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-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs54
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs40
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs96
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs257
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs12
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs158
-rw-r--r--OpenSim/Region/Physics/Manager/IMesher.cs7
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs80
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsJoint.cs2
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsScene.cs32
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsSensor.cs7
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsVector.cs28
-rw-r--r--OpenSim/Region/Physics/Manager/ZeroMesher.cs8
-rw-r--r--OpenSim/Region/Physics/Meshing/HelperTypes.cs62
-rw-r--r--OpenSim/Region/Physics/Meshing/Mesh.cs13
-rw-r--r--OpenSim/Region/Physics/Meshing/Meshmerizer.cs27
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs113
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs15
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs304
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs67
-rw-r--r--OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs4
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSCharacter.cs55
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPrim.cs53
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSScene.cs52
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs122
25 files changed, 857 insertions, 811 deletions
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index 2b905b6..f411dd7 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -36,20 +36,16 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
36{ 36{
37 public class BasicActor : PhysicsActor 37 public class BasicActor : PhysicsActor
38 { 38 {
39 private PhysicsVector _position; 39 private Vector3 _position;
40 private PhysicsVector _velocity; 40 private Vector3 _velocity;
41 private PhysicsVector _acceleration; 41 private Vector3 _acceleration;
42 private PhysicsVector _size; 42 private Vector3 _size;
43 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 43 private Vector3 m_rotationalVelocity;
44 private bool flying; 44 private bool flying;
45 private bool iscolliding; 45 private bool iscolliding;
46 46
47 public BasicActor() 47 public BasicActor()
48 { 48 {
49 _velocity = new PhysicsVector();
50 _position = new PhysicsVector();
51 _acceleration = new PhysicsVector();
52 _size = new PhysicsVector();
53 } 49 }
54 50
55 public override int PhysicsActorType 51 public override int PhysicsActorType
@@ -58,7 +54,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
58 set { return; } 54 set { return; }
59 } 55 }
60 56
61 public override PhysicsVector RotationalVelocity 57 public override Vector3 RotationalVelocity
62 { 58 {
63 get { return m_rotationalVelocity; } 59 get { return m_rotationalVelocity; }
64 set { m_rotationalVelocity = value; } 60 set { m_rotationalVelocity = value; }
@@ -137,13 +133,13 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
137 get { return false; } 133 get { return false; }
138 } 134 }
139 135
140 public override PhysicsVector Position 136 public override Vector3 Position
141 { 137 {
142 get { return _position; } 138 get { return _position; }
143 set { _position = value; } 139 set { _position = value; }
144 } 140 }
145 141
146 public override PhysicsVector Size 142 public override Vector3 Size
147 { 143 {
148 get { return _size; } 144 get { return _size; }
149 set { 145 set {
@@ -162,9 +158,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
162 get { return 0f; } 158 get { return 0f; }
163 } 159 }
164 160
165 public override PhysicsVector Force 161 public override Vector3 Force
166 { 162 {
167 get { return PhysicsVector.Zero; } 163 get { return Vector3.Zero; }
168 set { return; } 164 set { return; }
169 } 165 }
170 166
@@ -179,7 +175,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
179 175
180 } 176 }
181 177
182 public override void VehicleVectorParam(int param, PhysicsVector value) 178 public override void VehicleVectorParam(int param, Vector3 value)
183 { 179 {
184 180
185 } 181 }
@@ -194,25 +190,25 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
194 190
195 } 191 }
196 192
197 public override PhysicsVector CenterOfMass 193 public override Vector3 CenterOfMass
198 { 194 {
199 get { return PhysicsVector.Zero; } 195 get { return Vector3.Zero; }
200 } 196 }
201 197
202 public override PhysicsVector GeometricCenter 198 public override Vector3 GeometricCenter
203 { 199 {
204 get { return PhysicsVector.Zero; } 200 get { return Vector3.Zero; }
205 } 201 }
206 202
207 public override PhysicsVector Velocity 203 public override Vector3 Velocity
208 { 204 {
209 get { return _velocity; } 205 get { return _velocity; }
210 set { _velocity = value; } 206 set { _velocity = value; }
211 } 207 }
212 208
213 public override PhysicsVector Torque 209 public override Vector3 Torque
214 { 210 {
215 get { return PhysicsVector.Zero; } 211 get { return Vector3.Zero; }
216 set { return; } 212 set { return; }
217 } 213 }
218 214
@@ -228,7 +224,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
228 set { } 224 set { }
229 } 225 }
230 226
231 public override PhysicsVector Acceleration 227 public override Vector3 Acceleration
232 { 228 {
233 get { return _acceleration; } 229 get { return _acceleration; }
234 } 230 }
@@ -247,24 +243,24 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
247 { 243 {
248 } 244 }
249 245
250 public override void LockAngularMotion(PhysicsVector axis) 246 public override void LockAngularMotion(Vector3 axis)
251 { 247 {
252 } 248 }
253 249
254 public void SetAcceleration(PhysicsVector accel) 250 public void SetAcceleration(Vector3 accel)
255 { 251 {
256 _acceleration = accel; 252 _acceleration = accel;
257 } 253 }
258 254
259 public override void AddForce(PhysicsVector force, bool pushforce) 255 public override void AddForce(Vector3 force, bool pushforce)
260 { 256 {
261 } 257 }
262 258
263 public override void AddAngularForce(PhysicsVector force, bool pushforce) 259 public override void AddAngularForce(Vector3 force, bool pushforce)
264 { 260 {
265 } 261 }
266 262
267 public override void SetMomentum(PhysicsVector momentum) 263 public override void SetMomentum(Vector3 momentum)
268 { 264 {
269 } 265 }
270 266
@@ -272,7 +268,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
272 { 268 {
273 } 269 }
274 270
275 public override PhysicsVector PIDTarget 271 public override Vector3 PIDTarget
276 { 272 {
277 set { return; } 273 set { return; }
278 } 274 }
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
index 66bd099..b6e1cb4 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsScene.cs
@@ -54,7 +54,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
54 { 54 {
55 55
56 } 56 }
57 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 57 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
58 { 58 {
59 BasicActor act = new BasicActor(); 59 BasicActor act = new BasicActor();
60 act.Position = position; 60 act.Position = position;
@@ -77,20 +77,20 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
77 } 77 }
78 78
79/* 79/*
80 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) 80 public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
81 { 81 {
82 return null; 82 return null;
83 } 83 }
84*/ 84*/
85 85
86 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 86 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
87 PhysicsVector size, Quaternion rotation) 87 Vector3 size, Quaternion rotation)
88 { 88 {
89 return AddPrimShape(primName, pbs, position, size, rotation, false); 89 return AddPrimShape(primName, pbs, position, size, rotation, false);
90 } 90 }
91 91
92 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 92 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
93 PhysicsVector size, Quaternion rotation, bool isPhysical) 93 Vector3 size, Quaternion rotation, bool isPhysical)
94 { 94 {
95 return null; 95 return null;
96 } 96 }
@@ -105,26 +105,28 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
105 for (int i = 0; i < _actors.Count; ++i) 105 for (int i = 0; i < _actors.Count; ++i)
106 { 106 {
107 BasicActor actor = _actors[i]; 107 BasicActor actor = _actors[i];
108 Vector3 actorPosition = actor.Position;
109 Vector3 actorVelocity = actor.Velocity;
108 110
109 actor.Position.X += actor.Velocity.X*timeStep; 111 actorPosition.X += actor.Velocity.X*timeStep;
110 actor.Position.Y += actor.Velocity.Y*timeStep; 112 actorPosition.Y += actor.Velocity.Y*timeStep;
111 113
112 if (actor.Position.Y < 0) 114 if (actor.Position.Y < 0)
113 { 115 {
114 actor.Position.Y = 0.1F; 116 actorPosition.Y = 0.1F;
115 } 117 }
116 else if (actor.Position.Y >= Constants.RegionSize) 118 else if (actor.Position.Y >= Constants.RegionSize)
117 { 119 {
118 actor.Position.Y = ((int)Constants.RegionSize - 0.1f); 120 actorPosition.Y = ((int)Constants.RegionSize - 0.1f);
119 } 121 }
120 122
121 if (actor.Position.X < 0) 123 if (actor.Position.X < 0)
122 { 124 {
123 actor.Position.X = 0.1F; 125 actorPosition.X = 0.1F;
124 } 126 }
125 else if (actor.Position.X >= Constants.RegionSize) 127 else if (actor.Position.X >= Constants.RegionSize)
126 { 128 {
127 actor.Position.X = ((int)Constants.RegionSize - 0.1f); 129 actorPosition.X = ((int)Constants.RegionSize - 0.1f);
128 } 130 }
129 131
130 float height = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + actor.Size.Z; 132 float height = _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + actor.Size.Z;
@@ -133,23 +135,27 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
133 if (actor.Position.Z + (actor.Velocity.Z*timeStep) < 135 if (actor.Position.Z + (actor.Velocity.Z*timeStep) <
134 _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + 2) 136 _heightMap[(int)actor.Position.Y * Constants.RegionSize + (int)actor.Position.X] + 2)
135 { 137 {
136 actor.Position.Z = height; 138 actorPosition.Z = height;
137 actor.Velocity.Z = 0; 139 actorVelocity.Z = 0;
138 actor.IsColliding = true; 140 actor.IsColliding = true;
139 } 141 }
140 else 142 else
141 { 143 {
142 actor.Position.Z += actor.Velocity.Z*timeStep; 144 actorPosition.Z += actor.Velocity.Z*timeStep;
143 actor.IsColliding = false; 145 actor.IsColliding = false;
144 } 146 }
145 } 147 }
146 else 148 else
147 { 149 {
148 actor.Position.Z = height; 150 actorPosition.Z = height;
149 actor.Velocity.Z = 0; 151 actorVelocity.Z = 0;
150 actor.IsColliding = true; 152 actor.IsColliding = true;
151 } 153 }
154
155 actor.Position = actorPosition;
156 actor.Velocity = actorVelocity;
152 } 157 }
158
153 return fps; 159 return fps;
154 } 160 }
155 161
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index d7aed3c..98681d6 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -60,15 +60,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
60 private btQuaternion m_bodyOrientation; 60 private btQuaternion m_bodyOrientation;
61 private btDefaultMotionState m_bodyMotionState; 61 private btDefaultMotionState m_bodyMotionState;
62 private btGeneric6DofConstraint m_aMotor; 62 private btGeneric6DofConstraint m_aMotor;
63 // private PhysicsVector m_movementComparision; 63 // private Vector3 m_movementComparision;
64 private PhysicsVector m_position; 64 private Vector3 m_position;
65 private PhysicsVector m_zeroPosition; 65 private Vector3 m_zeroPosition;
66 private bool m_zeroFlag = false; 66 private bool m_zeroFlag = false;
67 private bool m_lastUpdateSent = false; 67 private bool m_lastUpdateSent = false;
68 private PhysicsVector m_velocity; 68 private Vector3 m_velocity;
69 private PhysicsVector m_target_velocity; 69 private Vector3 m_target_velocity;
70 private PhysicsVector m_acceleration; 70 private Vector3 m_acceleration;
71 private PhysicsVector m_rotationalVelocity; 71 private Vector3 m_rotationalVelocity;
72 private bool m_pidControllerActive = true; 72 private bool m_pidControllerActive = true;
73 public float PID_D = 80.0f; 73 public float PID_D = 80.0f;
74 public float PID_P = 90.0f; 74 public float PID_P = 90.0f;
@@ -96,8 +96,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
96 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 96 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
97 private bool m_taintRemove = false; 97 private bool m_taintRemove = false;
98 // private bool m_taintedPosition = false; 98 // private bool m_taintedPosition = false;
99 // private PhysicsVector m_taintedPosition_value; 99 // private Vector3 m_taintedPosition_value;
100 private PhysicsVector m_taintedForce; 100 private Vector3 m_taintedForce;
101 101
102 private float m_buoyancy = 0f; 102 private float m_buoyancy = 0f;
103 103
@@ -115,14 +115,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
115 public int m_eventsubscription = 0; 115 public int m_eventsubscription = 0;
116 // private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); 116 // private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
117 117
118 public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) 118 public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
119 { 119 {
120 m_taintedForce = new PhysicsVector();
121 m_velocity = new PhysicsVector();
122 m_target_velocity = new PhysicsVector();
123 m_position = pos; 120 m_position = pos;
124 m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless 121 m_zeroPosition = pos;
125 m_acceleration = new PhysicsVector();
126 m_parent_scene = parent_scene; 122 m_parent_scene = parent_scene;
127 PID_D = pid_d; 123 PID_D = pid_d;
128 PID_P = pid_p; 124 PID_P = pid_p;
@@ -161,9 +157,6 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
161 tempTrans1 = new btTransform(tempQuat1, tempVector1); 157 tempTrans1 = new btTransform(tempQuat1, tempVector1);
162 // m_movementComparision = new PhysicsVector(0, 0, 0); 158 // m_movementComparision = new PhysicsVector(0, 0, 0);
163 m_CapsuleOrientationAxis = new btVector3(1, 0, 1); 159 m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
164
165
166
167 } 160 }
168 161
169 /// <summary> 162 /// <summary>
@@ -254,18 +247,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
254 get { return m_zeroFlag; } 247 get { return m_zeroFlag; }
255 } 248 }
256 249
257 public override PhysicsVector Size 250 public override Vector3 Size
258 { 251 {
259 get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } 252 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
260 set 253 set
261 { 254 {
262 m_pidControllerActive = true; 255 m_pidControllerActive = true;
263 256
264 PhysicsVector SetSize = value; 257 Vector3 SetSize = value;
265 m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; 258 m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
266 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); 259 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
267 260
268 Velocity = new PhysicsVector(0f, 0f, 0f); 261 Velocity = Vector3.Zero;
269 262
270 m_parent_scene.AddPhysicsActorTaint(this); 263 m_parent_scene.AddPhysicsActorTaint(this);
271 } 264 }
@@ -317,12 +310,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
317 310
318 } 311 }
319 312
320 public override void LockAngularMotion(PhysicsVector axis) 313 public override void LockAngularMotion(Vector3 axis)
321 { 314 {
322 315
323 } 316 }
324 317
325 public override PhysicsVector Position 318 public override Vector3 Position
326 { 319 {
327 get { return m_position; } 320 get { return m_position; }
328 set 321 set
@@ -342,9 +335,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
342 } 335 }
343 } 336 }
344 337
345 public override PhysicsVector Force 338 public override Vector3 Force
346 { 339 {
347 get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); } 340 get { return m_target_velocity; }
348 set { return; } 341 set { return; }
349 } 342 }
350 343
@@ -359,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
359 352
360 } 353 }
361 354
362 public override void VehicleVectorParam(int param, PhysicsVector value) 355 public override void VehicleVectorParam(int param, Vector3 value)
363 { 356 {
364 357
365 } 358 }
@@ -374,23 +367,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
374 367
375 } 368 }
376 369
377 public override PhysicsVector GeometricCenter 370 public override Vector3 GeometricCenter
378 { 371 {
379 get { return PhysicsVector.Zero; } 372 get { return Vector3.Zero; }
380 } 373 }
381 374
382 public override PhysicsVector CenterOfMass 375 public override Vector3 CenterOfMass
383 { 376 {
384 get { return PhysicsVector.Zero; } 377 get { return Vector3.Zero; }
385 } 378 }
386 379
387 public override PhysicsVector Velocity 380 public override Vector3 Velocity
388 { 381 {
389 get 382 get
390 { 383 {
391 // There's a problem with PhysicsVector.Zero! Don't Use it Here!
392 if (m_zeroFlag) 384 if (m_zeroFlag)
393 return new PhysicsVector(0f, 0f, 0f); 385 return Vector3.Zero;
394 m_lastUpdateSent = false; 386 m_lastUpdateSent = false;
395 return m_velocity; 387 return m_velocity;
396 } 388 }
@@ -401,9 +393,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
401 } 393 }
402 } 394 }
403 395
404 public override PhysicsVector Torque 396 public override Vector3 Torque
405 { 397 {
406 get { return PhysicsVector.Zero; } 398 get { return Vector3.Zero; }
407 set { return; } 399 set { return; }
408 } 400 }
409 401
@@ -413,7 +405,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
413 set { } 405 set { }
414 } 406 }
415 407
416 public override PhysicsVector Acceleration 408 public override Vector3 Acceleration
417 { 409 {
418 get { return m_acceleration; } 410 get { return m_acceleration; }
419 } 411 }
@@ -586,7 +578,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
586 set { return; } 578 set { return; }
587 } 579 }
588 580
589 public override PhysicsVector RotationalVelocity 581 public override Vector3 RotationalVelocity
590 { 582 {
591 get { return m_rotationalVelocity; } 583 get { return m_rotationalVelocity; }
592 set { m_rotationalVelocity = value; } 584 set { m_rotationalVelocity = value; }
@@ -604,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
604 set { m_buoyancy = value; } 596 set { m_buoyancy = value; }
605 } 597 }
606 598
607 public override PhysicsVector PIDTarget { set { return; } } 599 public override Vector3 PIDTarget { set { return; } }
608 public override bool PIDActive { set { return; } } 600 public override bool PIDActive { set { return; } }
609 public override float PIDTau { set { return; } } 601 public override float PIDTau { set { return; } }
610 602
@@ -640,7 +632,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
640 /// </summary> 632 /// </summary>
641 /// <param name="force"></param> 633 /// <param name="force"></param>
642 /// <param name="pushforce">Is this a push by a script?</param> 634 /// <param name="pushforce">Is this a push by a script?</param>
643 public override void AddForce(PhysicsVector force, bool pushforce) 635 public override void AddForce(Vector3 force, bool pushforce)
644 { 636 {
645 if (pushforce) 637 if (pushforce)
646 { 638 {
@@ -662,7 +654,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
662 //m_lastUpdateSent = false; 654 //m_lastUpdateSent = false;
663 } 655 }
664 656
665 public void doForce(PhysicsVector force, bool now) 657 public void doForce(Vector3 force, bool now)
666 { 658 {
667 659
668 tempVector3.setValue(force.X, force.Y, force.Z); 660 tempVector3.setValue(force.X, force.Y, force.Z);
@@ -677,7 +669,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
677 } 669 }
678 } 670 }
679 671
680 public void doImpulse(PhysicsVector force, bool now) 672 public void doImpulse(Vector3 force, bool now)
681 { 673 {
682 674
683 tempVector3.setValue(force.X, force.Y, force.Z); 675 tempVector3.setValue(force.X, force.Y, force.Z);
@@ -692,12 +684,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
692 } 684 }
693 } 685 }
694 686
695 public override void AddAngularForce(PhysicsVector force, bool pushforce) 687 public override void AddAngularForce(Vector3 force, bool pushforce)
696 { 688 {
697 689
698 } 690 }
699 691
700 public override void SetMomentum(PhysicsVector momentum) 692 public override void SetMomentum(Vector3 momentum)
701 { 693 {
702 694
703 } 695 }
@@ -814,7 +806,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
814 806
815 AvatarGeomAndBodyCreation(m_position.X, m_position.Y, 807 AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
816 m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2)); 808 m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
817 Velocity = new PhysicsVector(0f, 0f, 0f); 809 Velocity = Vector3.Zero;
818 810
819 } 811 }
820 else 812 else
@@ -858,9 +850,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
858 } 850 }
859 //PidStatus = true; 851 //PidStatus = true;
860 852
861 PhysicsVector vec = new PhysicsVector(); 853 Vector3 vec = Vector3.Zero;
862 854
863 PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ()); 855 Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
864 856
865 float movementdivisor = 1f; 857 float movementdivisor = 1f;
866 858
@@ -891,7 +883,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
891 // Avatar to Avatar collisions 883 // Avatar to Avatar collisions
892 // Prim to avatar collisions 884 // Prim to avatar collisions
893 885
894 PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ()); 886 Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
895 vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2); 887 vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
896 vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2); 888 vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
897 if (m_flying) 889 if (m_flying)
@@ -933,7 +925,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
933 { 925 {
934 // We're colliding with something and we're not flying but we're moving 926 // We're colliding with something and we're not flying but we're moving
935 // This means we're walking or running. 927 // This means we're walking or running.
