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-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs3
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs2
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs1437
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs3917
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs375
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs (renamed from OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs)46
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs3869
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs122
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs98
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs1
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs6
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPrim.cs2
13 files changed, 9891 insertions, 45 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index ac4e2b9..f13c323 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -624,8 +624,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
624 { 624 {
625 set { return; } 625 set { return; }
626 } 626 }
627 627
628
629 public override Quaternion APIDTarget 628 public override Quaternion APIDTarget
630 { 629 {
631 set { return; } 630 set { return; }
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index e2a6a2e..f4245b6 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -996,7 +996,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
996 { 996 {
997 997
998 } 998 }
999 999
1000 public override void VehicleFlags(int param, bool remove) 1000 public override void VehicleFlags(int param, bool remove)
1001 { 1001 {
1002 1002
diff --git a/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..d65929a
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System.Reflection;
29using System.Runtime.InteropServices;
30
31// Information about this assembly is defined by the following
32// attributes.
33//
34// change them to the information which is associated with the assembly
35// you compile.
36
37[assembly : AssemblyTitle("OdePlugin")]
38[assembly : AssemblyDescription("")]
39[assembly : AssemblyConfiguration("")]
40[assembly : AssemblyCompany("http://opensimulator.org")]
41[assembly : AssemblyProduct("OdePlugin")]
42[assembly : AssemblyCopyright("Copyright (c) OpenSimulator.org Developers 2007-2009")]
43[assembly : AssemblyTrademark("")]
44[assembly : AssemblyCulture("")]
45
46// This sets the default COM visibility of types in the assembly to invisible.
47// If you need to expose a type to COM, use [ComVisible(true)] on that type.
48
49[assembly : ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly : AssemblyVersion("0.6.5.*")]
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
new file mode 100644
index 0000000..505d455
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -0,0 +1,1437 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using OpenMetaverse;
32using Ode.NET;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using log4net;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 /// <summary>
40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
41 /// </summary>
42
43 public enum dParam : int
44 {
45 LowStop = 0,
46 HiStop = 1,
47 Vel = 2,
48 FMax = 3,
49 FudgeFactor = 4,
50 Bounce = 5,
51 CFM = 6,
52 StopERP = 7,
53 StopCFM = 8,
54 LoStop2 = 256,
55 HiStop2 = 257,
56 Vel2 = 258,
57 FMax2 = 259,
58 StopERP2 = 7 + 256,
59 StopCFM2 = 8 + 256,
60 LoStop3 = 512,
61 HiStop3 = 513,
62 Vel3 = 514,
63 FMax3 = 515,
64 StopERP3 = 7 + 512,
65 StopCFM3 = 8 + 512
66 }
67 public class OdeCharacter : PhysicsActor
68 {
69 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
70
71 private Vector3 _position;
72 private d.Vector3 _zeroPosition;
73 // private d.Matrix3 m_StandUpRotation;
74 private bool _zeroFlag = false;
75 private bool m_lastUpdateSent = false;
76 private Vector3 _velocity;
77 private Vector3 _target_velocity;
78 private Vector3 _acceleration;
79 private Vector3 m_rotationalVelocity;
80 private float m_mass = 80f;
81 public float m_density = 60f;
82 private bool m_pidControllerActive = true;
83 public float PID_D = 800.0f;
84 public float PID_P = 900.0f;
85 //private static float POSTURE_SERVO = 10000.0f;
86 public float CAPSULE_RADIUS = 0.37f;
87 public float CAPSULE_LENGTH = 2.140599f;
88 public float m_tensor = 3800000f;
89 public float heightFudgeFactor = 0.52f;
90 public float walkDivisor = 1.3f;
91 public float runDivisor = 0.8f;
92 private bool flying = false;
93 private bool jumping = false; // add for jumping
94 private bool m_iscolliding = false;
95 private bool m_iscollidingGround = false;
96 private bool m_wascolliding = false;
97 private bool m_wascollidingGround = false;
98 private bool m_iscollidingObj = false;
99 private bool m_alwaysRun = false;
100 private bool m_hackSentFall = false;
101 private bool m_hackSentFly = false;
102 private int m_requestedUpdateFrequency = 0;
103 private Vector3 m_taintPosition = Vector3.Zero;
104 public uint m_localID = 0;
105 public bool m_returnCollisions = false;
106 // taints and their non-tainted counterparts
107 public bool m_isPhysical = false; // the current physical status
108 public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
109 public float MinimumGroundFlightOffset = 3f;
110
111 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
112 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
113
114
115 private float m_buoyancy = 0f;
116
117 // private CollisionLocker ode;
118
119 private string m_name = String.Empty;
120
121 private bool[] m_colliderarr = new bool[11];
122 private bool[] m_colliderGroundarr = new bool[11];
123
124 // Default we're a Character
125 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
126
127 // Default, Collide with Other Geometries, spaces, bodies and characters.
128 private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
129 | CollisionCategories.Space
130 | CollisionCategories.Body
131 | CollisionCategories.Character
132 | CollisionCategories.Land);
133 public IntPtr Body = IntPtr.Zero;
134 private OdeScene _parent_scene;
135 public IntPtr Shell = IntPtr.Zero;
136 public IntPtr Amotor = IntPtr.Zero;
137 public d.Mass ShellMass;
138 public bool collidelock = false;
139
140 public int m_eventsubscription = 0;
141 private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
142
143 // unique UUID of this character object
144 public UUID m_uuid;
145 public bool bad = false;
146 private Object m_syncRoot = new Object();
147
148 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)
149 {
150 m_uuid = UUID.Random();
151
152 if (pos.IsFinite())
153 {
154 if (pos.Z > 9999999f)
155 {
156 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
157 }
158 if (pos.Z < -90000f)
159 {
160 pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
161 }
162 _position = pos;
163 m_taintPosition.X = pos.X;
164 m_taintPosition.Y = pos.Y;
165 m_taintPosition.Z = pos.Z;
166 }
167 else
168 {
169 _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
170 m_taintPosition.X = _position.X;
171 m_taintPosition.Y = _position.Y;
172 m_taintPosition.Z = _position.Z;
173 m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
174 }
175
176 _parent_scene = parent_scene;
177
178 PID_D = pid_d;
179 PID_P = pid_p;
180 CAPSULE_RADIUS = capsule_radius;
181 m_tensor = tensor;
182 m_density = density;
183 heightFudgeFactor = height_fudge_factor;
184 walkDivisor = walk_divisor;
185 runDivisor = rundivisor;
186
187 // m_StandUpRotation =
188 // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
189 // 0.5f);
190
191 for (int i = 0; i < 11; i++)
192 {
193 m_colliderarr[i] = false;
194 }
195 CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
196 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
197 m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
198
199 m_isPhysical = false; // current status: no ODE information exists
200 m_tainted_isPhysical = true; // new tainted status: need to create ODE information
201
202 _parent_scene.AddPhysicsActorTaint(this);
203
204 m_name = avName;
205 }
206
207 public override int PhysicsActorType
208 {
209 get { return (int) ActorTypes.Agent; }
210 set { return; }
211 }
212
213 /// <summary>
214 /// If this is set, the avatar will move faster
215 /// </summary>
216 public override bool SetAlwaysRun
217 {
218 get { return m_alwaysRun; }
219 set { m_alwaysRun = value; }
220 }
221
222 public override uint LocalID
223 {
224 set { m_localID = value; }
225 }
226
227 public override bool Grabbed
228 {
229 set { return; }
230 }
231
232 public override bool Selected
233 {
234// set { return; }
235 set { jumping = value; } // add for jumping flag
236 }
237
238 public override float Buoyancy
239 {
240 get { return m_buoyancy; }
241 set { m_buoyancy = value; }
242 }
243
244 public override bool FloatOnWater
245 {
246 set { return; }
247 }
248
249 public override bool IsPhysical
250 {
251 get { return false; }
252 set { return; }
253 }
254
255 public override bool ThrottleUpdates
256 {
257 get { return false; }
258 set { return; }
259 }
260
261 public override bool Flying
262 {
263 get { return flying; }
264 set { flying = value; }
265 }
266
267 /// <summary>
268 /// Returns if the avatar is colliding in general.
269 /// This includes the ground and objects and avatar.
270 /// </summary>
271 public override bool IsColliding
272 {
273//#@ get { return m_iscolliding; }
274 get { //##
275//Console.WriteLine(">>>>>>>>>>>> IC get = {0}", m_iscolliding); //##
276 return m_iscolliding; } //##
277 set
278 {
279 int i;
280 int truecount = 0;
281 int falsecount = 0;
282
283 if (m_colliderarr.Length >= 10)
284 {
285 for (i = 0; i < 10; i++)
286 {
287 m_colliderarr[i] = m_colliderarr[i + 1];
288 }
289 }
290 m_colliderarr[10] = value;
291
292 for (i = 0; i < 11; i++)
293 {
294 if (m_colliderarr[i])
295 {
296 truecount++;
297 }
298 else
299 {
300 falsecount++;
301 }
302 }
303
304 // Equal truecounts and false counts means we're colliding with something.
305
306 if (falsecount > 1.2*truecount)
307 {
308 m_iscolliding = false;
309 }
310 else
311 {
312 m_iscolliding = true;
313 }
314// ## Console.WriteLine("IC SET = {0} t{1} f{2} i {3}", value, truecount, falsecount, m_iscolliding);
315 if (m_wascolliding != m_iscolliding)
316 {
317 //base.SendCollisionUpdate(new CollisionEventUpdate());
318 }
319 m_wascolliding = m_iscolliding;
320 }
321 }
322
323 /// <summary>
324 /// Returns if an avatar is colliding with the ground
325 /// </summary>
326 public override bool CollidingGround
327 {
328 get { return m_iscollidingGround; }
329 set
330 {
331 // Collisions against the ground are not really reliable
332 // So, to get a consistant value we have to average the current result over time
333 // Currently we use 1 second = 10 calls to this.
334 int i;
335 int truecount = 0;
336 int falsecount = 0;
337
338 if (m_colliderGroundarr.Length >= 10)
339 {
340 for (i = 0; i < 10; i++)
341 {
342 m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
343 }
344 }
345 m_colliderGroundarr[10] = value;
346
347 for (i = 0; i < 11; i++)
348 {
349 if (m_colliderGroundarr[i])
350 {
351 truecount++;
352 }
353 else
354 {
355 falsecount++;
356 }
357 }
358
359 // Equal truecounts and false counts means we're colliding with something.
360
361 if (falsecount > 1.2*truecount)
362 {
363 m_iscollidingGround = false;
364 }
365 else
366 {
367 m_iscollidingGround = true;
368 }
369 if (m_wascollidingGround != m_iscollidingGround)
370 {
371 //base.SendCollisionUpdate(new CollisionEventUpdate());
372 }
373 m_wascollidingGround = m_iscollidingGround;
374 }
375 }
376
377 /// <summary>
378 /// Returns if the avatar is colliding with an object
379 /// </summary>
380 public override bool CollidingObj
381 {
382 get { return m_iscollidingObj; }
383 set
384 {
385 m_iscollidingObj = value;
386 if (value)
387 m_pidControllerActive = false;
388 else
389 m_pidControllerActive = true;
390 }
391 }
392
393 /// <summary>
394 /// turn the PID controller on or off.
395 /// The PID Controller will turn on all by itself in many situations
396 /// </summary>
397 /// <param name="status"></param>
398 public void SetPidStatus(bool status)
399 {
400 m_pidControllerActive = status;
401 }
402
403 public override bool Stopped
404 {
405 get { return _zeroFlag; }
406 }
407
408 /// <summary>
409 /// This 'puts' an avatar somewhere in the physics space.
410 /// Not really a good choice unless you 'know' it's a good
411 /// spot otherwise you're likely to orbit the avatar.
412 /// </summary>
413 public override Vector3 Position
414 {
415 get { return _position; }
416 set
417 {
418 if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
419 {
420 if (value.IsFinite())
421 {
422 if (value.Z > 9999999f)
423 {
424 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
425 }
426 if (value.Z < -90000f)
427 {
428 value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
429 }
430
431 _position.X = value.X;
432 _position.Y = value.Y;
433 _position.Z = value.Z;
434
435 m_taintPosition.X = value.X;
436 m_taintPosition.Y = value.Y;
437 m_taintPosition.Z = value.Z;
438 _parent_scene.AddPhysicsActorTaint(this);
439 }
440 else
441 {
442 m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
443 }
444 }
445 }
446 }
447
448 public override Vector3 RotationalVelocity
449 {
450 get { return m_rotationalVelocity; }
451 set { m_rotationalVelocity = value; }
452 }
453
454 /// <summary>
455 /// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
456 /// and use it to offset landings properly
457 /// </summary>
458 public override Vector3 Size
459 {
460 get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
461 set
462 {
463 if (value.IsFinite())
464 {
465 m_pidControllerActive = true;
466
467 Vector3 SetSize = value;
468 m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
469 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
470
471 Velocity = Vector3.Zero;
472
473 _parent_scene.AddPhysicsActorTaint(this);
474 }
475 else
476 {
477 m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
478 }
479 }
480 }
481
482 private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
483 {
484 movementVector.Z = 0f;
485 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
486 if (magnitude < 0.1f) return;
487
488 // normalize the velocity vector
489 float invMagnitude = 1.0f / magnitude;
490 movementVector.X *= invMagnitude;
491 movementVector.Y *= invMagnitude;
492
493 // if we change the capsule heading too often, the capsule can fall down
494 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
495 // meaning only 4 possible capsule tilt orientations
496 if (movementVector.X > 0)
497 {
498 // east
499 if (movementVector.Y > 0)
500 {
501 // northeast
502 movementVector.X = (float)Math.Sqrt(2.0);
503 movementVector.Y = (float)Math.Sqrt(2.0);
504 }
505 else
506 {
507 // southeast
508 movementVector.X = (float)Math.Sqrt(2.0);
509 movementVector.Y = -(float)Math.Sqrt(2.0);
510 }
511 }
512 else
513 {
514 // west
515 if (movementVector.Y > 0)
516 {
517 // northwest
518 movementVector.X = -(float)Math.Sqrt(2.0);
519 movementVector.Y = (float)Math.Sqrt(2.0);
520 }
521 else
522 {
523 // southwest
524 movementVector.X = -(float)Math.Sqrt(2.0);
525 movementVector.Y = -(float)Math.Sqrt(2.0);
526 }
527 }
528
529
530 // movementVector.Z is zero
531
532 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
533 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
534 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
535 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
536
537 //m_log.Debug("[PHYSICS] changing avatar tilt");
538 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
539 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
540 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
541 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
542 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
544 }
545
546 /// <summary>
547 /// This creates the Avatar's physical Surrogate at the position supplied
548 /// </summary>
549 /// <param name="npositionX"></param>
550 /// <param name="npositionY"></param>
551 /// <param name="npositionZ"></param>
552
553 // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
554 // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
555 // place that is safe to call this routine AvatarGeomAndBodyCreation.
556 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
557 {
558 //CAPSULE_LENGTH = -5;
559 //CAPSULE_RADIUS = -5;
560 int dAMotorEuler = 1;
561 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
562 if (CAPSULE_LENGTH <= 0)
563 {
564 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
565 CAPSULE_LENGTH = 0.01f;
566
567 }
568
569 if (CAPSULE_RADIUS <= 0)
570 {
571 m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
572 CAPSULE_RADIUS = 0.01f;
573
574 }
575
576 if(Shell != IntPtr.Zero)
577 {
578 try
579 {
580 d.GeomDestroy(Shell);
581 }
582 catch (System.AccessViolationException)
583 {
584 m_log.Error("[PHYSICS]: PrimGeom dead");
585 }
586 // Remove any old entries
587//string tShell;
588//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
589//Console.WriteLine("**** Remove {0}", tShell);
590 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
591 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
592 }
593
594 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
595 _parent_scene.geom_name_map[Shell] = m_name;
596 _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
597Console.WriteLine("**** Create {2} Dicts: actor={0} name={1} height={3} rad={4}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, m_name, CAPSULE_LENGTH, CAPSULE_RADIUS);
598
599 d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
600 d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
601
602 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
603 Body = d.BodyCreate(_parent_scene.world);
604 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
605
606 _position.X = npositionX;
607 _position.Y = npositionY;
608 _position.Z = npositionZ;
609
610
611 m_taintPosition.X = npositionX;
612 m_taintPosition.Y = npositionY;
613 m_taintPosition.Z = npositionZ;
614
615 d.BodySetMass(Body, ref ShellMass);
616 d.Matrix3 m_caprot;
617 // 90 Stand up on the cap of the capped cyllinder
618 if (_parent_scene.IsAvCapsuleTilted)
619 {
620 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
621 }
622 else
623 {
624 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
625 }
626
627
628 d.GeomSetRotation(Shell, ref m_caprot);
629 d.BodySetRotation(Body, ref m_caprot);
630
631 d.GeomSetBody(Shell, Body);
632
633
634 // The purpose of the AMotor here is to keep the avatar's physical
635 // surrogate from rotating while moving
636 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
637 d.JointAttach(Amotor, Body, IntPtr.Zero);
638 d.JointSetAMotorMode(Amotor, dAMotorEuler);
639 d.JointSetAMotorNumAxes(Amotor, 3);
640 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
641 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
642 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
643 d.JointSetAMotorAngle(Amotor, 0, 0);
644 d.JointSetAMotorAngle(Amotor, 1, 0);
645 d.JointSetAMotorAngle(Amotor, 2, 0);
646
647 // These lowstops and high stops are effectively (no wiggle room)
648 if (_parent_scene.IsAvCapsuleTilted)
649 {
650 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
651 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
652 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
653 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
654 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
655 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
656 }
657 else
658 {
659 #region Documentation of capsule motor LowStop and HighStop parameters
660 // Intentionally introduce some tilt into the capsule by setting
661 // the motor stops to small epsilon values. This small tilt prevents
662 // the capsule from falling into the terrain; a straight-up capsule
663 // (with -0..0 motor stops) falls into the terrain for reasons yet
664 // to be comprehended in their entirety.
665 #endregion
666 AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
667 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
668 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
669 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
670 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
671 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
672 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
673 }
674
675 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
676 // capped cyllinder will fall over
677 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
678 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
679
680 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
681 //d.QfromR(
682 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
683 //
684 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
685 //standupStraight();
686 }
687
688 //
689 /// <summary>
690 /// Uses the capped cyllinder volume formula to calculate the avatar's mass.
691 /// This may be used in calculations in the scene/scenepresence
692 /// </summary>
693 public override float Mass
694 {
695 get
696 {
697 float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
698 return m_density*AVvolume;
699 }
700 }
701 public override void link(PhysicsActor obj)
702 {
703
704 }
705
706 public override void delink()
707 {
708
709 }
710
711 public override void LockAngularMotion(Vector3 axis)
712 {
713
714 }
715
716// This code is very useful. Written by DanX0r. We're just not using it right now.
717// Commented out to prevent a warning.
718//
719// private void standupStraight()
720// {
721// // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
722// // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
723// // change appearance and when you enter the simulator
724// // After this routine is done, the amotor stabilizes much quicker
725// d.Vector3 feet;
726// d.Vector3 head;
727// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
728// d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
729// float posture = head.Z - feet.Z;
730
731// // restoring force proportional to lack of posture:
732// float servo = (2.5f - posture) * POSTURE_SERVO;
733// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
734// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
735// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
736// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
737// }
738
739 public override Vector3 Force
740 {
741 get { return _target_velocity; }
742 set { return; }
743 }
744
745 public override int VehicleType
746 {
747 get { return 0; }
748 set { return; }
749 }
750
751 public override void VehicleFloatParam(int param, float value)
752 {
753
754 }
755
756 public override void VehicleVectorParam(int param, Vector3 value)
757 {
758
759 }
760
761 public override void VehicleRotationParam(int param, Quaternion rotation)
762 {
763
764 }
765
766 public override void VehicleFlags(int flags, bool remove)
767 {
768 }
769
770 public override void SetVolumeDetect(int param)
771 {
772
773 }
774
775 public override Vector3 CenterOfMass
776 {
777 get { return Vector3.Zero; }
778 }
779
780 public override Vector3 GeometricCenter
781 {
782 get { return Vector3.Zero; }
783 }
784
785 public override PrimitiveBaseShape Shape
786 {
787 set { return; }
788 }
789
790 public override Vector3 Velocity
791 {
792 get {
793 // There's a problem with Vector3.Zero! Don't Use it Here!
794 if (_zeroFlag)
795 return Vector3.Zero;
796 m_lastUpdateSent = false;
797 return _velocity;
798 }
799 set
800 {
801 if (value.IsFinite())
802 {
803 m_pidControllerActive = true;
804 _target_velocity = value;
805 }
806 else
807 {
808 m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
809 }
810 }
811 }
812
813 public override Vector3 Torque
814 {
815 get { return Vector3.Zero; }
816 set { return; }
817 }
818
819 public override float CollisionScore
820 {
821 get { return 0f; }
822 set { }
823 }
824
825 public override bool Kinematic
826 {
827 get { return false; }
828 set { }
829 }
830
831 public override Quaternion Orientation
832 {
833 get { return Quaternion.Identity; }
834 set {
835 //Matrix3 or = Orientation.ToRotationMatrix();
836 //d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
837 //d.BodySetRotation(Body, ref ord);
838 }
839 }
840
841 public override Vector3 Acceleration
842 {
843 get { return _acceleration; }
844 }
845
846 public void SetAcceleration(Vector3 accel)
847 {
848 m_pidControllerActive = true;
849 _acceleration = accel;
850 }
851
852 /// <summary>
853 /// Adds the force supplied to the Target Velocity
854 /// The PID controller takes this target velocity and tries to make it a reality
855 /// </summary>
856 /// <param name="force"></param>
857 public override void AddForce(Vector3 force, bool pushforce)
858 {
859 if (force.IsFinite())
860 {
861 if (pushforce)
862 {
863 m_pidControllerActive = false;
864 force *= 100f;
865//Console.WriteLine("DF 1"); // ##
866 if (!force.ApproxEquals(Vector3.Zero, 0.01f))
867 doForce(force);
868 // If uncommented, things get pushed off world
869 //
870 // m_log.Debug("Push!");
871 // _target_velocity.X += force.X;
872 // _target_velocity.Y += force.Y;
873 // _target_velocity.Z += force.Z;
874 }
875 else
876 {
877 m_pidControllerActive = true;
878 _target_velocity.X += force.X;
879 _target_velocity.Y += force.Y;
880 _target_velocity.Z += force.Z;
881 }
882 }
883 else
884 {
885 m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
886 }
887 //m_lastUpdateSent = false;
888 }
889
890 public override void AddAngularForce(Vector3 force, bool pushforce)
891 {
892
893 }
894
895 /// <summary>
896 /// After all of the forces add up with 'add force' we apply them with doForce
897 /// </summary>
898 /// <param name="force"></param>
899 public void doForce(Vector3 force)
900 {
901 if (!collidelock)
902 {
903 d.BodyAddForce(Body, force.X, force.Y, force.Z);
904 //d.BodySetRotation(Body, ref m_StandUpRotation);
905 //standupStraight();
906 d.Vector3 vel = d.BodyGetLinearVel(Body); //##
907//Console.WriteLine("AvVel <{0},{1},{2}>", vel.X, vel.Y, vel.Z); //##
908 }
909 }
910
911 public override void SetMomentum(Vector3 momentum)
912 {
913 }
914
915
916 /// <summary>
917 /// Called from Simulate
918 /// This is the avatar's movement control + PID Controller
919 /// </summary>
920 /// <param name="timeStep"></param>
921 public void Move(float timeStep, List<OdeCharacter> defects)
922 {
923 // no lock; for now it's only called from within Simulate()
924
925 // If the PID Controller isn't active then we set our force
926 // calculating base velocity to the current position
927
928 if (Body == IntPtr.Zero)
929 return;
930
931 if (m_pidControllerActive == false)
932 {
933 _zeroPosition = d.BodyGetPosition(Body);
934 }
935 //PidStatus = true;
936
937 d.Vector3 localpos = d.BodyGetPosition(Body);
938 Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
939
940 if (!localPos.IsFinite())
941 {
942
943 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
944 defects.Add(this);
945 // _parent_scene.RemoveCharacter(this);
946
947 // destroy avatar capsule and related ODE data
948 if (Amotor != IntPtr.Zero)
949 {
950 // Kill the Amotor
951 d.JointDestroy(Amotor);
952 Amotor = IntPtr.Zero;
953 }
954
955 //kill the Geometry
956 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
957
958 if (Body != IntPtr.Zero)
959 {
960 //kill the body
961 d.BodyDestroy(Body);
962
963 Body = IntPtr.Zero;
964 }
965
966 if(Shell != IntPtr.Zero)
967 {
968 try
969 {
970 d.GeomDestroy(Shell);
971 }
972 catch (System.AccessViolationException)
973 {
974 m_log.Error("[PHYSICS]: PrimGeom dead");
975 }
976 // Remove any old entries
977//string tShell;
978//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
979//Console.WriteLine("**** Remove {0}", tShell);
980
981 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
982 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
983 Shell = IntPtr.Zero;
984 }
985
986 return;
987 }
988
989 Vector3 vec = Vector3.Zero;
990 d.Vector3 vel = d.BodyGetLinearVel(Body);
991
992 float movementdivisor = 1f;
993
994 if (!m_alwaysRun)
995 {
996 movementdivisor = walkDivisor;
997 }
998 else
999 {
1000 movementdivisor = runDivisor;
1001 }
1002
1003 // if velocity is zero, use position control; otherwise, velocity control
1004 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
1005 {
1006 // keep track of where we stopped. No more slippin' & slidin'
1007 if (!_zeroFlag)
1008 {
1009 _zeroFlag = true;
1010 _zeroPosition = d.BodyGetPosition(Body);
1011 }
1012 if (m_pidControllerActive)
1013 {
1014 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1015 // react to the physics scene by moving it's position.
1016 // Avatar to Avatar collisions
1017 // Prim to avatar collisions
1018
1019 d.Vector3 pos = d.BodyGetPosition(Body);
1020 float errX = _zeroPosition.X - pos.X;
1021 float errY = _zeroPosition.Y - pos.Y;
1022 if( (Math.Abs(errX) > 0.1f) || (Math.Abs(errY) > 0.1f) )
1023 {
1024 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (errX) * (PID_P * 2);
1025 vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (errY) * (PID_P * 2);
1026 }
1027 else
1028 { // close, jump to lateral destination
1029 d.BodySetPosition(Body, _zeroPosition.X, _zeroPosition.Y, pos.Z);
1030 }
1031// if (flying)
1032 if (flying || jumping) // add for jumping
1033 {
1034 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1035 }
1036 }
1037 //PidStatus = true;
1038 }
1039 else
1040 {
1041 m_pidControllerActive = true;
1042 _zeroFlag = false;
1043 if (m_iscolliding && !flying)
1044 {
1045 // We're standing on something
1046 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
1047 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
1048 }
1049 else if (m_iscolliding && flying)
1050 {
1051 // We're flying and colliding with something
1052 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
1053 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
1054 }
1055 else if (!m_iscolliding && flying)
1056 {
1057 // we're in mid air suspended
1058 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
1059 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
1060 }
1061
1062 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
1063 {
1064 // We're colliding with something and we're not flying but we're moving
1065 // This means we're walking or running.
1066 d.Vector3 pos = d.BodyGetPosition(Body);
1067 vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
1068 if (_target_velocity.X > 0)
1069 {
1070 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1071 }
1072 if (_target_velocity.Y > 0)
1073 {
1074 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1075 }
1076 }
1077 else if (!m_iscolliding && !flying)
1078 {
1079 // we're not colliding and we're not flying so that means we're falling!
1080 // m_iscolliding includes collisions with the ground.
1081
1082 // d.Vector3 pos = d.BodyGetPosition(Body);
1083 if (Math.Abs(_target_velocity.X) > 0)
1084 {
1085 vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
1086 }
1087 if (Math.Abs(_target_velocity.Y) > 0)
1088 {
1089 vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
1090 }
1091 }
1092
1093 if (flying)
1094 {
1095 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
1096 }
1097 }
1098 if (flying)
1099 {
1100 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
1101
1102 //Added for auto fly height. Kitto Flora
1103 //d.Vector3 pos = d.BodyGetPosition(Body);
1104 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
1105
1106 if (_position.Z < target_altitude)
1107 {
1108 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
1109 }
1110 // end add Kitto Flora
1111 }
1112 if (vec.IsFinite())
1113 {
1114 if (!vec.ApproxEquals(Vector3.Zero, 0.02f)) // 0.01 allows 0.002 !!
1115 {
1116//Console.WriteLine("DF 2"); // ##
1117
1118 doForce(vec);
1119 if (!_zeroFlag)
1120 {
1121// AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
1122 }
1123 }
1124 }
1125 else
1126 {
1127 m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
1128 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
1129 defects.Add(this);
1130 // _parent_scene.RemoveCharacter(this);
1131 // destroy avatar capsule and related ODE data
1132 if (Amotor != IntPtr.Zero)
1133 {
1134 // Kill the Amotor
1135 d.JointDestroy(Amotor);
1136 Amotor = IntPtr.Zero;
1137 }
1138 //kill the Geometry
1139 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1140
1141 if (Body != IntPtr.Zero)
1142 {
1143 //kill the body
1144 d.BodyDestroy(Body);
1145
1146 Body = IntPtr.Zero;
1147 }
1148
1149 if(Shell != IntPtr.Zero)
1150 {
1151 try
1152 {
1153 d.GeomDestroy(Shell);
1154 }
1155 catch (System.AccessViolationException)
1156 {
1157 m_log.Error("[PHYSICS]: PrimGeom dead");
1158 }
1159 // Remove any old entries
1160//string tShell;
1161//_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1162//Console.WriteLine("**** Remove {0}", tShell);
1163
1164 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1165 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1166 Shell = IntPtr.Zero;
1167 }
1168 }
1169 }
1170
1171 /// <summary>
1172 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
1173 /// </summary>
1174 public void UpdatePositionAndVelocity()
1175 {
1176 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
1177 d.Vector3 vec;
1178 try
1179 {
1180 vec = d.BodyGetPosition(Body);
1181 }
1182 catch (NullReferenceException)
1183 {
1184 bad = true;
1185 _parent_scene.BadCharacter(this);
1186 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1187 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1188 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1189 }
1190
1191
1192 // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
1193 if (vec.X < 0.0f) vec.X = 0.0f;
1194 if (vec.Y < 0.0f) vec.Y = 0.0f;
1195 if (vec.X > (int)_parent_scene.WorldExtents.X - 0.05f) vec.X = (int)_parent_scene.WorldExtents.X - 0.05f;
1196 if (vec.Y > (int)_parent_scene.WorldExtents.Y - 0.05f) vec.Y = (int)_parent_scene.WorldExtents.Y - 0.05f;
1197
1198 _position.X = vec.X;
1199 _position.Y = vec.Y;
1200 _position.Z = vec.Z;
1201
1202 // Did we move last? = zeroflag
1203 // This helps keep us from sliding all over
1204
1205 if (_zeroFlag)
1206 {
1207 _velocity.X = 0.0f;
1208 _velocity.Y = 0.0f;
1209 _velocity.Z = 0.0f;
1210
1211 // Did we send out the 'stopped' message?
1212 if (!m_lastUpdateSent)
1213 {
1214 m_lastUpdateSent = true;
1215 //base.RequestPhysicsterseUpdate();
1216
1217 }
1218 }
1219 else
1220 {
1221 m_lastUpdateSent = false;
1222 try
1223 {
1224 vec = d.BodyGetLinearVel(Body);
1225 }
1226 catch (NullReferenceException)
1227 {
1228 vec.X = _velocity.X;
1229 vec.Y = _velocity.Y;
1230 vec.Z = _velocity.Z;
1231 }
1232 _velocity.X = (vec.X);
1233 _velocity.Y = (vec.Y);
1234
1235 _velocity.Z = (vec.Z);
1236
1237 if (_velocity.Z < -6 && !m_hackSentFall)
1238 {
1239 m_hackSentFall = true;
1240 m_pidControllerActive = false;
1241 }
1242 else if (flying && !m_hackSentFly)
1243 {
1244 //m_hackSentFly = true;
1245 //base.SendCollisionUpdate(new CollisionEventUpdate());
1246 }
1247 else
1248 {
1249 m_hackSentFly = false;
1250 m_hackSentFall = false;
1251 }
1252 }
1253 }
1254
1255 /// <summary>
1256 /// Cleanup the things we use in the scene.
