero;
86 req.callbackMethod = retMethod;
87 req.Count = 0;
88 req.length = length;
89 req.Normal = direction;
90 req.Origin = position;
91
92 m_PendingRequests.Enqueue(req);
93 }
94
95 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
96 {
97 ODERayRequest req = new ODERayRequest();
98 req.geom = geom;
99 req.callbackMethod = retMethod;
100 req.length = length;
101 req.Normal = direction;
102 req.Origin = position;
103 req.Count = 0;
104
105 m_PendingRequests.Enqueue(req);
106 }
107
108 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
109 {
110 ODERayRequest req = new ODERayRequest();
111 req.geom = IntPtr.Zero;
112 req.callbackMethod = retMethod;
113 req.Count = 0;
114 req.length = length;
115 req.Normal = direction;
116 req.Origin = position;
117
118 m_PendingRequests.Enqueue(req);
119 }
120
121 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
122 {
123 ODERayRequest req = new ODERayRequest();
124 req.geom = geom;
125 req.callbackMethod = retMethod;
126 req.length = length;
127 req.Normal = direction;
128 req.Origin = position;
129 req.Count = 0;
130
131 m_PendingRequests.Enqueue(req);
132 }
133
134 /// <summary>
135 /// Queues a raycast
136 /// </summary>
137 /// <param name="position">Origin of Ray</param>
138 /// <param name="direction">Ray normal</param>
139 /// <param name="length">Ray length</param>
140 /// <param name="count"></param>
141 /// <param name="retMethod">Return method to send the results</param>
142 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
143 {
144 ODERayRequest req = new ODERayRequest();
145 req.geom = IntPtr.Zero;
146 req.callbackMethod = retMethod;
147 req.length = length;
148 req.Normal = direction;
149 req.Origin = position;
150 req.Count = count;
151
152 m_PendingRequests.Enqueue(req);
153 }
154
155 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
156 {
157 ODERayRequest req = new ODERayRequest();
158 req.geom = geom;
159 req.callbackMethod = retMethod;
160 req.length = length;
161 req.Normal = direction;
162 req.Origin = position;
163 req.Count = count;
164
165 m_PendingRequests.Enqueue(req);
166 }
167
168 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
169 {
170 ODERayRequest req = new ODERayRequest();
171 req.geom = IntPtr.Zero;
172 req.callbackMethod = retMethod;
173 req.length = length;
174 req.Normal = direction;
175 req.Origin = position;
176 req.Count = count;
177
178 m_PendingRequests.Enqueue(req);
179 }
180
181 public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
182 {
183 ODERayRequest req = new ODERayRequest();
184 req.geom = geom;
185 req.callbackMethod = retMethod;
186 req.length = length;
187 req.Normal = direction;
188 req.Origin = position;
189 req.Count = count;
190
191 m_PendingRequests.Enqueue(req);
192 }
193
194 /// <summary>
195 /// Process all queued raycast requests
196 /// </summary>
197 /// <returns>Time in MS the raycasts took to process.</returns>
198 public int ProcessQueuedRequests()
199 {
200 int time = System.Environment.TickCount;
201
202 if (m_PendingRequests.Count <= 0)
203 return 0;
204
205 if (m_scene.ContactgeomsArray == IntPtr.Zero) // oops something got wrong or scene isn't ready still
206 {
207 m_PendingRequests.Clear();
208 return 0;
209 }
210
211 ODERayRequest req;
212
213 int i = 50; // arbitary limit of processed tests per frame
214
215 while(m_PendingRequests.Dequeue(out req))
216 {
217 if (req.geom == IntPtr.Zero)
218 doSpaceRay(req);
219 else
220 doGeomRay(req);
221 if(--i < 0)
222 break;
223 }
224
225 lock (m_contactResults)
226 m_contactResults.Clear();
227
228 return System.Environment.TickCount - time;
229 }
230 /// <summary>
231 /// Method that actually initiates the raycast with full top space
232 /// </summary>
233 /// <param name="req"></param>
234 private void doSpaceRay(ODERayRequest req)
235 {
236 // Create the ray
237// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
238 d.GeomRaySetLength(ray, req.length);
239 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
240
241 // Collide test
242 d.SpaceCollide2(m_scene.TopSpace, ray, IntPtr.Zero, nearCallback);
243
244 // Remove Ray
245// d.GeomDestroy(ray);
246
247 if (req.callbackMethod == null)
248 return;
249
250 if (req.callbackMethod is RaycastCallback)
251 {
252 // Define default results
253 bool hitYN = false;
254 uint hitConsumerID = 0;
255 float distance = 999999999999f;
256 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
257 Vector3 snormal = Vector3.Zero;
258
259 // Find closest contact and object.
260 lock (m_contactResults)
261 {
262 foreach (ContactResult cResult in m_contactResults)
263 {
264 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
265 {
266 closestcontact = cResult.Pos;
267 hitConsumerID = cResult.ConsumerID;
268 distance = cResult.Depth;
269 hitYN = true;
270 snormal = cResult.Normal;
271 }
272 }
273 m_contactResults.Clear();
274 }
275
276 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
277 }
278 else
279 {
280 ((RayCallback)req.callbackMethod)(m_contactResults);
281 lock (m_PendingRequests)
282 m_contactResults.Clear();
283 }
284 }
285
286 /// <summary>
287 /// Method that actually initiates the raycast with a geom
288 /// </summary>
289 /// <param name="req"></param>
290 private void doGeomRay(ODERayRequest req)
291 {
292 // Create the ray
293// IntPtr ray = d.CreateRay(m_scene.TopSpace, req.length);
294 d.GeomRaySetLength(ray, req.length);
295 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
296
297 // Collide test
298 d.SpaceCollide2(req.geom, ray, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
299
300 // Remove Ray
301// d.GeomDestroy(ray);
302
303 if (req.callbackMethod == null)
304 return;
305
306 if (req.callbackMethod is RaycastCallback)
307 {
308 // Define default results
309 bool hitYN = false;
310 uint hitConsumerID = 0;
311 float distance = 999999999999f;
312 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
313 Vector3 snormal = Vector3.Zero;
314
315 // Find closest contact and object.
316 lock (m_contactResults)
317 {
318 foreach (ContactResult cResult in m_contactResults)
319 {
320 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
321 {
322 closestcontact = cResult.Pos;
323 hitConsumerID = cResult.ConsumerID;
324 distance = cResult.Depth;
325 hitYN = true;
326 snormal = cResult.Normal;
327 }
328 }
329 m_contactResults.Clear();
330 }
331
332 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
333 }
334 else
335 {
336 ((RayCallback)req.callbackMethod)(m_contactResults);
337 lock (m_PendingRequests)
338 m_contactResults.Clear();
339 }
340 }
341
342 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
343 {
344 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
345 if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
346 return false;
347
348 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
349 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
350 return true;
351 }
352
353 // This is the standard Near. g2 is the ray
354 private void near(IntPtr space, IntPtr g1, IntPtr g2)
355 {
356 //Don't test against heightfield Geom, or you'll be sorry!
357 // Exclude heightfield geom
358
359 if (g1 == IntPtr.Zero || g1 == g2)
360 return;
361
362 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
363 return;
364
365 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
366 if (d.GeomIsSpace(g1))
367 {
368 try
369 {
370 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
371 }
372 catch (Exception e)
373 {
374 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
375 }
376 return;
377 }
378
379 int count = 0;
380 try
381 {
382 count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
383 }
384 catch (SEHException)
385 {
386 m_log.Error("[PHYSICS Ray]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
387 }
388 catch (Exception e)
389 {
390 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
391 return;
392 }
393
394 if (count == 0)
395 return;
396
397 PhysicsActor p1 = null;
398
399 if (g1 != IntPtr.Zero)
400 m_scene.actor_name_map.TryGetValue(g1, out p1);
401
402 d.ContactGeom curcontact = new d.ContactGeom();
403 // Loop over contacts, build results.
404 for (int i = 0; i < count; i++)
405 {
406 if (!GetCurContactGeom(i, ref curcontact))
407 break;
408 if (p1 != null) {
409 if (p1 is OdePrim)
410 {
411 ContactResult collisionresult = new ContactResult();
412
413 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
414 collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
415 collisionresult.Depth = curcontact.depth;
416 collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
417 curcontact.normal.Z);
418 lock (m_contactResults)
419 m_contactResults.Add(collisionresult);
420 }
421 }
422 }
423 }
424
425 /// <summary>
426 /// Dereference the creator scene so that it can be garbage collected if needed.
427 /// </summary>
428 internal void Dispose()
429 {
430 m_scene = null;
431 }
432 }
433
434 public struct ODERayRequest
435 {
436 public IntPtr geom;
437 public Vector3 Origin;
438 public Vector3 Normal;
439 public int Count;
440 public float length;
441 public object callbackMethod;
442 }
443} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
new file mode 100644
index 0000000..2b6bc59
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -0,0 +1,1960 @@
1/*
2 * based on:
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 * changes by opensim team;
39 * changes by Aurora team http://www.aurora-sim.org/
40
41 * Revision/fixs by Ubit Umarov
42 */
43
44using System;
45using System.Runtime.InteropServices;
46using System.Security;
47
48namespace OdeAPI
49{
50//#if dDOUBLE
51// don't see much use in double precision with time steps of 20ms and 10 iterations used on opensim
52// at least we save same memory and memory access time, FPU performance on intel usually is similar
53// using dReal = System.Double;
54//#else
55 using dReal = System.Single;
56//#endif
57
58 public static class d
59 {
60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0;
63
64 #region Flags and Enumerations
65
66 [Flags]
67 public enum AllocateODEDataFlags : uint
68 {
69 BasicData = 0,
70 CollisionData = 0x00000001,
71 All = ~0u
72 }
73
74 [Flags]
75 public enum IniteODEFlags : uint
76 {
77 dInitFlagManualThreadCleanup = 0x00000001
78 }
79
80 [Flags]
81 public enum ContactFlags : int
82 {
83 Mu2 = 0x001,
84 FDir1 = 0x002,
85 Bounce = 0x004,
86 SoftERP = 0x008,
87 SoftCFM = 0x010,
88 Motion1 = 0x020,
89 Motion2 = 0x040,
90 MotionN = 0x080,
91 Slip1 = 0x100,
92 Slip2 = 0x200,
93 Approx0 = 0x0000,
94 Approx1_1 = 0x1000,
95 Approx1_2 = 0x2000,
96 Approx1 = 0x3000
97 }
98
99 public enum GeomClassID : int
100 {
101 SphereClass,
102 BoxClass,
103 CapsuleClass,
104 CylinderClass,
105 PlaneClass,
106 RayClass,
107 ConvexClass,
108 GeomTransformClass,
109 TriMeshClass,
110 HeightfieldClass,
111 FirstSpaceClass,
112 SimpleSpaceClass = FirstSpaceClass,
113 HashSpaceClass,
114 QuadTreeSpaceClass,
115 LastSpaceClass = QuadTreeSpaceClass,
116 FirstUserClass,
117 LastUserClass = FirstUserClass + MaxUserClasses - 1,
118 NumClasses,
119 MaxUserClasses = 4
120 }
121
122 public enum JointType : int
123 {
124 None,
125 Ball,
126 Hinge,
127 Slider,
128 Contact,
129 Universal,
130 Hinge2,
131 Fixed,
132 Null,
133 AMotor,
134 LMotor,
135 Plane2D
136 }
137
138 public enum JointParam : int
139 {
140 LoStop,
141 HiStop,
142 Vel,
143 FMax,
144 FudgeFactor,
145 Bounce,
146 CFM,
147 StopERP,
148 StopCFM,
149 SuspensionERP,
150 SuspensionCFM,
151 LoStop2 = 256,
152 HiStop2,
153 Vel2,
154 FMax2,
155 FudgeFactor2,
156 Bounce2,
157 CFM2,
158 StopERP2,
159 StopCFM2,
160 SuspensionERP2,
161 SuspensionCFM2,
162 LoStop3 = 512,
163 HiStop3,
164 Vel3,
165 FMax3,
166 FudgeFactor3,
167 Bounce3,
168 CFM3,
169 StopERP3,
170 StopCFM3,
171 SuspensionERP3,
172 SuspensionCFM3
173 }
174
175 public enum dSweepAndPruneAxis : int
176 {
177 XYZ = ((0)|(1<<2)|(2<<4)),
178 XZY = ((0)|(2<<2)|(1<<4)),
179 YXZ = ((1)|(0<<2)|(2<<4)),
180 YZX = ((1)|(2<<2)|(0<<4)),
181 ZXY = ((2)|(0<<2)|(1<<4)),
182 ZYX = ((2)|(1<<2)|(0<<4))
183 }
184
185 #endregion
186
187 #region Callbacks
188
189 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
190 public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);
191
192 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
193 public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);
194
195 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
196 public delegate void GetAABBFn(IntPtr geom, out AABB aabb);
197
198 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
199 public delegate ColliderFn GetColliderFnFn(int num);
200
201 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
202 public delegate void GeomDtorFn(IntPtr o);
203
204 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
205 public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
206
207 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
208 public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
209
210 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
211 public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);
212
213 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
214 public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);
215
216 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
217 public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);
218
219 #endregion
220
221 #region Structs
222
223 [StructLayout(LayoutKind.Sequential)]
224 public struct AABB
225 {
226 public dReal MinX, MaxX;
227 public dReal MinY, MaxY;
228 public dReal MinZ, MaxZ;
229 }
230
231
232 [StructLayout(LayoutKind.Sequential)]
233 public struct Contact
234 {
235 public SurfaceParameters surface;
236 public ContactGeom geom;
237 public Vector3 fdir1;
238 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(Contact));
239 }
240
241
242 [StructLayout(LayoutKind.Sequential)]
243 public struct ContactGeom
244 {
245
246 public Vector3 pos;
247 public Vector3 normal;
248 public dReal depth;
249 public IntPtr g1;
250 public IntPtr g2;
251 public int side1;
252 public int side2;
253 public static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
254 }
255
256 [StructLayout(LayoutKind.Sequential)]
257 public struct GeomClass
258 {
259 public int bytes;
260 public GetColliderFnFn collider;
261 public GetAABBFn aabb;
262 public AABBTestFn aabb_test;
263 public GeomDtorFn dtor;
264 }
265
266
267 [StructLayout(LayoutKind.Sequential)]
268 public struct JointFeedback
269 {
270 public Vector3 f1;
271 public Vector3 t1;
272 public Vector3 f2;
273 public Vector3 t2;
274 }
275
276
277 [StructLayout(LayoutKind.Sequential)]
278 public struct Mass
279 {
280 public dReal mass;
281 public Vector4 c;
282 public Matrix3 I;
283 }
284
285
286 [StructLayout(LayoutKind.Sequential)]
287 public struct Matrix3
288 {
289 public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)
290 {
291 M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f;
292 M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f;
293 M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f;
294 }
295 public dReal M00, M10, M20;
296 private dReal _m30;
297 public dReal M01, M11, M21;
298 private dReal _m31;
299 public dReal M02, M12, M22;
300 private dReal _m32;
301 }
302
303 [StructLayout(LayoutKind.Sequential)]
304 public struct Matrix4
305 {
306 public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,
307 dReal m01, dReal m11, dReal m21, dReal m31,
308 dReal m02, dReal m12, dReal m22, dReal m32,
309 dReal m03, dReal m13, dReal m23, dReal m33)
310 {
311 M00 = m00; M10 = m10; M20 = m20; M30 = m30;
312 M01 = m01; M11 = m11; M21 = m21; M31 = m31;
313 M02 = m02; M12 = m12; M22 = m22; M32 = m32;
314 M03 = m03; M13 = m13; M23 = m23; M33 = m33;
315 }
316 public dReal M00, M10, M20, M30;
317 public dReal M01, M11, M21, M31;
318 public dReal M02, M12, M22, M32;
319 public dReal M03, M13, M23, M33;
320 }
321
322 [StructLayout(LayoutKind.Sequential)]
323 public struct Quaternion
324 {
325 public dReal W, X, Y, Z;
326 }
327
328
329 [StructLayout(LayoutKind.Sequential)]
330 public struct SurfaceParameters
331 {
332 public ContactFlags mode;
333 public dReal mu;
334 public dReal mu2;
335 public dReal bounce;
336 public dReal bounce_vel;
337 public dReal soft_erp;
338 public dReal soft_cfm;
339 public dReal motion1;
340 public dReal motion2;
341 public dReal motionN;
342 public dReal slip1;
343 public dReal slip2;
344 }
345
346
347 [StructLayout(LayoutKind.Sequential)]
348 public struct Vector3
349 {
350 public Vector3(dReal x, dReal y, dReal z)
351 {
352 X = x; Y = y; Z = z; _w = 0.0f;
353 }
354 public dReal X, Y, Z;
355 private dReal _w;
356 }
357
358
359 [StructLayout(LayoutKind.Sequential)]
360 public struct Vector4
361 {
362 public Vector4(dReal x, dReal y, dReal z, dReal w)
363 {
364 X = x; Y = y; Z = z; W = w;
365 }
366 public dReal X, Y, Z, W;
367 }
368
369 #endregion
370
371 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity]
372 public static extern int AllocateODEDataForThread(uint ODEInitFlags);
373
374 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]
375 public static extern bool AreConnected(IntPtr b1, IntPtr b2);
376
377 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]
378 public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);
379
380 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]
381 public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);
382
383 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]
384 public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
385
386 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]
387 public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
388
389 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]
390 public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);
391
392 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]
393 public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
394
395 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]
396 public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
397
398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]
399 public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
400
401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]
402 public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);
403
404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
405 public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);
406
407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]
408 public static extern void BodyCopyPosition(IntPtr body, out dReal X);
409
410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
411 public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);
412
413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]
414 public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);
415
416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
417 public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);
418
419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]
420 public static extern void BodyCopyRotation(IntPtr body, out dReal M00);
421
422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
423 public static extern IntPtr BodyiCreate(IntPtr world);
424 public static IntPtr BodyCreate(IntPtr world)
425 {
426 NTotalBodies++;
427 return BodyiCreate(world);
428 }
429
430 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]
431 public static extern void BodyiDestroy(IntPtr body);
432 public static void BodyDestroy(IntPtr body)
433 {
434 NTotalBodies--;
435 BodyiDestroy(body);
436 }
437
438 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
439 public static extern void BodyDisable(IntPtr body);
440
441 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
442 public static extern void BodyEnable(IntPtr body);
443
444 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
445 public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);
446
447 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
448 public static extern bool BodyGetAutoDisableFlag(IntPtr body);
449
450 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
451 public static extern void BodyGetAutoDisableDefaults(IntPtr body);
452
453 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
454 public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);
455
456 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
457 public static extern int BodyGetAutoDisableSteps(IntPtr body);
458
459 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
460 public static extern dReal BodyGetAutoDisableTime(IntPtr body);
461
462 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
463 public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
464 public static Vector3 BodyGetAngularVel(IntPtr body)
465 {
466 unsafe { return *(BodyGetAngularVelUnsafe(body)); }
467 }
468
469 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
470 public static extern IntPtr BodyGetData(IntPtr body);
471
472 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
473 public static extern int BodyGetFiniteRotationMode(IntPtr body);
474
475 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
476 public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);
477
478 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]
479 public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);
480 public static Vector3 BodyGetForce(IntPtr body)
481 {
482 unsafe { return *(BodyGetForceUnsafe(body)); }
483 }
484
485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]
486 public static extern bool BodyGetGravityMode(IntPtr body);
487
488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
489 public static extern int BodyGetGyroscopicMode(IntPtr body);
490
491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]
492 public static extern IntPtr BodyGetJoint(IntPtr body, int index);
493
494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
495 public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
496 public static Vector3 BodyGetLinearVel(IntPtr body)
497 {
498 unsafe { return *(BodyGetLinearVelUnsafe(body)); }
499 }
500
501 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
502 public static extern void BodyGetMass(IntPtr body, out Mass mass);
503
504 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]
505 public static extern int BodyGetNumJoints(IntPtr body);
506
507 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]
508 public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
509
510 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
511 public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
512 public static Vector3 BodyGetPosition(IntPtr body)
513 {
514 unsafe { return *(BodyGetPositionUnsafe(body)); }
515 }
516
517 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
