aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics
diff options
context:
space:
mode:
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs451
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs951
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs68
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs1349
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs860
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs257
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs341
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs233
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs411
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs200
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs74
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs171
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs99
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs1868
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt28
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs99
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs211
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs36
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs209
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt7
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs265
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs70
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs70
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs444
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs195
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs170
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs284
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs128
-rw-r--r--OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs66
-rwxr-xr-xOpenSim/Region/Physics/Manager/IPhysicsParameters.cs73
30 files changed, 9688 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
new file mode 100644
index 0000000..682eb80
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -0,0 +1,451 @@
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 copyrightD
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 */
27using System;
28using System.Collections.Generic;
29using System.Reflection;
30using log4net;
31using OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.BulletSPlugin
36{
37public class BSCharacter : PhysicsActor
38{
39 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
40 private static readonly string LogHeader = "[BULLETS CHAR]";
41
42 private BSScene _scene;
43 private String _avName;
44 private bool _stopped;
45 private Vector3 _size;
46 private Vector3 _scale;
47 private PrimitiveBaseShape _pbs;
48 private uint _localID = 0;
49 private bool _grabbed;
50 private bool _selected;
51 private Vector3 _position;
52 private float _mass;
53 public float _density;
54 public float _avatarVolume;
55 private Vector3 _force;
56 private Vector3 _velocity;
57 private Vector3 _torque;
58 private float _collisionScore;
59 private Vector3 _acceleration;
60 private Quaternion _orientation;
61 private int _physicsActorType;
62 private bool _isPhysical;
63 private bool _flying;
64 private bool _setAlwaysRun;
65 private bool _throttleUpdates;
66 private bool _isColliding;
67 private long _collidingStep;
68 private bool _collidingGround;
69 private long _collidingGroundStep;
70 private bool _collidingObj;
71 private bool _floatOnWater;
72 private Vector3 _rotationalVelocity;
73 private bool _kinematic;
74 private float _buoyancy;
75
76 private int _subscribedEventsMs = 0;
77 private int _lastCollisionTime = 0;
78
79 private Vector3 _PIDTarget;
80 private bool _usePID;
81 private float _PIDTau;
82 private bool _useHoverPID;
83 private float _PIDHoverHeight;
84 private PIDHoverType _PIDHoverType;
85 private float _PIDHoverTao;
86
87 public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying)
88 {
89 _localID = localID;
90 _avName = avName;
91 _scene = parent_scene;
92 _position = pos;
93 _size = size;
94 _flying = isFlying;
95 _orientation = Quaternion.Identity;
96 _velocity = Vector3.Zero;
97 _buoyancy = isFlying ? 1f : 0f;
98 _scale = new Vector3(1f, 1f, 1f);
99 _density = _scene.Params.avatarDensity;
100 ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale
101
102 ShapeData shapeData = new ShapeData();
103 shapeData.ID = _localID;
104 shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
105 shapeData.Position = _position;
106 shapeData.Rotation = _orientation;
107 shapeData.Velocity = _velocity;
108 shapeData.Scale = _scale;
109 shapeData.Mass = _mass;
110 shapeData.Buoyancy = _buoyancy;
111 shapeData.Static = ShapeData.numericFalse;
112 shapeData.Friction = _scene.Params.avatarFriction;
113 shapeData.Restitution = _scene.Params.defaultRestitution;
114
115 // do actual create at taint time
116 _scene.TaintedObject(delegate()
117 {
118 BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
119 });
120
121 return;
122 }
123
124 // called when this character is being destroyed and the resources should be released
125 public void Destroy()
126 {
127 _scene.TaintedObject(delegate()
128 {
129 BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
130 });
131 }
132
133 public override void RequestPhysicsterseUpdate()
134 {
135 base.RequestPhysicsterseUpdate();
136 }
137
138 public override bool Stopped {
139 get { return _stopped; }
140 }
141 public override Vector3 Size {
142 get { return _size; }
143 set { _size = value;
144 }
145 }
146 public override PrimitiveBaseShape Shape {
147 set { _pbs = value;
148 }
149 }
150 public override uint LocalID {
151 set { _localID = value;
152 }
153 get { return _localID; }
154 }
155 public override bool Grabbed {
156 set { _grabbed = value;
157 }
158 }
159 public override bool Selected {
160 set { _selected = value;
161 }
162 }
163 public override void CrossingFailure() { return; }
164 public override void link(PhysicsActor obj) { return; }
165 public override void delink() { return; }
166 public override void LockAngularMotion(Vector3 axis) { return; }
167
168 public override Vector3 Position {
169 get {
170 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
171 return _position;
172 }
173 set {
174 _position = value;
175 _scene.TaintedObject(delegate()
176 {
177 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
178 });
179 }
180 }
181 public override float Mass {
182 get {
183 return _mass;
184 }
185 }
186 public override Vector3 Force {
187 get { return _force; }
188 set {
189 _force = value;
190 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
191 _scene.TaintedObject(delegate()
192 {
193 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
194 });
195 }
196 }
197
198 public override int VehicleType {
199 get { return 0; }
200 set { return; }
201 }
202 public override void VehicleFloatParam(int param, float value) { }
203 public override void VehicleVectorParam(int param, Vector3 value) {}
204 public override void VehicleRotationParam(int param, Quaternion rotation) { }
205 public override void VehicleFlags(int param, bool remove) { }
206
207 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
208 public override void SetVolumeDetect(int param) { return; }
209
210 public override Vector3 GeometricCenter { get { return Vector3.Zero; } }
211 public override Vector3 CenterOfMass { get { return Vector3.Zero; } }
212 public override Vector3 Velocity {
213 get { return _velocity; }
214 set {
215 _velocity = value;
216 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
217 _scene.TaintedObject(delegate()
218 {
219 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
220 });
221 }
222 }
223 public override Vector3 Torque {
224 get { return _torque; }
225 set { _torque = value;
226 }
227 }
228 public override float CollisionScore {
229 get { return _collisionScore; }
230 set { _collisionScore = value;
231 }
232 }
233 public override Vector3 Acceleration {
234 get { return _acceleration; }
235 }
236 public override Quaternion Orientation {
237 get { return _orientation; }
238 set {
239 _orientation = value;
240 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
241 _scene.TaintedObject(delegate()
242 {
243 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
244 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
245 });
246 }
247 }
248 public override int PhysicsActorType {
249 get { return _physicsActorType; }
250 set { _physicsActorType = value;
251 }
252 }
253 public override bool IsPhysical {
254 get { return _isPhysical; }
255 set { _isPhysical = value;
256 }
257 }
258 public override bool Flying {
259 get { return _flying; }
260 set {
261 _flying = value;
262 _scene.TaintedObject(delegate()
263 {
264 // simulate flying by changing the effect of gravity
265 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f);
266 });
267 }
268 }
269 public override bool
270 SetAlwaysRun {
271 get { return _setAlwaysRun; }
272 set { _setAlwaysRun = value; }
273 }
274 public override bool ThrottleUpdates {
275 get { return _throttleUpdates; }
276 set { _throttleUpdates = value; }
277 }
278 public override bool IsColliding {
279 get { return (_collidingStep == _scene.SimulationStep); }
280 set { _isColliding = value; }
281 }
282 public override bool CollidingGround {
283 get { return (_collidingGroundStep == _scene.SimulationStep); }
284 set { _collidingGround = value; }
285 }
286 public override bool CollidingObj {
287 get { return _collidingObj; }
288 set { _collidingObj = value; }
289 }
290 public override bool FloatOnWater {
291 set { _floatOnWater = value; }
292 }
293 public override Vector3 RotationalVelocity {
294 get { return _rotationalVelocity; }
295 set { _rotationalVelocity = value; }
296 }
297 public override bool Kinematic {
298 get { return _kinematic; }
299 set { _kinematic = value; }
300 }
301 public override float Buoyancy {
302 get { return _buoyancy; }
303 set { _buoyancy = value;
304 _scene.TaintedObject(delegate()
305 {
306 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
307 });
308 }
309 }
310
311 // Used for MoveTo
312 public override Vector3 PIDTarget {
313 set { _PIDTarget = value; }
314 }
315 public override bool PIDActive {
316 set { _usePID = value; }
317 }
318 public override float PIDTau {
319 set { _PIDTau = value; }
320 }
321
322 // Used for llSetHoverHeight and maybe vehicle height
323 // Hover Height will override MoveTo target's Z
324 public override bool PIDHoverActive {
325 set { _useHoverPID = value; }
326 }
327 public override float PIDHoverHeight {
328 set { _PIDHoverHeight = value; }
329 }
330 public override PIDHoverType PIDHoverType {
331 set { _PIDHoverType = value; }
332 }
333 public override float PIDHoverTau {
334 set { _PIDHoverTao = value; }
335 }
336
337 // For RotLookAt
338 public override Quaternion APIDTarget { set { return; } }
339 public override bool APIDActive { set { return; } }
340 public override float APIDStrength { set { return; } }
341 public override float APIDDamping { set { return; } }
342
343 public override void AddForce(Vector3 force, bool pushforce) {
344 if (force.IsFinite())
345 {
346 _force.X += force.X;
347 _force.Y += force.Y;
348 _force.Z += force.Z;
349 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
350 _scene.TaintedObject(delegate()
351 {
352 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
353 });
354 }
355 else
356 {
357 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
358 }
359 //m_lastUpdateSent = false;
360 }
361 public override void AddAngularForce(Vector3 force, bool pushforce) {
362 }
363 public override void SetMomentum(Vector3 momentum) {
364 }
365 public override void SubscribeEvents(int ms) {
366 _subscribedEventsMs = ms;
367 _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
368 }
369 public override void UnSubscribeEvents() {
370 _subscribedEventsMs = 0;
371 }
372 public override bool SubscribedEvents() {
373 return (_subscribedEventsMs > 0);
374 }
375
376 // set _avatarVolume and _mass based on capsule size, _density and _scale
377 private void ComputeAvatarVolumeAndMass()
378 {
379 _avatarVolume = (float)(
380 Math.PI
381 * _scene.Params.avatarCapsuleRadius * _scale.X
382 * _scene.Params.avatarCapsuleRadius * _scale.Y
383 * _scene.Params.avatarCapsuleHeight * _scale.Z);
384 _mass = _density * _avatarVolume;
385 }
386
387 // The physics engine says that properties have updated. Update same and inform
388 // the world that things have changed.