1257 /// </summary>
1258 public void Destroy()
1259 {
1260 m_tainted_isPhysical = false;
1261 _parent_scene.AddPhysicsActorTaint(this);
1262 }
1263
1264 public override void CrossingFailure()
1265 {
1266 }
1267
1268 public override Vector3 PIDTarget { set { return; } }
1269 public override bool PIDActive { set { return; } }
1270 public override float PIDTau { set { return; } }
1271
1272 public override float PIDHoverHeight { set { return; } }
1273 public override bool PIDHoverActive { set { return; } }
1274 public override PIDHoverType PIDHoverType { set { return; } }
1275 public override float PIDHoverTau { set { return; } }
1276
1277 public override Quaternion APIDTarget{ set { return; } }
1278
1279 public override bool APIDActive{ set { return; } }
1280
1281 public override float APIDStrength{ set { return; } }
1282
1283 public override float APIDDamping{ set { return; } }
1284
1285
1286 public override void SubscribeEvents(int ms)
1287 {
1288 m_requestedUpdateFrequency = ms;
1289 m_eventsubscription = ms;
1290 _parent_scene.addCollisionEventReporting(this);
1291 }
1292 public override void UnSubscribeEvents()
1293 {
1294 _parent_scene.remCollisionEventReporting(this);
1295 m_requestedUpdateFrequency = 0;
1296 m_eventsubscription = 0;
1297 }
1298 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
1299 {
1300 if (m_eventsubscription > 0)
1301 {
1302 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
1303 }
1304 }
1305
1306 public void SendCollisions()
1307 {
1308 if (m_eventsubscription > m_requestedUpdateFrequency)
1309 {
1310 if (CollisionEventsThisFrame != null)
1311 {
1312 base.SendCollisionUpdate(CollisionEventsThisFrame);
1313 }
1314 CollisionEventsThisFrame = new CollisionEventUpdate();
1315 m_eventsubscription = 0;
1316 }
1317 }
1318 public override bool SubscribedEvents()
1319 {
1320 if (m_eventsubscription > 0)
1321 return true;
1322 return false;
1323 }
1324
1325 public void ProcessTaints(float timestep)
1326 {
1327 lock (m_syncRoot)
1328 {
1329
1330 if (m_tainted_isPhysical != m_isPhysical)
1331 {
1332 if (m_tainted_isPhysical)
1333 {
1334 // Create avatar capsule and related ODE data
1335 if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
1336 {
1337 m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
1338 + (Shell!=IntPtr.Zero ? "Shell ":"")
1339 + (Body!=IntPtr.Zero ? "Body ":"")
1340 + (Amotor!=IntPtr.Zero ? "Amotor ":""));
1341 }
1342 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z, m_tensor);
1343 _parent_scene.AddCharacter(this);
1344 }
1345 else
1346 {
1347 _parent_scene.RemoveCharacter(this);
1348 // destroy avatar capsule and related ODE data
1349 if (Amotor != IntPtr.Zero)
1350 {
1351 // Kill the Amotor
1352 d.JointDestroy(Amotor);
1353 Amotor = IntPtr.Zero;
1354 }
1355 //kill the Geometry
1356 _parent_scene.waitForSpaceUnlock(_parent_scene.space);
1357
1358 if (Body != IntPtr.Zero)
1359 {
1360 //kill the body
1361 d.BodyDestroy(Body);
1362 Body = IntPtr.Zero;
1363 }
1364
1365 if(Shell != IntPtr.Zero)
1366 {
1367 try
1368 {
1369 d.GeomDestroy(Shell);
1370 }
1371 catch (System.AccessViolationException)
1372 {
1373 m_log.Error("[PHYSICS]: PrimGeom dead");
1374 }
1375 // Remove any old entries
1376 //string tShell;
1377 //_parent_scene.geom_name_map.TryGetValue(Shell, out tShell);
1378 //Console.WriteLine("**** Remove {0}", tShell);
1379
1380 if(_parent_scene.geom_name_map.ContainsKey(Shell)) _parent_scene.geom_name_map.Remove(Shell);
1381 if(_parent_scene.actor_name_map.ContainsKey(Shell)) _parent_scene.actor_name_map.Remove(Shell);
1382 Shell = IntPtr.Zero;
1383 }
1384 }
1385
1386 m_isPhysical = m_tainted_isPhysical;
1387 }
1388
1389 if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH)
1390 {
1391 if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
1392 {
1393
1394 m_pidControllerActive = true;
1395 // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate()
1396 d.JointDestroy(Amotor);
1397 float prevCapsule = CAPSULE_LENGTH;
1398 CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH;
1399 //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
1400 d.BodyDestroy(Body);
1401 AvatarGeomAndBodyCreation(_position.X, _position.Y,
1402 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
1403 Velocity = Vector3.Zero;
1404 }
1405 else
1406 {
1407 m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
1408 + (Shell==IntPtr.Zero ? "Shell ":"")
1409 + (Body==IntPtr.Zero ? "Body ":"")
1410 + (Amotor==IntPtr.Zero ? "Amotor ":""));
1411 }
1412 }
1413
1414 if (!m_taintPosition.ApproxEquals(_position, 0.05f))
1415 {
1416 if (Body != IntPtr.Zero)
1417 {
1418 d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
1419
1420 _position.X = m_taintPosition.X;
1421 _position.Y = m_taintPosition.Y;
1422 _position.Z = m_taintPosition.Z;
1423 }
1424 }
1425
1426 }
1427 }
1428
1429 internal void AddCollisionFrameTime(int p)
1430 {
1431 // protect it from overflow crashing
1432 if (m_eventsubscription + p >= int.MaxValue)
1433 m_eventsubscription = 0;
1434 m_eventsubscription += p;
1435 }
1436 }
1437}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
new file mode 100644
index 0000000..793774a
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -0,0 +1,3917 @@
1/* Copyright (c) Contributors, http://opensimulator.org/
2 * See CONTRIBUTORS.TXT for a full list of copyright holders.
3 * Redistribution and use in source and binary forms, with or without
4 * modification, are permitted provided that the following conditions are met:
5 * * Redistributions of source code must retain the above copyright
6 * notice, this list of conditions and the following disclaimer.
7 * * Redistributions in binary form must reproduce the above copyright
8 * notice, this list of conditions and the following disclaimer in the
9 * documentation and/or other materials provided with the distribution.
10 * * Neither the name of the OpenSimulator Project nor the
11 * names of its contributors may be used to endorse or promote products
12 * derived from this software without specific prior written permission.
13 *
14 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
15 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
16 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
17 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
18 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
19 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
20 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
21 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
22 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
23 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 *
25 * Revised March 5th 2010 by Kitto Flora. ODEDynamics.cs
26 * rolled into ODEPrim.cs
27 */
28
29using System;
30using System.Collections.Generic;
31using System.Reflection;
32using System.Runtime.InteropServices;
33using System.Threading;
34using log4net;
35using OpenMetaverse;
36using Ode.NET;
37using OpenSim.Framework;
38using OpenSim.Region.Physics.Manager;
39
40
41namespace OpenSim.Region.Physics.OdePlugin
42{
43 /// <summary>
44 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
45 /// </summary>
46
47 public class OdePrim : PhysicsActor
48 {
49 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
50
51 private Vector3 _position;
52 private Vector3 _velocity;
53 private Vector3 _torque;
54 private Vector3 m_lastVelocity;
55 private Vector3 m_lastposition;
56 private Quaternion m_lastorientation = new Quaternion();
57 private Vector3 m_rotationalVelocity;
58 private Vector3 _size;
59 private Vector3 _acceleration;
60 // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
61 private Quaternion _orientation;
62 private Vector3 m_taintposition;
63 private Vector3 m_taintsize;
64 private Vector3 m_taintVelocity;
65 private Vector3 m_taintTorque;
66 private Quaternion m_taintrot;
67 private Vector3 m_rotateEnable = Vector3.One; // Current setting
68 private Vector3 m_rotateEnableRequest = Vector3.One; // Request from LSL
69 private bool m_rotateEnableUpdate = false;
70 private Vector3 m_lockX;
71 private Vector3 m_lockY;
72 private Vector3 m_lockZ;
73 private IntPtr Amotor = IntPtr.Zero;
74 private IntPtr AmotorX = IntPtr.Zero;
75 private IntPtr AmotorY = IntPtr.Zero;
76 private IntPtr AmotorZ = IntPtr.Zero;
77
78 private Vector3 m_PIDTarget;
79 private float m_PIDTau;
80 private float PID_D = 35f;
81 private float PID_G = 25f;
82 private bool m_usePID = false;
83
84 private Quaternion m_APIDTarget = new Quaternion();
85 private float m_APIDStrength = 0.5f;
86 private float m_APIDDamping = 0.5f;
87 private bool m_useAPID = false;
88
89 // These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
90 // do not confuse with VEHICLE HOVER
91
92 private float m_PIDHoverHeight;
93 private float m_PIDHoverTau;
94 private bool m_useHoverPID;
95 private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
96 private float m_targetHoverHeight;
97 private float m_groundHeight;
98 private float m_waterHeight;
99 private float m_buoyancy; //m_buoyancy set by llSetBuoyancy()
100
101 // private float m_tensor = 5f;
102 private int body_autodisable_frames = 20;
103
104
105 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
106 | CollisionCategories.Space
107 | CollisionCategories.Body
108 | CollisionCategories.Character
109 );
110 private bool m_taintshape;
111 private bool m_taintPhysics;
112 private bool m_collidesLand = true;
113 private bool m_collidesWater;
114 public bool m_returnCollisions;
115
116 // Default we're a Geometry
117 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
118
119 // Default, Collide with Other Geometries, spaces and Bodies
120 private CollisionCategories m_collisionFlags = m_default_collisionFlags;
121
122 public bool m_taintremove;
123 public bool m_taintdisable;
124 public bool m_disabled;
125 public bool m_taintadd;
126 public bool m_taintselected;
127 public bool m_taintCollidesWater;
128
129 public uint m_localID;
130
131 //public GCHandle gc;
132 private CollisionLocker ode;
133
134 private bool m_meshfailed = false;
135 private bool m_taintforce = false;
136 private bool m_taintaddangularforce = false;
137 private Vector3 m_force;
138 private List<Vector3> m_forcelist = new List<Vector3>();
139 private List<Vector3> m_angularforcelist = new List<Vector3>();
140
141 private IMesh _mesh;
142 private PrimitiveBaseShape _pbs;
143 private OdeScene _parent_scene;
144 public IntPtr m_targetSpace = IntPtr.Zero;
145 public IntPtr prim_geom;
146// public IntPtr prev_geom;
147 public IntPtr _triMeshData;
148
149 private IntPtr _linkJointGroup = IntPtr.Zero;
150 private PhysicsActor _parent;
151 private PhysicsActor m_taintparent;
152
153 private List<OdePrim> childrenPrim = new List<OdePrim>();
154
155 private bool iscolliding;
156 private bool m_isphysical;
157 private bool m_isSelected;
158
159 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
160
161 private bool m_throttleUpdates;
162 private int throttleCounter;
163 public int m_interpenetrationcount;
164 public float m_collisionscore;
165 public int m_roundsUnderMotionThreshold;
166 private int m_crossingfailures;
167
168 public bool outofBounds;
169 private float m_density = 10.000006836f; // Aluminum g/cm3;
170
171 public bool _zeroFlag; // if body has been stopped
172 private bool m_lastUpdateSent;
173
174 public IntPtr Body = IntPtr.Zero;
175 public String m_primName;
176 private Vector3 _target_velocity;
177 public d.Mass pMass;
178
179 public int m_eventsubscription;
180 private CollisionEventUpdate CollisionEventsThisFrame;
181
182 private IntPtr m_linkJoint = IntPtr.Zero;
183
184 public volatile bool childPrim;
185
186 internal int m_material = (int)Material.Wood;
187
188 private int frcount = 0; // Used to limit dynamics debug output to
189 private int revcount = 0; // Reverse motion while > 0
190
191 private IntPtr m_body = IntPtr.Zero;
192
193 // Vehicle properties ============================================================================================
194 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
195 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
196 private VehicleFlag m_flags = (VehicleFlag) 0; // Bit settings:
197 // HOVER_TERRAIN_ONLY
198 // HOVER_GLOBAL_HEIGHT
199 // NO_DEFLECTION_UP
200 // HOVER_WATER_ONLY
201 // HOVER_UP_ONLY
202 // LIMIT_MOTOR_UP
203 // LIMIT_ROLL_ONLY
204
205 // Linear properties
206 private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity
207 //requested by LSL
208 private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL
209 private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL
210 private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL
211
212 private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor
213 private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity
214 private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity
215
216 //Angular properties
217 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
218
219 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
220 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
221 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
222
223 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
224// private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
225 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
226
227 //Deflection properties
228 // private float m_angularDeflectionEfficiency = 0;
229 // private float m_angularDeflectionTimescale = 0;
230 // private float m_linearDeflectionEfficiency = 0;
231 // private float m_linearDeflectionTimescale = 0;
232
233 //Banking properties
234 // private float m_bankingEfficiency = 0;
235 // private float m_bankingMix = 0;
236 // private float m_bankingTimescale = 0;
237
238 //Hover and Buoyancy properties
239 private float m_VhoverHeight = 0f;
240// private float m_VhoverEfficiency = 0f;
241 private float m_VhoverTimescale = 0f;
242 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
243 private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle.
244 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
245 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
246 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
247
248 //Attractor properties
249 private float m_verticalAttractionEfficiency = 1.0f; // damped
250 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
251
252
253
254
255
256
257 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
258 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
259 {
260 ode = dode;
261 if (!pos.IsFinite())
262 {
263 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
264 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
265 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
266 }
267
268 _position = pos;
269 m_taintposition = pos;
270 PID_D = parent_scene.bodyPIDD;
271 PID_G = parent_scene.bodyPIDG;
272 m_density = parent_scene.geomDefaultDensity;
273 // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
274 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
275
276
277 prim_geom = IntPtr.Zero;
278// prev_geom = IntPtr.Zero;
279
280 if (!pos.IsFinite())
281 {
282 size = new Vector3(0.5f, 0.5f, 0.5f);
283 m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
284 }
285
286 if (size.X <= 0) size.X = 0.01f;
287 if (size.Y <= 0) size.Y = 0.01f;
288 if (size.Z <= 0) size.Z = 0.01f;
289
290 _size = size;
291 m_taintsize = _size;
292
293 if (!QuaternionIsFinite(rotation))
294 {
295 rotation = Quaternion.Identity;
296 m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
297 }
298
299 _orientation = rotation;
300 m_taintrot = _orientation;
301 _mesh = mesh;
302 _pbs = pbs;
303
304 _parent_scene = parent_scene;
305 m_targetSpace = (IntPtr)0;
306
307// if (pos.Z < 0)
308 if (pos.Z < parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y))
309 m_isphysical = false;
310 else
311 {
312 m_isphysical = pisPhysical;
313 // If we're physical, we need to be in the master space for now.
314 // linksets *should* be in a space together.. but are not currently
315 if (m_isphysical)
316 m_targetSpace = _parent_scene.space;
317 }
318 m_primName = primName;
319 m_taintadd = true;
320 _parent_scene.AddPhysicsActorTaint(this);
321 // don't do .add() here; old geoms get recycled with the same hash
322 }
323
324 public override int PhysicsActorType
325 {
326 get { return (int) ActorTypes.Prim; }
327 set { return; }
328 }
329
330 public override bool SetAlwaysRun
331 {
332 get { return false; }
333 set { return; }
334 }
335
336 public override uint LocalID
337 {
338 set {
339 //m_log.Info("[PHYSICS]: Setting TrackerID: " + value);
340 m_localID = value; }
341 }
342
343 public override bool Grabbed
344 {
345 set { return; }
346 }
347
348 public override bool Selected
349 {
350 set {
351
352//Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
353 // This only makes the object not collidable if the object
354 // is physical or the object is modified somehow *IN THE FUTURE*
355 // without this, if an avatar selects prim, they can walk right
356 // through it while it's selected
357 m_collisionscore = 0;
358 if ((m_isphysical && !_zeroFlag) || !value)
359 {
360 m_taintselected = value;
361 _parent_scene.AddPhysicsActorTaint(this);
362 }
363 else
364 {
365 m_taintselected = value;
366 m_isSelected = value;
367 }
368 if(m_isSelected) disableBodySoft();
369 }
370 }
371
372 public override bool IsPhysical
373 {
374 get { return m_isphysical; }
375 set
376 {
377 m_isphysical = value;
378 if (!m_isphysical)
379 { // Zero the remembered last velocity
380 m_lastVelocity = Vector3.Zero;
381 if (m_type != Vehicle.TYPE_NONE) Halt();
382 }
383 }
384 }
385
386 public void setPrimForRemoval()
387 {
388 m_taintremove = true;
389 }
390
391 public override bool Flying
392 {
393 // no flying prims for you
394 get { return false; }
395 set { }
396 }
397
398 public override bool IsColliding
399 {
400 get { return iscolliding; }
401 set { iscolliding = value; }
402 }
403
404 public override bool CollidingGround
405 {
406 get { return false; }
407 set { return; }
408 }
409
410 public override bool CollidingObj
411 {
412 get { return false; }
413 set { return; }
414 }
415
416 public override bool ThrottleUpdates
417 {
418 get { return m_throttleUpdates; }
419 set { m_throttleUpdates = value; }
420 }
421
422 public override bool Stopped
423 {
424 get { return _zeroFlag; }
425 }
426
427 public override Vector3 Position
428 {
429 get { return _position; }
430
431 set { _position = value;
432 //m_log.Info("[PHYSICS]: " + _position.ToString());
433 }
434 }
435
436 public override Vector3 Size
437 {
438 get { return _size; }
439 set
440 {
441 if (value.IsFinite())
442 {
443 _size = value;
444 }
445 else
446 {
447 m_log.Warn("[PHYSICS]: Got NaN Size on object");
448 }
449 }
450 }
451
452 public override float Mass
453 {
454 get { return CalculateMass(); }
455 }
456
457 public override Vector3 Force
458 {
459 //get { return Vector3.Zero; }
460 get { return m_force; }
461 set
462 {
463 if (value.IsFinite())
464 {
465 m_force = value;
466 }
467 else
468 {
469 m_log.Warn("[PHYSICS]: NaN in Force Applied to an Object");
470 }
471 }
472 }
473
474 public override int VehicleType
475 {
476 get { return (int)m_type; }
477 set { ProcessTypeChange((Vehicle)value); }
478 }
479
480 public override void VehicleFloatParam(int param, float value)
481 {
482 ProcessFloatVehicleParam((Vehicle) param, value);
483 }
484
485 public override void VehicleVectorParam(int param, Vector3 value)
486 {
487 ProcessVectorVehicleParam((Vehicle) param, value);
488 }
489
490 public override void VehicleRotationParam(int param, Quaternion rotation)
491 {
492 ProcessRotationVehicleParam((Vehicle) param, rotation);
493 }
494
495 public override void VehicleFlags(int param, bool remove)
496 {
497 ProcessVehicleFlags(param, remove);
498 }
499
500 public override void SetVolumeDetect(int param)
501 {
502 lock (_parent_scene.OdeLock)
503 {
504 m_isVolumeDetect = (param!=0);
505 }
506 }
507
508 public override Vector3 CenterOfMass
509 {
510 get { return Vector3.Zero; }
511 }
512
513 public override Vector3 GeometricCenter
514 {
515 get { return Vector3.Zero; }
516 }
517
518 public override PrimitiveBaseShape Shape
519 {
520 set
521 {
522 _pbs = value;
523 m_taintshape = true;
524 }
525 }
526
527 public override Vector3 Velocity
528 {
529 get
530 {
531 // Averate previous velocity with the new one so
532 // client object interpolation works a 'little' better
533 if (_zeroFlag)
534 return Vector3.Zero;
535
536 Vector3 returnVelocity = Vector3.Zero;
537 returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
538 returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
539 returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
540 return returnVelocity;
541 }
542 set
543 {
544 if (value.IsFinite())
545 {
546 _velocity = value;
547
548 m_taintVelocity = value;
549 _parent_scene.AddPhysicsActorTaint(this);
550 }
551 else
552 {
553 m_log.Warn("[PHYSICS]: Got NaN Velocity in Object");
554 }
555
556 }
557 }
558
559 public override Vector3 Torque
560 {
561 get
562 {
563 if (!m_isphysical || Body == IntPtr.Zero)
564 return Vector3.Zero;
565
566 return _torque;
567 }
568
569 set
570 {
571 if (value.IsFinite())
572 {
573 m_taintTorque = value;
574 _parent_scene.AddPhysicsActorTaint(this);
575 }
576 else
577 {
578 m_log.Warn("[PHYSICS]: Got NaN Torque in Object");
579 }
580 }
581 }
582
583 public override float CollisionScore
584 {
585 get { return m_collisionscore; }
586 set { m_collisionscore = value; }
587 }
588
589 public override bool Kinematic
590 {
591 get { return false; }
592 set { }
593 }
594
595 public override Quaternion Orientation
596 {
597 get { return _orientation; }
598 set
599 {
600 if (QuaternionIsFinite(value))
601 {
602 _orientation = value;
603 }
604 else
605 m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
606
607 }
608 }
609
610
611 public override bool FloatOnWater
612 {
613 set {
614 m_taintCollidesWater = value;
615 _parent_scene.AddPhysicsActorTaint(this);
616 }
617 }
618
619 public override void SetMomentum(Vector3 momentum)
620 {
621 }
622
623 public override Vector3 PIDTarget
624 {
625 set
626 {
627 if (value.IsFinite())
628 {
629 m_PIDTarget = value;
630 }
631 else
632 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
633 }
634 }
635 public override bool PIDActive { set { m_usePID = value; } }
636 public override float PIDTau { set { m_PIDTau = value; } }
637
638 // For RotLookAt
639 public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
640 public override bool APIDActive { set { m_useAPID = value; } }
641 public override float APIDStrength { set { m_APIDStrength = value; } }
642 public override float APIDDamping { set { m_APIDDamping = value; } }
643
644 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
645 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
646 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
647 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
648
649 internal static bool QuaternionIsFinite(Quaternion q)
650 {
651 if (Single.IsNaN(q.X) || Single.IsInfinity(q.X))
652 return false;
653 if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y))
654 return false;
655 if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z))
656 return false;
657 if (Single.IsNaN(q.W) || Single.IsInfinity(q.W))
658 return false;
659 return true;
660 }
661
662 public override Vector3 Acceleration // client updates read data via here
663 {
664 get { return _acceleration; }
665 }
666
667
668 public void SetAcceleration(Vector3 accel) // No one calls this, and it would not do anything.
669 {
670 _acceleration = accel;
671 }
672
673 public override void AddForce(Vector3 force, bool pushforce)
674 {
675 if (force.IsFinite())
676 {
677 lock (m_forcelist)
678 m_forcelist.Add(force);
679
680 m_taintforce = true;
681 }
682 else
683 {
684 m_log.Warn("[PHYSICS]: Got Invalid linear force vector from Scene in Object");
685 }
686 //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
687 }
688
689 public override void AddAngularForce(Vector3 force, bool pushforce)
690 {
691 if (force.IsFinite())
692 {
693 m_angularforcelist.Add(force);
694 m_taintaddangularforce = true;
695 }
696 else
697 {
698 m_log.Warn("[PHYSICS]: Got Invalid Angular force vector from Scene in Object");
699 }
700 }
701
702 public override Vector3 RotationalVelocity
703 {
704 get
705 {
706 return m_rotationalVelocity;
707 }
708 set
709 {
710 if (value.IsFinite())
711 {
712 m_rotationalVelocity = value;
713 }
714 else
715 {
716 m_log.Warn("[PHYSICS]: Got NaN RotationalVelocity in Object");
717 }
718 }
719 }
720
721 public override void CrossingFailure()
722 {
723 m_crossingfailures++;
724 if (m_crossingfailures > _parent_scene.geomCrossingFailuresBeforeOutofbounds)
725 {
726 base.RaiseOutOfBounds(_position);
727 return;
728 }
729 else if (m_crossingfailures == _parent_scene.geomCrossingFailuresBeforeOutofbounds)
730 {
731 m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
732 }
733 }
734
735 public override float Buoyancy
736 {
737 get { return m_buoyancy; }
738// set { m_buoyancy = value; }
739 set {
740 m_buoyancy = value;
741
742 Console.WriteLine("m_buoyancy={0}", m_buoyancy);
743 }
744 }
745
746 public override void link(PhysicsActor obj)
747 {
748 m_taintparent = obj;
749 }
750
751 public override void delink()
752 {
753 m_taintparent = null;
754 }
755
756 public override void LockAngularMotion(Vector3 axis)
757 {
758 // This is actually ROTATION ENABLE, not a lock.
759 // default is <1,1,1> which is all enabled.
760 // The lock value is updated inside Move(), no point in using the taint system.
761 // OS 'm_taintAngularLock' etc change to m_rotateEnable.
762 if (axis.IsFinite())
763 {
764 axis.X = (axis.X > 0) ? 1f : 0f;
765 axis.Y = (axis.Y > 0) ? 1f : 0f;
766 axis.Z = (axis.Z > 0) ? 1f : 0f;
767 m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
768 m_rotateEnableRequest = axis;
769 m_rotateEnableUpdate = true;
770 }
771 else
772 {
773 m_log.Warn("[PHYSICS]: Got NaN locking axis from Scene on Object");
774 }
775 }
776
777
778 public void SetGeom(IntPtr geom)
779 {
780 if(prim_geom != IntPtr.Zero)
781 {
782 // Remove any old entries
783//string tPA;
784//_parent_scene.geom_name_map.TryGetValue(prim_geom, out tPA);
785//Console.WriteLine("**** Remove {0}", tPA);
786 if(_parent_scene.geom_name_map.ContainsKey(prim_geom)) _parent_scene.geom_name_map.Remove(prim_geom);
787 if(_parent_scene.actor_name_map.ContainsKey(prim_geom)) _parent_scene.actor_name_map.Remove(prim_geom);
788 d.GeomDestroy(prim_geom);
789 }
790
791 prim_geom = geom;
792//Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);
793 if (prim_geom != IntPtr.Zero)
794 {
795 _parent_scene.geom_name_map[prim_geom] = this.m_primName;
796 _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
797 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
798 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
799//Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
800 }
801
802 if (childPrim)
803 {
804 if (_parent != null && _parent is OdePrim)
805 {
806 OdePrim parent = (OdePrim)_parent;
807//Console.WriteLine("SetGeom calls ChildSetGeom");
808 parent.ChildSetGeom(this);
809 }
810 }
811 //m_log.Warn("Setting Geom to: " + prim_geom);
812 }
813
814 public void enableBodySoft()
815 {
816 if (!childPrim)
817 {
818 if (m_isphysical && Body != IntPtr.Zero)
819 {
820 d.BodyEnable(Body);
821 if (m_type != Vehicle.TYPE_NONE)
822 Enable(Body, _parent_scene);
823 }
824
825 m_disabled = false;
826 }
827 }
828
829 public void disableBodySoft()
830 {
831 m_disabled = true;
832
833 if (m_isphysical && Body != IntPtr.Zero)
834 {
835 d.BodyDisable(Body);
836 Halt();
837 }
838 }
839
840 public void enableBody()
841 {
842 // Don't enable this body if we're a child prim
843 // this should be taken care of in the parent function not here
844 if (!childPrim)
845 {
846 // Sets the geom to a body
847 Body = d.BodyCreate(_parent_scene.world);
848
849 setMass();
850 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
851 d.Quaternion myrot = new d.Quaternion();
852 myrot.X = _orientation.X;
853 myrot.Y = _orientation.Y;
854 myrot.Z = _orientation.Z;
855 myrot.W = _orientation.W;
856 d.BodySetQuaternion(Body, ref myrot);
857 d.GeomSetBody(prim_geom, Body);
858 m_collisionCategories |= CollisionCategories.Body;
859 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
860
861 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
862 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
863
864 d.BodySetAutoDisableFlag(Body, true);
865 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
866
867 // disconnect from world gravity so we can apply buoyancy
868 d.BodySetGravityMode (Body, false);
869
870 m_interpenetrationcount = 0;
871 m_collisionscore = 0;
872 m_disabled = false;
873
874 if (m_type != Vehicle.TYPE_NONE)
875 {
876 Enable(Body, _parent_scene);
877 }
878
879 _parent_scene.addActivePrim(this);
880 }
881 }
882
883 #region Mass Calculation
884
885 private float CalculateMass()
886 {
887 float volume = _size.X * _size.Y * _size.Z; // default
888 float tmp;
889
890 float returnMass = 0;
891 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
892 float hollowVolume = hollowAmount * hollowAmount;
893
894 switch (_pbs.ProfileShape)
895 {
896 case ProfileShape.Square:
897 // default box
898
899 if (_pbs.PathCurve == (byte)Extrusion.Straight)
900 {
901 if (hollowAmount > 0.0)
902 {
903 switch (_pbs.HollowShape)
904 {
905 case HollowShape.Square:
906 case HollowShape.Same:
907 break;
908
909 case HollowShape.Circle:
910
911 hollowVolume *= 0.78539816339f;
912 break;
913
914 case HollowShape.Triangle:
915
916 hollowVolume *= (0.5f * .5f);
917 break;
918
919 default:
920 hollowVolume = 0;
921 break;
922 }
923 volume *= (1.0f - hollowVolume);
924 }
925 }
926
927 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
928 {
929 //a tube
930
931 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
932 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
933 volume -= volume*tmp*tmp;
934
935 if (hollowAmount > 0.0)
936 {
937 hollowVolume *= hollowAmount;
938
939 switch (_pbs.HollowShape)
940 {
941 case HollowShape.Square:
942 case HollowShape.Same:
943 break;
944
945 case HollowShape.Circle:
946 hollowVolume *= 0.78539816339f;;
947 break;
948
949 case HollowShape.Triangle:
950 hollowVolume *= 0.5f * 0.5f;
951 break;
952 default:
953 hollowVolume = 0;
954 break;
955 }
956 volume *= (1.0f - hollowVolume);
957 }
958 }
959
960 break;
961
962 case ProfileShape.Circle:
963
964 if (_pbs.PathCurve == (byte)Extrusion.Straight)
965 {
966 volume *= 0.78539816339f; // elipse base
967
968 if (hollowAmount > 0.0)
969 {
970 switch (_pbs.HollowShape)
971 {
972 case HollowShape.Same:
973 case HollowShape.Circle:
974 break;
975
976 case HollowShape.Square:
977 hollowVolume *= 0.5f * 2.5984480504799f;
978 break;
979
980 case HollowShape.Triangle:
981 hollowVolume *= .5f * 1.27323954473516f;
982 break;
983
984 default:
985 hollowVolume = 0;
986 break;
987 }
988 volume *= (1.0f - hollowVolume);
989 }
990 }
991
992 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
993 {
994 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
995 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
996 volume *= (1.0f - tmp * tmp);
997
998 if (hollowAmount > 0.0)
999 {
1000
1001 // calculate the hollow volume by it's shape compared to the prim shape
1002 hollowVolume *= hollowAmount;
1003
1004 switch (_pbs.HollowShape)
1005 {
1006 case HollowShape.Same:
1007 case HollowShape.Circle:
1008 break;
1009
1010 case HollowShape.Square:
1011 hollowVolume *= 0.5f * 2.5984480504799f;
1012 break;
1013
1014 case HollowShape.Triangle:
1015 hollowVolume *= .5f * 1.27323954473516f;
1016 break;
1017
1018 default:
1019 hollowVolume = 0;
1020 break;
1021 }
1022 volume *= (1.0f - hollowVolume);
1023 }
1024 }
1025 break;
1026
1027 case ProfileShape.HalfCircle:
1028 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1029 {
1030 volume *= 0.52359877559829887307710723054658f;
1031 }
1032 break;
1033
1034 case ProfileShape.EquilateralTriangle:
1035
1036 if (_pbs.PathCurve == (byte)Extrusion.Straight)
1037 {
1038 volume *= 0.32475953f;
1039
1040 if (hollowAmount > 0.0)
1041 {
1042
1043 // calculate the hollow volume by it's shape compared to the prim shape
1044 switch (_pbs.HollowShape)
1045 {
1046 case HollowShape.Same:
1047 case HollowShape.Triangle:
1048 hollowVolume *= .25f;
1049 break;
1050
1051 case HollowShape.Square:
1052 hollowVolume *= 0.499849f * 3.07920140172638f;
1053 break;
1054
1055 case HollowShape.Circle:
1056 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1057 // Cyllinder hollow volume calculation
1058
1059 hollowVolume *= 0.1963495f * 3.07920140172638f;
1060 break;
1061
1062 default:
1063 hollowVolume = 0;
1064 break;
1065 }
1066 volume *= (1.0f - hollowVolume);
1067 }
1068 }
1069 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
1070 {
1071 volume *= 0.32475953f;
1072 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
1073 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
1074 volume *= (1.0f - tmp * tmp);
1075
1076 if (hollowAmount > 0.0)
1077 {
1078
1079 hollowVolume *= hollowAmount;
1080
1081 switch (_pbs.HollowShape)
1082 {
1083 case HollowShape.Same:
1084 case HollowShape.Triangle:
1085 hollowVolume *= .25f;
1086 break;
1087
1088 case HollowShape.Square:
1089 hollowVolume *= 0.499849f * 3.07920140172638f;
1090 break;
1091
1092 case HollowShape.Circle:
1093
1094 hollowVolume *= 0.1963495f * 3.07920140172638f;
1095 break;
1096
1097 default:
1098 hollowVolume = 0;
1099 break;
1100 }
1101 volume *= (1.0f - hollowVolume);
1102 }
1103 }
1104 break;
1105
1106 default:
1107 break;
1108 }
1109
1110
1111
1112 float taperX1;
1113 float taperY1;
1114 float taperX;
1115 float taperY;
1116 float pathBegin;
1117 float pathEnd;
1118 float profileBegin;
1119 float profileEnd;
1120
1121 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
1122 {
1123 taperX1 = _pbs.PathScaleX * 0.01f;
1124 if (taperX1 > 1.0f)
1125 taperX1 = 2.0f - taperX1;
1126 taperX = 1.0f - taperX1;
1127
1128 taperY1 = _pbs.PathScaleY * 0.01f;
1129 if (taperY1 > 1.0f)
1130 taperY1 = 2.0f - taperY1;
1131 taperY = 1.0f - taperY1;
1132 }
1133 else
1134 {
1135 taperX = _pbs.PathTaperX * 0.01f;
1136 if (taperX < 0.0f)
1137 taperX = -taperX;
1138 taperX1 = 1.0f - taperX;
1139
1140 taperY = _pbs.PathTaperY * 0.01f;
1141 if (taperY < 0.0f)
1142 taperY = -taperY;
1143 taperY1 = 1.0f - taperY;
1144
1145 }
1146
1147
1148 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1149
1150 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
1151 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
1152 volume *= (pathEnd - pathBegin);
1153
1154// this is crude aproximation
1155 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
1156 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
1157 volume *= (profileEnd - profileBegin);
1158
1159 returnMass = m_density * volume;
1160
1161 if (returnMass <= 0)
1162 returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
1163// else if (returnMass > _parent_scene.maximumMassObject)
1164// returnMass = _parent_scene.maximumMassObject;
1165
1166
1167
1168
1169 // Recursively calculate mass
1170 bool HasChildPrim = false;
1171 lock (childrenPrim)
1172 {
1173 if (childrenPrim.Count > 0)
1174 {
1175 HasChildPrim = true;
1176 }
1177
1178 }
1179 if (HasChildPrim)
1180 {
1181 OdePrim[] childPrimArr = new OdePrim[0];
1182
1183 lock (childrenPrim)
1184 childPrimArr = childrenPrim.ToArray();
1185
1186 for (int i = 0; i < childPrimArr.Length; i++)
1187 {
1188 if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
1189 returnMass += childPrimArr[i].CalculateMass();
1190 // failsafe, this shouldn't happen but with OpenSim, you never know :)
1191 if (i > 256)
1192 break;
1193 }
1194 }
1195 if (returnMass > _parent_scene.maximumMassObject)
1196 returnMass = _parent_scene.maximumMassObject;
1197 return returnMass;
1198 }// end CalculateMass
1199
1200 #endregion
1201
1202 public void setMass()
1203 {
1204 if (Body != (IntPtr) 0)
1205 {
1206 float newmass = CalculateMass();
1207
1208 //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
1209
1210 d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
1211 d.BodySetMass(Body, ref pMass);
1212 }
1213 }
1214
1215 public void disableBody()
1216 {
1217 //this kills the body so things like 'mesh' can re-create it.