518 public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
519
520 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
521 public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
522 public static Quaternion BodyGetQuaternion(IntPtr body)
523 {
524 unsafe { return *(BodyGetQuaternionUnsafe(body)); }
525 }
526
527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
528 public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
529
530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]
531 public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
532
533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]
534 public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);
535 public static Matrix3 BodyGetRotation(IntPtr body)
536 {
537 unsafe { return *(BodyGetRotationUnsafe(body)); }
538 }
539
540 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]
541 public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);
542 public static Vector3 BodyGetTorque(IntPtr body)
543 {
544 unsafe { return *(BodyGetTorqueUnsafe(body)); }
545 }
546
547 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity]
548 public static extern IntPtr BodyGetWorld(IntPtr body);
549
550 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetFirstGeom"), SuppressUnmanagedCodeSecurity]
551 public static extern IntPtr BodyGetFirstGeom(IntPtr body);
552
553 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetNextGeom"), SuppressUnmanagedCodeSecurity]
554 public static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
555
556
557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
558 public static extern bool BodyIsEnabled(IntPtr body);
559
560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
561 public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
562
563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
564 public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
565
566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
567 public static extern void BodySetAutoDisableDefaults(IntPtr body);
568
569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
570 public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
571
572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
573 public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
574
575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
576 public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
577
578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
579 public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
580
581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
582 public static extern void BodySetData(IntPtr body, IntPtr data);
583
584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
585 public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
586
587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
588 public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
589
590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
591 public static extern void BodySetLinearDamping(IntPtr body, dReal scale);
592
593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
594 public static extern void BodySetAngularDamping(IntPtr body, dReal scale);
595
596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
597 public static extern dReal BodyGetLinearDamping(IntPtr body);
598
599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
600 public static extern dReal BodyGetAngularDamping(IntPtr body);
601
602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
603 public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
604
605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
606 public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
607
608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
609 public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
610
611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
612 public static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
613
614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
615 public static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
616
617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
618 public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
619
620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
621 public static extern void BodySetGravityMode(IntPtr body, bool mode);
622
623 /// <summary>
624 /// Sets the Gyroscopic term status on the body specified.
625 /// </summary>
626 /// <param name="body">Pointer to body</param>
627 /// <param name="enabled">NonZero enabled, Zero disabled</param>
628 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity]
629 public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
630
631 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
632 public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
633
634 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
635 public static extern void BodySetMass(IntPtr body, ref Mass mass);
636
637 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
638 public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
639
640 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
641 public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
642
643 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
644 public static extern void BodySetQuaternion(IntPtr body, ref dReal w);
645
646 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
647 public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
648
649 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
650 public static extern void BodySetRotation(IntPtr body, ref dReal M00);
651
652 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
653 public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
654
655 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
656 public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
657
658 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
659 public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
660
661 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
662 public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,
663 ref Vector3 side1, ref Vector3 p2,
664 ref Matrix3 R2, ref Vector3 side2,
665 ref Vector3 normal, out dReal depth, out int return_code,
666 int maxc, out ContactGeom contact, int skip);
667
668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]
669 public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,
670 ref Vector3 side1, ref Vector3 _p2,
671 ref Matrix3 R2, ref Vector3 side2);
672
673 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity]
674 public static extern void CleanupODEAllDataForThread();
675
676 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]
677 public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2,
678 ref Vector3 b1, ref Vector3 b2,
679 ref Vector3 cp1, ref Vector3 cp2);
680
681 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]
682 public static extern void CloseODE();
683
684 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
685 public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);
686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
687 public static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
688
689 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
690 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
691
692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
693 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
694 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
695 {
696 NTotalGeoms++;
697 return CreateiBox(space, lx, ly, lz);
698 }
699
700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
701 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
702 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
703 {
704 NTotalGeoms++;
705 return CreateiCapsule(space, radius, length);
706 }
707
708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
709 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
710 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
711 {
712 NTotalGeoms++;
713 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
714 }
715
716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
717 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
718 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
719 {
720 NTotalGeoms++;
721 return CreateiCylinder(space, radius, length);
722 }
723
724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
725 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
726 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
727 {
728 NTotalGeoms++;
729 return CreateiHeightfield(space, data, bPlaceable);
730 }
731
732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
733 public static extern IntPtr CreateiGeom(int classnum);
734 public static IntPtr CreateGeom(int classnum)
735 {
736 NTotalGeoms++;
737 return CreateiGeom(classnum);
738 }
739
740 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
741 public static extern int CreateGeomClass(ref GeomClass classptr);
742
743 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]
744 public static extern IntPtr CreateGeomTransform(IntPtr space);
745
746 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
747 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
748 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
749 {
750 NTotalGeoms++;
751 return CreateiPlane(space, a, b, c, d);
752 }
753
754 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
755 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
756 public static IntPtr CreateRay(IntPtr space, dReal length)
757 {
758 NTotalGeoms++;
759 return CreateiRay(space, length);
760 }
761
762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
763 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
764 public static IntPtr CreateSphere(IntPtr space, dReal radius)
765 {
766 NTotalGeoms++;
767 return CreateiSphere(space, radius);
768 }
769
770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
771 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
772 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
773 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
774 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
775 {
776 NTotalGeoms++;
777 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
778 }
779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
780 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
781
782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
783 public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);
784
785 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]
786 public static extern int FactorCholesky(ref dReal A00, int n);
787
788 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]
789 public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);
790
791 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
792 public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);
793
794 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]
795 public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);
796
797 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]
798 public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);
799
800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]
801 public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);
802
803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]
804 public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);
805
806 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]
807 public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
808
809 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]
810 public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);
811
812 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]
813 public static extern void GeomClearOffset(IntPtr geom);
814
815 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
816 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);
817
818 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]
819 public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);
820
821 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
822 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);
823
824 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
825 public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);
826
827 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
828 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);
829
830 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]
831 public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);
832
833 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
834 public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);
835
836 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]
837 public static extern void GeomCopyPosition(IntPtr geom, out dReal X);
838
839 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
840 public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);
841
842 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]
843 public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);
844
845 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]
846 public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);
847
848 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]
849 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
850
851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
852 public static extern void GeomiDestroy(IntPtr geom);
853 public static void GeomDestroy(IntPtr geom)
854 {
855 NTotalGeoms--;
856 GeomiDestroy(geom);
857 }
858
859
860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
861 public static extern void GeomDisable(IntPtr geom);
862
863 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]
864 public static extern void GeomEnable(IntPtr geom);
865
866 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
867 public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);
868
869 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]
870 public static extern void GeomGetAABB(IntPtr geom, out dReal minX);
871
872 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]
873 public static extern IntPtr GeomGetBody(IntPtr geom);
874
875 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]
876 public static extern int GeomGetCategoryBits(IntPtr geom);
877
878 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]
879 public static extern IntPtr GeomGetClassData(IntPtr geom);
880
881 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]
882 public static extern int GeomGetCollideBits(IntPtr geom);
883
884 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]
885 public static extern GeomClassID GeomGetClass(IntPtr geom);
886
887 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
888 public static extern IntPtr GeomGetData(IntPtr geom);
889
890 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
891 public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
892 public static Vector3 GeomGetOffsetPosition(IntPtr geom)
893 {
894 unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }
895 }
896
897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]
898 public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);
899 public static Matrix3 GeomGetOffsetRotation(IntPtr geom)
900 {
901 unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }
902 }
903
904 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]
905 public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);
906 public static Vector3 GeomGetPosition(IntPtr geom)
907 {
908 unsafe { return *(GeomGetPositionUnsafe(geom)); }
909 }
910
911 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
912 public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
913
914 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
915 public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
916
917 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]
918 public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);
919 public static Matrix3 GeomGetRotation(IntPtr geom)
920 {
921 unsafe { return *(GeomGetRotationUnsafe(geom)); }
922 }
923
924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]
925 public static extern IntPtr GeomGetSpace(IntPtr geom);
926
927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
928 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,
929 dReal width, dReal depth, int widthSamples, int depthSamples,
930 dReal scale, dReal offset, dReal thickness, int bWrap);
931
932 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]
933 public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
934 dReal width, dReal depth, int widthSamples, int depthSamples,
935 dReal scale, dReal offset, dReal thickness, int bWrap);
936
937 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]
938 public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,
939 dReal width, dReal depth, int widthSamples, int depthSamples,
940 dReal scale, dReal offset, dReal thickness, int bWrap);
941
942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
943 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,
944 dReal width, dReal depth, int widthSamples, int depthSamples,
945 dReal scale, dReal offset, dReal thickness, int bWrap);
946
947 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
948 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,
949 dReal width, dReal depth, int widthSamples, int depthSamples,
950 dReal scale, dReal offset, dReal thickness, int bWrap);
951
952 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]
953 public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
954 dReal width, dReal depth, int widthSamples, int depthSamples,
955 dReal scale, dReal offset, dReal thickness, int bWrap);
956
957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
958 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,
959 dReal width, dReal depth, int widthSamples, int depthSamples,
960 dReal scale, dReal offset, dReal thickness, int bWrap);
961
962 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]
963 public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
964 dReal width, dReal depth, int widthSamples, int depthSamples,
965 dReal scale, dReal offset, dReal thickness, int bWrap);
966
967 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
968 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
969 dReal width, dReal depth, int widthSamples, int depthSamples,
970 dReal scale, dReal offset, dReal thickness, int bWrap);
971
972 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
973 public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
974 dReal width, dReal depth, int widthSamples, int depthSamples,
975 dReal scale, dReal offset, dReal thickness, int bWrap);
976
977 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]
978 public static extern IntPtr GeomHeightfieldDataCreate();
979
980 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]
981 public static extern void GeomHeightfieldDataDestroy(IntPtr d);
982
983 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]
984 public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
985
986 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
987 public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);
988
989 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
990 public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
991
992 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
993 public static extern bool GeomIsEnabled(IntPtr geom);
994
995 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]
996 public static extern bool GeomIsOffset(IntPtr geom);
997
998 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]
999 public static extern bool GeomIsSpace(IntPtr geom);
1000
1001 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1002 public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);
1003
1004 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]
1005 public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);
1006
1007 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]
1008 public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1009
1010 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]
1011 public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);
1012
1013 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1014 public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);
1015
1016 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]
1017 public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);
1018
1019 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]
1020 public static extern int GeomRayGetClosestHit(IntPtr ray);
1021
1022 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]
1023 public static extern dReal GeomRayGetLength(IntPtr ray);
1024
1025 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]
1026 public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);
1027
1028 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]
1029 public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
1030
1031 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]
1032 public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);
1033
1034 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]
1035 public static extern void GeomRaySetLength(IntPtr ray, dReal length);
1036
1037 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]
1038 public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);
1039
1040 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]
1041 public static extern void GeomSetBody(IntPtr geom, IntPtr body);
1042
1043 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]
1044 public static extern void GeomSetCategoryBits(IntPtr geom, int bits);
1045
1046 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]
1047 public static extern void GeomSetCollideBits(IntPtr geom, int bits);
1048
1049 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
1050 public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
1051
1052 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
1053 public static extern void GeomSetData(IntPtr geom, IntPtr data);
1054
1055 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
1056 public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1057
1058 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1059 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);
1060
1061 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]
1062 public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);
1063
1064 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1065 public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);
1066
1067 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]
1068 public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);