389 public void UpdateProperties(EntityProperties entprop)
390 {
391 bool changed = false;
392 // we assign to the local variables so the normal set action does not happen
393 if (_position != entprop.Position)
394 {
395 _position = entprop.Position;
396 changed = true;
397 }
398 if (_orientation != entprop.Rotation)
399 {
400 _orientation = entprop.Rotation;
401 changed = true;
402 }
403 if (_velocity != entprop.Velocity)
404 {
405 _velocity = entprop.Velocity;
406 changed = true;
407 }
408 if (_acceleration != entprop.Acceleration)
409 {
410 _acceleration = entprop.Acceleration;
411 changed = true;
412 }
413 if (_rotationalVelocity != entprop.RotationalVelocity)
414 {
415 _rotationalVelocity = entprop.RotationalVelocity;
416 changed = true;
417 }
418 if (changed)
419 {
420 // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
421 // Avatar movement is not done by generating this event. There is a system that
422 // checks for avatar updates each heartbeat loop.
423 // base.RequestPhysicsterseUpdate();
424 }
425 }
426
427 public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
428 {
429 // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
430
431 // The following makes IsColliding() and IsCollidingGround() work
432 _collidingStep = _scene.SimulationStep;
433 if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
434 {
435 _collidingGroundStep = _scene.SimulationStep;
436 }
437
438 // throttle collisions to the rate specified in the subscription
439 if (_subscribedEventsMs == 0) return; // don't want collisions
440 int nowTime = _scene.SimulationNowTime;
441 if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
442 _lastCollisionTime = nowTime;
443
444 Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
445 contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
446 CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints);
447 base.SendCollisionUpdate(args);
448 }
449
450}
451}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
new file mode 100644
index 0000000..046726d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -0,0 +1,951 @@
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/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
29 * call the BulletSim system.
30 */
31/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
32 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
33 * ODEPrim.cs contains methods dealing with Prim editing, Prim
34 * characteristics and Kinetic motion.
35 * ODEDynamics.cs contains methods dealing with Prim Physical motion
36 * (dynamics) and the associated settings. Old Linear and angular
37 * motors for dynamic motion have been replace with MoveLinear()
38 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
39 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
40 * switch between 'VEHICLE' parameter use and general dynamics
41 * settings use.
42 */
43
44using System;
45using System.Collections.Generic;
46using System.Reflection;
47using System.Runtime.InteropServices;
48using log4net;
49using OpenMetaverse;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager;
52
53namespace OpenSim.Region.Physics.BulletSPlugin
54{
55 public class BSDynamics
56 {
57 private int frcount = 0; // Used to limit dynamics debug output to
58 // every 100th frame
59
60 // private BSScene m_parentScene = null;
61 private BSPrim m_prim; // the prim this dynamic controller belongs to
62
63 // Vehicle properties
64 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
65 public Vehicle Type
66 {
67 get { return m_type; }
68 }
69 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
70 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
71 // HOVER_TERRAIN_ONLY
72 // HOVER_GLOBAL_HEIGHT
73 // NO_DEFLECTION_UP
74 // HOVER_WATER_ONLY
75 // HOVER_UP_ONLY
76 // LIMIT_MOTOR_UP
77 // LIMIT_ROLL_ONLY
78 private VehicleFlag m_Hoverflags = (VehicleFlag)0;
79 private Vector3 m_BlockingEndPoint = Vector3.Zero;
80 private Quaternion m_RollreferenceFrame = Quaternion.Identity;
81 // Linear properties
82 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
83 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
84 private Vector3 m_dir = Vector3.Zero; // velocity applied to body
85 private Vector3 m_linearFrictionTimescale = Vector3.Zero;
86 private float m_linearMotorDecayTimescale = 0;
87 private float m_linearMotorTimescale = 0;
88 private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
89 private Vector3 m_lastPositionVector = Vector3.Zero;
90 // private bool m_LinearMotorSetLastFrame = false;
91 // private Vector3 m_linearMotorOffset = Vector3.Zero;
92
93 //Angular properties
94 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
95 private int m_angularMotorApply = 0; // application frame counter
96 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
97 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
98 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
99 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
100 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
101 // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
102
103 //Deflection properties
104 // private float m_angularDeflectionEfficiency = 0;
105 // private float m_angularDeflectionTimescale = 0;
106 // private float m_linearDeflectionEfficiency = 0;
107 // private float m_linearDeflectionTimescale = 0;
108
109 //Banking properties
110 // private float m_bankingEfficiency = 0;
111 // private float m_bankingMix = 0;
112 // private float m_bankingTimescale = 0;
113
114 //Hover and Buoyancy properties
115 private float m_VhoverHeight = 0f;
116// private float m_VhoverEfficiency = 0f;
117 private float m_VhoverTimescale = 0f;
118 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
119 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
120 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
121 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
122 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
123
124 //Attractor properties
125 private float m_verticalAttractionEfficiency = 1.0f; // damped
126 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
127
128 public BSDynamics(BSPrim myPrim)
129 {
130 m_prim = myPrim;
131 m_type = Vehicle.TYPE_NONE;
132 }
133
134 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
135 {
136 switch (pParam)
137 {
138 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
139 if (pValue < 0.01f) pValue = 0.01f;
140 // m_angularDeflectionEfficiency = pValue;
141 break;
142 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
143 if (pValue < 0.01f) pValue = 0.01f;
144 // m_angularDeflectionTimescale = pValue;
145 break;
146 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
147 if (pValue < 0.01f) pValue = 0.01f;
148 m_angularMotorDecayTimescale = pValue;
149 break;
150 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
151 if (pValue < 0.01f) pValue = 0.01f;
152 m_angularMotorTimescale = pValue;
153 break;
154 case Vehicle.BANKING_EFFICIENCY:
155 if (pValue < 0.01f) pValue = 0.01f;
156 // m_bankingEfficiency = pValue;
157 break;
158 case Vehicle.BANKING_MIX:
159 if (pValue < 0.01f) pValue = 0.01f;
160 // m_bankingMix = pValue;
161 break;
162 case Vehicle.BANKING_TIMESCALE:
163 if (pValue < 0.01f) pValue = 0.01f;
164 // m_bankingTimescale = pValue;
165 break;
166 case Vehicle.BUOYANCY:
167 if (pValue < -1f) pValue = -1f;
168 if (pValue > 1f) pValue = 1f;
169 m_VehicleBuoyancy = pValue;
170 break;
171// case Vehicle.HOVER_EFFICIENCY:
172// if (pValue < 0f) pValue = 0f;
173// if (pValue > 1f) pValue = 1f;
174// m_VhoverEfficiency = pValue;
175// break;
176 case Vehicle.HOVER_HEIGHT:
177 m_VhoverHeight = pValue;
178 break;
179 case Vehicle.HOVER_TIMESCALE:
180 if (pValue < 0.01f) pValue = 0.01f;
181 m_VhoverTimescale = pValue;
182 break;
183 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
184 if (pValue < 0.01f) pValue = 0.01f;
185 // m_linearDeflectionEfficiency = pValue;
186 break;
187 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
188 if (pValue < 0.01f) pValue = 0.01f;
189 // m_linearDeflectionTimescale = pValue;
190 break;
191 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
192 if (pValue < 0.01f) pValue = 0.01f;
193 m_linearMotorDecayTimescale = pValue;
194 break;
195 case Vehicle.LINEAR_MOTOR_TIMESCALE:
196 if (pValue < 0.01f) pValue = 0.01f;
197 m_linearMotorTimescale = pValue;
198 break;
199 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
200 if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
201 if (pValue > 1.0f) pValue = 1.0f;
202 m_verticalAttractionEfficiency = pValue;
203 break;
204 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
205 if (pValue < 0.01f) pValue = 0.01f;
206 m_verticalAttractionTimescale = pValue;
207 break;
208
209 // These are vector properties but the engine lets you use a single float value to
210 // set all of the components to the same value
211 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
212 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
213 break;
214 case Vehicle.ANGULAR_MOTOR_DIRECTION:
215 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
216 m_angularMotorApply = 10;
217 break;
218 case Vehicle.LINEAR_FRICTION_TIMESCALE:
219 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
220 break;
221 case Vehicle.LINEAR_MOTOR_DIRECTION:
222 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
223 m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
224 break;
225 case Vehicle.LINEAR_MOTOR_OFFSET:
226 // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
227 break;
228
229 }
230 }//end ProcessFloatVehicleParam
231
232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
233 {
234 switch (pParam)
235 {
236 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
237 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
238 break;
239 case Vehicle.ANGULAR_MOTOR_DIRECTION:
240 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
241 // Limit requested angular speed to 2 rps= 4 pi rads/sec
242 if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
243 if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
244 if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
245 if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
246 if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