1218 lock (this)
1219 {
1220 if (!childPrim)
1221 {
1222 if (Body != IntPtr.Zero)
1223 {
1224 _parent_scene.remActivePrim(this);
1225 m_collisionCategories &= ~CollisionCategories.Body;
1226 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1227
1228 if (prim_geom != IntPtr.Zero)
1229 {
1230 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1231 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1232 }
1233
1234
1235 d.BodyDestroy(Body);
1236 lock (childrenPrim)
1237 {
1238 if (childrenPrim.Count > 0)
1239 {
1240 foreach (OdePrim prm in childrenPrim)
1241 {
1242 _parent_scene.remActivePrim(prm);
1243 prm.Body = IntPtr.Zero;
1244 }
1245 }
1246 }
1247 Body = IntPtr.Zero;
1248 }
1249 }
1250 else
1251 {
1252 _parent_scene.remActivePrim(this);
1253
1254 m_collisionCategories &= ~CollisionCategories.Body;
1255 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1256
1257 if (prim_geom != IntPtr.Zero)
1258 {
1259 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1260 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1261 }
1262
1263
1264 Body = IntPtr.Zero;
1265 }
1266 }
1267 m_disabled = true;
1268 m_collisionscore = 0;
1269 }
1270
1271 private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
1272
1273 public void setMesh(OdeScene parent_scene, IMesh mesh)
1274 {
1275 // This sleeper is there to moderate how long it takes between
1276 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
1277
1278 //Thread.Sleep(10);
1279
1280 //Kill Body so that mesh can re-make the geom
1281 if (IsPhysical && Body != IntPtr.Zero)
1282 {
1283 if (childPrim)
1284 {
1285 if (_parent != null)
1286 {
1287 OdePrim parent = (OdePrim)_parent;
1288 parent.ChildDelink(this);
1289 }
1290 }
1291 else
1292 {
1293 disableBody();
1294 }
1295 }
1296
1297 IntPtr vertices, indices;
1298 int vertexCount, indexCount;
1299 int vertexStride, triStride;
1300 mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
1301 mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage
1302
1303 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
1304 if (m_MeshToTriMeshMap.ContainsKey(mesh))
1305 {
1306 _triMeshData = m_MeshToTriMeshMap[mesh];
1307 }
1308 else
1309 {
1310 _triMeshData = d.GeomTriMeshDataCreate();
1311
1312 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1313 d.GeomTriMeshDataPreprocess(_triMeshData);
1314 m_MeshToTriMeshMap[mesh] = _triMeshData;
1315 }
1316
1317 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1318 try
1319 {
1320 // if (prim_geom == IntPtr.Zero) // setGeom takes care of phys engine recreate and prim_geom pointer
1321 // {
1322 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
1323 // }
1324 }
1325 catch (AccessViolationException)
1326 {
1327 m_log.Error("[PHYSICS]: MESH LOCKED");
1328 return;
1329 }
1330
1331
1332 // if (IsPhysical && Body == (IntPtr) 0)
1333 // {
1334 // Recreate the body
1335 // m_interpenetrationcount = 0;
1336 // m_collisionscore = 0;
1337
1338 // enableBody();
1339 // }
1340 }
1341
1342 public void ProcessTaints(float timestep) //=============================================================================
1343 {
1344 if (m_taintadd)
1345 {
1346 changeadd(timestep);
1347 }
1348
1349 if (prim_geom != IntPtr.Zero)
1350 {
1351 if (!_position.ApproxEquals(m_taintposition, 0f))
1352 changemove(timestep);
1353
1354 if (m_taintrot != _orientation)
1355 {
1356 if(childPrim && IsPhysical) // For physical child prim...
1357 {
1358 rotate(timestep);
1359 // KF: ODE will also rotate the parent prim!
1360 // so rotate the root back to where it was
1361 OdePrim parent = (OdePrim)_parent;
1362 parent.rotate(timestep);
1363 }
1364 else
1365 {
1366 //Just rotate the prim
1367 rotate(timestep);
1368 }
1369 }
1370 //
1371
1372 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
1373 changePhysicsStatus(timestep);
1374 //
1375
1376 if (!_size.ApproxEquals(m_taintsize,0f))
1377 changesize(timestep);
1378 //
1379
1380 if (m_taintshape)
1381 changeshape(timestep);
1382 //
1383
1384 if (m_taintforce)
1385 changeAddForce(timestep);
1386
1387 if (m_taintaddangularforce)
1388 changeAddAngularForce(timestep);
1389
1390 if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
1391 changeSetTorque(timestep);
1392
1393 if (m_taintdisable)
1394 changedisable(timestep);
1395
1396 if (m_taintselected != m_isSelected)
1397 changeSelectedStatus(timestep);
1398
1399 if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
1400 changevelocity(timestep);
1401
1402 if (m_taintparent != _parent)
1403 changelink(timestep);
1404
1405 if (m_taintCollidesWater != m_collidesWater)
1406 changefloatonwater(timestep);
1407/* obsolete
1408 if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
1409 changeAngularLock(timestep);
1410 */
1411 }
1412 else
1413 {
1414 m_log.Error("[PHYSICS]: The scene reused a disposed PhysActor! *waves finger*, Don't be evil. A couple of things can cause this. An improper prim breakdown(be sure to set prim_geom to zero after d.GeomDestroy! An improper buildup (creating the geom failed). Or, the Scene Reused a physics actor after disposing it.)");
1415 }
1416 }
1417
1418/* obsolete
1419 private void changeAngularLock(float timestep)
1420 {
1421 if (_parent == null)
1422 {
1423 m_angularLock = m_taintAngularLock;
1424 m_angularLockSet = true;
1425 }
1426 }
1427 */
1428 private void changelink(float timestep)
1429 {
1430 // If the newly set parent is not null
1431 // create link
1432 if (_parent == null && m_taintparent != null)
1433 {
1434 if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
1435 {
1436 OdePrim obj = (OdePrim)m_taintparent;
1437 //obj.disableBody();
1438 obj.ParentPrim(this);
1439
1440 /*
1441 if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body)
1442 {
1443 _linkJointGroup = d.JointGroupCreate(0);
1444 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
1445 d.JointAttach(m_linkJoint, obj.Body, Body);
1446 d.JointSetFixed(m_linkJoint);
1447 }
1448 */
1449 }
1450 }
1451 // If the newly set parent is null
1452 // destroy link
1453 else if (_parent != null && m_taintparent == null)
1454 {
1455 if (_parent is OdePrim)
1456 {
1457 OdePrim obj = (OdePrim)_parent;
1458 obj.ChildDelink(this);
1459 childPrim = false;
1460 //_parent = null;
1461 }
1462
1463 /*
1464 if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0)
1465 d.JointGroupDestroy(_linkJointGroup);
1466
1467 _linkJointGroup = (IntPtr)0;
1468 m_linkJoint = (IntPtr)0;
1469 */
1470 }
1471
1472 _parent = m_taintparent;
1473 m_taintPhysics = m_isphysical;
1474 }
1475
1476 // I'm the parent
1477 // prim is the child
1478 public void ParentPrim(OdePrim prim)
1479 {
1480 if (this.m_localID != prim.m_localID)
1481 {
1482 if (Body == IntPtr.Zero)
1483 {
1484 Body = d.BodyCreate(_parent_scene.world);
1485 setMass();
1486 }
1487 if (Body != IntPtr.Zero)
1488 {
1489 lock (childrenPrim)
1490 {
1491 if (!childrenPrim.Contains(prim))
1492 {
1493 childrenPrim.Add(prim);
1494
1495 foreach (OdePrim prm in childrenPrim)
1496 {
1497 d.Mass m2;
1498 d.MassSetZero(out m2);
1499 d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
1500
1501
1502 d.Quaternion quat = new d.Quaternion();
1503 quat.W = prm._orientation.W;
1504 quat.X = prm._orientation.X;
1505 quat.Y = prm._orientation.Y;
1506 quat.Z = prm._orientation.Z;
1507
1508 d.Matrix3 mat = new d.Matrix3();
1509 d.RfromQ(out mat, ref quat);
1510 d.MassRotate(ref m2, ref mat);
1511 d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
1512 d.MassAdd(ref pMass, ref m2);
1513 }
1514 foreach (OdePrim prm in childrenPrim)
1515 {
1516
1517 prm.m_collisionCategories |= CollisionCategories.Body;
1518 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1519
1520 if (prm.prim_geom == IntPtr.Zero)
1521 {
1522 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
1523 continue;
1524 }
1525//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + m_primName);
1526 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1527 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1528
1529
1530 d.Quaternion quat = new d.Quaternion();
1531 quat.W = prm._orientation.W;
1532 quat.X = prm._orientation.X;
1533 quat.Y = prm._orientation.Y;
1534 quat.Z = prm._orientation.Z;
1535
1536 d.Matrix3 mat = new d.Matrix3();
1537 d.RfromQ(out mat, ref quat);
1538 if (Body != IntPtr.Zero)
1539 {
1540 d.GeomSetBody(prm.prim_geom, Body);
1541 prm.childPrim = true;
1542 d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
1543 //d.GeomSetOffsetPosition(prim.prim_geom,
1544 // (Position.X - prm.Position.X) - pMass.c.X,
1545 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1546 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1547 d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
1548 //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
1549 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1550 d.BodySetMass(Body, ref pMass);
1551 }
1552 else
1553 {
1554 m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
1555 }
1556
1557
1558 prm.m_interpenetrationcount = 0;
1559 prm.m_collisionscore = 0;
1560 prm.m_disabled = false;
1561
1562 prm.Body = Body;
1563 _parent_scene.addActivePrim(prm);
1564 }
1565 m_collisionCategories |= CollisionCategories.Body;
1566 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1567
1568//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + m_primName);
1569 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1570//Console.WriteLine(" Post GeomSetCategoryBits 2");
1571 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1572
1573
1574 d.Quaternion quat2 = new d.Quaternion();
1575 quat2.W = _orientation.W;
1576 quat2.X = _orientation.X;
1577 quat2.Y = _orientation.Y;
1578 quat2.Z = _orientation.Z;
1579
1580 d.Matrix3 mat2 = new d.Matrix3();
1581 d.RfromQ(out mat2, ref quat2);
1582 d.GeomSetBody(prim_geom, Body);
1583 d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
1584 //d.GeomSetOffsetPosition(prim.prim_geom,
1585 // (Position.X - prm.Position.X) - pMass.c.X,
1586 // (Position.Y - prm.Position.Y) - pMass.c.Y,
1587 // (Position.Z - prm.Position.Z) - pMass.c.Z);
1588 //d.GeomSetOffsetRotation(prim_geom, ref mat2);
1589 d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
1590 d.BodySetMass(Body, ref pMass);
1591
1592 d.BodySetAutoDisableFlag(Body, true);
1593 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1594
1595
1596 m_interpenetrationcount = 0;
1597 m_collisionscore = 0;
1598 m_disabled = false;
1599
1600 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
1601 if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
1602 _parent_scene.addActivePrim(this);
1603 }
1604 }
1605 }
1606 }
1607
1608 }
1609
1610 private void ChildSetGeom(OdePrim odePrim)
1611 {
1612 //if (m_isphysical && Body != IntPtr.Zero)
1613 lock (childrenPrim)
1614 {
1615 foreach (OdePrim prm in childrenPrim)
1616 {
1617 //prm.childPrim = true;
1618 prm.disableBody();
1619 //prm.m_taintparent = null;
1620 //prm._parent = null;
1621 //prm.m_taintPhysics = false;
1622 //prm.m_disabled = true;
1623 //prm.childPrim = false;
1624 }
1625 }
1626 disableBody();
1627
1628
1629 if (Body != IntPtr.Zero)
1630 {
1631 _parent_scene.remActivePrim(this);
1632 }
1633
1634 lock (childrenPrim)
1635 {
1636 foreach (OdePrim prm in childrenPrim)
1637 {
1638 ParentPrim(prm);
1639 }
1640 }
1641
1642 }
1643
1644 private void ChildDelink(OdePrim odePrim)
1645 {
1646 // Okay, we have a delinked child.. need to rebuild the body.
1647 lock (childrenPrim)
1648 {
1649 foreach (OdePrim prm in childrenPrim)
1650 {
1651 prm.childPrim = true;
1652 prm.disableBody();
1653 //prm.m_taintparent = null;
1654 //prm._parent = null;
1655 //prm.m_taintPhysics = false;
1656 //prm.m_disabled = true;
1657 //prm.childPrim = false;
1658 }
1659 }
1660 disableBody();
1661
1662 lock (childrenPrim)
1663 {
1664 childrenPrim.Remove(odePrim);
1665 }
1666
1667 if (Body != IntPtr.Zero)
1668 {
1669 _parent_scene.remActivePrim(this);
1670 }
1671
1672 lock (childrenPrim)
1673 {
1674 foreach (OdePrim prm in childrenPrim)
1675 {
1676 ParentPrim(prm);
1677 }
1678 }
1679 }
1680
1681 private void changeSelectedStatus(float timestep)
1682 {
1683 if (m_taintselected)
1684 {
1685 m_collisionCategories = CollisionCategories.Selected;
1686 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
1687
1688 // We do the body disable soft twice because 'in theory' a collision could have happened
1689 // in between the disabling and the collision properties setting
1690 // which would wake the physical body up from a soft disabling and potentially cause it to fall
1691 // through the ground.
1692
1693 // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
1694 // just one part of the assembly, the rest of the assembly is non-selected and still simulating,
1695 // so that causes the selected part to wake up and continue moving.
1696
1697 // even if you select all parts of a jointed assembly, it is not guaranteed that the entire
1698 // assembly will stop simulating during the selection, because of the lack of atomicity
1699 // of select operations (their processing could be interrupted by a thread switch, causing
1700 // simulation to continue before all of the selected object notifications trickle down to
1701 // the physics engine).
1702
1703 // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
1704 // selected and disabled. then, due to a thread switch, the selection processing is
1705 // interrupted and the physics engine continues to simulate, so the last 50 items, whose
1706 // selection was not yet processed, continues to simulate. this wakes up ALL of the
1707 // first 50 again. then the last 50 are disabled. then the first 50, which were just woken
1708 // up, start simulating again, which in turn wakes up the last 50.
1709
1710 if (m_isphysical)
1711 {
1712 disableBodySoft();
1713 }
1714
1715 if (prim_geom != IntPtr.Zero)
1716 {
1717 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1718 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1719 }
1720
1721 if (m_isphysical)
1722 {
1723 disableBodySoft();
1724
1725 if (Body != IntPtr.Zero)
1726 {
1727 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1728 d.BodySetForce(Body, 0, 0, 0);
1729 enableBodySoft();
1730 }
1731 }
1732 }
1733 else
1734 {
1735 m_collisionCategories = CollisionCategories.Geom;
1736
1737 if (m_isphysical)
1738 m_collisionCategories |= CollisionCategories.Body;
1739
1740 m_collisionFlags = m_default_collisionFlags;
1741
1742 if (m_collidesLand)
1743 m_collisionFlags |= CollisionCategories.Land;
1744 if (m_collidesWater)
1745 m_collisionFlags |= CollisionCategories.Water;
1746
1747 if (prim_geom != IntPtr.Zero)
1748 {
1749 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1750 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1751 }
1752/* Uhhh - stop the motion if the object is _selected_!!
1753 if (m_isphysical)
1754 {
1755 if (Body != IntPtr.Zero)
1756 {
1757 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1758 d.BodySetForce(Body, 0, 0, 0);
1759 enableBodySoft();
1760 }
1761 }
1762*/
1763 }
1764
1765 resetCollisionAccounting();
1766 m_isSelected = m_taintselected;
1767 }//end changeSelectedStatus
1768
1769 public void ResetTaints()
1770 {
1771 m_taintposition = _position;
1772 m_taintrot = _orientation;
1773 m_taintPhysics = m_isphysical;
1774 m_taintselected = m_isSelected;
1775 m_taintsize = _size;
1776 m_taintshape = false;
1777 m_taintforce = false;
1778 m_taintdisable = false;
1779 m_taintVelocity = Vector3.Zero;
1780 }
1781
1782 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
1783 {
1784//Console.WriteLine("CreateGeom:");
1785 if (_mesh != null) // Special - make mesh
1786 {
1787 setMesh(_parent_scene, _mesh);
1788 }
1789 else // not a mesh
1790 {
1791 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) // special profile??
1792 {
1793 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) // Equi-size
1794 {
1795 if (((_size.X / 2f) > 0f)) // Has size
1796 {
1797 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1798 try
1799 {
1800//Console.WriteLine(" CreateGeom 1");
1801 SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
1802 }
1803 catch (AccessViolationException)
1804 {
1805 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
1806 ode.dunlock(_parent_scene.world);
1807 return;
1808 }
1809 }
1810 else
1811 {
1812 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1813 try
1814 {
1815//Console.WriteLine(" CreateGeom 2");
1816 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1817 }
1818 catch (AccessViolationException)
1819 {
1820 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
1821 ode.dunlock(_parent_scene.world);
1822 return;
1823 }
1824 }
1825 }
1826 else // not equi-size
1827 {
1828 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1829 try
1830 {
1831//Console.WriteLine(" CreateGeom 3");
1832 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1833 }
1834 catch (AccessViolationException)
1835 {
1836 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
1837 ode.dunlock(_parent_scene.world);
1838 return;
1839 }
1840 }
1841 }
1842
1843 else // not special profile
1844 {
1845 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1846 try
1847 {
1848//Console.WriteLine(" CreateGeom 4");
1849 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1850 }
1851 catch (AccessViolationException)
1852 {
1853 m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
1854 ode.dunlock(_parent_scene.world);
1855 return;
1856 }
1857 }
1858 }
1859 }
1860
1861 public void changeadd(float timestep)
1862 {
1863 int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
1864 IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
1865
1866 if (targetspace == IntPtr.Zero)
1867 targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
1868
1869 m_targetSpace = targetspace;
1870
1871 if (_mesh == null && m_meshfailed == false)
1872 {
1873 if (_parent_scene.needsMeshing(_pbs))
1874 {
1875 // Don't need to re-enable body.. it's done in SetMesh
1876 try
1877 {
1878 _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
1879 }
1880 catch
1881 {
1882 //Don't continuously try to mesh prims when meshing has failed
1883 m_meshfailed = true;
1884 }
1885 // createmesh returns null when it's a shape that isn't a cube.
1886 // m_log.Debug(m_localID);
1887 }
1888 }
1889
1890
1891 lock (_parent_scene.OdeLock)
1892 {
1893//Console.WriteLine("changeadd 1");
1894 CreateGeom(m_targetSpace, _mesh);
1895
1896 if (prim_geom != IntPtr.Zero)
1897 {
1898 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1899 d.Quaternion myrot = new d.Quaternion();
1900 myrot.X = _orientation.X;
1901 myrot.Y = _orientation.Y;
1902 myrot.Z = _orientation.Z;
1903 myrot.W = _orientation.W;
1904 d.GeomSetQuaternion(prim_geom, ref myrot);
1905 }
1906
1907 if (m_isphysical && Body == IntPtr.Zero)
1908 {
1909 enableBody();
1910 }
1911 }
1912
1913 changeSelectedStatus(timestep);
1914
1915 m_taintadd = false;
1916 }
1917
1918 public void changemove(float timestep)
1919 {
1920//Console.WriteLine("changemove sing/root {0} to {1}", m_primName, _position );
1921 if (m_isphysical)
1922 {
1923//Console.WriteLine("phys {0} {1} {2}", m_disabled, m_taintremove, childPrim);
1924// if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
1925 if (!m_taintremove && !childPrim)
1926 {
1927 if (Body == IntPtr.Zero)
1928 enableBody();
1929 //Prim auto disable after 20 frames,
1930 //if you move it, re-enable the prim manually.
1931 if (_parent != null)
1932 {
1933 if (m_linkJoint != IntPtr.Zero)
1934 {
1935 d.JointDestroy(m_linkJoint);
1936 m_linkJoint = IntPtr.Zero;
1937 }
1938 }
1939 if (Body != IntPtr.Zero)
1940 {
1941 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1942
1943 if (_parent != null)
1944 {
1945 OdePrim odParent = (OdePrim)_parent;
1946 if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
1947 {
1948// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
1949Console.WriteLine(" JointCreateFixed");
1950 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
1951 d.JointAttach(m_linkJoint, Body, odParent.Body);
1952 d.JointSetFixed(m_linkJoint);
1953 }
1954 }
1955 d.BodyEnable(Body);
1956 if (m_type != Vehicle.TYPE_NONE)
1957 {
1958 Enable(Body, _parent_scene);
1959 }
1960 }
1961 else
1962 {
1963 m_log.Warn("[PHYSICS]: Body Still null after enableBody(). This is a crash scenario.");
1964 }
1965 }
1966 //else
1967 // {
1968 //m_log.Debug("[BUG]: race!");
1969 //}
1970 }
1971 else
1972 {
1973 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
1974 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
1975 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1976
1977 IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
1978 m_targetSpace = tempspace;
1979
1980 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1981 if (prim_geom != IntPtr.Zero)
1982 {
1983 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
1984
1985 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1986 d.SpaceAdd(m_targetSpace, prim_geom);
1987 }
1988 }
1989
1990 changeSelectedStatus(timestep);
1991
1992 resetCollisionAccounting();
1993 m_taintposition = _position;
1994 }
1995
1996
1997
1998 public void rotate(float timestep)
1999 {
2000 d.Quaternion myrot = new d.Quaternion();
2001 myrot.X = _orientation.X;
2002 myrot.Y = _orientation.Y;
2003 myrot.Z = _orientation.Z;
2004 myrot.W = _orientation.W;
2005 if (Body != IntPtr.Zero)
2006 {
2007 // KF: If this is a root prim do BodySet
2008 d.BodySetQuaternion(Body, ref myrot);
2009 }
2010 else
2011 {
2012 // daughter prim, do Geom set
2013 d.GeomSetQuaternion(prim_geom, ref myrot);
2014 }
2015
2016 resetCollisionAccounting();
2017 m_taintrot = _orientation;
2018 }
2019
2020 private void resetCollisionAccounting()
2021 {
2022 m_collisionscore = 0;
2023 m_interpenetrationcount = 0;
2024 m_disabled = false;
2025 }
2026
2027 public void changedisable(float timestep)
2028 {
2029 m_disabled = true;
2030 if (Body != IntPtr.Zero)
2031 {
2032 d.BodyDisable(Body);
2033 Body = IntPtr.Zero;
2034 }
2035
2036 m_taintdisable = false;
2037 }
2038
2039 public void changePhysicsStatus(float timestep)
2040 {
2041 if (m_isphysical == true)
2042 {
2043 if (Body == IntPtr.Zero)
2044 {
2045 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2046 {
2047 changeshape(2f);
2048 }
2049 else
2050 {
2051 enableBody();
2052 }
2053 }
2054 }
2055 else
2056 {
2057 if (Body != IntPtr.Zero)
2058 {
2059 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2060 {
2061 _mesh = null;
2062//Console.WriteLine("changePhysicsStatus for " + m_primName );
2063 changeadd(2f);
2064 }
2065 if (childPrim)
2066 {
2067 if (_parent != null)
2068 {
2069 OdePrim parent = (OdePrim)_parent;
2070 parent.ChildDelink(this);
2071 }
2072 }
2073 else
2074 {
2075 disableBody();
2076 }
2077 }
2078 }
2079
2080 changeSelectedStatus(timestep);
2081
2082 resetCollisionAccounting();
2083 m_taintPhysics = m_isphysical;
2084 }
2085
2086 public void changesize(float timestamp)
2087 {
2088
2089 string oldname = _parent_scene.geom_name_map[prim_geom];
2090
2091 if (_size.X <= 0) _size.X = 0.01f;
2092 if (_size.Y <= 0) _size.Y = 0.01f;
2093 if (_size.Z <= 0) _size.Z = 0.01f;
2094
2095 // Cleanup of old prim geometry
2096 if (_mesh != null)
2097 {
2098 // Cleanup meshing here
2099 }
2100 //kill body to rebuild
2101 if (IsPhysical && Body != IntPtr.Zero)
2102 {
2103 if (childPrim)
2104 {
2105 if (_parent != null)
2106 {
2107 OdePrim parent = (OdePrim)_parent;
2108 parent.ChildDelink(this);
2109 }
2110 }
2111 else
2112 {
2113 disableBody();
2114 }
2115 }
2116 if (d.SpaceQuery(m_targetSpace, prim_geom))
2117 {
2118 _parent_scene.waitForSpaceUnlock(m_targetSpace);
2119 d.SpaceRemove(m_targetSpace, prim_geom);
2120 }
2121 // we don't need to do space calculation because the client sends a position update also.
2122
2123 // Construction of new prim
2124 if (_parent_scene.needsMeshing(_pbs) && m_meshfailed == false)
2125 {
2126 float meshlod = _parent_scene.meshSculptLOD;
2127
2128 if (IsPhysical)
2129 meshlod = _parent_scene.MeshSculptphysicalLOD;
2130 // Don't need to re-enable body.. it's done in SetMesh
2131
2132 IMesh mesh = null;
2133
2134 try
2135 {
2136 if (_parent_scene.needsMeshing(_pbs))
2137 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2138 }
2139 catch
2140 {
2141 m_meshfailed = true;
2142 }
2143
2144 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2145//Console.WriteLine("changesize 1");
2146 CreateGeom(m_targetSpace, mesh);
2147
2148
2149 }
2150 else
2151 {
2152 _mesh = null;
2153//Console.WriteLine("changesize 2");
2154 CreateGeom(m_targetSpace, _mesh);
2155 }
2156
2157 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2158 d.Quaternion myrot = new d.Quaternion();
2159 myrot.X = _orientation.X;
2160 myrot.Y = _orientation.Y;
2161 myrot.Z = _orientation.Z;
2162 myrot.W = _orientation.W;
2163 d.GeomSetQuaternion(prim_geom, ref myrot);
2164
2165 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2166 if (IsPhysical && Body == IntPtr.Zero && !childPrim)
2167 {
2168 // Re creates body on size.
2169 // EnableBody also does setMass()
2170 enableBody();
2171 d.BodyEnable(Body);
2172 }
2173
2174 _parent_scene.geom_name_map[prim_geom] = oldname;
2175
2176 changeSelectedStatus(timestamp);
2177 if (childPrim)
2178 {
2179 if (_parent is OdePrim)
2180 {
2181 OdePrim parent = (OdePrim)_parent;
2182 parent.ChildSetGeom(this);
2183 }
2184 }
2185 resetCollisionAccounting();
2186 m_taintsize = _size;
2187 }
2188
2189
2190
2191 public void changefloatonwater(float timestep)
2192 {
2193 m_collidesWater = m_taintCollidesWater;
2194
2195 if (prim_geom != IntPtr.Zero)
2196 {
2197 if (m_collidesWater)
2198 {
2199 m_collisionFlags |= CollisionCategories.Water;
2200 }
2201 else
2202 {
2203 m_collisionFlags &= ~CollisionCategories.Water;
2204 }
2205 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2206 }
2207 }
2208
2209 public void changeshape(float timestamp)
2210 {
2211 string oldname = _parent_scene.geom_name_map[prim_geom];
2212
2213 // Cleanup of old prim geometry and Bodies
2214 if (IsPhysical && Body != IntPtr.Zero)
2215 {
2216 if (childPrim)
2217 {
2218 if (_parent != null)
2219 {
2220 OdePrim parent = (OdePrim)_parent;
2221 parent.ChildDelink(this);
2222 }
2223 }
2224 else
2225 {
2226 disableBody();
2227 }
2228 }
2229
2230
2231 // we don't need to do space calculation because the client sends a position update also.
2232 if (_size.X <= 0) _size.X = 0.01f;
2233 if (_size.Y <= 0) _size.Y = 0.01f;
2234 if (_size.Z <= 0) _size.Z = 0.01f;
2235 // Construction of new prim
2236
2237 if (_parent_scene.needsMeshing(_pbs) && m_meshfailed == false)
2238 {
2239 // Don't need to re-enable body.. it's done in SetMesh
2240 float meshlod = _parent_scene.meshSculptLOD;
2241
2242 if (IsPhysical)
2243 meshlod = _parent_scene.MeshSculptphysicalLOD;
2244 try
2245 {
2246 IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
2247 CreateGeom(m_targetSpace, mesh);
2248 }
2249 catch
2250 {
2251 m_meshfailed = true;
2252 }
2253 // createmesh returns null when it doesn't mesh.
2254 }
2255 else
2256 {
2257 _mesh = null;
2258//Console.WriteLine("changeshape");
2259 CreateGeom(m_targetSpace, null);
2260 }
2261
2262 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2263 d.Quaternion myrot = new d.Quaternion();
2264 //myrot.W = _orientation.w;
2265 myrot.W = _orientation.W;
2266 myrot.X = _orientation.X;
2267 myrot.Y = _orientation.Y;
2268 myrot.Z = _orientation.Z;
2269 d.GeomSetQuaternion(prim_geom, ref myrot);
2270
2271 //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
2272 if (IsPhysical && Body == IntPtr.Zero)
2273 {
2274 // Re creates body on size.