1069
1070 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]
1071 public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);
1072
1073 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1074 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);
1075
1076 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]
1077 public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);
1078
1079 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1080 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);
1081
1082 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]
1083 public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);
1084
1085 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]
1086 public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);
1087
1088 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1089 public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);
1090
1091 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]
1092 public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);
1093
1094 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1095 public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);
1096
1097 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]
1098 public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);
1099
1100 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]
1101 public static extern dReal GeomSphereGetRadius(IntPtr geom);
1102
1103 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]
1104 public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);
1105
1106 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]
1107 public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);
1108
1109 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]
1110 public static extern int GeomTransformGetCleanup(IntPtr geom);
1111
1112 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]
1113 public static extern IntPtr GeomTransformGetGeom(IntPtr geom);
1114
1115 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]
1116 public static extern int GeomTransformGetInfo(IntPtr geom);
1117
1118 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]
1119 public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);
1120
1121 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]
1122 public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);
1123
1124 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]
1125 public static extern void GeomTransformSetInfo(IntPtr geom, int info);
1126
1127 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1128 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1129 double[] vertices, int vertexStride, int vertexCount,
1130 int[] indices, int indexCount, int triStride);
1131
1132 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]
1133 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1134 IntPtr vertices, int vertexStride, int vertexCount,
1135 IntPtr indices, int indexCount, int triStride);
1136
1137 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1138 public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,
1139 double[] vertices, int vertexStride, int vertexCount,
1140 int[] indices, int indexCount, int triStride,
1141 double[] normals);
1142
1143 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]
1144 public static extern void GeomTriMeshDataBuildDouble(IntPtr d,
1145 IntPtr vertices, int vertexStride, int vertexCount,
1146 IntPtr indices, int indexCount, int triStride,
1147 IntPtr normals);
1148
1149 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1150 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1151 dReal[] vertices, int vertexStride, int vertexCount,
1152 int[] indices, int indexCount, int triStride);
1153
1154 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]
1155 public static extern void GeomTriMeshDataBuildSingle(IntPtr d,
1156 IntPtr vertices, int vertexStride, int vertexCount,
1157 IntPtr indices, int indexCount, int triStride);
1158
1159 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1160 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1161 dReal[] vertices, int vertexStride, int vertexCount,
1162 int[] indices, int indexCount, int triStride,
1163 dReal[] normals);
1164
1165 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]
1166 public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,
1167 IntPtr vertices, int vertexStride, int vertexCount,
1168 IntPtr indices, int indexCount, int triStride,
1169 IntPtr normals);
1170
1171 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1172 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1173 float[] vertices, int vertexStride, int vertexCount,
1174 int[] indices, int indexCount, int triStride);
1175
1176 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]
1177 public static extern void GeomTriMeshDataBuildSimple(IntPtr d,
1178 IntPtr vertices, int vertexStride, int vertexCount,
1179 IntPtr indices, int indexCount, int triStride);
1180
1181 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1182 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1183 float[] vertices, int vertexStride, int vertexCount,
1184 int[] indices, int indexCount, int triStride,
1185 float[] normals);
1186
1187 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]
1188 public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,
1189 IntPtr vertices, int vertexStride, int vertexCount,
1190 IntPtr indices, int indexCount, int triStride,
1191 IntPtr normals);
1192
1193 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]
1194 public static extern void GeomTriMeshClearTCCache(IntPtr g);
1195
1196 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]
1197 public static extern IntPtr GeomTriMeshDataCreate();
1198
1199 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]
1200 public static extern void GeomTriMeshDataDestroy(IntPtr d);
1201
1202 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]
1203 public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);
1204
1205 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]
1206 public static extern void GeomTriMeshDataPreprocess(IntPtr d);
1207
1208 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]
1209 public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);
1210
1211 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]
1212 public static extern void GeomTriMeshDataUpdate(IntPtr d);
1213
1214 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]
1215 public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);
1216
1217 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]
1218 public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);
1219
1220 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]
1221 public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);
1222
1223 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]
1224 public static extern IntPtr GeomTriMeshGetData(IntPtr g);
1225
1226 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]
1227 public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);
1228 public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)
1229 {
1230 unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }
1231 }
1232
1233 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]
1234 public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);
1235
1236 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]
1237 public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);
1238
1239 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]
1240 public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);
1241
1242 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]
1243 public extern static int GeomTriMeshGetTriangleCount(IntPtr g);
1244
1245 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]
1246 public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);
1247
1248 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]
1249 public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);
1250
1251 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]
1252 public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);
1253
1254 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]
1255 public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);
1256
1257 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]
1258 public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);
1259
1260 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1261 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);
1262
1263 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]
1264 public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);
1265
1266 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]
1267 public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
1268
1269 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
1270 public static extern string GetConfiguration(string str);
1271
1272 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
1273 public static extern IntPtr HashSpaceCreate(IntPtr space);
1274
1275 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]
1276 public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);
1277
1278 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]
1279 public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);
1280
1281 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]
1282 public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);
1283
1284 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]
1285 public static extern void InitODE();
1286
1287 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity]
1288 public static extern int InitODE2(uint ODEInitFlags);
1289
1290 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]
1291 public static extern int IsPositiveDefinite(ref dReal A, int n);
1292
1293 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]
1294 public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);
1295
1296 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]
1297 public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);
1298
1299 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]
1300 public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);
1301
1302 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]
1303 public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);
1304
1305 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]
1306 public static extern void JointAddPRTorque(IntPtr joint, dReal torque);
1307
1308 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]
1309 public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);
1310
1311 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]
1312 public static extern void JointAddSliderForce(IntPtr joint, dReal force);
1313
1314 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]
1315 public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);
1316
1317 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]
1318 public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);
1319
1320 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]
1321 public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);
1322
1323 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1324 public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);
1325 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]
1326 public static extern IntPtr JointCreateContactPtr(IntPtr world, IntPtr group, IntPtr contact);
1327
1328 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]
1329 public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);
1330
1331 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]
1332 public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);
1333
1334 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]
1335 public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);
1336
1337 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]
1338 public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);
1339
1340 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]
1341 public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);
1342
1343 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]
1344 public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);
1345
1346 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]
1347 public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);
1348
1349 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]
1350 public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);
1351
1352 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]
1353 public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);
1354
1355 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]
1356 public static extern void JointDestroy(IntPtr j);
1357
1358 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1359 public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);
1360
1361 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]
1362 public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);
1363
1364 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1365 public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);
1366
1367 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]
1368 public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);
1369
1370 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]
1371 public static extern int JointGetAMotorMode(IntPtr j);
1372
1373 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1374 public static extern int JointGetAMotorNumAxes(IntPtr j);
1375
1376 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]
1377 public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);
1378
1379 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]
1380 public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);
1381
1382 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1383 public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);
1384
1385 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]
1386 public static extern IntPtr JointGetBody(IntPtr j);
1387
1388 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]
1389 public static extern IntPtr JointGetData(IntPtr j);
1390
1391 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]
1392 public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);
1393 public static JointFeedback JointGetFeedback(IntPtr j)
1394 {
1395 unsafe { return *(JointGetFeedbackUnsafe(j)); }
1396 }
1397
1398 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1399 public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);
1400
1401 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]
1402 public static extern dReal JointGetHingeAngle(IntPtr j);
1403
1404 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]
1405 public static extern dReal JointGetHingeAngleRate(IntPtr j);
1406
1407 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]
1408 public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);
1409
1410 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]
1411 public static extern dReal JointGetHingeParam(IntPtr j, int parameter);
1412
1413 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]
1414 public static extern dReal JointGetHinge2Angle1(IntPtr j);
1415
1416 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]
1417 public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);
1418
1419 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]
1420 public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);
1421
1422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]
1423 public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);
1424
1425 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1426 public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);
1427
1428 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]
1429 public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);
1430
1431 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1432 public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);
1433
1434 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1435 public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);
1436
1437 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]
1438 public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);
1439
1440 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1441 public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);
1442
1443 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1444 public static extern int JointGetLMotorNumAxes(IntPtr j);
1445
1446 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]
1447 public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);
1448
1449 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]
1450 public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);
1451
1452 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]
1453 public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);
1454
1455 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]
1456 public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);
1457
1458 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]
1459 public static extern dReal JointGetPRParam(IntPtr j, int parameter);
1460
1461 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]
1462 public static extern dReal JointGetPRPosition(IntPtr j);
1463
1464 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]
1465 public static extern dReal JointGetPRPositionRate(IntPtr j);
1466
1467 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]
1468 public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);
1469
1470 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]
1471 public static extern dReal JointGetSliderParam(IntPtr j, int parameter);
1472
1473 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]
1474 public static extern dReal JointGetSliderPosition(IntPtr j);
1475
1476 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]
1477 public static extern dReal JointGetSliderPositionRate(IntPtr j);
1478
1479 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]
1480 public static extern JointType JointGetType(IntPtr j);
1481
1482 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1483 public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);
1484
1485 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]
1486 public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);
1487
1488 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]
1489 public static extern dReal JointGetUniversalAngle1(IntPtr j);
1490
1491 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]
1492 public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);
1493
1494 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]
1495 public static extern dReal JointGetUniversalAngle2(IntPtr j);
1496
1497 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]
1498 public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);
1499
1500 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]
1501 public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);
1502
1503 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1504 public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);
1505
1506 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1507 public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);
1508
1509 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]
1510 public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);
1511
1512 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]
1513 public static extern IntPtr JointGroupCreate(int max_size);
1514
1515 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]
1516 public static extern void JointGroupDestroy(IntPtr group);
1517
1518 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]
1519 public static extern void JointGroupEmpty(IntPtr group);
1520
1521 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]
1522 public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);
1523
1524 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]
1525 public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1526
1527 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]
1528 public static extern void JointSetAMotorMode(IntPtr j, int mode);
1529
1530 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1531 public static extern void JointSetAMotorNumAxes(IntPtr group, int num);
1532
1533 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]
1534 public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);
1535
1536 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]
1537 public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);
1538
1539 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]
1540 public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);
1541
1542 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]
1543 public static extern void JointSetData(IntPtr j, IntPtr data);
1544
1545 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]
1546 public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);
1547
1548 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]
1549 public static extern void JointSetFixed(IntPtr j);
1550
1551 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]
1552 public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);
1553
1554 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]
1555 public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1556
1557 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]
1558 public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);
1559
1560 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]
1561 public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);
1562
1563 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]
1564 public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);
1565
1566 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]
1567 public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);
1568
1569 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]
1570 public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);
1571
1572 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]
1573 public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);
1574
1575 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]
1576 public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);
1577
1578 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]
1579 public static extern void JointSetLMotorNumAxes(IntPtr j, int num);
1580
1581 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]
1582 public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);
1583
1584 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]