247 if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
248 m_angularMotorApply = 10;
249 break;
250 case Vehicle.LINEAR_FRICTION_TIMESCALE:
251 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
252 break;
253 case Vehicle.LINEAR_MOTOR_DIRECTION:
254 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
255 m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
256 break;
257 case Vehicle.LINEAR_MOTOR_OFFSET:
258 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
259 break;
260 case Vehicle.BLOCK_EXIT:
261 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
262 break;
263 }
264 }//end ProcessVectorVehicleParam
265
266 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
267 {
268 switch (pParam)
269 {
270 case Vehicle.REFERENCE_FRAME:
271 // m_referenceFrame = pValue;
272 break;
273 case Vehicle.ROLL_FRAME:
274 m_RollreferenceFrame = pValue;
275 break;
276 }
277 }//end ProcessRotationVehicleParam
278
279 internal void ProcessVehicleFlags(int pParam, bool remove)
280 {
281 if (remove)
282 {
283 if (pParam == -1)
284 {
285 m_flags = (VehicleFlag)0;
286 m_Hoverflags = (VehicleFlag)0;
287 return;
288 }
289 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
290 {
291 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
292 m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
293 }
294 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
295 {
296 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
297 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
298 }
299 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
300 {
301 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
302 m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
303 }
304 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
305 {
306 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
307 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
308 }
309 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
310 {
311 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
312 m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
313 }
314 if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
315 {
316 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
317 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
318 }
319 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
320 {
321 if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
322 m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
323 }
324 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
325 {
326 if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
327 m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
328 }
329 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
330 {
331 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
332 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
333 }
334 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
335 {
336 if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
337 m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
338 }
339 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
340 {
341 if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
342 m_flags &= ~(VehicleFlag.NO_X);
343 }
344 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
345 {
346 if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
347 m_flags &= ~(VehicleFlag.NO_Y);
348 }
349 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
350 {
351 if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
352 m_flags &= ~(VehicleFlag.NO_Z);
353 }
354 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
355 {
356 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
357 m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
358 }
359 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
360 {
361 if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
362 m_flags &= ~(VehicleFlag.NO_DEFLECTION);
363 }
364 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
365 {
366 if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
367 m_flags &= ~(VehicleFlag.LOCK_ROTATION);
368 }
369 }
370 else
371 {
372 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
373 {
374 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
375 }
376 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
377 {
378 m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
379 }
380 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
381 {
382 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
383 }
384 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
385 {
386 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
387 }
388 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
389 {
390 m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
391 }
392 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
393 {
394 m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
395 }
396 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
397 {
398 m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
399 }
400 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
401 {
402 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
403 }
404 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
405 {
406 m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
407 }
408 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
409 {
410 m_flags |= (VehicleFlag.NO_X);
411 }
412 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
413 {
414 m_flags |= (VehicleFlag.NO_Y);
415 }
416 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
417 {
418 m_flags |= (VehicleFlag.NO_Z);
419 }
420 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
421 {
422 m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
423 }
424 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
425 {
426 m_flags |= (VehicleFlag.NO_DEFLECTION);
427 }
428 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
429 {
430 m_flags |= (VehicleFlag.LOCK_ROTATION);
431 }
432 }
433 }//end ProcessVehicleFlags
434
435 internal void ProcessTypeChange(Vehicle pType)
436 {
437 // Set Defaults For Type
438 m_type = pType;
439 switch (pType)
440 {
441 case Vehicle.TYPE_NONE:
442 m_linearFrictionTimescale = new Vector3(0, 0, 0);
443 m_angularFrictionTimescale = new Vector3(0, 0, 0);
444 m_linearMotorDirection = Vector3.Zero;
445 m_linearMotorTimescale = 0;
446 m_linearMotorDecayTimescale = 0;
447 m_angularMotorDirection = Vector3.Zero;
448 m_angularMotorTimescale = 0;
449 m_angularMotorDecayTimescale = 0;
450 m_VhoverHeight = 0;
451 m_VhoverTimescale = 0;
452 m_VehicleBuoyancy = 0;
453 m_flags = (VehicleFlag)0;
454 break;
455
456 case Vehicle.TYPE_SLED:
457 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
458 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
459 m_linearMotorDirection = Vector3.Zero;
460 m_linearMotorTimescale = 1000;
461 m_linearMotorDecayTimescale = 120;
462 m_angularMotorDirection = Vector3.Zero;
463 m_angularMotorTimescale = 1000;
464 m_angularMotorDecayTimescale = 120;
465 m_VhoverHeight = 0;
466// m_VhoverEfficiency = 1;
467 m_VhoverTimescale = 10;
468 m_VehicleBuoyancy = 0;
469 // m_linearDeflectionEfficiency = 1;
470 // m_linearDeflectionTimescale = 1;
471 // m_angularDeflectionEfficiency = 1;
472 // m_angularDeflectionTimescale = 1000;
473 // m_bankingEfficiency = 0;
474 // m_bankingMix = 1;
475 // m_bankingTimescale = 10;
476 // m_referenceFrame = Quaternion.Identity;
477 m_Hoverflags &=
478 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
479 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
480 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
481 break;
482 case Vehicle.TYPE_CAR:
483 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
484 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
485 m_linearMotorDirection = Vector3.Zero;
486 m_linearMotorTimescale = 1;
487 m_linearMotorDecayTimescale = 60;
488 m_angularMotorDirection = Vector3.Zero;
489 m_angularMotorTimescale = 1;
490 m_angularMotorDecayTimescale = 0.8f;
491 m_VhoverHeight = 0;
492// m_VhoverEfficiency = 0;
493 m_VhoverTimescale = 1000;
494 m_VehicleBuoyancy = 0;
495 // // m_linearDeflectionEfficiency = 1;
496 // // m_linearDeflectionTimescale = 2;
497 // // m_angularDeflectionEfficiency = 0;
498 // m_angularDeflectionTimescale = 10;
499 m_verticalAttractionEfficiency = 1f;
500 m_verticalAttractionTimescale = 10f;
501 // m_bankingEfficiency = -0.2f;
502 // m_bankingMix = 1;
503 // m_bankingTimescale = 1;
504 // m_referenceFrame = Quaternion.Identity;
505 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
506 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
507 VehicleFlag.LIMIT_MOTOR_UP);
508 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
509 break;
510 case Vehicle.TYPE_BOAT:
511 m_linearFrictionTimescale = new Vector3(10, 3, 2);
512 m_angularFrictionTimescale = new Vector3(10,10,10);
513 m_linearMotorDirection = Vector3.Zero;
514 m_linearMotorTimescale = 5;
515 m_linearMotorDecayTimescale = 60;
516 m_angularMotorDirection = Vector3.Zero;
517 m_angularMotorTimescale = 4;
518 m_angularMotorDecayTimescale = 4;
519 m_VhoverHeight = 0;
520// m_VhoverEfficiency = 0.5f;
521 m_VhoverTimescale = 2;
522 m_VehicleBuoyancy = 1;
523 // m_linearDeflectionEfficiency = 0.5f;
524 // m_linearDeflectionTimescale = 3;
525 // m_angularDeflectionEfficiency = 0.5f;
526 // m_angularDeflectionTimescale = 5;
527 m_verticalAttractionEfficiency = 0.5f;
528 m_verticalAttractionTimescale = 5f;
529 // m_bankingEfficiency = -0.3f;
530 // m_bankingMix = 0.8f;
531 // m_bankingTimescale = 1;
532 // m_referenceFrame = Quaternion.Identity;
533 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
534 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
535 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
536 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
537 VehicleFlag.LIMIT_MOTOR_UP);
538 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
539 break;
540 case Vehicle.TYPE_AIRPLANE:
541 m_linearFrictionTimescale = new Vector3(200, 10, 5);
542 m_angularFrictionTimescale = new Vector3(20, 20, 20);
543 m_linearMotorDirection = Vector3.Zero;
544 m_linearMotorTimescale = 2;
545 m_linearMotorDecayTimescale = 60;
546 m_angularMotorDirection = Vector3.Zero;
547 m_angularMotorTimescale = 4;