2275 // EnableBody also does setMass()
2276 enableBody();
2277 if (Body != IntPtr.Zero)
2278 {
2279 d.BodyEnable(Body);
2280 }
2281 }
2282 _parent_scene.geom_name_map[prim_geom] = oldname;
2283
2284 changeSelectedStatus(timestamp);
2285 if (childPrim)
2286 {
2287 if (_parent is OdePrim)
2288 {
2289 OdePrim parent = (OdePrim)_parent;
2290 parent.ChildSetGeom(this);
2291 }
2292 }
2293 resetCollisionAccounting();
2294 m_taintshape = false;
2295 }
2296
2297 public void changeAddForce(float timestamp)
2298 {
2299 if (!m_isSelected)
2300 {
2301 lock (m_forcelist)
2302 {
2303 //m_log.Info("[PHYSICS]: dequeing forcelist");
2304 if (IsPhysical)
2305 {
2306 Vector3 iforce = Vector3.Zero;
2307 int i = 0;
2308 try
2309 {
2310 for (i = 0; i < m_forcelist.Count; i++)
2311 {
2312
2313 iforce = iforce + (m_forcelist[i] * 100);
2314 }
2315 }
2316 catch (IndexOutOfRangeException)
2317 {
2318 m_forcelist = new List<Vector3>();
2319 m_collisionscore = 0;
2320 m_interpenetrationcount = 0;
2321 m_taintforce = false;
2322 return;
2323 }
2324 catch (ArgumentOutOfRangeException)
2325 {
2326 m_forcelist = new List<Vector3>();
2327 m_collisionscore = 0;
2328 m_interpenetrationcount = 0;
2329 m_taintforce = false;
2330 return;
2331 }
2332 d.BodyEnable(Body);
2333 d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
2334 }
2335 m_forcelist.Clear();
2336 }
2337
2338 m_collisionscore = 0;
2339 m_interpenetrationcount = 0;
2340 }
2341
2342 m_taintforce = false;
2343
2344 }
2345
2346
2347
2348 public void changeSetTorque(float timestamp)
2349 {
2350 if (!m_isSelected)
2351 {
2352 if (IsPhysical && Body != IntPtr.Zero)
2353 {
2354 d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
2355 }
2356 }
2357
2358 m_taintTorque = Vector3.Zero;
2359 }
2360
2361 public void changeAddAngularForce(float timestamp)
2362 {
2363 if (!m_isSelected)
2364 {
2365 lock (m_angularforcelist)
2366 {
2367 //m_log.Info("[PHYSICS]: dequeing forcelist");
2368 if (IsPhysical)
2369 {
2370 Vector3 iforce = Vector3.Zero;
2371 for (int i = 0; i < m_angularforcelist.Count; i++)
2372 {
2373 iforce = iforce + (m_angularforcelist[i] * 100);
2374 }
2375 d.BodyEnable(Body);
2376 d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
2377
2378 }
2379 m_angularforcelist.Clear();
2380 }
2381
2382 m_collisionscore = 0;
2383 m_interpenetrationcount = 0;
2384 }
2385
2386 m_taintaddangularforce = false;
2387 }
2388
2389 private void changevelocity(float timestep)
2390 {
2391 if (!m_isSelected)
2392 {
2393 Thread.Sleep(20);
2394 if (IsPhysical)
2395 {
2396 if (Body != IntPtr.Zero)
2397 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2398 }
2399
2400 //resetCollisionAccounting();
2401 }
2402 m_taintVelocity = Vector3.Zero;
2403 }
2404
2405 public void UpdatePositionAndVelocity()
2406 {
2407 return; // moved to the Move () method
2408 }
2409
2410 public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
2411 {
2412 obj.I.M00 = pMat[0, 0];
2413 obj.I.M01 = pMat[0, 1];
2414 obj.I.M02 = pMat[0, 2];
2415 obj.I.M10 = pMat[1, 0];
2416 obj.I.M11 = pMat[1, 1];
2417 obj.I.M12 = pMat[1, 2];
2418 obj.I.M20 = pMat[2, 0];
2419 obj.I.M21 = pMat[2, 1];
2420 obj.I.M22 = pMat[2, 2];
2421 return obj;
2422 }
2423
2424 public override void SubscribeEvents(int ms)
2425 {
2426 m_eventsubscription = ms;
2427 _parent_scene.addCollisionEventReporting(this);
2428 }
2429
2430 public override void UnSubscribeEvents()
2431 {
2432 _parent_scene.remCollisionEventReporting(this);
2433 m_eventsubscription = 0;
2434 }
2435
2436 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
2437 {
2438 if (CollisionEventsThisFrame == null)
2439 CollisionEventsThisFrame = new CollisionEventUpdate();
2440 CollisionEventsThisFrame.addCollider(CollidedWith, contact);
2441 }
2442
2443 public void SendCollisions()
2444 {
2445 if (CollisionEventsThisFrame == null)
2446 return;
2447
2448 base.SendCollisionUpdate(CollisionEventsThisFrame);
2449
2450 if (CollisionEventsThisFrame.m_objCollisionList.Count == 0)
2451 CollisionEventsThisFrame = null;
2452 else
2453 CollisionEventsThisFrame = new CollisionEventUpdate();
2454 }
2455
2456 public override bool SubscribedEvents()
2457 {
2458 if (m_eventsubscription > 0)
2459 return true;
2460 return false;
2461 }
2462
2463 public static Matrix4 Inverse(Matrix4 pMat)
2464 {
2465 if (determinant3x3(pMat) == 0)
2466 {
2467 return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
2468 }
2469
2470
2471
2472 return (Adjoint(pMat) / determinant3x3(pMat));
2473 }
2474
2475 public static Matrix4 Adjoint(Matrix4 pMat)
2476 {
2477 Matrix4 adjointMatrix = new Matrix4();
2478 for (int i=0; i<4; i++)
2479 {
2480 for (int j=0; j<4; j++)
2481 {
2482 Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
2483 }
2484 }
2485
2486 adjointMatrix = Transpose(adjointMatrix);
2487 return adjointMatrix;
2488 }
2489
2490 public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
2491 {
2492 Matrix4 minor = new Matrix4();
2493 int m = 0, n = 0;
2494 for (int i = 0; i < 4; i++)
2495 {
2496 if (i == iRow)
2497 continue;
2498 n = 0;
2499 for (int j = 0; j < 4; j++)
2500 {
2501 if (j == iCol)
2502 continue;
2503 Matrix4SetValue(ref minor, m,n, matrix[i, j]);
2504 n++;
2505 }
2506 m++;
2507 }
2508 return minor;
2509 }
2510
2511 public static Matrix4 Transpose(Matrix4 pMat)
2512 {
2513 Matrix4 transposeMatrix = new Matrix4();
2514 for (int i = 0; i < 4; i++)
2515 for (int j = 0; j < 4; j++)
2516 Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]);
2517 return transposeMatrix;
2518 }
2519
2520 public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
2521 {
2522 switch (r)
2523 {
2524 case 0:
2525 switch (c)
2526 {
2527 case 0:
2528 pMat.M11 = val;
2529 break;
2530 case 1:
2531 pMat.M12 = val;
2532 break;
2533 case 2:
2534 pMat.M13 = val;
2535 break;
2536 case 3:
2537 pMat.M14 = val;
2538 break;
2539 }
2540
2541 break;
2542 case 1:
2543 switch (c)
2544 {
2545 case 0:
2546 pMat.M21 = val;
2547 break;
2548 case 1:
2549 pMat.M22 = val;
2550 break;
2551 case 2:
2552 pMat.M23 = val;
2553 break;
2554 case 3:
2555 pMat.M24 = val;
2556 break;
2557 }
2558
2559 break;
2560 case 2:
2561 switch (c)
2562 {
2563 case 0:
2564 pMat.M31 = val;
2565 break;
2566 case 1:
2567 pMat.M32 = val;
2568 break;
2569 case 2:
2570 pMat.M33 = val;
2571 break;
2572 case 3:
2573 pMat.M34 = val;
2574 break;
2575 }
2576
2577 break;
2578 case 3:
2579 switch (c)
2580 {
2581 case 0:
2582 pMat.M41 = val;
2583 break;
2584 case 1:
2585 pMat.M42 = val;
2586 break;
2587 case 2:
2588 pMat.M43 = val;
2589 break;
2590 case 3:
2591 pMat.M44 = val;
2592 break;
2593 }
2594
2595 break;
2596 }
2597 }
2598 private static float determinant3x3(Matrix4 pMat)
2599 {
2600 float det = 0;
2601 float diag1 = pMat[0, 0]*pMat[1, 1]*pMat[2, 2];
2602 float diag2 = pMat[0, 1]*pMat[2, 1]*pMat[2, 0];
2603 float diag3 = pMat[0, 2]*pMat[1, 0]*pMat[2, 1];
2604 float diag4 = pMat[2, 0]*pMat[1, 1]*pMat[0, 2];
2605 float diag5 = pMat[2, 1]*pMat[1, 2]*pMat[0, 0];
2606 float diag6 = pMat[2, 2]*pMat[1, 0]*pMat[0, 1];
2607
2608 det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
2609 return det;
2610
2611 }
2612
2613 private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
2614 {
2615 dst.c.W = src.c.W;
2616 dst.c.X = src.c.X;
2617 dst.c.Y = src.c.Y;
2618 dst.c.Z = src.c.Z;
2619 dst.mass = src.mass;
2620 dst.I.M00 = src.I.M00;
2621 dst.I.M01 = src.I.M01;
2622 dst.I.M02 = src.I.M02;
2623 dst.I.M10 = src.I.M10;
2624 dst.I.M11 = src.I.M11;
2625 dst.I.M12 = src.I.M12;
2626 dst.I.M20 = src.I.M20;
2627 dst.I.M21 = src.I.M21;
2628 dst.I.M22 = src.I.M22;
2629 }
2630
2631 public override void SetMaterial(int pMaterial)
2632 {
2633 m_material = pMaterial;
2634 }
2635
2636 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
2637 {
2638 switch (pParam)
2639 {
2640 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
2641 if (pValue < 0.01f) pValue = 0.01f;
2642 // m_angularDeflectionEfficiency = pValue;
2643 break;
2644 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
2645 if (pValue < 0.1f) pValue = 0.1f;
2646 // m_angularDeflectionTimescale = pValue;
2647 break;
2648 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
2649 if (pValue < 0.3f) pValue = 0.3f;
2650 m_angularMotorDecayTimescale = pValue;
2651 break;
2652 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
2653 if (pValue < 0.3f) pValue = 0.3f;
2654 m_angularMotorTimescale = pValue;
2655 break;
2656 case Vehicle.BANKING_EFFICIENCY:
2657 if (pValue < 0.01f) pValue = 0.01f;
2658 // m_bankingEfficiency = pValue;
2659 break;
2660 case Vehicle.BANKING_MIX:
2661 if (pValue < 0.01f) pValue = 0.01f;
2662 // m_bankingMix = pValue;
2663 break;
2664 case Vehicle.BANKING_TIMESCALE:
2665 if (pValue < 0.01f) pValue = 0.01f;
2666 // m_bankingTimescale = pValue;
2667 break;
2668 case Vehicle.BUOYANCY:
2669 if (pValue < -1f) pValue = -1f;
2670 if (pValue > 1f) pValue = 1f;
2671 m_VehicleBuoyancy = pValue;
2672 break;
2673// case Vehicle.HOVER_EFFICIENCY:
2674// if (pValue < 0f) pValue = 0f;
2675// if (pValue > 1f) pValue = 1f;
2676// m_VhoverEfficiency = pValue;
2677// break;
2678 case Vehicle.HOVER_HEIGHT:
2679 m_VhoverHeight = pValue;
2680 break;
2681 case Vehicle.HOVER_TIMESCALE:
2682 if (pValue < 0.1f) pValue = 0.1f;
2683 m_VhoverTimescale = pValue;
2684 break;
2685 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
2686 if (pValue < 0.01f) pValue = 0.01f;
2687 // m_linearDeflectionEfficiency = pValue;
2688 break;
2689 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
2690 if (pValue < 0.01f) pValue = 0.01f;
2691 // m_linearDeflectionTimescale = pValue;
2692 break;
2693 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
2694 if (pValue < 0.3f) pValue = 0.3f;
2695 m_linearMotorDecayTimescale = pValue;
2696 break;
2697 case Vehicle.LINEAR_MOTOR_TIMESCALE:
2698 if (pValue < 0.1f) pValue = 0.1f;
2699 m_linearMotorTimescale = pValue;
2700 break;
2701 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
2702 if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
2703 if (pValue > 1.0f) pValue = 1.0f;
2704 m_verticalAttractionEfficiency = pValue;
2705 break;
2706 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
2707 if (pValue < 0.1f) pValue = 0.1f;
2708 m_verticalAttractionTimescale = pValue;
2709 break;
2710
2711 // These are vector properties but the engine lets you use a single float value to
2712 // set all of the components to the same value
2713 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
2714 if (pValue > 30f) pValue = 30f;
2715 if (pValue < 0.1f) pValue = 0.1f;
2716 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
2717 break;
2718 case Vehicle.ANGULAR_MOTOR_DIRECTION:
2719 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
2720 UpdateAngDecay();
2721 break;
2722 case Vehicle.LINEAR_FRICTION_TIMESCALE:
2723 if (pValue < 0.1f) pValue = 0.1f;
2724 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
2725 break;
2726 case Vehicle.LINEAR_MOTOR_DIRECTION:
2727 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
2728 UpdateLinDecay();
2729 break;
2730 case Vehicle.LINEAR_MOTOR_OFFSET:
2731 // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
2732 break;
2733
2734 }
2735
2736 }//end ProcessFloatVehicleParam
2737
2738 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
2739 {
2740 switch (pParam)
2741 {
2742 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
2743 if (pValue.X > 30f) pValue.X = 30f;
2744 if (pValue.X < 0.1f) pValue.X = 0.1f;
2745 if (pValue.Y > 30f) pValue.Y = 30f;
2746 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
2747 if (pValue.Z > 30f) pValue.Z = 30f;
2748 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
2749 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
2750 break;
2751 case Vehicle.ANGULAR_MOTOR_DIRECTION:
2752 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
2753 // Limit requested angular speed to 2 rps= 4 pi rads/sec
2754 if(m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
2755 if(m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
2756 if(m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
2757 if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
2758 if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
2759 if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
2760 UpdateAngDecay();
2761 break;
2762 case Vehicle.LINEAR_FRICTION_TIMESCALE:
2763 if (pValue.X < 0.1f) pValue.X = 0.1f;
2764 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
2765 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
2766 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
2767 break;
2768 case Vehicle.LINEAR_MOTOR_DIRECTION:
2769 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
2770 UpdateLinDecay();
2771 break;
2772 case Vehicle.LINEAR_MOTOR_OFFSET:
2773 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
2774 break;
2775 }
2776
2777 }//end ProcessVectorVehicleParam
2778
2779 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
2780 {
2781 switch (pParam)
2782 {
2783 case Vehicle.REFERENCE_FRAME:
2784 // m_referenceFrame = pValue;
2785 break;
2786 }
2787
2788 }//end ProcessRotationVehicleParam
2789
2790 internal void ProcessVehicleFlags(int pParam, bool remove)
2791 {
2792 if (remove)
2793 {
2794 m_flags &= ~((VehicleFlag)pParam);
2795 }
2796 else
2797 {
2798 m_flags |= (VehicleFlag)pParam;
2799 }
2800 }
2801
2802 internal void ProcessTypeChange(Vehicle pType)
2803 {
2804 // Set Defaults For Type
2805 m_type = pType;
2806 switch (pType)
2807 {
2808 case Vehicle.TYPE_SLED:
2809 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
2810 m_angularFrictionTimescale = new Vector3(30, 30, 30);
2811// m_lLinMotorVel = Vector3.Zero;
2812 m_linearMotorTimescale = 1000;
2813 m_linearMotorDecayTimescale = 120;
2814 m_angularMotorDirection = Vector3.Zero;
2815 m_angularMotorDVel = Vector3.Zero;
2816 m_angularMotorTimescale = 1000;
2817 m_angularMotorDecayTimescale = 120;
2818 m_VhoverHeight = 0;
2819// m_VhoverEfficiency = 1;
2820 m_VhoverTimescale = 10;
2821 m_VehicleBuoyancy = 0;
2822 // m_linearDeflectionEfficiency = 1;
2823 // m_linearDeflectionTimescale = 1;
2824 // m_angularDeflectionEfficiency = 1;
2825 // m_angularDeflectionTimescale = 1000;
2826 // m_bankingEfficiency = 0;
2827 // m_bankingMix = 1;
2828 // m_bankingTimescale = 10;
2829 // m_referenceFrame = Quaternion.Identity;
2830 m_flags &=
2831 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
2832 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
2833 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
2834 break;
2835 case Vehicle.TYPE_CAR:
2836 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
2837 m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
2838// m_lLinMotorVel = Vector3.Zero;
2839 m_linearMotorTimescale = 1;
2840 m_linearMotorDecayTimescale = 60;
2841 m_angularMotorDirection = Vector3.Zero;
2842 m_angularMotorDVel = Vector3.Zero;
2843 m_angularMotorTimescale = 1;
2844 m_angularMotorDecayTimescale = 0.8f;
2845 m_VhoverHeight = 0;
2846// m_VhoverEfficiency = 0;
2847 m_VhoverTimescale = 1000;
2848 m_VehicleBuoyancy = 0;
2849 // // m_linearDeflectionEfficiency = 1;
2850 // // m_linearDeflectionTimescale = 2;
2851 // // m_angularDeflectionEfficiency = 0;
2852 // m_angularDeflectionTimescale = 10;
2853 m_verticalAttractionEfficiency = 1f;
2854 m_verticalAttractionTimescale = 10f;
2855 // m_bankingEfficiency = -0.2f;
2856 // m_bankingMix = 1;
2857 // m_bankingTimescale = 1;
2858 // m_referenceFrame = Quaternion.Identity;
2859 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
2860 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
2861 VehicleFlag.LIMIT_MOTOR_UP);
2862 break;
2863 case Vehicle.TYPE_BOAT:
2864 m_linearFrictionTimescale = new Vector3(10, 3, 2);
2865 m_angularFrictionTimescale = new Vector3(10,10,10);
2866// m_lLinMotorVel = Vector3.Zero;
2867 m_linearMotorTimescale = 5;
2868 m_linearMotorDecayTimescale = 60;
2869 m_angularMotorDirection = Vector3.Zero;
2870 m_angularMotorDVel = Vector3.Zero;
2871 m_angularMotorTimescale = 4;
2872 m_angularMotorDecayTimescale = 4;
2873 m_VhoverHeight = 0;
2874// m_VhoverEfficiency = 0.5f;
2875 m_VhoverTimescale = 2;
2876 m_VehicleBuoyancy = 1;
2877 // m_linearDeflectionEfficiency = 0.5f;
2878 // m_linearDeflectionTimescale = 3;
2879 // m_angularDeflectionEfficiency = 0.5f;
2880 // m_angularDeflectionTimescale = 5;
2881 m_verticalAttractionEfficiency = 0.5f;
2882 m_verticalAttractionTimescale = 5f;
2883 // m_bankingEfficiency = -0.3f;
2884 // m_bankingMix = 0.8f;
2885 // m_bankingTimescale = 1;
2886 // m_referenceFrame = Quaternion.Identity;
2887 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
2888 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
2889 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
2890 VehicleFlag.LIMIT_MOTOR_UP);
2891 break;
2892 case Vehicle.TYPE_AIRPLANE:
2893 m_linearFrictionTimescale = new Vector3(200, 10, 5);
2894 m_angularFrictionTimescale = new Vector3(20, 20, 20);
2895// m_lLinMotorVel = Vector3.Zero;
2896 m_linearMotorTimescale = 2;
2897 m_linearMotorDecayTimescale = 60;
2898 m_angularMotorDirection = Vector3.Zero;
2899 m_angularMotorDVel = Vector3.Zero;
2900 m_angularMotorTimescale = 4;
2901 m_angularMotorDecayTimescale = 4;
2902 m_VhoverHeight = 0;
2903// m_VhoverEfficiency = 0.5f;
2904 m_VhoverTimescale = 1000;
2905 m_VehicleBuoyancy = 0;
2906 // m_linearDeflectionEfficiency = 0.5f;
2907 // m_linearDeflectionTimescale = 3;
2908 // m_angularDeflectionEfficiency = 1;
2909 // m_angularDeflectionTimescale = 2;
2910 m_verticalAttractionEfficiency = 0.9f;
2911 m_verticalAttractionTimescale = 2f;
2912 // m_bankingEfficiency = 1;
2913 // m_bankingMix = 0.7f;
2914 // m_bankingTimescale = 2;
2915 // m_referenceFrame = Quaternion.Identity;
2916 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
2917 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
2918 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
2919 break;
2920 case Vehicle.TYPE_BALLOON:
2921 m_linearFrictionTimescale = new Vector3(5, 5, 5);
2922 m_angularFrictionTimescale = new Vector3(10, 10, 10);
2923 m_linearMotorTimescale = 5;
2924 m_linearMotorDecayTimescale = 60;
2925 m_angularMotorDirection = Vector3.Zero;
2926 m_angularMotorDVel = Vector3.Zero;
2927 m_angularMotorTimescale = 6;
2928 m_angularMotorDecayTimescale = 10;
2929 m_VhoverHeight = 5;
2930// m_VhoverEfficiency = 0.8f;
2931 m_VhoverTimescale = 10;
2932 m_VehicleBuoyancy = 1;
2933 // m_linearDeflectionEfficiency = 0;
2934 // m_linearDeflectionTimescale = 5;
2935 // m_angularDeflectionEfficiency = 0;
2936 // m_angularDeflectionTimescale = 5;
2937 m_verticalAttractionEfficiency = 1f;
2938 m_verticalAttractionTimescale = 100f;
2939 // m_bankingEfficiency = 0;
2940 // m_bankingMix = 0.7f;
2941 // m_bankingTimescale = 5;
2942 // m_referenceFrame = Quaternion.Identity;
2943 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
2944 VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
2945 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
2946 break;
2947
2948 }
2949 }//end SetDefaultsForType
2950
2951 internal void Enable(IntPtr pBody, OdeScene pParentScene)
2952 {
2953 if (m_type == Vehicle.TYPE_NONE)
2954 return;
2955
2956 m_body = pBody;
2957 }
2958
2959
2960 internal void Halt()
2961 { // Kill all motions, when non-physical
2962 // m_linearMotorDirection = Vector3.Zero;
2963 m_lLinMotorDVel = Vector3.Zero;
2964 m_lLinObjectVel = Vector3.Zero;
2965 m_wLinObjectVel = Vector3.Zero;
2966 m_angularMotorDirection = Vector3.Zero;
2967 m_lastAngularVelocity = Vector3.Zero;
2968 m_angularMotorDVel = Vector3.Zero;
2969 _acceleration = Vector3.Zero;
2970 }
2971
2972 private void UpdateLinDecay()
2973 {
2974// if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X;
2975// if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
2976// if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
2977 m_lLinMotorDVel.X = m_linearMotorDirection.X;
2978 m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
2979 m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
2980 } // else let the motor decay on its own
2981
2982 private void UpdateAngDecay()
2983 {
2984// if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X;
2985// if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y;
2986// if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z;
2987 m_angularMotorDVel.X = m_angularMotorDirection.X;
2988 m_angularMotorDVel.Y = m_angularMotorDirection.Y;
2989 m_angularMotorDVel.Z = m_angularMotorDirection.Z;
2990 } // else let the motor decay on its own
2991
2992 public void Move(float timestep)
2993 {
2994 float fx = 0;
2995 float fy = 0;
2996 float fz = 0;
2997 Vector3 linvel; // velocity applied, including any reversal
2998 int outside = 0;
2999
3000 // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
3001 // This is a temp patch until proper region crossing is developed.
3002
3003 int failureLimit = _parent_scene.geomCrossingFailuresBeforeOutofbounds;
3004 int fence = _parent_scene.geomRegionFence;
3005
3006 float border_limit = 0.05f; // original limit
3007 if (fence == 1) border_limit = 0.5f; // bounce point
3008
3009 frcount++; // used to limit debug comment output
3010 if (frcount > 50)
3011 frcount = 0;
3012
3013 if(revcount > 0) revcount--;
3014
3015 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // Only move root prims.
3016 {
3017 // Old public void UpdatePositionAndVelocity(), more accuratley calculated here
3018 bool lastZeroFlag = _zeroFlag; // was it stopped
3019
3020 d.Vector3 vec = d.BodyGetPosition(Body);
3021 Vector3 l_position = Vector3.Zero;
3022 l_position.X = vec.X;
3023 l_position.Y = vec.Y;
3024 l_position.Z = vec.Z;
3025 m_lastposition = _position;
3026 _position = l_position;
3027
3028 d.Quaternion ori = d.BodyGetQuaternion(Body);
3029 // Quaternion l_orientation = Quaternion.Identity;
3030 _orientation.X = ori.X;
3031 _orientation.Y = ori.Y;
3032 _orientation.Z = ori.Z;
3033 _orientation.W = ori.W;
3034 m_lastorientation = _orientation;
3035
3036 d.Vector3 vel = d.BodyGetLinearVel(Body);
3037 m_lastVelocity = _velocity;
3038 _velocity.X = vel.X;
3039 _velocity.Y = vel.Y;
3040 _velocity.Z = vel.Z;
3041 _acceleration = ((_velocity - m_lastVelocity) / timestep);
3042
3043 d.Vector3 torque = d.BodyGetTorque(Body);
3044 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3045
3046 base.RequestPhysicsterseUpdate();
3047
3048//Console.WriteLine("Move {0} at {1}", m_primName, l_position);
3049
3050 // Check if outside region
3051 // In Scene.cs/CrossPrimGroupIntoNewRegion the object is checked for 0.1M from border!
3052 if (l_position.X > ((float)_parent_scene.WorldExtents.X - border_limit))
3053 {
3054 l_position.X = ((float)_parent_scene.WorldExtents.X - border_limit);
3055 outside = 1;
3056 }
3057
3058 if (l_position.X < border_limit)
3059 {
3060 l_position.X = border_limit;
3061 outside = 2;
3062 }
3063 if (l_position.Y > ((float)_parent_scene.WorldExtents.Y - border_limit))
3064 {
3065 l_position.Y = ((float)_parent_scene.WorldExtents.Y - border_limit);
3066 outside = 3;
3067 }
3068
3069 if (l_position.Y < border_limit)
3070 {
3071 l_position.Y = border_limit;
3072 outside = 4;
3073 }
3074
3075 if (outside > 0)
3076 {
3077//Console.WriteLine(" fence = {0}",fence);
3078
3079//Console.WriteLine("Border {0}", l_position);
3080 if (fence == 1) // bounce object off boundary
3081 {
3082 if (revcount == 0)
3083 {
3084 if (outside < 3)
3085 {
3086 _velocity.X = -_velocity.X;
3087 }
3088 else
3089 {
3090 _velocity.Y = -_velocity.Y;
3091 }
3092 if (m_type != Vehicle.TYPE_NONE) Halt();
3093 _position = l_position;
3094 m_taintposition = _position;
3095 m_lastVelocity = _velocity;
3096 _acceleration = Vector3.Zero;
3097 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
3098 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
3099 base.RequestPhysicsterseUpdate();
3100
3101 revcount = 25; // wait for object to move away from border
3102 }
3103 } // else old crossing mode
3104 else if (m_crossingfailures < failureLimit)
3105 { // keep trying to cross?
3106 _position = l_position;
3107 //_parent_scene.remActivePrim(this);
3108 if (_parent == null) base.RequestPhysicsterseUpdate();
3109 return; // Dont process any other motion?
3110 }
3111 else
3112 { // Too many tries
3113 if (_parent == null) base.RaiseOutOfBounds(l_position);
3114//Console.WriteLine("ROOB 2");
3115
3116 return; // Dont process any other motion?
3117 } // end various methods
3118 } // end outside region horizontally
3119
3120
3121 if (l_position.Z < 0)
3122 {
3123 // This is so prim that get lost underground don't fall forever and suck up
3124 //
3125 // Sim resources and memory.
3126 // Disables the prim's movement physics....
3127 // It's a hack and will generate a console message if it fails.
3128
3129 //IsPhysical = false;
3130 if (_parent == null) base.RaiseOutOfBounds(_position);
3131//Console.WriteLine("ROOB 3");
3132
3133
3134 _acceleration.X = 0; // This stuff may stop client display but it has no
3135 _acceleration.Y = 0; // effect on the object in phys engine!
3136 _acceleration.Z = 0;
3137
3138 _velocity.X = 0;
3139 _velocity.Y = 0;
3140 _velocity.Z = 0;
3141 m_rotationalVelocity.X = 0;
3142 m_rotationalVelocity.Y = 0;
3143 m_rotationalVelocity.Z = 0;
3144
3145 if (_parent == null) base.RequestPhysicsterseUpdate();
3146
3147 m_throttleUpdates = false;
3148 throttleCounter = 0;
3149 _zeroFlag = true;
3150 //outofBounds = true;
3151 } // end neg Z check
3152
3153 // Is it moving?
3154 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
3155 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
3156 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
3157 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // KF 0.01 is far to large
3158 {
3159 _zeroFlag = true;
3160 m_throttleUpdates = false;
3161 }
3162 else
3163 {
3164 //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
3165 _zeroFlag = false;
3166 m_lastUpdateSent = false;
3167 //m_throttleUpdates = false;
3168 }
3169
3170 if (_zeroFlag)
3171 { // Its stopped
3172 _velocity.X = 0.0f;
3173 _velocity.Y = 0.0f;
3174 _velocity.Z = 0.0f;
3175
3176 _acceleration.X = 0;
3177 _acceleration.Y = 0;
3178 _acceleration.Z = 0;
3179
3180 m_rotationalVelocity.X = 0;
3181 m_rotationalVelocity.Y = 0;
3182 m_rotationalVelocity.Z = 0;
3183 if (!m_lastUpdateSent)
3184 {
3185 m_throttleUpdates = false;
3186 throttleCounter = 0;
3187 if (_parent == null)
3188 {
3189 base.RequestPhysicsterseUpdate();
3190 }
3191
3192 m_lastUpdateSent = true;
3193 }
3194 }
3195 else
3196 { // Its moving
3197 if (lastZeroFlag != _zeroFlag)
3198 {
3199 if (_parent == null)
3200 {
3201 base.RequestPhysicsterseUpdate();
3202 }
3203 }
3204 m_lastUpdateSent = false;
3205 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3206 {
3207 if (_parent == null)
3208 {
3209 base.RequestPhysicsterseUpdate();
3210 }
3211 }
3212 else
3213 {
3214 throttleCounter++;
3215 }
3216 }
3217 m_lastposition = l_position;
3218
3219 /// End UpdatePositionAndVelocity insert
3220
3221
3222 // Rotation lock =====================================
3223 if(m_rotateEnableUpdate)
3224 {
3225 // Snapshot current angles, set up Amotor(s)
3226 m_rotateEnableUpdate = false;
3227 m_rotateEnable = m_rotateEnableRequest;
3228Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
3229
3230 if (Amotor != IntPtr.Zero)
3231 {
3232 d.JointDestroy(Amotor);
3233 Amotor = IntPtr.Zero;
3234Console.WriteLine("Old Amotor Destroyed");
3235 }
3236
3237 if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
3238 { // not all are enabled
3239 d.Quaternion r = d.BodyGetQuaternion(Body);
3240 Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
3241 // extract the axes vectors
3242 Vector3 vX = new Vector3(1f,0f,0f);
3243 Vector3 vY = new Vector3(0f,1f,0f);
3244 Vector3 vZ = new Vector3(0f,0f,1f);
3245 vX = vX * locrot;
3246 vY = vY * locrot;
3247 vZ = vZ * locrot;
3248 // snapshot the current angle vectors
3249 m_lockX = vX;
3250 m_lockY = vY;
3251 m_lockZ = vZ;
3252 // m_lockRot = locrot;
3253 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
3254 d.JointAttach(Amotor, Body, IntPtr.Zero);
3255 d.JointSetAMotorMode(Amotor, 0); // User mode??