1585 public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);
1586
1587 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]
1588 public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);
1589
1590 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]
1591 public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);
1592
1593 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]
1594 public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);
1595
1596 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]
1597 public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);
1598
1599 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]
1600 public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);
1601
1602 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]
1603 public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);
1604
1605 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]
1606 public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);
1607
1608 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]
1609 public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1610
1611 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]
1612 public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);
1613
1614 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]
1615 public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);
1616
1617 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]
1618 public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);
1619
1620 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]
1621 public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);
1622
1623 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]
1624 public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);
1625
1626 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]
1627 public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);
1628
1629 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]
1630 public static extern void MassAdd(ref Mass a, ref Mass b);
1631
1632 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]
1633 public static extern void MassAdjust(ref Mass m, dReal newmass);
1634
1635 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]
1636 public static extern bool MassCheck(ref Mass m);
1637
1638 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1639 public static extern void MassRotate(ref Mass mass, ref Matrix3 R);
1640
1641 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]
1642 public static extern void MassRotate(ref Mass mass, ref dReal M00);
1643
1644 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]
1645 public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);
1646
1647 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]
1648 public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);
1649
1650 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]
1651 public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1652
1653 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]
1654 public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1655
1656 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]
1657 public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);
1658
1659 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]
1660 public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);
1661
1662 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]
1663 public static extern void MassSetParameters(out Mass mass, dReal themass,
1664 dReal cgx, dReal cgy, dReal cgz,
1665 dReal i11, dReal i22, dReal i33,
1666 dReal i12, dReal i13, dReal i23);
1667
1668 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]
1669 public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);
1670
1671 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]
1672 public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);
1673
1674 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]
1675 public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);
1676
1677 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]
1678 public static extern void MassSetZero(out Mass mass);
1679
1680 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]
1681 public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z);
1682
1683 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1684 public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1685
1686 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]
1687 private static extern void MultiplyiM3V3(out Vector3 vout, ref Matrix3 matrix, ref Vector3 vect,int p, int q, int r);
1688 public static void MultiplyM3V3(out Vector3 outvector, ref Matrix3 matrix, ref Vector3 invector)
1689 {
1690 MultiplyiM3V3(out outvector, ref matrix, ref invector, 3, 3, 1);
1691 }
1692
1693 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]
1694 public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1695
1696 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]
1697 public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);
1698
1699 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1700 public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);
1701
1702 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]
1703 public static extern void QfromR(out Quaternion q, ref Matrix3 R);
1704
1705 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]
1706 public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1707
1708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]
1709 public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1710
1711 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]
1712 public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1713
1714 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]
1715 public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);
1716
1717 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]
1718 public static extern void QSetIdentity(out Quaternion q);
1719
1720 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1721 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);
1722
1723 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]
1724 public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);
1725
1726 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]
1727 public static extern dReal RandReal();
1728
1729 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]
1730 public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);
1731
1732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]
1733 public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);
1734
1735 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]
1736 public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);
1737
1738 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]
1739 public static extern void RfromQ(out Matrix3 R, ref Quaternion q);
1740
1741 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]
1742 public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);
1743
1744 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]
1745 public static extern void RSetIdentity(out Matrix3 R);
1746
1747 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]
1748 public static extern void SetValue(out dReal a, int n);
1749
1750 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]
1751 public static extern void SetZero(out dReal a, int n);
1752
1753 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]
1754 public static extern IntPtr SimpleSpaceCreate(IntPtr space);
1755
1756 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]
1757 public static extern void SolveCholesky(ref dReal L, out dReal b, int n);
1758
1759 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]
1760 public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);
1761
1762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]
1763 public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);
1764
1765 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]
1766 public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);
1767
1768 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]
1769 public static extern void SpaceAdd(IntPtr space, IntPtr geom);
1770
1771 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity]
1772 public static extern bool SpaceLockQuery(IntPtr space);
1773
1774 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]
1775 public static extern void SpaceClean(IntPtr space);
1776
1777 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]
1778 public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);
1779
1780 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]
1781 public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);
1782
1783 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]
1784 public static extern void SpaceDestroy(IntPtr space);
1785
1786 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]
1787 public static extern bool SpaceGetCleanup(IntPtr space);
1788
1789 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]
1790 public static extern int SpaceGetNumGeoms(IntPtr space);
1791
1792 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]
1793 public static extern IntPtr SpaceGetGeom(IntPtr space, int i);
1794
1795 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity]
1796 public static extern int SpaceGetSublevel(IntPtr space);
1797
1798 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]
1799 public static extern bool SpaceQuery(IntPtr space, IntPtr geom);
1800
1801 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]
1802 public static extern void SpaceRemove(IntPtr space, IntPtr geom);
1803
1804 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
1805 public static extern void SpaceSetCleanup(IntPtr space, bool mode);
1806
1807 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
1808 public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
1809
1810 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
1811 public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder);
1812
1813 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]
1814 public static extern void VectorScale(out dReal a, ref dReal d, int n);
1815
1816 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]
1817 public static extern IntPtr WorldCreate();
1818
1819 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]
1820 public static extern void WorldDestroy(IntPtr world);
1821
1822 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1823 public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world);
1824
1825 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1826 public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);
1827
1828 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1829 public static extern bool WorldGetAutoDisableFlag(IntPtr world);
1830
1831 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1832 public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);
1833
1834 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1835 public static extern int WorldGetAutoDisableSteps(IntPtr world);
1836
1837 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1838 public static extern dReal WorldGetAutoDisableTime(IntPtr world);
1839
1840 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1841 public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);
1842
1843 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]
1844 public static extern dReal WorldGetCFM(IntPtr world);
1845
1846 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]
1847 public static extern dReal WorldGetERP(IntPtr world);
1848
1849 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1850 public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);
1851
1852 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]
1853 public static extern void WorldGetGravity(IntPtr world, out dReal X);
1854
1855 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1856 public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);
1857
1858 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1859 public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);
1860
1861 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity]
1862 public static extern dReal WorldGetAngularDamping(IntPtr world);
1863
1864 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1865 public static extern dReal WorldGetAngularDampingThreshold(IntPtr world);
1866
1867 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity]
1868 public static extern dReal WorldGetLinearDamping(IntPtr world);
1869
1870 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1871 public static extern dReal WorldGetLinearDampingThreshold(IntPtr world);
1872
1873 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1874 public static extern int WorldGetQuickStepNumIterations(IntPtr world);
1875
1876 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]
1877 public static extern dReal WorldGetQuickStepW(IntPtr world);
1878
1879 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1880 public static extern dReal WorldGetMaxAngularSpeed(IntPtr world);
1881
1882 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1883 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);
1884
1885 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]
1886 public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);
1887
1888 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]
1889 public static extern void WorldQuickStep(IntPtr world, dReal stepsize);
1890
1891 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity]
1892 public static extern void WorldSetAngularDamping(IntPtr world, dReal scale);
1893
1894 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
1895 public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold);
1896
1897 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
1898 public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);
1899
1900 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity]
1901 public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count);
1902
1903 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
1904 public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);
1905
1906 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
1907 public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);
1908
1909 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
1910 public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);
1911
1912 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
1913 public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);
1914
1915 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]
1916 public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);
1917
1918 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]
1919 public static extern void WorldSetCFM(IntPtr world, dReal cfm);
1920
1921 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]
1922 public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);
1923
1924 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]
1925 public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);
1926
1927 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity]
1928 public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale);
1929
1930 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]
1931 public static extern void WorldSetERP(IntPtr world, dReal erp);
1932
1933 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]
1934 public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);
1935
1936 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity]
1937 public static extern void WorldSetLinearDamping(IntPtr world, dReal scale);
1938
1939 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
1940 public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold);
1941
1942 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]
1943 public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);
1944
1945 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]
1946 public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);
1947
1948 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity]
1949 public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed);
1950
1951 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]
1952 public static extern void WorldStep(IntPtr world, dReal stepsize);
1953
1954 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]
1955 public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);
1956
1957 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity]
1958 public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix);
1959 }
1960}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..d32188e
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdePlugin.cs
@@ -0,0 +1,90 @@
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
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Threading;
33using System.IO;
34using System.Diagnostics;
35using log4net;
36using Nini.Config;
37using OdeAPI;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40using OpenMetaverse;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// ODE plugin
46 /// </summary>
47 public class OdePlugin : IPhysicsPlugin
48 {
49 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
50
51 private OdeScene m_scene;
52
53 public bool Init()
54 {
55 if (Util.IsWindows())
56 Util.LoadArchSpecificWindowsDll("ode.dll");
57
58 if (d.InitODE2(0) != 0)
59 {
60 if (d.AllocateODEDataForThread(~0U) == 0)
61 {
62 d.CloseODE();
63 return false;
64 }
65 return true;
66 }
67 return false;
68 }
69
70 public PhysicsScene GetScene(String sceneIdentifier)
71 {
72 if (m_scene == null)
73 {
74
75 m_scene = new OdeScene(sceneIdentifier);
76 }
77 return (m_scene);
78 }
79
80 public string GetName()
81 {
82 return ("UbitODE");
83 }
84
85 public void Dispose()
86 {
87 d.CloseODE();
88 }
89 }
90} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
new file mode 100644
index 0000000..612eafd
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -0,0 +1,2328 @@
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//#define SPAM
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using OdeAPI;
40using OpenSim.Framework;
41using OpenSim.Region.Physics.Manager;
42using OpenMetaverse;
43
44namespace OpenSim.Region.Physics.OdePlugin
45{
46 public enum StatusIndicators : int
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63 [Flags]
64 public enum CollisionCategories : int
65 {
66 Disabled = 0,
67 Geom = 0x00000001,
68 Body = 0x00000002,
69 Space = 0x00000004,
70 Character = 0x00000008,
71 Land = 0x00000010,
72 Water = 0x00000020,
73 Wind = 0x00000040,
74 Sensor = 0x00000080,
75 Selected = 0x00000100
76 }
77
78 /// <summary>
79 /// Material type for a primitive
80 /// </summary>
81 public enum Material : int
82 {
83 /// <summary></summary>
84 Stone = 0,
85 /// <summary></summary>
86 Metal = 1,
87 /// <summary></summary>
88 Glass = 2,
89 /// <summary></summary>
90 Wood = 3,
91 /// <summary></summary>
92 Flesh = 4,
93 /// <summary></summary>
94 Plastic = 5,
95 /// <summary></summary>
96 Rubber = 6,
97
98 light = 7 // compatibility with old viewers
99 }
100
101 public enum changes : int
102 {
103 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
104 Remove,
105 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
106 // or removes from a object if arg is null
107 DeLink,
108 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
109 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
110 PosOffset, // not in use
111 // arg Vector3 new position in local coords. Changes prim position in object
112 OriOffset, // not in use
113 // arg Vector3 new position in local coords. Changes prim position in object
114 Velocity,
115 AngVelocity,
116 Acceleration,
117 Force,
118 Torque,
119
120 AddForce,
121 AddAngForce,
122 AngLock,
123
124 Size,
125 Shape,
126
127 CollidesWater,
128 VolumeDtc,
129
130 Physical,
131 Phantom,
132 Selected,
133 disabled,
134 building,
135
136 VehicleType,
137 VehicleFloatParam,
138 VehicleVectorParam,
139 VehicleRotationParam,
140 VehicleFlags,
141 SetVehicle,
142
143 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
144 }
145
146 public struct ODEchangeitem
147 {
148 public PhysicsActor actor;
149 public OdeCharacter character;
150 public changes what;
151 public Object arg;
152 }
153
154 public class OdeScene : PhysicsScene
155 {
156 private readonly ILog m_log;
157 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
158
159// private int threadid = 0;
160 private Random fluidRandomizer = new Random(Environment.TickCount);
161
162 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
163 const float comumContactERP = 0.6f;
164 const float comumSoftContactERP = 0.1f;
165 const float comumContactCFM = 0.0001f;
166
167 float frictionMovementMult = 0.3f;
168
169 float TerrainBounce = 0.1f;
170 float TerrainFriction = 0.3f;
171
172 public float AvatarBounce = 0.3f;
173 public float AvatarFriction = 0;// 0.9f * 0.5f;
174
175 private const uint m_regionWidth = Constants.RegionSize;
176 private const uint m_regionHeight = Constants.RegionSize;
177
178 public float ODE_STEPSIZE = 0.020f;
179 private float metersInSpace = 25.6f;
180 private float m_timeDilation = 1.0f;
181
182 public float gravityx = 0f;
183 public float gravityy = 0f;
184 public float gravityz = -9.8f;
185
186 private float waterlevel = 0f;
187 private int framecount = 0;
188
189 internal IntPtr WaterGeom;
190
191 public float avPIDD = 2200f; // make it visible
192 public float avPIDP = 900f; // make it visible
193 private float avCapRadius = 0.37f;
194 private float avDensity = 3f;
195 private float avMovementDivisorWalk = 1.3f;
196 private float avMovementDivisorRun = 0.8f;
197 private float minimumGroundFlightOffset = 3f;
198 public float maximumMassObject = 10000.01f;
199
200 public bool meshSculptedPrim = true;
201 public bool forceSimplePrimMeshing = false;
202
203 public float meshSculptLOD = 32;
204 public float MeshSculptphysicalLOD = 32;
205
206 public float geomDefaultDensity = 10.000006836f;
207
208 public int geomContactPointsStartthrottle = 3;
209 public int geomUpdatesPerThrottledUpdate = 15;
210
211 public float bodyPIDD = 35f;
212 public float bodyPIDG = 25;
213
214// public int geomCrossingFailuresBeforeOutofbounds = 6;
215
216 public int bodyFramesAutoDisable = 20;
217
218 private float[] _watermap;
219
220 private d.NearCallback nearCallback;
221
222 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
223 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
224 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
225 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
226
227 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
228
229 /// <summary>
230 /// A list of actors that should receive collision events.
