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-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs2
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs58
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs2
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs88
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsScene.cs2
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsVector.cs2
-rw-r--r--OpenSim/Region/Physics/Meshing/Extruder.cs13
-rw-r--r--OpenSim/Region/Physics/Meshing/HelperTypes.cs110
-rw-r--r--OpenSim/Region/Physics/Meshing/Meshmerizer.cs3
-rw-r--r--OpenSim/Region/Physics/Meshing/PrimMesher.cs11
-rw-r--r--OpenSim/Region/Physics/Meshing/SculptMesh.cs7
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs3
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs96
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODETestClass.cs4
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs51
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSCharacter.cs2
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPlugin.cs1
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPrim.cs2
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSScene.cs17
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs12
20 files changed, 226 insertions, 260 deletions
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
index 3bf0956..e38a12b 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -26,8 +26,8 @@
26 */ 26 */
27 27
28using System.Collections.Generic; 28using System.Collections.Generic;
29using Axiom.Math;
30using Nini.Config; 29using Nini.Config;
30using OpenMetaverse;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
33 33
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index cc55f6e..c969f9a 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -29,13 +29,15 @@
29 29
30using System; 30using System;
31using System.Collections.Generic; 31using System.Collections.Generic;
32using OpenMetaverse;
32using MonoXnaCompactMaths; 33using MonoXnaCompactMaths;
33using OpenSim.Framework; 34using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager; 35using OpenSim.Region.Physics.Manager;
35using XnaDevRu.BulletX; 36using XnaDevRu.BulletX;
36using XnaDevRu.BulletX.Dynamics; 37using XnaDevRu.BulletX.Dynamics;
37using Nini.Config; 38using Nini.Config;
38using AxiomQuaternion = Axiom.Math.Quaternion; 39using Vector3 = MonoXnaCompactMaths.Vector3;
40using Quaternion = MonoXnaCompactMaths.Quaternion;
39 41
40#endregion 42#endregion
41 43
@@ -61,14 +63,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
61 } 63 }
62 64
63 //Quaternion 65 //Quaternion
64 public static Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion) 66 public static Quaternion QuaternionToXnaQuaternion(OpenMetaverse.Quaternion quaternion)
65 { 67 {
66 return new Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w); 68 return new Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
67 } 69 }
68 70
69 public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(Quaternion xnaQuaternion) 71 public static OpenMetaverse.Quaternion XnaQuaternionToQuaternion(Quaternion xnaQuaternion)
70 { 72 {
71 return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z); 73 return new OpenMetaverse.Quaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
72 } 74 }
73 75
74 //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license): 76 //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license):
@@ -92,7 +94,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
92 94
93 internal static Quaternion GetRotation(Matrix m) 95 internal static Quaternion GetRotation(Matrix m)
94 { 96 {
95 Quaternion q = new Quaternion(); 97 Quaternion q;
96 98
97 float trace = m.M11 + m.M22 + m.M33; 99 float trace = m.M11 + m.M22 + m.M33;
98 100
@@ -108,6 +110,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
108 } 110 }
109 else 111 else
110 { 112 {
113 q.X = q.Y = q.Z = q.W = 0f;
114
111 int i = m.M11 < m.M22 115 int i = m.M11 < m.M22
112 ? 116 ?
113 (m.M22 < m.M33 ? 2 : 1) 117 (m.M22 < m.M33 ? 2 : 1)
@@ -601,13 +605,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
601 } 605 }
602 606
603 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 607 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
604 PhysicsVector size, AxiomQuaternion rotation) 608 PhysicsVector size, OpenMetaverse.Quaternion rotation)
605 { 609 {
606 return AddPrimShape(primName, pbs, position, size, rotation, false); 610 return AddPrimShape(primName, pbs, position, size, rotation, false);
607 } 611 }
608 612
609 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 613 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
610 PhysicsVector size, AxiomQuaternion rotation, bool isPhysical) 614 PhysicsVector size, OpenMetaverse.Quaternion rotation, bool isPhysical)
611 { 615 {
612 PhysicsActor result; 616 PhysicsActor result;
613 617
@@ -634,7 +638,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
634 return result; 638 return result;
635 } 639 }
636 640
637 public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, 641 public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, OpenMetaverse.Quaternion rotation,
638 IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical) 642 IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
639 { 643 {
640 BulletXPrim newPrim = null; 644 BulletXPrim newPrim = null;
@@ -680,7 +684,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
680 //Try to remove garbage 684 //Try to remove garbage
681 RemoveForgottenRigidBodies(); 685 RemoveForgottenRigidBodies();
682 //End of remove 686 //End of remove
683 MoveAllObjects(timeStep); 687 MoveAPrimitives(timeStep);
684 688
685 689
686 fps = (timeStep*simulationSubSteps); 690 fps = (timeStep*simulationSubSteps);
@@ -694,7 +698,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
694 return fps; 698 return fps;
695 } 699 }
696 700
697 private void MoveAllObjects(float timeStep) 701 private void MoveAPrimitives(float timeStep)
698 { 702 {
699 foreach (BulletXCharacter actor in _characters.Values) 703 foreach (BulletXCharacter actor in _characters.Values)
700 { 704 {
@@ -867,7 +871,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
867 protected PhysicsVector _velocity; 871 protected PhysicsVector _velocity;
868 protected PhysicsVector _size; 872 protected PhysicsVector _size;
869 protected PhysicsVector _acceleration; 873 protected PhysicsVector _acceleration;
870 protected AxiomQuaternion _orientation; 874 protected OpenMetaverse.Quaternion _orientation;
871 protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 875 protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
872 protected RigidBody rigidBody; 876 protected RigidBody rigidBody;
873 protected int m_PhysicsActorType; 877 protected int m_PhysicsActorType;
@@ -972,7 +976,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
972 get { return _acceleration; } 976 get { return _acceleration; }
973 } 977 }
974 978
975 public override AxiomQuaternion Orientation 979 public override OpenMetaverse.Quaternion Orientation
976 { 980 {
977 get { return _orientation; } 981 get { return _orientation; }