548 m_angularMotorDecayTimescale = 4;
549 m_VhoverHeight = 0;
550// m_VhoverEfficiency = 0.5f;
551 m_VhoverTimescale = 1000;
552 m_VehicleBuoyancy = 0;
553 // m_linearDeflectionEfficiency = 0.5f;
554 // m_linearDeflectionTimescale = 3;
555 // m_angularDeflectionEfficiency = 1;
556 // m_angularDeflectionTimescale = 2;
557 m_verticalAttractionEfficiency = 0.9f;
558 m_verticalAttractionTimescale = 2f;
559 // m_bankingEfficiency = 1;
560 // m_bankingMix = 0.7f;
561 // m_bankingTimescale = 2;
562 // m_referenceFrame = Quaternion.Identity;
563 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
564 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
565 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
566 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
567 break;
568 case Vehicle.TYPE_BALLOON:
569 m_linearFrictionTimescale = new Vector3(5, 5, 5);
570 m_angularFrictionTimescale = new Vector3(10, 10, 10);
571 m_linearMotorDirection = Vector3.Zero;
572 m_linearMotorTimescale = 5;
573 m_linearMotorDecayTimescale = 60;
574 m_angularMotorDirection = Vector3.Zero;
575 m_angularMotorTimescale = 6;
576 m_angularMotorDecayTimescale = 10;
577 m_VhoverHeight = 5;
578// m_VhoverEfficiency = 0.8f;
579 m_VhoverTimescale = 10;
580 m_VehicleBuoyancy = 1;
581 // m_linearDeflectionEfficiency = 0;
582 // m_linearDeflectionTimescale = 5;
583 // m_angularDeflectionEfficiency = 0;
584 // m_angularDeflectionTimescale = 5;
585 m_verticalAttractionEfficiency = 1f;
586 m_verticalAttractionTimescale = 100f;
587 // m_bankingEfficiency = 0;
588 // m_bankingMix = 0.7f;
589 // m_bankingTimescale = 5;
590 // m_referenceFrame = Quaternion.Identity;
591 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
592 VehicleFlag.HOVER_UP_ONLY);
593 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
594 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
595 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
596 break;
597
598 }
599 }//end SetDefaultsForType
600
601 internal void Step(float pTimestep, BSScene pParentScene)
602 {
603 if (m_type == Vehicle.TYPE_NONE) return;
604
605 frcount++; // used to limit debug comment output
606 if (frcount > 100)
607 frcount = 0;
608
609 MoveLinear(pTimestep, pParentScene);
610 MoveAngular(pTimestep);
611 LimitRotation(pTimestep);
612 }// end Step
613
614 private void MoveLinear(float pTimestep, BSScene _pParentScene)
615 {
616 if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
617 {
618 // add drive to body
619 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
620 m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
621
622 // This will work temporarily, but we really need to compare speed on an axis
623 // KF: Limit body velocity to applied velocity?
624 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
625 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
626 if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
627 m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
628 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
629 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
630
631 // decay applied velocity
632 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
633 //Console.WriteLine("decay: " + decayfraction);
634 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
635 //Console.WriteLine("actual: " + m_linearMotorDirection);
636 }
637 else
638 { // requested is not significant
639 // if what remains of applied is small, zero it.
640 if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
641 m_lastLinearVelocityVector = Vector3.Zero;
642 }
643
644 // convert requested object velocity to world-referenced vector
645 m_dir = m_lastLinearVelocityVector;
646 Quaternion rot = m_prim.Orientation;
647 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
648 m_dir *= rotq; // apply obj rotation to velocity vector
649
650 // add Gravity andBuoyancy
651 // KF: So far I have found no good method to combine a script-requested
652 // .Z velocity and gravity. Therefore only 0g will used script-requested
653 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
654 Vector3 grav = Vector3.Zero;
655 // There is some gravity, make a gravity force vector
656 // that is applied after object velocity.
657 float objMass = m_prim.Mass;
658 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
659 grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy);
660 // Preserve the current Z velocity
661 Vector3 vel_now = m_prim.Velocity;
662 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
663
664 Vector3 pos = m_prim.Position;
665// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
666 Vector3 posChange = new Vector3();
667 posChange.X = pos.X - m_lastPositionVector.X;
668 posChange.Y = pos.Y - m_lastPositionVector.Y;
669 posChange.Z = pos.Z - m_lastPositionVector.Z;
670 double Zchange = Math.Abs(posChange.Z);
671 if (m_BlockingEndPoint != Vector3.Zero)
672 {
673 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
674 {
675 pos.X -= posChange.X + 1;
676 m_prim.Position = pos;
677 }
678 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
679 {
680 pos.Y -= posChange.Y + 1;
681 m_prim.Position = pos;
682 }
683 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
684 {
685 pos.Z -= posChange.Z + 1;
686 m_prim.Position = pos;
687 }
688 if (pos.X <= 0)
689 {
690 pos.X += posChange.X + 1;
691 m_prim.Position = pos;
692 }
693 if (pos.Y <= 0)
694 {
695 pos.Y += posChange.Y + 1;
696 m_prim.Position = pos;
697 }
698 }
699 if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
700 {
701 pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
702 m_prim.Position = pos;
703 }
704
705 // Check if hovering
706 if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
707 {
708 // We should hover, get the target height
709 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
710 {
711 m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
712 }
713 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
714 {
715 m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
716 }
717 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
718 {
719 m_VhoverTargetHeight = m_VhoverHeight;
720 }
721
722 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
723 {
724 // If body is aready heigher, use its height as target height
725 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
726 }
727 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
728 {
729 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
730 {
731 m_prim.Position = pos;
732 }
733 }
734 else
735 {
736 float herr0 = pos.Z - m_VhoverTargetHeight;
737 // Replace Vertical speed with correction figure if significant
738 if (Math.Abs(herr0) > 0.01f)
739 {
740 m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
741 //KF: m_VhoverEfficiency is not yet implemented
742 }
743 else
744 {
745 m_dir.Z = 0f;
746 }
747 }
748
749// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
750// m_VhoverTimescale = 0f; // time to acheive height
751// pTimestep is time since last frame,in secs
752 }
753
754 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
755 {
756 //Start Experimental Values
757 if (Zchange > .3)
758 {
759 grav.Z = (float)(grav.Z * 3);
760 }
761 if (Zchange > .15)
762 {
763 grav.Z = (float)(grav.Z * 2);
764 }
765 if (Zchange > .75)
766 {
767 grav.Z = (float)(grav.Z * 1.5);
768 }
769 if (Zchange > .05)
770 {
771 grav.Z = (float)(grav.Z * 1.25);
772 }
773 if (Zchange > .025)
774 {
775 grav.Z = (float)(grav.Z * 1.125);
776 }
777 float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
778 float postemp = (pos.Z - terraintemp);
779 if (postemp > 2.5f)
780 {
781 grav.Z = (float)(grav.Z * 1.037125);
782 }
783 //End Experimental Values
784 }
785 if ((m_flags & (VehicleFlag.NO_X)) != 0)
786 {
787 m_dir.X = 0;
788 }
789 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
790 {
791 m_dir.Y = 0;
792 }
793 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
794 {
795 m_dir.Z = 0;
796 }
797
798 m_lastPositionVector = m_prim.Position;
799
800 // Apply velocity
801 m_prim.Velocity = m_dir;
802 // apply gravity force
803 m_prim.Force = grav;
804
805
806 // apply friction
807 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
808 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
809 } // end MoveLinear()
810
811 private void MoveAngular(float pTimestep)
812 {
813 /*
814 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
815 private int m_angularMotorApply = 0; // application frame counter
816 private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down)
817 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
818 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
819 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
820 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
821 */
822
823 // Get what the body is doing, this includes 'external' influences
824 Vector3 angularVelocity = m_prim.AngularVelocity;
825 // Vector3 angularVelocity = Vector3.Zero;
826
827 if (m_angularMotorApply > 0)
828 {
829 // ramp up to new value
830 // current velocity += error / (time to get there / step interval)
831 // requested speed - last motor speed
832 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
833 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
834 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
835
836 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
837 // velocity may still be acheived.
838 }
839 else
840 {
841 // no motor recently applied, keep the body velocity
842 /* m_angularMotorVelocity.X = angularVelocity.X;
843 m_angularMotorVelocity.Y = angularVelocity.Y;
844 m_angularMotorVelocity.Z = angularVelocity.Z; */
845
846 // and decay the velocity
847 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
848 } // end motor section
849
850 // Vertical attractor section
851 Vector3 vertattr = Vector3.Zero;
852
853 if (m_verticalAttractionTimescale < 300)
854 {
855 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
856 // get present body rotation
857 Quaternion rotq = m_prim.Orientation;
858 // make a vector pointing up
859 Vector3 verterr = Vector3.Zero;
860 verterr.Z = 1.0f;
861 // rotate it to Body Angle
862 verterr = verterr * rotq;
863 // 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.