231 /// </summary>
232 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
233
234 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
235 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
236 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
237
238 private float contactsurfacelayer = 0.002f;
239
240 private int contactsPerCollision = 80;
241 internal IntPtr ContactgeomsArray = IntPtr.Zero;
242 private IntPtr GlobalContactsArray = IntPtr.Zero;
243
244 const int maxContactsbeforedeath = 4000;
245 private volatile int m_global_contactcount = 0;
246
247
248 private readonly IntPtr contactgroup;
249
250 public ContactData[] m_materialContactsData = new ContactData[8];
251
252 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
253 private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
254 private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
255
256 private int m_physicsiterations = 10;
257 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
258 private readonly PhysicsActor PANull = new NullPhysicsActor();
259 private float step_time = 0.0f;
260
261 public IntPtr world;
262
263 private uint obj2LocalID = 0;
264 private OdeCharacter cc1;
265 private OdePrim cp1;
266 private OdeCharacter cc2;
267 private OdePrim cp2;
268
269 // split the spaces acording to contents type
270 // ActiveSpace contains characters and active prims
271 // StaticSpace contains land and other that is mostly static in enviroment
272 // this can contain subspaces, like the grid in staticspace
273 // as now space only contains this 2 top spaces
274
275 public IntPtr TopSpace; // the global space
276 public IntPtr ActiveSpace; // space for active prims
277 public IntPtr StaticSpace; // space for the static things around
278
279 // some speedup variables
280 private int spaceGridMaxX;
281 private int spaceGridMaxY;
282 private float spacesPerMeter;
283
284 // split static geometry collision into a grid as before
285 private IntPtr[,] staticPrimspace;
286
287 private Object OdeLock;
288 private static Object SimulationLock;
289
290 public IMesher mesher;
291
292 private IConfigSource m_config;
293
294 public bool physics_logging = false;
295 public int physics_logging_interval = 0;
296 public bool physics_logging_append_existing_logfile = false;
297
298 private Vector3 m_worldOffset = Vector3.Zero;
299 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
300 private PhysicsScene m_parentScene = null;
301
302 private ODERayCastRequestManager m_rayCastManager;
303
304
305/* maybe needed if ode uses tls
306 private void checkThread()
307 {
308
309 int th = Thread.CurrentThread.ManagedThreadId;
310 if(th != threadid)
311 {
312 threadid = th;
313 d.AllocateODEDataForThread(~0U);
314 }
315 }
316 */
317 /// <summary>
318 /// Initiailizes the scene
319 /// Sets many properties that ODE requires to be stable
320 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
321 /// </summary>
322 public OdeScene(string sceneIdentifier)
323 {
324 m_log
325 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
326
327// checkThread();
328 Name = sceneIdentifier;
329
330 OdeLock = new Object();
331 SimulationLock = new Object();
332
333 nearCallback = near;
334
335 m_rayCastManager = new ODERayCastRequestManager(this);
336 lock (OdeLock)
337 {
338 // Create the world and the first space
339 try
340 {
341 world = d.WorldCreate();
342 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
343
344 // now the major subspaces
345 ActiveSpace = d.HashSpaceCreate(TopSpace);
346 StaticSpace = d.HashSpaceCreate(TopSpace);
347 }
348 catch
349 {
350 // i must RtC#FM
351 }
352
353 d.HashSpaceSetLevels(TopSpace, -2, 8); // cell sizes from .25 to 256 ?? need check what this really does
354 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
355 d.HashSpaceSetLevels(StaticSpace, -2, 8);
356
357 // demote to second level
358 d.SpaceSetSublevel(ActiveSpace, 1);
359 d.SpaceSetSublevel(StaticSpace, 1);
360
361 contactgroup = d.JointGroupCreate(0);
362 //contactgroup
363
364 d.WorldSetAutoDisableFlag(world, false);
365 }
366
367 _watermap = new float[258 * 258];
368 }
369
370 // Initialize the mesh plugin
371// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
372 public override void Initialise(IMesher meshmerizer, IConfigSource config)
373 {
374// checkThread();
375 mesher = meshmerizer;
376 m_config = config;
377
378// m_log.WarnFormat("ODE configuration: {0}", d.GetConfiguration("ODE"));
379 /*
380 if (region != null)
381 {
382 WorldExtents.X = region.RegionSizeX;
383 WorldExtents.Y = region.RegionSizeY;
384 }
385 */
386
387 // Defaults
388
389 int contactsPerCollision = 80;
390
391 if (m_config != null)
392 {
393 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
394 if (physicsconfig != null)
395 {
396 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
397 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
398 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
399
400 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
401
402 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
403
404 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
405 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
406
407 avDensity = physicsconfig.GetFloat("av_density", avDensity);
408 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
409 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
410 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
411
412 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
413
414 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
415 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
416// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
417
418 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
419 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
420
421 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
422 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
423
424 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
425 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
426 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
427 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
428
429 if (Environment.OSVersion.Platform == PlatformID.Unix)
430 {
431 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
432 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
433 }
434 else
435 {
436 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
437 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
438 }
439
440 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
441 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
442 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
443
444 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
445 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
446 }
447 }
448
449 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
450 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
451
452 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
453 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
454
455 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
456 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
457
458 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
459 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
460
461 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
462 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
463
464 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
465 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
466
467 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
468 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
469
470 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
471 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
472
473 m_materialContactsData[(int)Material.light].mu = 0.0f;
474 m_materialContactsData[(int)Material.light].bounce = 0.0f;
475
476 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
477
478 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
479 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
480
481 d.WorldSetLinearDamping(world, 0.001f);
482 d.WorldSetAngularDamping(world, 0.001f);
483 d.WorldSetAngularDampingThreshold(world, 0f);
484 d.WorldSetLinearDampingThreshold(world, 0f);
485 d.WorldSetMaxAngularSpeed(world, 256f);
486
487 d.WorldSetCFM(world,1e-6f); // a bit harder than default
488 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
489 d.WorldSetERP(world, 0.6f); // higher than original
490
491 // Set how many steps we go without running collision testing
492 // This is in addition to the step size.
493 // Essentially Steps * m_physicsiterations
494 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
495 d.WorldSetContactMaxCorrectingVel(world, 100.0f);
496
497 spacesPerMeter = 1 / metersInSpace;
498 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
499 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
500
501 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
502
503 // create all spaces now
504 int i, j;
505 IntPtr newspace;
506 for (i = 0; i < spaceGridMaxX; i++)
507 for (j = 0; j < spaceGridMaxY; j++)
508 {
509 newspace = d.HashSpaceCreate(StaticSpace);
510 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
511 waitForSpaceUnlock(newspace);
512 d.SpaceSetSublevel(newspace, 2);
513 d.HashSpaceSetLevels(newspace, -2, 8);
514 staticPrimspace[i, j] = newspace;
515 }
516 // let this now be real maximum values
517 spaceGridMaxX--;
518 spaceGridMaxY--;
519 }
520
521 internal void waitForSpaceUnlock(IntPtr space)
522 {
523 //if (space != IntPtr.Zero)
524 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
525 }
526
527 #region Collision Detection
528
529 // sets a global contact for a joint for contactgeom , and base contact description)
530
531 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, bool softerp)
532 {
533 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
534 return IntPtr.Zero;
535
536 d.Contact newcontact = new d.Contact();
537 newcontact.geom.depth = contactGeom.depth;
538 newcontact.geom.g1 = contactGeom.g1;
539 newcontact.geom.g2 = contactGeom.g2;
540 newcontact.geom.pos = contactGeom.pos;
541 newcontact.geom.normal = contactGeom.normal;
542 newcontact.geom.side1 = contactGeom.side1;
543 newcontact.geom.side2 = contactGeom.side2;
544
545 // this needs bounce also
546 newcontact.surface.mode = comumContactFlags;
547 newcontact.surface.mu = mu;
548 newcontact.surface.bounce = bounce;
549 newcontact.surface.soft_cfm = comumContactCFM;
550 if (softerp)
551 newcontact.surface.soft_erp = comumSoftContactERP;
552 else
553 newcontact.surface.soft_erp = comumContactERP;
554
555 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
556 Marshal.StructureToPtr(newcontact, contact, true);
557 return d.JointCreateContactPtr(world, contactgroup, contact);
558 }
559
560
561
562 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
563 {
564 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
565 return false;
566
567 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
568 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
569 return true;
570 }
571
572 /// <summary>
573 /// This is our near callback. A geometry is near a body
574 /// </summary>
575 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
576 /// <param name="g1">a geometry or space</param>
577 /// <param name="g2">another geometry or space</param>
578 ///
579
580 private void near(IntPtr space, IntPtr g1, IntPtr g2)
581 {
582 // no lock here! It's invoked from within Simulate(), which is thread-locked
583
584 if (m_global_contactcount >= maxContactsbeforedeath)
585 return;
586
587 // Test if we're colliding a geom with a space.