936 PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ()); 928 Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
937 vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P; 929 vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
938 if (m_target_velocity.X > 0) 930 if (m_target_velocity.X > 0)
939 { 931 {
@@ -1022,7 +1014,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1022 tempVector2 = Body.getInterpolationLinearVelocity(); 1014 tempVector2 = Body.getInterpolationLinearVelocity();
1023 1015
1024 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 1016 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1025 PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ()); 1017 Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
1026 1018
1027 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) 1019 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1028 if (vec.X < -10.0f) vec.X = 0.0f; 1020 if (vec.X < -10.0f) vec.X = 0.0f;
@@ -1054,7 +1046,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1054 else 1046 else
1055 { 1047 {
1056 m_lastUpdateSent = false; 1048 m_lastUpdateSent = false;
1057 vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ()); 1049 vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
1058 m_velocity.X = (vec.X); 1050 m_velocity.X = (vec.X);
1059 m_velocity.Y = (vec.Y); 1051 m_velocity.Y = (vec.Y);
1060 1052
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index 977b463..d931f126 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -43,44 +43,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
43 { 43 {
44 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 44 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
45 45
46 private PhysicsVector _position; 46 private Vector3 _position;
47 private PhysicsVector m_zeroPosition; 47 private Vector3 m_zeroPosition;
48 private PhysicsVector _velocity; 48 private Vector3 _velocity;
49 private PhysicsVector _torque = new PhysicsVector(0, 0, 0); 49 private Vector3 _torque;
50 private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); 50 private Vector3 m_lastVelocity;
51 private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f); 51 private Vector3 m_lastposition;
52 private Quaternion m_lastorientation = new Quaternion(); 52 private Quaternion m_lastorientation = Quaternion.Identity;
53 private PhysicsVector m_rotationalVelocity; 53 private Vector3 m_rotationalVelocity;
54 private PhysicsVector _size; 54 private Vector3 _size;
55 private PhysicsVector _acceleration; 55 private Vector3 _acceleration;
56 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f); 56 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
57 private Quaternion _orientation; 57 private Quaternion _orientation;
58 private PhysicsVector m_taintposition; 58 private Vector3 m_taintposition;
59 private PhysicsVector m_taintsize; 59 private Vector3 m_taintsize;
60 private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0); 60 private Vector3 m_taintVelocity;
61 private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0); 61 private Vector3 m_taintTorque;
62 private Quaternion m_taintrot; 62 private Quaternion m_taintrot;
63 private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f); 63 private Vector3 m_angularlock = Vector3.One;
64 private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f); 64 private Vector3 m_taintAngularLock = Vector3.One;
65 // private btGeneric6DofConstraint Amotor; 65 // private btGeneric6DofConstraint Amotor;
66 66
67 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0); 67 private Vector3 m_PIDTarget;
68 private float m_PIDTau = 0f; 68 private float m_PIDTau;
69 private float m_PIDHoverHeight = 0f; 69 private float m_PIDHoverHeight;
70 private float m_PIDHoverTau = 0f; 70 private float m_PIDHoverTau;
71 private bool m_useHoverPID = false; 71 private bool m_useHoverPID;
72 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; 72 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
73 private float m_targetHoverHeight = 0f; 73 private float m_targetHoverHeight;
74 private float m_groundHeight = 0f; 74 private float m_groundHeight;
75 private float m_waterHeight = 0f; 75 private float m_waterHeight;
76 private float PID_D = 35f; 76 private float PID_D = 35f;
77 private float PID_G = 25f; 77 private float PID_G = 25f;
78 // private float m_tensor = 5f; 78 // private float m_tensor = 5f;
79 // private int body_autodisable_frames = 20; 79 // private int body_autodisable_frames = 20;
80 private IMesh primMesh = null; 80 private IMesh primMesh;
81
82 private bool m_usePID = false;
83 81
82 private bool m_usePID;
84 83
85 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom 84 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
86 | CollisionCategories.Space 85 | CollisionCategories.Space
@@ -88,11 +87,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
88 | CollisionCategories.Character 87 | CollisionCategories.Character
89 ); 88 );
90 89
91 private bool m_taintshape = false; 90 private bool m_taintshape;
92 private bool m_taintPhysics = false; 91 private bool m_taintPhysics;
93 // private bool m_collidesLand = true; 92 // private bool m_collidesLand = true;
94 private bool m_collidesWater = false; 93 private bool m_collidesWater;
95 public bool m_returnCollisions = false; 94 public bool m_returnCollisions;
96 95
97 // Default we're a Geometry 96 // Default we're a Geometry
98 // private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); 97 // private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -100,23 +99,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
100 // Default, Collide with Other Geometries, spaces and Bodies 99 // Default, Collide with Other Geometries, spaces and Bodies
101 // private CollisionCategories m_collisionFlags = m_default_collisionFlags; 100 // private CollisionCategories m_collisionFlags = m_default_collisionFlags;
102 101
103 public bool m_taintremove = false; 102 public bool m_taintremove;
104 public bool m_taintdisable = false; 103 public bool m_taintdisable;
105 public bool m_disabled = false; 104 public bool m_disabled;
106 public bool m_taintadd = false; 105 public bool m_taintadd;
107 public bool m_taintselected = false; 106 public bool m_taintselected;
108 public bool m_taintCollidesWater = false; 107 public bool m_taintCollidesWater;
109 108
110 public uint m_localID = 0; 109 public uint m_localID;
111 110
112 //public GCHandle gc; 111 //public GCHandle gc;
113 // private CollisionLocker ode; 112 // private CollisionLocker ode;
114 113
115 private bool m_taintforce = false; 114 private bool m_taintforce;
116 private bool m_taintaddangularforce = false; 115 private bool m_taintaddangularforce;
117 private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f); 116 private Vector3 m_force;
118 private List<PhysicsVector> m_forcelist = new List<PhysicsVector>(); 117 private List<Vector3> m_forcelist = new List<Vector3>();
119 private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>(); 118 private List<Vector3> m_angularforcelist = new List<Vector3>();
120 119
121 private IMesh _mesh; 120 private IMesh _mesh;
122 private PrimitiveBaseShape _pbs; 121 private PrimitiveBaseShape _pbs;
@@ -124,40 +123,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
124 public btCollisionShape prim_geom; 123 public btCollisionShape prim_geom;
125 public IntPtr _triMeshData; 124 public IntPtr _triMeshData;
126 125
127 private PhysicsActor _parent = null; 126 private PhysicsActor _parent;
128 private PhysicsActor m_taintparent = null; 127 private PhysicsActor m_taintparent;
129 128
130 private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>(); 129 private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>();
131 130
132 private bool iscolliding = false; 131 private bool iscolliding;
133 private bool m_isphysical = false; 132 private bool m_isphysical;
134 private bool m_isSelected = false; 133 private bool m_isSelected;
135 134
136 internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively 135 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
137 136
138 private bool m_throttleUpdates = false; 137 private bool m_throttleUpdates;
139 // private int throttleCounter = 0; 138 // private int throttleCounter;
140 public int m_interpenetrationcount = 0; 139 public int m_interpenetrationcount;
141 public float m_collisionscore = 0; 140 public float m_collisionscore;
142 public int m_roundsUnderMotionThreshold = 0; 141 public int m_roundsUnderMotionThreshold;
143 private int m_crossingfailures = 0; 142 private int m_crossingfailures;
144 143
145 public float m_buoyancy = 0f; 144 public float m_buoyancy;
146 145
147 public bool outofBounds = false; 146 public bool outofBounds;
148 private float m_density = 10.000006836f; // Aluminum g/cm3; 147 private float m_density = 10.000006836f; // Aluminum g/cm3;
149 148
150 public bool _zeroFlag = false; 149 public bool _zeroFlag;
151 private bool m_lastUpdateSent = false; 150 private bool m_lastUpdateSent;
152 151
153 152
154 private String m_primName; 153 private String m_primName;
155 private PhysicsVector _target_velocity; 154 private Vector3 _target_velocity;
156 155
157 public int m_eventsubscription = 0; 156 public int m_eventsubscription;
158 // private CollisionEventUpdate CollisionEventsThisFrame = null; 157 // private CollisionEventUpdate CollisionEventsThisFrame = null;
159 158
160 public volatile bool childPrim = false; 159 public volatile bool childPrim;
161 160
162 private btVector3 tempPosition1; 161 private btVector3 tempPosition1;
163 private btVector3 tempPosition2; 162 private btVector3 tempPosition2;
@@ -190,7 +189,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
190 189
191 public btRigidBody Body; 190 public btRigidBody Body;
192 191
193 public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, 192 public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
194 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) 193 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
195 { 194 {
196 tempPosition1 = new btVector3(0, 0, 0); 195 tempPosition1 = new btVector3(0, 0, 0);
@@ -225,8 +224,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
225 224
226 AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize); 225 AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
227 226
228 _target_velocity = new PhysicsVector(0, 0, 0); 227 _target_velocity = Vector3.Zero;
229 _velocity = new PhysicsVector(); 228 _velocity = Vector3.Zero;
230 _position = pos; 229 _position = pos;
231 m_taintposition = pos; 230 m_taintposition = pos;
232 PID_D = parent_scene.bodyPIDD; 231 PID_D = parent_scene.bodyPIDD;
@@ -244,8 +243,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
244 243
245 _size = size; 244 _size = size;
246 m_taintsize = _size; 245 m_taintsize = _size;
247 _acceleration = new PhysicsVector(); 246 _acceleration = Vector3.Zero;
248 m_rotationalVelocity = PhysicsVector.Zero; 247 m_rotationalVelocity = Vector3.Zero;
249 _orientation = rotation; 248 _orientation = rotation;
250 m_taintrot = _orientation; 249 m_taintrot = _orientation;
251 _mesh = mesh; 250 _mesh = mesh;
@@ -274,7 +273,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
274 get { return _zeroFlag; } 273 get { return _zeroFlag; }
275 } 274 }
276 275
277 public override PhysicsVector Size 276 public override Vector3 Size
278 { 277 {
279 get { return _size; } 278 get { return _size; }
280 set { _size = value; } 279 set { _size = value; }
@@ -348,13 +347,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
348 m_taintparent = null; 347 m_taintparent = null;
349 } 348 }
350 349
351 public override void LockAngularMotion(PhysicsVector axis) 350 public override void LockAngularMotion(Vector3 axis)
352 { 351 {
353 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); 352 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
354 m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z); 353 m_taintAngularLock = axis;
355 } 354 }
356 355
357 public override PhysicsVector Position 356 public override Vector3 Position
358 { 357 {
359 get { return _position; } 358 get { return _position; }
360 359
@@ -370,9 +369,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
370 get { return CalculateMass(); } 369 get { return CalculateMass(); }
371 } 370 }
372 371
373 public override PhysicsVector Force 372 public override Vector3 Force
374 { 373 {
375 //get { return PhysicsVector.Zero; } 374 //get { return Vector3.Zero; }
376 get { return m_force; } 375 get { return m_force; }
377 set { m_force = value; } 376 set { m_force = value; }
378 } 377 }
@@ -388,7 +387,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
388 //TODO: 387 //TODO:
389 } 388 }
390 389
391 public override void VehicleVectorParam(int param, PhysicsVector value) 390 public override void VehicleVectorParam(int param, Vector3 value)
392 { 391 {
393 //TODO: 392 //TODO:
394 } 393 }
@@ -405,23 +404,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
405 404
406 } 405 }
407 406
408 public override PhysicsVector GeometricCenter 407 public override Vector3 GeometricCenter
409 { 408 {
410 get { return PhysicsVector.Zero; } 409 get { return Vector3.Zero; }
411 } 410 }
412 411
413 public override PhysicsVector CenterOfMass 412 public override Vector3 CenterOfMass
414 { 413 {
415 get { return PhysicsVector.Zero; } 414 get { return Vector3.Zero; }
416 } 415 }
417 416
418 public override PhysicsVector Velocity 417 public override Vector3 Velocity
419 { 418 {
420 get 419 get
421 { 420 {
422 // Averate previous velocity with the new one so 421 // Averate previous velocity with the new one so
423 // client object interpolation works a 'little' better 422 // client object interpolation works a 'little' better
424 PhysicsVector returnVelocity = new PhysicsVector(); 423 Vector3 returnVelocity;
425 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2; 424 returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
426 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2; 425 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
427 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2; 426 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
@@ -436,12 +435,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
436 } 435 }
437 } 436 }
438 437
439 public override PhysicsVector Torque 438 public override Vector3 Torque
440 { 439 {
441 get 440 get
442 { 441 {
443 if (!m_isphysical || Body.Handle == IntPtr.Zero) 442 if (!m_isphysical || Body.Handle == IntPtr.Zero)
444 return new PhysicsVector(0, 0, 0); 443 return Vector3.Zero;
445 444
446 return _torque; 445 return _torque;
447 } 446 }
@@ -459,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
459 set { m_collisionscore = value; } 458 set { m_collisionscore = value; }
460 } 459 }
461 460
462 public override PhysicsVector Acceleration 461 public override Vector3 Acceleration
463 { 462 {
464 get { return _acceleration; } 463 get { return _acceleration; }
465 } 464 }
@@ -528,16 +527,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
528 } 527 }
529 } 528 }
530 529
531 public override PhysicsVector RotationalVelocity 530 public override Vector3 RotationalVelocity
532 { 531 {
533 get 532 get
534 { 533 {
535 PhysicsVector pv = new PhysicsVector(0, 0, 0); 534 Vector3 pv = Vector3.Zero;
536 if (_zeroFlag) 535 if (_zeroFlag)
537 return pv; 536 return pv;
538 m_lastUpdateSent = false; 537 m_lastUpdateSent = false;
539 538
540 if (m_rotationalVelocity.IsIdentical(pv, 0.2f)) 539 if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
541 return pv; 540 return pv;
542 541
543 return m_rotationalVelocity; 542 return m_rotationalVelocity;
@@ -557,7 +556,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
557 set { m_buoyancy = value; } 556 set { m_buoyancy = value; }
558 } 557 }
559 558
560 public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } } 559 public override Vector3 PIDTarget { set { m_PIDTarget = value; ; } }
561 public override bool PIDActive { set { m_usePID = value; } } 560 public override bool PIDActive { set { m_usePID = value; } }
562 public override float PIDTau { set { m_PIDTau = value; } } 561 public override float PIDTau { set { m_PIDTau = value; } }
563 562
@@ -572,20 +571,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
572 public override float APIDDamping { set { return; } } 571 public override float APIDDamping { set { return; } }
573 572
574 573
575 public override void AddForce(PhysicsVector force, bool pushforce) 574 public override void AddForce(Vector3 force, bool pushforce)
576 { 575 {
577 m_forcelist.Add(force); 576 m_forcelist.Add(force);
578 m_taintforce = true; 577 m_taintforce = true;
579 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); 578 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
580 } 579 }
581 580
582 public override void AddAngularForce(PhysicsVector force, bool pushforce) 581 public override void AddAngularForce(Vector3 force, bool pushforce)
583 { 582 {
584 m_angularforcelist.Add(force); 583 m_angularforcelist.Add(force);
585 m_taintaddangularforce = true; 584 m_taintaddangularforce = true;
586 } 585 }
587 586
588 public override void SetMomentum(PhysicsVector momentum) 587 public override void SetMomentum(Vector3 momentum)
589 { 588 {
590 } 589 }
591 590
@@ -783,7 +782,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
783 782
784 } 783 }
785 784
786 if (!_position.IsIdentical(m_taintposition, 0f)) 785 if (!_position.ApproxEquals(m_taintposition, 0f))
787 { 786 {
788 m_log.Debug("[PHYSICS]: TaintMove"); 787 m_log.Debug("[PHYSICS]: TaintMove");
789 changemove(timestep); 788 changemove(timestep);
@@ -801,7 +800,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
801 } 800 }
802 // 801 //
803 802
804 if (!_size.IsIdentical(m_taintsize, 0)) 803 if (!_size.ApproxEquals(m_taintsize, 0f))
805 { 804 {
806 m_log.Debug("[PHYSICS]: TaintSize"); 805 m_log.Debug("[PHYSICS]: TaintSize");
807 changesize(timestep); 806 changesize(timestep);
@@ -825,7 +824,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
825 m_log.Debug("[PHYSICS]: TaintAngularForce"); 824 m_log.Debug("[PHYSICS]: TaintAngularForce");
826 changeAddAngularForce(timestep); 825 changeAddAngularForce(timestep);
827 } 826 }
828 if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f)) 827 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
829 { 828 {
830 m_log.Debug("[PHYSICS]: TaintTorque"); 829 m_log.Debug("[PHYSICS]: TaintTorque");
831 changeSetTorque(timestep); 830 changeSetTorque(timestep);
@@ -840,7 +839,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
840 m_log.Debug("[PHYSICS]: TaintSelected"); 839 m_log.Debug("[PHYSICS]: TaintSelected");
841 changeSelectedStatus(timestep); 840 changeSelectedStatus(timestep);
842 } 841 }
843 if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f)) 842 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
844 { 843 {
845 m_log.Debug("[PHYSICS]: TaintVelocity"); 844 m_log.Debug("[PHYSICS]: TaintVelocity");
846 changevelocity(timestep); 845 changevelocity(timestep);
@@ -854,7 +853,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
854 { 853 {
855 changefloatonwater(timestep); 854 changefloatonwater(timestep);
856 } 855 }
857 if (!m_angularlock.IsIdentical(m_taintAngularLock, 0)) 856 if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
858 { 857 {
859 m_log.Debug("[PHYSICS]: TaintAngularLock"); 858 m_log.Debug("[PHYSICS]: TaintAngularLock");
860 changeAngularLock(timestep); 859 changeAngularLock(timestep);
@@ -1017,7 +1016,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1017 { 1016 {
1018 if (_parent_scene.needsMeshing(_pbs)) 1017 if (_parent_scene.needsMeshing(_pbs))
1019 { 1018 {
1020 ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); 1019 ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
1021 // createmesh returns null when it doesn't mesh. 1020 // createmesh returns null when it doesn't mesh.
1022 CreateGeom(IntPtr.Zero, _mesh); 1021 CreateGeom(IntPtr.Zero, _mesh);
1023 } 1022 }
@@ -1034,7 +1033,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1034 return _parent_scene.needsMeshing(_pbs); 1033 return _parent_scene.needsMeshing(_pbs);
1035 } 1034 }
1036 1035
1037 internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation) 1036 internal void ProcessGeomCreationAsTriMesh(Vector3 positionOffset, Quaternion orientation)
1038 { 1037 {
1039 // Don't need to re-enable body.. it's done in SetMesh 1038 // Don't need to re-enable body.. it's done in SetMesh
1040 float meshlod = _parent_scene.meshSculptLOD; 1039 float meshlod = _parent_scene.meshSculptLOD;
@@ -1043,7 +1042,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1043 meshlod = _parent_scene.MeshSculptphysicalLOD; 1042 meshlod = _parent_scene.MeshSculptphysicalLOD;
1044 1043
1045 IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); 1044 IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
1046 if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity) 1045 if (!positionOffset.ApproxEquals(Vector3.Zero, 0.001f) || orientation != Quaternion.Identity)
1047 { 1046 {
1048 1047
1049 float[] xyz = new float[3]; 1048 float[] xyz = new float[3];
@@ -1207,7 +1206,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1207 //m_log.Info("[PHYSICS]: dequeing forcelist"); 1206 //m_log.Info("[PHYSICS]: dequeing forcelist");
1208 if (IsPhysical) 1207 if (IsPhysical)
1209 { 1208 {
1210 PhysicsVector iforce = new PhysicsVector(); 1209 Vector3 iforce = Vector3.Zero;
1211 for (int i = 0; i < m_forcelist.Count; i++) 1210 for (int i = 0; i < m_forcelist.Count; i++)
1212 { 1211 {
1213 iforce = iforce + m_forcelist[i]; 1212 iforce = iforce + m_forcelist[i];
@@ -1242,7 +1241,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1242 //m_log.Info("[PHYSICS]: dequeing forcelist"); 1241 //m_log.Info("[PHYSICS]: dequeing forcelist");
1243 if (IsPhysical) 1242 if (IsPhysical)
1244 { 1243 {
1245 PhysicsVector iforce = new PhysicsVector(); 1244 Vector3 iforce = Vector3.Zero;
1246 for (int i = 0; i < m_angularforcelist.Count; i++) 1245 for (int i = 0; i < m_angularforcelist.Count; i++)
1247 { 1246 {
1248 iforce = iforce + m_angularforcelist[i]; 1247 iforce = iforce + m_angularforcelist[i];
@@ -1281,7 +1280,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1281 } 1280 }
1282 } 1281 }
1283 } 1282 }
1284 m_taintTorque = new PhysicsVector(0, 0, 0); 1283 m_taintTorque = Vector3.Zero;
1285 } 1284 }
1286 1285
1287 private void changedisable(float timestep) 1286 private void changedisable(float timestep)
@@ -1322,7 +1321,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1322 1321
1323 //resetCollisionAccounting(); 1322 //resetCollisionAccounting();
1324 } 1323 }
1325 m_taintVelocity = PhysicsVector.Zero; 1324 m_taintVelocity = Vector3.Zero;
1326 } 1325 }
1327 1326
1328 private void changelink(float timestep) 1327 private void changelink(float timestep)
@@ -1366,7 +1365,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1366 1365
1367 if (m_taintparent != null) 1366 if (m_taintparent != null)
1368 { 1367 {
1369 m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f; 1368 Vector3 taintparentPosition = m_taintparent.Position;
1369 taintparentPosition.Z = m_taintparent.Position.Z + 0.02f;
1370 m_taintparent.Position = taintparentPosition;
1370 _parent_scene.AddPhysicsActorTaint(m_taintparent); 1371 _parent_scene.AddPhysicsActorTaint(m_taintparent);
1371 } 1372 }
1372 } 1373 }
@@ -1387,7 +1388,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1387 { 1388 {
1388 if (_parent == null) 1389 if (_parent == null)
1389 { 1390 {
1390 if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f, 1f, 1f), 0)) 1391 if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
1391 { 1392 {
1392 //d.BodySetFiniteRotationMode(Body, 0); 1393 //d.BodySetFiniteRotationMode(Body, 0);
1393 //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z); 1394 //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -1400,7 +1401,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1400 } 1401 }
1401 1402
1402 } 1403 }
1403 m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z); 1404 m_angularlock = m_taintAngularLock;
1404 1405
1405 } 1406 }
1406 #endregion 1407 #endregion
@@ -1465,17 +1466,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1465 // TODO: NEED btVector3 for Linear Velocity 1466 // TODO: NEED btVector3 for Linear Velocity
1466 // NEED btVector3 for Position 1467 // NEED btVector3 for Position
1467 1468
1468 PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet 1469 Vector3 pos = _position; //TODO: Insert values gotten from bullet
1469 PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z); 1470 Vector3 vel = _velocity;
1470 1471
1471 _target_velocity = 1472 _target_velocity =
1472 new PhysicsVector( 1473 new Vector3(
1473 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), 1474 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
1474 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), 1475 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
1475 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) 1476 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
1476 ); 1477 );
1477 1478
1478 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) 1479 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
1479 { 1480 {
1480 1481
1481 /* TODO: Do Bullet equiv 1482 /* TODO: Do Bullet equiv
@@ -1517,8 +1518,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1517 { 1518 {
1518 PID_G = m_PIDTau + 1; 1519 PID_G = m_PIDTau + 1;
1519 } 1520 }
1520 PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet 1521 Vector3 pos = Vector3.Zero; //TODO: Insert values gotten from bullet
1521 PhysicsVector vel = new PhysicsVector(0, 0, 0); 1522 Vector3 vel = Vector3.Zero;
1522 1523
1523 // determine what our target height really is based on HoverType 1524 // determine what our target height really is based on HoverType
1524 switch (m_PIDHoverType) 1525 switch (m_PIDHoverType)
@@ -1550,13 +1551,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1550 1551
1551 1552
1552 _target_velocity = 1553 _target_velocity =
1553 new PhysicsVector(0.0f, 0.0f, 1554 new Vector3(0.0f, 0.0f,
1554 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) 1555 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
1555 ); 1556 );
1556 1557
1557 // if velocity is zero, use position control; otherwise, velocity control 1558 // if velocity is zero, use position control; otherwise, velocity control
1558 1559
1559 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) 1560 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
1560 { 1561 {
1561 1562
1562 /* TODO: Do Bullet Equiv 1563 /* TODO: Do Bullet Equiv
@@ -1631,8 +1632,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
1631 else 1632 else
1632 { 1633 {
1633 if (m_zeroPosition == null) 1634 if (m_zeroPosition == null)
1634 m_zeroPosition = new PhysicsVector(0, 0, 0); 1635 m_zeroPosition = Vector3.Zero;
1635 m_zeroPosition.setValues(_position.X, _position.Y, _position.Z); 1636 m_zeroPosition = _position;
1636 return; 1637 return;
1637 } 1638 }
1638 } 1639 }
@@ -2182,7 +2183,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2182 2183
2183 //if (hasTrimesh) 2184 //if (hasTrimesh)
2184 //{ 2185 //{
2185 ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); 2186 ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
2186 // createmesh returns null when it doesn't mesh. 2187 // createmesh returns null when it doesn't mesh.
2187 2188
2188 /* 2189 /*
@@ -2202,11 +2203,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2202 { 2203 {
2203 if (chld == null) 2204 if (chld == null)
2204 continue; 2205 continue;
2205 PhysicsVector offset = chld.Position - Position; 2206 Vector3 offset = chld.Position - Position;
2206 Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z); 2207 Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
2207 pos *= Quaternion.Inverse(Orientation); 2208 pos *= Quaternion.Inverse(Orientation);
2208 //pos *= Orientation; 2209 //pos *= Orientation;
2209 offset.setValues(pos.X, pos.Y, pos.Z); 2210 offset = pos;
2210 chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation); 2211 chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
2211 2212
2212 _mesh.Append(chld._mesh); 2213 _mesh.Append(chld._mesh);
@@ -2438,7 +2439,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2438 m_collisionscore = 0; 2439 m_collisionscore = 0;
2439 m_disabled = false; 2440 m_disabled = false;
2440 // The body doesn't already have a finite rotation mode set here 2441 // The body doesn't already have a finite rotation mode set here
2441 if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) 2442 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
2442 { 2443 {
2443 // TODO: Create Angular Motor on Axis Lock! 2444 // TODO: Create Angular Motor on Axis Lock!