978 set 982 set
@@ -1148,10 +1152,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1148 ReOrient(_orientation); 1152 ReOrient(_orientation);
1149 } 1153 }
1150 1154
1151 protected internal void ReOrient(AxiomQuaternion _newOrient) 1155 protected internal void ReOrient(OpenMetaverse.Quaternion _newOrient)
1152 { 1156 {
1153 Quaternion _newOrientation; 1157 Quaternion _newOrientation;
1154 _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); 1158 _newOrientation = BulletXMaths.QuaternionToXnaQuaternion(_newOrient);
1155 Matrix _comTransform = rigidBody.CenterOfMassTransform; 1159 Matrix _comTransform = rigidBody.CenterOfMassTransform;
1156 BulletXMaths.SetRotation(ref _comTransform, _newOrientation); 1160 BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
1157 rigidBody.CenterOfMassTransform = _comTransform; 1161 rigidBody.CenterOfMassTransform = _comTransform;
@@ -1206,12 +1210,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1206 1210
1207 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos) 1211 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
1208 : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), 1212 : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
1209 AxiomQuaternion.Identity) 1213 OpenMetaverse.Quaternion.Identity)
1210 { 1214 {
1211 } 1215 }
1212 1216
1213 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 1217 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
1214 PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) 1218 PhysicsVector size, PhysicsVector acceleration, OpenMetaverse.Quaternion orientation)
1215 : base(avName) 1219 : base(avName)
1216 { 1220 {
1217 //This fields will be removed. They're temporal 1221 //This fields will be removed. They're temporal
@@ -1289,7 +1293,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1289 get { return base.Acceleration; } 1293 get { return base.Acceleration; }
1290 } 1294 }
1291 1295
1292 public override AxiomQuaternion Orientation 1296 public override OpenMetaverse.Quaternion Orientation
1293 { 1297 {
1294 get { return base.Orientation; } 1298 get { return base.Orientation; }
1295 set { base.Orientation = value; } 1299 set { base.Orientation = value; }
@@ -1404,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1404 1408
1405 1409
1406 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, 1410 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
1407 AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical) 1411 OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
1408 : this( 1412 : this(
1409 primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs, 1413 primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs,
1410 isPhysical) 1414 isPhysical)
@@ -1413,12 +1417,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1413 1417
1414 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 1418 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
1415 PhysicsVector size, 1419 PhysicsVector size,
1416 PhysicsVector acceleration, AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, 1420 PhysicsVector acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
1417 bool isPhysical) 1421 bool isPhysical)
1418 : base(primName) 1422 : base(primName)
1419 { 1423 {
1420 if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0"); 1424 if ((size.X == 0) || (size.Y == 0) || (size.Z == 0))
1421 if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity; 1425 throw new Exception("Size 0");
1426 if (OpenMetaverse.Quaternion.Normalize(rotation).Length() == 0f)
1427 rotation = OpenMetaverse.Quaternion.Identity;
1422 1428
1423 _position = pos; 1429 _position = pos;
1424 _physical = isPhysical; 1430 _physical = isPhysical;
@@ -1468,7 +1474,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1468 get { return base.Acceleration; } 1474 get { return base.Acceleration; }
1469 } 1475 }
1470 1476
1471 public override AxiomQuaternion Orientation 1477 public override OpenMetaverse.Quaternion Orientation
1472 { 1478 {
1473 get { return base.Orientation; } 1479 get { return base.Orientation; }
1474 set { base.Orientation = value; } 1480 set { base.Orientation = value; }
@@ -1565,7 +1571,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1565 _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); 1571 _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
1566 1572
1567 _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); 1573 _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
1568 _orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); 1574 _orientation = BulletXMaths.XnaQuaternionToQuaternion(rigidBody.Orientation);
1569 1575
1570 if ((Math.Abs(m_prev_position.X - _position.X) < 0.03) 1576 if ((Math.Abs(m_prev_position.X - _position.X) < 0.03)
1571 && (Math.Abs(m_prev_position.Y - _position.Y) < 0.03) 1577 && (Math.Abs(m_prev_position.Y - _position.Y) < 0.03)
@@ -1687,7 +1693,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1687 { 1693 {
1688 private PhysicsVector _staticPosition; 1694 private PhysicsVector _staticPosition;
1689// private PhysicsVector _staticVelocity; 1695// private PhysicsVector _staticVelocity;
1690// private AxiomQuaternion _staticOrientation; 1696// private OpenMetaverse.Quaternion _staticOrientation;
1691 private float _mass; 1697 private float _mass;
1692 // private BulletXScene _parentscene; 1698 // private BulletXScene _parentscene;
1693 internal float[] _heightField; 1699 internal float[] _heightField;
@@ -1702,7 +1708,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1702 { 1708 {
1703 _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0); 1709 _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0);
1704// _staticVelocity = new PhysicsVector(); 1710// _staticVelocity = new PhysicsVector();
1705// _staticOrientation = AxiomQuaternion.Identity; 1711// _staticOrientation = OpenMetaverse.Quaternion.Identity;
1706 _mass = 0; //No active 1712 _mass = 0; //No active
1707 // _parentscene = parent_scene; 1713 // _parentscene = parent_scene;
1708 _heightField = heightField; 1714 _heightField = heightField;
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index d4af271..482b478 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -27,8 +27,8 @@
27 27
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using Axiom.Math;
31using OpenSim.Framework; 30using OpenSim.Framework;
31using OpenMetaverse;
32 32
33namespace OpenSim.Region.Physics.Manager 33namespace OpenSim.Region.Physics.Manager
34{ 34{
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 3d9207f..db41251 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -115,43 +115,73 @@ namespace OpenSim.Region.Physics.Manager
115 // that the LoadFrom context be avoided. This can be done by installing assemblies in the 115 // that the LoadFrom context be avoided. This can be done by installing assemblies in the
116 // Global Assembly Cache or in the ApplicationBase directory and using Assembly. 116 // Global Assembly Cache or in the ApplicationBase directory and using Assembly.
117 // Load when explicitly loading assemblies. 117 // Load when explicitly loading assemblies.