588 // If so we have to drill down into the space recursively
589
590 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
591 return;
592
593 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
594 {
595 // We'll be calling near recursivly if one
596 // of them is a space to find all of the
597 // contact points in the space
598 try
599 {
600 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
601 }
602 catch (AccessViolationException)
603 {
604 m_log.Warn("[PHYSICS]: Unable to collide test a space");
605 return;
606 }
607 //here one should check collisions of geoms inside a space
608 // but on each space we only should have geoms that not colide amoung each other
609 // so we don't dig inside spaces
610 return;
611 }
612
613 // get geom bodies to check if we already a joint contact
614 // guess this shouldn't happen now
615 IntPtr b1 = d.GeomGetBody(g1);
616 IntPtr b2 = d.GeomGetBody(g2);
617
618 // d.GeomClassID id = d.GeomGetClass(g1);
619
620 // Figure out how many contact points we have
621 int count = 0;
622 try
623 {
624 // Colliding Geom To Geom
625 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
626
627 if (g1 == g2)
628 return; // Can't collide with yourself
629
630 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
631 return;
632
633 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
634 }
635 catch (SEHException)
636 {
637 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
638// ode.drelease(world);
639 base.TriggerPhysicsBasedRestart();
640 }
641 catch (Exception e)
642 {
643 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
644 return;
645 }
646
647 // id contacts done
648 if (count == 0)
649 return;
650
651 // try get physical actors
652 PhysicsActor p1;
653 PhysicsActor p2;
654
655 if (!actor_name_map.TryGetValue(g1, out p1))
656 {
657 p1 = PANull;
658 }
659
660 if (!actor_name_map.TryGetValue(g2, out p2))
661 {
662 p2 = PANull;
663 }
664
665 // update actors collision score
666 if (p1.CollisionScore >= float.MaxValue - count)
667 p1.CollisionScore = 0;
668 p1.CollisionScore += count;
669
670 if (p2.CollisionScore >= float.MaxValue - count)
671 p2.CollisionScore = 0;
672 p2.CollisionScore += count;
673
674
675 // get first contact
676 d.ContactGeom curContact = new d.ContactGeom();
677 if (!GetCurContactGeom(0, ref curContact))
678 return;
679 // for now it's the one with max depth
680 ContactPoint maxDepthContact = new ContactPoint(
681 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
682 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
683 curContact.depth
684 );
685 // do volume detection case
686 if (
687 (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
688 (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
689 {
690 collision_accounting_events(p1, p2, maxDepthContact);
691 return;
692 }
693
694 // big messy collision analises
695 float mu = 0;
696 float bounce = 0;
697 ContactData contactdata1 = new ContactData(0, 0, false);
698 ContactData contactdata2 = new ContactData(0, 0, false);
699 bool erpSoft = false;
700
701 String name = null;
702 bool dop1foot = false;
703 bool dop2foot = false;
704 bool ignore = false;
705
706 switch (p1.PhysicsActorType)
707 {
708 case (int)ActorTypes.Agent:
709 switch (p2.PhysicsActorType)
710 {
711 case (int)ActorTypes.Agent:
712 p1.getContactData(ref contactdata1);
713 p2.getContactData(ref contactdata2);
714
715 bounce = contactdata1.bounce * contactdata2.bounce;
716
717 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
718
719 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
720 mu *= frictionMovementMult;
721
722 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
723 p1.CollidingObj = true;
724 p2.CollidingObj = true;
725 break;
726 case (int)ActorTypes.Prim:
727 p1.getContactData(ref contactdata1);
728 p2.getContactData(ref contactdata2);
729 bounce = contactdata1.bounce * contactdata2.bounce;
730
731 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
732
733 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
734 mu *= frictionMovementMult;
735 if (p2.Velocity.LengthSquared() > 0.0f)
736 p2.CollidingObj = true;
737
738 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
739
740 dop1foot = true;
741 break;
742 default:
743 ignore=true; // avatar to terrain and water ignored
744 break;
745 }
746 break;
747
748 case (int)ActorTypes.Prim:
749 switch (p2.PhysicsActorType)
750 {
751 case (int)ActorTypes.Agent:
752 p1.getContactData(ref contactdata1);
753 p2.getContactData(ref contactdata2);
754 bounce = contactdata1.bounce * contactdata2.bounce;
755
756 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
757
758 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
759 mu *= frictionMovementMult;
760
761 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
762 dop2foot = true;
763 if (p1.Velocity.LengthSquared() > 0.0f)
764 p1.CollidingObj = true;
765 break;
766 case (int)ActorTypes.Prim:
767 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
768 {
769 p1.CollidingObj = true;
770 p2.CollidingObj = true;
771 }
772 p1.getContactData(ref contactdata1);
773 p2.getContactData(ref contactdata2);
774 bounce = contactdata1.bounce * contactdata2.bounce;
775 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
776 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
777
778 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
779 mu *= frictionMovementMult;
780
781 break;
782 default:
783 if (geom_name_map.TryGetValue(g2, out name))
784 {
785 if (name == "Terrain")
786 {
787 p1.getContactData(ref contactdata1);
788 bounce = contactdata1.bounce * TerrainBounce;
789 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
790 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
791 mu *= frictionMovementMult;
792 erpSoft = contactdata1.softcolide;
793 p1.CollidingGround = true;
794 }
795 else if (name == "Water")
796 {
797 erpSoft = true;
798 }
799 }
800 else
801 ignore=true;
802 break;
803 }
804 break;
805
806 default:
807 if (geom_name_map.TryGetValue(g1, out name))
808 {
809 if (name == "Terrain")
810 {
811 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
812 {
813 p2.CollidingGround = true;
814 p2.getContactData(ref contactdata2);
815 bounce = contactdata2.bounce * TerrainBounce;
816 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
817 erpSoft = contactdata2.softcolide;
818
819 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
820 mu *= frictionMovementMult;
821 }
822 else
823 ignore = true;
824
825 }
826 else if (name == "Water" &&
827 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
828 {
829 erpSoft = true;
830 }
831 }
832 else
833 ignore = true;
834 break;
835 }
836
837 if (ignore)
838 return;
839
840 IntPtr Joint;
841
842 int i = 0;
843 while(true)
844 {
845 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
846 p1.IsColliding = true;
847 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
848 p2.IsColliding = true;
849
850 Joint = CreateContacJoint(ref curContact, mu, bounce, erpSoft);
851 d.JointAttach(Joint, b1, b2);
852
853 if (++m_global_contactcount >= maxContactsbeforedeath)
854 break;
855
856 if(++i >= count)
857 break;
858
859 if (!GetCurContactGeom(i, ref curContact))
860 break;
861
862 if (curContact.depth > maxDepthContact.PenetrationDepth)
863 {
864 maxDepthContact.Position.X = curContact.pos.X;
865 maxDepthContact.Position.Y = curContact.pos.Y;
866 maxDepthContact.Position.Z = curContact.pos.Z;
867 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
868 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
869 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
870 maxDepthContact.PenetrationDepth = curContact.depth;
871 }
872 }
873
874 collision_accounting_events(p1, p2, maxDepthContact);
875
876/*
877 if (notskipedcount > geomContactPointsStartthrottle)
878 {
879 // If there are more then 3 contact points, it's likely
880 // that we've got a pile of objects, so ...
881 // We don't want to send out hundreds of terse updates over and over again
882 // so lets throttle them and send them again after it's somewhat sorted out.
883 this needs checking so out for now
884 if (b1 != IntPtr.Zero)
885 p1.ThrottleUpdates = true;
886 if (b2 != IntPtr.Zero)
887 p2.ThrottleUpdates = true;
888
889 }
890 */
891 }
892
893 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
894 {
895 // obj1LocalID = 0;
896 //returncollisions = false;
897 obj2LocalID = 0;
898 //ctype = 0;
899 //cStartStop = 0;
900 if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
901 return;
902
903 switch ((ActorTypes)p1.PhysicsActorType)
904 {
905 case ActorTypes.Agent:
906 cc1 = (OdeCharacter)p1;
907 switch ((ActorTypes)p2.PhysicsActorType)
908 {
909 case ActorTypes.Agent:
910 cc2 = (OdeCharacter)p2;
911 obj2LocalID = cc2.m_localID;
912 if (p2.SubscribedEvents())
913 cc2.AddCollisionEvent(cc1.m_localID, contact);
914 break;
915
916 case ActorTypes.Prim:
917 if (p2 is OdePrim)
918 {
919 cp2 = (OdePrim)p2;
920 obj2LocalID = cp2.m_localID;
921 if (p2.SubscribedEvents())
922 cp2.AddCollisionEvent(cc1.m_localID, contact);
923 }
924 break;
925
926 case ActorTypes.Ground:
927 case ActorTypes.Unknown:
928 default:
929 obj2LocalID = 0;
930 break;
931 }
932 if (p1.SubscribedEvents())
933 {
934 contact.SurfaceNormal = -contact.SurfaceNormal;
935 cc1.AddCollisionEvent(obj2LocalID, contact);
936 }
937 break;
938
939 case ActorTypes.Prim:
940
941 if (p1 is OdePrim)
942 {
943 cp1 = (OdePrim)p1;
944
945 // obj1LocalID = cp2.m_localID;
946 switch ((ActorTypes)p2.PhysicsActorType)
947 {
948 case ActorTypes.Agent:
949 if (p2 is OdeCharacter)
950 {
951 cc2 = (OdeCharacter)p2;
952 obj2LocalID = cc2.m_localID;
953 if (p2.SubscribedEvents())
954 cc2.AddCollisionEvent(cp1.m_localID, contact);
955 }
956 break;
957 case ActorTypes.Prim:
958
959 if (p2 is OdePrim)
960 {
961 cp2 = (OdePrim)p2;
962 obj2LocalID = cp2.m_localID;
963 if (p2.SubscribedEvents())
964 cp2.AddCollisionEvent(cp1.m_localID, contact);
965 }
966 break;
967
968 case ActorTypes.Ground:
969 case ActorTypes.Unknown:
970 default:
971 obj2LocalID = 0;
972 break;
973 }
974 if (p1.SubscribedEvents())
975 {
976 contact.SurfaceNormal = -contact.SurfaceNormal;
977 cp1.AddCollisionEvent(obj2LocalID, contact);
978 }
979 }
980 break;
981 }
982 }
983
984 /// <summary>
985 /// This is our collision testing routine in ODE
986 /// </summary>
987 /// <param name="timeStep"></param>
988 private void collision_optimized()
989 {
990 lock (_characters)
991 {
992 try
993 {
994 foreach (OdeCharacter chr in _characters)
995 {
996 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
997 continue;
998
999 chr.IsColliding = false;
1000 // chr.CollidingGround = false; not done here
1001 chr.CollidingObj = false;
1002 // do colisions with static space
1003 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1004 }
1005 }
1006 catch (AccessViolationException)
1007 {
1008 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1009 }
1010
1011 }
1012
1013 lock (_activeprims)
1014 {
1015 foreach (OdePrim aprim in _activeprims)
1016 {
1017 aprim.CollisionScore = 0;
1018 aprim.IsColliding = false;
1019 }
1020 }
1021
1022 // collide active prims with static enviroment
1023 lock (_activegroups)
1024 {
1025 try
1026 {
1027 foreach (OdePrim prm in _activegroups)
1028 {
1029 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1030 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1031 }
1032 }
1033 catch (AccessViolationException)
1034 {
1035 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1036 }
1037 }
1038 // finally colide active things amoung them
1039 try
1040 {
1041 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1042 }
1043 catch (AccessViolationException)
1044 {
1045 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1046 }
1047// _perloopContact.Clear();
1048 }
1049
1050 #endregion
1051
1052
1053
1054 /// <summary>
1055 /// Add actor to the list that should receive collision events in the simulate loop.
1056 /// </summary>
1057 /// <param name="obj"></param>
1058 public void AddCollisionEventReporting(PhysicsActor obj)
1059 {
1060 lock (_collisionEventPrim)
1061 {
1062 if (!_collisionEventPrim.Contains(obj))
1063 _collisionEventPrim.Add(obj);
1064 }
1065 }
1066
1067 /// <summary>
1068 /// Remove actor from the list that should receive collision events in the simulate loop.
1069 /// </summary>
1070 /// <param name="obj"></param>
1071 public void RemoveCollisionEventReporting(PhysicsActor obj)
1072 {
1073 lock (_collisionEventPrim)
1074 {
1075 if (_collisionEventPrim.Contains(obj))
1076 _collisionEventPrim.Remove(obj);
1077 }
1078 }
1079
1080 #region Add/Remove Entities
1081
1082 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1083 {
1084 Vector3 pos;
1085 pos.X = position.X;
1086 pos.Y = position.Y;
1087 pos.Z = position.Z;
1088 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1089 newAv.Flying = isFlying;
1090 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1091
1092 return newAv;
1093 }
1094
1095 public void AddCharacter(OdeCharacter chr)
1096 {
1097 lock (_characters)
1098 {
1099 if (!_characters.Contains(chr))
1100 {
1101 _characters.Add(chr);
1102 if (chr.bad)
1103 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1104 }
1105 }
1106 }
1107
1108 public void RemoveCharacter(OdeCharacter chr)
1109 {
1110 lock (_characters)
1111 {
1112 if (_characters.Contains(chr))
1113 {
1114 _characters.Remove(chr);
1115 }
1116 }
1117 }
1118
1119 public void BadCharacter(OdeCharacter chr)
1120 {
1121 lock (_badCharacter)
1122 {
1123 if (!_badCharacter.Contains(chr))
1124 _badCharacter.Add(chr);
1125 }
1126 }
1127
1128 public override void RemoveAvatar(PhysicsActor actor)
1129 {
1130 //m_log.Debug("[PHYSICS]:ODELOCK");
1131 ((OdeCharacter) actor).Destroy();
1132 }
1133
1134 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1135 PrimitiveBaseShape pbs, bool isphysical, uint localID)
1136 {
1137 Vector3 pos = position;
1138 Vector3 siz = size;
1139 Quaternion rot = rotation;
1140
1141 OdePrim newPrim;
1142 lock (OdeLock)
1143 {
1144 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,localID);
1145
1146 lock (_prims)
1147 _prims.Add(newPrim);
1148 }
1149 return newPrim;
1150 }
1151
1152 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1153 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID)
1154 {
1155 Vector3 pos = position;
1156 Vector3 siz = size;
1157 Quaternion rot = rotation;
1158
1159 OdePrim newPrim;
1160 lock (OdeLock)
1161 {
1162 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,isPhantom,localID);
1163
1164 lock (_prims)
1165 _prims.Add(newPrim);
1166 }
1167 return newPrim;
1168 }
1169
1170 public void addActivePrim(OdePrim activatePrim)
1171 {
1172 // adds active prim..
1173 lock (_activeprims)
1174 {
1175 if (!_activeprims.Contains(activatePrim))
1176 _activeprims.Add(activatePrim);
1177 }
1178 }
1179
1180 public void addActiveGroups(OdePrim activatePrim)
1181 {
1182 lock (_activegroups)
1183 {
1184 if (!_activegroups.Contains(activatePrim))
1185 _activegroups.Add(activatePrim);
1186 }
1187 }
1188
1189 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1190 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1191 {
1192 return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid);
1193 }
1194
1195
1196 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1197 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1198 {
1199#if SPAM
1200 m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
1201#endif
1202
1203 return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid);
1204 }
1205
1206 public override float TimeDilation
1207 {
1208 get { return m_timeDilation; }
1209 }
1210
1211 public override bool SupportsNINJAJoints
1212 {
1213 get { return false; }
1214 }
1215
1216
1217 public void remActivePrim(OdePrim deactivatePrim)
1218 {
1219 lock (_activeprims)
1220 {
1221 _activeprims.Remove(deactivatePrim);
1222 }
1223 }
1224 public void remActiveGroup(OdePrim deactivatePrim)
1225 {
1226 lock (_activegroups)
1227 {
1228 _activegroups.Remove(deactivatePrim);
1229 }
1230 }
1231
1232 public override void RemovePrim(PhysicsActor prim)
1233 {
1234 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1235 // removed in the next physics simulate pass.
1236 if (prim is OdePrim)
1237 {
1238// lock (OdeLock)
1239 {
1240 OdePrim p = (OdePrim)prim;
1241 p.setPrimForRemoval();
1242 }
1243 }
1244 }
1245 /// <summary>
1246 /// This is called from within simulate but outside the locked portion
1247 /// We need to do our own locking here
1248 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1249 /// Simulate() -- justincc).
1250 ///
1251 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1252 ///
1253 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1254 /// that the space was using.
1255 /// </summary>
1256 /// <param name="prim"></param>
1257 public void RemovePrimThreadLocked(OdePrim prim)
1258 {
1259 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1260 lock (prim)
1261 {
1262 RemoveCollisionEventReporting(prim);
1263 lock (_prims)
1264 _prims.Remove(prim);
1265 }
1266
1267 }
1268 #endregion
1269
1270 #region Space Separation Calculation
1271
1272 /// <summary>
1273 /// Called when a static prim moves or becomes static
1274 /// Places the prim in a space one the static sub-spaces grid
1275 /// </summary>
1276 /// <param name="geom">the pointer to the geom that moved</param>
1277 /// <param name="pos">the position that the geom moved to</param>
1278 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1279 /// <returns>a pointer to the new space it's in</returns>
1280 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1281 {
1282 // moves a prim into another static sub-space or from another space into a static sub-space
1283
1284 // Called ODEPrim so
1285 // it's already in locked space.