2444 } 2445 }
@@ -2452,7 +2453,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2452 { 2453 {
2453 if (_parent == null) 2454 if (_parent == null)
2454 { 2455 {
2455 PhysicsVector pv = new PhysicsVector(0, 0, 0); 2456 Vector3 pv = Vector3.Zero;
2456 bool lastZeroFlag = _zeroFlag; 2457 bool lastZeroFlag = _zeroFlag;
2457 if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero) 2458 if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
2458 tempPosition3.Dispose(); 2459 tempPosition3.Dispose();
@@ -2476,10 +2477,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2476 tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel 2477 tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
2477 tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel 2478 tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
2478 2479
2479 _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), 2480 _torque = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
2480 tempAngularVelocity1.getZ()); 2481 tempAngularVelocity1.getZ());
2481 PhysicsVector l_position = new PhysicsVector(); 2482 Vector3 l_position = Vector3.Zero;
2482 Quaternion l_orientation = new Quaternion(); 2483 Quaternion l_orientation = Quaternion.Identity;
2483 m_lastposition = _position; 2484 m_lastposition = _position;
2484 m_lastorientation = _orientation; 2485 m_lastorientation = _orientation;
2485 2486
@@ -2603,20 +2604,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2603 _velocity.Z = tempLinearVelocity1.getZ(); 2604 _velocity.Z = tempLinearVelocity1.getZ();
2604 2605
2605 _acceleration = ((_velocity - m_lastVelocity) / 0.1f); 2606 _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
2606 _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, 2607 _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
2607 _velocity.Y - m_lastVelocity.Y / 0.1f, 2608 _velocity.Y - m_lastVelocity.Y / 0.1f,
2608 _velocity.Z - m_lastVelocity.Z / 0.1f); 2609 _velocity.Z - m_lastVelocity.Z / 0.1f);
2609 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); 2610 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
2610 2611
2611 if (_velocity.IsIdentical(pv, 0.5f)) 2612 if (_velocity.ApproxEquals(pv, 0.5f))
2612 { 2613 {
2613 m_rotationalVelocity = pv; 2614 m_rotationalVelocity = pv;
2614 } 2615 }
2615 else 2616 else
2616 { 2617 {
2617 2618 m_rotationalVelocity = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
2618 m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
2619 tempAngularVelocity1.getZ());
2620 } 2619 }
2621 2620
2622 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); 2621 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2670,7 +2669,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
2670 m_taintremove = true; 2669 m_taintremove = true;
2671 } 2670 }
2672 2671
2673 internal void EnableAxisMotor(PhysicsVector axislock) 2672 internal void EnableAxisMotor(Vector3 axislock)
2674 { 2673 {
2675 if (m_aMotor != null) 2674 if (m_aMotor != null)
2676 DisableAxisMotor(); 2675 DisableAxisMotor();
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
index 18d4bab..9e048ab 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
@@ -139,7 +139,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
139 139
140 } 140 }
141 141
142 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 142 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
143 { 143 {
144 BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP, 144 BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
145 avCapRadius, avStandupTensor, avDensity, 145 avCapRadius, avStandupTensor, avDensity,
@@ -177,14 +177,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
177 } 177 }
178 } 178 }
179 179
180 private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, 180 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
181 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical) 181 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
182 { 182 {
183 PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z); 183 Vector3 pos = position;
184 //pos.X = position.X; 184 //pos.X = position.X;
185 //pos.Y = position.Y; 185 //pos.Y = position.Y;
186 //pos.Z = position.Z; 186 //pos.Z = position.Z;
187 PhysicsVector siz = new PhysicsVector(); 187 Vector3 siz = Vector3.Zero;
188 siz.X = size.X; 188 siz.X = size.X;
189 siz.Y = size.Y; 189 siz.Y = size.Y;
190 siz.Z = size.Z; 190 siz.Z = size.Z;
@@ -201,12 +201,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
201 return newPrim; 201 return newPrim;
202 } 202 }
203 203
204 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) 204 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation)
205 { 205 {
206 return AddPrimShape(primName, pbs, position, size, rotation, false); 206 return AddPrimShape(primName, pbs, position, size, rotation, false);
207 } 207 }
208 208
209 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical) 209 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical)
210 { 210 {
211 PhysicsActor result; 211 PhysicsActor result;
212 IMesh mesh = null; 212 IMesh mesh = null;
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 14b8f39..0b3cee7 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -52,14 +52,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
52 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); 52 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
53 53
54 //Vector3 54 //Vector3
55 public static Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) 55 public static Vector3 PhysicsVectorToXnaVector3(OpenMetaverse.Vector3 physicsVector)
56 { 56 {
57 return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); 57 return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
58 } 58 }
59 59
60 public static PhysicsVector XnaVector3ToPhysicsVector(Vector3 xnaVector3) 60 public static OpenMetaverse.Vector3 XnaVector3ToPhysicsVector(Vector3 xnaVector3)
61 { 61 {
62 return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); 62 return new OpenMetaverse.Vector3(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
63 } 63 }
64 64
65 //Quaternion 65 //Quaternion
@@ -349,7 +349,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
349 vertexBase = new Vector3[iVertexCount]; 349 vertexBase = new Vector3[iVertexCount];
350 for (int i = 0; i < iVertexCount; i++) 350 for (int i = 0; i < iVertexCount; i++)
351 { 351 {
352 PhysicsVector v = mesh.getVertexList()[i]; 352 OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
353 if (v != null) // Note, null has special meaning. See meshing code for details 353 if (v != null) // Note, null has special meaning. See meshing code for details
354 vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v); 354 vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
355 else 355 else
@@ -392,7 +392,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
392 private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist) 392 private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
393 { 393 {
394 float fstartSide; 394 float fstartSide;
395 PhysicsVector v = actA.Position; 395 OpenMetaverse.Vector3 v = actA.Position;
396 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v); 396 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
397 397
398 fstartSide = Vector3.Dot(vNormal, v3) - fDist; 398 fstartSide = Vector3.Dot(vNormal, v3) - fDist;
@@ -404,7 +404,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
404 { 404 {
405 Vector3 perPlaneNormal; 405 Vector3 perPlaneNormal;
406 float fPerPlaneDist; 406 float fPerPlaneDist;
407 PhysicsVector v = actA.Position; 407 OpenMetaverse.Vector3 v = actA.Position;
408 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v); 408 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
409 //check AB 409 //check AB
410 Vector3 v1; 410 Vector3 v1;
@@ -573,9 +573,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
573 573
574 } 574 }
575 575
576 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 576 public override PhysicsActor AddAvatar(string avName, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, bool isFlying)
577 { 577 {
578 PhysicsVector pos = new PhysicsVector(); 578 OpenMetaverse.Vector3 pos = OpenMetaverse.Vector3.Zero;
579 pos.X = position.X; 579 pos.X = position.X;
580 pos.Y = position.Y; 580 pos.Y = position.Y;
581 pos.Z = position.Z + 20; 581 pos.Z = position.Z + 20;
@@ -611,14 +611,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
611 } 611 }
612 } 612 }
613 613
614 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 614 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
615 PhysicsVector size, OpenMetaverse.Quaternion rotation) 615 OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation)
616 { 616 {
617 return AddPrimShape(primName, pbs, position, size, rotation, false); 617 return AddPrimShape(primName, pbs, position, size, rotation, false);
618 } 618 }
619 619
620 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 620 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
621 PhysicsVector size, OpenMetaverse.Quaternion rotation, bool isPhysical) 621 OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation, bool isPhysical)
622 { 622 {
623 PhysicsActor result; 623 PhysicsActor result;
624 624
@@ -645,7 +645,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
645 return result; 645 return result;
646 } 646 }
647 647
648 public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, OpenMetaverse.Quaternion rotation, 648 public PhysicsActor AddPrim(String name, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation,
649 IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical) 649 IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
650 { 650 {
651 BulletXPrim newPrim = null; 651 BulletXPrim newPrim = null;
@@ -879,12 +879,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
879 { 879 {
880 protected bool flying = false; 880 protected bool flying = false;
881 protected bool _physical = false; 881 protected bool _physical = false;
882 protected PhysicsVector _position; 882 protected OpenMetaverse.Vector3 _position;
883 protected PhysicsVector _velocity; 883 protected OpenMetaverse.Vector3 _velocity;
884 protected PhysicsVector _size; 884 protected OpenMetaverse.Vector3 _size;
885 protected PhysicsVector _acceleration; 885 protected OpenMetaverse.Vector3 _acceleration;
886 protected OpenMetaverse.Quaternion _orientation; 886 protected OpenMetaverse.Quaternion _orientation;
887 protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 887 protected OpenMetaverse.Vector3 m_rotationalVelocity;
888 protected RigidBody rigidBody; 888 protected RigidBody rigidBody;
889 protected int m_PhysicsActorType; 889 protected int m_PhysicsActorType;
890 private Boolean iscolliding = false; 890 private Boolean iscolliding = false;
@@ -900,7 +900,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
900 get { return false; } 900 get { return false; }
901 } 901 }
902 902
903 public override PhysicsVector Position 903 public override OpenMetaverse.Vector3 Position
904 { 904 {
905 get { return _position; } 905 get { return _position; }
906 set 906 set
@@ -913,13 +913,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
913 } 913 }
914 } 914 }
915 915
916 public override PhysicsVector RotationalVelocity 916 public override OpenMetaverse.Vector3 RotationalVelocity
917 { 917 {
918 get { return m_rotationalVelocity; } 918 get { return m_rotationalVelocity; }
919 set { m_rotationalVelocity = value; } 919 set { m_rotationalVelocity = value; }
920 } 920 }
921 921
922 public override PhysicsVector Velocity 922 public override OpenMetaverse.Vector3 Velocity
923 { 923 {
924 get { return _velocity; } 924 get { return _velocity; }
925 set 925 set
@@ -934,7 +934,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
934 } 934 }
935 else 935 else
936 { 936 {
937 _velocity = new PhysicsVector(); 937 _velocity = OpenMetaverse.Vector3.Zero;
938 } 938 }
939 } 939 }
940 } 940 }
@@ -944,7 +944,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
944 get { return 0f; } 944 get { return 0f; }
945 set { } 945 set { }
946 } 946 }
947 public override PhysicsVector Size 947 public override OpenMetaverse.Vector3 Size
948 { 948 {
949 get { return _size; } 949 get { return _size; }
950 set 950 set
@@ -956,9 +956,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
956 } 956 }
957 } 957 }
958 958
959 public override PhysicsVector Force 959 public override OpenMetaverse.Vector3 Force
960 { 960 {
961 get { return PhysicsVector.Zero; } 961 get { return OpenMetaverse.Vector3.Zero; }
962 set { return; } 962 set { return; }
963 } 963 }
964 964
@@ -973,7 +973,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
973 973
974 } 974 }
975 975
976 public override void VehicleVectorParam(int param, PhysicsVector value) 976 public override void VehicleVectorParam(int param, OpenMetaverse.Vector3 value)
977 { 977 {
978 978
979 } 979 }
@@ -988,14 +988,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
988 988
989 } 989 }
990 990
991 public override PhysicsVector CenterOfMass 991 public override OpenMetaverse.Vector3 CenterOfMass
992 { 992 {
993 get { return PhysicsVector.Zero; } 993 get { return OpenMetaverse.Vector3.Zero; }
994 } 994 }
995 995
996 public override PhysicsVector GeometricCenter 996 public override OpenMetaverse.Vector3 GeometricCenter
997 { 997 {
998 get { return PhysicsVector.Zero; } 998 get { return OpenMetaverse.Vector3.Zero; }
999 } 999 }
1000 1000
1001 public override PrimitiveBaseShape Shape 1001 public override PrimitiveBaseShape Shape
@@ -1009,7 +1009,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1009 set { return; } 1009 set { return; }
1010 } 1010 }
1011 1011
1012 public override PhysicsVector Acceleration 1012 public override OpenMetaverse.Vector3 Acceleration
1013 { 1013 {
1014 get { return _acceleration; } 1014 get { return _acceleration; }
1015 } 1015 }
@@ -1036,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1036 1036
1037 } 1037 }
1038 1038
1039 public override void LockAngularMotion(PhysicsVector axis) 1039 public override void LockAngularMotion(OpenMetaverse.Vector3 axis)
1040 { 1040 {
1041 1041
1042 } 1042 }
@@ -1129,7 +1129,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1129 set { return; } 1129 set { return; }
1130 } 1130 }
1131 1131
1132 public virtual void SetAcceleration(PhysicsVector accel) 1132 public virtual void SetAcceleration(OpenMetaverse.Vector3 accel)
1133 { 1133 {
1134 lock (BulletXScene.BulletXLock) 1134 lock (BulletXScene.BulletXLock)
1135 { 1135 {
@@ -1143,19 +1143,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1143 set { } 1143 set { }
1144 } 1144 }
1145 1145
1146 public override void AddForce(PhysicsVector force, bool pushforce) 1146 public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
1147 { 1147 {
1148 } 1148 }
1149 public override PhysicsVector Torque 1149 public override OpenMetaverse.Vector3 Torque
1150 { 1150 {
1151 get { return PhysicsVector.Zero; } 1151 get { return OpenMetaverse.Vector3.Zero; }
1152 set { return; } 1152 set { return; }
1153 } 1153 }
1154 public override void AddAngularForce(PhysicsVector force, bool pushforce) 1154 public override void AddAngularForce(OpenMetaverse.Vector3 force, bool pushforce)
1155 { 1155 {
1156 } 1156 }
1157 1157
1158 public override void SetMomentum(PhysicsVector momentum) 1158 public override void SetMomentum(OpenMetaverse.Vector3 momentum)
1159 { 1159 {
1160 } 1160 }
1161 1161
@@ -1174,7 +1174,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1174 Translate(_position); 1174 Translate(_position);
1175 } 1175 }
1176 1176
1177 protected internal void Translate(PhysicsVector _newPos) 1177 protected internal void Translate(OpenMetaverse.Vector3 _newPos)
1178 { 1178 {
1179 Vector3 _translation; 1179 Vector3 _translation;
1180 _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; 1180 _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
@@ -1186,7 +1186,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1186 Speed(_velocity); 1186 Speed(_velocity);
1187 } 1187 }
1188 1188
1189 protected internal void Speed(PhysicsVector _newSpeed) 1189 protected internal void Speed(OpenMetaverse.Vector3 _newSpeed)
1190 { 1190 {
1191 Vector3 _speed; 1191 Vector3 _speed;
1192 _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); 1192 _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
@@ -1212,7 +1212,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1212 ReSize(_size); 1212 ReSize(_size);
1213 } 1213 }
1214 1214
1215 protected internal virtual void ReSize(PhysicsVector _newSize) 1215 protected internal virtual void ReSize(OpenMetaverse.Vector3 _newSize)
1216 { 1216 {
1217 } 1217 }
1218 1218
@@ -1227,7 +1227,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1227 { 1227 {
1228 1228
1229 } 1229 }
1230 public override PhysicsVector PIDTarget { set { return; } } 1230 public override OpenMetaverse.Vector3 PIDTarget { set { return; } }
1231 public override bool PIDActive { set { return; } } 1231 public override bool PIDActive { set { return; } }
1232 public override float PIDTau { set { return; } } 1232 public override float PIDTau { set { return; } }
1233 1233
@@ -1276,19 +1276,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1276 /// </summary> 1276 /// </summary>
1277 public class BulletXCharacter : BulletXActor 1277 public class BulletXCharacter : BulletXActor
1278 { 1278 {
1279 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) 1279 public BulletXCharacter(BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
1280 : this(String.Empty, parent_scene, pos) 1280 : this(String.Empty, parent_scene, pos)
1281 { 1281 {
1282 } 1282 }
1283 1283
1284 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos) 1284 public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
1285 : this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(), 1285 : this(avName, parent_scene, pos, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero,
1286 OpenMetaverse.Quaternion.Identity) 1286 OpenMetaverse.Quaternion.Identity)
1287 { 1287 {
1288 } 1288 }
1289 1289
1290 public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 1290 public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
1291 PhysicsVector size, PhysicsVector acceleration, OpenMetaverse.Quaternion orientation) 1291 OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
1292 : base(avName) 1292 : base(avName)
1293 { 1293 {
1294 //This fields will be removed. They're temporal 1294 //This fields will be removed. They're temporal
@@ -1343,25 +1343,25 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1343 set { return; } 1343 set { return; }
1344 } 1344 }
1345 1345
1346 public override PhysicsVector Position 1346 public override OpenMetaverse.Vector3 Position
1347 { 1347 {
1348 get { return base.Position; } 1348 get { return base.Position; }
1349 set { base.Position = value; } 1349 set { base.Position = value; }
1350 } 1350 }
1351 1351
1352 public override PhysicsVector Velocity 1352 public override OpenMetaverse.Vector3 Velocity
1353 { 1353 {
1354 get { return base.Velocity; } 1354 get { return base.Velocity; }
1355 set { base.Velocity = value; } 1355 set { base.Velocity = value; }
1356 } 1356 }
1357 1357
1358 public override PhysicsVector Size 1358 public override OpenMetaverse.Vector3 Size
1359 { 1359 {
1360 get { return base.Size; } 1360 get { return base.Size; }
1361 set { base.Size = value; } 1361 set { base.Size = value; }
1362 } 1362 }
1363 1363
1364 public override PhysicsVector Acceleration 1364 public override OpenMetaverse.Vector3 Acceleration
1365 { 1365 {
1366 get { return base.Acceleration; } 1366 get { return base.Acceleration; }
1367 } 1367 }
@@ -1390,17 +1390,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1390 set { base.Kinematic = value; } 1390 set { base.Kinematic = value; }
1391 } 1391 }
1392 1392
1393 public override void SetAcceleration(PhysicsVector accel) 1393 public override void SetAcceleration(OpenMetaverse.Vector3 accel)
1394 { 1394 {
1395 base.SetAcceleration(accel); 1395 base.SetAcceleration(accel);
1396 } 1396 }
1397 1397
1398 public override void AddForce(PhysicsVector force, bool pushforce) 1398 public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
1399 { 1399 {
1400 base.AddForce(force, pushforce); 1400 base.AddForce(force, pushforce);
1401 } 1401 }
1402 1402
1403 public override void SetMomentum(PhysicsVector momentum) 1403 public override void SetMomentum(OpenMetaverse.Vector3 momentum)
1404 { 1404 {
1405 base.SetMomentum(momentum); 1405 base.SetMomentum(momentum);
1406 } 1406 }
@@ -1450,7 +1450,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1450 m.Translation = v3; 1450 m.Translation = v3;
1451 rigidBody.WorldTransform = m; 1451 rigidBody.WorldTransform = m;
1452 //When an Avie touch the ground it's vertical velocity it's reduced to ZERO 1452 //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
1453 Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f)); 1453 Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
1454 } 1454 }
1455 } 1455 }
1456 1456
@@ -1472,7 +1472,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1472 //For now all prims have the same density, all prims are made of water. Be water my friend! :D 1472 //For now all prims have the same density, all prims are made of water. Be water my friend! :D
1473 private const float _density = 1000.0f; 1473 private const float _density = 1000.0f;
1474 private BulletXScene _parent_scene; 1474 private BulletXScene _parent_scene;
1475 private PhysicsVector m_prev_position = new PhysicsVector(0, 0, 0); 1475 private OpenMetaverse.Vector3 m_prev_position;
1476 private bool m_lastUpdateSent = false; 1476 private bool m_lastUpdateSent = false;
1477 //added by jed zhu 1477 //added by jed zhu
1478 private IMesh _mesh; 1478 private IMesh _mesh;
@@ -1480,17 +1480,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1480 1480
1481 1481
1482 1482
1483 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, 1483 public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 size,
1484 OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical) 1484 OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
1485 : this( 1485 : this(
1486 primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs, 1486 primName, parent_scene, pos, OpenMetaverse.Vector3.Zero, size, OpenMetaverse.Vector3.Zero, rotation, mesh, pbs,
1487 isPhysical) 1487 isPhysical)
1488 { 1488 {
1489 } 1489 }
1490 1490
1491 public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, 1491 public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
1492 PhysicsVector size, 1492 OpenMetaverse.Vector3 size,
1493 PhysicsVector acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, 1493 OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
1494 bool isPhysical) 1494 bool isPhysical)
1495 : base(primName) 1495 : base(primName)
1496 { 1496 {
@@ -1501,7 +1501,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1501 1501
1502 _position = pos; 1502 _position = pos;
1503 _physical = isPhysical; 1503 _physical = isPhysical;
1504 _velocity = _physical ? velocity : new PhysicsVector(); 1504 _velocity = _physical ? velocity : OpenMetaverse.Vector3.Zero;
1505 _size = size; 1505 _size = size;
1506 _acceleration = acceleration; 1506 _acceleration = acceleration;
1507 _orientation = rotation; 1507 _orientation = rotation;
@@ -1517,19 +1517,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1517 set { return; } 1517 set { return; }
1518 } 1518 }
1519 1519
1520 public override PhysicsVector Position 1520 public override OpenMetaverse.Vector3 Position
1521 { 1521 {
1522 get { return base.Position; } 1522 get { return base.Position; }
1523 set { base.Position = value; } 1523 set { base.Position = value; }
1524 } 1524 }
1525 1525
1526 public override PhysicsVector Velocity 1526 public override OpenMetaverse.Vector3 Velocity
1527 { 1527 {
1528 get { return base.Velocity; } 1528 get { return base.Velocity; }
1529 set { base.Velocity = value; } 1529 set { base.Velocity = value; }
1530 } 1530 }
1531 1531
1532 public override PhysicsVector Size 1532 public override OpenMetaverse.Vector3 Size
1533 { 1533 {
1534 get { return _size; } 1534 get { return _size; }
1535 set 1535 set
@@ -1542,7 +1542,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1542 } 1542 }
1543 } 1543 }
1544 1544
1545 public override PhysicsVector Acceleration 1545 public override OpenMetaverse.Vector3 Acceleration
1546 { 1546 {
1547 get { return base.Acceleration; } 1547 get { return base.Acceleration; }
1548 } 1548 }
@@ -1603,7 +1603,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1603 set { base.Kinematic = value; } 1603 set { base.Kinematic = value; }
1604 } 1604 }
1605 1605
1606 public override void SetAcceleration(PhysicsVector accel) 1606 public override void SetAcceleration(OpenMetaverse.Vector3 accel)
1607 { 1607 {
1608 lock (BulletXScene.BulletXLock) 1608 lock (BulletXScene.BulletXLock)
1609 { 1609 {
@@ -1611,12 +1611,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1611 } 1611 }
1612 } 1612 }
1613 1613
1614 public override void AddForce(PhysicsVector force, bool pushforce) 1614 public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
1615 { 1615 {
1616 base.AddForce(force,pushforce); 1616 base.AddForce(force,pushforce);
1617 } 1617 }
1618 1618
1619 public override void SetMomentum(PhysicsVector momentum) 1619 public override void SetMomentum(OpenMetaverse.Vector3 momentum)
1620 { 1620 {
1621 base.SetMomentum(momentum); 1621 base.SetMomentum(momentum);
1622 } 1622 }
@@ -1633,7 +1633,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1633 //When a Prim touch the ground it's vertical velocity it's reduced to ZERO 1633 //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
1634 //Static objects don't have linear velocity 1634 //Static objects don't have linear velocity
1635 if (_physical) 1635 if (_physical)
1636 Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f)); 1636 Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
1637 } 1637 }
1638 } 1638 }
1639 1639
@@ -1652,7 +1652,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1652 { 1652 {
1653 if (!m_lastUpdateSent) 1653 if (!m_lastUpdateSent)
1654 { 1654 {
1655 _velocity = new PhysicsVector(0, 0, 0); 1655 _velocity = OpenMetaverse.Vector3.Zero;
1656 base.ScheduleTerseUpdate(); 1656 base.ScheduleTerseUpdate();
1657 m_lastUpdateSent = true; 1657 m_lastUpdateSent = true;
1658 } 1658 }
@@ -1674,8 +1674,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1674 1674
1675 #region Methods for updating values of RigidBody 1675 #region Methods for updating values of RigidBody
1676 1676
1677 protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, PhysicsVector pos, 1677 protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
1678 PhysicsVector size) 1678 OpenMetaverse.Vector3 size)
1679 { 1679 {
1680 //For RigidBody Constructor. The next values might change 1680 //For RigidBody Constructor. The next values might change
1681 float _linearDamping = 0.0f; 1681 float _linearDamping = 0.0f;
@@ -1703,7 +1703,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1703 Vector3[] v3Vertices = new Vector3[iVertexCount]; 1703 Vector3[] v3Vertices = new Vector3[iVertexCount];
1704 for (int i = 0; i < iVertexCount; i++) 1704 for (int i = 0; i < iVertexCount; i++)
1705 { 1705 {
1706 PhysicsVector v = mesh.getVertexList()[i]; 1706 OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
1707 if (v != null) // Note, null has special meaning. See meshing code for details 1707 if (v != null) // Note, null has special meaning. See meshing code for details
1708 v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v); 1708 v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
1709 else 1709 else
@@ -1729,7 +1729,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1729 } 1729 }
1730 } 1730 }
1731 1731
1732 protected internal void ReCreateRigidBody(PhysicsVector size) 1732 protected internal void ReCreateRigidBody(OpenMetaverse.Vector3 size)
1733 { 1733 {
1734 //There is a bug when trying to remove a rigidBody that is colliding with something.. 1734 //There is a bug when trying to remove a rigidBody that is colliding with something..