118 Assembly pluginAssembly = Assembly.LoadFrom(FileName); 118 Assembly pluginAssembly = null;
119 Type[] types = null;
119 120
120 foreach (Type pluginType in pluginAssembly.GetTypes()) 121 try
121 { 122 {
122 if (pluginType.IsPublic) 123 pluginAssembly = Assembly.LoadFrom(FileName);
123 { 124 }
124 if (!pluginType.IsAbstract) 125 catch (Exception ex)
125 { 126 {
126 Type physTypeInterface = pluginType.GetInterface("IPhysicsPlugin", true); 127 m_log.Error("Failed to load plugin from " + FileName, ex);
127 128 }
128 if (physTypeInterface != null)
129 {
130 IPhysicsPlugin plug =
131 (IPhysicsPlugin) Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
132 plug.Init();
133 if (!_PhysPlugins.ContainsKey(plug.GetName()))
134 {
135 _PhysPlugins.Add(plug.GetName(), plug);
136 m_log.Info("[PHYSICS]: Added physics engine: " + plug.GetName());
137 }
138 }
139 129
140 Type meshTypeInterface = pluginType.GetInterface("IMeshingPlugin", true); 130 if (pluginAssembly != null)
131 {
132 try
133 {
134 types = pluginAssembly.GetTypes();
135 }
136 catch (ReflectionTypeLoadException ex)
137 {
138 m_log.Error("[PHYSICS]: Failed to enumerate types in plugin from " + FileName + ": " +
139 ex.LoaderExceptions[0].Message, ex);
140 }
141 catch (Exception ex)
142 {
143 m_log.Error("[PHYSICS]: Failed to enumerate types in plugin from " + FileName, ex);
144 }
141 145
142 if (meshTypeInterface != null) 146 if (types != null)
147 {
148 foreach (Type pluginType in types)
149 {
150 if (pluginType.IsPublic)
143 { 151 {
144 IMeshingPlugin plug = 152 if (!pluginType.IsAbstract)
145 (IMeshingPlugin) Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
146 if (!_MeshPlugins.ContainsKey(plug.GetName()))
147 { 153 {
148 _MeshPlugins.Add(plug.GetName(), plug); 154 Type physTypeInterface = pluginType.GetInterface("IPhysicsPlugin", true);
149 m_log.Info("[PHYSICS]: Added meshing engine: " + plug.GetName()); 155
156 if (physTypeInterface != null)
157 {
158 IPhysicsPlugin plug =
159 (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
160 plug.Init();
161 if (!_PhysPlugins.ContainsKey(plug.GetName()))
162 {
163 _PhysPlugins.Add(plug.GetName(), plug);
164 m_log.Info("[PHYSICS]: Added physics engine: " + plug.GetName());
165 }
166 }
167
168 Type meshTypeInterface = pluginType.GetInterface("IMeshingPlugin", true);
169
170 if (meshTypeInterface != null)
171 {
172 IMeshingPlugin plug =
173 (IMeshingPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
174 if (!_MeshPlugins.ContainsKey(plug.GetName()))
175 {
176 _MeshPlugins.Add(plug.GetName(), plug);
177 m_log.Info("[PHYSICS]: Added meshing engine: " + plug.GetName());
178 }
179 }
180
181 physTypeInterface = null;
182 meshTypeInterface = null;
150 } 183 }
151 } 184 }
152
153 physTypeInterface = null;
154 meshTypeInterface = null;
155 } 185 }
156 } 186 }
157 } 187 }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index f9d990b..3575a51 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -27,10 +27,10 @@
27 27
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Reflection; 29using System.Reflection;
30using Axiom.Math;
31using log4net; 30using log4net;
32using Nini.Config; 31using Nini.Config;
33using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenMetaverse;
34 34
35namespace OpenSim.Region.Physics.Manager 35namespace OpenSim.Region.Physics.Manager
36{ 36{
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
index adf4715..bbd6464 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -60,7 +60,7 @@ namespace OpenSim.Region.Physics.Manager
60 } 60 }
61 61
62 /// <summary> 62 /// <summary>
63 /// These routines are the easiest way to store XYZ values in an LLVector3 without requiring 3 calls. 63 /// These routines are the easiest way to store XYZ values in an Vector3 without requiring 3 calls.
64 /// </summary> 64 /// </summary>
65 /// <returns></returns> 65 /// <returns></returns>
66 public byte[] GetBytes() 66 public byte[] GetBytes()
diff --git a/OpenSim/Region/Physics/Meshing/Extruder.cs b/OpenSim/Region/Physics/Meshing/Extruder.cs
index a47b6ae..1fc65e3 100644
--- a/OpenSim/Region/Physics/Meshing/Extruder.cs
+++ b/OpenSim/Region/Physics/Meshing/Extruder.cs
@@ -26,6 +26,7 @@
26 */ 26 */
27//#define SPAM 27//#define SPAM
28 28
29using OpenMetaverse;
29using OpenSim.Region.Physics.Manager; 30using OpenSim.Region.Physics.Manager;
30 31
31namespace OpenSim.Region.Physics.Meshing 32namespace OpenSim.Region.Physics.Meshing
@@ -72,9 +73,6 @@ namespace OpenSim.Region.Physics.Meshing
72 { 73 {
73 Mesh result = new Mesh(); 74 Mesh result = new Mesh();
74 75
75 // Quaternion tt = new Quaternion();
76 // Vertex v2 = new Vertex(0, 0, 0);
77
78 Mesh newLayer; 76 Mesh newLayer;
79 Mesh lastLayer = null; 77 Mesh lastLayer = null;
80 78
@@ -163,7 +161,7 @@ namespace OpenSim.Region.Physics.Meshing
163 161
164 // apply twist rotation to the profile layer and position the layer in the prim 162 // apply twist rotation to the profile layer and position the layer in the prim
165 163
166 Quaternion profileRot = new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), twist); 164 Quaternion profileRot = Quaternion.CreateFromAxisAngle(new Vector3(0.0f, 0.0f, 1.0f), twist);
167 foreach (Vertex v in newLayer.vertices) 165 foreach (Vertex v in newLayer.vertices)
168 { 166 {
169 if (v != null) 167 if (v != null)
@@ -259,9 +257,6 @@ namespace OpenSim.Region.Physics.Meshing
259 { 257 {
260 Mesh result = new Mesh(); 258 Mesh result = new Mesh();
261 259
262 // Quaternion tt = new Quaternion();
263 // Vertex v2 = new Vertex(0, 0, 0);
264
265 Mesh newLayer; 260 Mesh newLayer;
266 Mesh lastLayer = null; 261 Mesh lastLayer = null;
267 262
@@ -377,7 +372,7 @@ namespace OpenSim.Region.Physics.Meshing
377 // next apply twist rotation to the profile layer 372 // next apply twist rotation to the profile layer
378 if (twistTotal != 0.0f || twistBot != 0.0f) 373 if (twistTotal != 0.0f || twistBot != 0.0f)
379 { 374 {
380 Quaternion profileRot = new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), twist); 375 Quaternion profileRot = new Quaternion(new Vector3(0.0f, 0.0f, 1.0f), twist);
381 foreach (Vertex v in newLayer.vertices) 376 foreach (Vertex v in newLayer.vertices)