3256Console.WriteLine("New Amotor Created for {0}", m_primName);
3257
3258 float axisnum = 3; // how many to lock
3259 axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
3260 d.JointSetAMotorNumAxes(Amotor,(int)axisnum);
3261Console.WriteLine("AxisNum={0}",(int)axisnum);
3262
3263 int i = 0;
3264
3265 if (m_rotateEnable.X == 0)
3266 {
3267 d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
3268Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
3269 i++;
3270 }
3271
3272 if (m_rotateEnable.Y == 0)
3273 {
3274 d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
3275Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
3276 i++;
3277 }
3278
3279 if (m_rotateEnable.Z == 0)
3280 {
3281 d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
3282Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
3283 i++;
3284 }
3285
3286 // These lowstops and high stops are effectively (no wiggle room)
3287 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
3288 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
3289 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
3290 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
3291 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
3292 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
3293 d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 0f);
3294 d.JointSetAMotorParam(Amotor, (int) dParam.Vel3, 0f);
3295 d.JointSetAMotorParam(Amotor, (int) dParam.Vel2, 0f);
3296 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
3297 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
3298 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
3299 } // else none are locked
3300 } // end Rotation Update
3301
3302
3303 // VEHICLE processing ==========================================
3304 if (m_type != Vehicle.TYPE_NONE)
3305 {
3306 // get body attitude
3307 d.Quaternion rot = d.BodyGetQuaternion(Body);
3308 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
3309 Quaternion irotq = Quaternion.Inverse(rotq);
3310
3311 // VEHICLE Linear Motion
3312 d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
3313 Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
3314 m_lLinObjectVel = vel_now * irotq;
3315
3316 if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
3317 {
3318 if ( Vector3.Mag(m_lLinMotorDVel) < 1.0f)
3319 {
3320 float decayfactor = m_linearMotorDecayTimescale/timestep;
3321 Vector3 decayAmount = (m_lLinMotorDVel/decayfactor);
3322 m_lLinMotorDVel -= decayAmount;
3323 }
3324 else
3325 {
3326 float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
3327 Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * timestep;
3328 m_lLinMotorDVel -= decel;
3329 }
3330 if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3331 {
3332 m_lLinMotorDVel = Vector3.Zero;
3333 }
3334
3335 /* else
3336 {
3337 if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
3338 if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
3339 if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
3340 } */
3341 } // end linear motor decay
3342
3343 if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
3344 {
3345 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
3346 if (m_linearMotorTimescale < 300.0f)
3347 {
3348 Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
3349 float linfactor = m_linearMotorTimescale/timestep;
3350 Vector3 attackAmount = (attack_error/linfactor) * 1.3f;
3351 m_lLinObjectVel += attackAmount;
3352 }
3353 if (m_linearFrictionTimescale.X < 300.0f)
3354 {
3355 float fricfactor = m_linearFrictionTimescale.X / timestep;
3356 float fricX = m_lLinObjectVel.X / fricfactor;
3357 m_lLinObjectVel.X -= fricX;
3358 }
3359 if (m_linearFrictionTimescale.Y < 300.0f)
3360 {
3361 float fricfactor = m_linearFrictionTimescale.Y / timestep;
3362 float fricY = m_lLinObjectVel.Y / fricfactor;
3363 m_lLinObjectVel.Y -= fricY;
3364 }
3365 if (m_linearFrictionTimescale.Z < 300.0f)
3366 {
3367 float fricfactor = m_linearFrictionTimescale.Z / timestep;
3368 float fricZ = m_lLinObjectVel.Z / fricfactor;
3369 m_lLinObjectVel.Z -= fricZ;
3370 }
3371 }
3372 m_wLinObjectVel = m_lLinObjectVel * rotq;
3373
3374 // Gravity and Buoyancy
3375 Vector3 grav = Vector3.Zero;
3376 if(m_VehicleBuoyancy < 1.0f)
3377 {
3378 // There is some gravity, make a gravity force vector
3379 // that is applied after object velocity.
3380 d.Mass objMass;
3381 d.BodyGetMass(Body, out objMass);
3382 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
3383 grav.Z = _parent_scene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
3384 } // else its 1.0, no gravity.
3385
3386 // Hovering
3387 if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
3388 {
3389 // We should hover, get the target height
3390 d.Vector3 pos = d.BodyGetPosition(Body);
3391 if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
3392 {
3393 m_VhoverTargetHeight = _parent_scene.GetWaterLevel() + m_VhoverHeight;
3394 }
3395 else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
3396 {
3397 m_VhoverTargetHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
3398 }
3399 else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
3400 {
3401 m_VhoverTargetHeight = m_VhoverHeight;
3402 }
3403
3404 if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
3405 {
3406 // If body is aready heigher, use its height as target height
3407 if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
3408 }
3409
3410// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
3411// m_VhoverTimescale = 0f; // time to acheive height
3412// timestep is time since last frame,in secs
3413 float herr0 = pos.Z - m_VhoverTargetHeight;
3414 // Replace Vertical speed with correction figure if significant
3415 if(Math.Abs(herr0) > 0.01f )
3416 {
3417 //? d.Mass objMass;
3418 //? d.BodyGetMass(Body, out objMass);
3419 m_wLinObjectVel.Z = - ( (herr0 * timestep * 50.0f) / m_VhoverTimescale);
3420 //KF: m_VhoverEfficiency is not yet implemented
3421 }
3422 else
3423 {
3424 m_wLinObjectVel.Z = 0f;
3425 }
3426 }
3427 else
3428 { // not hovering
3429 if (m_wLinObjectVel.Z == 0f)
3430 { // Gravity rules
3431 m_wLinObjectVel.Z = vel_now.Z;
3432 } // else the motor has it
3433 }
3434 linvel = m_wLinObjectVel;
3435
3436 // Vehicle Linear Motion done =======================================
3437 // Apply velocity
3438 d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
3439 // apply gravity force
3440 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
3441//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
3442 // end MoveLinear()
3443
3444
3445 // MoveAngular
3446 /*
3447 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
3448
3449 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
3450 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
3451 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
3452
3453 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
3454 private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
3455 */
3456//if(frcount == 0) Console.WriteLine("MoveAngular ");
3457
3458 d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
3459 Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
3460 angObjectVel = angObjectVel * irotq; // ============ Converts to LOCAL rotation
3461
3462//if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
3463
3464 // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
3465 float atk_decayfactor = 23.0f / (m_angularMotorTimescale * timestep);
3466 m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
3467 // Decay Angular Motor 2.
3468 if (m_angularMotorDecayTimescale < 300.0f)
3469 {
3470 if ( Vector3.Mag(m_angularMotorDVel) < 1.0f)
3471 {
3472 float decayfactor = (m_angularMotorDecayTimescale)/timestep;
3473 Vector3 decayAmount = (m_angularMotorDVel/decayfactor);
3474 m_angularMotorDVel -= decayAmount;
3475 }
3476 else
3477 {
3478 Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * timestep / m_angularMotorDecayTimescale;
3479 m_angularMotorDVel -= decel;
3480 }
3481
3482 if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
3483 {
3484 m_angularMotorDVel = Vector3.Zero;
3485 }
3486 else
3487 {
3488 if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
3489 if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
3490 if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
3491 }
3492 } // end decay angular motor
3493//if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3494
3495//if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
3496
3497 if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
3498 { // if motor or object have motion
3499 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
3500
3501 if (m_angularMotorTimescale < 300.0f)
3502 {
3503 Vector3 attack_error = m_angularMotorDVel - angObjectVel;
3504 float angfactor = m_angularMotorTimescale/timestep;
3505 Vector3 attackAmount = (attack_error/angfactor);
3506 angObjectVel += attackAmount;
3507//if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
3508//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
3509 }
3510
3511 angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
3512 angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
3513 angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
3514 } // else no signif. motion
3515
3516//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
3517 // Bank section tba
3518 // Deflection section tba
3519//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
3520
3521
3522 /* // Rotation Axis Disables:
3523 if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
3524 {
3525 if (m_angularEnable.X == 0)
3526 angObjectVel.X = 0f;
3527 if (m_angularEnable.Y == 0)
3528 angObjectVel.Y = 0f;
3529 if (m_angularEnable.Z == 0)
3530 angObjectVel.Z = 0f;
3531 }
3532 */
3533 angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
3534
3535 // Vertical attractor section
3536 Vector3 vertattr = Vector3.Zero;
3537
3538 if(m_verticalAttractionTimescale < 300)
3539 {
3540 float VAservo = 1.0f / (m_verticalAttractionTimescale * timestep);
3541 // make a vector pointing up
3542 Vector3 verterr = Vector3.Zero;
3543 verterr.Z = 1.0f;
3544 // rotate it to Body Angle
3545 verterr = verterr * rotq;
3546 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
3547 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
3548 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
3549
3550 if (verterr.Z < 0.0f)
3551 { // Deflection from vertical exceeds 90-degrees. This method will ensure stable return to
3552 // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
3553//Console.WriteLine("InvertFlip");
3554 verterr.X = 2.0f - verterr.X;
3555 verterr.Y = 2.0f - verterr.Y;
3556 }
3557 verterr *= 0.5f;
3558 // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
3559 Vector3 xyav = angObjectVel;
3560 xyav.Z = 0.0f;
3561 if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
3562 {
3563 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
3564 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
3565 vertattr.X = verterr.Y;
3566 vertattr.Y = - verterr.X;
3567 vertattr.Z = 0f;
3568//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
3569
3570 // scaling appears better usingsquare-law
3571 float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
3572 float bounce = 1.0f - damped;
3573 // 0 = crit damp, 1 = bouncy
3574 float oavz = angObjectVel.Z; // retain z velocity
3575 // time-scaled correction, which sums, therefore is bouncy:
3576 angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce;
3577 // damped, good @ < 90:
3578 angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped);
3579 angObjectVel.Z = oavz;
3580//if(frcount == 0) Console.WriteLine("VA+");
3581//Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
3582 }
3583 else
3584 {
3585 // else error is very small
3586 angObjectVel.X = 0f;
3587 angObjectVel.Y = 0f;
3588//if(frcount == 0) Console.WriteLine("VA0");
3589 }
3590 } // else vertical attractor is off
3591//if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
3592
3593
3594 m_lastAngularVelocity = angObjectVel;
3595 // apply Angular Velocity to body
3596 d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
3597//if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
3598
3599 } // end VEHICLES
3600 else
3601 {
3602 // Dyamics (NON-'VEHICLES') are dealt with here ================================================================
3603
3604 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
3605
3606 /// Dynamics Buoyancy
3607 //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
3608 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
3609 // NB Prims in ODE are no subject to global gravity
3610 // This should only affect gravity operations
3611
3612 float m_mass = CalculateMass();
3613 // calculate z-force due togravity on object.
3614 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
3615
3616 if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
3617 {
3618 fz = 0; // llMoveToTarget ignores gravity.
3619 // it also ignores mass of object, and any physical resting on it.
3620 // Vector3 m_PIDTarget is where we are going
3621 // float m_PIDTau is time to get there
3622 fx = 0;
3623 fy = 0;
3624 d.Vector3 pos = d.BodyGetPosition(Body);
3625 Vector3 error = new Vector3(
3626 (m_PIDTarget.X - pos.X),
3627 (m_PIDTarget.Y - pos.Y),
3628 (m_PIDTarget.Z - pos.Z));
3629 if (error.ApproxEquals(Vector3.Zero,0.01f))
3630 { // Very close, Jump there and quit move
3631 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3632 _target_velocity = Vector3.Zero;
3633 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3634 }
3635 else
3636 {
3637 float scale = 50.0f * timestep / m_PIDTau;
3638 if ((error.ApproxEquals(Vector3.Zero,0.5f)) && (_target_velocity != Vector3.Zero))
3639 {
3640 // Nearby, quit update of velocity
3641 }
3642 else
3643 { // Far, calc damped velocity
3644 _target_velocity = error * scale;
3645 }
3646 d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
3647 }
3648 } // end PID MoveToTarget
3649
3650 /* Original OS implementation: Does not work correctly as another phys object resting on THIS object purturbs its position.
3651 This is incorrect behavior. llMoveToTarget must move the Body no matter what phys object is resting on it.
3652
3653 //if (!d.BodyIsEnabled(Body))
3654 //d.BodySetForce(Body, 0f, 0f, 0f);
3655
3656 // no lock; for now it's only called from within Simulate()
3657
3658 // If the PID Controller isn't active then we set our force
3659 // calculating base velocity to the current position
3660
3661 if ((m_PIDTau < 1) && (m_PIDTau != 0))
3662 {
3663 //PID_G = PID_G / m_PIDTau;
3664 m_PIDTau = 1;
3665 }
3666
3667 if ((PID_G - m_PIDTau) <= 0)
3668 {
3669 PID_G = m_PIDTau + 1;
3670 }
3671 //PidStatus = true;
3672
3673 // PhysicsVector vec = new PhysicsVector();
3674// d.Vector3 vel = d.BodyGetLinearVel(Body);
3675
3676 d.Vector3 pos = d.BodyGetPosition(Body);
3677 _target_velocity =
3678 new Vector3(
3679 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
3680 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
3681 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
3682 );
3683
3684if(frcount == 0) Console.WriteLine("PID {0} b={1} fz={2} vel={3}", m_primName, m_buoyancy, fz, _target_velocity);
3685 // if velocity is zero, use position control; otherwise, velocity control
3686
3687 if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
3688 {
3689 // keep track of where we stopped. No more slippin' & slidin'
3690
3691 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3692 // react to the physics scene by moving it's position.
3693 // Avatar to Avatar collisions
3694 // Prim to avatar collisions
3695
3696 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
3697 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
3698 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
3699 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
3700 d.BodySetLinearVel(Body, 0, 0, 0);
3701 d.BodyAddForce(Body, 0, 0, fz);
3702 // return;
3703 }
3704 else
3705 {
3706 _zeroFlag = false;
3707
3708 // We're flying and colliding with something
3709 fx = ((_target_velocity.X) - vel.X) * (PID_D);
3710 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
3711
3712 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
3713
3714 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
3715 }
3716 } // end if (m_usePID)
3717 End of old PID system */
3718
3719
3720 /// Dynamics Hover ===================================================================================
3721 // Hover PID Controller can only run if the PIDcontroller is not in use.
3722 if (m_useHoverPID && !m_usePID)
3723 {
3724//Console.WriteLine("Hover " + m_primName);
3725
3726 // If we're using the PID controller, then we have no gravity
3727 fz = (-1 * _parent_scene.gravityz) * m_mass;
3728
3729 // no lock; for now it's only called from within Simulate()
3730
3731 // If the PID Controller isn't active then we set our force
3732 // calculating base velocity to the current position
3733
3734 if ((m_PIDTau < 1))
3735 {
3736 PID_G = PID_G / m_PIDTau;
3737 }
3738
3739 if ((PID_G - m_PIDTau) <= 0)
3740 {
3741 PID_G = m_PIDTau + 1;
3742 }
3743
3744
3745 // Where are we, and where are we headed?
3746 d.Vector3 pos = d.BodyGetPosition(Body);
3747// d.Vector3 vel = d.BodyGetLinearVel(Body);
3748
3749
3750 // Non-Vehicles have a limited set of Hover options.
3751 // determine what our target height really is based on HoverType
3752 switch (m_PIDHoverType)
3753 {
3754 case PIDHoverType.Ground:
3755 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3756 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3757 break;
3758 case PIDHoverType.GroundAndWater:
3759 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
3760 m_waterHeight = _parent_scene.GetWaterLevel();
3761 if (m_groundHeight > m_waterHeight)
3762 {
3763 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
3764 }
3765 else
3766 {
3767 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
3768 }
3769 break;
3770
3771 } // end switch (m_PIDHoverType)
3772
3773
3774 _target_velocity =
3775 new Vector3(0.0f, 0.0f,
3776 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
3777 );
3778
3779 // if velocity is zero, use position control; otherwise, velocity control
3780
3781 if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
3782 {
3783 // keep track of where we stopped. No more slippin' & slidin'
3784
3785 // We only want to deactivate the PID Controller if we think we want to have our surrogate
3786 // react to the physics scene by moving it's position.
3787 // Avatar to Avatar collisions
3788 // Prim to avatar collisions
3789 d.Vector3 dlinvel = vel;
3790
3791 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3792 d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
3793 d.BodyAddForce(Body, 0, 0, fz);
3794 //KF this prevents furthur motions return;
3795 }
3796 else
3797 {
3798 _zeroFlag = false;
3799
3800 // We're flying and colliding with something
3801 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
3802 }
3803 } // end m_useHoverPID && !m_usePID
3804
3805 /// Dynamics RotLookAt =================================================================================
3806 if (m_useAPID)
3807 {
3808 // RotLookAt, apparently overrides all other rotation sources. Inputs:
3809 // Quaternion m_APIDTarget
3810 // float m_APIDStrength // From SL experiments, this is the time to get there
3811 // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
3812 // Also in SL the mass of the object has no effect on time to get there.
3813 // Factors:
3814 // get present body rotation
3815 float limit = 1.0f;
3816 float scaler = 50f; // adjusts damping time
3817 float RLAservo = 0f;
3818
3819 d.Quaternion rot = d.BodyGetQuaternion(Body);
3820 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
3821 Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
3822 float diff_angle;
3823 Vector3 diff_axis;
3824 rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
3825 diff_axis.Normalize();
3826 if(diff_angle > 0.01f) // diff_angle is always +ve
3827 {
3828// PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
3829 Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
3830 rotforce = rotforce * rotq;
3831 if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
3832// RLAservo = timestep / m_APIDStrength * m_mass * scaler;
3833 // rotforce = rotforce * RLAservo * diff_angle ;
3834 // d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
3835 RLAservo = timestep / m_APIDStrength * scaler;
3836 rotforce = rotforce * RLAservo * diff_angle ;
3837 /*
3838 if (m_angularEnable.X == 0)
3839 rotforce.X = 0;
3840 if (m_angularEnable.Y == 0)
3841 rotforce.Y = 0;
3842 if (m_angularEnable.Z == 0)
3843 rotforce.Z = 0;
3844 */
3845 d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
3846//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
3847 }
3848//if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
3849 } // end m_useAPID
3850
3851 /// Dynamics Apply Forces ===================================================================================
3852 fx *= m_mass;
3853 fy *= m_mass;
3854 //fz *= m_mass;
3855
3856 fx += m_force.X;
3857 fy += m_force.Y;
3858 fz += m_force.Z;
3859
3860 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
3861 if (fx != 0 || fy != 0 || fz != 0)
3862 {
3863 //m_taintdisable = true;
3864 //base.RaiseOutOfBounds(Position);
3865 //d.BodySetLinearVel(Body, fx, fy, 0f);
3866 if (!d.BodyIsEnabled(Body))
3867 {
3868 // A physical body at rest on a surface will auto-disable after a while,
3869 // this appears to re-enable it incase the surface it is upon vanishes,
3870 // and the body should fall again.
3871 d.BodySetLinearVel(Body, 0f, 0f, 0f);
3872 d.BodySetForce(Body, 0, 0, 0);
3873 enableBodySoft();
3874 }
3875
3876 // 35x10 = 350n times the mass per second applied maximum.
3877 float nmax = 35f * m_mass;
3878 float nmin = -35f * m_mass;
3879
3880
3881 if (fx > nmax)
3882 fx = nmax;
3883 if (fx < nmin)
3884 fx = nmin;
3885 if (fy > nmax)
3886 fy = nmax;
3887 if (fy < nmin)
3888 fy = nmin;
3889 d.BodyAddForce(Body, fx, fy, fz);
3890//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
3891 } // end apply forces
3892 } // end Dynamics
3893
3894/* obsolete?
3895 else
3896 { // is not physical, or is not a body or is selected
3897 // from old UpdatePositionAndVelocity, ... Not a body.. so Make sure the client isn't interpolating
3898 _velocity.X = 0;
3899 _velocity.Y = 0;
3900 _velocity.Z = 0;
3901
3902 _acceleration.X = 0;
3903 _acceleration.Y = 0;
3904 _acceleration.Z = 0;
3905
3906 m_rotationalVelocity.X = 0;
3907 m_rotationalVelocity.Y = 0;
3908 m_rotationalVelocity.Z = 0;
3909 _zeroFlag = true;
3910 return;
3911 }
3912 */
3913 } // end root prims
3914
3915 } // end Move()
3916 } // end class
3917}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..7314107
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,375 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using Ode.NET;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending Raycast Requests
49 /// </summary>
50 protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 /// <summary>
58 /// ODE contact array to be filled by the collision testing
59 /// </summary>
60 d.ContactGeom[] contacts = new d.ContactGeom[5];
61
62 /// <summary>
63 /// ODE near callback delegate
64 /// </summary>
65 private d.NearCallback nearCallback;
66 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
67 private List<ContactResult> m_contactResults = new List<ContactResult>();
68
69
70 public ODERayCastRequestManager(OdeScene pScene)
71 {
72 m_scene = pScene;
73 nearCallback = near;
74
75 }
76
77 /// <summary>
78 /// Queues a raycast
79 /// </summary>
80 /// <param name="position">Origin of Ray</param>
81 /// <param name="direction">Ray normal</param>
82 /// <param name="length">Ray length</param>
83 /// <param name="retMethod">Return method to send the results</param>
84 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
85 {
86 lock (m_PendingRequests)
87 {
88 ODERayCastRequest req = new ODERayCastRequest();
89 req.callbackMethod = retMethod;
90 req.length = length;
91 req.Normal = direction;
92 req.Origin = position;
93
94 m_PendingRequests.Add(req);
95 }
96 }
97
98 /// <summary>
99 /// Process all queued raycast requests
100 /// </summary>
101 /// <returns>Time in MS the raycasts took to process.</returns>
102 public int ProcessQueuedRequests()
103 {
104 int time = System.Environment.TickCount;
105 lock (m_PendingRequests)
106 {
107 if (m_PendingRequests.Count > 0)
108 {
109 ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
110 for (int i = 0; i < reqs.Length; i++)
111 {
112 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
113 RayCast(reqs[i]); // if there isn't anyone to send results
114 }
115 /*
116 foreach (ODERayCastRequest req in m_PendingRequests)
117 {
118 if (req.callbackMethod != null) // quick optimization here, don't raycast
119 RayCast(req); // if there isn't anyone to send results to
120
121 }
122 */
123 m_PendingRequests.Clear();
124 }
125 }
126
127 lock (m_contactResults)
128 m_contactResults.Clear();
129
130 return System.Environment.TickCount - time;
131 }
132
133 /// <summary>
134 /// Method that actually initiates the raycast
135 /// </summary>
136 /// <param name="req"></param>
137 private void RayCast(ODERayCastRequest req)
138 {
139 // Create the ray
140 IntPtr ray = d.CreateRay(m_scene.space, req.length);
141 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
142
143 // Collide test
144 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
145
146 // Remove Ray
147 d.GeomDestroy(ray);
148
149
150 // Define default results
151 bool hitYN = false;
152 uint hitConsumerID = 0;
153 float distance = 999999999999f;
154 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
155 Vector3 snormal = Vector3.Zero;
156
157 // Find closest contact and object.
158 lock (m_contactResults)
159 {
160 foreach (ContactResult cResult in m_contactResults)
161 {
162 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
163 {
164 closestcontact = cResult.Pos;
165 hitConsumerID = cResult.ConsumerID;
166 distance = cResult.Depth;
167 hitYN = true;
168 snormal = cResult.Normal;
169 }
170 }
171
172 m_contactResults.Clear();
173 }
174
175 // Return results
176 if (req.callbackMethod != null)
177 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
178 }
179
180 // This is the standard Near. Uses space AABBs to speed up detection.
181 private void near(IntPtr space, IntPtr g1, IntPtr g2)
182 {
183
184 //Don't test against heightfield Geom, or you'll be sorry!
185
186 /*
187 terminate called after throwing an instance of 'std::bad_alloc'
188 what(): std::bad_alloc
189 Stacktrace:
190
191 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
192 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
193 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
194 at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
195 fffff>
196 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
197 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
198 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
199 0x00114>
200 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
201 at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
202 at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
203 at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
204 at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
205 at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
206
207 Native stacktrace:
208
209 mono [0x80d2a42]
210 [0xb7f5840c]
211 /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
212 /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
213 /usr/lib/libstdc++.so.6 [0xb45fa865]
214 /usr/lib/libstdc++.so.6 [0xb45fa8a2]
215 /usr/lib/libstdc++.so.6 [0xb45fa9da]
216 /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
217 /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
218 libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
219 libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
220 libode.so(dCollide+0x102) [0xb46571b2]
221 [0x95cfdec9]
222 [0x8ea07fe1]
223 [0xab260146]
224 libode.so [0xb465a5c4]
225 libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
226 libode.so(dSpaceCollide2+0x177) [0xb465ac67]
227 [0x95cf978e]
228 [0x8ea07945]
229 [0x95cf2bbc]
230 [0xab2787e7]
231 [0xab419fb3]
232 [0xab416657]
233 [0xab415bda]
234 [0xb609b08e]
235 mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
236 mono [0x81a2f0f]
237 mono [0x81d28b6]
238 mono [0x81ea2c6]
239 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
240 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
241 */
242
243 // Exclude heightfield geom
244
245 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
246 return;
247 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
248 return;
249
250 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
251 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
252 {
253 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
254 return;
255
256 // Separating static prim geometry spaces.
257 // We'll be calling near recursivly if one
258 // of them is a space to find all of the
259 // contact points in the space
260 try
261 {
262 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
263 }
264 catch (AccessViolationException)
265 {
266 m_log.Warn("[PHYSICS]: Unable to collide test a space");
267 return;
268 }
269 //Colliding a space or a geom with a space or a geom. so drill down
270
271 //Collide all geoms in each space..
272 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
273 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
274 return;
275 }
276
277 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
278 return;
279
280 int count = 0;
281 try
282 {
283
284 if (g1 == g2)
285 return; // Can't collide with yourself
286
287 lock (contacts)
288 {
289 count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
290 }
291 }
292 catch (SEHException)
293 {
294 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
295 }
296 catch (Exception e)
297 {
298 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
299 return;
300 }
301
302 PhysicsActor p1 = null;
303 PhysicsActor p2 = null;
304
305 if (g1 != IntPtr.Zero)
306 m_scene.actor_name_map.TryGetValue(g1, out p1);
307
308 if (g2 != IntPtr.Zero)
309 m_scene.actor_name_map.TryGetValue(g1, out p2);
310
311 // Loop over contacts, build results.
312 for (int i = 0; i < count; i++)
313 {
314 if (p1 != null) {
315 if (p1 is OdePrim)
316 {
317 ContactResult collisionresult = new ContactResult();
318
319 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
320 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
321 collisionresult.Depth = contacts[i].depth;
322 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
323 contacts[i].normal.Z);
324 lock (m_contactResults)
325 m_contactResults.Add(collisionresult);
326 }
327 }
328
329 if (p2 != null)
330 {
331 if (p2 is OdePrim)
332 {
333 ContactResult collisionresult = new ContactResult();
334
335 collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
336 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
337 collisionresult.Depth = contacts[i].depth;
338 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
339 contacts[i].normal.Z);
340
341 lock (m_contactResults)
342 m_contactResults.Add(collisionresult);
343 }
344 }
345
346
347 }
348
349 }
350
351 /// <summary>
352 /// Dereference the creator scene so that it can be garbage collected if needed.
353 /// </summary>
354 internal void Dispose()
355 {
356 m_scene = null;
357 }
358 }
359
360 public struct ODERayCastRequest
361 {
362 public Vector3 Origin;
363 public Vector3 Normal;
364 public float length;
365 public RaycastCallback callbackMethod;
366 }
367
368 public struct ContactResult
369 {
370 public Vector3 Pos;
371 public float Depth;
372 public uint ConsumerID;
373 public Vector3 Normal;
374 }
375}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
index ca7a4f8..b4a3c48 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePhysicsJoint.cs
@@ -26,51 +26,23 @@
26 */ 26 */
27 27
28using System; 28using System;
29using System.Collections.Generic; 29using OpenMetaverse;
30using Nini.Config; 30using Ode.NET;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper; 33using OpenSim.Region.Physics.OdePlugin;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38 34
39namespace OpenSim.Region.Physics.PhysXPlugin 35namespace OpenSim.Region.Physics.OdePlugin
40{ 36{
41 /// <summary> 37 class OdePhysicsJoint : PhysicsJoint
42 /// Will be the PhysX plugin but for now will be a very basic physics engine
43 /// </summary>
44 public class PhysXPlugin : IPhysicsPlugin
45 { 38 {
46 //private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 39 public override bool IsInPhysicsEngine
47 private PhysXScene _mScene;
48
49 public PhysXPlugin()
50 {
51 }
52
53 public bool Init()
54 { 40 {
55 return true; 41 get
56 }
57
58 public PhysicsScene GetScene(string sceneIdentifier)
59 {
60 if (_mScene == null)
61 { 42 {
62 _mScene = new PhysXScene(sceneIdentifier); 43 return (jointID != IntPtr.Zero);
63 } 44 }
64 return (_mScene);
65 }
66
67 public string GetName()
68 {
69 return ("RealPhysX");
70 }
71
72 public void Dispose()
73 {
74 } 45 }
46 public IntPtr jointID;
75 } 47 }
76} 48}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..86f9893
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -0,0 +1,3869 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define USE_DRAWSTUFF
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using Ode.NET;
40#if USE_DRAWSTUFF
41using Drawstuff.NET;
42#endif
43using OpenSim.Framework;
44using OpenSim.Region.Physics.Manager;
45using OpenMetaverse;
46
47//using OpenSim.Region.Physics.OdePlugin.Meshing;
48
49namespace OpenSim.Region.Physics.OdePlugin
50{
51 /// <summary>
52 /// ODE plugin
53 /// </summary>
54 public class OdePlugin : IPhysicsPlugin
55 {
56 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
57
58 private CollisionLocker ode;
59 private OdeScene _mScene;
60
61 public OdePlugin()
62 {
63 ode = new CollisionLocker();
64 }
65
66 public bool Init()
67 {
68 return true;
69 }
70
71 public PhysicsScene GetScene(String sceneIdentifier)
72 {
73 if (_mScene == null)
74 {
75 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
76 // http://opensimulator.org/mantis/view.php?id=2750).
77 d.InitODE();
78
79 _mScene = new OdeScene(ode, sceneIdentifier);
80 }
81 return (_mScene);
82 }
83
84 public string GetName()
85 {
86 return ("ChODE");
87 }
88
89 public void Dispose()
90 {
91 }
92 }
93
94 public enum StatusIndicators : int
95 {
96 Generic = 0,
97 Start = 1,
98 End = 2
99 }
100
101 public struct sCollisionData
102 {
103 public uint ColliderLocalId;
104 public uint CollidedWithLocalId;
105 public int NumberOfCollisions;
106 public int CollisionType;
107 public int StatusIndicator;
108 public int lastframe;
109 }
110
111 [Flags]
112 public enum CollisionCategories : int
113 {
114 Disabled = 0,
115 Geom = 0x00000001,
116 Body = 0x00000002,
117 Space = 0x00000004,
118 Character = 0x00000008,
119 Land = 0x00000010,
120 Water = 0x00000020,
121 Wind = 0x00000040,
122 Sensor = 0x00000080,
123 Selected = 0x00000100
124 }
125
126 /// <summary>
127 /// Material type for a primitive
128 /// </summary>
129 public enum Material : int
130 {
131 /// <summary></summary>
132 Stone = 0,
133 /// <summary></summary>
134 Metal = 1,
135 /// <summary></summary>
136 Glass = 2,
137 /// <summary></summary>
138 Wood = 3,
139 /// <summary></summary>
140 Flesh = 4,
141 /// <summary></summary>
142 Plastic = 5,
143 /// <summary></summary>
144 Rubber = 6
145
146 }
147
148 public sealed class OdeScene : PhysicsScene
149 {
150 private readonly ILog m_log;
151 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
152
153 CollisionLocker ode;
154
155 private Random fluidRandomizer = new Random(Environment.TickCount);
156
157 private const uint m_regionWidth = Constants.RegionSize;
158 private const uint m_regionHeight = Constants.RegionSize;
159
160 private float ODE_STEPSIZE = 0.020f;
161 private float metersInSpace = 29.9f;
162 private float m_timeDilation = 1.0f;
163
164 public float gravityx = 0f;
165 public float gravityy = 0f;
166 public float gravityz = -9.8f;
167
168 private float contactsurfacelayer = 0.001f;
169
170 private int worldHashspaceLow = -4;
171 private int worldHashspaceHigh = 128;
172
173 private int smallHashspaceLow = -4;
174 private int smallHashspaceHigh = 66;
175
176 private float waterlevel = 0f;
177 private int framecount = 0;
178 //private int m_returncollisions = 10;
179
180 private readonly IntPtr contactgroup;
181
182 internal IntPtr LandGeom;
183 internal IntPtr WaterGeom;
184
185 private float nmTerrainContactFriction = 255.0f;
186 private float nmTerrainContactBounce = 0.1f;
187 private float nmTerrainContactERP = 0.1025f;
188
189 private float mTerrainContactFriction = 75f;
190 private float mTerrainContactBounce = 0.1f;
191 private float mTerrainContactERP = 0.05025f;
192
193 private float nmAvatarObjectContactFriction = 250f;
194 private float nmAvatarObjectContactBounce = 0.1f;
195
196 private float mAvatarObjectContactFriction = 75f;
197 private float mAvatarObjectContactBounce = 0.1f;
198
199 private float avPIDD = 3200f;
200 private float avPIDP = 1400f;
201 private float avCapRadius = 0.37f;
202 private float avStandupTensor = 2000000f;
203 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
204 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
205 private float avDensity = 80f;
206 private float avHeightFudgeFactor = 0.52f;
207 private float avMovementDivisorWalk = 1.3f;
208 private float avMovementDivisorRun = 0.8f;
209 private float minimumGroundFlightOffset = 3f;
210 public float maximumMassObject = 10000.01f;
211
212 public bool meshSculptedPrim = true;
213 public bool forceSimplePrimMeshing = false;
214
215 public float meshSculptLOD = 32;
216 public float MeshSculptphysicalLOD = 16;
217
218 public float geomDefaultDensity = 10.000006836f;
219
220 public int geomContactPointsStartthrottle = 3;
221 public int geomUpdatesPerThrottledUpdate = 15;
222
223 public float bodyPIDD = 35f;
224 public float bodyPIDG = 25;
225
226 public int geomCrossingFailuresBeforeOutofbounds = 5;
227 public int geomRegionFence = 0;
228
229 public float bodyMotorJointMaxforceTensor = 2;
230
231 public int bodyFramesAutoDisable = 20;
232
233 private DateTime m_lastframe = DateTime.UtcNow;
234
235 private float[] _watermap;
236 private bool m_filterCollisions = true;
237
238 private d.NearCallback nearCallback;
239 public d.TriCallback triCallback;
240 public d.TriArrayCallback triArrayCallback;
241 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
242 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
243 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
244 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
245 private readonly Object _taintedPrimLock = new Object();
246 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
247 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
248 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
249 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
250 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
251 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
252 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
253 private bool m_NINJA_physics_joints_enabled = false;
254 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
255 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
256 private d.ContactGeom[] contacts;
257 private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
258 private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
259 private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
260 private readonly List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
261 private Object externalJointRequestsLock = new Object();
262 private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
263 private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
264 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
265 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
266
267 private d.Contact contact;
268 private d.Contact TerrainContact;
269 private d.Contact AvatarMovementprimContact;
270 private d.Contact AvatarMovementTerrainContact;
271 private d.Contact WaterContact;
272 private d.Contact[,] m_materialContacts;
273
274//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
275//Ckrinke private int m_randomizeWater = 200;
276 private int m_physicsiterations = 10;
277 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
278 private readonly PhysicsActor PANull = new NullPhysicsActor();
279 private float step_time = 0.0f;
280//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
281//Ckrinke private int ms = 0;
282 public IntPtr world;
283 //private bool returncollisions = false;
284 // private uint obj1LocalID = 0;
285 private uint obj2LocalID = 0;
286 //private int ctype = 0;
287 private OdeCharacter cc1;
288 private OdePrim cp1;
289 private OdeCharacter cc2;
290 private OdePrim cp2;
291 //private int cStartStop = 0;
292 //private string cDictKey = "";
293
294 public IntPtr space;
295
296 //private IntPtr tmpSpace;
297 // split static geometry collision handling into spaces of 30 meters
298 public IntPtr[,] staticPrimspace;
299
300 public Object OdeLock;
301
302 public IMesher mesher;
303
304 private IConfigSource m_config;
305
306 public bool physics_logging = false;
307 public int physics_logging_interval = 0;
308 public bool physics_logging_append_existing_logfile = false;
309
310 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
311 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
312
313 // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
314 // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
315 // TODO: unused: private uint heightmapWidthSamples;
316 // TODO: unused: private uint heightmapHeightSamples;
317
318 private volatile int m_global_contactcount = 0;
319
320 private Vector3 m_worldOffset = Vector3.Zero;
321 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
322 private PhysicsScene m_parentScene = null;
323
324 private ODERayCastRequestManager m_rayCastManager;
325
326 /// <summary>
327 /// Initiailizes the scene
328 /// Sets many properties that ODE requires to be stable
329 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
330 /// </summary>
331 public OdeScene(CollisionLocker dode, string sceneIdentifier)
332 {
333 m_log
334 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
335
336 OdeLock = new Object();
337 ode = dode;
338 nearCallback = near;
339 triCallback = TriCallback;
340 triArrayCallback = TriArrayCallback;
341 m_rayCastManager = new ODERayCastRequestManager(this);
342 lock (OdeLock)
343 {
344 // Create the world and the first space
345 world = d.WorldCreate();
346 space = d.HashSpaceCreate(IntPtr.Zero);
347
348
349 contactgroup = d.JointGroupCreate(0);
350 //contactgroup
351
352 d.WorldSetAutoDisableFlag(world, false);
353 #if USE_DRAWSTUFF
354
355 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
356 viewthread.Start();
357 #endif
358 }
359
360
361 _watermap = new float[258 * 258];
362
363 // Zero out the prim spaces array (we split our space into smaller spaces so
364 // we can hit test less.