1735 try 1735 try
@@ -1749,7 +1749,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1749 GC.Collect(); 1749 GC.Collect();
1750 } 1750 }
1751 1751
1752 protected internal override void ReSize(PhysicsVector _newSize) 1752 protected internal override void ReSize(OpenMetaverse.Vector3 _newSize)
1753 { 1753 {
1754 //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't 1754 //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
1755 //so i have to do it manually. That's recreating rigidbody 1755 //so i have to do it manually. That's recreating rigidbody
@@ -1764,8 +1764,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1764 /// </summary> 1764 /// </summary>
1765 internal class BulletXPlanet 1765 internal class BulletXPlanet
1766 { 1766 {
1767 private PhysicsVector _staticPosition; 1767 private OpenMetaverse.Vector3 _staticPosition;
1768// private PhysicsVector _staticVelocity; 1768// private Vector3 _staticVelocity;
1769// private OpenMetaverse.Quaternion _staticOrientation; 1769// private OpenMetaverse.Quaternion _staticOrientation;
1770 private float _mass; 1770 private float _mass;
1771 // private BulletXScene _parentscene; 1771 // private BulletXScene _parentscene;
@@ -1779,7 +1779,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1779 1779
1780 internal BulletXPlanet(BulletXScene parent_scene, float[] heightField) 1780 internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
1781 { 1781 {
1782 _staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0); 1782 _staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
1783// _staticVelocity = new PhysicsVector(); 1783// _staticVelocity = new PhysicsVector();
1784// _staticOrientation = OpenMetaverse.Quaternion.Identity; 1784// _staticOrientation = OpenMetaverse.Quaternion.Identity;
1785 _mass = 0; //No active 1785 _mass = 0; //No active
diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index 1a8c948..1181b8d 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -28,13 +28,14 @@
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using OpenSim.Framework; 30using OpenSim.Framework;
31using OpenMetaverse;
31 32
32namespace OpenSim.Region.Physics.Manager 33namespace OpenSim.Region.Physics.Manager
33{ 34{
34 public interface IMesher 35 public interface IMesher
35 { 36 {
36 IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod); 37 IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
37 IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical); 38 IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
38 } 39 }
39 40
40 public interface IVertex 41 public interface IVertex
@@ -43,7 +44,7 @@ namespace OpenSim.Region.Physics.Manager
43 44
44 public interface IMesh 45 public interface IMesh
45 { 46 {
46 List<PhysicsVector> getVertexList(); 47 List<Vector3> getVertexList();
47 int[] getIndexListAsInt(); 48 int[] getIndexListAsInt();
48 int[] getIndexListAsIntLocked(); 49 int[] getIndexListAsIntLocked();
49 float[] getVertexListAsFloatLocked(); 50 float[] getVertexListAsFloatLocked();
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index 566746a..ea4db70 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -32,8 +32,8 @@ using OpenMetaverse;
32 32
33namespace OpenSim.Region.Physics.Manager 33namespace OpenSim.Region.Physics.Manager
34{ 34{
35 public delegate void PositionUpdate(PhysicsVector position); 35 public delegate void PositionUpdate(Vector3 position);
36 public delegate void VelocityUpdate(PhysicsVector velocity); 36 public delegate void VelocityUpdate(Vector3 velocity);
37 public delegate void OrientationUpdate(Quaternion orientation); 37 public delegate void OrientationUpdate(Quaternion orientation);
38 38
39 public enum ActorTypes : int 39 public enum ActorTypes : int
@@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.Manager
106 { 106 {
107 public delegate void RequestTerseUpdate(); 107 public delegate void RequestTerseUpdate();
108 public delegate void CollisionUpdate(EventArgs e); 108 public delegate void CollisionUpdate(EventArgs e);
109 public delegate void OutOfBounds(PhysicsVector pos); 109 public delegate void OutOfBounds(Vector3 pos);
110 110
111// disable warning: public events 111// disable warning: public events
112#pragma warning disable 67 112#pragma warning disable 67
@@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.Manager
125 125
126 public abstract bool Stopped { get; } 126 public abstract bool Stopped { get; }
127 127
128 public abstract PhysicsVector Size { get; set; } 128 public abstract Vector3 Size { get; set; }
129 129
130 public abstract PrimitiveBaseShape Shape { set; } 130 public abstract PrimitiveBaseShape Shape { set; }
131 131
@@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.Manager
144 144
145 public abstract void delink(); 145 public abstract void delink();
146 146
147 public abstract void LockAngularMotion(PhysicsVector axis); 147 public abstract void LockAngularMotion(Vector3 axis);
148 148
149 public virtual void RequestPhysicsterseUpdate() 149 public virtual void RequestPhysicsterseUpdate()
150 { 150 {
@@ -159,7 +159,7 @@ namespace OpenSim.Region.Physics.Manager
159 } 159 }
160 } 160 }
161 161
162 public virtual void RaiseOutOfBounds(PhysicsVector pos) 162 public virtual void RaiseOutOfBounds(Vector3 pos)
163 { 163 {
164 // Make a temporary copy of the event to avoid possibility of 164 // Make a temporary copy of the event to avoid possibility of
165 // a race condition if the last subscriber unsubscribes 165 // a race condition if the last subscriber unsubscribes
@@ -187,23 +187,23 @@ namespace OpenSim.Region.Physics.Manager
187 187
188 } 188 }
189 189
190 public abstract PhysicsVector Position { get; set; } 190 public abstract Vector3 Position { get; set; }
191 public abstract float Mass { get; } 191 public abstract float Mass { get; }
192 public abstract PhysicsVector Force { get; set; } 192 public abstract Vector3 Force { get; set; }
193 193
194 public abstract int VehicleType { get; set; } 194 public abstract int VehicleType { get; set; }
195 public abstract void VehicleFloatParam(int param, float value); 195 public abstract void VehicleFloatParam(int param, float value);
196 public abstract void VehicleVectorParam(int param, PhysicsVector value); 196 public abstract void VehicleVectorParam(int param, Vector3 value);
197 public abstract void VehicleRotationParam(int param, Quaternion rotation); 197 public abstract void VehicleRotationParam(int param, Quaternion rotation);
198 198
199 public abstract void SetVolumeDetect(int param); // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 199 public abstract void SetVolumeDetect(int param); // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
200 200
201 public abstract PhysicsVector GeometricCenter { get; } 201 public abstract Vector3 GeometricCenter { get; }
202 public abstract PhysicsVector CenterOfMass { get; } 202 public abstract Vector3 CenterOfMass { get; }
203 public abstract PhysicsVector Velocity { get; set; } 203 public abstract Vector3 Velocity { get; set; }
204 public abstract PhysicsVector Torque { get; set; } 204 public abstract Vector3 Torque { get; set; }
205 public abstract float CollisionScore { get; set;} 205 public abstract float CollisionScore { get; set;}
206 public abstract PhysicsVector Acceleration { get; } 206 public abstract Vector3 Acceleration { get; }
207 public abstract Quaternion Orientation { get; set; } 207 public abstract Quaternion Orientation { get; set; }
208 public abstract int PhysicsActorType { get; set; } 208 public abstract int PhysicsActorType { get; set; }
209 public abstract bool IsPhysical { get; set; } 209 public abstract bool IsPhysical { get; set; }
@@ -214,12 +214,12 @@ namespace OpenSim.Region.Physics.Manager
214 public abstract bool CollidingGround { get; set; } 214 public abstract bool CollidingGround { get; set; }
215 public abstract bool CollidingObj { get; set; } 215 public abstract bool CollidingObj { get; set; }
216 public abstract bool FloatOnWater { set; } 216 public abstract bool FloatOnWater { set; }
217 public abstract PhysicsVector RotationalVelocity { get; set; } 217 public abstract Vector3 RotationalVelocity { get; set; }
218 public abstract bool Kinematic { get; set; } 218 public abstract bool Kinematic { get; set; }
219 public abstract float Buoyancy { get; set; } 219 public abstract float Buoyancy { get; set; }
220 220
221 // Used for MoveTo 221 // Used for MoveTo
222 public abstract PhysicsVector PIDTarget { set;} 222 public abstract Vector3 PIDTarget { set; }
223 public abstract bool PIDActive { set;} 223 public abstract bool PIDActive { set;}
224 public abstract float PIDTau { set; } 224 public abstract float PIDTau { set; }
225 225
@@ -251,9 +251,9 @@ namespace OpenSim.Region.Physics.Manager
251 get{ return false; } 251 get{ return false; }
252 } 252 }
253 253
254 public override PhysicsVector Position 254 public override Vector3 Position
255 { 255 {
256 get { return PhysicsVector.Zero; } 256 get { return Vector3.Zero; }
257 set { return; } 257 set { return; }
258 } 258 }
259 259
@@ -301,9 +301,9 @@ namespace OpenSim.Region.Physics.Manager
301 set { return; } 301 set { return; }
302 } 302 }
303 303
304 public override PhysicsVector Size 304 public override Vector3 Size
305 { 305 {
306 get { return PhysicsVector.Zero; } 306 get { return Vector3.Zero; }
307 set { return; } 307 set { return; }
308 } 308 }
309 309
@@ -312,9 +312,9 @@ namespace OpenSim.Region.Physics.Manager
312 get { return 0f; } 312 get { return 0f; }
313 } 313 }
314 314
315 public override PhysicsVector Force 315 public override Vector3 Force
316 { 316 {
317 get { return PhysicsVector.Zero; } 317 get { return Vector3.Zero; }
318 set { return; } 318 set { return; }
319 } 319 }
320 320
@@ -329,7 +329,7 @@ namespace OpenSim.Region.Physics.Manager
329 329
330 } 330 }
331 331
332 public override void VehicleVectorParam(int param, PhysicsVector value) 332 public override void VehicleVectorParam(int param, Vector3 value)
333 { 333 {
334 334
335 } 335 }
@@ -349,14 +349,14 @@ namespace OpenSim.Region.Physics.Manager
349 349
350 } 350 }
351 351
352 public override PhysicsVector CenterOfMass 352 public override Vector3 CenterOfMass
353 { 353 {
354 get { return PhysicsVector.Zero; } 354 get { return Vector3.Zero; }
355 } 355 }
356 356
357 public override PhysicsVector GeometricCenter 357 public override Vector3 GeometricCenter
358 { 358 {
359 get { return PhysicsVector.Zero; } 359 get { return Vector3.Zero; }
360 } 360 }
361 361
362 public override PrimitiveBaseShape Shape 362 public override PrimitiveBaseShape Shape
@@ -364,15 +364,15 @@ namespace OpenSim.Region.Physics.Manager
364 set { return; } 364 set { return; }
365 } 365 }
366 366
367 public override PhysicsVector Velocity 367 public override Vector3 Velocity
368 { 368 {
369 get { return PhysicsVector.Zero; } 369 get { return Vector3.Zero; }
370 set { return; } 370 set { return; }
371 } 371 }
372 372
373 public override PhysicsVector Torque 373 public override Vector3 Torque
374 { 374 {
375 get { return PhysicsVector.Zero; } 375 get { return Vector3.Zero; }
376 set { return; } 376 set { return; }
377 } 377 }
378 378
@@ -392,9 +392,9 @@ namespace OpenSim.Region.Physics.Manager
392 set { } 392 set { }
393 } 393 }
394 394
395 public override PhysicsVector Acceleration 395 public override Vector3 Acceleration
396 { 396 {
397 get { return PhysicsVector.Zero; } 397 get { return Vector3.Zero; }
398 } 398 }
399 399
400 public override bool IsPhysical 400 public override bool IsPhysical
@@ -441,26 +441,26 @@ namespace OpenSim.Region.Physics.Manager
441 { 441 {
442 } 442 }
443 443
444 public override void LockAngularMotion(PhysicsVector axis) 444 public override void LockAngularMotion(Vector3 axis)
445 { 445 {
446 } 446 }
447 447
448 public override void AddForce(PhysicsVector force, bool pushforce) 448 public override void AddForce(Vector3 force, bool pushforce)
449 { 449 {
450 } 450 }
451 451
452 public override void AddAngularForce(PhysicsVector force, bool pushforce) 452 public override void AddAngularForce(Vector3 force, bool pushforce)
453 { 453 {
454 454
455 } 455 }
456 456
457 public override PhysicsVector RotationalVelocity 457 public override Vector3 RotationalVelocity
458 { 458 {
459 get { return PhysicsVector.Zero; } 459 get { return Vector3.Zero; }
460 set { return; } 460 set { return; }
461 } 461 }
462 462
463 public override PhysicsVector PIDTarget { set { return; } } 463 public override Vector3 PIDTarget { set { return; } }
464 public override bool PIDActive { set { return; } } 464 public override bool PIDActive { set { return; } }
465 public override float PIDTau { set { return; } } 465 public override float PIDTau { set { return; } }
466 466
@@ -475,7 +475,7 @@ namespace OpenSim.Region.Physics.Manager
475 public override float APIDDamping { set { return; } } 475 public override float APIDDamping { set { return; } }
476 476
477 477
478 public override void SetMomentum(PhysicsVector momentum) 478 public override void SetMomentum(Vector3 momentum)
479 { 479 {
480 } 480 }
481 481
diff --git a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
index f463597..b685d04 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsJoint.cs
@@ -44,7 +44,7 @@ namespace OpenSim.Region.Physics.Manager
44 public PhysicsJointType Type; 44 public PhysicsJointType Type;
45 public string RawParams; 45 public string RawParams;
46 public List<string> BodyNames = new List<string>(); 46 public List<string> BodyNames = new List<string>();
47 public PhysicsVector Position; // global coords 47 public Vector3 Position; // global coords
48 public Quaternion Rotation; // global coords 48 public Quaternion Rotation; // global coords
49 public string ObjectNameInScene; // proxy object in scene that represents the joint position/orientation 49 public string ObjectNameInScene; // proxy object in scene that represents the joint position/orientation
50 public string TrackedBodyName; // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName) 50 public string TrackedBodyName; // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 6dd26bb..bb0d18e 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -64,23 +64,23 @@ namespace OpenSim.Region.Physics.Manager
64 64
65 public abstract void Initialise(IMesher meshmerizer, IConfigSource config); 65 public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
66 66
67 public abstract PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying); 67 public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
68 68
69 public abstract void RemoveAvatar(PhysicsActor actor); 69 public abstract void RemoveAvatar(PhysicsActor actor);
70 70
71 public abstract void RemovePrim(PhysicsActor prim); 71 public abstract void RemovePrim(PhysicsActor prim);
72 72
73 public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 73 public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
74 PhysicsVector size, Quaternion rotation); //To be removed 74 Vector3 size, Quaternion rotation); //To be removed
75 public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 75 public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
76 PhysicsVector size, Quaternion rotation, bool isPhysical); 76 Vector3 size, Quaternion rotation, bool isPhysical);
77 77
78 public virtual bool SupportsNINJAJoints 78 public virtual bool SupportsNINJAJoints
79 { 79 {
80 get { return false; } 80 get { return false; }
81 } 81 }
82 82
83 public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position, 83 public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
84 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation) 84 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
85 { return null; } 85 { return null; }
86 86
@@ -129,11 +129,11 @@ namespace OpenSim.Region.Physics.Manager
129 } 129 }
130 } 130 }
131 131
132 public virtual PhysicsVector GetJointAnchor(PhysicsJoint joint) 132 public virtual Vector3 GetJointAnchor(PhysicsJoint joint)
133 { return null; } 133 { return Vector3.Zero; }
134 134
135 public virtual PhysicsVector GetJointAxis(PhysicsJoint joint) 135 public virtual Vector3 GetJointAxis(PhysicsJoint joint)
136 { return null; } 136 { return Vector3.Zero; }
137 137
138 138
139 public abstract void AddPhysicsActorTaint(PhysicsActor prim); 139 public abstract void AddPhysicsActorTaint(PhysicsActor prim);
@@ -212,7 +212,7 @@ namespace OpenSim.Region.Physics.Manager
212 // Does nothing right now 212 // Does nothing right now
213 } 213 }
214 214
215 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 215 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
216 { 216 {
217 m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position); 217 m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddAvatar({0})", position);
218 return PhysicsActor.Null; 218 return PhysicsActor.Null;
@@ -231,21 +231,21 @@ namespace OpenSim.Region.Physics.Manager
231 } 231 }
232 232
233/* 233/*
234 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) 234 public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
235 { 235 {
236 m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size); 236 m_log.InfoFormat("NullPhysicsScene : AddPrim({0},{1})", position, size);
237 return PhysicsActor.Null; 237 return PhysicsActor.Null;
238 } 238 }
239*/ 239*/
240 240
241 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 241 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
242 PhysicsVector size, Quaternion rotation) //To be removed 242 Vector3 size, Quaternion rotation) //To be removed
243 { 243 {
244 return AddPrimShape(primName, pbs, position, size, rotation, false); 244 return AddPrimShape(primName, pbs, position, size, rotation, false);
245 } 245 }
246 246
247 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 247 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
248 PhysicsVector size, Quaternion rotation, bool isPhysical) 248 Vector3 size, Quaternion rotation, bool isPhysical)
249 { 249 {
250 m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size); 250 m_log.InfoFormat("[PHYSICS]: NullPhysicsScene : AddPrim({0},{1})", position, size);
251 return PhysicsActor.Null; 251 return PhysicsActor.Null;
diff --git a/OpenSim/Region/Physics/Manager/PhysicsSensor.cs b/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
index 090ad52..f480d71 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsSensor.cs
@@ -27,6 +27,7 @@
27 27
28using System; 28using System;
29using System.Timers; 29using System.Timers;
30using OpenMetaverse;
30 31
31namespace OpenSim.Region.Physics.Manager 32namespace OpenSim.Region.Physics.Manager
32{ 33{
@@ -46,7 +47,7 @@ namespace OpenSim.Region.Physics.Manager
46 { 47 {
47 get { return new NullPhysicsSensor(); } 48 get { return new NullPhysicsSensor(); }
48 } 49 }
49 public abstract PhysicsVector Position {get; set;} 50 public abstract Vector3 Position { get; set; }
50 public abstract void TimerCallback (object obj, ElapsedEventArgs eea); 51 public abstract void TimerCallback (object obj, ElapsedEventArgs eea);
51 public abstract float radianarc {get; set;} 52 public abstract float radianarc {get; set;}
52 public abstract string targetname {get; set;} 53 public abstract string targetname {get; set;}
@@ -58,9 +59,9 @@ namespace OpenSim.Region.Physics.Manager
58 59
59 public class NullPhysicsSensor : PhysicsSensor 60 public class NullPhysicsSensor : PhysicsSensor
60 { 61 {
61 public override PhysicsVector Position 62 public override Vector3 Position
62 { 63 {
63 get { return PhysicsVector.Zero; } 64 get { return Vector3.Zero; }
64 set { return; } 65 set { return; }
65 } 66 }
66 public override void TimerCallback(object obj, ElapsedEventArgs eea) 67 public override void TimerCallback(object obj, ElapsedEventArgs eea)
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
index d6f4d0d..f60a636 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -29,24 +29,24 @@ using System;
29 29
30namespace OpenSim.Region.Physics.Manager 30namespace OpenSim.Region.Physics.Manager
31{ 31{
32 public class PhysicsVector 32 /*public class PhysicsVector
33 { 33 {
34 public float X; 34 public float X;
35 public float Y; 35 public float Y;
36 public float Z; 36 public float Z;
37 37
38 public PhysicsVector() 38 public Vector3()
39 { 39 {
40 } 40 }
41 41
42 public PhysicsVector(float x, float y, float z) 42 public Vector3(float x, float y, float z)
43 { 43 {
44 X = x; 44 X = x;
45 Y = y; 45 Y = y;
46 Z = z; 46 Z = z;
47 } 47 }
48 48
49 public PhysicsVector(PhysicsVector pv) : this(pv.X, pv.Y, pv.Z) 49 public Vector3(Vector3 pv) : this(pv.X, pv.Y, pv.Z)
50 { 50 {
51 } 51 }
52 52
@@ -115,17 +115,17 @@ namespace OpenSim.Region.Physics.Manager
115 } 115 }
116 116
117 // Operations 117 // Operations
118 public static PhysicsVector operator +(PhysicsVector a, PhysicsVector b) 118 public static PhysicsVector operator +(Vector3 a, Vector3 b)
119 { 119 {
120 return new PhysicsVector(a.X + b.X, a.Y + b.Y, a.Z + b.Z); 120 return new PhysicsVector(a.X + b.X, a.Y + b.Y, a.Z + b.Z);
121 } 121 }
122 122
123 public static PhysicsVector operator -(PhysicsVector a, PhysicsVector b) 123 public static PhysicsVector operator -(Vector3 a, Vector3 b)
124 { 124 {
125 return new PhysicsVector(a.X - b.X, a.Y - b.Y, a.Z - b.Z); 125 return new PhysicsVector(a.X - b.X, a.Y - b.Y, a.Z - b.Z);
126 } 126 }
127 127
128 public static PhysicsVector cross(PhysicsVector a, PhysicsVector b) 128 public static PhysicsVector cross(Vector3 a, Vector3 b)
129 { 129 {
130 return new PhysicsVector(a.Y*b.Z - a.Z*b.Y, a.Z*b.X - a.X*b.Z, a.X*b.Y - a.Y*b.X); 130 return new PhysicsVector(a.Y*b.Z - a.Z*b.Y, a.Z*b.X - a.X*b.Z, a.X*b.Y - a.Y*b.X);
131 } 131 }
@@ -135,7 +135,7 @@ namespace OpenSim.Region.Physics.Manager
135 return (float) Math.Sqrt(X*X + Y*Y + Z*Z); 135 return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
136 } 136 }
137 137
138 public static float GetDistanceTo(PhysicsVector a, PhysicsVector b) 138 public static float GetDistanceTo(Vector3 a, Vector3 b)
139 { 139 {
140 float dx = a.X - b.X; 140 float dx = a.X - b.X;
141 float dy = a.Y - b.Y; 141 float dy = a.Y - b.Y;
@@ -143,22 +143,22 @@ namespace OpenSim.Region.Physics.Manager
143 return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz); 143 return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
144 } 144 }
145 145
146 public static PhysicsVector operator /(PhysicsVector v, float f) 146 public static PhysicsVector operator /(Vector3 v, float f)
147 { 147 {
148 return new PhysicsVector(v.X/f, v.Y/f, v.Z/f); 148 return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
149 } 149 }
150 150
151 public static PhysicsVector operator *(PhysicsVector v, float f) 151 public static PhysicsVector operator *(Vector3 v, float f)
152 { 152 {
153 return new PhysicsVector(v.X*f, v.Y*f, v.Z*f); 153 return new PhysicsVector(v.X*f, v.Y*f, v.Z*f);
154 } 154 }
155 155
156 public static PhysicsVector operator *(float f, PhysicsVector v) 156 public static PhysicsVector operator *(float f, Vector3 v)
157 { 157 {
158 return v*f; 158 return v*f;
159 } 159 }
160 160
161 public static bool isFinite(PhysicsVector v) 161 public static bool isFinite(Vector3 v)
162 { 162 {
163 if (v == null) 163 if (v == null)
164 return false; 164 return false;
@@ -172,7 +172,7 @@ namespace OpenSim.Region.Physics.Manager
172 return true; 172 return true;
173 } 173 }
174 174
175 public virtual bool IsIdentical(PhysicsVector v, float tolerance) 175 public virtual bool IsIdentical(Vector3 v, float tolerance)
176 { 176 {
177 PhysicsVector diff = this - v; 177 PhysicsVector diff = this - v;
178 float d = diff.length(); 178 float d = diff.length();
@@ -182,5 +182,5 @@ namespace OpenSim.Region.Physics.Manager
182 return false; 182 return false;
183 } 183 }
184 184
185 } 185 }*/
186} 186}
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index f9d0f2a..e6e75f9 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -27,6 +27,7 @@
27 27
28using System; 28using System;
29using OpenSim.Framework; 29using OpenSim.Framework;
30using OpenMetaverse;
30 31
31/* 32/*
32 * This is the zero mesher. 33 * This is the zero mesher.