382 { 377 {
383 if (v != null) 378 if (v != null)
@@ -392,7 +387,7 @@ namespace OpenSim.Region.Physics.Meshing
392 387
393 // now orient the rotation of the profile layer relative to it's position on the path 388 // now orient the rotation of the profile layer relative to it's position on the path
394 // adding pushY to the angle used to generate the quat appears to approximate the viewer 389 // adding pushY to the angle used to generate the quat appears to approximate the viewer
395 Quaternion layerRot = new Quaternion(new Vertex(1.0f, 0.0f, 0.0f), (float)angle + pushY * 0.9f); 390 Quaternion layerRot = Quaternion.CreateFromAxisAngle(new Vector3(1.0f, 0.0f, 0.0f), (float)angle + pushY * 0.9f);
396 foreach (Vertex v in newLayer.vertices) 391 foreach (Vertex v in newLayer.vertices)
397 { 392 {
398 if (v != null) 393 if (v != null)
diff --git a/OpenSim/Region/Physics/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
index 2cb8d04..7491782 100644
--- a/OpenSim/Region/Physics/Meshing/HelperTypes.cs
+++ b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
@@ -29,70 +29,10 @@ using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using System.Diagnostics; 30using System.Diagnostics;
31using System.Globalization; 31using System.Globalization;
32using OpenMetaverse;
32using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
33using OpenSim.Region.Physics.Meshing; 34using OpenSim.Region.Physics.Meshing;
34 35
35public class Quaternion
36{
37 public float x = 0;
38 public float y = 0;
39 public float z = 0;
40 public float w = 1;
41
42 public Quaternion()
43 {
44
45 }
46 public Quaternion(float x1, float y1, float z1, float w1)
47 {
48 x = x1; y = y1; z = z1; w = w1;
49 }
50 public Quaternion(Vertex axis, float angle)
51 {
52 // using (* 0.5) instead of (/2)
53 w = (float)Math.Cos(angle * 0.5f);
54 float sin = (float)Math.Sin(angle * 0.5f);
55 //x = axis.X * (float)Math.Sin(angle * 0.5f);
56 //y = axis.Y * (float)Math.Sin(angle * 0.5f);
57 //z = axis.Z * (float)Math.Sin(angle * 0.5f);
58 x = axis.X * sin;
59 y = axis.Y * sin;
60 z = axis.Z * sin;
61 normalize();
62 }
63 public static Quaternion operator *(Quaternion a, Quaternion b)
64 {
65 Quaternion c = new Quaternion();
66 c.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y;
67 c.y = a.w * b.y + a.y * b.w + a.z * b.x - a.x * b.z;
68 c.z = a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x;
69 c.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z;
70 return c;
71 }
72
73 public void normalize()
74 {
75 //float mag = length();
76
77 //w /= mag;
78 //x /= mag;
79 //y /= mag;
80 //z /= mag;
81 float iMag = 1.0f / length();
82
83 w *= iMag;
84 x *= iMag;
85 y *= iMag;
86 z *= iMag;
87 }
88 public float length()
89 {
90 return (float)Math.Sqrt(w * w + x * x + y * y + z * z);
91 }
92}
93
94
95
96public class Vertex : PhysicsVector, IComparable<Vertex> 36public class Vertex : PhysicsVector, IComparable<Vertex>
97{ 37{
98 public Vertex(float x, float y, float z) 38 public Vertex(float x, float y, float z)
@@ -129,34 +69,34 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
129 69
130 Vertex v2 = new Vertex(0f, 0f, 0f); 70 Vertex v2 = new Vertex(0f, 0f, 0f);
131 71
132 v2.X = q.w * q.w * v.X + 72 v2.X = q.W * q.W * v.X +
133 2f * q.y * q.w * v.Z - 73 2f * q.Y * q.W * v.Z -
134 2f * q.z * q.w * v.Y + 74 2f * q.Z * q.W * v.Y +
135 q.x * q.x * v.X + 75 q.X * q.X * v.X +
136 2f * q.y * q.x * v.Y + 76 2f * q.Y * q.X * v.Y +
137 2f * q.z * q.x * v.Z - 77 2f * q.Z * q.X * v.Z -
138 q.z * q.z * v.X - 78 q.Z * q.Z * v.X -
139 q.y * q.y * v.X; 79 q.Y * q.Y * v.X;
140 80
141 v2.Y = 81 v2.Y =
142 2f * q.x * q.y * v.X + 82 2f * q.X * q.Y * v.X +
143 q.y * q.y * v.Y + 83 q.Y * q.Y * v.Y +
144 2f * q.z * q.y * v.Z + 84 2f * q.Z * q.Y * v.Z +
145 2f * q.w * q.z * v.X - 85 2f * q.W * q.Z * v.X -
146 q.z * q.z * v.Y + 86 q.Z * q.Z * v.Y +
147 q.w * q.w * v.Y - 87 q.W * q.W * v.Y -
148 2f * q.x * q.w * v.Z - 88 2f * q.X * q.W * v.Z -
149 q.x * q.x * v.Y; 89 q.X * q.X * v.Y;
150 90
151 v2.Z = 91 v2.Z =
152 2f * q.x * q.z * v.X + 92 2f * q.X * q.Z * v.X +
153 2f * q.y * q.z * v.Y + 93 2f * q.Y * q.Z * v.Y +
154 q.z * q.z * v.Z - 94 q.Z * q.Z * v.Z -
155 2f * q.w * q.y * v.X - 95 2f * q.W * q.Y * v.X -
156 q.y * q.y * v.Z + 96 q.Y * q.Y * v.Z +
157 2f * q.w * q.x * v.Y - 97 2f * q.W * q.X * v.Y -
158 q.x * q.x * v.Z + 98 q.X * q.X * v.Z +
159 q.w * q.w * v.Z; 99 q.W * q.W * v.Z;
160 100
161 return v2; 101 return v2;
162 } 102 }
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index ecde92a..f955c52 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -30,6 +30,7 @@ using System;
30using System.Collections.Generic; 30using System.Collections.Generic;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
33using OpenMetaverse;
33 34
34namespace OpenSim.Region.Physics.Meshing 35namespace OpenSim.Region.Physics.Meshing
35{ 36{
@@ -1559,7 +1560,7 @@ namespace OpenSim.Region.Physics.Meshing
1559 1560
1560 if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) 1561 if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
1561 { 1562 {
1562 Quaternion zFlip = new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), (float)Math.PI); 1563 Quaternion zFlip = Quaternion.CreateFromAxisAngle(new Vector3(0.0f, 0.0f, 1.0f), (float)Math.PI);
1563 Vertex vTmp = new Vertex(0.0f, 0.0f, 0.0f); 1564 Vertex vTmp = new Vertex(0.0f, 0.0f, 0.0f);
1564 foreach (Vertex v in cuttedHull.getVertices()) 1565 foreach (Vertex v in cuttedHull.getVertices())
1565 if (v != null) 1566 if (v != null)
diff --git a/OpenSim/Region/Physics/Meshing/PrimMesher.cs b/OpenSim/Region/Physics/Meshing/PrimMesher.cs
index 86bdabc..08b2d10 100644
--- a/OpenSim/Region/Physics/Meshing/PrimMesher.cs
+++ b/OpenSim/Region/Physics/Meshing/PrimMesher.cs
@@ -29,6 +29,7 @@ using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using System.IO; 30using System.IO;
31using OpenSim.Region.Physics.Manager; 31using OpenSim.Region.Physics.Manager;
32using OpenMetaverse;
32 33
33namespace OpenSim.Region.Physics.Meshing 34namespace OpenSim.Region.Physics.Meshing
34{ 35{
@@ -783,7 +784,7 @@ angles24 = [