1286
1287 if (geom == IntPtr.Zero) // shouldn't happen
1288 return IntPtr.Zero;
1289
1290 // get the static sub-space for current position
1291 IntPtr newspace = calculateSpaceForGeom(pos);
1292
1293 if (newspace == currentspace) // if we are there all done
1294 return newspace;
1295
1296 // else remove it from its current space
1297 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1298 {
1299 if (d.GeomIsSpace(currentspace))
1300 {
1301 waitForSpaceUnlock(currentspace);
1302 d.SpaceRemove(currentspace, geom);
1303
1304 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1305 {
1306 d.SpaceDestroy(currentspace);
1307 }
1308 }
1309 else
1310 {
1311 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1312 " Geom:" + geom);
1313 }
1314 }
1315 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1316 {
1317 currentspace = d.GeomGetSpace(geom);
1318 if (currentspace != IntPtr.Zero)
1319 {
1320 if (d.GeomIsSpace(currentspace))
1321 {
1322 waitForSpaceUnlock(currentspace);
1323 d.SpaceRemove(currentspace, geom);
1324
1325 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1326 {
1327 d.SpaceDestroy(currentspace);
1328 }
1329
1330 }
1331 }
1332 }
1333
1334 // put the geom in the newspace
1335 waitForSpaceUnlock(newspace);
1336 d.SpaceAdd(newspace, geom);
1337
1338 // let caller know this newspace
1339 return newspace;
1340 }
1341
1342 /// <summary>
1343 /// Calculates the space the prim should be in by its position
1344 /// </summary>
1345 /// <param name="pos"></param>
1346 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1347 public IntPtr calculateSpaceForGeom(Vector3 pos)
1348 {
1349 int x, y;
1350 x = (int)(pos.X * spacesPerMeter);
1351 if (x < 0)
1352 x = 0;
1353 else if (x > spaceGridMaxX)
1354 x = spaceGridMaxX;
1355
1356 y = (int)(pos.Y * spacesPerMeter);
1357 if (y < 0)
1358 y = 0;
1359 else if (y >spaceGridMaxY)
1360 y = spaceGridMaxY;
1361
1362 IntPtr tmpSpace = staticPrimspace[x, y];
1363 return tmpSpace;
1364 }
1365
1366 #endregion
1367
1368 /// <summary>
1369 /// Routine to figure out if we need to mesh this prim with our mesher
1370 /// </summary>
1371 /// <param name="pbs"></param>
1372 /// <returns></returns>
1373 public bool needsMeshing(PrimitiveBaseShape pbs)
1374 {
1375 // most of this is redundant now as the mesher will return null if it cant mesh a prim
1376 // but we still need to check for sculptie meshing being enabled so this is the most
1377 // convenient place to do it for now...
1378
1379 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1380 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1381 int iPropertiesNotSupportedDefault = 0;
1382
1383 if (pbs.SculptEntry)
1384 {
1385 if(!meshSculptedPrim)
1386 return false;
1387 }
1388
1389 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
1390 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
1391 {
1392 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
1393 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
1394 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
1395 {
1396
1397 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
1398 && pbs.ProfileHollow == 0
1399 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
1400 && pbs.PathBegin == 0 && pbs.PathEnd == 0
1401 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
1402 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
1403 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
1404 {
1405#if SPAM
1406 m_log.Warn("NonMesh");
1407#endif
1408 return false;
1409 }
1410 }
1411 }
1412
1413 // following code doesn't give meshs to boxes and spheres ever
1414 // and it's odd.. so for now just return true if asked to force meshs
1415 // hopefully mesher will fail if doesn't suport so things still get basic boxes
1416
1417 if (forceSimplePrimMeshing)
1418 return true;
1419
1420 if (pbs.ProfileHollow != 0)
1421 iPropertiesNotSupportedDefault++;
1422
1423 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
1424 iPropertiesNotSupportedDefault++;
1425
1426 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
1427 iPropertiesNotSupportedDefault++;
1428
1429 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
1430 iPropertiesNotSupportedDefault++;
1431
1432 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
1433 iPropertiesNotSupportedDefault++;
1434
1435 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
1436 iPropertiesNotSupportedDefault++;
1437
1438 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
1439 iPropertiesNotSupportedDefault++;
1440
1441 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
1442 iPropertiesNotSupportedDefault++;
1443
1444 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
1445 iPropertiesNotSupportedDefault++;
1446
1447 // test for torus
1448 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
1449 {
1450 if (pbs.PathCurve == (byte)Extrusion.Curve1)
1451 {
1452 iPropertiesNotSupportedDefault++;
1453 }
1454 }
1455 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1456 {
1457 if (pbs.PathCurve == (byte)Extrusion.Straight)
1458 {
1459 iPropertiesNotSupportedDefault++;
1460 }
1461
1462 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
1463 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1464 {
1465 iPropertiesNotSupportedDefault++;
1466 }
1467 }
1468 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
1469 {
1470 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
1471 {
1472 iPropertiesNotSupportedDefault++;
1473 }
1474 }
1475 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
1476 {
1477 if (pbs.PathCurve == (byte)Extrusion.Straight)
1478 {
1479 iPropertiesNotSupportedDefault++;
1480 }
1481 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
1482 {
1483 iPropertiesNotSupportedDefault++;
1484 }
1485 }
1486
1487 if (pbs.SculptEntry && meshSculptedPrim)
1488 iPropertiesNotSupportedDefault++;
1489
1490 if (iPropertiesNotSupportedDefault == 0)
1491 {
1492#if SPAM
1493 m_log.Warn("NonMesh");
1494#endif
1495 return false;
1496 }
1497#if SPAM
1498 m_log.Debug("Mesh");
1499#endif
1500 return true;
1501 }
1502
1503 /// <summary>
1504 /// Called to queue a change to a actor
1505 /// to use in place of old taint mechanism so changes do have a time sequence
1506 /// </summary>
1507
1508 public void AddChange(PhysicsActor actor, changes what, Object arg)
1509 {
1510 ODEchangeitem item = new ODEchangeitem();
1511 item.actor = actor;
1512 item.what = what;
1513 item.arg = arg;
1514 ChangesQueue.Enqueue(item);
1515 }
1516
1517 /// <summary>
1518 /// Called after our prim properties are set Scale, position etc.
1519 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1520 /// This assures us that we have no race conditions
1521 /// </summary>
1522 /// <param name="prim"></param>
1523 public override void AddPhysicsActorTaint(PhysicsActor prim)
1524 {
1525 }
1526
1527 /// <summary>
1528 /// This is our main simulate loop
1529 /// It's thread locked by a Mutex in the scene.
1530 /// It holds Collisions, it instructs ODE to step through the physical reactions
1531 /// It moves the objects around in memory
1532 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1533 /// </summary>
1534 /// <param name="timeStep"></param>
1535 /// <returns></returns>
1536 public override float Simulate(float timeStep)
1537 {
1538 int statstart;
1539 int statchanges = 0;
1540 int statchmove = 0;
1541 int statactmove = 0;
1542 int statray = 0;
1543 int statcol = 0;
1544 int statstep = 0;
1545 int statmovchar = 0;
1546 int statmovprim;
1547 int totjcontact = 0;
1548
1549 // acumulate time so we can reduce error
1550 step_time += timeStep;
1551
1552 if (step_time < ODE_STEPSIZE)
1553 return 0;
1554
1555 if (framecount >= int.MaxValue)
1556 framecount = 0;
1557
1558 framecount++;
1559
1560 int curphysiteractions = m_physicsiterations;
1561
1562 if (step_time >= m_SkipFramesAtms)
1563 {
1564 // if in trouble reduce step resolution
1565 curphysiteractions /= 2;
1566 }
1567
1568 int nodeframes = 0;
1569
1570// checkThread();
1571
1572 lock (SimulationLock)
1573 {
1574 // adjust number of iterations per step
1575 try
1576 {
1577 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1578 }
1579 catch (StackOverflowException)
1580 {
1581 m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
1582// ode.drelease(world);
1583 base.TriggerPhysicsBasedRestart();
1584 }
1585
1586
1587 while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever
1588 {
1589 try
1590 {
1591 statstart = Util.EnvironmentTickCount();
1592
1593 // clear pointer/counter to contacts to pass into joints
1594 m_global_contactcount = 0;
1595
1596 ODEchangeitem item;
1597
1598 if(ChangesQueue.Count >0)
1599 {
1600 int ttmpstart = Util.EnvironmentTickCount();
1601 int ttmp;
1602 int ttmp2;
1603
1604 while(ChangesQueue.Dequeue(out item))
1605 {
1606 if (item.actor != null)
1607 {
1608 try
1609 {
1610 if (item.actor is OdeCharacter)
1611 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1612 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1613 RemovePrimThreadLocked((OdePrim)item.actor);
1614 }
1615 catch
1616 {
1617 m_log.Warn("[PHYSICS]: doChange failed for a actor");
1618 };
1619 }
1620 ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
1621 if (ttmp > 20)
1622 break;
1623 }
1624
1625 ttmp2 = Util.EnvironmentTickCountSubtract(ttmpstart);
1626 if (ttmp2 > 50)
1627 ttmp2 = 0;
1628
1629 }
1630
1631 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1632
1633 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1634 //if ((framecount % m_randomizeWater) == 0)
1635 // randomizeWater(waterlevel);
1636
1637 m_rayCastManager.ProcessQueuedRequests();
1638
1639
1640
1641 statray += Util.EnvironmentTickCountSubtract(statstart);
1642 collision_optimized();
1643 statcol += Util.EnvironmentTickCountSubtract(statstart);
1644
1645 lock (_collisionEventPrim)
1646 {
1647 foreach (PhysicsActor obj in _collisionEventPrim)
1648 {
1649 if (obj == null)
1650 continue;
1651
1652 switch ((ActorTypes)obj.PhysicsActorType)
1653 {
1654 case ActorTypes.Agent:
1655 OdeCharacter cobj = (OdeCharacter)obj;
1656 cobj.AddCollisionFrameTime((int)(ODE_STEPSIZE*1000.0f));
1657 cobj.SendCollisions();
1658 break;
1659
1660 case ActorTypes.Prim:
1661 OdePrim pobj = (OdePrim)obj;
1662 pobj.SendCollisions();
1663 break;
1664 }
1665 }
1666 }
1667
1668 d.WorldQuickStep(world, ODE_STEPSIZE);
1669 statstep += Util.EnvironmentTickCountSubtract(statstart);
1670
1671 // Move characters
1672 lock (_characters)
1673 {
1674 List<OdeCharacter> defects = new List<OdeCharacter>();
1675 foreach (OdeCharacter actor in _characters)
1676 {
1677 if (actor != null)
1678 actor.Move(ODE_STEPSIZE, defects);
1679 }
1680 if (defects.Count != 0)
1681 {
1682 foreach (OdeCharacter defect in defects)
1683 {
1684 RemoveCharacter(defect);
1685 }
1686 }
1687 }
1688 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1689
1690 // Move other active objects
1691 lock (_activegroups)
1692 {
1693 foreach (OdePrim aprim in _activegroups)
1694 {
1695 aprim.Move();
1696 }
1697 }
1698
1699 //ode.dunlock(world);
1700 }
1701 catch (Exception e)
1702 {
1703 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1704// ode.dunlock(world);
1705 }
1706
1707 d.JointGroupEmpty(contactgroup);
1708 totjcontact += m_global_contactcount;
1709
1710 step_time -= ODE_STEPSIZE;
1711 nodeframes++;
1712 }
1713
1714 statstart = Util.EnvironmentTickCount();
1715
1716 lock (_characters)
1717 {
1718 foreach (OdeCharacter actor in _characters)
1719 {
1720 if (actor != null)
1721 {
1722 if (actor.bad)
1723 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1724
1725 actor.UpdatePositionAndVelocity();
1726 }
1727 }
1728 }
1729
1730 lock (_badCharacter)
1731 {
1732 if (_badCharacter.Count > 0)
1733 {
1734 foreach (OdeCharacter chr in _badCharacter)
1735 {
1736 RemoveCharacter(chr);
1737 }
1738
1739 _badCharacter.Clear();
1740 }
1741 }
1742 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1743
1744 lock (_activegroups)
1745 {
1746 {
1747 foreach (OdePrim actor in _activegroups)
1748 {
1749 if (actor.IsPhysical)
1750 {
1751 actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
1752 }
1753 }
1754 }
1755 }
1756
1757 statmovprim = Util.EnvironmentTickCountSubtract(statstart);
1758
1759 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1760 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1761 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1762 int nbodies = d.NTotalBodies;
1763 int ngeoms = d.NTotalGeoms;
1764
1765 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1766 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1767 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1768 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1769 {
1770 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1771 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1772
1773 if (physics_logging_append_existing_logfile)
1774 {
1775 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1776 TextWriter fwriter = File.AppendText(fname);
1777 fwriter.WriteLine(header);
1778 fwriter.Close();
1779 }
1780
1781 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1782 }
1783
1784 // think time dilation is not a physics issue alone.. but ok let's fake something
1785 if (step_time < ODE_STEPSIZE) // we did the required loops
1786 m_timeDilation = 1.0f;
1787 else
1788 { // we didn't forget the lost ones and let user know something
1789 m_timeDilation = 1 - step_time / timeStep;
1790 if (m_timeDilation < 0)
1791 m_timeDilation = 0;
1792 step_time = 0;
1793 }
1794 }
1795
1796// return nodeframes * ODE_STEPSIZE; // return real simulated time