@@ -60,13 +61,16 @@ namespace OpenSim.Region.Physics.Manager
60 61
61 public class ZeroMesher : IMesher 62 public class ZeroMesher : IMesher
62 { 63 {
63 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod) 64 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
64 { 65 {
65 return CreateMesh(primName, primShape, size, lod, false); 66 return CreateMesh(primName, primShape, size, lod, false);
66 } 67 }
67 68
68 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical) 69 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
69 { 70 {
71 // Remove the reference to the encoded JPEG2000 data so it can be GCed
72 primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;
73
70 return null; 74 return null;
71 } 75 }
72 } 76 }
diff --git a/OpenSim/Region/Physics/Meshing/HelperTypes.cs b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
index 232245f..8cd8dcf 100644
--- a/OpenSim/Region/Physics/Meshing/HelperTypes.cs
+++ b/OpenSim/Region/Physics/Meshing/HelperTypes.cs
@@ -33,30 +33,52 @@ using OpenMetaverse;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.Physics.Manager;
34using OpenSim.Region.Physics.Meshing; 34using OpenSim.Region.Physics.Meshing;
35 35
36public class Vertex : PhysicsVector, IComparable<Vertex> 36public class Vertex : IComparable<Vertex>
37{ 37{
38 Vector3 vector;
39
40 public float X
41 {
42 get { return vector.X; }
43 set { vector.X = value; }
44 }
45
46 public float Y
47 {
48 get { return vector.Y; }
49 set { vector.Y = value; }
50 }
51
52 public float Z
53 {
54 get { return vector.Z; }
55 set { vector.Z = value; }
56 }
57
38 public Vertex(float x, float y, float z) 58 public Vertex(float x, float y, float z)
39 : base(x, y, z)
40 { 59 {
60 vector.X = x;
61 vector.Y = y;
62 vector.Z = z;
41 } 63 }
42 64
43 public Vertex normalize() 65 public Vertex normalize()
44 { 66 {
45 float tlength = length(); 67 float tlength = vector.Length();
46 if (tlength != 0) 68 if (tlength != 0f)
47 { 69 {
48 float mul = 1.0f / tlength; 70 float mul = 1.0f / tlength;
49 return new Vertex(X * mul, Y * mul, Z * mul); 71 return new Vertex(vector.X * mul, vector.Y * mul, vector.Z * mul);
50 } 72 }
51 else 73 else
52 { 74 {
53 return new Vertex(0, 0, 0); 75 return new Vertex(0f, 0f, 0f);
54 } 76 }
55 } 77 }
56 78
57 public Vertex cross(Vertex v) 79 public Vertex cross(Vertex v)
58 { 80 {
59 return new Vertex(Y * v.Z - Z * v.Y, Z * v.X - X * v.Z, X * v.Y - Y * v.X); 81 return new Vertex(vector.Y * v.Z - vector.Z * v.Y, vector.Z * v.X - vector.X * v.Z, vector.X * v.Y - vector.Y * v.X);
60 } 82 }
61 83
62 // disable warning: mono compiler moans about overloading 84 // disable warning: mono compiler moans about overloading
@@ -160,9 +182,9 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
160 return X * v.X + Y * v.Y + Z * v.Z; 182 return X * v.X + Y * v.Y + Z * v.Z;
161 } 183 }
162 184
163 public Vertex(PhysicsVector v) 185 public Vertex(Vector3 v)
164 : base(v.X, v.Y, v.Z)
165 { 186 {
187 vector = v;
166 } 188 }
167 189
168 public Vertex Clone() 190 public Vertex Clone()
@@ -175,11 +197,15 @@ public class Vertex : PhysicsVector, IComparable<Vertex>
175 return new Vertex((float) Math.Cos(angle), (float) Math.Sin(angle), 0.0f); 197 return new Vertex((float) Math.Cos(angle), (float) Math.Sin(angle), 0.0f);
176 } 198 }
177 199
200 public float Length()
201 {
202 return vector.Length();
203 }
178 204
179 public virtual bool Equals(Vertex v, float tolerance) 205 public virtual bool Equals(Vertex v, float tolerance)
180 { 206 {
181 PhysicsVector diff = this - v; 207 Vertex diff = this - v;
182 float d = diff.length(); 208 float d = diff.Length();
183 if (d < tolerance) 209 if (d < tolerance)
184 return true; 210 return true;
185 211
@@ -369,22 +395,22 @@ public class Triangle
369 return s1 + ";" + s2 + ";" + s3; 395 return s1 + ";" + s2 + ";" + s3;
370 } 396 }
371 397
372 public PhysicsVector getNormal() 398 public Vector3 getNormal()
373 { 399 {
374 // Vertices 400 // Vertices
375 401
376 // Vectors for edges 402 // Vectors for edges
377 PhysicsVector e1; 403 Vector3 e1;
378 PhysicsVector e2; 404 Vector3 e2;
379 405
380 e1 = new PhysicsVector(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z); 406 e1 = new Vector3(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
381 e2 = new PhysicsVector(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z); 407 e2 = new Vector3(v1.X - v3.X, v1.Y - v3.Y, v1.Z - v3.Z);
382 408
383 // Cross product for normal 409 // Cross product for normal
384 PhysicsVector n = PhysicsVector.cross(e1, e2); 410 Vector3 n = Vector3.Cross(e1, e2);
385 411
386 // Length 412 // Length
387 float l = n.length(); 413 float l = n.Length();
388 414
389 // Normalized "normal" 415 // Normalized "normal"
390 n = n/l; 416 n = n/l;
diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs
index 4c3cf33..f781ff9 100644
--- a/OpenSim/Region/Physics/Meshing/Mesh.cs
+++ b/OpenSim/Region/Physics/Meshing/Mesh.cs
@@ -31,6 +31,7 @@ using System.IO;
31using System.Runtime.InteropServices; 31using System.Runtime.InteropServices;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
33using PrimMesher; 33using PrimMesher;
34using OpenMetaverse;
34 35
35namespace OpenSim.Region.Physics.Meshing 36namespace OpenSim.Region.Physics.Meshing
36{ 37{
@@ -141,12 +142,12 @@ namespace OpenSim.Region.Physics.Meshing
141 } 142 }
142 } 143 }
143 144
144 public List<PhysicsVector> getVertexList() 145 public List<Vector3> getVertexList()
145 { 146 {
146 List<PhysicsVector> result = new List<PhysicsVector>(); 147 List<Vector3> result = new List<Vector3>();
147 foreach (Vertex v in m_vertices.Keys) 148 foreach (Vertex v in m_vertices.Keys)
148 { 149 {
149 result.Add(v); 150 result.Add(new Vector3(v.X, v.Y, v.Z));
150 } 151 }
151 return result; 152 return result;
152 } 153 }
@@ -174,6 +175,9 @@ namespace OpenSim.Region.Physics.Meshing
174 175
175 float[] result = getVertexListAsFloat(); 176 float[] result = getVertexListAsFloat();
176 m_pinnedVertexes = GCHandle.Alloc(result, GCHandleType.Pinned); 177 m_pinnedVertexes = GCHandle.Alloc(result, GCHandleType.Pinned);
178 // Inform the garbage collector of this unmanaged allocation so it can schedule
179 // the next GC round more intelligently
180 GC.AddMemoryPressure(Buffer.ByteLength(result));
177 181
178 return result; 182 return result;
179 } 183 }
@@ -223,6 +227,9 @@ namespace OpenSim.Region.Physics.Meshing
223 227
224 int[] result = getIndexListAsInt(); 228 int[] result = getIndexListAsInt();
225 m_pinnedIndex = GCHandle.Alloc(result, GCHandleType.Pinned); 229 m_pinnedIndex = GCHandle.Alloc(result, GCHandleType.Pinned);
230 // Inform the garbage collector of this unmanaged allocation so it can schedule
231 // the next GC round more intelligently
232 GC.AddMemoryPressure(Buffer.ByteLength(result));
226 233
227 return result; 234 return result;
228 } 235 }
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index f609e73..fbe1949 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -31,7 +31,6 @@ using System.Collections.Generic;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
33using OpenMetaverse; 33using OpenMetaverse;
34using OpenMetaverse.Imaging;
35using System.Drawing; 34using System.Drawing;
36using System.Drawing.Imaging; 35using System.Drawing.Imaging;
37using PrimMesher; 36using PrimMesher;
@@ -61,7 +60,6 @@ namespace OpenSim.Region.Physics.Meshing
61 public class Meshmerizer : IMesher 60 public class Meshmerizer : IMesher
62 { 61 {
63 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 62 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
64 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
65 63
66 // Setting baseDir to a path will enable the dumping of raw files 64 // Setting baseDir to a path will enable the dumping of raw files
67 // raw files can be imported by blender so a visual inspection of the results can be done 65 // raw files can be imported by blender so a visual inspection of the results can be done
@@ -160,7 +158,7 @@ namespace OpenSim.Region.Physics.Meshing
160 float minZ = float.MaxValue; 158 float minZ = float.MaxValue;
161 float maxZ = float.MinValue; 159 float maxZ = float.MinValue;
162 160
163 foreach (Vertex v in meshIn.getVertexList()) 161 foreach (Vector3 v in meshIn.getVertexList())
164 { 162 {
165 if (v != null) 163 if (v != null)
166 { 164 {
@@ -185,7 +183,7 @@ namespace OpenSim.Region.Physics.Meshing
185 183
186 } 184 }
187 185
188 private ulong GetMeshKey(PrimitiveBaseShape pbs, PhysicsVector size, float lod) 186 private ulong GetMeshKey(PrimitiveBaseShape pbs, Vector3 size, float lod)
189 { 187 {
190 ulong hash = 5381; 188 ulong hash = 5381;
191 189
@@ -245,9 +243,9 @@ namespace OpenSim.Region.Physics.Meshing
245 hash = ((hash << 5) + hash) + (ulong)((byte)c); 243 hash = ((hash << 5) + hash) + (ulong)((byte)c);
246 return ((hash << 5) + hash) + (ulong)(c >> 8); 244 return ((hash << 5) + hash) + (ulong)(c >> 8);
247 } 245 }
248
249 246
250 private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod) 247
248 private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
251 { 249 {
252 PrimMesh primMesh; 250 PrimMesh primMesh;
253 PrimMesher.SculptMesh sculptMesh; 251 PrimMesher.SculptMesh sculptMesh;
@@ -281,16 +279,12 @@ namespace OpenSim.Region.Physics.Meshing
281 279
282 if (idata == null) 280 if (idata == null)
283 { 281 {
284 if (primShape.SculptData.Length == 0) 282 if (primShape.SculptData == null || primShape.SculptData.Length == 0)
285 return null; 283 return null;
286 284
287 try 285 try
288 { 286 {
289 ManagedImage managedImage; // we never use this 287 idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData);
290 OpenJPEG.DecodeToImage(primShape.SculptData, out managedImage, out idata);
291
292 // Remove the reference to the encoded JPEG2000 data so it can be GCed
293 primShape.SculptData = Utils.EmptyBytes;
294 288
295 if (cacheSculptMaps) 289 if (cacheSculptMaps)
296 { 290 {
@@ -315,8 +309,6 @@ namespace OpenSim.Region.Physics.Meshing
315 } 309 }
316 } 310 }
317 311
318
319
320 PrimMesher.SculptMesh.SculptType sculptType; 312 PrimMesher.SculptMesh.SculptType sculptType;
321 switch ((OpenMetaverse.SculptType)primShape.SculptType) 313 switch ((OpenMetaverse.SculptType)primShape.SculptType)
322 { 314 {
@@ -351,7 +343,6 @@ namespace OpenSim.Region.Physics.Meshing
351 coords = sculptMesh.coords; 343 coords = sculptMesh.coords;
352 faces = sculptMesh.faces; 344 faces = sculptMesh.faces;
353 } 345 }
354
355 else 346 else
356 { 347 {
357 float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f; 348 float pathShearX = primShape.PathShearX < 128 ? (float)primShape.PathShearX * 0.01f : (float)(primShape.PathShearX - 256) * 0.01f;
@@ -466,6 +457,8 @@ namespace OpenSim.Region.Physics.Meshing
466 faces = primMesh.faces; 457 faces = primMesh.faces;
467 } 458 }
468 459
460 // Remove the reference to any JPEG2000 sculpt data so it can be GCed
461 primShape.SculptData = Utils.EmptyBytes;
469 462
470 int numCoords = coords.Count; 463 int numCoords = coords.Count;
471 int numFaces = faces.Count; 464 int numFaces = faces.Count;
@@ -488,12 +481,12 @@ namespace OpenSim.Region.Physics.Meshing
488 return mesh; 481 return mesh;
489 } 482 }
490 483
491 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod) 484 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
492 { 485 {
493 return CreateMesh(primName, primShape, size, lod, false); 486 return CreateMesh(primName, primShape, size, lod, false);
494 } 487 }
495 488
496 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, PhysicsVector size, float lod, bool isPhysical) 489 public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
497 { 490 {
498 Mesh mesh = null; 491 Mesh mesh = null;
499 ulong key = 0; 492 ulong key = 0;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 8272083..e344f97 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -68,15 +68,15 @@ namespace OpenSim.Region.Physics.OdePlugin
68 { 68 {
69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
70 70
71 private PhysicsVector _position; 71 private Vector3 _position;
72 private d.Vector3 _zeroPosition; 72 private d.Vector3 _zeroPosition;
73 // private d.Matrix3 m_StandUpRotation; 73 // private d.Matrix3 m_StandUpRotation;
74 private bool _zeroFlag = false; 74 private bool _zeroFlag = false;
75 private bool m_lastUpdateSent = false; 75 private bool m_lastUpdateSent = false;
76 private PhysicsVector _velocity; 76 private Vector3 _velocity;
77 private PhysicsVector _target_velocity; 77 private Vector3 _target_velocity;
78 private PhysicsVector _acceleration; 78 private Vector3 _acceleration;
79 private PhysicsVector m_rotationalVelocity; 79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f; 80 private float m_mass = 80f;
81 public float m_density = 60f; 81 public float m_density = 60f;
82 private bool m_pidControllerActive = true; 82 private bool m_pidControllerActive = true;
@@ -99,7 +99,7 @@ namespace OpenSim.Region.Physics.OdePlugin
99 private bool m_hackSentFall = false; 99 private bool m_hackSentFall = false;
100 private bool m_hackSentFly = false; 100 private bool m_hackSentFly = false;
101 private int m_requestedUpdateFrequency = 0; 101 private int m_requestedUpdateFrequency = 0;
102 private PhysicsVector m_taintPosition = new PhysicsVector(0, 0, 0); 102 private Vector3 m_taintPosition = Vector3.Zero;
103 public uint m_localID = 0; 103 public uint m_localID = 0;
104 public bool m_returnCollisions = false; 104 public bool m_returnCollisions = false;
105 // taints and their non-tainted counterparts 105 // taints and their non-tainted counterparts
@@ -143,22 +143,17 @@ namespace OpenSim.Region.Physics.OdePlugin
143 public UUID m_uuid; 143 public UUID m_uuid;
144 public bool bad = false; 144 public bool bad = false;
145 145
146 public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) 146 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
147 { 147 {
148 m_uuid = UUID.Random(); 148 m_uuid = UUID.Random();
149 149
150 // ode = dode; 150 if (pos.IsFinite())
151 _velocity = new PhysicsVector();
152 _target_velocity = new PhysicsVector();
153
154
155 if (PhysicsVector.isFinite(pos))
156 { 151 {
157 if (pos.Z > 9999999) 152 if (pos.Z > 9999999f)
158 { 153 {
159 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; 154 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
160 } 155 }
161 if (pos.Z < -90000) 156 if (pos.Z < -90000f)
162 { 157 {
163 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; 158 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
164 } 159 }
@@ -169,15 +164,13 @@ namespace OpenSim.Region.Physics.OdePlugin
169 } 164 }
170 else 165 else
171 { 166 {
172 _position = new PhysicsVector(((int)_parent_scene.WorldExtents.X * 0.5f), ((int)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128, 128) + 10); 167 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
173 m_taintPosition.X = _position.X; 168 m_taintPosition.X = _position.X;
174 m_taintPosition.Y = _position.Y; 169 m_taintPosition.Y = _position.Y;
175 m_taintPosition.Z = _position.Z; 170 m_taintPosition.Z = _position.Z;
176 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create"); 171 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
177 } 172 }
178 173
179
180 _acceleration = new PhysicsVector();
181 _parent_scene = parent_scene; 174 _parent_scene = parent_scene;
182 175
183 PID_D = pid_d; 176 PID_D = pid_d;
@@ -189,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
189 walkDivisor = walk_divisor; 182 walkDivisor = walk_divisor;
190 runDivisor = rundivisor; 183 runDivisor = rundivisor;
191 184
192
193 // m_StandUpRotation = 185 // m_StandUpRotation =
194 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f, 186 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
195 // 0.5f); 187 // 0.5f);
@@ -205,7 +197,6 @@ namespace OpenSim.Region.Physics.OdePlugin
205 m_isPhysical = false; // current status: no ODE information exists 197 m_isPhysical = false; // current status: no ODE information exists
206 m_tainted_isPhysical = true; // new tainted status: need to create ODE information 198 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
207 199
208
209 _parent_scene.AddPhysicsActorTaint(this); 200 _parent_scene.AddPhysicsActorTaint(this);
210 201
211 m_name = avName; 202 m_name = avName;
@@ -412,20 +403,20 @@ namespace OpenSim.Region.Physics.OdePlugin
412 /// Not really a good choice unless you 'know' it's a good 403 /// Not really a good choice unless you 'know' it's a good
413 /// spot otherwise you're likely to orbit the avatar. 404 /// spot otherwise you're likely to orbit the avatar.
414 /// </summary> 405 /// </summary>
415 public override PhysicsVector Position 406 public override Vector3 Position
416 { 407 {
417 get { return _position; } 408 get { return _position; }
418 set 409 set
419 { 410 {
420 if (Body == IntPtr.Zero || Shell == IntPtr.Zero) 411 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
421 { 412 {
422 if (PhysicsVector.isFinite(value)) 413 if (value.IsFinite())
423 { 414 {
424 if (value.Z > 9999999) 415 if (value.Z > 9999999f)
425 { 416 {
426 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; 417 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
427 } 418 }
428 if (value.Z < -90000) 419 if (value.Z < -90000f)
429 { 420 {
430 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5; 421 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
431 } 422 }
@@ -447,7 +438,7 @@ namespace OpenSim.Region.Physics.OdePlugin
447 } 438 }
448 } 439 }
449 440
450 public override PhysicsVector RotationalVelocity 441 public override Vector3 RotationalVelocity
451 { 442 {
452 get { return m_rotationalVelocity; } 443 get { return m_rotationalVelocity; }
453 set { m_rotationalVelocity = value; } 444 set { m_rotationalVelocity = value; }
@@ -457,20 +448,20 @@ namespace OpenSim.Region.Physics.OdePlugin
457 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight 448 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
458 /// and use it to offset landings properly 449 /// and use it to offset landings properly
459 /// </summary> 450 /// </summary>
460 public override PhysicsVector Size 451 public override Vector3 Size
461 { 452 {
462 get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); } 453 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
463 set 454 set
464 { 455 {
465 if (PhysicsVector.isFinite(value)) 456 if (value.IsFinite())
466 { 457 {
467 m_pidControllerActive = true; 458 m_pidControllerActive = true;
468 459
469 PhysicsVector SetSize = value; 460 Vector3 SetSize = value;
470 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f; 461 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
471 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); 462 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
472 463
473 Velocity = new PhysicsVector(0f, 0f, 0f); 464 Velocity = Vector3.Zero;
474 465
475 _parent_scene.AddPhysicsActorTaint(this); 466 _parent_scene.AddPhysicsActorTaint(this);
476 } 467 }
@@ -481,7 +472,7 @@ namespace OpenSim.Region.Physics.OdePlugin
481 } 472 }
482 } 473 }
483 474
484 private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector) 475 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
485 { 476 {
486 movementVector.Z = 0f; 477 movementVector.Z = 0f;
487 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y)); 478 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
@@ -643,7 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
643 // (with -0..0 motor stops) falls into the terrain for reasons yet 634 // (with -0..0 motor stops) falls into the terrain for reasons yet
644 // to be comprehended in their entirety. 635 // to be comprehended in their entirety.
645 #endregion 636 #endregion
646 AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0)); 637 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
647 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); 638 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
648 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); 639 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
649 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); 640 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
@@ -688,7 +679,7 @@ namespace OpenSim.Region.Physics.OdePlugin
688 679
689 } 680 }
690 681
691 public override void LockAngularMotion(PhysicsVector axis) 682 public override void LockAngularMotion(Vector3 axis)
692 { 683 {
693 684
694 } 685 }
@@ -716,9 +707,9 @@ namespace OpenSim.Region.Physics.OdePlugin
716// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22); 707// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
717// } 708// }
718 709
719 public override PhysicsVector Force 710 public override Vector3 Force
720 { 711 {
721 get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); } 712 get { return _target_velocity; }
722 set { return; } 713 set { return; }
723 } 714 }
724 715
@@ -733,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
733 724
734 } 725 }
735 726
736 public override void VehicleVectorParam(int param, PhysicsVector value) 727 public override void VehicleVectorParam(int param, Vector3 value)
737 { 728 {
738 729
739 } 730 }
@@ -748,14 +739,14 @@ namespace OpenSim.Region.Physics.OdePlugin
748 739
749 } 740 }
750 741
751 public override PhysicsVector CenterOfMass 742 public override Vector3 CenterOfMass
752 { 743 {
753 get { return PhysicsVector.Zero; } 744 get { return Vector3.Zero; }
754 } 745 }
755 746
756 public override PhysicsVector GeometricCenter 747 public override Vector3 GeometricCenter
757 { 748 {
758 get { return PhysicsVector.Zero; } 749 get { return Vector3.Zero; }
759 } 750 }
760 751
761 public override PrimitiveBaseShape Shape 752 public override PrimitiveBaseShape Shape
@@ -763,18 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
763 set { return; } 754 set { return; }
764 } 755 }
765 756
766 public override PhysicsVector Velocity 757 public override Vector3 Velocity
767 { 758 {
768 get { 759 get {
769 // There's a problem with PhysicsVector.Zero! Don't Use it Here! 760 // There's a problem with Vector3.Zero! Don't Use it Here!
770 if (_zeroFlag) 761 if (_zeroFlag)
771 return new PhysicsVector(0f, 0f, 0f); 762 return Vector3.Zero;
772 m_lastUpdateSent = false; 763 m_lastUpdateSent = false;
773 return _velocity; 764 return _velocity;
774 } 765 }
775 set 766 set
776 { 767 {
777 if (PhysicsVector.isFinite(value)) 768 if (value.IsFinite())
778 { 769 {
779 m_pidControllerActive = true; 770 m_pidControllerActive = true;
780 _target_velocity = value; 771 _target_velocity = value;
@@ -786,9 +777,9 @@ namespace OpenSim.Region.Physics.OdePlugin
786 } 777 }
787 } 778 }
788 779
789 public override PhysicsVector Torque 780 public override Vector3 Torque
790 { 781 {
791 get { return PhysicsVector.Zero; } 782 get { return Vector3.Zero; }
792 set { return; } 783 set { return; }
793 } 784 }
794 785
@@ -814,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
814 } 805 }
815 } 806 }
816 807
817 public override PhysicsVector Acceleration 808 public override Vector3 Acceleration
818 { 809 {
819 get { return _acceleration; } 810 get { return _acceleration; }
820 } 811 }
821 812
822 public void SetAcceleration(PhysicsVector accel) 813 public void SetAcceleration(Vector3 accel)
823 { 814 {
824 m_pidControllerActive = true; 815 m_pidControllerActive = true;
825 _acceleration = accel; 816 _acceleration = accel;
@@ -830,9 +821,9 @@ namespace OpenSim.Region.Physics.OdePlugin
830 /// The PID controller takes this target velocity and tries to make it a reality 821 /// The PID controller takes this target velocity and tries to make it a reality
831 /// </summary> 822 /// </summary>
832 /// <param name="force"></param> 823 /// <param name="force"></param>
833 public override void AddForce(PhysicsVector force, bool pushforce) 824 public override void AddForce(Vector3 force, bool pushforce)
834 { 825 {
835 if (PhysicsVector.isFinite(force)) 826 if (force.IsFinite())
836 { 827 {
837 if (pushforce) 828 if (pushforce)
838 { 829 {
@@ -861,7 +852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
861 //m_lastUpdateSent = false; 852 //m_lastUpdateSent = false;
862 } 853 }
863 854
864 public override void AddAngularForce(PhysicsVector force, bool pushforce) 855 public override void AddAngularForce(Vector3 force, bool pushforce)
865 { 856 {
866 857
867 } 858 }
@@ -870,7 +861,7 @@ namespace OpenSim.Region.Physics.OdePlugin
870 /// After all of the forces add up with 'add force' we apply them with doForce 861 /// After all of the forces add up with 'add force' we apply them with doForce
871 /// </summary> 862 /// </summary>
872 /// <param name="force"></param> 863 /// <param name="force"></param>
873 public void doForce(PhysicsVector force) 864 public void doForce(Vector3 force)
874 { 865 {
875 if (!collidelock) 866 if (!collidelock)
876 { 867 {
@@ -881,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
881 } 872 }
882 } 873 }
883 874
884 public override void SetMomentum(PhysicsVector momentum) 875 public override void SetMomentum(Vector3 momentum)
885 { 876 {
886 } 877 }
887 878
@@ -908,9 +899,9 @@ namespace OpenSim.Region.Physics.OdePlugin
908 //PidStatus = true; 899 //PidStatus = true;
909 900
910 d.Vector3 localpos = d.BodyGetPosition(Body); 901 d.Vector3 localpos = d.BodyGetPosition(Body);
911 PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z); 902 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
912 903
913 if (!PhysicsVector.isFinite(localPos)) 904 if (!localPos.IsFinite())
914 { 905 {
915 906
916 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); 907 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
@@ -946,7 +937,7 @@ namespace OpenSim.Region.Physics.OdePlugin
946 return; 937 return;
947 } 938 }
948 939
949 PhysicsVector vec = new PhysicsVector(); 940 Vector3 vec = Vector3.Zero;
950 d.Vector3 vel = d.BodyGetLinearVel(Body); 941 d.Vector3 vel = d.BodyGetLinearVel(Body);
951 942
952 float movementdivisor = 1f; 943 float movementdivisor = 1f;
@@ -1059,12 +1050,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1059 } 1050 }
1060 // end add Kitto Flora 1051 // end add Kitto Flora
1061 } 1052 }
1062 if (PhysicsVector.isFinite(vec)) 1053 if (vec.IsFinite())
1063 { 1054 {
1064 doForce(vec); 1055 doForce(vec);
1065 if (!_zeroFlag) 1056 if (!_zeroFlag)
1066 { 1057 {
1067 AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z)); 1058 AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1068 } 1059 }
1069 } 1060 }
1070 else 1061 else
@@ -1197,7 +1188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1197 { 1188 {
1198 } 1189 }
1199 1190
1200 public override PhysicsVector PIDTarget { set { return; } } 1191 public override Vector3 PIDTarget { set { return; } }
1201 public override bool PIDActive { set { return; } } 1192 public override bool PIDActive { set { return; } }
1202 public override float PIDTau { set { return; } } 1193 public override float PIDTau { set { return; } }
1203 1194
@@ -1333,7 +1324,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1333 d.GeomDestroy(Shell); 1324 d.GeomDestroy(Shell);
1334 AvatarGeomAndBodyCreation(_position.X, _position.Y, 1325 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1335 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor); 1326 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1336 Velocity = new PhysicsVector(0f, 0f, 0f); 1327 Velocity = Vector3.Zero;
1337 1328
1338 _parent_scene.geom_name_map[Shell] = m_name; 1329 _parent_scene.geom_name_map[Shell] = m_name;
1339 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; 1330 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
@@ -1347,7 +1338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1347 } 1338 }
1348 } 1339 }
1349 1340
1350 if (!m_taintPosition.IsIdentical(_position, 0.05f)) 1341 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1351 { 1342 {
1352 if (Body != IntPtr.Zero) 1343 if (Body != IntPtr.Zero)
1353 { 1344 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 0c168c6..345112d 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -38,6 +38,19 @@
38 * 38 *
39 */ 39 */
40 40
41/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
42 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
43 * ODEPrim.cs contains methods dealing with Prim editing, Prim
44 * characteristics and Kinetic motion.
45 * ODEDynamics.cs contains methods dealing with Prim Physical motion
46 * (dynamics) and the associated settings. Old Linear and angular
47 * motors for dynamic motion have been replace with MoveLinear()
48 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
49 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
50 * switch between 'VEHICLE' parameter use and general dynamics
51 * settings use.
52 */
53
41using System; 54using System;
42using System.Collections.Generic; 55using System.Collections.Generic;
43using System.Reflection; 56using System.Reflection;
@@ -232,7 +245,7 @@ namespace OpenSim.Region.Physics.OdePlugin
232 245
233 }//end ProcessFloatVehicleParam 246 }//end ProcessFloatVehicleParam
234 247
235 internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue) 248 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
236 { 249 {
237 switch (pParam) 250 switch (pParam)
238 { 251 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 93c9a44..62c5c81 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1,7 +1,5 @@
1/* 1/* Copyright (c) Contributors, http://opensimulator.org/
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 2 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without 3 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 4 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 5 * * Redistributions of source code must retain the above copyright
@@ -36,6 +34,20 @@
36 * switch between 'VEHICLE' parameter use and general dynamics 34 * switch between 'VEHICLE' parameter use and general dynamics
37 * settings use. 35 * settings use.
38 */ 36 */
37
38/*
39 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
40 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
41 * ODEPrim.cs contains methods dealing with Prim editing, Prim
42 * characteristics and Kinetic motion.