783 Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides); 784 Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides);
784 785
785 if (initialProfileRot != 0.0f) 786 if (initialProfileRot != 0.0f)
786 profile.AddRot(new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), initialProfileRot)); 787 profile.AddRot(Quaternion.CreateFromAxisAngle(new Vector3(0.0f, 0.0f, 1.0f), initialProfileRot));
787 788
788 bool done = false; 789 bool done = false;
789 while (!done) 790 while (!done)
@@ -807,7 +808,7 @@ angles24 = [
807 808
808 float twist = twistBegin + twistTotal * percentOfPath; 809 float twist = twistBegin + twistTotal * percentOfPath;
809 if (twist != 0.0f) 810 if (twist != 0.0f)
810 newLayer.AddRot(new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), twist)); 811 newLayer.AddRot(Quaternion.CreateFromAxisAngle(new Vector3(0.0f, 0.0f, 1.0f), twist));
811 812
812 newLayer.AddPos(xOffset, yOffset, zOffset); 813 newLayer.AddPos(xOffset, yOffset, zOffset);
813 814
@@ -948,7 +949,7 @@ angles24 = [
948 Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides); 949 Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides);
949 950
950 if (initialProfileRot != 0.0f) 951 if (initialProfileRot != 0.0f)
951 profile.AddRot(new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), initialProfileRot)); 952 profile.AddRot(Quaternion.CreateFromAxisAngle(new Vector3(0.0f, 0.0f, 1.0f), initialProfileRot));
952 953
953 bool done = false; 954 bool done = false;
954 while (!done) // loop through the length of the path and add the layers 955 while (!done) // loop through the length of the path and add the layers
@@ -991,12 +992,12 @@ angles24 = [
991 992
992 // next apply twist rotation to the profile layer 993 // next apply twist rotation to the profile layer
993 if (twistTotal != 0.0f || twistBegin != 0.0f) 994 if (twistTotal != 0.0f || twistBegin != 0.0f)
994 newLayer.AddRot(new Quaternion(new Vertex(0.0f, 0.0f, 1.0f), twist)); 995 newLayer.AddRot(Quaternion.CreateFromAxisAngle(new Vector3(0.0f, 0.0f, 1.0f), twist));
995 996
996 // now orient the rotation of the profile layer relative to it's position on the path 997 // now orient the rotation of the profile layer relative to it's position on the path
997 // adding taperY to the angle used to generate the quat appears to approximate the viewer 998 // adding taperY to the angle used to generate the quat appears to approximate the viewer
998 //newLayer.AddRot(new Quaternion(new Vertex(1.0f, 0.0f, 0.0f), angle + this.topShearY * 0.9f)); 999 //newLayer.AddRot(new Quaternion(new Vertex(1.0f, 0.0f, 0.0f), angle + this.topShearY * 0.9f));
999 newLayer.AddRot(new Quaternion(new Vertex(1.0f, 0.0f, 0.0f), angle + this.topShearY)); 1000 newLayer.AddRot(Quaternion.CreateFromAxisAngle(new Vector3(1.0f, 0.0f, 0.0f), angle + this.topShearY));
1000 newLayer.AddPos(xOffset, yOffset, zOffset); 1001 newLayer.AddPos(xOffset, yOffset, zOffset);
1001 1002
1002 if (angle == startAngle) 1003 if (angle == startAngle)
diff --git a/OpenSim/Region/Physics/Meshing/SculptMesh.cs b/OpenSim/Region/Physics/Meshing/SculptMesh.cs
index 360b2f7..707c0e3 100644
--- a/OpenSim/Region/Physics/Meshing/SculptMesh.cs
+++ b/OpenSim/Region/Physics/Meshing/SculptMesh.cs
@@ -30,14 +30,14 @@ using System.Collections.Generic;
30using System.Drawing; 30using System.Drawing;
31using System.Drawing.Imaging; 31using System.Drawing.Imaging;
32using System.Text; 32using System.Text;
33using OpenJPEGNet; 33using OpenMetaverse.Imaging;
34using Image = System.Drawing.Image;
35 34
36namespace OpenSim.Region.Physics.Meshing 35namespace OpenSim.Region.Physics.Meshing
37{ 36{
38 // This functionality based on the XNA SculptPreview by John Hurliman. 37 // This functionality based on the XNA SculptPreview by John Hurliman.
39 public class SculptMesh : Mesh 38 public class SculptMesh : Mesh
40 { 39 {
40 ManagedImage managedImage;
41 Image idata = null; 41 Image idata = null;
42 Bitmap bLOD = null; 42 Bitmap bLOD = null;
43 Bitmap bBitmap = null; 43 Bitmap bBitmap = null;
@@ -55,7 +55,7 @@ namespace OpenSim.Region.Physics.Meshing
55 55
56 try 56 try
57 { 57 {
58 idata = OpenJPEG.DecodeToImage(jpegData); 58 OpenJPEG.DecodeToImage(jpegData, out managedImage, out idata);
59 //int i = 0; 59 //int i = 0;
60 //i = i / i; 60 //i = i / i;
61 } 61 }
@@ -64,6 +64,7 @@ namespace OpenSim.Region.Physics.Meshing
64 System.Console.WriteLine("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed!"); 64 System.Console.WriteLine("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed!");
65 return; 65 return;
66 } 66 }
67
67 if (idata != null) 68 if (idata != null)
68 { 69 {
69 bBitmap = new Bitmap(idata); 70 bBitmap = new Bitmap(idata);
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 5d3e986..38d4060 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -26,7 +26,7 @@
26 */ 26 */
27 27
28using System; 28using System;
29using Axiom.Math; 29using OpenMetaverse;
30using Ode.NET; 30using Ode.NET;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
@@ -587,7 +587,6 @@ namespace OpenSim.Region.Physics.OdePlugin
587 //Matrix3 or = Orientation.ToRotationMatrix(); 587 //Matrix3 or = Orientation.ToRotationMatrix();
588 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22); 588 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
589 //d.BodySetRotation(Body, ref ord); 589 //d.BodySetRotation(Body, ref ord);
590
591 } 590 }
592 } 591 }
593 592
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index eafce5a..21e514b 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -30,8 +30,8 @@ using System.Collections.Generic;
30using System.Reflection; 30using System.Reflection;
31using System.Runtime.InteropServices; 31using System.Runtime.InteropServices;
32using System.Threading; 32using System.Threading;
33using Axiom.Math;
34using log4net; 33using log4net;
34using OpenMetaverse;
35using Ode.NET; 35using Ode.NET;
36using OpenSim.Framework; 36using OpenSim.Framework;
37using OpenSim.Region.Physics.Manager; 37using OpenSim.Region.Physics.Manager;
@@ -294,10 +294,10 @@ namespace OpenSim.Region.Physics.OdePlugin
294 setMass(); 294 setMass();