864 // 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
865 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
866 if (verterr.Z < 0.0f)
867 {
868 verterr.X = 2.0f - verterr.X;
869 verterr.Y = 2.0f - verterr.Y;
870 }
871 // Error is 0 (no error) to +/- 2 (max error)
872 // scale it by VAservo
873 verterr = verterr * VAservo;
874//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
875
876 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
877 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
878 vertattr.X = verterr.Y;
879 vertattr.Y = - verterr.X;
880 vertattr.Z = 0f;
881
882 // scaling appears better usingsquare-law
883 float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
884 vertattr.X += bounce * angularVelocity.X;
885 vertattr.Y += bounce * angularVelocity.Y;
886
887 } // else vertical attractor is off
888
889 // m_lastVertAttractor = vertattr;
890
891 // Bank section tba
892 // Deflection section tba
893
894 // Sum velocities
895 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
896
897 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
898 {
899 m_lastAngularVelocity.X = 0;
900 m_lastAngularVelocity.Y = 0;
901 }
902
903 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
904 {
905 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
906 }
907
908 // apply friction
909 Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
910 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
911
912 // Apply to the body
913 m_prim.AngularVelocity = m_lastAngularVelocity;
914
915 } //end MoveAngular
916 internal void LimitRotation(float timestep)
917 {
918 Quaternion rotq = m_prim.Orientation; // rotq = rotation of object
919 Quaternion m_rot = rotq;
920 bool changed = false;
921 if (m_RollreferenceFrame != Quaternion.Identity)
922 {
923 if (rotq.X >= m_RollreferenceFrame.X)
924 {
925 m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
926 }
927 if (rotq.Y >= m_RollreferenceFrame.Y)
928 {
929 m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
930 }
931 if (rotq.X <= -m_RollreferenceFrame.X)
932 {
933 m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
934 }
935 if (rotq.Y <= -m_RollreferenceFrame.Y)
936 {
937 m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
938 }
939 changed = true;
940 }
941 if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
942 {
943 m_rot.X = 0;
944 m_rot.Y = 0;
945 changed = true;
946 }
947 if (changed)
948 m_prim.Orientation = m_rot;
949 }
950 }
951}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
new file mode 100644
index 0000000..61be56d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -0,0 +1,68 @@
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 copyrightD
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 */
27using System;
28using System.Collections.Generic;
29using OpenSim.Framework;
30using OpenSim.Region.Physics.Manager;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSPlugin
34{
35public class BSPlugin : IPhysicsPlugin
36{
37 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
38
39 private BSScene _mScene;
40
41 public BSPlugin()
42 {
43 }
44
45 public bool Init()
46 {
47 return true;
48 }
49
50 public PhysicsScene GetScene(String sceneIdentifier)
51 {
52 if (_mScene == null)
53 {
54 _mScene = new BSScene(sceneIdentifier);
55 }
56 return (_mScene);
57 }
58
59 public string GetName()
60 {
61 return ("BulletSim");
62 }
63
64 public void Dispose()
65 {
66 }
67}
68}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
new file mode 100644
index 0000000..d1fb576
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -0,0 +1,1349 @@
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 copyrightD
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 */
27using System;
28using System.Reflection;
29using System.Collections.Generic;
30using System.Xml;
31using log4net;
32using OMV = OpenMetaverse;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35using OpenSim.Region.Physics.ConvexDecompositionDotNet;
36
37namespace OpenSim.Region.Physics.BulletSPlugin
38{
39 [Serializable]
40public sealed class BSPrim : PhysicsActor
41{
42 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
43 private static readonly string LogHeader = "[BULLETS PRIM]";
44
45 private IMesh _mesh;
46 private PrimitiveBaseShape _pbs;
47 private ShapeData.PhysicsShapeType _shapeType;
48 private ulong _meshKey;
49 private ulong _hullKey;
50 private List<ConvexResult> _hulls;
51
52 private BSScene _scene;
53 private String _avName;
54 private uint _localID = 0;
55
56 private OMV.Vector3 _size;
57 private OMV.Vector3 _scale;
58 private bool _stopped;
59 private bool _grabbed;
60 private bool _isSelected;
61 private bool _isVolumeDetect;
62 private OMV.Vector3 _position;
63 private float _mass;
64 private float _density;
65 private OMV.Vector3 _force;
66 private OMV.Vector3 _velocity;
67 private OMV.Vector3 _torque;
68 private float _collisionScore;
69 private OMV.Vector3 _acceleration;
70 private OMV.Quaternion _orientation;
71 private int _physicsActorType;
72 private bool _isPhysical;
73 private bool _flying;
74 private float _friction;
75 private float _restitution;
76 private bool _setAlwaysRun;
77 private bool _throttleUpdates;
78 private bool _isColliding;
79 private bool _collidingGround;
80 private bool _collidingObj;
81 private bool _floatOnWater;
82 private OMV.Vector3 _rotationalVelocity;
83 private bool _kinematic;
84 private float _buoyancy;
85 private OMV.Vector3 _angularVelocity;
86
87 private List<BSPrim> _childrenPrims;
88 private BSPrim _parentPrim;
89
90 private int _subscribedEventsMs = 0;
91 private int _lastCollisionTime = 0;
92 long _collidingStep;
93 long _collidingGroundStep;
94
95 private BSDynamics _vehicle;
96
97 private OMV.Vector3 _PIDTarget;
98 private bool _usePID;
99 private float _PIDTau;
100 private bool _useHoverPID;
101 private float _PIDHoverHeight;
102 private PIDHoverType _PIDHoverType;
103 private float _PIDHoverTao;
104
105 public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
106 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
107 {
108 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
109 _localID = localID;
110 _avName = primName;
111 _scene = parent_scene;
112 _position = pos;
113 _size = size;
114 _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
115 _orientation = rotation;
116 _buoyancy = 1f;
117 _velocity = OMV.Vector3.Zero;
118 _rotationalVelocity = OMV.Vector3.Zero;
119 _angularVelocity = OMV.Vector3.Zero;
120 _hullKey = 0;
121 _meshKey = 0;
122 _pbs = pbs;
123 _isPhysical = pisPhysical;
124 _isVolumeDetect = false;
125 _subscribedEventsMs = 0;
126 _friction = _scene.Params.defaultFriction; // TODO: compute based on object material
127 _density = _scene.Params.defaultDensity; // TODO: compute based on object material
128 _restitution = _scene.Params.defaultRestitution;
129 _parentPrim = null; // not a child or a parent
130 _vehicle = new BSDynamics(this); // add vehicleness
131 _childrenPrims = new List<BSPrim>();
132 if (_isPhysical)
133 _mass = CalculateMass();
134 else
135 _mass = 0f;
136 // do the actual object creation at taint time
137 _scene.TaintedObject(delegate()
138 {
139 RecreateGeomAndObject();
140 });
141 }
142
143 // called when this prim is being destroyed and we should free all the resources
144 public void Destroy()
145 {
146 // m_log.DebugFormat("{0}: Destroy", LogHeader);
147 // Undo any vehicle properties
148 _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
149 _scene.RemoveVehiclePrim(this); // just to make sure
150 _scene.TaintedObject(delegate()
151 {
152 // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
153 BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
154 });
155 }
156
157 public override bool Stopped {
158 get { return _stopped; }
159 }
160 public override OMV.Vector3 Size {
161 get { return _size; }
162 set {
163 _size = value;
164 _scene.TaintedObject(delegate()
165 {
166 if (_isPhysical) _mass = CalculateMass(); // changing size changes the mass
167 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical);
168 RecreateGeomAndObject();
169 });
170 }
171 }
172 public override PrimitiveBaseShape Shape {
173 set {
174 _pbs = value;
175 _scene.TaintedObject(delegate()
176 {
177 if (_isPhysical) _mass = CalculateMass(); // changing the shape changes the mass
178 RecreateGeomAndObject();
179 });
180 }
181 }
182 public override uint LocalID {
183 set { _localID = value; }
184 get { return _localID; }
185 }
186 public override bool Grabbed {
187 set { _grabbed = value;
188 }
189 }
190 public override bool Selected {
191 set {
192 _isSelected = value;
193 _scene.TaintedObject(delegate()
194 {
195 SetObjectDynamic();
196 });
197 }
198 }
199 public override void CrossingFailure() { return; }
200
201 // link me to the specified parent
202 public override void link(PhysicsActor obj) {
203 BSPrim parent = (BSPrim)obj;
204 // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
205 // TODO: decide if this parent checking needs to happen at taint time
206 if (_parentPrim == null)
207 {
208 if (parent != null)
209 {
210 // I don't have a parent so I am joining a linkset
211 parent.AddChildToLinkset(this);
212 }
213 }
214 else
215 {
216 // I already have a parent, is parenting changing?
217 if (parent != _parentPrim)
218 {
219 if (parent == null)
220 {
221 // we are being removed from a linkset
222 _parentPrim.RemoveChildFromLinkset(this);
223 }
224 else
225 {
226 // asking to reparent a prim should not happen
227 m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader);
228 }
229 }
230 }
231 return;
232 }
233
234 // delink me from my linkset
235 public override void delink() {
236 // TODO: decide if this parent checking needs to happen at taint time
237 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
238 // m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID);
239 if (_parentPrim != null)
240 {
241 _parentPrim.RemoveChildFromLinkset(this);
242 }
243 return;
244 }
245
246 // I am the root of a linkset and a new child is being added
247 public void AddChildToLinkset(BSPrim pchild)
248 {
249 BSPrim child = pchild;
250 _scene.TaintedObject(delegate()
251 {
252 if (!_childrenPrims.Contains(child))
253 {
254 _childrenPrims.Add(child);
255 child.ParentPrim = this; // the child has gained a parent
256 RecreateGeomAndObject(); // rebuild my shape with the new child added
257 }
258 });
259 return;
260 }
261
262 // I am the root of a linkset and one of my children is being removed.