43 * ODEDynamics.cs contains methods dealing with Prim Physical motion
44 * (dynamics) and the associated settings. Old Linear and angular
45 * motors for dynamic motion have been replace with MoveLinear()
46 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
47 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
48 * switch between 'VEHICLE' parameter use and general dynamics
49 * settings use.
50 */
39using System; 51using System;
40using System.Collections.Generic; 52using System.Collections.Generic;
41using System.Reflection; 53using System.Reflection;
@@ -57,29 +69,28 @@ namespace OpenSim.Region.Physics.OdePlugin
57 { 69 {
58 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 70 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
59 71
60 private PhysicsVector _position; 72 private Vector3 _position;
61 private PhysicsVector _velocity; 73 private Vector3 _velocity;
62 private PhysicsVector _torque = new PhysicsVector(0,0,0); 74 private Vector3 _torque;
63 private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); 75 private Vector3 m_lastVelocity;
64 private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f); 76 private Vector3 m_lastposition;
65 private Quaternion m_lastorientation = new Quaternion(); 77 private Quaternion m_lastorientation = new Quaternion();
66 private PhysicsVector m_rotationalVelocity; 78 private Vector3 m_rotationalVelocity;
67 private PhysicsVector _size; 79 private Vector3 _size;
68 private PhysicsVector _acceleration; 80 private Vector3 _acceleration;
69 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f); 81 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
70 private Quaternion _orientation; 82 private Quaternion _orientation;
71 private PhysicsVector m_taintposition; 83 private Vector3 m_taintposition;
72 private PhysicsVector m_taintsize; 84 private Vector3 m_taintsize;
73 private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0); 85 private Vector3 m_taintVelocity;
74 private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0); 86 private Vector3 m_taintTorque;
75 private Quaternion m_taintrot; 87 private Quaternion m_taintrot;
76 private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f); 88 private Vector3 m_angularlock = Vector3.One;
77 private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f); 89 private Vector3 m_taintAngularLock = Vector3.One;
78 private IntPtr Amotor = IntPtr.Zero; 90 private IntPtr Amotor = IntPtr.Zero;
79 91
80 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0); 92 private Vector3 m_PIDTarget;
81 // private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0); 93 private float m_PIDTau;
82 private float m_PIDTau = 0f;
83 private float PID_D = 35f; 94 private float PID_D = 35f;
84 private float PID_G = 25f; 95 private float PID_G = 25f;
85 private bool m_usePID = false; 96 private bool m_usePID = false;
@@ -91,15 +102,22 @@ namespace OpenSim.Region.Physics.OdePlugin
91 102
92 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), 103 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
93 // and are for non-VEHICLES only. 104 // and are for non-VEHICLES only.
94 105
95 private float m_PIDHoverHeight = 0f; 106 private float m_PIDHoverHeight;
96 private float m_PIDHoverTau = 0f; 107 private float m_PIDHoverTau;
97 private bool m_useHoverPID = false; 108 private bool m_useHoverPID;
98 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; 109 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
110<<<<<<< HEAD:OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
99 private float m_targetHoverHeight = 0f; 111 private float m_targetHoverHeight = 0f;
100 private float m_groundHeight = 0f; 112 private float m_groundHeight = 0f;
101 private float m_waterHeight = 0f; 113 private float m_waterHeight = 0f;
102 private float m_buoyancy = 0f; //Set by llSetBuoyancy(), for non-vehicles. 114 private float m_buoyancy = 0f; //Set by llSetBuoyancy(), for non-vehicles.
115=======
116 private float m_targetHoverHeight;
117 private float m_groundHeight;
118 private float m_waterHeight;
119 private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
120>>>>>>> vehicles:OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
103 121
104 // private float m_tensor = 5f; 122 // private float m_tensor = 5f;
105 private int body_autodisable_frames = 20; 123 private int body_autodisable_frames = 20;
@@ -110,11 +128,11 @@ namespace OpenSim.Region.Physics.OdePlugin
110 | CollisionCategories.Body 128 | CollisionCategories.Body
111 | CollisionCategories.Character 129 | CollisionCategories.Character
112 ); 130 );
113 private bool m_taintshape = false; 131 private bool m_taintshape;
114 private bool m_taintPhysics = false; 132 private bool m_taintPhysics;
115 private bool m_collidesLand = true; 133 private bool m_collidesLand = true;
116 private bool m_collidesWater = false; 134 private bool m_collidesWater;
117 public bool m_returnCollisions = false; 135 public bool m_returnCollisions;
118 136
119 // Default we're a Geometry 137 // Default we're a Geometry
120 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); 138 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -122,69 +140,68 @@ namespace OpenSim.Region.Physics.OdePlugin
122 // Default, Collide with Other Geometries, spaces and Bodies 140 // Default, Collide with Other Geometries, spaces and Bodies
123 private CollisionCategories m_collisionFlags = m_default_collisionFlags; 141 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
124 142
125 public bool m_taintremove = false; 143 public bool m_taintremove;
126 public bool m_taintdisable = false; 144 public bool m_taintdisable;
127 public bool m_disabled = false; 145 public bool m_disabled;
128 public bool m_taintadd = false; 146 public bool m_taintadd;
129 public bool m_taintselected = false; 147 public bool m_taintselected;
130 public bool m_taintCollidesWater = false; 148 public bool m_taintCollidesWater;
131 149
132 public uint m_localID = 0; 150 public uint m_localID;
133 151
134 //public GCHandle gc; 152 //public GCHandle gc;
135 private CollisionLocker ode; 153 private CollisionLocker ode;
136 154
137 private bool m_taintforce = false; 155 private bool m_taintforce = false;
138 private bool m_taintaddangularforce = false; 156 private bool m_taintaddangularforce = false;
139 private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f); 157 private Vector3 m_force;
140 private List<PhysicsVector> m_forcelist = new List<PhysicsVector>(); 158 private List<Vector3> m_forcelist = new List<Vector3>();
141 private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>(); 159 private List<Vector3> m_angularforcelist = new List<Vector3>();
142 160
143 private IMesh _mesh; 161 private IMesh _mesh;
144 private PrimitiveBaseShape _pbs; 162 private PrimitiveBaseShape _pbs;
145 private OdeScene _parent_scene; 163 private OdeScene _parent_scene;
146 public IntPtr m_targetSpace = (IntPtr) 0; 164 public IntPtr m_targetSpace = IntPtr.Zero;
147 public IntPtr prim_geom; 165 public IntPtr prim_geom;
148 public IntPtr prev_geom; 166 public IntPtr prev_geom;
149 public IntPtr _triMeshData; 167 public IntPtr _triMeshData;
150 168
151 private IntPtr _linkJointGroup = (IntPtr)0; 169 private IntPtr _linkJointGroup = IntPtr.Zero;
152 private PhysicsActor _parent = null; 170 private PhysicsActor _parent;
153 private PhysicsActor m_taintparent = null; 171 private PhysicsActor m_taintparent;
154 172
155 private List<OdePrim> childrenPrim = new List<OdePrim>(); 173 private List<OdePrim> childrenPrim = new List<OdePrim>();
156 174
157 private bool iscolliding = false; 175 private bool iscolliding;
158 private bool m_isphysical = false; 176 private bool m_isphysical;
159 private bool m_isSelected = false; 177 private bool m_isSelected;
160 178
161 internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively 179 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
162 180
163 private bool m_throttleUpdates = false; 181 private bool m_throttleUpdates;
164 private int throttleCounter = 0; 182 private int throttleCounter;
165 public int m_interpenetrationcount = 0; 183 public int m_interpenetrationcount;
166 public float m_collisionscore = 0; 184 public float m_collisionscore;
167 public int m_roundsUnderMotionThreshold = 0; 185 public int m_roundsUnderMotionThreshold;
168 private int m_crossingfailures = 0; 186 private int m_crossingfailures;
169 187
170 public bool outofBounds = false; 188 public bool outofBounds;
171 private float m_density = 10.000006836f; // Aluminum g/cm3; 189 private float m_density = 10.000006836f; // Aluminum g/cm3;
172 190
173 public bool _zeroFlag = false; 191 public bool _zeroFlag;
174 private bool m_lastUpdateSent = false; 192 private bool m_lastUpdateSent;
175 193
176 public IntPtr Body = (IntPtr) 0; 194 public IntPtr Body = IntPtr.Zero;
177 public String m_primName; 195 public String m_primName;
178// private String m_primName; 196 private Vector3 _target_velocity;
179 private PhysicsVector _target_velocity;
180 public d.Mass pMass; 197 public d.Mass pMass;
181 198
182 public int m_eventsubscription = 0; 199 public int m_eventsubscription;
183 private CollisionEventUpdate CollisionEventsThisFrame = null; 200 private CollisionEventUpdate CollisionEventsThisFrame;
184 201
185 private IntPtr m_linkJoint = (IntPtr)0; 202 private IntPtr m_linkJoint = IntPtr.Zero;
186 203
187 public volatile bool childPrim = false; 204 public volatile bool childPrim;
188 205
189 private ODEDynamics m_vehicle; 206 private ODEDynamics m_vehicle;
190 207
@@ -193,17 +210,16 @@ namespace OpenSim.Region.Physics.OdePlugin
193 private int frcount = 0; // Used to limit dynamics debug output to 210 private int frcount = 0; // Used to limit dynamics debug output to
194 211
195 212
196 public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, 213 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
197 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) 214 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
198 { 215 {
199 _target_velocity = new PhysicsVector(0, 0, 0);
200 m_vehicle = new ODEDynamics(); 216 m_vehicle = new ODEDynamics();
201 //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); 217 //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
202 ode = dode; 218 ode = dode;
203 _velocity = new PhysicsVector(); 219 if (!pos.IsFinite())
204 if (!PhysicsVector.isFinite(pos))
205 { 220 {
206 pos = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), parent_scene.GetTerrainHeightAtXY(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f)) + 0.5f); 221 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
222 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
207 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position"); 223 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
208 } 224 }
209 _position = pos; 225 _position = pos;
@@ -218,9 +234,9 @@ namespace OpenSim.Region.Physics.OdePlugin
218 prim_geom = IntPtr.Zero; 234 prim_geom = IntPtr.Zero;
219 prev_geom = IntPtr.Zero; 235 prev_geom = IntPtr.Zero;
220 236
221 if (!PhysicsVector.isFinite(pos)) 237 if (!pos.IsFinite())
222 { 238 {
223 size = new PhysicsVector(0.5f, 0.5f, 0.5f); 239 size = new Vector3(0.5f, 0.5f, 0.5f);
224 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size"); 240 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
225 } 241 }
226 242
@@ -230,8 +246,6 @@ namespace OpenSim.Region.Physics.OdePlugin
230 246
231 _size = size; 247 _size = size;
232 m_taintsize = _size; 248 m_taintsize = _size;
233 _acceleration = new PhysicsVector();
234 m_rotationalVelocity = PhysicsVector.Zero;
235 249
236 if (!QuaternionIsFinite(rotation)) 250 if (!QuaternionIsFinite(rotation))
237 { 251 {
@@ -396,7 +410,7 @@ namespace OpenSim.Region.Physics.OdePlugin
396 m_disabled = false; 410 m_disabled = false;
397 411
398 // The body doesn't already have a finite rotation mode set here 412 // The body doesn't already have a finite rotation mode set here
399 if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) 413 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null)
400 { 414 {
401 createAMotor(m_angularlock); 415 createAMotor(m_angularlock);
402 } 416 }
@@ -809,6 +823,8 @@ namespace OpenSim.Region.Physics.OdePlugin
809 m_collisionscore = 0; 823 m_collisionscore = 0;
810 } 824 }
811 825
826 private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
827
812 public void setMesh(OdeScene parent_scene, IMesh mesh) 828 public void setMesh(OdeScene parent_scene, IMesh mesh)
813 { 829 {
814 // This sleeper is there to moderate how long it takes between 830 // This sleeper is there to moderate how long it takes between
@@ -840,19 +856,24 @@ namespace OpenSim.Region.Physics.OdePlugin
840 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage 856 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
841 857
842 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory 858 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
859 if (m_MeshToTriMeshMap.ContainsKey(mesh))
860 {
861 _triMeshData = m_MeshToTriMeshMap[mesh];
862 }
863 else
864 {
865 _triMeshData = d.GeomTriMeshDataCreate();
843 866
844 _triMeshData = d.GeomTriMeshDataCreate(); 867 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
845 868 d.GeomTriMeshDataPreprocess(_triMeshData);
846 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); 869 m_MeshToTriMeshMap[mesh] = _triMeshData;
847 d.GeomTriMeshDataPreprocess(_triMeshData); 870 }
848 871
849 _parent_scene.waitForSpaceUnlock(m_targetSpace); 872 _parent_scene.waitForSpaceUnlock(m_targetSpace);
850
851 try 873 try
852 { 874 {
853 if (prim_geom == IntPtr.Zero) 875 if (prim_geom == IntPtr.Zero)
854 { 876 {
855//Console.WriteLine(" setMesh 1");
856 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); 877 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
857 } 878 }
858 } 879 }
@@ -862,6 +883,7 @@ namespace OpenSim.Region.Physics.OdePlugin
862 return; 883 return;
863 } 884 }
864 885
886
865 // if (IsPhysical && Body == (IntPtr) 0) 887 // if (IsPhysical && Body == (IntPtr) 0)
866 // { 888 // {
867 // Recreate the body 889 // Recreate the body
@@ -882,7 +904,7 @@ namespace OpenSim.Region.Physics.OdePlugin
882 904
883 if (prim_geom != IntPtr.Zero) 905 if (prim_geom != IntPtr.Zero)
884 { 906 {
885 if (!_position.IsIdentical(m_taintposition,0f)) 907 if (!_position.ApproxEquals(m_taintposition, 0f))
886 changemove(timestep); 908 changemove(timestep);
887 909
888 if (m_taintrot != _orientation) 910 if (m_taintrot != _orientation)
@@ -907,7 +929,7 @@ namespace OpenSim.Region.Physics.OdePlugin
907 changePhysicsStatus(timestep); 929 changePhysicsStatus(timestep);
908 // 930 //
909 931
910 if (!_size.IsIdentical(m_taintsize,0)) 932 if (!_size.ApproxEquals(m_taintsize,0f))
911 changesize(timestep); 933 changesize(timestep);
912 // 934 //
913 935
@@ -921,7 +943,7 @@ namespace OpenSim.Region.Physics.OdePlugin
921 if (m_taintaddangularforce) 943 if (m_taintaddangularforce)
922 changeAddAngularForce(timestep); 944 changeAddAngularForce(timestep);
923 945
924 if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f)) 946 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
925 changeSetTorque(timestep); 947 changeSetTorque(timestep);
926 948
927 if (m_taintdisable) 949 if (m_taintdisable)
@@ -930,7 +952,7 @@ namespace OpenSim.Region.Physics.OdePlugin
930 if (m_taintselected != m_isSelected) 952 if (m_taintselected != m_isSelected)
931 changeSelectedStatus(timestep); 953 changeSelectedStatus(timestep);
932 954
933 if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f)) 955 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
934 changevelocity(timestep); 956 changevelocity(timestep);
935 957
936 if (m_taintparent != _parent) 958 if (m_taintparent != _parent)
@@ -939,7 +961,7 @@ namespace OpenSim.Region.Physics.OdePlugin
939 if (m_taintCollidesWater != m_collidesWater) 961 if (m_taintCollidesWater != m_collidesWater)
940 changefloatonwater(timestep); 962 changefloatonwater(timestep);
941 963
942 if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) 964 if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
943 changeAngularLock(timestep); 965 changeAngularLock(timestep);
944 966
945 } 967 }
@@ -959,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
959 //If we have a parent then we're not authorative here 981 //If we have a parent then we're not authorative here
960 if (_parent == null) 982 if (_parent == null)
961 { 983 {
962 if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f,1f,1f), 0)) 984 if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
963 { 985 {
964 //d.BodySetFiniteRotationMode(Body, 0); 986 //d.BodySetFiniteRotationMode(Body, 0);
965 //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z); 987 //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
@@ -976,7 +998,7 @@ namespace OpenSim.Region.Physics.OdePlugin
976 } 998 }
977 } 999 }
978 // Store this for later in case we get turned into a separate body 1000 // Store this for later in case we get turned into a separate body
979 m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z); 1001 m_angularlock = m_taintAngularLock;
980 1002
981 } 1003 }
982 1004
@@ -1120,7 +1142,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1120 prm.m_disabled = false; 1142 prm.m_disabled = false;
1121 1143
1122 // The body doesn't already have a finite rotation mode set here 1144 // The body doesn't already have a finite rotation mode set here
1123 if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) 1145 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
1124 { 1146 {
1125 prm.createAMotor(m_angularlock); 1147 prm.createAMotor(m_angularlock);
1126 } 1148 }
@@ -1163,7 +1185,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1163 m_disabled = false; 1185 m_disabled = false;
1164 1186
1165 // The body doesn't already have a finite rotation mode set here 1187 // The body doesn't already have a finite rotation mode set here
1166 if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null) 1188 if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
1167 { 1189 {
1168 createAMotor(m_angularlock); 1190 createAMotor(m_angularlock);
1169 } 1191 }
@@ -1347,7 +1369,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1347 m_taintshape = false; 1369 m_taintshape = false;
1348 m_taintforce = false; 1370 m_taintforce = false;
1349 m_taintdisable = false; 1371 m_taintdisable = false;
1350 m_taintVelocity = PhysicsVector.Zero; 1372 m_taintVelocity = Vector3.Zero;
1351 } 1373 }
1352 1374
1353 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh) 1375 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
@@ -1580,7 +1602,7 @@ if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle
1580 { 1602 {
1581 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 1603 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
1582 // NON-'VEHICLES' are dealt with here 1604 // NON-'VEHICLES' are dealt with here
1583 if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f)) 1605 if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
1584 { 1606 {
1585 d.Vector3 avel2 = d.BodyGetAngularVel(Body); 1607 d.Vector3 avel2 = d.BodyGetAngularVel(Body);
1586 if (m_angularlock.X == 1) 1608 if (m_angularlock.X == 1)
@@ -1634,7 +1656,7 @@ if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle
1634 1656
1635 d.Vector3 pos = d.BodyGetPosition(Body); 1657 d.Vector3 pos = d.BodyGetPosition(Body);
1636 _target_velocity = 1658 _target_velocity =
1637 new PhysicsVector( 1659 new Vector3(
1638 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), 1660 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
1639 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), 1661 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
1640 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) 1662 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
@@ -1642,7 +1664,7 @@ if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle
1642 1664
1643 // if velocity is zero, use position control; otherwise, velocity control 1665 // if velocity is zero, use position control; otherwise, velocity control
1644 1666
1645 if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f)) 1667 if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
1646 { 1668 {
1647 // keep track of where we stopped. No more slippin' & slidin' 1669 // keep track of where we stopped. No more slippin' & slidin'
1648 1670
@@ -1727,13 +1749,13 @@ if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle
1727 1749
1728 1750
1729 _target_velocity = 1751 _target_velocity =
1730 new PhysicsVector(0.0f, 0.0f, 1752 new Vector3(0.0f, 0.0f,
1731 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) 1753 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
1732 ); 1754 );
1733 1755
1734 // if velocity is zero, use position control; otherwise, velocity control 1756 // if velocity is zero, use position control; otherwise, velocity control
1735 1757
1736 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) 1758 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
1737 { 1759 {
1738 // keep track of where we stopped. No more slippin' & slidin' 1760 // keep track of where we stopped. No more slippin' & slidin'
1739 1761
@@ -1860,7 +1882,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
1860 d.BodySetQuaternion(Body, ref myrot); 1882 d.BodySetQuaternion(Body, ref myrot);
1861 if (m_isphysical) 1883 if (m_isphysical)
1862 { 1884 {
1863 if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) 1885 if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
1864 createAMotor(m_angularlock); 1886 createAMotor(m_angularlock);
1865 } 1887 }
1866 } 1888 }
@@ -2169,7 +2191,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2169 //m_log.Info("[PHYSICS]: dequeing forcelist"); 2191 //m_log.Info("[PHYSICS]: dequeing forcelist");
2170 if (IsPhysical) 2192 if (IsPhysical)
2171 { 2193 {
2172 PhysicsVector iforce = new PhysicsVector(); 2194 Vector3 iforce = Vector3.Zero;
2173 for (int i = 0; i < m_forcelist.Count; i++) 2195 for (int i = 0; i < m_forcelist.Count; i++)
2174 { 2196 {
2175 iforce = iforce + (m_forcelist[i] * 100); 2197 iforce = iforce + (m_forcelist[i] * 100);
@@ -2199,8 +2221,8 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2199 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z); 2221 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
2200 } 2222 }
2201 } 2223 }
2202 2224
2203 m_taintTorque = new PhysicsVector(0, 0, 0); 2225 m_taintTorque = Vector3.Zero;
2204 } 2226 }
2205 2227
2206 public void changeAddAngularForce(float timestamp) 2228 public void changeAddAngularForce(float timestamp)
@@ -2212,7 +2234,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2212 //m_log.Info("[PHYSICS]: dequeing forcelist"); 2234 //m_log.Info("[PHYSICS]: dequeing forcelist");
2213 if (IsPhysical) 2235 if (IsPhysical)
2214 { 2236 {
2215 PhysicsVector iforce = new PhysicsVector(); 2237 Vector3 iforce = Vector3.Zero;
2216 for (int i = 0; i < m_angularforcelist.Count; i++) 2238 for (int i = 0; i < m_angularforcelist.Count; i++)
2217 { 2239 {
2218 iforce = iforce + (m_angularforcelist[i] * 100); 2240 iforce = iforce + (m_angularforcelist[i] * 100);
@@ -2246,7 +2268,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2246 2268
2247 //resetCollisionAccounting(); 2269 //resetCollisionAccounting();
2248 } 2270 }
2249 m_taintVelocity = PhysicsVector.Zero; 2271 m_taintVelocity = Vector3.Zero;
2250 } 2272 }
2251 2273
2252 public override bool IsPhysical 2274 public override bool IsPhysical
@@ -2255,7 +2277,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2255 set { 2277 set {
2256 m_isphysical = value; 2278 m_isphysical = value;
2257 if (!m_isphysical) // Zero the remembered last velocity 2279 if (!m_isphysical) // Zero the remembered last velocity
2258 m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); 2280 m_lastVelocity = Vector3.Zero;
2259 } 2281 }
2260 } 2282 }
2261 2283
@@ -2300,7 +2322,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2300 get { return _zeroFlag; } 2322 get { return _zeroFlag; }
2301 } 2323 }
2302 2324
2303 public override PhysicsVector Position 2325 public override Vector3 Position
2304 { 2326 {
2305 get { return _position; } 2327 get { return _position; }
2306 2328
@@ -2309,12 +2331,12 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2309 } 2331 }
2310 } 2332 }
2311 2333
2312 public override PhysicsVector Size 2334 public override Vector3 Size
2313 { 2335 {
2314 get { return _size; } 2336 get { return _size; }
2315 set 2337 set
2316 { 2338 {
2317 if (PhysicsVector.isFinite(value)) 2339 if (value.IsFinite())
2318 { 2340 {
2319 _size = value; 2341 _size = value;
2320 } 2342 }
@@ -2330,13 +2352,13 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2330 get { return CalculateMass(); } 2352 get { return CalculateMass(); }
2331 } 2353 }
2332 2354
2333 public override PhysicsVector Force 2355 public override Vector3 Force
2334 { 2356 {
2335 //get { return PhysicsVector.Zero; } 2357 //get { return Vector3.Zero; }
2336 get { return m_force; } 2358 get { return m_force; }
2337 set 2359 set
2338 { 2360 {
2339 if (PhysicsVector.isFinite(value)) 2361 if (value.IsFinite())
2340 { 2362 {
2341 m_force = value; 2363 m_force = value;
2342 } 2364 }
@@ -2358,7 +2380,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2358 m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value); 2380 m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value);
2359 } 2381 }
2360 2382
2361 public override void VehicleVectorParam(int param, PhysicsVector value) 2383 public override void VehicleVectorParam(int param, Vector3 value)
2362 { 2384 {
2363 m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value); 2385 m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value);
2364 } 2386 }
@@ -2376,14 +2398,14 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2376 } 2398 }
2377 } 2399 }
2378 2400
2379 public override PhysicsVector CenterOfMass 2401 public override Vector3 CenterOfMass
2380 { 2402 {
2381 get { return PhysicsVector.Zero; } 2403 get { return Vector3.Zero; }
2382 } 2404 }
2383 2405
2384 public override PhysicsVector GeometricCenter 2406 public override Vector3 GeometricCenter
2385 { 2407 {
2386 get { return PhysicsVector.Zero; } 2408 get { return Vector3.Zero; }
2387 } 2409 }
2388 2410
2389 public override PrimitiveBaseShape Shape 2411 public override PrimitiveBaseShape Shape
@@ -2395,13 +2417,13 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2395 } 2417 }
2396 } 2418 }
2397 2419
2398 public override PhysicsVector Velocity 2420 public override Vector3 Velocity
2399 { 2421 {
2400 get 2422 get
2401 { 2423 {
2402 // Averate previous velocity with the new one so 2424 // Averate previous velocity with the new one so
2403 // client object interpolation works a 'little' better 2425 // client object interpolation works a 'little' better
2404 PhysicsVector returnVelocity = new PhysicsVector(); 2426 Vector3 returnVelocity = Vector3.Zero;
2405 returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2; 2427 returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
2406 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2; 2428 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
2407 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2; 2429 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
@@ -2409,7 +2431,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2409 } 2431 }
2410 set 2432 set
2411 { 2433 {
2412 if (PhysicsVector.isFinite(value)) 2434 if (value.IsFinite())
2413 { 2435 {
2414 _velocity = value; 2436 _velocity = value;
2415 2437
@@ -2424,19 +2446,19 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2424 } 2446 }
2425 } 2447 }
2426 2448
2427 public override PhysicsVector Torque 2449 public override Vector3 Torque
2428 { 2450 {
2429 get 2451 get
2430 { 2452 {
2431 if (!m_isphysical || Body == IntPtr.Zero) 2453 if (!m_isphysical || Body == IntPtr.Zero)
2432 return new PhysicsVector(0,0,0); 2454 return Vector3.Zero;
2433 2455
2434 return _torque; 2456 return _torque;
2435 } 2457 }
2436 2458
2437 set 2459 set
2438 { 2460 {
2439 if (PhysicsVector.isFinite(value)) 2461 if (value.IsFinite())
2440 { 2462 {
2441 m_taintTorque = value; 2463 m_taintTorque = value;
2442 _parent_scene.AddPhysicsActorTaint(this); 2464 _parent_scene.AddPhysicsActorTaint(this);
@@ -2488,20 +2510,20 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2488 return true; 2510 return true;
2489 } 2511 }
2490 2512
2491 public override PhysicsVector Acceleration 2513 public override Vector3 Acceleration
2492 { 2514 {
2493 get { return _acceleration; } 2515 get { return _acceleration; }
2494 } 2516 }
2495 2517
2496 2518
2497 public void SetAcceleration(PhysicsVector accel) 2519 public void SetAcceleration(Vector3 accel)
2498 { 2520 {
2499 _acceleration = accel; 2521 _acceleration = accel;
2500 } 2522 }
2501 2523
2502 public override void AddForce(PhysicsVector force, bool pushforce) 2524 public override void AddForce(Vector3 force, bool pushforce)
2503 { 2525 {
2504 if (PhysicsVector.isFinite(force)) 2526 if (force.IsFinite())
2505 { 2527 {
2506 m_forcelist.Add(force); 2528 m_forcelist.Add(force);
2507 m_taintforce = true; 2529 m_taintforce = true;
@@ -2513,9 +2535,9 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2513 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); 2535 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
2514 } 2536 }
2515 2537
2516 public override void AddAngularForce(PhysicsVector force, bool pushforce) 2538 public override void AddAngularForce(Vector3 force, bool pushforce)
2517 { 2539 {
2518 if (PhysicsVector.isFinite(force)) 2540 if (force.IsFinite())
2519 { 2541 {
2520 m_angularforcelist.Add(force); 2542 m_angularforcelist.Add(force);
2521 m_taintaddangularforce = true; 2543 m_taintaddangularforce = true;
@@ -2526,23 +2548,23 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2526 } 2548 }
2527 } 2549 }
2528 2550
2529 public override PhysicsVector RotationalVelocity 2551 public override Vector3 RotationalVelocity
2530 { 2552 {
2531 get 2553 get
2532 { 2554 {
2533 PhysicsVector pv = new PhysicsVector(0, 0, 0); 2555 Vector3 pv = Vector3.Zero;
2534 if (_zeroFlag) 2556 if (_zeroFlag)
2535 return pv; 2557 return pv;
2536 m_lastUpdateSent = false; 2558 m_lastUpdateSent = false;
2537 2559
2538 if (m_rotationalVelocity.IsIdentical(pv, 0.2f)) 2560 if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
2539 return pv; 2561 return pv;
2540 2562
2541 return m_rotationalVelocity; 2563 return m_rotationalVelocity;
2542 } 2564 }
2543 set 2565 set
2544 { 2566 {
2545 if (PhysicsVector.isFinite(value)) 2567 if (value.IsFinite())
2546 { 2568 {
2547 m_rotationalVelocity = value; 2569 m_rotationalVelocity = value;
2548 } 2570 }
@@ -2583,16 +2605,16 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2583 m_taintparent = null; 2605 m_taintparent = null;
2584 } 2606 }
2585 2607
2586 public override void LockAngularMotion(PhysicsVector axis) 2608 public override void LockAngularMotion(Vector3 axis)
2587 { 2609 {
2588 // reverse the zero/non zero values for ODE. 2610 // reverse the zero/non zero values for ODE.