295 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); 295 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
296 d.Quaternion myrot = new d.Quaternion(); 296 d.Quaternion myrot = new d.Quaternion();
297 myrot.W = _orientation.w; 297 myrot.X = _orientation.X;
298 myrot.X = _orientation.x; 298 myrot.Y = _orientation.Y;
299 myrot.Y = _orientation.y; 299 myrot.Z = _orientation.Z;
300 myrot.Z = _orientation.z; 300 myrot.W = _orientation.W;
301 d.BodySetQuaternion(Body, ref myrot); 301 d.BodySetQuaternion(Body, ref myrot);
302 d.GeomSetBody(prim_geom, Body); 302 d.GeomSetBody(prim_geom, Body);
303 m_collisionCategories |= CollisionCategories.Body; 303 m_collisionCategories |= CollisionCategories.Body;
@@ -1021,10 +1021,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1021 { 1021 {
1022 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1022 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1023 d.Quaternion myrot = new d.Quaternion(); 1023 d.Quaternion myrot = new d.Quaternion();
1024 myrot.W = _orientation.w; 1024 myrot.X = _orientation.X;
1025 myrot.X = _orientation.x; 1025 myrot.Y = _orientation.Y;
1026 myrot.Y = _orientation.y; 1026 myrot.Z = _orientation.Z;
1027 myrot.Z = _orientation.z; 1027 myrot.W = _orientation.W;
1028 d.GeomSetQuaternion(prim_geom, ref myrot); 1028 d.GeomSetQuaternion(prim_geom, ref myrot);
1029 } 1029 }
1030 1030
@@ -1220,10 +1220,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1220 public void rotate(float timestep) 1220 public void rotate(float timestep)
1221 { 1221 {
1222 d.Quaternion myrot = new d.Quaternion(); 1222 d.Quaternion myrot = new d.Quaternion();
1223 myrot.W = _orientation.w; 1223 myrot.X = _orientation.X;
1224 myrot.X = _orientation.x; 1224 myrot.Y = _orientation.Y;
1225 myrot.Y = _orientation.y; 1225 myrot.Z = _orientation.Z;
1226 myrot.Z = _orientation.z; 1226 myrot.W = _orientation.W;
1227 d.GeomSetQuaternion(prim_geom, ref myrot); 1227 d.GeomSetQuaternion(prim_geom, ref myrot);
1228 if (m_isphysical && Body != (IntPtr) 0) 1228 if (m_isphysical && Body != (IntPtr) 0)
1229 { 1229 {
@@ -1339,10 +1339,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1339 setMesh(_parent_scene, mesh); 1339 setMesh(_parent_scene, mesh);
1340 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1340 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1341 d.Quaternion myrot = new d.Quaternion(); 1341 d.Quaternion myrot = new d.Quaternion();
1342 myrot.W = _orientation.w; 1342 myrot.X = _orientation.X;
1343 myrot.X = _orientation.x; 1343 myrot.Y = _orientation.Y;
1344 myrot.Y = _orientation.y; 1344 myrot.Z = _orientation.Z;
1345 myrot.Z = _orientation.z; 1345 myrot.W = _orientation.W;
1346 d.GeomSetQuaternion(prim_geom, ref myrot); 1346 d.GeomSetQuaternion(prim_geom, ref myrot);
1347 1347
1348 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 1348 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
@@ -1388,10 +1388,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1388 //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); 1388 //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
1389 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1389 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1390 d.Quaternion myrot = new d.Quaternion(); 1390 d.Quaternion myrot = new d.Quaternion();
1391 myrot.W = _orientation.w; 1391 myrot.X = _orientation.X;
1392 myrot.X = _orientation.x; 1392 myrot.Y = _orientation.Y;
1393 myrot.Y = _orientation.y; 1393 myrot.Z = _orientation.Z;
1394 myrot.Z = _orientation.z; 1394 myrot.W = _orientation.W;
1395 d.GeomSetQuaternion(prim_geom, ref myrot); 1395 d.GeomSetQuaternion(prim_geom, ref myrot);
1396 } 1396 }
1397 } 1397 }
@@ -1452,9 +1452,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1452 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1452 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1453 // d.Quaternion myrot = new d.Quaternion(); 1453 // d.Quaternion myrot = new d.Quaternion();
1454 // myrot.W = _orientation.w; 1454 // myrot.W = _orientation.w;
1455 // myrot.X = _orientation.x; 1455 // myrot.X = _orientation.X;
1456 // myrot.Y = _orientation.y; 1456 // myrot.Y = _orientation.Y;
1457 // myrot.Z = _orientation.z; 1457 // myrot.Z = _orientation.Z;
1458 // d.GeomSetQuaternion(prim_geom, ref myrot); 1458 // d.GeomSetQuaternion(prim_geom, ref myrot);
1459 1459
1460 // //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 1460 // //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
@@ -1512,9 +1512,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1512 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1512 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1513 // d.Quaternion myrot = new d.Quaternion(); 1513 // d.Quaternion myrot = new d.Quaternion();
1514 // myrot.W = _orientation.w; 1514 // myrot.W = _orientation.w;
1515 // myrot.X = _orientation.x; 1515 // myrot.X = _orientation.X;
1516 // myrot.Y = _orientation.y; 1516 // myrot.Y = _orientation.Y;
1517 // myrot.Z = _orientation.z; 1517 // myrot.Z = _orientation.Z;
1518 // d.GeomSetQuaternion(prim_geom, ref myrot); 1518 // d.GeomSetQuaternion(prim_geom, ref myrot);
1519 // } 1519 // }
1520 // } 1520 // }
@@ -1553,9 +1553,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1553 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1553 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1554 // d.Quaternion myrot = new d.Quaternion(); 1554 // d.Quaternion myrot = new d.Quaternion();
1555 // myrot.W = _orientation.w; 1555 // myrot.W = _orientation.w;
1556 // myrot.X = _orientation.x; 1556 // myrot.X = _orientation.X;
1557 // myrot.Y = _orientation.y; 1557 // myrot.Y = _orientation.Y;
1558 // myrot.Z = _orientation.z; 1558 // myrot.Z = _orientation.Z;
1559 // d.GeomSetQuaternion(prim_geom, ref myrot); 1559 // d.GeomSetQuaternion(prim_geom, ref myrot);
1560 1560
1561 // //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 1561 // //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
@@ -1626,10 +1626,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1626 setMesh(_parent_scene, mesh); 1626 setMesh(_parent_scene, mesh);