263 // Safe to call even if the child is not really in my linkset.
264 public void RemoveChildFromLinkset(BSPrim pchild)
265 {
266 BSPrim child = pchild;
267 _scene.TaintedObject(delegate()
268 {
269 if (_childrenPrims.Contains(child))
270 {
271 BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID);
272 _childrenPrims.Remove(child);
273 child.ParentPrim = null; // the child has lost its parent
274 RecreateGeomAndObject(); // rebuild my shape with the child removed
275 }
276 else
277 {
278 m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset");
279 }
280 });
281 return;
282 }
283
284 public BSPrim ParentPrim
285 {
286 set { _parentPrim = value; }
287 }
288
289 // return true if we are the root of a linkset (there are children to manage)
290 public bool IsRootOfLinkset
291 {
292 get { return (_parentPrim == null && _childrenPrims.Count != 0); }
293 }
294
295 // Set motion values to zero.
296 // Do it to the properties so the values get set in the physics engine.
297 // Push the setting of the values to the viewer.
298 private void ZeroMotion()
299 {
300 Velocity = OMV.Vector3.Zero;
301 _acceleration = OMV.Vector3.Zero;
302 RotationalVelocity = OMV.Vector3.Zero;
303 base.RequestPhysicsterseUpdate();
304 }
305
306 public override void LockAngularMotion(OMV.Vector3 axis) { return; }
307
308 public override OMV.Vector3 Position {
309 get {
310 // don't do the following GetObjectPosition because this function is called a zillion times
311 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
312 return _position;
313 }
314 set {
315 _position = value;
316 _scene.TaintedObject(delegate()
317 {
318 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
319 // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
320 });
321 }
322 }
323 public override float Mass {
324 get { return _mass; }
325 }
326 public override OMV.Vector3 Force {
327 get { return _force; }
328 set {
329 _force = value;
330 _scene.TaintedObject(delegate()
331 {
332 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
333 });
334 }
335 }
336
337 public override int VehicleType {
338 get {
339 return (int)_vehicle.Type; // if we are a vehicle, return that type
340 }
341 set {
342 Vehicle type = (Vehicle)value;
343 _vehicle.ProcessTypeChange(type);
344 _scene.TaintedObject(delegate()
345 {
346 if (type == Vehicle.TYPE_NONE)
347 {
348 _scene.RemoveVehiclePrim(this);
349 }
350 else
351 {
352 // make it so the scene will call us each tick to do vehicle things
353 _scene.AddVehiclePrim(this);
354 }
355 return;
356 });
357 }
358 }
359 public override void VehicleFloatParam(int param, float value)
360 {
361 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
362 }
363 public override void VehicleVectorParam(int param, OMV.Vector3 value)
364 {
365 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
366 }
367 public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
368 {
369 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
370 }
371 public override void VehicleFlags(int param, bool remove)
372 {
373 _vehicle.ProcessVehicleFlags(param, remove);
374 }
375 // Called each simulation step to advance vehicle characteristics
376 public void StepVehicle(float timeStep)
377 {
378 _vehicle.Step(timeStep, _scene);
379 }
380
381 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
382 public override void SetVolumeDetect(int param) {
383 bool newValue = (param != 0);
384 if (_isVolumeDetect != newValue)
385 {
386 _isVolumeDetect = newValue;
387 _scene.TaintedObject(delegate()
388 {
389 SetObjectDynamic();
390 });
391 }
392 return;
393 }
394
395 public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
396 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
397 public override OMV.Vector3 Velocity {
398 get { return _velocity; }
399 set { _velocity = value;
400 _scene.TaintedObject(delegate()
401 {
402 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
403 });
404 }
405 }
406 public override OMV.Vector3 Torque {
407 get { return _torque; }
408 set { _torque = value;
409 }
410 }
411 public override float CollisionScore {
412 get { return _collisionScore; }
413 set { _collisionScore = value;
414 }
415 }
416 public override OMV.Vector3 Acceleration {
417 get { return _acceleration; }
418 }
419 public override OMV.Quaternion Orientation {
420 get { return _orientation; }
421 set {
422 _orientation = value;
423 // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation);
424 _scene.TaintedObject(delegate()
425 {
426 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
427 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
428 });
429 }
430 }
431 public override int PhysicsActorType {
432 get { return _physicsActorType; }
433 set { _physicsActorType = value;
434 }
435 }
436 public override bool IsPhysical {
437 get { return _isPhysical; }
438 set {
439 _isPhysical = value;
440 _scene.TaintedObject(delegate()
441 {
442 SetObjectDynamic();
443 });
444 }
445 }
446
447 // An object is static (does not move) if selected or not physical
448 private bool IsStatic
449 {
450 get { return _isSelected || !IsPhysical; }
451 }
452
453 // An object is solid if it's not phantom and if it's not doing VolumeDetect
454 private bool IsSolid
455 {
456 get { return !IsPhantom && !_isVolumeDetect; }
457 }
458
459 // make gravity work if the object is physical and not selected
460 // no locking here because only called when it is safe
461 private void SetObjectDynamic()
462 {
463 // non-physical things work best with a mass of zero
464 if (IsStatic)
465 {
466 _mass = 0f;
467 }
468 else
469 {
470 _mass = CalculateMass();
471 // If it's dynamic, make sure the hull has been created for it
472 // This shouldn't do much work if the object had previously been built
473 RecreateGeomAndObject();
474
475 }
476 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
477 // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}, mass={4}", LogHeader, _localID, IsStatic, IsSolid, _mass);
478 }
479
480 // prims don't fly
481 public override bool Flying {
482 get { return _flying; }
483 set { _flying = value; }
484 }
485 public override bool SetAlwaysRun {
486 get { return _setAlwaysRun; }
487 set { _setAlwaysRun = value; }
488 }
489 public override bool ThrottleUpdates {
490 get { return _throttleUpdates; }
491 set { _throttleUpdates = value; }
492 }
493 public override bool IsColliding {
494 get { return (_collidingStep == _scene.SimulationStep); }
495 set { _isColliding = value; }
496 }
497 public override bool CollidingGround {
498 get { return (_collidingGroundStep == _scene.SimulationStep); }
499 set { _collidingGround = value; }
500 }
501 public override bool CollidingObj {
502 get { return _collidingObj; }
503 set { _collidingObj = value; }
504 }
505 public bool IsPhantom {
506 get {
507 // SceneObjectPart removes phantom objects from the physics scene
508 // so, although we could implement touching and such, we never
509 // are invoked as a phantom object
510 return false;
511 }
512 }
513 public override bool FloatOnWater {
514 set { _floatOnWater = value; }
515 }
516 public override OMV.Vector3 RotationalVelocity {
517 get { return _rotationalVelocity; }
518 set { _rotationalVelocity = value;
519 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
520 _scene.TaintedObject(delegate()
521 {
522 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
523 });
524 }
525 }
526 public OMV.Vector3 AngularVelocity {
527 get { return _angularVelocity; }
528 set { _angularVelocity = value; }
529 }
530 public override bool Kinematic {
531 get { return _kinematic; }
532 set { _kinematic = value;
533 // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
534 }
535 }
536 public override float Buoyancy {
537 get { return _buoyancy; }
538 set { _buoyancy = value;
539 _scene.TaintedObject(delegate()
540 {
541 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
542 });
543 }
544 }
545
546 // Used for MoveTo
547 public override OMV.Vector3 PIDTarget {
548 set { _PIDTarget = value; }
549 }
550 public override bool PIDActive {
551 set { _usePID = value; }
552 }
553 public override float PIDTau {
554 set { _PIDTau = value; }
555 }
556
557 // Used for llSetHoverHeight and maybe vehicle height
558 // Hover Height will override MoveTo target's Z
559 public override bool PIDHoverActive {
560 set { _useHoverPID = value; }
561 }
562 public override float PIDHoverHeight {
563 set { _PIDHoverHeight = value; }
564 }
565 public override PIDHoverType PIDHoverType {
566 set { _PIDHoverType = value; }
567 }
568 public override float PIDHoverTau {
569 set { _PIDHoverTao = value; }