365 }
366
367#if USE_DRAWSTUFF
368 public void startvisualization(object o)
369 {
370 ds.Functions fn;
371 fn.version = ds.VERSION;
372 fn.start = new ds.CallbackFunction(start);
373 fn.step = new ds.CallbackFunction(step);
374 fn.command = new ds.CallbackFunction(command);
375 fn.stop = null;
376 fn.path_to_textures = "./textures";
377 string[] args = new string[0];
378 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
379 }
380#endif
381
382 // Initialize the mesh plugin
383 public override void Initialise(IMesher meshmerizer, IConfigSource config)
384 {
385 mesher = meshmerizer;
386 m_config = config;
387 // Defaults
388
389 if (Environment.OSVersion.Platform == PlatformID.Unix)
390 {
391 avPIDD = 3200.0f;
392 avPIDP = 1400.0f;
393 avStandupTensor = 2000000f;
394 }
395 else
396 {
397 avPIDD = 2200.0f;
398 avPIDP = 900.0f;
399 avStandupTensor = 550000f;
400 }
401
402 int contactsPerCollision = 80;
403
404 if (m_config != null)
405 {
406 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
407 if (physicsconfig != null)
408 {
409 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
410 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
411 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
412
413 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
414 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
415
416 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
417 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
418 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
419
420 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
421
422 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
423 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
424 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
425
426 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
427 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
428 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
429
430 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
431 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
432
433 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
434 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
435
436 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
437 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
438
439 avDensity = physicsconfig.GetFloat("av_density", 80f);
440 avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
441 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
442 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
443 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
444 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
445
446 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
447
448 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
449 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
450 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
451 geomRegionFence = physicsconfig.GetInt("region_border_fence", 0);
452
453 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
454 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
455
456 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
457 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
458
459 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
460 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
461 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
462 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
463 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
464
465 if (Environment.OSVersion.Platform == PlatformID.Unix)
466 {
467 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
468 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
469 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
470 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
471 }
472 else
473 {
474 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
475 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
476 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
477 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
478 }
479
480 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
481 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
482 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
483
484 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
485 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
486 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
487 }
488 }
489
490 contacts = new d.ContactGeom[contactsPerCollision];
491
492 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
493
494 // Centeral contact friction and bounce
495 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
496 // an avatar falls through in Z but not in X or Y when walking on a prim.
497 contact.surface.mode |= d.ContactFlags.SoftERP;
498 contact.surface.mu = nmAvatarObjectContactFriction;
499 contact.surface.bounce = nmAvatarObjectContactBounce;
500 contact.surface.soft_cfm = 0.010f;
501 contact.surface.soft_erp = 0.010f;
502
503 // Terrain contact friction and Bounce
504 // This is the *non* moving version. Use this when an avatar
505 // isn't moving to keep it in place better
506 TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
507 TerrainContact.surface.mu = nmTerrainContactFriction;
508 TerrainContact.surface.bounce = nmTerrainContactBounce;
509 TerrainContact.surface.soft_erp = nmTerrainContactERP;
510
511 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
512 WaterContact.surface.mu = 0f; // No friction
513 WaterContact.surface.bounce = 0.0f; // No bounce
514 WaterContact.surface.soft_cfm = 0.010f;
515 WaterContact.surface.soft_erp = 0.010f;
516
517 // Prim contact friction and bounce
518 // THis is the *non* moving version of friction and bounce
519 // Use this when an avatar comes in contact with a prim
520 // and is moving
521 AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
522 AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
523
524 // Terrain contact friction bounce and various error correcting calculations
525 // Use this when an avatar is in contact with the terrain and moving.
526 AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
527 AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
528 AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
529 AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
530
531
532 /*
533 <summary></summary>
534 Stone = 0,
535 /// <summary></summary>
536 Metal = 1,
537 /// <summary></summary>
538 Glass = 2,
539 /// <summary></summary>
540 Wood = 3,
541 /// <summary></summary>
542 Flesh = 4,
543 /// <summary></summary>
544 Plastic = 5,
545 /// <summary></summary>
546 Rubber = 6
547 */
548
549 m_materialContacts = new d.Contact[7,2];
550
551 m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
552 m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
553 m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
554 m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
555 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
556 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
557
558 m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
559 m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
560 m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
561 m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
562 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
563 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
564
565 m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
566 m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
567 m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
568 m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
569 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
570 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
571
572 m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
573 m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
574 m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
575 m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
576 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
577 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
578
579 m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
580 m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
581 m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
582 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
583 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
584 m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
585
586 /*
587 private float nmAvatarObjectContactFriction = 250f;
588 private float nmAvatarObjectContactBounce = 0.1f;
589
590 private float mAvatarObjectContactFriction = 75f;
591 private float mAvatarObjectContactBounce = 0.1f;
592 */
593 m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
594 m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
595 m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
596 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
597 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
598 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
599
600 m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
601 m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
602 m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
603 m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
604 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
605 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
606
607 m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
608 m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
609 m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
610 m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
611 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
612 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
613
614 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
615 m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
616 m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
617 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
618 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
619 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
620
621 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
622 m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
623 m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
624 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
625 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
626 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
627
628 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
629 m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
630 m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
631 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
632 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
633 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
634
635 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
636 m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
637 m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
638 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
639 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
640 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
641
642 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
643 m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
644 m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
645 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
646 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
647 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
648
649 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
650 m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
651 m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
652 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
653 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
654 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
655
656 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
657
658 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
659
660 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
661 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
662
663 d.WorldSetLinearDamping(world, 256f);
664 d.WorldSetAngularDamping(world, 256f);
665 d.WorldSetAngularDampingThreshold(world, 256f);
666 d.WorldSetLinearDampingThreshold(world, 256f);
667 d.WorldSetMaxAngularSpeed(world, 256f);
668
669 // Set how many steps we go without running collision testing
670 // This is in addition to the step size.
671 // Essentially Steps * m_physicsiterations
672 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
673 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
674
675
676
677 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
678 {
679 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
680 {
681 staticPrimspace[i, j] = IntPtr.Zero;
682 }
683 }
684 }
685
686 internal void waitForSpaceUnlock(IntPtr space)
687 {
688 //if (space != IntPtr.Zero)
689 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
690 }
691
692 /// <summary>
693 /// Debug space message for printing the space that a prim/avatar is in.
694 /// </summary>
695 /// <param name="pos"></param>
696 /// <returns>Returns which split up space the given position is in.</returns>
697 public string whichspaceamIin(Vector3 pos)
698 {
699 return calculateSpaceForGeom(pos).ToString();
700 }
701
702 #region Collision Detection
703
704 /// <summary>
705 /// This is our near callback. A geometry is near a body
706 /// </summary>
707 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
708 /// <param name="g1">a geometry or space</param>
709 /// <param name="g2">another geometry or space</param>
710 private void near(IntPtr space, IntPtr g1, IntPtr g2)
711 {
712 // no lock here! It's invoked from within Simulate(), which is thread-locked
713
714 // Test if we're colliding a geom with a space.
715 // If so we have to drill down into the space recursively
716//Console.WriteLine("near -----------"); //##
717 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
718 {
719 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
720 return;
721
722 // Separating static prim geometry spaces.
723 // We'll be calling near recursivly if one
724 // of them is a space to find all of the
725 // contact points in the space
726 try
727 {
728 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
729 }
730 catch (AccessViolationException)
731 {
732 m_log.Warn("[PHYSICS]: Unable to collide test a space");
733 return;
734 }
735 //Colliding a space or a geom with a space or a geom. so drill down
736
737 //Collide all geoms in each space..
738 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
739 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
740 return;
741 }
742
743 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
744 return;
745
746 IntPtr b1 = d.GeomGetBody(g1);
747 IntPtr b2 = d.GeomGetBody(g2);
748
749 // d.GeomClassID id = d.GeomGetClass(g1);
750
751 String name1 = null;
752 String name2 = null;
753
754 if (!geom_name_map.TryGetValue(g1, out name1))
755 {
756 name1 = "null";
757 }
758 if (!geom_name_map.TryGetValue(g2, out name2))
759 {
760 name2 = "null";
761 }
762
763 //if (id == d.GeomClassId.TriMeshClass)
764 //{
765 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
766 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
767 //}
768
769 // Figure out how many contact points we have
770 int count = 0;
771 try
772 {
773 // Colliding Geom To Geom
774 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
775
776 if (g1 == g2)
777 return; // Can't collide with yourself
778
779 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
780 return;
781
782 lock (contacts)
783 {
784 count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
785 if (count > contacts.Length)
786 m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
787 }
788 }
789 catch (SEHException)
790 {
791 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
792 ode.drelease(world);
793 base.TriggerPhysicsBasedRestart();
794 }
795 catch (Exception e)
796 {
797 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
798 return;
799 }
800
801 PhysicsActor p1;
802 PhysicsActor p2;
803
804 if (!actor_name_map.TryGetValue(g1, out p1))
805 {
806 p1 = PANull;
807 }
808
809 if (!actor_name_map.TryGetValue(g2, out p2))
810 {
811 p2 = PANull;
812 }
813
814 ContactPoint maxDepthContact = new ContactPoint();
815 if (p1.CollisionScore + count >= float.MaxValue)
816 p1.CollisionScore = 0;
817 p1.CollisionScore += count;
818
819 if (p2.CollisionScore + count >= float.MaxValue)
820 p2.CollisionScore = 0;
821 p2.CollisionScore += count;
822
823 for (int i = 0; i < count; i++)
824 {
825 d.ContactGeom curContact = contacts[i];
826
827 if (curContact.depth > maxDepthContact.PenetrationDepth)
828 {
829 maxDepthContact = new ContactPoint(
830 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
831 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
832 curContact.depth
833 );
834 }
835
836 //m_log.Warn("[CCOUNT]: " + count);
837 IntPtr joint;
838 // If we're colliding with terrain, use 'TerrainContact' instead of contact.
839 // allows us to have different settings
840
841 // We only need to test p2 for 'jump crouch purposes'
842 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
843 {
844 // Testing if the collision is at the feet of the avatar
845
846 //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
847//#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
848//#@ p2.IsColliding = true;
849 if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //##
850//Console.WriteLine("AvColl 1 {0} - {1} - {2} - {3}", //##
851// curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f)); //##
852 p2.IsColliding = true; //##
853 }else{
854//Console.WriteLine("AvColl 2 {0} - {1} - {2} - {3}", //##
855// curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f)); //##
856
857 } //##
858 }
859 else
860 {
861//Console.WriteLine("AvColl 3 {0}", p2.PhysicsActorType); //##
862 p2.IsColliding = true;
863 }
864
865 //if ((framecount % m_returncollisions) == 0)
866
867 switch (p1.PhysicsActorType)
868 {
869 case (int)ActorTypes.Agent:
870 p2.CollidingObj = true;
871 break;
872 case (int)ActorTypes.Prim:
873 if (p2.Velocity.LengthSquared() > 0.0f)
874 p2.CollidingObj = true;
875 break;
876 case (int)ActorTypes.Unknown:
877 p2.CollidingGround = true;
878 break;
879 default:
880 p2.CollidingGround = true;
881 break;
882 }
883
884 // we don't want prim or avatar to explode
885
886 #region InterPenetration Handling - Unintended physics explosions
887# region disabled code1
888
889 if (curContact.depth >= 0.08f)
890 {
891 //This is disabled at the moment only because it needs more tweaking
892 //It will eventually be uncommented
893 /*
894 if (contact.depth >= 1.00f)
895 {
896 //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
897 }
898
899 //If you interpenetrate a prim with an agent
900 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
901 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
902 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
903 p2.PhysicsActorType == (int) ActorTypes.Prim))
904 {
905
906 //contact.depth = contact.depth * 4.15f;
907 /*
908 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
909 {
910 p2.CollidingObj = true;
911 contact.depth = 0.003f;
912 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
913 OdeCharacter character = (OdeCharacter) p2;
914 character.SetPidStatus(true);
915 contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
916
917 }
918 else
919 {
920
921 //contact.depth = 0.0000000f;
922 }
923 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
924 {
925
926 p1.CollidingObj = true;
927 contact.depth = 0.003f;
928 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
929 contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
930 OdeCharacter character = (OdeCharacter)p1;
931 character.SetPidStatus(true);
932 }
933 else
934 {
935
936 //contact.depth = 0.0000000f;
937 }
938
939
940
941 }
942*/
943 // If you interpenetrate a prim with another prim
944 /*
945 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
946 {
947 #region disabledcode2
948 //OdePrim op1 = (OdePrim)p1;
949 //OdePrim op2 = (OdePrim)p2;
950 //op1.m_collisionscore++;
951 //op2.m_collisionscore++;
952
953 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
954 //{
955 //op1.m_taintdisable = true;
956 //AddPhysicsActorTaint(p1);
957 //op2.m_taintdisable = true;
958 //AddPhysicsActorTaint(p2);
959 //}
960
961 //if (contact.depth >= 0.25f)
962 //{
963 // Don't collide, one or both prim will expld.
964
965 //op1.m_interpenetrationcount++;
966 //op2.m_interpenetrationcount++;
967 //interpenetrations_before_disable = 200;
968 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
969 //{
970 //op1.m_taintdisable = true;
971 //AddPhysicsActorTaint(p1);
972 //}
973 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
974 //{
975 // op2.m_taintdisable = true;
976 //AddPhysicsActorTaint(p2);
977 //}
978
979 //contact.depth = contact.depth / 8f;
980 //contact.normal = new d.Vector3(0, 0, 1);
981 //}
982 //if (op1.m_disabled || op2.m_disabled)
983 //{
984 //Manually disabled objects stay disabled
985 //contact.depth = 0f;
986 //}
987 #endregion
988 }
989 */
990#endregion
991 if (curContact.depth >= 1.00f)
992 {
993 //m_log.Info("[P]: " + contact.depth.ToString());
994 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
995 p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
996 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
997 p2.PhysicsActorType == (int) ActorTypes.Unknown))
998 {
999 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
1000 {
1001 if (p2 is OdeCharacter)
1002 {
1003 OdeCharacter character = (OdeCharacter) p2;
1004
1005 //p2.CollidingObj = true;
1006 curContact.depth = 0.00000003f;
1007 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
1008 curContact.pos =
1009 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1010 curContact.pos.Y + (p1.Size.Y/2),
1011 curContact.pos.Z + (p1.Size.Z/2));
1012 character.SetPidStatus(true);
1013 }
1014 }
1015
1016
1017 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
1018 {
1019 if (p1 is OdeCharacter)
1020 {
1021 OdeCharacter character = (OdeCharacter) p1;
1022
1023 //p2.CollidingObj = true;
1024 curContact.depth = 0.00000003f;
1025 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1026 curContact.pos =
1027 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1028 curContact.pos.Y + (p1.Size.Y/2),
1029 curContact.pos.Z + (p1.Size.Z/2));
1030 character.SetPidStatus(true);
1031 }
1032 }
1033 }
1034 }
1035 }
1036
1037 #endregion
1038
1039 // Logic for collision handling
1040 // Note, that if *all* contacts are skipped (VolumeDetect)
1041 // The prim still detects (and forwards) collision events but
1042 // appears to be phantom for the world
1043 Boolean skipThisContact = false;
1044
1045 if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
1046 skipThisContact = true; // No collision on volume detect prims
1047
1048 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
1049 skipThisContact = true; // No collision on volume detect prims
1050
1051 if (!skipThisContact && curContact.depth < 0f)
1052 skipThisContact = true;
1053
1054 if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
1055 skipThisContact = true;
1056
1057 const int maxContactsbeforedeath = 4000;
1058 joint = IntPtr.Zero;
1059
1060 if (!skipThisContact)
1061 {
1062 // If we're colliding against terrain
1063 if (name1 == "Terrain" || name2 == "Terrain")
1064 {
1065 // If we're moving
1066 if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
1067 (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
1068 {
1069 // Use the movement terrain contact
1070 AvatarMovementTerrainContact.geom = curContact;
1071 _perloopContact.Add(curContact);
1072 if (m_global_contactcount < maxContactsbeforedeath)
1073 {
1074 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1075 m_global_contactcount++;
1076 }
1077 }
1078 else
1079 {
1080 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
1081 {
1082 // Use the non moving terrain contact
1083 TerrainContact.geom = curContact;
1084 _perloopContact.Add(curContact);
1085 if (m_global_contactcount < maxContactsbeforedeath)
1086 {
1087 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
1088 m_global_contactcount++;
1089 }
1090 }
1091 else
1092 {
1093 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
1094 {
1095 // prim prim contact
1096 // int pj294950 = 0;
1097 int movintYN = 0;
1098 int material = (int) Material.Wood;
1099 // prim terrain contact
1100 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
1101 {
1102 movintYN = 1;
1103 }
1104
1105 if (p2 is OdePrim)
1106 material = ((OdePrim)p2).m_material;
1107
1108 //m_log.DebugFormat("Material: {0}", material);
1109 m_materialContacts[material, movintYN].geom = curContact;
1110 _perloopContact.Add(curContact);
1111
1112 if (m_global_contactcount < maxContactsbeforedeath)
1113 {
1114 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1115 m_global_contactcount++;
1116
1117 }
1118
1119 }
1120 else
1121 {
1122
1123 int movintYN = 0;
1124 // prim terrain contact
1125 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
1126 {
1127 movintYN = 1;
1128 }
1129
1130 int material = (int)Material.Wood;
1131
1132 if (p2 is OdePrim)
1133 material = ((OdePrim)p2).m_material;
1134 //m_log.DebugFormat("Material: {0}", material);
1135 m_materialContacts[material, movintYN].geom = curContact;
1136 _perloopContact.Add(curContact);
1137
1138 if (m_global_contactcount < maxContactsbeforedeath)
1139 {
1140 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1141 m_global_contactcount++;
1142
1143 }
1144 }
1145 }
1146 }
1147 //if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1148 //{
1149 //m_log.Debug("[PHYSICS]: prim contacting with ground");
1150 //}
1151 }
1152 else if (name1 == "Water" || name2 == "Water")
1153 {
1154 /*
1155 if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
1156 {
1157 }
1158 else
1159 {
1160 }
1161 */
1162 //WaterContact.surface.soft_cfm = 0.0000f;
1163 //WaterContact.surface.soft_erp = 0.00000f;
1164 if (curContact.depth > 0.1f)
1165 {
1166 curContact.depth *= 52;
1167 //contact.normal = new d.Vector3(0, 0, 1);
1168 //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
1169 }
1170 WaterContact.geom = curContact;
1171 _perloopContact.Add(curContact);
1172 if (m_global_contactcount < maxContactsbeforedeath)
1173 {
1174 joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
1175 m_global_contactcount++;
1176 }
1177 //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
1178 }
1179 else
1180 {
1181 // we're colliding with prim or avatar
1182 // check if we're moving
1183 if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
1184 {
1185 if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
1186 {
1187 // Use the Movement prim contact
1188 AvatarMovementprimContact.geom = curContact;
1189 _perloopContact.Add(curContact);
1190 if (m_global_contactcount < maxContactsbeforedeath)
1191 {
1192 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1193 m_global_contactcount++;
1194 }
1195 }
1196 else
1197 {
1198 // Use the non movement contact
1199 contact.geom = curContact;
1200 _perloopContact.Add(curContact);
1201
1202 if (m_global_contactcount < maxContactsbeforedeath)
1203 {
1204 joint = d.JointCreateContact(world, contactgroup, ref contact);
1205 m_global_contactcount++;
1206 }
1207 }
1208 }
1209 else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1210 {
1211 //p1.PhysicsActorType
1212 int material = (int)Material.Wood;
1213
1214 if (p2 is OdePrim)
1215 material = ((OdePrim)p2).m_material;
1216
1217 //m_log.DebugFormat("Material: {0}", material);
1218 m_materialContacts[material, 0].geom = curContact;
1219 _perloopContact.Add(curContact);
1220
1221 if (m_global_contactcount < maxContactsbeforedeath)
1222 {
1223 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
1224 m_global_contactcount++;
1225
1226 }
1227 }
1228 }
1229
1230 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1231 {
1232 d.JointAttach(joint, b1, b2);
1233 m_global_contactcount++;
1234 }
1235
1236 }
1237 collision_accounting_events(p1, p2, maxDepthContact);
1238 if (count > geomContactPointsStartthrottle)
1239 {
1240 // If there are more then 3 contact points, it's likely
1241 // that we've got a pile of objects, so ...
1242 // We don't want to send out hundreds of terse updates over and over again
1243 // so lets throttle them and send them again after it's somewhat sorted out.
1244 p2.ThrottleUpdates = true;
1245 }
1246 //m_log.Debug(count.ToString());
1247 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1248 }
1249 }
1250
1251 private bool checkDupe(d.ContactGeom contactGeom, int atype)
1252 {
1253 bool result = false;
1254 //return result;
1255 if (!m_filterCollisions)
1256 return false;
1257
1258 ActorTypes at = (ActorTypes)atype;
1259 lock (_perloopContact)
1260 {
1261 foreach (d.ContactGeom contact in _perloopContact)
1262 {
1263 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1264 //{
1265 // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
1266 if (at == ActorTypes.Agent)
1267 {
1268 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1269 {
1270
1271 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1272 {
1273 //contactGeom.depth *= .00005f;
1274 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1275 // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1276 result = true;
1277 break;
1278 }
1279 else
1280 {
1281 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1282 }
1283 }
1284 else
1285 {
1286 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1287 //int i = 0;
1288 }
1289 }
1290 else if (at == ActorTypes.Prim)
1291 {
1292 //d.AABB aabb1 = new d.AABB();
1293 //d.AABB aabb2 = new d.AABB();
1294
1295 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1296 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1297 //aabb1.
1298 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1299 {
1300 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
1301 {
1302 if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
1303 {
1304 result = true;
1305 break;
1306 }
1307 }
1308 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1309 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1310 }
1311
1312 }
1313
1314 //}
1315
1316 }
1317 }
1318 return result;
1319 }
1320
1321 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1322 {
1323 // obj1LocalID = 0;
1324 //returncollisions = false;
1325 obj2LocalID = 0;
1326 //ctype = 0;
1327 //cStartStop = 0;
1328 if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1329 return;
1330
1331 switch ((ActorTypes)p2.PhysicsActorType)
1332 {
1333 case ActorTypes.Agent:
1334 cc2 = (OdeCharacter)p2;
1335
1336 // obj1LocalID = cc2.m_localID;
1337 switch ((ActorTypes)p1.PhysicsActorType)
1338 {
1339 case ActorTypes.Agent:
1340 cc1 = (OdeCharacter)p1;
1341 obj2LocalID = cc1.m_localID;
1342 cc1.AddCollisionEvent(cc2.m_localID, contact);
1343 //ctype = (int)CollisionCategories.Character;
1344
1345 //if (cc1.CollidingObj)
1346 //cStartStop = (int)StatusIndicators.Generic;
1347 //else
1348 //cStartStop = (int)StatusIndicators.Start;
1349
1350 //returncollisions = true;
1351 break;
1352 case ActorTypes.Prim:
1353 if (p1 is OdePrim)
1354 {
1355 cp1 = (OdePrim) p1;
1356 obj2LocalID = cp1.m_localID;
1357 cp1.AddCollisionEvent(cc2.m_localID, contact);
1358 }
1359 //ctype = (int)CollisionCategories.Geom;
1360
1361 //if (cp1.CollidingObj)
1362 //cStartStop = (int)StatusIndicators.Generic;
1363 //else
1364 //cStartStop = (int)StatusIndicators.Start;
1365
1366 //returncollisions = true;
1367 break;
1368
1369 case ActorTypes.Ground:
1370 case ActorTypes.Unknown:
1371 obj2LocalID = 0;
1372 //ctype = (int)CollisionCategories.Land;
1373 //returncollisions = true;
1374 break;
1375 }
1376
1377 cc2.AddCollisionEvent(obj2LocalID, contact);
1378 break;
1379 case ActorTypes.Prim:
1380
1381 if (p2 is OdePrim)
1382 {
1383 cp2 = (OdePrim) p2;
1384
1385 // obj1LocalID = cp2.m_localID;
1386 switch ((ActorTypes) p1.PhysicsActorType)
1387 {
1388 case ActorTypes.Agent:
1389 if (p1 is OdeCharacter)
1390 {
1391 cc1 = (OdeCharacter) p1;
1392 obj2LocalID = cc1.m_localID;
1393 cc1.AddCollisionEvent(cp2.m_localID, contact);
1394 //ctype = (int)CollisionCategories.Character;
1395
1396 //if (cc1.CollidingObj)
1397 //cStartStop = (int)StatusIndicators.Generic;
1398 //else
1399 //cStartStop = (int)StatusIndicators.Start;
1400 //returncollisions = true;
1401 }
1402 break;
1403 case ActorTypes.Prim:
1404
1405 if (p1 is OdePrim)
1406 {
1407 cp1 = (OdePrim) p1;
1408 obj2LocalID = cp1.m_localID;
1409 cp1.AddCollisionEvent(cp2.m_localID, contact);
1410 //ctype = (int)CollisionCategories.Geom;
1411
1412 //if (cp1.CollidingObj)
1413 //cStartStop = (int)StatusIndicators.Generic;
1414 //else
1415 //cStartStop = (int)StatusIndicators.Start;
1416
1417 //returncollisions = true;
1418 }
1419 break;
1420
1421 case ActorTypes.Ground:
1422 case ActorTypes.Unknown:
1423 obj2LocalID = 0;
1424 //ctype = (int)CollisionCategories.Land;
1425
1426 //returncollisions = true;
1427 break;
1428 }
1429
1430 cp2.AddCollisionEvent(obj2LocalID, contact);
1431 }
1432 break;
1433 }
1434 //if (returncollisions)
1435 //{
1436
1437 //lock (m_storedCollisions)
1438 //{
1439 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1440 //if (m_storedCollisions.ContainsKey(cDictKey))
1441 //{
1442 //sCollisionData objd = m_storedCollisions[cDictKey];
1443 //objd.NumberOfCollisions += 1;
1444 //objd.lastframe = framecount;
1445 //m_storedCollisions[cDictKey] = objd;
1446 //}
1447 //else
1448 //{
1449 //sCollisionData objd = new sCollisionData();
1450 //objd.ColliderLocalId = obj1LocalID;
1451 //objd.CollidedWithLocalId = obj2LocalID;
1452 //objd.CollisionType = ctype;
1453 //objd.NumberOfCollisions = 1;
1454 //objd.lastframe = framecount;
1455 //objd.StatusIndicator = cStartStop;
1456 //m_storedCollisions.Add(cDictKey, objd);
1457 //}
1458 //}
1459 // }
1460 }
1461
1462 public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1463 {
1464 /* String name1 = null;
1465 String name2 = null;
1466
1467 if (!geom_name_map.TryGetValue(trimesh, out name1))
1468 {
1469 name1 = "null";
1470 }
1471 if (!geom_name_map.TryGetValue(refObject, out name2))
1472 {
1473 name2 = "null";
1474 }
1475
1476 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1477 */
1478 return 1;
1479 }
1480
1481 public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1482 {
1483 String name1 = null;
1484 String name2 = null;
1485
1486 if (!geom_name_map.TryGetValue(trimesh, out name1))
1487 {
1488 name1 = "null";
1489 }
1490
1491 if (!geom_name_map.TryGetValue(refObject, out name2))
1492 {
1493 name2 = "null";
1494 }
1495
1496 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1497
1498 d.Vector3 v0 = new d.Vector3();
1499 d.Vector3 v1 = new d.Vector3();
1500 d.Vector3 v2 = new d.Vector3();
1501
1502 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1503 // m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
1504
1505 return 1;
1506 }
1507
1508 /// <summary>
1509 /// This is our collision testing routine in ODE
1510 /// </summary>
1511 /// <param name="timeStep"></param>
1512 private void collision_optimized(float timeStep)
1513 {
1514 _perloopContact.Clear();
1515
1516 lock (_characters)
1517 {
1518 foreach (OdeCharacter chr in _characters)
1519 {
1520 // Reset the collision values to false
1521 // since we don't know if we're colliding yet
1522
1523 // For some reason this can happen. Don't ask...
1524 //
1525 if (chr == null)
1526 continue;
1527
1528 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1529 continue;
1530
1531 chr.IsColliding = false;
1532 chr.CollidingGround = false;
1533 chr.CollidingObj = false;
1534
1535 // test the avatar's geometry for collision with the space
1536 // This will return near and the space that they are the closest to
1537 // And we'll run this again against the avatar and the space segment
1538 // This will return with a bunch of possible objects in the space segment
1539 // and we'll run it again on all of them.