1627 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1627 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1628 d.Quaternion myrot = new d.Quaternion(); 1628 d.Quaternion myrot = new d.Quaternion();
1629 myrot.W = _orientation.w; 1629 myrot.X = _orientation.X;
1630 myrot.X = _orientation.x; 1630 myrot.Y = _orientation.Y;
1631 myrot.Y = _orientation.y; 1631 myrot.Z = _orientation.Z;
1632 myrot.Z = _orientation.z; 1632 myrot.W = _orientation.W;
1633 d.GeomSetQuaternion(prim_geom, ref myrot); 1633 d.GeomSetQuaternion(prim_geom, ref myrot);
1634 1634
1635 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 1635 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
@@ -1684,10 +1684,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1684 //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); 1684 //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
1685 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1685 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1686 d.Quaternion myrot = new d.Quaternion(); 1686 d.Quaternion myrot = new d.Quaternion();
1687 myrot.W = _orientation.w; 1687 myrot.X = _orientation.X;
1688 myrot.X = _orientation.x; 1688 myrot.Y = _orientation.Y;
1689 myrot.Y = _orientation.y; 1689 myrot.Z = _orientation.Z;
1690 myrot.Z = _orientation.z; 1690 myrot.W = _orientation.W;
1691 d.GeomSetQuaternion(prim_geom, ref myrot); 1691 d.GeomSetQuaternion(prim_geom, ref myrot);
1692 } 1692 }
1693 } 1693 }
@@ -1726,9 +1726,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1726 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 1726 // d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1727 // d.Quaternion myrot = new d.Quaternion(); 1727 // d.Quaternion myrot = new d.Quaternion();
1728 // myrot.W = _orientation.w; 1728 // myrot.W = _orientation.w;
1729 // myrot.X = _orientation.x; 1729 // myrot.X = _orientation.X;
1730 // myrot.Y = _orientation.y; 1730 // myrot.Y = _orientation.Y;
1731 // myrot.Z = _orientation.z; 1731 // myrot.Z = _orientation.Z;
1732 // d.GeomSetQuaternion(prim_geom, ref myrot); 1732 // d.GeomSetQuaternion(prim_geom, ref myrot);
1733 1733
1734 // //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); 1734 // //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
@@ -2106,9 +2106,9 @@ namespace OpenSim.Region.Physics.OdePlugin
2106 _acceleration.Z = 0; 2106 _acceleration.Z = 0;
2107 2107
2108 //_orientation.w = 0f; 2108 //_orientation.w = 0f;
2109 //_orientation.x = 0f; 2109 //_orientation.X = 0f;
2110 //_orientation.y = 0f; 2110 //_orientation.Y = 0f;
2111 //_orientation.z = 0f; 2111 //_orientation.Z = 0f;
2112 m_rotationalVelocity.X = 0; 2112 m_rotationalVelocity.X = 0;
2113 m_rotationalVelocity.Y = 0; 2113 m_rotationalVelocity.Y = 0;
2114 m_rotationalVelocity.Z = 0; 2114 m_rotationalVelocity.Z = 0;
@@ -2154,10 +2154,10 @@ namespace OpenSim.Region.Physics.OdePlugin
2154 } 2154 }
2155 2155
2156 //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString()); 2156 //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
2157 _orientation.w = ori.W; 2157 _orientation.X = ori.X;
2158 _orientation.x = ori.X; 2158 _orientation.Y = ori.Y;
2159 _orientation.y = ori.Y; 2159 _orientation.Z = ori.Z;
2160 _orientation.z = ori.Z; 2160 _orientation.W = ori.W;
2161 m_lastUpdateSent = false; 2161 m_lastUpdateSent = false;
2162 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) 2162 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
2163 { 2163 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/ODETestClass.cs
index 074170a..606134a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODETestClass.cs
@@ -26,9 +26,9 @@
26 */ 26 */
27 27
28using System; 28using System;
29using Axiom.Math;
30using Nini.Config; 29using Nini.Config;
31using NUnit.Framework; 30using NUnit.Framework;
31using OpenMetaverse;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34 34
@@ -74,7 +74,7 @@ namespace OpenSim.Region.Physics.OdePlugin
74 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox(); 74 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
75 PhysicsVector position = new PhysicsVector(128, 128, 128); 75 PhysicsVector position = new PhysicsVector(128, 128, 128);
76 PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f); 76 PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f);
77 Quaternion rot = new Quaternion(1, 0, 0, 0); 77 Quaternion rot = Quaternion.Identity;
78 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true); 78 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
79 OdePrim oprim = (OdePrim)prim; 79 OdePrim oprim = (OdePrim)prim;
80 OdeScene pscene = (OdeScene) ps; 80 OdeScene pscene = (OdeScene) ps;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index f285911..5a501ef 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -31,13 +31,12 @@ using System.Reflection;
31using System.Runtime.InteropServices; 31using System.Runtime.InteropServices;
32using System.Threading; 32using System.Threading;
33using System.IO; 33using System.IO;
34using Axiom.Math;
35using log4net; 34using log4net;
36using Nini.Config; 35using Nini.Config;
37using Ode.NET; 36using Ode.NET;
38using OpenSim.Framework; 37using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager; 38using OpenSim.Region.Physics.Manager;
40using libsecondlife; 39using OpenMetaverse;
41 40
42//using OpenSim.Region.Physics.OdePlugin.Meshing; 41//using OpenSim.Region.Physics.OdePlugin.Meshing;
43 42
@@ -1129,11 +1128,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1129 siz.X = size.X; 1128 siz.X = size.X;
1130 siz.Y = size.Y; 1129 siz.Y = size.Y;
1131 siz.Z = size.Z; 1130 siz.Z = size.Z;
1132 Quaternion rot = new Quaternion(); 1131 Quaternion rot = rotation;
1133 rot.w = rotation.w;
1134 rot.x = rotation.x;
1135 rot.y = rotation.y;
1136 rot.z = rotation.z;
1137 1132
1138 OdePrim newPrim; 1133 OdePrim newPrim;
1139 lock (OdeLock) 1134 lock (OdeLock)
@@ -1524,8 +1519,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1524 // but we still need to check for sculptie meshing being enabled so this is the most 1519 // but we still need to check for sculptie meshing being enabled so this is the most
1525 // convenient place to do it for now... 1520 // convenient place to do it for now...