1797 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1798 }
1799
1800 /// <summary>
1801 public override void GetResults()
1802 {
1803 }
1804
1805 public override bool IsThreaded
1806 {
1807 // for now we won't be multithreaded
1808 get { return (false); }
1809 }
1810
1811 public float GetTerrainHeightAtXY(float x, float y)
1812 {
1813 // assumes 1m size grid and constante size square regions
1814 // needs to know about sims around in future
1815 // region offset in mega position
1816
1817 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1818 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1819
1820 IntPtr heightFieldGeom = IntPtr.Zero;
1821
1822 // get region map
1823 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
1824 return 0f;
1825
1826 if (heightFieldGeom == IntPtr.Zero)
1827 return 0f;
1828
1829 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1830 return 0f;
1831
1832 // TerrainHeightField for ODE as offset 1m
1833 x += 1f - offsetX;
1834 y += 1f - offsetY;
1835
1836 // make position fit into array
1837 if (x < 0)
1838 x = 0;
1839 if (y < 0)
1840 y = 0;
1841
1842 // integer indexs
1843 int ix;
1844 int iy;
1845 // interpolators offset
1846 float dx;
1847 float dy;
1848
1849 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
1850
1851 // we still have square fixed size regions
1852 // also flip x and y because of how map is done for ODE fliped axis
1853 // so ix,iy,dx and dy are inter exchanged
1854 if (x < regsize - 1)
1855 {
1856 iy = (int)x;
1857 dy = x - (float)iy;
1858 }
1859 else // out world use external height
1860 {
1861 iy = regsize - 1;
1862 dy = 0;
1863 }
1864 if (y < regsize - 1)
1865 {
1866 ix = (int)y;
1867 dx = y - (float)ix;
1868 }
1869 else
1870 {
1871 ix = regsize - 1;
1872 dx = 0;
1873 }
1874
1875 float h0;
1876 float h1;
1877 float h2;
1878
1879 iy *= regsize;
1880 iy += ix; // all indexes have iy + ix
1881
1882 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
1883
1884 if ((dx + dy) <= 1.0f)
1885 {
1886 h0 = ((float)heights[iy]); // 0,0 vertice
1887 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
1888 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
1889 }
1890 else
1891 {
1892 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
1893 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
1894 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
1895 }
1896
1897 return h0 + h1 + h2;
1898 }
1899 public override void SetTerrain(float[] heightMap)
1900 {
1901 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
1902 {
1903 if (m_parentScene is OdeScene)
1904 {
1905 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
1906 }
1907 }
1908 else
1909 {
1910 SetTerrain(heightMap, m_worldOffset);
1911 }
1912 }
1913
1914 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
1915 {
1916 SetTerrain(heightMap, pOffset);
1917 }
1918
1919 public void SetTerrain(float[] heightMap, Vector3 pOffset)
1920 {
1921 // assumes 1m size grid and constante size square regions
1922 // needs to know about sims around in future
1923
1924 float[] _heightmap;
1925
1926 uint heightmapWidth = Constants.RegionSize + 2;
1927 uint heightmapHeight = Constants.RegionSize + 2;
1928
1929 uint heightmapWidthSamples = heightmapWidth + 1;
1930 uint heightmapHeightSamples = heightmapHeight + 1;
1931
1932 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
1933
1934 const float scale = 1.0f;
1935 const float offset = 0.0f;
1936 const float thickness = 10f;
1937 const int wrap = 0;
1938
1939 uint regionsize = Constants.RegionSize;
1940
1941 float hfmin = float.MaxValue;
1942 float hfmax = float.MinValue;
1943 float val;
1944 uint xx;
1945 uint yy;
1946
1947 uint maxXXYY = regionsize - 1;
1948 // flipping map adding one margin all around so things don't fall in edges
1949
1950 uint xt = 0;
1951 xx = 0;
1952
1953 for (uint x = 0; x < heightmapWidthSamples; x++)
1954 {
1955 if (x > 1 && xx < maxXXYY)
1956 xx++;
1957 yy = 0;
1958 for (uint y = 0; y < heightmapHeightSamples; y++)
1959 {
1960 if (y > 1 && y < maxXXYY)
1961 yy += regionsize;
1962
1963 val = heightMap[yy + xx];
1964 if (val < 0.0f)
1965 val = 0.0f; // no neg terrain as in chode
1966 _heightmap[xt + y] = val;
1967
1968 if (hfmin > val)
1969 hfmin = val;
1970 if (hfmax < val)
1971 hfmax = val;
1972 }
1973 xt += heightmapHeightSamples;
1974 }
1975 lock (OdeLock)
1976 {
1977 IntPtr GroundGeom = IntPtr.Zero;
1978 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
1979 {
1980 RegionTerrain.Remove(pOffset);
1981 if (GroundGeom != IntPtr.Zero)
1982 {
1983 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
1984 {
1985 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
1986 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
1987 TerrainHeightFieldHeights.Remove(GroundGeom);
1988 }
1989 d.SpaceRemove(StaticSpace, GroundGeom);
1990 d.GeomDestroy(GroundGeom);
1991 }
1992 }
1993 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
1994
1995 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
1996
1997 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
1998 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
1999 offset, thickness, wrap);
2000
2001 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2002 GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2003 if (GroundGeom != IntPtr.Zero)
2004 {
2005 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
2006 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
2007
2008 }
2009 geom_name_map[GroundGeom] = "Terrain";
2010
2011 d.Matrix3 R = new d.Matrix3();
2012
2013 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2014 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2015
2016
2017 q1 = q1 * q2;
2018
2019 Vector3 v3;
2020 float angle;
2021 q1.GetAxisAngle(out v3, out angle);
2022
2023 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2024 d.GeomSetRotation(GroundGeom, ref R);
2025 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2026 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
2027// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
2028 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2029 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2030
2031 }
2032 }
2033
2034 public override void DeleteTerrain()
2035 {
2036 }
2037
2038 public float GetWaterLevel()
2039 {
2040 return waterlevel;
2041 }
2042
2043 public override bool SupportsCombining()
2044 {
2045 return true;
2046 }
2047/*
2048 public override void UnCombine(PhysicsScene pScene)
2049 {
2050 IntPtr localGround = IntPtr.Zero;
2051// float[] localHeightfield;
2052 bool proceed = false;
2053 List<IntPtr> geomDestroyList = new List<IntPtr>();
2054
2055 lock (OdeLock)
2056 {
2057 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2058 {
2059 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2060 {
2061 if (geom == localGround)
2062 {
2063// localHeightfield = TerrainHeightFieldHeights[geom];
2064 proceed = true;
2065 }
2066 else
2067 {
2068 geomDestroyList.Add(geom);
2069 }
2070 }
2071
2072 if (proceed)
2073 {
2074 m_worldOffset = Vector3.Zero;
2075 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2076 m_parentScene = null;
2077
2078 foreach (IntPtr g in geomDestroyList)
2079 {
2080 // removingHeightField needs to be done or the garbage collector will
2081 // collect the terrain data before we tell ODE to destroy it causing
2082 // memory corruption
2083 if (TerrainHeightFieldHeights.ContainsKey(g))
2084 {
2085// float[] removingHeightField = TerrainHeightFieldHeights[g];
2086 TerrainHeightFieldHeights.Remove(g);
2087
2088 if (RegionTerrain.ContainsKey(g))
2089 {
2090 RegionTerrain.Remove(g);
2091 }
2092
2093 d.GeomDestroy(g);
2094 //removingHeightField = new float[0];
2095 }
2096 }
2097
2098 }
2099 else
2100 {
2101 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2102 }
2103 }
2104 }
2105 }
2106*/
2107 public override void SetWaterLevel(float baseheight)
2108 {
2109 waterlevel = baseheight;
2110 randomizeWater(waterlevel);
2111 }
2112
2113 public void randomizeWater(float baseheight)
2114 {
2115 const uint heightmapWidth = m_regionWidth + 2;
2116 const uint heightmapHeight = m_regionHeight + 2;
2117 const uint heightmapWidthSamples = m_regionWidth + 2;
2118 const uint heightmapHeightSamples = m_regionHeight + 2;
2119 const float scale = 1.0f;
2120 const float offset = 0.0f;
2121 const float thickness = 2.9f;
2122 const int wrap = 0;
2123
2124 for (int i = 0; i < (258 * 258); i++)
2125 {
2126 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
2127 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
2128 }
2129
2130 lock (OdeLock)
2131 {
2132 if (WaterGeom != IntPtr.Zero)
2133 {
2134 d.SpaceRemove(StaticSpace, WaterGeom);
2135 }
2136 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2137 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
2138 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2139 offset, thickness, wrap);
2140 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
2141 WaterGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
2142 if (WaterGeom != IntPtr.Zero)
2143 {
2144 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
2145 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
2146
2147 }
2148 geom_name_map[WaterGeom] = "Water";
2149
2150 d.Matrix3 R = new d.Matrix3();
2151
2152 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2153 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2154
2155 q1 = q1 * q2;
2156 Vector3 v3;
2157 float angle;
2158 q1.GetAxisAngle(out v3, out angle);
2159
2160 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2161 d.GeomSetRotation(WaterGeom, ref R);
2162 d.GeomSetPosition(WaterGeom, 128, 128, 0);
2163
2164 }
2165
2166 }
2167
2168 public override void Dispose()
2169 {
2170 m_rayCastManager.Dispose();
2171 m_rayCastManager = null;
2172
2173 lock (OdeLock)
2174 {
2175 lock (_prims)
2176 {
2177 foreach (OdePrim prm in _prims)
2178 {
2179 RemovePrim(prm);
2180 }
2181 }
2182
2183 if (ContactgeomsArray != IntPtr.Zero)
2184 Marshal.FreeHGlobal(ContactgeomsArray);
2185 if (GlobalContactsArray != IntPtr.Zero)
2186 Marshal.FreeHGlobal(GlobalContactsArray);
2187
2188 d.WorldDestroy(world);
2189 //d.CloseODE();
2190 }
2191 }
2192
2193 public override Dictionary<uint, float> GetTopColliders()
2194 {
2195 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2196 int cnt = 0;
2197 lock (_prims)
2198 {
2199 foreach (OdePrim prm in _prims)
2200 {
2201 if (prm.CollisionScore > 0)
2202 {
2203 returncolliders.Add(prm.m_localID, prm.CollisionScore);
2204 cnt++;
2205 prm.CollisionScore = 0f;
2206 if (cnt > 25)
2207 {
2208 break;
2209 }
2210 }
2211 }
2212 }
2213 return returncolliders;
2214 }
2215
2216 public override bool SupportsRayCast()
2217 {
2218 return true;
2219 }
2220
2221 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2222 {
2223 if (retMethod != null)
2224 {
2225 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2226 }
2227 }
2228
2229 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2230 {
2231 if (retMethod != null)
2232 {
2233 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2234 }
2235 }
2236
2237 // don't like this
2238 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2239 {
2240 ContactResult[] ourResults = null;
2241 RayCallback retMethod = delegate(List<ContactResult> results)
2242 {
2243 ourResults = new ContactResult[results.Count];
2244 results.CopyTo(ourResults, 0);
2245 };
2246 int waitTime = 0;
2247 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2248 while (ourResults == null && waitTime < 1000)
2249 {
2250 Thread.Sleep(1);
2251 waitTime++;
2252 }
2253 if (ourResults == null)
2254 return new List<ContactResult>();
2255 return new List<ContactResult>(ourResults);
2256 }
2257
2258 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2259 {
2260 if (retMethod != null && actor !=null)
2261 {
2262 IntPtr geom;
2263 if (actor is OdePrim)
2264 geom = ((OdePrim)actor).prim_geom;
2265 else if (actor is OdeCharacter)
2266 geom = ((OdePrim)actor).prim_geom;
2267 else
2268 return;
2269 if (geom == IntPtr.Zero)
2270 return;
2271 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2272 }
2273 }
2274
2275 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2276 {
2277 if (retMethod != null && actor != null)
2278 {
2279 IntPtr geom;
2280 if (actor is OdePrim)
2281 geom = ((OdePrim)actor).prim_geom;
2282 else if (actor is OdeCharacter)
2283 geom = ((OdePrim)actor).prim_geom;
2284 else
2285 return;
2286 if (geom == IntPtr.Zero)
2287 return;
2288
2289 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2290 }
2291 }
2292
2293 // don't like this
2294 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2295 {
2296 if (actor != null)
2297 {
2298 IntPtr geom;
2299 if (actor is OdePrim)
2300 geom = ((OdePrim)actor).prim_geom;
2301 else if (actor is OdeCharacter)
2302 geom = ((OdePrim)actor).prim_geom;
2303 else
2304 return new List<ContactResult>();
2305 if (geom == IntPtr.Zero)
2306 return new List<ContactResult>();
2307
2308 ContactResult[] ourResults = null;
2309 RayCallback retMethod = delegate(List<ContactResult> results)
2310 {
2311 ourResults = new ContactResult[results.Count];
2312 results.CopyTo(ourResults, 0);
2313 };
2314 int waitTime = 0;
2315 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2316 while (ourResults == null && waitTime < 1000)
2317 {
2318 Thread.Sleep(1);
2319 waitTime++;
2320 }
2321 if (ourResults == null)
2322 return new List<ContactResult>();
2323 return new List<ContactResult>(ourResults);
2324 }
2325 return new List<ContactResult>();
2326 }
2327 }
2328}
generated by cgit v1.1 at 2024-10-26 15:30:06 +0000