1540 try
1541 {
1542 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
1543 }
1544 catch (AccessViolationException)
1545 {
1546 m_log.Warn("[PHYSICS]: Unable to space collide");
1547 }
1548 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1549 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1550 //{
1551 //chr.Position.Z = terrainheight + 10.0f;
1552 //forcedZ = true;
1553 //}
1554 }
1555 }
1556
1557 lock (_activeprims)
1558 {
1559 List<OdePrim> removeprims = null;
1560 foreach (OdePrim chr in _activeprims)
1561 {
1562 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
1563 {
1564 try
1565 {
1566 lock (chr)
1567 {
1568 if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
1569 {
1570 d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
1571 }
1572 else
1573 {
1574 if (removeprims == null)
1575 {
1576 removeprims = new List<OdePrim>();
1577 }
1578 removeprims.Add(chr);
1579 m_log.Debug("[PHYSICS]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!");
1580 }
1581 }
1582 }
1583 catch (AccessViolationException)
1584 {
1585 m_log.Warn("[PHYSICS]: Unable to space collide");
1586 }
1587 }
1588 }
1589 if (removeprims != null)
1590 {
1591 foreach (OdePrim chr in removeprims)
1592 {
1593 _activeprims.Remove(chr);
1594 }
1595 }
1596 }
1597
1598 _perloopContact.Clear();
1599 }
1600
1601 #endregion
1602
1603 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
1604 {
1605 m_worldOffset = offset;
1606 WorldExtents = new Vector2(extents.X, extents.Y);
1607 m_parentScene = pScene;
1608
1609 }
1610
1611 // Recovered for use by fly height. Kitto Flora
1612 public float GetTerrainHeightAtXY(float x, float y)
1613 {
1614
1615 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1616 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1617
1618 IntPtr heightFieldGeom = IntPtr.Zero;
1619
1620 if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
1621 {
1622 if (heightFieldGeom != IntPtr.Zero)
1623 {
1624 if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1625 {
1626
1627 int index;
1628
1629
1630 if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
1631 (int)x < 0.001f || (int)y < 0.001f)
1632 return 0;
1633
1634 x = x - offsetX;
1635 y = y - offsetY;
1636
1637 index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
1638
1639 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
1640 {
1641 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1642 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1643 }
1644
1645 else
1646 return 0f;
1647 }
1648 else
1649 {
1650 return 0f;
1651 }
1652
1653 }
1654 else
1655 {
1656 return 0f;
1657 }
1658
1659 }
1660 else
1661 {
1662 return 0f;
1663 }
1664
1665
1666 }
1667// End recovered. Kitto Flora
1668
1669 public void addCollisionEventReporting(PhysicsActor obj)
1670 {
1671 lock (_collisionEventPrim)
1672 {
1673 if (!_collisionEventPrim.Contains(obj))
1674 _collisionEventPrim.Add(obj);
1675 }
1676 }
1677
1678 public void remCollisionEventReporting(PhysicsActor obj)
1679 {
1680 lock (_collisionEventPrim)
1681 {
1682 if (!_collisionEventPrim.Contains(obj))
1683 _collisionEventPrim.Remove(obj);
1684 }
1685 }
1686
1687 #region Add/Remove Entities
1688
1689 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1690 {
1691 Vector3 pos;
1692 pos.X = position.X;
1693 pos.Y = position.Y;
1694 pos.Z = position.Z;
1695 OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
1696 newAv.Flying = isFlying;
1697 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1698
1699 return newAv;
1700 }
1701
1702 public void AddCharacter(OdeCharacter chr)
1703 {
1704 lock (_characters)
1705 {
1706 if (!_characters.Contains(chr))
1707 {
1708 _characters.Add(chr);
1709 if (chr.bad)
1710 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1711 }
1712 }
1713 }
1714
1715 public void RemoveCharacter(OdeCharacter chr)
1716 {
1717 lock (_characters)
1718 {
1719 if (_characters.Contains(chr))
1720 {
1721 _characters.Remove(chr);
1722 }
1723 }
1724 }
1725 public void BadCharacter(OdeCharacter chr)
1726 {
1727 lock (_badCharacter)
1728 {
1729 if (!_badCharacter.Contains(chr))
1730 _badCharacter.Add(chr);
1731 }
1732 }
1733
1734 public override void RemoveAvatar(PhysicsActor actor)
1735 {
1736 //m_log.Debug("[PHYSICS]:ODELOCK");
1737 ((OdeCharacter) actor).Destroy();
1738
1739 }
1740
1741 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1742 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
1743 {
1744
1745 Vector3 pos = position;
1746 Vector3 siz = size;
1747 Quaternion rot = rotation;
1748
1749 OdePrim newPrim;
1750 lock (OdeLock)
1751 {
1752 newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
1753
1754 lock (_prims)
1755 _prims.Add(newPrim);
1756 }
1757
1758 return newPrim;
1759 }
1760
1761 public void addActivePrim(OdePrim activatePrim)
1762 {
1763 // adds active prim.. (ones that should be iterated over in collisions_optimized
1764 lock (_activeprims)
1765 {
1766 if (!_activeprims.Contains(activatePrim))
1767 _activeprims.Add(activatePrim);
1768 //else
1769 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
1770 }
1771 }
1772
1773 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1774 Vector3 size, Quaternion rotation) //To be removed
1775 {
1776 return AddPrimShape(primName, pbs, position, size, rotation, false);
1777 }
1778
1779 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1780 Vector3 size, Quaternion rotation, bool isPhysical)
1781 {
1782 PhysicsActor result;
1783 IMesh mesh = null;
1784
1785 if (needsMeshing(pbs))
1786 mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
1787
1788 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
1789
1790 return result;
1791 }
1792
1793 public override float TimeDilation
1794 {
1795 get { return m_timeDilation; }
1796 }
1797
1798 public override bool SupportsNINJAJoints
1799 {
1800 get { return m_NINJA_physics_joints_enabled; }
1801 }
1802
1803 // internal utility function: must be called within a lock (OdeLock)
1804 private void InternalAddActiveJoint(PhysicsJoint joint)
1805 {
1806 activeJoints.Add(joint);
1807 SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
1808 }
1809
1810 // internal utility function: must be called within a lock (OdeLock)
1811 private void InternalAddPendingJoint(OdePhysicsJoint joint)
1812 {
1813 pendingJoints.Add(joint);
1814 SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
1815 }
1816
1817 // internal utility function: must be called within a lock (OdeLock)
1818 private void InternalRemovePendingJoint(PhysicsJoint joint)
1819 {
1820 pendingJoints.Remove(joint);
1821 SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
1822 }
1823
1824 // internal utility function: must be called within a lock (OdeLock)
1825 private void InternalRemoveActiveJoint(PhysicsJoint joint)
1826 {
1827 activeJoints.Remove(joint);
1828 SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
1829 }
1830
1831 public override void DumpJointInfo()
1832 {
1833 string hdr = "[NINJA] JOINTINFO: ";
1834 foreach (PhysicsJoint j in pendingJoints)
1835 {
1836 m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1837 }
1838 m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
1839 foreach (string jointName in SOPName_to_pendingJoint.Keys)
1840 {
1841 m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
1842 }
1843 m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
1844 foreach (PhysicsJoint j in activeJoints)
1845 {
1846 m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1847 }
1848 m_log.Debug(hdr + activeJoints.Count + " total active joints");
1849 foreach (string jointName in SOPName_to_activeJoint.Keys)
1850 {
1851 m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
1852 }
1853 m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
1854
1855 m_log.Debug(hdr + " Per-body joint connectivity information follows.");
1856 m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
1857 foreach (string actorName in joints_connecting_actor.Keys)
1858 {
1859 m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
1860 foreach (PhysicsJoint j in joints_connecting_actor[actorName])
1861 {
1862 m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1863 }
1864 m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
1865 }
1866 }
1867
1868 public override void RequestJointDeletion(string ObjectNameInScene)
1869 {
1870 lock (externalJointRequestsLock)
1871 {
1872 if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
1873 {
1874 requestedJointsToBeDeleted.Add(ObjectNameInScene);
1875 }
1876 }
1877 }
1878
1879 private void DeleteRequestedJoints()
1880 {
1881 List<string> myRequestedJointsToBeDeleted;
1882 lock (externalJointRequestsLock)
1883 {
1884 // make a local copy of the shared list for processing (threading issues)
1885 myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
1886 }
1887
1888 foreach (string jointName in myRequestedJointsToBeDeleted)
1889 {
1890 lock (OdeLock)
1891 {
1892 //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
1893 if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
1894 {
1895 OdePhysicsJoint joint = null;
1896 if (SOPName_to_activeJoint.ContainsKey(jointName))
1897 {
1898 joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
1899 InternalRemoveActiveJoint(joint);
1900 }
1901 else if (SOPName_to_pendingJoint.ContainsKey(jointName))
1902 {
1903 joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
1904 InternalRemovePendingJoint(joint);
1905 }
1906
1907 if (joint != null)
1908 {
1909 //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
1910 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1911 {
1912 string bodyName = joint.BodyNames[iBodyName];
1913 if (bodyName != "NULL")
1914 {
1915 joints_connecting_actor[bodyName].Remove(joint);
1916 if (joints_connecting_actor[bodyName].Count == 0)
1917 {
1918 joints_connecting_actor.Remove(bodyName);
1919 }
1920 }
1921 }
1922
1923 DoJointDeactivated(joint);
1924 if (joint.jointID != IntPtr.Zero)
1925 {
1926 d.JointDestroy(joint.jointID);
1927 joint.jointID = IntPtr.Zero;
1928 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1929 }
1930 else
1931 {
1932 //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
1933 }
1934 }
1935 else
1936 {
1937 // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
1938 }
1939 }
1940 else
1941 {
1942 // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
1943 }
1944 }
1945 }
1946
1947 // remove processed joints from the shared list
1948 lock (externalJointRequestsLock)
1949 {
1950 foreach (string jointName in myRequestedJointsToBeDeleted)
1951 {
1952 requestedJointsToBeDeleted.Remove(jointName);
1953 }
1954 }
1955 }
1956
1957 // for pending joints we don't know if their associated bodies exist yet or not.
1958 // the joint is actually created during processing of the taints
1959 private void CreateRequestedJoints()
1960 {
1961 List<PhysicsJoint> myRequestedJointsToBeCreated;
1962 lock (externalJointRequestsLock)
1963 {
1964 // make a local copy of the shared list for processing (threading issues)
1965 myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
1966 }
1967
1968 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1969 {
1970 lock (OdeLock)
1971 {
1972 if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
1973 {
1974 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1975 continue;
1976 }
1977 if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
1978 {
1979 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1980 continue;
1981 }
1982
1983 InternalAddPendingJoint(joint as OdePhysicsJoint);
1984
1985 if (joint.BodyNames.Count >= 2)
1986 {
1987 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1988 {
1989 string bodyName = joint.BodyNames[iBodyName];
1990 if (bodyName != "NULL")
1991 {
1992 if (!joints_connecting_actor.ContainsKey(bodyName))
1993 {
1994 joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
1995 }
1996 joints_connecting_actor[bodyName].Add(joint);
1997 }
1998 }
1999 }
2000 }
2001 }
2002
2003 // remove processed joints from shared list
2004 lock (externalJointRequestsLock)
2005 {
2006 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
2007 {
2008 requestedJointsToBeCreated.Remove(joint);
2009 }
2010 }
2011
2012 }
2013
2014 // public function to add an request for joint creation
2015 // this joint will just be added to a waiting list that is NOT processed during the main
2016 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
2017
2018 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
2019 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
2020
2021 {
2022
2023 OdePhysicsJoint joint = new OdePhysicsJoint();
2024 joint.ObjectNameInScene = objectNameInScene;
2025 joint.Type = jointType;
2026 joint.Position = position;
2027 joint.Rotation = rotation;
2028 joint.RawParams = parms;
2029 joint.BodyNames = new List<string>(bodyNames);
2030 joint.TrackedBodyName = trackedBodyName;
2031 joint.LocalRotation = localRotation;
2032 joint.jointID = IntPtr.Zero;
2033 joint.ErrorMessageCount = 0;
2034
2035 lock (externalJointRequestsLock)
2036 {
2037 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2038 {
2039 requestedJointsToBeCreated.Add(joint);
2040 }
2041 }
2042 return joint;
2043 }
2044
2045 private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
2046 {
2047 //m_log.Debug("RemoveAllJointsConnectedToActor: start");
2048 if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
2049 {
2050
2051 List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
2052 //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
2053 foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
2054 {
2055 jointsToRemove.Add(j);
2056 }
2057 foreach (PhysicsJoint j in jointsToRemove)
2058 {
2059 //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
2060 RequestJointDeletion(j.ObjectNameInScene);
2061 //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
2062 j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
2063 }
2064 }
2065 }
2066
2067 public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
2068 {
2069 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
2070 lock (OdeLock)
2071 {
2072 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
2073 RemoveAllJointsConnectedToActor(actor);
2074 }
2075 }
2076
2077 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2078 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2079 {
2080 Debug.Assert(joint.IsInPhysicsEngine);
2081 d.Vector3 pos = new d.Vector3();
2082
2083 if (!(joint is OdePhysicsJoint))
2084 {
2085 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2086 }
2087 else
2088 {
2089 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2090 switch (odeJoint.Type)
2091 {
2092 case PhysicsJointType.Ball:
2093 d.JointGetBallAnchor(odeJoint.jointID, out pos);
2094 break;
2095 case PhysicsJointType.Hinge:
2096 d.JointGetHingeAnchor(odeJoint.jointID, out pos);
2097 break;
2098 }
2099 }
2100 return new Vector3(pos.X, pos.Y, pos.Z);
2101 }
2102
2103 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2104 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2105 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2106 // keeping track of the joint's original orientation relative to one of the involved bodies.
2107 public override Vector3 GetJointAxis(PhysicsJoint joint)
2108 {
2109 Debug.Assert(joint.IsInPhysicsEngine);
2110 d.Vector3 axis = new d.Vector3();
2111
2112 if (!(joint is OdePhysicsJoint))
2113 {
2114 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2115 }
2116 else
2117 {
2118 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2119 switch (odeJoint.Type)
2120 {
2121 case PhysicsJointType.Ball:
2122 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2123 break;
2124 case PhysicsJointType.Hinge:
2125 d.JointGetHingeAxis(odeJoint.jointID, out axis);
2126 break;
2127 }
2128 }
2129 return new Vector3(axis.X, axis.Y, axis.Z);
2130 }
2131
2132
2133 public void remActivePrim(OdePrim deactivatePrim)
2134 {
2135 lock (_activeprims)
2136 {
2137 _activeprims.Remove(deactivatePrim);
2138 }
2139 }
2140
2141 public override void RemovePrim(PhysicsActor prim)
2142 {
2143 if (prim is OdePrim)
2144 {
2145 lock (OdeLock)
2146 {
2147 OdePrim p = (OdePrim) prim;
2148
2149 p.setPrimForRemoval();
2150 AddPhysicsActorTaint(prim);
2151 //RemovePrimThreadLocked(p);
2152 }
2153 }
2154 }
2155
2156 /// <summary>
2157 /// This is called from within simulate but outside the locked portion
2158 /// We need to do our own locking here
2159 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
2160 ///
2161 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
2162 /// that the space was using.
2163 /// </summary>
2164 /// <param name="prim"></param>
2165 public void RemovePrimThreadLocked(OdePrim prim)
2166 {
2167//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
2168 lock (prim)
2169 {
2170 remCollisionEventReporting(prim);
2171 lock (ode)
2172 {
2173 if (prim.prim_geom != IntPtr.Zero)
2174 {
2175 prim.ResetTaints();
2176
2177 if (prim.IsPhysical)
2178 {
2179 prim.disableBody();
2180 if (prim.childPrim)
2181 {
2182 prim.childPrim = false;
2183 prim.Body = IntPtr.Zero;
2184 prim.m_disabled = true;
2185 prim.IsPhysical = false;
2186 }
2187
2188
2189 }
2190 // we don't want to remove the main space
2191
2192 // If the geometry is in the targetspace, remove it from the target space
2193 //m_log.Warn(prim.m_targetSpace);
2194
2195 //if (prim.m_targetSpace != IntPtr.Zero)
2196 //{
2197 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2198 //{
2199
2200 //if (d.GeomIsSpace(prim.m_targetSpace))
2201 //{
2202 //waitForSpaceUnlock(prim.m_targetSpace);
2203 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2204 prim.m_targetSpace = IntPtr.Zero;
2205 //}
2206 //else
2207 //{
2208 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2209 //((OdePrim)prim).m_targetSpace.ToString());
2210 //}
2211
2212 //}
2213 //}
2214 //m_log.Warn(prim.prim_geom);
2215 try
2216 {
2217 if (prim.prim_geom != IntPtr.Zero)
2218 {
2219
2220//string tPA;
2221//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
2222//Console.WriteLine("**** Remove {0}", tPA);
2223 if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
2224 if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
2225 d.GeomDestroy(prim.prim_geom);
2226 prim.prim_geom = IntPtr.Zero;
2227 }
2228 else
2229 {
2230 m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
2231 }
2232 }
2233 catch (AccessViolationException)
2234 {
2235 m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
2236 }
2237 lock (_prims)
2238 _prims.Remove(prim);
2239
2240 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2241 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2242 //{
2243 //if (prim.m_targetSpace != null)
2244 //{
2245 //if (d.GeomIsSpace(prim.m_targetSpace))
2246 //{
2247 //waitForSpaceUnlock(prim.m_targetSpace);
2248 //d.SpaceRemove(space, prim.m_targetSpace);
2249 // free up memory used by the space.
2250 //d.SpaceDestroy(prim.m_targetSpace);
2251 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2252 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2253 //}
2254 //else
2255 //{
2256 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2257 //((OdePrim) prim).m_targetSpace.ToString());
2258 //}
2259 //}
2260 //}
2261
2262 if (SupportsNINJAJoints)
2263 {
2264 RemoveAllJointsConnectedToActorThreadLocked(prim);
2265 }
2266 }
2267 }
2268 }
2269 }
2270
2271 #endregion
2272
2273 #region Space Separation Calculation
2274
2275 /// <summary>
2276 /// Takes a space pointer and zeros out the array we're using to hold the spaces
2277 /// </summary>
2278 /// <param name="pSpace"></param>
2279 public void resetSpaceArrayItemToZero(IntPtr pSpace)
2280 {
2281 for (int x = 0; x < staticPrimspace.GetLength(0); x++)
2282 {
2283 for (int y = 0; y < staticPrimspace.GetLength(1); y++)
2284 {
2285 if (staticPrimspace[x, y] == pSpace)
2286 staticPrimspace[x, y] = IntPtr.Zero;
2287 }
2288 }
2289 }
2290
2291 public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
2292 {
2293 staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
2294 }
2295
2296 /// <summary>
2297 /// Called when a static prim moves. Allocates a space for the prim based on its position
2298 /// </summary>
2299 /// <param name="geom">the pointer to the geom that moved</param>
2300 /// <param name="pos">the position that the geom moved to</param>
2301 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2302 /// <returns>a pointer to the new space it's in</returns>
2303 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2304 {
2305 // Called from setting the Position and Size of an ODEPrim so
2306 // it's already in locked space.
2307
2308 // we don't want to remove the main space
2309 // we don't need to test physical here because this function should
2310 // never be called if the prim is physical(active)
2311
2312 // All physical prim end up in the root space
2313 //Thread.Sleep(20);
2314 if (currentspace != space)
2315 {
2316 //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
2317 //if (currentspace == IntPtr.Zero)
2318 //{
2319 //int adfadf = 0;
2320 //}
2321 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2322 {
2323 if (d.GeomIsSpace(currentspace))
2324 {
2325 waitForSpaceUnlock(currentspace);
2326 d.SpaceRemove(currentspace, geom);
2327 }
2328 else
2329 {
2330 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
2331 " Geom:" + geom);
2332 }
2333 }
2334 else
2335 {
2336 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2337 if (sGeomIsIn != IntPtr.Zero)
2338 {
2339 if (d.GeomIsSpace(currentspace))
2340 {
2341 waitForSpaceUnlock(sGeomIsIn);
2342 d.SpaceRemove(sGeomIsIn, geom);
2343 }
2344 else
2345 {
2346 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2347 sGeomIsIn + " Geom:" + geom);
2348 }
2349 }
2350 }
2351
2352 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2353 if (d.SpaceGetNumGeoms(currentspace) == 0)
2354 {
2355 if (currentspace != IntPtr.Zero)
2356 {
2357 if (d.GeomIsSpace(currentspace))
2358 {
2359 waitForSpaceUnlock(currentspace);
2360 waitForSpaceUnlock(space);
2361 d.SpaceRemove(space, currentspace);
2362 // free up memory used by the space.
2363
2364 //d.SpaceDestroy(currentspace);
2365 resetSpaceArrayItemToZero(currentspace);
2366 }
2367 else
2368 {
2369 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2370 currentspace + " Geom:" + geom);
2371 }
2372 }
2373 }
2374 }
2375 else
2376 {
2377 // this is a physical object that got disabled. ;.;
2378 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2379 {
2380 if (d.SpaceQuery(currentspace, geom))
2381 {
2382 if (d.GeomIsSpace(currentspace))
2383 {
2384 waitForSpaceUnlock(currentspace);
2385 d.SpaceRemove(currentspace, geom);
2386 }
2387 else
2388 {
2389 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2390 currentspace + " Geom:" + geom);
2391 }
2392 }
2393 else
2394 {
2395 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2396 if (sGeomIsIn != IntPtr.Zero)
2397 {
2398 if (d.GeomIsSpace(sGeomIsIn))
2399 {
2400 waitForSpaceUnlock(sGeomIsIn);
2401 d.SpaceRemove(sGeomIsIn, geom);
2402 }
2403 else
2404 {
2405 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2406 sGeomIsIn + " Geom:" + geom);
2407 }
2408 }
2409 }
2410 }
2411 }
2412
2413 // The routines in the Position and Size sections do the 'inserting' into the space,
2414 // so all we have to do is make sure that the space that we're putting the prim into
2415 // is in the 'main' space.
2416 int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
2417 IntPtr newspace = calculateSpaceForGeom(pos);
2418
2419 if (newspace == IntPtr.Zero)
2420 {
2421 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2422 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
2423 }
2424
2425 return newspace;
2426 }
2427
2428 /// <summary>
2429 /// Creates a new space at X Y
2430 /// </summary>
2431 /// <param name="iprimspaceArrItemX"></param>
2432 /// <param name="iprimspaceArrItemY"></param>
2433 /// <returns>A pointer to the created space</returns>
2434 public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2435 {
2436 // creating a new space for prim and inserting it into main space.
2437 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
2438 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2439 waitForSpaceUnlock(space);
2440 d.SpaceSetSublevel(space, 1);
2441 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2442 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2443 }
2444
2445 /// <summary>
2446 /// Calculates the space the prim should be in by its position
2447 /// </summary>
2448 /// <param name="pos"></param>
2449 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2450 public IntPtr calculateSpaceForGeom(Vector3 pos)
2451 {
2452 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2453 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
2454 return staticPrimspace[xyspace[0], xyspace[1]];
2455 }
2456
2457 /// <summary>
2458 /// Holds the space allocation logic
2459 /// </summary>
2460 /// <param name="pos"></param>
2461 /// <returns>an array item based on the position</returns>
2462 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2463 {
2464 int[] returnint = new int[2];
2465
2466 returnint[0] = (int) (pos.X/metersInSpace);
2467
2468 if (returnint[0] > ((int) (259f/metersInSpace)))
2469 returnint[0] = ((int) (259f/metersInSpace));
2470 if (returnint[0] < 0)
2471 returnint[0] = 0;
2472
2473 returnint[1] = (int) (pos.Y/metersInSpace);
2474 if (returnint[1] > ((int) (259f/metersInSpace)))
2475 returnint[1] = ((int) (259f/metersInSpace));
2476 if (returnint[1] < 0)
2477 returnint[1] = 0;
2478
2479 return returnint;
2480 }
2481
2482 #endregion
2483
2484 /// <summary>
2485 /// Routine to figure out if we need to mesh this prim with our mesher
2486 /// </summary>
2487 /// <param name="pbs"></param>
2488 /// <returns></returns>
2489 public bool needsMeshing(PrimitiveBaseShape pbs)
2490 {
2491 // most of this is redundant now as the mesher will return null if it cant mesh a prim
2492 // but we still need to check for sculptie meshing being enabled so this is the most
2493 // convenient place to do it for now...
2494
2495 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
2496 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
2497 int iPropertiesNotSupportedDefault = 0;
2498
2499 if (pbs.SculptEntry && !meshSculptedPrim)
2500 {
2501#if SPAM
2502 m_log.Warn("NonMesh");
2503#endif
2504 return false;
2505 }
2506
2507 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
2508 if (!forceSimplePrimMeshing)
2509 {
2510 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
2511 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
2512 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
2513 {
2514
2515 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
2516 && pbs.ProfileHollow == 0
2517 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
2518 && pbs.PathBegin == 0 && pbs.PathEnd == 0
2519 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
2520 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
2521 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
2522 {
2523#if SPAM
2524 m_log.Warn("NonMesh");
2525#endif
2526 return false;
2527 }
2528 }
2529 }
2530
2531 if (pbs.ProfileHollow != 0)
2532 iPropertiesNotSupportedDefault++;
2533
2534 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2535 iPropertiesNotSupportedDefault++;
2536
2537 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2538 iPropertiesNotSupportedDefault++;
2539
2540 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
2541 iPropertiesNotSupportedDefault++;
2542
2543 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
2544 iPropertiesNotSupportedDefault++;
2545
2546 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
2547 iPropertiesNotSupportedDefault++;
2548
2549 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
2550 iPropertiesNotSupportedDefault++;
2551
2552 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
2553 iPropertiesNotSupportedDefault++;
2554
2555 // test for torus
2556 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
2557 {
2558 if (pbs.PathCurve == (byte)Extrusion.Curve1)
2559 {
2560 iPropertiesNotSupportedDefault++;
2561 }
2562 }
2563 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
2564 {
2565 if (pbs.PathCurve == (byte)Extrusion.Straight)
2566 {
2567 iPropertiesNotSupportedDefault++;
2568 }
2569
2570 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
2571 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2572 {
2573 iPropertiesNotSupportedDefault++;
2574 }
2575 }
2576 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
2577 {
2578 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
2579 {
2580 iPropertiesNotSupportedDefault++;
2581 }
2582 }
2583 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
2584 {
2585 if (pbs.PathCurve == (byte)Extrusion.Straight)
2586 {
2587 iPropertiesNotSupportedDefault++;
2588 }
2589 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2590 {
2591 iPropertiesNotSupportedDefault++;
2592 }
2593 }
2594
2595
2596 if (iPropertiesNotSupportedDefault == 0)
2597 {
2598#if SPAM
2599 m_log.Warn("NonMesh");
2600#endif
2601 return false;
2602 }
2603#if SPAM
2604 m_log.Debug("Mesh");
2605#endif
2606 return true;
2607 }
2608
2609 /// <summary>
2610 /// Called after our prim properties are set Scale, position etc.
2611 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
2612 /// This assures us that we have no race conditions
2613 /// </summary>
2614 /// <param name="prim"></param>
2615 public override void AddPhysicsActorTaint(PhysicsActor prim)
2616 {
2617
2618 if (prim is OdePrim)
2619 {
2620 OdePrim taintedprim = ((OdePrim) prim);
2621 lock (_taintedPrimLock)
2622 {
2623 if (!(_taintedPrimH.Contains(taintedprim)))
2624 {
2625//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
2626 _taintedPrimH.Add(taintedprim); // HashSet for searching
2627 _taintedPrimL.Add(taintedprim); // List for ordered readout
2628 }
2629 }
2630 return;
2631 }
2632 else if (prim is OdeCharacter)
2633 {
2634 OdeCharacter taintedchar = ((OdeCharacter)prim);
2635 lock (_taintedActors)
2636 {
2637 if (!(_taintedActors.Contains(taintedchar)))
2638 {
2639 _taintedActors.Add(taintedchar);
2640 if (taintedchar.bad)
2641 m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
2642 }
2643 }
2644 }
2645 }
2646
2647 /// <summary>
2648 /// This is our main simulate loop
2649 /// It's thread locked by a Mutex in the scene.
2650 /// It holds Collisions, it instructs ODE to step through the physical reactions
2651 /// It moves the objects around in memory
2652 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
2653 /// </summary>
2654 /// <param name="timeStep"></param>
2655 /// <returns></returns>
2656 public override float Simulate(float timeStep)
2657 {
2658 if (framecount >= int.MaxValue)
2659 framecount = 0;
2660 //if (m_worldOffset != Vector3.Zero)
2661 // return 0;
2662
2663 framecount++;
2664
2665 DateTime now = DateTime.UtcNow;
2666 TimeSpan SinceLastFrame = now - m_lastframe;
2667 m_lastframe = now;
2668 float realtime = (float)SinceLastFrame.TotalSeconds;
2669// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
2670 timeStep = realtime;
2671
2672 // float fps = 1.0f / realtime;
2673 float fps = 0.0f; // number of ODE steps in this Simulate step
2674 //m_log.Info(timeStep.ToString());
2675 step_time += timeStep;
2676
2677 // If We're loaded down by something else,
2678 // or debugging with the Visual Studio project on pause
2679 // skip a few frames to catch up gracefully.
2680 // without shooting the physicsactors all over the place
2681
2682 if (step_time >= m_SkipFramesAtms)
2683 {
2684 // Instead of trying to catch up, it'll do 5 physics frames only
2685 step_time = ODE_STEPSIZE;
2686 m_physicsiterations = 5;
2687 }
2688 else
2689 {
2690 m_physicsiterations = 10;
2691 }
2692
2693 if (SupportsNINJAJoints)
2694 {
2695 DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2696 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2697 }
2698
2699 lock (OdeLock)
2700 {
2701 // Process 10 frames if the sim is running normal..
2702 // process 5 frames if the sim is running slow
2703 //try
2704 //{
2705 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2706 //}
2707 //catch (StackOverflowException)
2708 //{
2709 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
2710 // ode.drelease(world);
2711 //base.TriggerPhysicsBasedRestart();
2712 //}
2713
2714 int i = 0;
2715
2716 // Figure out the Frames Per Second we're going at.
2717 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
2718
2719 // fps = (step_time / ODE_STEPSIZE) * 1000;
2720 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
2721 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
2722
2723 // step_time = 0.09375f;
2724
2725 while (step_time > 0.0f)
2726 {
2727 //lock (ode)
2728 //{
2729 //if (!ode.lockquery())
2730 //{
2731 // ode.dlock(world);
2732 try
2733 {
2734 // Insert, remove Characters
2735 bool processedtaints = false;
2736
2737 lock (_taintedActors)
2738 {
2739 if (_taintedActors.Count > 0)
2740 {
2741 foreach (OdeCharacter character in _taintedActors)
2742 {
2743
2744 character.ProcessTaints(ODE_STEPSIZE);
2745
2746 processedtaints = true;
2747 //character.m_collisionscore = 0;
2748 }
2749
2750 if (processedtaints)
2751 _taintedActors.Clear();
2752 }
2753 } // end lock _taintedActors
2754
2755 // Modify other objects in the scene.
2756 processedtaints = false;
2757
2758 lock (_taintedPrimLock)
2759 {
2760 foreach (OdePrim prim in _taintedPrimL)
2761 {
2762 if (prim.m_taintremove)
2763 {
2764 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2765 RemovePrimThreadLocked(prim);
2766 }
2767 else
2768 {
2769 //Console.WriteLine("Simulate calls ProcessTaints");
2770 prim.ProcessTaints(ODE_STEPSIZE);
2771 }
2772 processedtaints = true;
2773 prim.m_collisionscore = 0;
2774
2775 // This loop can block up the Heartbeat for a very long time on large regions.
2776 // We need to let the Watchdog know that the Heartbeat is not dead
2777 // NOTE: This is currently commented out, but if things like OAR loading are
2778 // timing the heartbeat out we will need to uncomment it
2779 //Watchdog.UpdateThread();
2780 }
2781
2782 if (SupportsNINJAJoints)
2783 {
2784 // Create pending joints, if possible
2785
2786 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2787 // a joint requires specifying the body id of both involved bodies
2788 if (pendingJoints.Count > 0)
2789 {
2790 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2791 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2792 foreach (PhysicsJoint joint in pendingJoints)
2793 {
2794 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2795 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
2796 System.StringSplitOptions.RemoveEmptyEntries);
2797 List<IntPtr> jointBodies = new List<IntPtr>();
2798 bool allJointBodiesAreReady = true;
2799 foreach (string jointParam in jointParams)
2800 {
2801 if (jointParam == "NULL")
2802 {
2803 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2804 jointBodies.Add(IntPtr.Zero);
2805 }
2806 else
2807 {
2808 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2809 bool foundPrim = false;
2810 lock (_prims)
2811 {
2812 foreach (OdePrim prim in _prims) // FIXME: inefficient
2813 {
2814 if (prim.SOPName == jointParam)
2815 {
2816 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2817 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2818 {
2819 jointBodies.Add(prim.Body);
2820 foundPrim = true;
2821 break;
2822 }
2823 else
2824 {
2825 DoJointErrorMessage(joint, "prim name " + jointParam +
2826 " exists but is not (yet) physical; deferring joint creation. " +
2827 "IsPhysical property is " + prim.IsPhysical +
2828 " and body is " + prim.Body);
2829 foundPrim = false;
2830 break;
2831 }
2832 }
2833 }
2834 }
2835 if (foundPrim)
2836 {
2837 // all is fine
2838 }
2839 else
2840 {
2841 allJointBodiesAreReady = false;
2842 break;
2843 }
2844 }
2845 }
2846 if (allJointBodiesAreReady)
2847 {
2848 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2849 if (jointBodies[0] == jointBodies[1])
2850 {
2851 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2852 }
2853 else
2854 {
2855 switch (joint.Type)
2856 {
2857 case PhysicsJointType.Ball:
2858 {
2859 IntPtr odeJoint;
2860 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2861 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2862 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2863 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2864 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2865 d.JointSetBallAnchor(odeJoint,
2866 joint.Position.X,
2867 joint.Position.Y,
2868 joint.Position.Z);
2869 //DoJointErrorMessage(joint, "ODE joint setting OK");
2870 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2871 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2872 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2873 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2874
2875 if (joint is OdePhysicsJoint)
2876 {
2877 ((OdePhysicsJoint)joint).jointID = odeJoint;
2878 }
2879 else
2880 {
2881 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2882 }
2883 }
2884 break;
2885 case PhysicsJointType.Hinge:
2886 {
2887 IntPtr odeJoint;
2888 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2889 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2890 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2891 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2892 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2893 d.JointSetHingeAnchor(odeJoint,
2894 joint.Position.X,
2895 joint.Position.Y,
2896 joint.Position.Z);
2897 // We use the orientation of the x-axis of the joint's coordinate frame
2898 // as the axis for the hinge.