570 }
571
572 // For RotLookAt
573 public override OMV.Quaternion APIDTarget { set { return; } }
574 public override bool APIDActive { set { return; } }
575 public override float APIDStrength { set { return; } }
576 public override float APIDDamping { set { return; } }
577
578 public override void AddForce(OMV.Vector3 force, bool pushforce) {
579 if (force.IsFinite())
580 {
581 _force.X += force.X;
582 _force.Y += force.Y;
583 _force.Z += force.Z;
584 }
585 else
586 {
587 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
588 }
589 _scene.TaintedObject(delegate()
590 {
591 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
592 });
593 }
594
595 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
596 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
597 }
598 public override void SetMomentum(OMV.Vector3 momentum) {
599 }
600 public override void SubscribeEvents(int ms) {
601 _subscribedEventsMs = ms;
602 _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
603 }
604 public override void UnSubscribeEvents() {
605 _subscribedEventsMs = 0;
606 }
607 public override bool SubscribedEvents() {
608 return (_subscribedEventsMs > 0);
609 }
610
611 #region Mass Calculation
612
613 private float CalculateMass()
614 {
615 float volume = _size.X * _size.Y * _size.Z; // default
616 float tmp;
617
618 float returnMass = 0;
619 float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
620 float hollowVolume = hollowAmount * hollowAmount;
621
622 switch (_pbs.ProfileShape)
623 {
624 case ProfileShape.Square:
625 // default box
626
627 if (_pbs.PathCurve == (byte)Extrusion.Straight)
628 {
629 if (hollowAmount > 0.0)
630 {
631 switch (_pbs.HollowShape)
632 {
633 case HollowShape.Square:
634 case HollowShape.Same:
635 break;
636
637 case HollowShape.Circle:
638
639 hollowVolume *= 0.78539816339f;
640 break;
641
642 case HollowShape.Triangle:
643
644 hollowVolume *= (0.5f * .5f);
645 break;
646
647 default:
648 hollowVolume = 0;
649 break;
650 }
651 volume *= (1.0f - hollowVolume);
652 }
653 }
654
655 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
656 {
657 //a tube
658
659 volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
660 tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
661 volume -= volume*tmp*tmp;
662
663 if (hollowAmount > 0.0)
664 {
665 hollowVolume *= hollowAmount;
666
667 switch (_pbs.HollowShape)
668 {
669 case HollowShape.Square:
670 case HollowShape.Same:
671 break;
672
673 case HollowShape.Circle:
674 hollowVolume *= 0.78539816339f;;
675 break;
676
677 case HollowShape.Triangle:
678 hollowVolume *= 0.5f * 0.5f;
679 break;
680 default:
681 hollowVolume = 0;
682 break;
683 }
684 volume *= (1.0f - hollowVolume);
685 }
686 }
687
688 break;
689
690 case ProfileShape.Circle:
691
692 if (_pbs.PathCurve == (byte)Extrusion.Straight)
693 {
694 volume *= 0.78539816339f; // elipse base
695
696 if (hollowAmount > 0.0)
697 {
698 switch (_pbs.HollowShape)
699 {
700 case HollowShape.Same:
701 case HollowShape.Circle:
702 break;
703
704 case HollowShape.Square:
705 hollowVolume *= 0.5f * 2.5984480504799f;
706 break;
707
708 case HollowShape.Triangle:
709 hollowVolume *= .5f * 1.27323954473516f;
710 break;
711
712 default:
713 hollowVolume = 0;
714 break;
715 }
716 volume *= (1.0f - hollowVolume);
717 }
718 }
719
720 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
721 {
722 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
723 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
724 volume *= (1.0f - tmp * tmp);
725
726 if (hollowAmount > 0.0)
727 {
728
729 // calculate the hollow volume by it's shape compared to the prim shape
730 hollowVolume *= hollowAmount;
731
732 switch (_pbs.HollowShape)
733 {
734 case HollowShape.Same:
735 case HollowShape.Circle:
736 break;
737
738 case HollowShape.Square:
739 hollowVolume *= 0.5f * 2.5984480504799f;
740 break;
741
742 case HollowShape.Triangle:
743 hollowVolume *= .5f * 1.27323954473516f;
744 break;
745
746 default:
747 hollowVolume = 0;
748 break;
749 }
750 volume *= (1.0f - hollowVolume);
751 }
752 }
753 break;
754
755 case ProfileShape.HalfCircle:
756 if (_pbs.PathCurve == (byte)Extrusion.Curve1)
757 {
758 volume *= 0.52359877559829887307710723054658f;
759 }
760 break;
761
762 case ProfileShape.EquilateralTriangle:
763
764 if (_pbs.PathCurve == (byte)Extrusion.Straight)
765 {
766 volume *= 0.32475953f;
767
768 if (hollowAmount > 0.0)
769 {
770
771 // calculate the hollow volume by it's shape compared to the prim shape
772 switch (_pbs.HollowShape)
773 {
774 case HollowShape.Same:
775 case HollowShape.Triangle:
776 hollowVolume *= .25f;
777 break;
778
779 case HollowShape.Square:
780 hollowVolume *= 0.499849f * 3.07920140172638f;
781 break;
782
783 case HollowShape.Circle:
784 // Hollow shape is a perfect cyllinder in respect to the cube's scale
785 // Cyllinder hollow volume calculation
786
787 hollowVolume *= 0.1963495f * 3.07920140172638f;
788 break;
789
790 default:
791 hollowVolume = 0;
792 break;
793 }
794 volume *= (1.0f - hollowVolume);
795 }
796 }
797 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
798 {
799 volume *= 0.32475953f;
800 volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
801 tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
802 volume *= (1.0f - tmp * tmp);
803
804 if (hollowAmount > 0.0)
805 {
806
807 hollowVolume *= hollowAmount;
808
809 switch (_pbs.HollowShape)
810 {
811 case HollowShape.Same:
812 case HollowShape.Triangle:
813 hollowVolume *= .25f;
814 break;
815
816 case HollowShape.Square:
817 hollowVolume *= 0.499849f * 3.07920140172638f;
818 break;
819
820 case HollowShape.Circle:
821
822 hollowVolume *= 0.1963495f * 3.07920140172638f;
823 break;
824
825 default:
826 hollowVolume = 0;
827 break;
828 }
829 volume *= (1.0f - hollowVolume);
830 }
831 }
832 break;
833
834 default:
835 break;
836 }
837
838
839
840 float taperX1;
841 float taperY1;
842 float taperX;
843 float taperY;
844 float pathBegin;
845 float pathEnd;
846 float profileBegin;
847 float profileEnd;
848
849 if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
850 {
851 taperX1 = _pbs.PathScaleX * 0.01f;
852 if (taperX1 > 1.0f)
853 taperX1 = 2.0f - taperX1;
854 taperX = 1.0f - taperX1;
855
856 taperY1 = _pbs.PathScaleY * 0.01f;
857 if (taperY1 > 1.0f)
858 taperY1 = 2.0f - taperY1;
859 taperY = 1.0f - taperY1;
860 }
861 else
862 {
863 taperX = _pbs.PathTaperX * 0.01f;
864 if (taperX < 0.0f)
865 taperX = -taperX;
866 taperX1 = 1.0f - taperX;
867
868 taperY = _pbs.PathTaperY * 0.01f;
869 if (taperY < 0.0f)
870 taperY = -taperY;
871 taperY1 = 1.0f - taperY;
872
873 }
874
875
876 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
877
878 pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
879 pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
880 volume *= (pathEnd - pathBegin);
881
882 // this is crude aproximation
883 profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
884 profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
885 volume *= (profileEnd - profileBegin);
886
887 returnMass = _density * volume;
888
889 if (IsRootOfLinkset)
890 {
891 foreach (BSPrim prim in _childrenPrims)
892 {
893 returnMass += prim.CalculateMass();
894 }
895 }
896
897 if (returnMass <= 0)
898 returnMass = 0.0001f;
899
900 if (returnMass > _scene.MaximumObjectMass)
901 returnMass = _scene.MaximumObjectMass;
902
903 return returnMass;
904 }// end CalculateMass
905 #endregion Mass Calculation
906
907 // Create the geometry information in Bullet for later use
908 // The objects needs a hull if it's physical otherwise a mesh is enough
909 // No locking here because this is done when we know physics is not simulating
910 // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used
911 private void CreateGeom(bool forceRebuild)
912 {
913 // the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
914 if (!_scene.NeedsMeshing(_pbs))
915 {
916 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
917 {
918 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
919 {
920 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
921 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
922 // Bullet native objects are scaled by the Bullet engine so pass the size in
923 _scale = _size;
924 }
925 }
926 else
927 {
928 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
929 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
930 _scale = _size;
931 }
932 }
933 else
934 {
935 if (IsPhysical)
936 {
937 if (forceRebuild || _hullKey == 0)
938 {
939 // physical objects require a hull for interaction.