2589 if (PhysicsVector.isFinite(axis)) 2611 if (axis.IsFinite())
2590 { 2612 {
2591 axis.X = (axis.X > 0) ? 1f : 0f; 2613 axis.X = (axis.X > 0) ? 1f : 0f;
2592 axis.Y = (axis.Y > 0) ? 1f : 0f; 2614 axis.Y = (axis.Y > 0) ? 1f : 0f;
2593 axis.Z = (axis.Z > 0) ? 1f : 0f; 2615 axis.Z = (axis.Z > 0) ? 1f : 0f;
2594 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); 2616 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
2595 m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z); 2617 m_taintAngularLock = axis;
2596 } 2618 }
2597 else 2619 else
2598 { 2620 {
@@ -2605,7 +2627,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2605 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 2627 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
2606 if (_parent == null) 2628 if (_parent == null)
2607 { 2629 {
2608 PhysicsVector pv = new PhysicsVector(0, 0, 0); 2630 Vector3 pv = Vector3.Zero;
2609 bool lastZeroFlag = _zeroFlag; 2631 bool lastZeroFlag = _zeroFlag;
2610 if (Body != (IntPtr)0) // FIXME -> or if it is a joint 2632 if (Body != (IntPtr)0) // FIXME -> or if it is a joint
2611 { 2633 {
@@ -2614,9 +2636,9 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2614 d.Vector3 vel = d.BodyGetLinearVel(Body); 2636 d.Vector3 vel = d.BodyGetLinearVel(Body);
2615 d.Vector3 rotvel = d.BodyGetAngularVel(Body); 2637 d.Vector3 rotvel = d.BodyGetAngularVel(Body);
2616 d.Vector3 torque = d.BodyGetTorque(Body); 2638 d.Vector3 torque = d.BodyGetTorque(Body);
2617 _torque.setValues(torque.X, torque.Y, torque.Z); 2639 _torque = new Vector3(torque.X, torque.Y, torque.Z);
2618 PhysicsVector l_position = new PhysicsVector(); 2640 Vector3 l_position = Vector3.Zero;
2619 Quaternion l_orientation = new Quaternion(); 2641 Quaternion l_orientation = Quaternion.Identity;
2620 2642
2621 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) 2643 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
2622 //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } 2644 //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
@@ -2751,16 +2773,16 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2751 _velocity.Z = vel.Z; 2773 _velocity.Z = vel.Z;
2752 2774
2753 _acceleration = ((_velocity - m_lastVelocity) / 0.1f); 2775 _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
2754 _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); 2776 _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
2755 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); 2777 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
2756 2778
2757 if (_velocity.IsIdentical(pv, 0.5f)) 2779 if (_velocity.ApproxEquals(pv, 0.5f))
2758 { 2780 {
2759 m_rotationalVelocity = pv; 2781 m_rotationalVelocity = pv;
2760 } 2782 }
2761 else 2783 else
2762 { 2784 {
2763 m_rotationalVelocity.setValues(rotvel.X, rotvel.Y, rotvel.Z); 2785 m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
2764 } 2786 }
2765 2787
2766 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); 2788 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2808,15 +2830,15 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2808 } 2830 }
2809 } 2831 }
2810 2832
2811 public override void SetMomentum(PhysicsVector momentum) 2833 public override void SetMomentum(Vector3 momentum)
2812 { 2834 {
2813 } 2835 }
2814 2836
2815 public override PhysicsVector PIDTarget 2837 public override Vector3 PIDTarget
2816 { 2838 {
2817 set 2839 set
2818 { 2840 {
2819 if (PhysicsVector.isFinite(value)) 2841 if (value.IsFinite())
2820 { 2842 {
2821 m_PIDTarget = value; 2843 m_PIDTarget = value;
2822 } 2844 }
@@ -2838,7 +2860,7 @@ if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo +
2838 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } 2860 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
2839 public override float PIDHoverTau { set { m_PIDHoverTau = value; } } 2861 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
2840 2862
2841 private void createAMotor(PhysicsVector axis) 2863 private void createAMotor(Vector3 axis)
2842 { 2864 {
2843 if (Body == IntPtr.Zero) 2865 if (Body == IntPtr.Zero)
2844 return; 2866 return;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0a065be..2f42646 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -239,6 +239,7 @@ namespace OpenSim.Region.Physics.OdePlugin
239 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>(); 239 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
240 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); 240 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
241 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>(); 241 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
242 private readonly Object _taintedPrimLock = new Object();
242 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>(); 243 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
243 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>(); 244 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
244 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>(); 245 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
@@ -683,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
683 /// </summary> 684 /// </summary>
684 /// <param name="pos"></param> 685 /// <param name="pos"></param>
685 /// <returns>Returns which split up space the given position is in.</returns> 686 /// <returns>Returns which split up space the given position is in.</returns>
686 public string whichspaceamIin(PhysicsVector pos) 687 public string whichspaceamIin(Vector3 pos)
687 { 688 {
688 return calculateSpaceForGeom(pos).ToString(); 689 return calculateSpaceForGeom(pos).ToString();
689 } 690 }
@@ -962,7 +963,7 @@ namespace OpenSim.Region.Physics.OdePlugin
962 963
963 //p2.CollidingObj = true; 964 //p2.CollidingObj = true;
964 contacts[i].depth = 0.00000003f; 965 contacts[i].depth = 0.00000003f;
965 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f); 966 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
966 contacts[i].pos = 967 contacts[i].pos =
967 new d.Vector3(contacts[i].pos.X + (p1.Size.X/2), 968 new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
968 contacts[i].pos.Y + (p1.Size.Y/2), 969 contacts[i].pos.Y + (p1.Size.Y/2),
@@ -980,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
980 981
981 //p2.CollidingObj = true; 982 //p2.CollidingObj = true;
982 contacts[i].depth = 0.00000003f; 983 contacts[i].depth = 0.00000003f;
983 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f); 984 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
984 contacts[i].pos = 985 contacts[i].pos =
985 new d.Vector3(contacts[i].pos.X + (p1.Size.X/2), 986 new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
986 contacts[i].pos.Y + (p1.Size.Y/2), 987 contacts[i].pos.Y + (p1.Size.Y/2),
@@ -1645,9 +1646,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1645 1646
1646 #region Add/Remove Entities 1647 #region Add/Remove Entities
1647 1648
1648 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 1649 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1649 { 1650 {
1650 PhysicsVector pos = new PhysicsVector(); 1651 Vector3 pos;
1651 pos.X = position.X; 1652 pos.X = position.X;
1652 pos.Y = position.Y; 1653 pos.Y = position.Y;
1653 pos.Z = position.Z; 1654 pos.Z = position.Z;
@@ -1697,18 +1698,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1697 1698
1698 } 1699 }
1699 1700
1700 private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, 1701 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1701 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical) 1702 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
1702 { 1703 {
1703 1704
1704 PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z); 1705 Vector3 pos = position;
1705 //pos.X = position.X; 1706 Vector3 siz = size;
1706 //pos.Y = position.Y;
1707 //pos.Z = position.Z;
1708 PhysicsVector siz = new PhysicsVector();
1709 siz.X = size.X;
1710 siz.Y = size.Y;
1711 siz.Z = size.Z;
1712 Quaternion rot = rotation; 1707 Quaternion rot = rotation;
1713 1708
1714 OdePrim newPrim; 1709 OdePrim newPrim;
@@ -1735,14 +1730,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1735 } 1730 }
1736 } 1731 }
1737 1732
1738 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 1733 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1739 PhysicsVector size, Quaternion rotation) //To be removed 1734 Vector3 size, Quaternion rotation) //To be removed
1740 { 1735 {
1741 return AddPrimShape(primName, pbs, position, size, rotation, false); 1736 return AddPrimShape(primName, pbs, position, size, rotation, false);
1742 } 1737 }
1743 1738
1744 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 1739 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1745 PhysicsVector size, Quaternion rotation, bool isPhysical) 1740 Vector3 size, Quaternion rotation, bool isPhysical)
1746 { 1741 {
1747 PhysicsActor result; 1742 PhysicsActor result;
1748 IMesh mesh = null; 1743 IMesh mesh = null;
@@ -1975,7 +1970,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1975 // this joint will just be added to a waiting list that is NOT processed during the main 1970 // this joint will just be added to a waiting list that is NOT processed during the main
1976 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests. 1971 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
1977 1972
1978 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position, 1973 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
1979 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation) 1974 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
1980 1975
1981 { 1976 {
@@ -1983,7 +1978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1983 OdePhysicsJoint joint = new OdePhysicsJoint(); 1978 OdePhysicsJoint joint = new OdePhysicsJoint();
1984 joint.ObjectNameInScene = objectNameInScene; 1979 joint.ObjectNameInScene = objectNameInScene;
1985 joint.Type = jointType; 1980 joint.Type = jointType;
1986 joint.Position = new PhysicsVector(position.X, position.Y, position.Z); 1981 joint.Position = position;
1987 joint.Rotation = rotation; 1982 joint.Rotation = rotation;
1988 joint.RawParams = parms; 1983 joint.RawParams = parms;
1989 joint.BodyNames = new List<string>(bodyNames); 1984 joint.BodyNames = new List<string>(bodyNames);
@@ -2035,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2035 } 2030 }
2036 2031
2037 // normally called from within OnJointMoved, which is called from within a lock (OdeLock) 2032 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2038 public override PhysicsVector GetJointAnchor(PhysicsJoint joint) 2033 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2039 { 2034 {
2040 Debug.Assert(joint.IsInPhysicsEngine); 2035 Debug.Assert(joint.IsInPhysicsEngine);
2041 d.Vector3 pos = new d.Vector3(); 2036 d.Vector3 pos = new d.Vector3();
@@ -2057,14 +2052,14 @@ namespace OpenSim.Region.Physics.OdePlugin
2057 break; 2052 break;
2058 } 2053 }
2059 } 2054 }
2060 return new PhysicsVector(pos.X, pos.Y, pos.Z); 2055 return new Vector3(pos.X, pos.Y, pos.Z);
2061 } 2056 }
2062 2057
2063 // normally called from within OnJointMoved, which is called from within a lock (OdeLock) 2058 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2064 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function 2059 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2065 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by 2060 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2066 // keeping track of the joint's original orientation relative to one of the involved bodies. 2061 // keeping track of the joint's original orientation relative to one of the involved bodies.
2067 public override PhysicsVector GetJointAxis(PhysicsJoint joint) 2062 public override Vector3 GetJointAxis(PhysicsJoint joint)
2068 { 2063 {
2069 Debug.Assert(joint.IsInPhysicsEngine); 2064 Debug.Assert(joint.IsInPhysicsEngine);
2070 d.Vector3 axis = new d.Vector3(); 2065 d.Vector3 axis = new d.Vector3();
@@ -2086,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2086 break; 2081 break;
2087 } 2082 }
2088 } 2083 }
2089 return new PhysicsVector(axis.X, axis.Y, axis.Z); 2084 return new Vector3(axis.X, axis.Y, axis.Z);
2090 } 2085 }
2091 2086
2092 2087
@@ -2254,7 +2249,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2254 /// <param name="pos">the position that the geom moved to</param> 2249 /// <param name="pos">the position that the geom moved to</param>
2255 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param> 2250 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2256 /// <returns>a pointer to the new space it's in</returns> 2251 /// <returns>a pointer to the new space it's in</returns>
2257 public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace) 2252 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2258 { 2253 {
2259 // Called from setting the Position and Size of an ODEPrim so 2254 // Called from setting the Position and Size of an ODEPrim so
2260 // it's already in locked space. 2255 // it's already in locked space.
@@ -2401,7 +2396,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2401 /// </summary> 2396 /// </summary>
2402 /// <param name="pos"></param> 2397 /// <param name="pos"></param>
2403 /// <returns>a pointer to the space. This could be a new space or reused space.</returns> 2398 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2404 public IntPtr calculateSpaceForGeom(PhysicsVector pos) 2399 public IntPtr calculateSpaceForGeom(Vector3 pos)
2405 { 2400 {
2406 int[] xyspace = calculateSpaceArrayItemFromPos(pos); 2401 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2407 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString()); 2402 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
@@ -2413,7 +2408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2413 /// </summary> 2408 /// </summary>
2414 /// <param name="pos"></param> 2409 /// <param name="pos"></param>
2415 /// <returns>an array item based on the position</returns> 2410 /// <returns>an array item based on the position</returns>
2416 public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos) 2411 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2417 { 2412 {
2418 int[] returnint = new int[2]; 2413 int[] returnint = new int[2];
2419 2414
@@ -2572,7 +2567,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2572 if (prim is OdePrim) 2567 if (prim is OdePrim)
2573 { 2568 {
2574 OdePrim taintedprim = ((OdePrim) prim); 2569 OdePrim taintedprim = ((OdePrim) prim);
2575 lock (_taintedPrimH) 2570 lock (_taintedPrimLock)
2576 { 2571 {
2577 if (!(_taintedPrimH.Contains(taintedprim))) 2572 if (!(_taintedPrimH.Contains(taintedprim)))
2578 { 2573 {
@@ -2700,24 +2695,28 @@ namespace OpenSim.Region.Physics.OdePlugin
2700 // Modify other objects in the scene. 2695 // Modify other objects in the scene.
2701 processedtaints = false; 2696 processedtaints = false;
2702 2697
2703 lock (_taintedPrimL) 2698 lock (_taintedPrimLock)
2704 { 2699 {
2705 foreach (OdePrim prim in _taintedPrimL) 2700 foreach (OdePrim prim in _taintedPrimL)
2706 { 2701 {
2707
2708
2709 if (prim.m_taintremove) 2702 if (prim.m_taintremove)
2710 { 2703 {
2711//Console.WriteLine("Simulate calls RemovePrimThreadLocked"); 2704 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2712 RemovePrimThreadLocked(prim); 2705 RemovePrimThreadLocked(prim);
2713 } 2706 }
2714 else 2707 else
2715 { 2708 {
2716//Console.WriteLine("Simulate calls ProcessTaints"); 2709 //Console.WriteLine("Simulate calls ProcessTaints");
2717 prim.ProcessTaints(timeStep); 2710 prim.ProcessTaints(timeStep);
2718 } 2711 }
2719 processedtaints = true; 2712 processedtaints = true;
2720 prim.m_collisionscore = 0; 2713 prim.m_collisionscore = 0;
2714
2715 // This loop can block up the Heartbeat for a very long time on large regions.