2899
2900 // Therefore, we must get the joint's coordinate frame based on the
2901 // joint.Rotation field, which originates from the orientation of the
2902 // joint's proxy object in the scene.
2903
2904 // The joint's coordinate frame is defined as the transformation matrix
2905 // that converts a vector from joint-local coordinates into world coordinates.
2906 // World coordinates are defined as the XYZ coordinate system of the sim,
2907 // as shown in the top status-bar of the viewer.
2908
2909 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2910 // and use that as the hinge axis.
2911
2912 //joint.Rotation.Normalize();
2913 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2914
2915 // Now extract the X axis of the joint's coordinate frame.
2916
2917 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2918 // tar pit of transposed, inverted, and generally messed-up orientations.
2919 // (In other words, Matrix4.AtAxis() is borked.)
2920 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2921
2922 // Instead, compute the X axis of the coordinate frame by transforming
2923 // the (1,0,0) vector. At least that works.
2924
2925 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2926 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2927 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2928 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2929 d.JointSetHingeAxis(odeJoint,
2930 jointAxis.X,
2931 jointAxis.Y,
2932 jointAxis.Z);
2933 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2934 if (joint is OdePhysicsJoint)
2935 {
2936 ((OdePhysicsJoint)joint).jointID = odeJoint;
2937 }
2938 else
2939 {
2940 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2941 }
2942 }
2943 break;
2944 }
2945 successfullyProcessedPendingJoints.Add(joint);
2946 }
2947 }
2948 else
2949 {
2950 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2951 }
2952 }
2953 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2954 {
2955 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2956 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2957 InternalRemovePendingJoint(successfullyProcessedJoint);
2958 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2959 InternalAddActiveJoint(successfullyProcessedJoint);
2960 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2961 }
2962 }
2963 } // end SupportsNINJAJoints
2964
2965 if (processedtaints)
2966//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2967 _taintedPrimH.Clear(); // ??? if this only ???
2968 _taintedPrimL.Clear();
2969 } // end lock _taintedPrimLock
2970
2971 // Move characters
2972 lock (_characters)
2973 {
2974 List<OdeCharacter> defects = new List<OdeCharacter>();
2975 foreach (OdeCharacter actor in _characters)
2976 {
2977 if (actor != null)
2978 actor.Move(ODE_STEPSIZE, defects);
2979 }
2980 if (0 != defects.Count)
2981 {
2982 foreach (OdeCharacter defect in defects)
2983 {
2984 RemoveCharacter(defect);
2985 }
2986 }
2987 } // end lock _characters
2988
2989 // Move other active objects
2990 lock (_activeprims)
2991 {
2992 foreach (OdePrim prim in _activeprims)
2993 {
2994 prim.m_collisionscore = 0;
2995 prim.Move(ODE_STEPSIZE);
2996 }
2997 } // end lock _activeprims
2998
2999 //if ((framecount % m_randomizeWater) == 0)
3000 // randomizeWater(waterlevel);
3001
3002 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3003 m_rayCastManager.ProcessQueuedRequests();
3004
3005 collision_optimized(ODE_STEPSIZE);
3006
3007 lock (_collisionEventPrim)
3008 {
3009 foreach (PhysicsActor obj in _collisionEventPrim)
3010 {
3011 if (obj == null)
3012 continue;
3013
3014 switch ((ActorTypes)obj.PhysicsActorType)
3015 {
3016 case ActorTypes.Agent:
3017 OdeCharacter cobj = (OdeCharacter)obj;
3018 cobj.AddCollisionFrameTime(100);
3019 cobj.SendCollisions();
3020 break;
3021 case ActorTypes.Prim:
3022 OdePrim pobj = (OdePrim)obj;
3023 pobj.SendCollisions();
3024 break;
3025 }
3026 }
3027 } // end lock _collisionEventPrim
3028
3029 //if (m_global_contactcount > 5)
3030 //{
3031 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
3032 //}
3033
3034 m_global_contactcount = 0;
3035
3036 d.WorldQuickStep(world, ODE_STEPSIZE);
3037 d.JointGroupEmpty(contactgroup);
3038 fps++;
3039 //ode.dunlock(world);
3040 } // end try
3041 catch (Exception e)
3042 {
3043 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3044 ode.dunlock(world);
3045 }
3046
3047 step_time -= ODE_STEPSIZE;
3048 i++;
3049 //}
3050 //else
3051 //{
3052 //fps = 0;
3053 //}
3054 //}
3055 } // end while (step_time > 0.0f)
3056
3057 lock (_characters)
3058 {
3059 foreach (OdeCharacter actor in _characters)
3060 {
3061 if (actor != null)
3062 {
3063 if (actor.bad)
3064 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
3065 actor.UpdatePositionAndVelocity();
3066 }
3067 }
3068 }
3069
3070 lock (_badCharacter)
3071 {
3072 if (_badCharacter.Count > 0)
3073 {
3074 foreach (OdeCharacter chr in _badCharacter)
3075 {
3076 RemoveCharacter(chr);
3077 }
3078 _badCharacter.Clear();
3079 }
3080 }
3081
3082 lock (_activeprims)
3083 {
3084 //if (timeStep < 0.2f)
3085 {
3086 foreach (OdePrim actor in _activeprims)
3087 {
3088 if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
3089 {
3090 actor.UpdatePositionAndVelocity();
3091
3092 if (SupportsNINJAJoints)
3093 {
3094 // If an actor moved, move its joint proxy objects as well.
3095 // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
3096 // for this purpose but it is never called! So we just do the joint
3097 // movement code here.
3098
3099 if (actor.SOPName != null &&
3100 joints_connecting_actor.ContainsKey(actor.SOPName) &&
3101 joints_connecting_actor[actor.SOPName] != null &&
3102 joints_connecting_actor[actor.SOPName].Count > 0)
3103 {
3104 foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
3105 {
3106 if (affectedJoint.IsInPhysicsEngine)
3107 {
3108 DoJointMoved(affectedJoint);
3109 }
3110 else
3111 {
3112 DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
3113 }
3114 }
3115 }
3116 }
3117 }
3118 }
3119 }
3120 } // end lock _activeprims
3121
3122 //DumpJointInfo();
3123
3124 // Finished with all sim stepping. If requested, dump world state to file for debugging.
3125 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
3126 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
3127 if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
3128 {
3129 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
3130 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
3131
3132 if (physics_logging_append_existing_logfile)
3133 {
3134 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
3135 TextWriter fwriter = File.AppendText(fname);
3136 fwriter.WriteLine(header);
3137 fwriter.Close();
3138 }
3139 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3140 }
3141 } // end lock OdeLock
3142
3143 return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
3144 } // end Simulate
3145
3146 public override void GetResults()
3147 {
3148 }
3149
3150 public override bool IsThreaded
3151 {
3152 // for now we won't be multithreaded
3153 get { return (false); }
3154 }
3155
3156 #region ODE Specific Terrain Fixes
3157 public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
3158 {
3159 float[] returnarr = new float[262144];
3160 float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
3161
3162 // Filling out the array into its multi-dimensional components
3163 for (int y = 0; y < WorldExtents.Y; y++)
3164 {
3165 for (int x = 0; x < WorldExtents.X; x++)
3166 {
3167 resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
3168 }
3169 }
3170
3171 // Resize using Nearest Neighbour
3172
3173 // This particular way is quick but it only works on a multiple of the original
3174
3175 // The idea behind this method can be described with the following diagrams
3176 // second pass and third pass happen in the same loop really.. just separated
3177 // them to show what this does.
3178
3179 // First Pass
3180 // ResultArr:
3181 // 1,1,1,1,1,1
3182 // 1,1,1,1,1,1
3183 // 1,1,1,1,1,1
3184 // 1,1,1,1,1,1
3185 // 1,1,1,1,1,1
3186 // 1,1,1,1,1,1
3187
3188 // Second Pass
3189 // ResultArr2:
3190 // 1,,1,,1,,1,,1,,1,
3191 // ,,,,,,,,,,
3192 // 1,,1,,1,,1,,1,,1,
3193 // ,,,,,,,,,,
3194 // 1,,1,,1,,1,,1,,1,
3195 // ,,,,,,,,,,
3196 // 1,,1,,1,,1,,1,,1,
3197 // ,,,,,,,,,,
3198 // 1,,1,,1,,1,,1,,1,
3199 // ,,,,,,,,,,
3200 // 1,,1,,1,,1,,1,,1,
3201
3202 // Third pass fills in the blanks
3203 // ResultArr2:
3204 // 1,1,1,1,1,1,1,1,1,1,1,1
3205 // 1,1,1,1,1,1,1,1,1,1,1,1
3206 // 1,1,1,1,1,1,1,1,1,1,1,1
3207 // 1,1,1,1,1,1,1,1,1,1,1,1
3208 // 1,1,1,1,1,1,1,1,1,1,1,1
3209 // 1,1,1,1,1,1,1,1,1,1,1,1
3210 // 1,1,1,1,1,1,1,1,1,1,1,1
3211 // 1,1,1,1,1,1,1,1,1,1,1,1
3212 // 1,1,1,1,1,1,1,1,1,1,1,1
3213 // 1,1,1,1,1,1,1,1,1,1,1,1
3214 // 1,1,1,1,1,1,1,1,1,1,1,1
3215
3216 // X,Y = .
3217 // X+1,y = ^
3218 // X,Y+1 = *
3219 // X+1,Y+1 = #
3220
3221 // Filling in like this;
3222 // .*
3223 // ^#
3224 // 1st .
3225 // 2nd *
3226 // 3rd ^
3227 // 4th #
3228 // on single loop.
3229
3230 float[,] resultarr2 = new float[512, 512];
3231 for (int y = 0; y < WorldExtents.Y; y++)
3232 {
3233 for (int x = 0; x < WorldExtents.X; x++)
3234 {
3235 resultarr2[y * 2, x * 2] = resultarr[y, x];
3236
3237 if (y < WorldExtents.Y)
3238 {
3239 resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
3240 }
3241 if (x < WorldExtents.X)
3242 {
3243 resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
3244 }
3245 if (x < WorldExtents.X && y < WorldExtents.Y)
3246 {
3247 resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
3248 }
3249 }
3250 }
3251
3252 //Flatten out the array
3253 int i = 0;
3254 for (int y = 0; y < 512; y++)
3255 {
3256 for (int x = 0; x < 512; x++)
3257 {
3258 if (resultarr2[y, x] <= 0)
3259 returnarr[i] = 0.0000001f;
3260 else
3261 returnarr[i] = resultarr2[y, x];
3262
3263 i++;
3264 }
3265 }
3266
3267 return returnarr;
3268 }
3269
3270 public float[] ResizeTerrain512Interpolation(float[] heightMap)
3271 {
3272 float[] returnarr = new float[262144];
3273 float[,] resultarr = new float[512,512];
3274
3275 // Filling out the array into its multi-dimensional components
3276 for (int y = 0; y < 256; y++)
3277 {
3278 for (int x = 0; x < 256; x++)
3279 {
3280 resultarr[y, x] = heightMap[y * 256 + x];
3281 }
3282 }
3283
3284 // Resize using interpolation
3285
3286 // This particular way is quick but it only works on a multiple of the original
3287
3288 // The idea behind this method can be described with the following diagrams
3289 // second pass and third pass happen in the same loop really.. just separated
3290 // them to show what this does.
3291
3292 // First Pass
3293 // ResultArr:
3294 // 1,1,1,1,1,1
3295 // 1,1,1,1,1,1
3296 // 1,1,1,1,1,1
3297 // 1,1,1,1,1,1
3298 // 1,1,1,1,1,1
3299 // 1,1,1,1,1,1
3300
3301 // Second Pass
3302 // ResultArr2:
3303 // 1,,1,,1,,1,,1,,1,
3304 // ,,,,,,,,,,
3305 // 1,,1,,1,,1,,1,,1,
3306 // ,,,,,,,,,,
3307 // 1,,1,,1,,1,,1,,1,
3308 // ,,,,,,,,,,
3309 // 1,,1,,1,,1,,1,,1,
3310 // ,,,,,,,,,,
3311 // 1,,1,,1,,1,,1,,1,
3312 // ,,,,,,,,,,
3313 // 1,,1,,1,,1,,1,,1,
3314
3315 // Third pass fills in the blanks
3316 // ResultArr2:
3317 // 1,1,1,1,1,1,1,1,1,1,1,1
3318 // 1,1,1,1,1,1,1,1,1,1,1,1
3319 // 1,1,1,1,1,1,1,1,1,1,1,1
3320 // 1,1,1,1,1,1,1,1,1,1,1,1
3321 // 1,1,1,1,1,1,1,1,1,1,1,1
3322 // 1,1,1,1,1,1,1,1,1,1,1,1
3323 // 1,1,1,1,1,1,1,1,1,1,1,1
3324 // 1,1,1,1,1,1,1,1,1,1,1,1
3325 // 1,1,1,1,1,1,1,1,1,1,1,1
3326 // 1,1,1,1,1,1,1,1,1,1,1,1
3327 // 1,1,1,1,1,1,1,1,1,1,1,1
3328
3329 // X,Y = .
3330 // X+1,y = ^
3331 // X,Y+1 = *
3332 // X+1,Y+1 = #
3333
3334 // Filling in like this;
3335 // .*
3336 // ^#
3337 // 1st .
3338 // 2nd *
3339 // 3rd ^
3340 // 4th #
3341 // on single loop.
3342
3343 float[,] resultarr2 = new float[512,512];
3344 for (int y = 0; y < (int)Constants.RegionSize; y++)
3345 {
3346 for (int x = 0; x < (int)Constants.RegionSize; x++)
3347 {
3348 resultarr2[y*2, x*2] = resultarr[y, x];
3349
3350 if (y < (int)Constants.RegionSize)
3351 {
3352 if (y + 1 < (int)Constants.RegionSize)
3353 {
3354 if (x + 1 < (int)Constants.RegionSize)
3355 {
3356 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
3357 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3358 }
3359 else
3360 {
3361 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
3362 }
3363 }
3364 else
3365 {
3366 resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
3367 }
3368 }
3369 if (x < (int)Constants.RegionSize)
3370 {
3371 if (x + 1 < (int)Constants.RegionSize)
3372 {
3373 if (y + 1 < (int)Constants.RegionSize)
3374 {
3375 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3376 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3377 }
3378 else
3379 {
3380 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
3381 }
3382 }
3383 else
3384 {
3385 resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
3386 }
3387 }
3388 if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
3389 {
3390 if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
3391 {
3392 resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3393 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3394 }
3395 else
3396 {
3397 resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
3398 }
3399 }
3400 }
3401 }
3402 //Flatten out the array
3403 int i = 0;
3404 for (int y = 0; y < 512; y++)
3405 {
3406 for (int x = 0; x < 512; x++)
3407 {
3408 if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
3409 {
3410 m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
3411 resultarr2[y, x] = 0;
3412 }
3413 returnarr[i] = resultarr2[y, x];
3414 i++;
3415 }
3416 }
3417
3418 return returnarr;
3419 }
3420
3421 #endregion
3422
3423 public override void SetTerrain(float[] heightMap)
3424 {
3425 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
3426 {
3427 if (m_parentScene is OdeScene)
3428 {
3429 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
3430 }
3431 }
3432 else
3433 {
3434 SetTerrain(heightMap, m_worldOffset);
3435 }
3436 }
3437
3438 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3439 {
3440
3441 uint regionsize = (uint) Constants.RegionSize; // visible region size eg. 256(M)
3442
3443 uint heightmapWidth = regionsize + 1; // ODE map size 257 x 257 (Meters) (1 extra
3444 uint heightmapHeight = regionsize + 1;
3445
3446 uint heightmapWidthSamples = (uint)regionsize + 2; // Sample file size, 258 x 258 samples
3447 uint heightmapHeightSamples = (uint)regionsize + 2;
3448
3449 // Array of height samples for ODE
3450 float[] _heightmap;
3451 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
3452
3453 // Other ODE parameters
3454 const float scale = 1.0f;
3455 const float offset = 0.0f;
3456 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3457 const int wrap = 0;
3458
3459 float hfmin = 2000f;
3460 float hfmax = -2000f;
3461 float minele = 0.0f; // Dont allow -ve heights
3462
3463 uint x = 0;
3464 uint y = 0;
3465 uint xx = 0;
3466 uint yy = 0;
3467
3468 // load the height samples array from the heightMap
3469 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3470 {
3471 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3472 {
3473 xx = x - 1;
3474 if (xx < 0) xx = 0;
3475 if (xx > (regionsize - 1)) xx = regionsize - 1;
3476
3477 yy = y - 1;
3478 if (yy < 0) yy = 0;
3479 if (yy > (regionsize - 1)) yy = regionsize - 1;
3480 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3481 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3482 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3483 if (val < minele) val = minele;
3484 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3485 hfmin = (val < hfmin) ? val : hfmin;
3486 hfmax = (val > hfmax) ? val : hfmax;
3487 }
3488 }
3489
3490 lock (OdeLock)
3491 {
3492 IntPtr GroundGeom = IntPtr.Zero;
3493 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3494 {
3495 RegionTerrain.Remove(pOffset);
3496 if (GroundGeom != IntPtr.Zero)
3497 {
3498 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3499 {
3500 TerrainHeightFieldHeights.Remove(GroundGeom);
3501 }
3502 d.SpaceRemove(space, GroundGeom);
3503 d.GeomDestroy(GroundGeom);
3504 }
3505 }
3506 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3507 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3508 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3509 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3510 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3511 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3512 if (GroundGeom != IntPtr.Zero)
3513 {
3514 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3515 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3516 }
3517 geom_name_map[GroundGeom] = "Terrain";
3518
3519 d.Matrix3 R = new d.Matrix3();
3520
3521 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3522 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3523 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3524
3525 q1 = q1 * q2;
3526 //q1 = q1 * q3;
3527 Vector3 v3;
3528 float angle;
3529 q1.GetAxisAngle(out v3, out angle);
3530
3531 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3532 d.GeomSetRotation(GroundGeom, ref R);
3533 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3534 IntPtr testGround = IntPtr.Zero;
3535 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3536 {
3537 RegionTerrain.Remove(pOffset);
3538 }
3539 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3540 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3541 }
3542 }
3543
3544 public override void DeleteTerrain()
3545 {
3546 }
3547
3548 public float GetWaterLevel()
3549 {
3550 return waterlevel;
3551 }
3552
3553 public override bool SupportsCombining()
3554 {
3555 return true;
3556 }
3557
3558 public override void UnCombine(PhysicsScene pScene)
3559 {
3560 IntPtr localGround = IntPtr.Zero;
3561// float[] localHeightfield;
3562 bool proceed = false;
3563 List<IntPtr> geomDestroyList = new List<IntPtr>();
3564
3565 lock (OdeLock)
3566 {
3567 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
3568 {
3569 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
3570 {
3571 if (geom == localGround)
3572 {
3573// localHeightfield = TerrainHeightFieldHeights[geom];
3574 proceed = true;
3575 }
3576 else
3577 {
3578 geomDestroyList.Add(geom);
3579 }
3580 }
3581
3582 if (proceed)
3583 {
3584 m_worldOffset = Vector3.Zero;
3585 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
3586 m_parentScene = null;
3587
3588 foreach (IntPtr g in geomDestroyList)
3589 {
3590 // removingHeightField needs to be done or the garbage collector will
3591 // collect the terrain data before we tell ODE to destroy it causing
3592 // memory corruption
3593 if (TerrainHeightFieldHeights.ContainsKey(g))
3594 {
3595// float[] removingHeightField = TerrainHeightFieldHeights[g];
3596 TerrainHeightFieldHeights.Remove(g);
3597
3598 if (RegionTerrain.ContainsKey(g))
3599 {
3600 RegionTerrain.Remove(g);
3601 }
3602
3603 d.GeomDestroy(g);
3604 //removingHeightField = new float[0];
3605 }
3606 }
3607
3608 }
3609 else
3610 {
3611 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3612
3613 }
3614 }
3615 }
3616 }
3617
3618 public override void SetWaterLevel(float baseheight)
3619 {
3620 waterlevel = baseheight;
3621 randomizeWater(waterlevel);
3622 }
3623
3624 public void randomizeWater(float baseheight)
3625 {
3626 const uint heightmapWidth = m_regionWidth + 2;
3627 const uint heightmapHeight = m_regionHeight + 2;
3628 const uint heightmapWidthSamples = m_regionWidth + 2;
3629 const uint heightmapHeightSamples = m_regionHeight + 2;
3630 const float scale = 1.0f;
3631 const float offset = 0.0f;
3632 const float thickness = 2.9f;
3633 const int wrap = 0;
3634
3635 for (int i = 0; i < (258 * 258); i++)
3636 {
3637 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3638 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3639 }
3640
3641 lock (OdeLock)
3642 {
3643 if (WaterGeom != IntPtr.Zero)
3644 {
3645 d.SpaceRemove(space, WaterGeom);
3646 }
3647 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3648 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3649 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3650 offset, thickness, wrap);
3651 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3652 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3653 if (WaterGeom != IntPtr.Zero)
3654 {
3655 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3656 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3657
3658 }
3659 geom_name_map[WaterGeom] = "Water";
3660
3661 d.Matrix3 R = new d.Matrix3();
3662
3663 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3664 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3665 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3666
3667 q1 = q1 * q2;
3668 //q1 = q1 * q3;
3669 Vector3 v3;
3670 float angle;
3671 q1.GetAxisAngle(out v3, out angle);
3672
3673 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3674 d.GeomSetRotation(WaterGeom, ref R);
3675 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3676
3677 }
3678
3679 }
3680
3681 public override void Dispose()
3682 {
3683 m_rayCastManager.Dispose();
3684 m_rayCastManager = null;
3685
3686 lock (OdeLock)
3687 {
3688 lock (_prims)
3689 {
3690 foreach (OdePrim prm in _prims)
3691 {
3692 RemovePrim(prm);
3693 }
3694 }
3695
3696 //foreach (OdeCharacter act in _characters)
3697 //{
3698 //RemoveAvatar(act);
3699 //}
3700 d.WorldDestroy(world);
3701 //d.CloseODE();
3702 }
3703 }
3704 public override Dictionary<uint, float> GetTopColliders()
3705 {
3706 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
3707 int cnt = 0;
3708 lock (_prims)
3709 {
3710 foreach (OdePrim prm in _prims)
3711 {
3712 if (prm.CollisionScore > 0)
3713 {
3714 returncolliders.Add(prm.m_localID, prm.CollisionScore);
3715 cnt++;
3716 prm.CollisionScore = 0f;
3717 if (cnt > 25)
3718 {
3719 break;
3720 }
3721 }
3722 }
3723 }
3724 return returncolliders;
3725 }
3726
3727 public override bool SupportsRayCast()
3728 {
3729 return true;
3730 }
3731
3732 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
3733 {
3734 if (retMethod != null)
3735 {
3736 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
3737 }
3738 }
3739
3740#if USE_DRAWSTUFF
3741 // Keyboard callback
3742 public void command(int cmd)
3743 {
3744 IntPtr geom;
3745 d.Mass mass;
3746 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3747
3748
3749
3750 Char ch = Char.ToLower((Char)cmd);
3751 switch ((Char)ch)
3752 {
3753 case 'w':
3754 try
3755 {
3756 Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3757
3758 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3759 ds.SetViewpoint(ref xyz, ref hpr);
3760 }
3761 catch (ArgumentException)
3762 { hpr.X = 0; }
3763 break;
3764
3765 case 'a':
3766 hpr.X++;
3767 ds.SetViewpoint(ref xyz, ref hpr);
3768 break;
3769
3770 case 's':
3771 try
3772 {
3773 Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3774
3775 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3776 ds.SetViewpoint(ref xyz, ref hpr);
3777 }
3778 catch (ArgumentException)
3779 { hpr.X = 0; }
3780 break;
3781 case 'd':
3782 hpr.X--;
3783 ds.SetViewpoint(ref xyz, ref hpr);
3784 break;
3785 case 'r':
3786 xyz.Z++;
3787 ds.SetViewpoint(ref xyz, ref hpr);
3788 break;
3789 case 'f':
3790 xyz.Z--;
3791 ds.SetViewpoint(ref xyz, ref hpr);
3792 break;
3793 case 'e':
3794 xyz.Y++;
3795 ds.SetViewpoint(ref xyz, ref hpr);
3796 break;
3797 case 'q':
3798 xyz.Y--;
3799 ds.SetViewpoint(ref xyz, ref hpr);
3800 break;
3801 }
3802 }
3803
3804 public void step(int pause)
3805 {
3806
3807 ds.SetColor(1.0f, 1.0f, 0.0f);
3808 ds.SetTexture(ds.Texture.Wood);
3809 lock (_prims)
3810 {
3811 foreach (OdePrim prm in _prims)
3812 {
3813 //IntPtr body = d.GeomGetBody(prm.prim_geom);
3814 if (prm.prim_geom != IntPtr.Zero)
3815 {
3816 d.Vector3 pos;
3817 d.GeomCopyPosition(prm.prim_geom, out pos);
3818 //d.BodyCopyPosition(body, out pos);
3819
3820 d.Matrix3 R;
3821 d.GeomCopyRotation(prm.prim_geom, out R);
3822 //d.BodyCopyRotation(body, out R);
3823
3824
3825 d.Vector3 sides = new d.Vector3();
3826 sides.X = prm.Size.X;
3827 sides.Y = prm.Size.Y;
3828 sides.Z = prm.Size.Z;
3829
3830 ds.DrawBox(ref pos, ref R, ref sides);
3831 }
3832 }
3833 }
3834 ds.SetColor(1.0f, 0.0f, 0.0f);
3835 lock (_characters)
3836 {
3837 foreach (OdeCharacter chr in _characters)
3838 {
3839 if (chr.Shell != IntPtr.Zero)
3840 {
3841 IntPtr body = d.GeomGetBody(chr.Shell);
3842
3843 d.Vector3 pos;
3844 d.GeomCopyPosition(chr.Shell, out pos);
3845 //d.BodyCopyPosition(body, out pos);
3846
3847 d.Matrix3 R;
3848 d.GeomCopyRotation(chr.Shell, out R);
3849 //d.BodyCopyRotation(body, out R);
3850
3851 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
3852 d.Vector3 sides = new d.Vector3();
3853 sides.X = 0.5f;
3854 sides.Y = 0.5f;
3855 sides.Z = 0.5f;
3856
3857 ds.DrawBox(ref pos, ref R, ref sides);
3858 }
3859 }
3860 }
3861 }
3862
3863 public void start(int unused)
3864 {
3865 ds.SetViewpoint(ref xyz, ref hpr);
3866 }
3867#endif
3868 }
3869}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
new file mode 100644
index 0000000..69e2d03
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/Tests/ODETestClass.cs
@@ -0,0 +1,122 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using Nini.Config;
30using NUnit.Framework;
31using OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34using log4net;
35using System.Reflection;
36
37namespace OpenSim.Region.Physics.OdePlugin
38{
39 [TestFixture]
40 public class ODETestClass
41 {
42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
43
44 private OdePlugin cbt;
45 private PhysicsScene ps;
46 private IMeshingPlugin imp;
47
48 [SetUp]
49 public void Initialize()
50 {
51 // Loading ODEPlugin
52 cbt = new OdePlugin();
53 // Loading Zero Mesher
54 imp = new ZeroMesherPlugin();
55 // Getting Physics Scene
56 ps = cbt.GetScene("test");
57 // Initializing Physics Scene.
58 ps.Initialise(imp.GetMesher(),null);
59 float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
60 for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
61 {
62 _heightmap[i] = 21f;
63 }
64 ps.SetTerrain(_heightmap);
65 }
66
67 [TearDown]
68 public void Terminate()
69 {
70 ps.DeleteTerrain();
71 ps.Dispose();
72
73 }
74
75 [Test]
76 public void CreateAndDropPhysicalCube()
77 {
78 PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
79 Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
80 Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
81 Quaternion rot = Quaternion.Identity;
82 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
83 OdePrim oprim = (OdePrim)prim;
84 OdeScene pscene = (OdeScene) ps;
85
86 Assert.That(oprim.m_taintadd);
87
88 prim.LocalID = 5;
89
90 for (int i = 0; i < 58; i++)
91 {
92 ps.Simulate(0.133f);
93
94 Assert.That(oprim.prim_geom != (IntPtr)0);
95
96 Assert.That(oprim.m_targetSpace != (IntPtr)0);
97
98 //Assert.That(oprim.m_targetSpace == pscene.space);
99 m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);
100
101 Assert.That(!oprim.m_taintadd);
102 m_log.Info("Prim Position (" + oprim.m_localID + "): " + prim.Position.ToString());
103
104 // Make sure we're above the ground
105 //Assert.That(prim.Position.Z > 20f);
106 //m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);
107
108 // Make sure we've got a Body
109 Assert.That(oprim.Body != (IntPtr)0);
110 //m_log.Info(
111 }
112
113 // Make sure we're not somewhere above the ground
114 Assert.That(prim.Position.Z < 21.5f);
115
116 ps.RemovePrim(prim);
117 Assert.That(oprim.m_taintremove);
118 ps.Simulate(0.133f);
119 Assert.That(oprim.Body == (IntPtr)0);
120 }
121 }
122}
diff --git a/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
new file mode 100644
index 0000000..87ca446
--- /dev/null
+++ b/OpenSim/Region/Physics/ChOdePlugin/drawstuff.cs
@@ -0,0 +1,98 @@
1/*
2 * Copyright ODE
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 *
39 */
40
41using System;
42using System.Runtime.InteropServices;
43using Ode.NET;
44
45namespace Drawstuff.NET
46{
47#if dDOUBLE
48 using dReal = System.Double;
49#else
50 using dReal = System.Single;
51#endif
52
53 public static class ds
54 {
55 public const int VERSION = 2;
56
57 public enum Texture
58 {
59 None,
60 Wood
61 }
62
63 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
64 public delegate void CallbackFunction(int arg);
65
66 [StructLayout(LayoutKind.Sequential)]
67 public struct Functions
68 {
69 public int version;
70 public CallbackFunction start;
71 public CallbackFunction step;
72 public CallbackFunction command;
73 public CallbackFunction stop;
74 public string path_to_textures;
75 }
76
77 [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
78 public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
79
80 [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
81 public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
82
83 [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
84 public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
85
86 [DllImport("drawstuff", EntryPoint = "dsSetColor")]
87 public static extern void SetColor(float red, float green, float blue);
88
89 [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
90 public static extern void SetTexture(Texture texture);
91
92 [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
93 public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
94
95 [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
96 public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
97 }
98}
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index a2229e8..2a66060 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1210,7 +1210,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1210 1210
1211 public override float APIDDamping{ set { return; } } 1211 public override float APIDDamping{ set { return; } }
1212 1212
1213
1214 public override void SubscribeEvents(int ms) 1213 public override void SubscribeEvents(int ms)
1215 { 1214 {
1216 m_requestedUpdateFrequency = ms; 1215 m_requestedUpdateFrequency = ms;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index c91658e..243e2d7 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -572,8 +572,8 @@ namespace OpenSim.Region.Physics.OdePlugin
572 break; 572 break;
573 573
574 case HollowShape.Circle: 574 case HollowShape.Circle:
575 // Hollow shape is a perfect cyllinder in respect to the cube's scale 575 // Hollow shape is a perfect cylinder in respect to the cube's scale
576 // Cyllinder hollow volume calculation 576 // Cylinder hollow volume calculation
577 577
578 hollowVolume *= 0.1963495f * 3.07920140172638f; 578 hollowVolume *= 0.1963495f * 3.07920140172638f;
579 break; 579 break;
@@ -2819,7 +2819,7 @@ Console.WriteLine(" JointCreateFixed");
2819 } 2819 }
2820 public override bool PIDActive { set { m_usePID = value; } } 2820 public override bool PIDActive { set { m_usePID = value; } }
2821 public override float PIDTau { set { m_PIDTau = value; } } 2821 public override float PIDTau { set { m_PIDTau = value; } }
2822 2822
2823 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } 2823 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
2824 public override bool PIDHoverActive { set { m_useHoverPID = value; } } 2824 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
2825 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } 2825 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index 91ec3df..9ba5ebb 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -301,7 +301,7 @@ namespace OpenSim.Region.Physics.POSPlugin
301 { 301 {
302 set { return; } 302 set { return; }
303 } 303 }
304 304
305 public override Quaternion APIDTarget 305 public override Quaternion APIDTarget
306 { 306 {
307 set { return; } 307 set { return; }