1526 1521
1527 // //if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle && pbs.ProfileCurve == (byte)LLObject.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f) 1522 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
1528 // //Console.WriteLine("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + LLObject.UnpackPathScale(pbs.PathScaleY).ToString()); 1523 // //Console.WriteLine("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
1529 if (pbs.SculptEntry && !meshSculptedPrim) 1524 if (pbs.SculptEntry && !meshSculptedPrim)
1530 { 1525 {
1531 return false; 1526 return false;
@@ -1555,19 +1550,19 @@ namespace OpenSim.Region.Physics.OdePlugin
1555 // return true; 1550 // return true;
1556 1551
1557 // // test for torus 1552 // // test for torus
1558 // if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle 1553 // if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle
1559 // && (pbs.ProfileCurve & 0x07) == (byte)LLObject.ProfileCurve.Circle 1554 // && (pbs.ProfileCurve & 0x07) == (byte)Primitive.ProfileCurve.Circle
1560 // && LLObject.UnpackPathScale(pbs.PathScaleY) <= 0.75f) 1555 // && Primitive.UnpackPathScale(pbs.PathScaleY) <= 0.75f)
1561 // return true; 1556 // return true;
1562 1557
1563 // // test for tube 1558 // // test for tube
1564 // if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle 1559 // if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle
1565 // && (pbs.ProfileCurve & 0x07) == (byte)LLObject.ProfileCurve.EqualTriangle) 1560 // && (pbs.ProfileCurve & 0x07) == (byte)Primitive.ProfileCurve.EqualTriangle)
1566 // return true; 1561 // return true;
1567 1562
1568 // // test for ring 1563 // // test for ring
1569 // if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle 1564 // if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle
1570 // && (pbs.ProfileCurve & 0x07) == (byte)LLObject.ProfileCurve.EqualTriangle) 1565 // && (pbs.ProfileCurve & 0x07) == (byte)Primitive.ProfileCurve.EqualTriangle)
1571 // return true; 1566 // return true;
1572 1567
1573 // if (pbs.ProfileShape == ProfileShape.EquilateralTriangle) 1568 // if (pbs.ProfileShape == ProfileShape.EquilateralTriangle)
@@ -2132,17 +2127,17 @@ namespace OpenSim.Region.Physics.OdePlugin
2132 2127
2133 d.Matrix3 R = new d.Matrix3(); 2128 d.Matrix3 R = new d.Matrix3();
2134 2129
2135 Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0)); 2130 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2136 Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0)); 2131 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2137 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); 2132 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
2138 2133
2139 q1 = q1*q2; 2134 q1 = q1*q2;
2140 //q1 = q1 * q3; 2135 //q1 = q1 * q3;
2141 Vector3 v3 = new Vector3(); 2136 Vector3 v3;
2142 float angle = 0; 2137 float angle;
2143 q1.ToAngleAxis(ref angle, ref v3); 2138 q1.GetAxisAngle(out v3, out angle);
2144 2139
2145 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); 2140 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2146 d.GeomSetRotation(LandGeom, ref R); 2141 d.GeomSetRotation(LandGeom, ref R);
2147 d.GeomSetPosition(LandGeom, 128, 128, 0); 2142 d.GeomSetPosition(LandGeom, 128, 128, 0);
2148 } 2143 }
@@ -2197,17 +2192,17 @@ namespace OpenSim.Region.Physics.OdePlugin
2197 2192
2198 d.Matrix3 R = new d.Matrix3(); 2193 d.Matrix3 R = new d.Matrix3();
2199 2194
2200 Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0)); 2195 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2201 Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0)); 2196 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2202 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); 2197 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
2203 2198
2204 q1 = q1 * q2; 2199 q1 = q1 * q2;
2205 //q1 = q1 * q3; 2200 //q1 = q1 * q3;
2206 Vector3 v3 = new Vector3(); 2201 Vector3 v3;
2207 float angle = 0; 2202 float angle;
2208 q1.ToAngleAxis(ref angle, ref v3); 2203 q1.GetAxisAngle(out v3, out angle);
2209 2204
2210 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); 2205 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2211 d.GeomSetRotation(WaterGeom, ref R); 2206 d.GeomSetRotation(WaterGeom, ref R);
2212 d.GeomSetPosition(WaterGeom, 128, 128, 0); 2207 d.GeomSetPosition(WaterGeom, 128, 128, 0);
2213 } 2208 }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index c674d15..400280f 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -27,8 +27,8 @@
27 27
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using Axiom.Math;
31using Nini.Config; 30using Nini.Config;
31using OpenMetaverse;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34 34
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
index 65f10f9..c8cbcf5 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
@@ -27,7 +27,6 @@
27 27
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using Axiom.Math;
31using Nini.Config; 30using Nini.Config;
32using OpenSim.Framework; 31using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index fed67dd..69cd19c 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -27,8 +27,8 @@
27 27
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using Axiom.Math;
31using Nini.Config; 30using Nini.Config;
31using OpenMetaverse;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34 34
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index a32021d..9771a62 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -27,8 +27,8 @@
27 27
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using Axiom.Math;
31using Nini.Config; 30using Nini.Config;
31using OpenMetaverse;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34 34
@@ -109,14 +109,13 @@ namespace OpenSim.Region.Physics.POSPlugin
109 109
110 private bool isColliding(POSCharacter c, POSPrim p) 110 private bool isColliding(POSCharacter c, POSPrim p)
111 { 111 {
112 Vector3 rotatedPos = p.Orientation.Inverse() * 112 Vector3 rotatedPos = new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
113 new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y, 113 c.Position.Z - p.Position.Z) * Quaternion.Inverse(p.Orientation);
114 c.Position.Z - p.Position.Z); 114 Vector3 avatarSize = new Vector3(c.Size.X, c.Size.Y, c.Size.Z) * Quaternion.Inverse(p.Orientation);
115 Vector3 avatarSize = p.Orientation.Inverse()*new Vector3(c.Size.X, c.Size.Y, c.Size.Z); 115
116 116 if (Math.Abs(rotatedPos.X) >= (p.Size.X*0.5 + Math.Abs(avatarSize.X)) ||
117 if (Math.Abs(rotatedPos.x) >= (p.Size.X*0.5 + Math.Abs(avatarSize.x)) || 117 Math.Abs(rotatedPos.Y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.Y)) ||
118 Math.Abs(rotatedPos.y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.y)) || 118 Math.Abs(rotatedPos.Z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.Z)))
119 Math.Abs(rotatedPos.z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.z)))
120 { 119 {
121 return false; 120 return false;
122 } 121 }
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index 197da0a..37e2a2f 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -31,7 +31,7 @@ using Nini.Config;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper; 33using PhysXWrapper;
34using Quaternion=Axiom.Math.Quaternion; 34using Quaternion=OpenMetaverse.Quaternion;
35 35
36namespace OpenSim.Region.Physics.PhysXPlugin 36namespace OpenSim.Region.Physics.PhysXPlugin
37{ 37{
@@ -614,12 +614,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
614 { 614 {
615 get 615 get
616 { 616 {
617 Quaternion res = new Quaternion(); 617 Quaternion res;
618 PhysXWrapper.Quaternion quat = _prim.GetOrientation(); 618 PhysXWrapper.Quaternion quat = _prim.GetOrientation();
619 res.w = quat.W; 619 res.W = quat.W;
620 res.x = quat.X; 620 res.X = quat.X;
621 res.y = quat.Y; 621 res.Y = quat.Y;
622 res.z = quat.Z; 622 res.Z = quat.Z;
623 return res; 623 return res;
624 } 624 }
625 set { } 625 set { }
generated by cgit v1.1 at 2024-12-28 20:31:10 +0000