2716 // We need to let the Watchdog know that the Heartbeat is not dead
2717 // NOTE: This is currently commented out, but if things like OAR loading are
2718 // timing the heartbeat out we will need to uncomment it
2719 //Watchdog.UpdateThread();
2721 } 2720 }
2722 2721
2723 if (SupportsNINJAJoints) 2722 if (SupportsNINJAJoints)
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
index cdd38c4..69e2d03 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
@@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.OdePlugin
76 public void CreateAndDropPhysicalCube() 76 public void CreateAndDropPhysicalCube()
77 { 77 {
78 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox(); 78 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
79 PhysicsVector position = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 128); 79 Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
80 PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f); 80 Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
81 Quaternion rot = Quaternion.Identity; 81 Quaternion rot = Quaternion.Identity;
82 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true); 82 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
83 OdePrim oprim = (OdePrim)prim; 83 OdePrim oprim = (OdePrim)prim;
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index 135f49e..566b4e7 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -36,20 +36,17 @@ namespace OpenSim.Region.Physics.POSPlugin
36{ 36{
37 public class POSCharacter : PhysicsActor 37 public class POSCharacter : PhysicsActor
38 { 38 {
39 private PhysicsVector _position; 39 private Vector3 _position;
40 public PhysicsVector _velocity; 40 public Vector3 _velocity;
41 public PhysicsVector _target_velocity = PhysicsVector.Zero; 41 public Vector3 _target_velocity = Vector3.Zero;
42 public PhysicsVector _size = PhysicsVector.Zero; 42 public Vector3 _size = Vector3.Zero;
43 private PhysicsVector _acceleration; 43 private Vector3 _acceleration;
44 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 44 private Vector3 m_rotationalVelocity = Vector3.Zero;
45 private bool flying; 45 private bool flying;
46 private bool isColliding; 46 private bool isColliding;
47 47
48 public POSCharacter() 48 public POSCharacter()
49 { 49 {
50 _velocity = new PhysicsVector();
51 _position = new PhysicsVector();
52 _acceleration = new PhysicsVector();
53 } 50 }
54 51
55 public override int PhysicsActorType 52 public override int PhysicsActorType
@@ -58,7 +55,7 @@ namespace OpenSim.Region.Physics.POSPlugin
58 set { return; } 55 set { return; }
59 } 56 }
60 57
61 public override PhysicsVector RotationalVelocity 58 public override Vector3 RotationalVelocity
62 { 59 {
63 get { return m_rotationalVelocity; } 60 get { return m_rotationalVelocity; }
64 set { m_rotationalVelocity = value; } 61 set { m_rotationalVelocity = value; }
@@ -137,13 +134,13 @@ namespace OpenSim.Region.Physics.POSPlugin
137 get { return false; } 134 get { return false; }
138 } 135 }
139 136
140 public override PhysicsVector Position 137 public override Vector3 Position
141 { 138 {
142 get { return _position; } 139 get { return _position; }
143 set { _position = value; } 140 set { _position = value; }
144 } 141 }
145 142
146 public override PhysicsVector Size 143 public override Vector3 Size
147 { 144 {
148 get { return _size; } 145 get { return _size; }
149 set 146 set
@@ -158,9 +155,9 @@ namespace OpenSim.Region.Physics.POSPlugin
158 get { return 0f; } 155 get { return 0f; }
159 } 156 }
160 157
161 public override PhysicsVector Force 158 public override Vector3 Force
162 { 159 {
163 get { return PhysicsVector.Zero; } 160 get { return Vector3.Zero; }
164 set { return; } 161 set { return; }
165 } 162 }
166 163
@@ -175,7 +172,7 @@ namespace OpenSim.Region.Physics.POSPlugin
175 172
176 } 173 }
177 174
178 public override void VehicleVectorParam(int param, PhysicsVector value) 175 public override void VehicleVectorParam(int param, Vector3 value)
179 { 176 {
180 177
181 } 178 }
@@ -190,14 +187,14 @@ namespace OpenSim.Region.Physics.POSPlugin
190 187
191 } 188 }
192 189
193 public override PhysicsVector CenterOfMass 190 public override Vector3 CenterOfMass
194 { 191 {
195 get { return PhysicsVector.Zero; } 192 get { return Vector3.Zero; }
196 } 193 }
197 194
198 public override PhysicsVector GeometricCenter 195 public override Vector3 GeometricCenter
199 { 196 {
200 get { return PhysicsVector.Zero; } 197 get { return Vector3.Zero; }
201 } 198 }
202 199
203 public override PrimitiveBaseShape Shape 200 public override PrimitiveBaseShape Shape
@@ -205,15 +202,15 @@ namespace OpenSim.Region.Physics.POSPlugin
205 set { return; } 202 set { return; }
206 } 203 }
207 204
208 public override PhysicsVector Velocity 205 public override Vector3 Velocity
209 { 206 {
210 get { return _velocity; } 207 get { return _velocity; }
211 set { _target_velocity = value; } 208 set { _target_velocity = value; }
212 } 209 }
213 210
214 public override PhysicsVector Torque 211 public override Vector3 Torque
215 { 212 {
216 get { return PhysicsVector.Zero; } 213 get { return Vector3.Zero; }
217 set { return; } 214 set { return; }
218 } 215 }
219 216
@@ -229,7 +226,7 @@ namespace OpenSim.Region.Physics.POSPlugin
229 set { } 226 set { }
230 } 227 }
231 228
232 public override PhysicsVector Acceleration 229 public override Vector3 Acceleration
233 { 230 {
234 get { return _acceleration; } 231 get { return _acceleration; }
235 } 232 }
@@ -248,24 +245,24 @@ namespace OpenSim.Region.Physics.POSPlugin
248 { 245 {
249 } 246 }
250 247
251 public override void LockAngularMotion(PhysicsVector axis) 248 public override void LockAngularMotion(Vector3 axis)
252 { 249 {
253 } 250 }
254 251
255 public void SetAcceleration(PhysicsVector accel) 252 public void SetAcceleration(Vector3 accel)
256 { 253 {
257 _acceleration = accel; 254 _acceleration = accel;
258 } 255 }
259 256
260 public override void AddForce(PhysicsVector force, bool pushforce) 257 public override void AddForce(Vector3 force, bool pushforce)
261 { 258 {
262 } 259 }
263 260
264 public override void AddAngularForce(PhysicsVector force, bool pushforce) 261 public override void AddAngularForce(Vector3 force, bool pushforce)
265 { 262 {
266 } 263 }
267 264
268 public override void SetMomentum(PhysicsVector momentum) 265 public override void SetMomentum(Vector3 momentum)
269 { 266 {
270 } 267 }
271 268
@@ -273,7 +270,7 @@ namespace OpenSim.Region.Physics.POSPlugin
273 { 270 {
274 } 271 }
275 272
276 public override PhysicsVector PIDTarget 273 public override Vector3 PIDTarget
277 { 274 {
278 set { return; } 275 set { return; }
279 } 276 }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index 4521dce..847b634 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -36,19 +36,16 @@ namespace OpenSim.Region.Physics.POSPlugin
36{ 36{
37 public class POSPrim : PhysicsActor 37 public class POSPrim : PhysicsActor
38 { 38 {
39 private PhysicsVector _position; 39 private Vector3 _position;
40 private PhysicsVector _velocity; 40 private Vector3 _velocity;
41 private PhysicsVector _acceleration; 41 private Vector3 _acceleration;
42 private PhysicsVector _size; 42 private Vector3 _size;
43 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 43 private Vector3 m_rotationalVelocity = Vector3.Zero;
44 private Quaternion _orientation; 44 private Quaternion _orientation;
45 private bool iscolliding; 45 private bool iscolliding;
46 46
47 public POSPrim() 47 public POSPrim()
48 { 48 {
49 _velocity = new PhysicsVector();
50 _position = new PhysicsVector();
51 _acceleration = new PhysicsVector();
52 } 49 }
53 50
54 public override int PhysicsActorType 51 public override int PhysicsActorType
@@ -57,7 +54,7 @@ namespace OpenSim.Region.Physics.POSPlugin
57 set { return; } 54 set { return; }
58 } 55 }
59 56
60 public override PhysicsVector RotationalVelocity 57 public override Vector3 RotationalVelocity
61 { 58 {
62 get { return m_rotationalVelocity; } 59 get { return m_rotationalVelocity; }
63 set { m_rotationalVelocity = value; } 60 set { m_rotationalVelocity = value; }
@@ -98,13 +95,13 @@ namespace OpenSim.Region.Physics.POSPlugin
98 get { return false; } 95 get { return false; }
99 } 96 }
100 97
101 public override PhysicsVector Position 98 public override Vector3 Position
102 { 99 {
103 get { return _position; } 100 get { return _position; }
104 set { _position = value; } 101 set { _position = value; }
105 } 102 }
106 103
107 public override PhysicsVector Size 104 public override Vector3 Size
108 { 105 {
109 get { return _size; } 106 get { return _size; }
110 set { _size = value; } 107 set { _size = value; }
@@ -115,9 +112,9 @@ namespace OpenSim.Region.Physics.POSPlugin
115 get { return 0f; } 112 get { return 0f; }
116 } 113 }
117 114
118 public override PhysicsVector Force 115 public override Vector3 Force
119 { 116 {
120 get { return PhysicsVector.Zero; } 117 get { return Vector3.Zero; }
121 set { return; } 118 set { return; }
122 } 119 }
123 120
@@ -132,7 +129,7 @@ namespace OpenSim.Region.Physics.POSPlugin
132 129
133 } 130 }
134 131
135 public override void VehicleVectorParam(int param, PhysicsVector value) 132 public override void VehicleVectorParam(int param, Vector3 value)
136 { 133 {
137 134
138 } 135 }
@@ -147,14 +144,14 @@ namespace OpenSim.Region.Physics.POSPlugin
147 144
148 } 145 }
149 146
150 public override PhysicsVector CenterOfMass 147 public override Vector3 CenterOfMass
151 { 148 {
152 get { return PhysicsVector.Zero; } 149 get { return Vector3.Zero; }
153 } 150 }
154 151
155 public override PhysicsVector GeometricCenter 152 public override Vector3 GeometricCenter
156 { 153 {
157 get { return PhysicsVector.Zero; } 154 get { return Vector3.Zero; }
158 } 155 }
159 156
160 public override PrimitiveBaseShape Shape 157 public override PrimitiveBaseShape Shape
@@ -173,7 +170,7 @@ namespace OpenSim.Region.Physics.POSPlugin
173 set { return; } 170 set { return; }
174 } 171 }
175 172
176 public override PhysicsVector Velocity 173 public override Vector3 Velocity
177 { 174 {
178 get { return _velocity; } 175 get { return _velocity; }
179 set { _velocity = value; } 176 set { _velocity = value; }
@@ -191,7 +188,7 @@ namespace OpenSim.Region.Physics.POSPlugin
191 set { _orientation = value; } 188 set { _orientation = value; }
192 } 189 }
193 190
194 public override PhysicsVector Acceleration 191 public override Vector3 Acceleration
195 { 192 {
196 get { return _acceleration; } 193 get { return _acceleration; }
197 } 194 }
@@ -202,26 +199,26 @@ namespace OpenSim.Region.Physics.POSPlugin
202 set { } 199 set { }
203 } 200 }
204 201
205 public void SetAcceleration(PhysicsVector accel) 202 public void SetAcceleration(Vector3 accel)
206 { 203 {
207 _acceleration = accel; 204 _acceleration = accel;
208 } 205 }
209 206
210 public override void AddForce(PhysicsVector force, bool pushforce) 207 public override void AddForce(Vector3 force, bool pushforce)
211 { 208 {
212 } 209 }
213 210
214 public override void AddAngularForce(PhysicsVector force, bool pushforce) 211 public override void AddAngularForce(Vector3 force, bool pushforce)
215 { 212 {
216 } 213 }
217 214
218 public override PhysicsVector Torque 215 public override Vector3 Torque
219 { 216 {
220 get { return PhysicsVector.Zero; } 217 get { return Vector3.Zero; }
221 set { return; } 218 set { return; }
222 } 219 }
223 220
224 public override void SetMomentum(PhysicsVector momentum) 221 public override void SetMomentum(Vector3 momentum)
225 { 222 {
226 } 223 }
227 224
@@ -255,7 +252,7 @@ namespace OpenSim.Region.Physics.POSPlugin
255 { 252 {
256 } 253 }
257 254
258 public override void LockAngularMotion(PhysicsVector axis) 255 public override void LockAngularMotion(Vector3 axis)
259 { 256 {
260 } 257 }
261 258
@@ -268,7 +265,7 @@ namespace OpenSim.Region.Physics.POSPlugin
268 { 265 {
269 } 266 }
270 267
271 public override PhysicsVector PIDTarget 268 public override Vector3 PIDTarget
272 { 269 {
273 set { return; } 270 set { return; }
274 } 271 }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
index fa8cc70..c3f5040 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSScene.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -56,7 +56,7 @@ namespace OpenSim.Region.Physics.POSPlugin
56 { 56 {
57 } 57 }
58 58
59 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 59 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
60 { 60 {
61 POSCharacter act = new POSCharacter(); 61 POSCharacter act = new POSCharacter();
62 act.Position = position; 62 act.Position = position;
@@ -84,20 +84,20 @@ namespace OpenSim.Region.Physics.POSPlugin
84 } 84 }
85 85
86/* 86/*
87 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) 87 public override PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
88 { 88 {
89 return null; 89 return null;
90 } 90 }
91*/ 91*/
92 92
93 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 93 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
94 PhysicsVector size, Quaternion rotation) 94 Vector3 size, Quaternion rotation)
95 { 95 {
96 return AddPrimShape(primName, pbs, position, size, rotation, false); 96 return AddPrimShape(primName, pbs, position, size, rotation, false);
97 } 97 }
98 98
99 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 99 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
100 PhysicsVector size, Quaternion rotation, bool isPhysical) 100 Vector3 size, Quaternion rotation, bool isPhysical)
101 { 101 {
102 POSPrim prim = new POSPrim(); 102 POSPrim prim = new POSPrim();
103 prim.Position = position; 103 prim.Position = position;
@@ -152,23 +152,25 @@ namespace OpenSim.Region.Physics.POSPlugin
152 character._target_velocity.Z += gravity * timeStep; 152 character._target_velocity.Z += gravity * timeStep;
153 } 153 }
154 154
155 character.Position.X += character._target_velocity.X * timeStep; 155 Vector3 characterPosition = character.Position;
156 character.Position.Y += character._target_velocity.Y * timeStep;
157 156
158 character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f); 157 characterPosition.X += character._target_velocity.X * timeStep;
159 character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f); 158 characterPosition.Y += character._target_velocity.Y * timeStep;
159
160 characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
161 characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
160 162
161 bool forcedZ = false; 163 bool forcedZ = false;
162 164
163 float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X]; 165 float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
164 if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2) 166 if (character.Position.Z + (character._target_velocity.Z * timeStep) < terrainheight + 2)
165 { 167 {
166 character.Position.Z = terrainheight + character.Size.Z; 168 characterPosition.Z = terrainheight + character.Size.Z;
167 forcedZ = true; 169 forcedZ = true;
168 } 170 }
169 else 171 else
170 { 172 {
171 character.Position.Z += character._target_velocity.Z*timeStep; 173 characterPosition.Z += character._target_velocity.Z*timeStep;
172 } 174 }
173 175
174 /// this is it -- the magic you've all been waiting for! Ladies and gentlemen -- 176 /// this is it -- the magic you've all been waiting for! Ladies and gentlemen --
@@ -177,29 +179,29 @@ namespace OpenSim.Region.Physics.POSPlugin
177 179
178 if (isCollidingWithPrim(character)) 180 if (isCollidingWithPrim(character))
179 { 181 {
180 character.Position.Z = oldposZ; // first try Z axis 182 characterPosition.Z = oldposZ; // first try Z axis
181 if (isCollidingWithPrim(character)) 183 if (isCollidingWithPrim(character))
182 { 184 {
183 character.Position.Z = oldposZ + character.Size.Z / 4.4f; // try harder 185 characterPosition.Z = oldposZ + character.Size.Z / 4.4f; // try harder
184 if (isCollidingWithPrim(character)) 186 if (isCollidingWithPrim(character))
185 { 187 {
186 character.Position.Z = oldposZ + character.Size.Z / 2.2f; // try very hard 188 characterPosition.Z = oldposZ + character.Size.Z / 2.2f; // try very hard
187 if (isCollidingWithPrim(character)) 189 if (isCollidingWithPrim(character))
188 { 190 {
189 character.Position.X = oldposX; 191 characterPosition.X = oldposX;
190 character.Position.Y = oldposY; 192 characterPosition.Y = oldposY;
191 character.Position.Z = oldposZ; 193 characterPosition.Z = oldposZ;
192 194
193 character.Position.X += character._target_velocity.X * timeStep; 195 characterPosition.X += character._target_velocity.X * timeStep;
194 if (isCollidingWithPrim(character)) 196 if (isCollidingWithPrim(character))
195 { 197 {
196 character.Position.X = oldposX; 198 characterPosition.X = oldposX;
197 } 199 }
198 200
199 character.Position.Y += character._target_velocity.Y * timeStep; 201 characterPosition.Y += character._target_velocity.Y * timeStep;
200 if (isCollidingWithPrim(character)) 202 if (isCollidingWithPrim(character))
201 { 203 {
202 character.Position.Y = oldposY; 204 characterPosition.Y = oldposY;
203 } 205 }
204 } 206 }
205 else 207 else
@@ -218,8 +220,10 @@ namespace OpenSim.Region.Physics.POSPlugin
218 } 220 }
219 } 221 }
220 222
221 character.Position.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f); 223 characterPosition.X = Util.Clamp(character.Position.X, 0.01f, Constants.RegionSize - 0.01f);
222 character.Position.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f); 224 characterPosition.Y = Util.Clamp(character.Position.Y, 0.01f, Constants.RegionSize - 0.01f);
225
226 character.Position = characterPosition;
223 227
224 character._velocity.X = (character.Position.X - oldposX)/timeStep; 228 character._velocity.X = (character.Position.X - oldposX)/timeStep;
225 character._velocity.Y = (character.Position.Y - oldposY)/timeStep; 229 character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index b3bf70b..24eb6b1 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -34,6 +34,7 @@ using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion; 34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection; 35using System.Reflection;
36using log4net; 36using log4net;
37using OpenMetaverse;
37 38
38namespace OpenSim.Region.Physics.PhysXPlugin 39namespace OpenSim.Region.Physics.PhysXPlugin
39{ 40{
@@ -106,7 +107,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
106 107
107 } 108 }
108 109
109 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying) 110 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
110 { 111 {
111 Vec3 pos = new Vec3(); 112 Vec3 pos = new Vec3();
112 pos.X = position.X; 113 pos.X = position.X;
@@ -127,7 +128,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
127 { 128 {
128 } 129 }
129 130
130 private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) 131 private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
131 { 132 {
132 Vec3 pos = new Vec3(); 133 Vec3 pos = new Vec3();
133 pos.X = position.X; 134 pos.X = position.X;
@@ -142,14 +143,14 @@ namespace OpenSim.Region.Physics.PhysXPlugin
142 return act; 143 return act;
143 } 144 }
144 145
145 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 146 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
146 PhysicsVector size, Quaternion rotation) //To be removed 147 Vector3 size, Quaternion rotation) //To be removed
147 { 148 {
148 return AddPrimShape(primName, pbs, position, size, rotation, false); 149 return AddPrimShape(primName, pbs, position, size, rotation, false);
149 } 150 }
150 151
151 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, 152 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
152 PhysicsVector size, Quaternion rotation, bool isPhysical) 153 Vector3 size, Quaternion rotation, bool isPhysical)
153 { 154 {
154 return AddPrim(position, size, rotation); 155 return AddPrim(position, size, rotation);
155 } 156 }
@@ -219,10 +220,10 @@ namespace OpenSim.Region.Physics.PhysXPlugin
219 220
220 public class PhysXCharacter : PhysicsActor 221 public class PhysXCharacter : PhysicsActor
221 { 222 {
222 private PhysicsVector _position; 223 private Vector3 _position;
223 private PhysicsVector _velocity; 224 private Vector3 _velocity;
224 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; 225 private Vector3 m_rotationalVelocity = Vector3.Zero;
225 private PhysicsVector _acceleration; 226 private Vector3 _acceleration;
226 private NxCharacter _character; 227 private NxCharacter _character;
227 private bool flying; 228 private bool flying;
228 private bool iscolliding = false; 229 private bool iscolliding = false;
@@ -230,9 +231,6 @@ namespace OpenSim.Region.Physics.PhysXPlugin
230 231
231 public PhysXCharacter(NxCharacter character) 232 public PhysXCharacter(NxCharacter character)
232 { 233 {
233 _velocity = new PhysicsVector();
234 _position = new PhysicsVector();
235 _acceleration = new PhysicsVector();
236 _character = character; 234 _character = character;
237 } 235 }
238 236
@@ -310,7 +308,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
310 set { return; } 308 set { return; }
311 } 309 }
312 310
313 public override PhysicsVector RotationalVelocity 311 public override Vector3 RotationalVelocity
314 { 312 {
315 get { return m_rotationalVelocity; } 313 get { return m_rotationalVelocity; }
316 set { m_rotationalVelocity = value; } 314 set { m_rotationalVelocity = value; }
@@ -321,7 +319,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
321 get { return false; } 319 get { return false; }
322 } 320 }
323 321
324 public override PhysicsVector Position 322 public override Vector3 Position
325 { 323 {
326 get { return _position; } 324 get { return _position; }
327 set 325 set
@@ -335,9 +333,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
335 } 333 }
336 } 334 }
337 335
338 public override PhysicsVector Size 336 public override Vector3 Size
339 { 337 {
340 get { return PhysicsVector.Zero; } 338 get { return Vector3.Zero; }
341 set { } 339 set { }
342 } 340 }
343 341
@@ -346,9 +344,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
346 get { return 0f; } 344 get { return 0f; }
347 } 345 }
348 346
349 public override PhysicsVector Force 347 public override Vector3 Force
350 { 348 {
351 get { return PhysicsVector.Zero; } 349 get { return Vector3.Zero; }
352 set { return; } 350 set { return; }
353 } 351 }
354 352
@@ -363,7 +361,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
363 361
364 } 362 }
365 363
366 public override void VehicleVectorParam(int param, PhysicsVector value) 364 public override void VehicleVectorParam(int param, Vector3 value)
367 { 365 {
368 366
369 } 367 }
@@ -379,17 +377,17 @@ namespace OpenSim.Region.Physics.PhysXPlugin
379 } 377 }
380 378
381 379
382 public override PhysicsVector CenterOfMass 380 public override Vector3 CenterOfMass
383 { 381 {
384 get { return PhysicsVector.Zero; } 382 get { return Vector3.Zero; }
385 } 383 }
386 384
387 public override PhysicsVector GeometricCenter 385 public override Vector3 GeometricCenter
388 { 386 {
389 get { return PhysicsVector.Zero; } 387 get { return Vector3.Zero; }
390 } 388 }
391 389
392 public override PhysicsVector Velocity 390 public override Vector3 Velocity
393 { 391 {
394 get { return _velocity; } 392 get { return _velocity; }
395 set { _velocity = value; } 393 set { _velocity = value; }
@@ -413,25 +411,25 @@ namespace OpenSim.Region.Physics.PhysXPlugin
413 set { } 411 set { }
414 } 412 }
415 413
416 public override PhysicsVector Acceleration 414 public override Vector3 Acceleration
417 { 415 {
418 get { return _acceleration; } 416 get { return _acceleration; }
419 } 417 }
420 418
421 public void SetAcceleration(PhysicsVector accel) 419 public void SetAcceleration(Vector3 accel)
422 { 420 {
423 _acceleration = accel; 421 _acceleration = accel;
424 } 422 }
425 423
426 public override void AddForce(PhysicsVector force, bool pushforce) 424 public override void AddForce(Vector3 force, bool pushforce)
427 { 425 {
428 } 426 }
429 public override PhysicsVector Torque 427 public override Vector3 Torque
430 { 428 {
431 get { return PhysicsVector.Zero; } 429 get { return Vector3.Zero; }
432 set { return; } 430 set { return; }
433 } 431 }
434 public override void AddAngularForce(PhysicsVector force, bool pushforce) 432 public override void AddAngularForce(Vector3 force, bool pushforce)
435 { 433 {
436 } 434 }
437 435
@@ -445,12 +443,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
445 443
446 } 444 }
447 445
448 public override void LockAngularMotion(PhysicsVector axis) 446 public override void LockAngularMotion(Vector3 axis)
449 { 447 {
450 448
451 } 449 }
452 450
453 public override void SetMomentum(PhysicsVector momentum) 451 public override void SetMomentum(Vector3 momentum)
454 { 452 {
455 } 453 }
456 454
@@ -492,7 +490,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
492 490
493 } 491 }
494 492
495 public override PhysicsVector PIDTarget { set { return; } } 493 public override Vector3 PIDTarget { set { return; } }
496 public override bool PIDActive { set { return; } } 494 public override bool PIDActive { set { return; } }
497 public override float PIDTau { set { return; } } 495 public override float PIDTau { set { return; } }
498 496
@@ -540,15 +538,15 @@ namespace OpenSim.Region.Physics.PhysXPlugin
540 538
541 public class PhysXPrim : PhysicsActor 539 public class PhysXPrim : PhysicsActor
542 { 540 {
543 private PhysicsVector _velocity; 541 private Vector3 _velocity;
544 private PhysicsVector _acceleration; 542 private Vector3 _acceleration;
545 private PhysicsVector m_rotationalVelocity; 543 private Vector3 m_rotationalVelocity;
546 private NxActor _prim; 544 private NxActor _prim;
547 545
548 public PhysXPrim(NxActor prim) 546 public PhysXPrim(NxActor prim)
549 { 547 {
550 _velocity = new PhysicsVector(); 548 _velocity = Vector3.Zero;
551 _acceleration = new PhysicsVector(); 549 _acceleration = Vector3.Zero;
552 _prim = prim; 550 _prim = prim;
553 } 551 }
554 552
@@ -602,7 +600,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
602 set { return; } 600 set { return; }
603 } 601 }
604 602
605 public override PhysicsVector RotationalVelocity 603 public override Vector3 RotationalVelocity
606 { 604 {
607 get { return m_rotationalVelocity; } 605 get { return m_rotationalVelocity; }
608 set { m_rotationalVelocity = value; } 606 set { m_rotationalVelocity = value; }
@@ -638,11 +636,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
638 get { return false; } 636 get { return false; }
639 } 637 }
640 638
641 public override PhysicsVector Position 639 public override Vector3 Position
642 { 640 {
643 get 641 get
644 { 642 {
645 PhysicsVector pos = new PhysicsVector(); 643 Vector3 pos = Vector3.Zero;
646 Vec3 vec = _prim.Position; 644 Vec3 vec = _prim.Position;
647 pos.X = vec.X; 645 pos.X = vec.X;
648 pos.Y = vec.Y; 646 pos.Y = vec.Y;
@@ -651,7 +649,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
651 } 649 }
652 set 650 set
653 { 651 {
654 PhysicsVector vec = value; 652 Vector3 vec = value;
655 Vec3 pos = new Vec3(); 653 Vec3 pos = new Vec3();
656 pos.X = vec.X; 654 pos.X = vec.X;
657 pos.Y = vec.Y; 655 pos.Y = vec.Y;
@@ -665,15 +663,15 @@ namespace OpenSim.Region.Physics.PhysXPlugin
665 set { return; } 663 set { return; }
666 } 664 }
667 665
668 public override PhysicsVector Velocity 666 public override Vector3 Velocity
669 { 667 {
670 get { return _velocity; } 668 get { return _velocity; }
671 set { _velocity = value; } 669 set { _velocity = value; }
672 } 670 }
673 671
674 public override PhysicsVector Torque 672 public override Vector3 Torque
675 { 673 {
676 get { return PhysicsVector.Zero; } 674 get { return Vector3.Zero; }
677 set { return; } 675 set { return; }
678 } 676 }
679 677
@@ -704,31 +702,31 @@ namespace OpenSim.Region.Physics.PhysXPlugin
704 set { } 702 set { }
705 } 703 }
706 704
707 public override PhysicsVector Acceleration 705 public override Vector3 Acceleration
708 { 706 {
709 get { return _acceleration; } 707 get { return _acceleration; }
710 } 708 }
711 709
712 public void SetAcceleration(PhysicsVector accel) 710 public void SetAcceleration(Vector3 accel)
713 { 711 {
714 _acceleration = accel; 712 _acceleration = accel;
715 } 713 }
716 714
717 public override void AddForce(PhysicsVector force, bool pushforce) 715 public override void AddForce(Vector3 force, bool pushforce)
718 { 716 {
719 } 717 }
720 718
721 public override void AddAngularForce(PhysicsVector force, bool pushforce) 719 public override void AddAngularForce(Vector3 force, bool pushforce)
722 { 720 {
723 } 721 }
724 722
725 public override void SetMomentum(PhysicsVector momentum) 723 public override void SetMomentum(Vector3 momentum)
726 { 724 {
727 } 725 }
728 726
729 public override PhysicsVector Size 727 public override Vector3 Size
730 { 728 {
731 get { return PhysicsVector.Zero; } 729 get { return Vector3.Zero; }
732 set { } 730 set { }
733 } 731 }
734 732
@@ -740,7 +738,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
740 { 738 {
741 } 739 }
742 740
743 public override void LockAngularMotion(PhysicsVector axis) 741 public override void LockAngularMotion(Vector3 axis)
744 { 742 {
745 743
746 } 744 }
@@ -750,9 +748,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
750 get { return 0f; } 748 get { return 0f; }
751 } 749 }
752 750
753 public override PhysicsVector Force 751 public override Vector3 Force
754 { 752 {
755 get { return PhysicsVector.Zero; } 753 get { return Vector3.Zero; }
756 set { return; } 754 set { return; }
757 } 755 }
758 756
@@ -767,7 +765,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
767 765
768 } 766 }
769 767
770 public override void VehicleVectorParam(int param, PhysicsVector value) 768 public override void VehicleVectorParam(int param, Vector3 value)
771 { 769 {
772 770
773 } 771 }
@@ -782,21 +780,21 @@ namespace OpenSim.Region.Physics.PhysXPlugin
782 780
783 } 781 }
784 782
785 public override PhysicsVector CenterOfMass 783 public override Vector3 CenterOfMass
786 { 784 {
787 get { return PhysicsVector.Zero; } 785 get { return Vector3.Zero; }
788 } 786 }
789 787
790 public override PhysicsVector GeometricCenter 788 public override Vector3 GeometricCenter
791 { 789 {
792 get { return PhysicsVector.Zero; } 790 get { return Vector3.Zero; }
793 } 791 }
794 792
795 public override void CrossingFailure() 793 public override void CrossingFailure()
796 { 794 {
797 } 795 }
798 796
799 public override PhysicsVector PIDTarget { set { return; } } 797 public override Vector3 PIDTarget { set { return; } }
800 public override bool PIDActive { set { return; } } 798 public override bool PIDActive { set { return; } }
801 public override float PIDTau { set { return; } } 799 public override float PIDTau { set { return; } }
802 800
generated by cgit v1.1 at 2024-11-11 04:44:20 +0000