940 // This will create the mesh if it doesn't already exist
941 CreateGeomHull();
942 }
943 }
944 else
945 {
946 if (forceRebuild || _meshKey == 0)
947 {
948 // Static (non-physical) objects only need a mesh for bumping into
949 CreateGeomMesh();
950 }
951 }
952 }
953 }
954
955 // No locking here because this is done when we know physics is not simulating
956 private void CreateGeomMesh()
957 {
958 ulong newMeshKey = (ulong)_pbs.GetHashCode();
959
960 // if this new shape is the same as last time, don't recreate the mesh
961 if (_meshKey == newMeshKey) return;
962
963 // Since we're recreating new, get rid of any previously generated shape
964 if (_meshKey != 0)
965 {
966 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _meshKey);
967 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
968 _mesh = null;
969 _meshKey = 0;
970 }
971
972 _meshKey = newMeshKey;
973 int lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
974 // always pass false for physicalness as this creates some sort of bounding box which we don't need
975 _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
976
977 int[] indices = _mesh.getIndexListAsInt();
978 List<OMV.Vector3> vertices = _mesh.getVertexList();
979
980 float[] verticesAsFloats = new float[vertices.Count * 3];
981 int vi = 0;
982 foreach (OMV.Vector3 vv in vertices)
983 {
984 // m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z);
985 verticesAsFloats[vi++] = vv.X;
986 verticesAsFloats[vi++] = vv.Y;
987 verticesAsFloats[vi++] = vv.Z;
988 }
989
990 // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
991 // LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
992 BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices,
993 vertices.Count, verticesAsFloats);
994
995 _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
996 // meshes are already scaled by the meshmerizer
997 _scale = new OMV.Vector3(1f, 1f, 1f);
998 return;
999 }
1000
1001 // No locking here because this is done when we know physics is not simulating
1002 private void CreateGeomHull()
1003 {
1004 ulong newHullKey = (ulong)_pbs.GetHashCode();
1005
1006 // if the hull hasn't changed, don't rebuild it
1007 if (newHullKey == _hullKey) return;
1008
1009 // Since we're recreating new, get rid of any previously generated shape
1010 if (_hullKey != 0)
1011 {
1012 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
1013 BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
1014 _hullKey = 0;
1015 _hulls.Clear();
1016 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
1017 _mesh = null; // the mesh cannot match either
1018 _meshKey = 0;
1019 }
1020
1021 _hullKey = newHullKey;
1022 if (_meshKey != _hullKey)
1023 {
1024 // if the underlying mesh has changed, rebuild it
1025 CreateGeomMesh();
1026 }
1027
1028 int[] indices = _mesh.getIndexListAsInt();
1029 List<OMV.Vector3> vertices = _mesh.getVertexList();
1030
1031 //format conversion from IMesh format to DecompDesc format
1032 List<int> convIndices = new List<int>();
1033 List<float3> convVertices = new List<float3>();
1034 for (int ii = 0; ii < indices.GetLength(0); ii++)
1035 {
1036 convIndices.Add(indices[ii]);
1037 }
1038 foreach (OMV.Vector3 vv in vertices)
1039 {
1040 convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
1041 }
1042
1043 // setup and do convex hull conversion
1044 _hulls = new List<ConvexResult>();
1045 DecompDesc dcomp = new DecompDesc();
1046 dcomp.mIndices = convIndices;
1047 dcomp.mVertices = convVertices;
1048 ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
1049 // create the hull into the _hulls variable
1050 convexBuilder.process(dcomp);
1051
1052 // Convert the vertices and indices for passing to unmanaged
1053 // The hull information is passed as a large floating point array.
1054 // The format is:
1055 // convHulls[0] = number of hulls
1056 // convHulls[1] = number of vertices in first hull
1057 // convHulls[2] = hull centroid X coordinate
1058 // convHulls[3] = hull centroid Y coordinate
1059 // convHulls[4] = hull centroid Z coordinate
1060 // convHulls[5] = first hull vertex X
1061 // convHulls[6] = first hull vertex Y
1062 // convHulls[7] = first hull vertex Z
1063 // convHulls[8] = second hull vertex X
1064 // ...
1065 // convHulls[n] = number of vertices in second hull
1066 // convHulls[n+1] = second hull centroid X coordinate
1067 // ...
1068 //
1069 // TODO: is is very inefficient. Someday change the convex hull generator to return
1070 // data structures that do not need to be converted in order to pass to Bullet.
1071 // And maybe put the values directly into pinned memory rather than marshaling.
1072 int hullCount = _hulls.Count;
1073 int totalVertices = 1; // include one for the count of the hulls
1074 foreach (ConvexResult cr in _hulls)
1075 {
1076 totalVertices += 4; // add four for the vertex count and centroid
1077 totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
1078 }
1079 float[] convHulls = new float[totalVertices];
1080
1081 convHulls[0] = (float)hullCount;
1082 int jj = 1;
1083 foreach (ConvexResult cr in _hulls)
1084 {
1085 // copy vertices for index access
1086 float3[] verts = new float3[cr.HullVertices.Count];
1087 int kk = 0;
1088 foreach (float3 ff in cr.HullVertices)
1089 {
1090 verts[kk++] = ff;
1091 }
1092
1093 // add to the array one hull's worth of data
1094 convHulls[jj++] = cr.HullIndices.Count;
1095 convHulls[jj++] = 0f; // centroid x,y,z
1096 convHulls[jj++] = 0f;
1097 convHulls[jj++] = 0f;
1098 foreach (int ind in cr.HullIndices)
1099 {
1100 convHulls[jj++] = verts[ind].x;
1101 convHulls[jj++] = verts[ind].y;
1102 convHulls[jj++] = verts[ind].z;
1103 }
1104 }
1105
1106 // create the hull definition in Bullet
1107 // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
1108 BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
1109 _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
1110 // meshes are already scaled by the meshmerizer
1111 _scale = new OMV.Vector3(1f, 1f, 1f);
1112 return;
1113 }
1114
1115 // Callback from convex hull creater with a newly created hull.
1116 // Just add it to the collection of hulls for this shape.
1117 private void HullReturn(ConvexResult result)
1118 {
1119 _hulls.Add(result);
1120 return;
1121 }
1122
1123 // Create an object in Bullet
1124 // No locking here because this is done when the physics engine is not simulating
1125 private void CreateObject()
1126 {
1127 if (IsRootOfLinkset)
1128 {
1129 // Create a linkset around this object
1130 // CreateLinksetWithCompoundHull();
1131 CreateLinksetWithConstraints();
1132 }
1133 else
1134 {
1135 // simple object
1136 // the mesh or hull must have already been created in Bullet
1137 ShapeData shape;
1138 FillShapeInfo(out shape);
1139 BulletSimAPI.CreateObject(_scene.WorldID, shape);
1140 }
1141 }
1142
1143 // Create a linkset by creating a compound hull at the root prim that consists of all
1144 // the children.
1145 // NOTE: This does not allow proper collisions with the children prims so it is not a workable solution
1146 void CreateLinksetWithCompoundHull()
1147 {
1148 // If I am the root prim of a linkset, replace my physical shape with all the
1149 // pieces of the children.
1150 // All of the children should have called CreateGeom so they have a hull
1151 // in the physics engine already. Here we pull together all of those hulls
1152 // into one shape.
1153 int totalPrimsInLinkset = _childrenPrims.Count + 1;
1154 // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset);
1155 ShapeData[] shapes = new ShapeData[totalPrimsInLinkset];
1156 FillShapeInfo(out shapes[0]);
1157 int ii = 1;
1158 foreach (BSPrim prim in _childrenPrims)
1159 {
1160 // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID);
1161 prim.FillShapeInfo(out shapes[ii]);
1162 ii++;
1163 }
1164 BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes);
1165 }
1166
1167 // Copy prim's info into the BulletSim shape description structure
1168 public void FillShapeInfo(out ShapeData shape)
1169 {
1170 shape.ID = _localID;
1171 shape.Type = _shapeType;
1172 shape.Position = _position;
1173 shape.Rotation = _orientation;
1174 shape.Velocity = _velocity;
1175 shape.Scale = _scale;
1176 shape.Mass = _isPhysical ? _mass : 0f;
1177 shape.Buoyancy = _buoyancy;
1178 shape.HullKey = _hullKey;
1179 shape.MeshKey = _meshKey;
1180 shape.Friction = _friction;
1181 shape.Restitution = _restitution;
1182 shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
1183 shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
1184 }
1185
1186 // Create the linkset by putting constraints between the objects of the set so they cannot move
1187 // relative to each other.
1188 // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added
1189 void CreateLinksetWithConstraints()
1190 {
1191 // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
1192
1193 // remove any constraints that might be in place
1194 foreach (BSPrim prim in _childrenPrims)
1195 {
1196 // m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
1197 BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
1198 }
1199 // create constraints between the root prim and each of the children
1200 foreach (BSPrim prim in _childrenPrims)
1201 {
1202 // m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
1203
1204 // Zero motion for children so they don't interpolate
1205 prim.ZeroMotion();
1206
1207 // relative position normalized to the root prim
1208 OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation);
1209
1210 // relative rotation of the child to the parent
1211 OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation;
1212
1213 // this is a constraint that allows no freedom of movement between the two objects
1214 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
1215 BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID,
1216 childRelativePosition,
1217 relativeRotation,
1218 OMV.Vector3.Zero,
1219 OMV.Quaternion.Identity,
1220 OMV.Vector3.Zero, OMV.Vector3.Zero,
1221 OMV.Vector3.Zero, OMV.Vector3.Zero);
1222 }
1223 }
1224
1225 // Rebuild the geometry and object.
1226 // This is called when the shape changes so we need to recreate the mesh/hull.
1227 // No locking here because this is done when the physics engine is not simulating
1228 private void RecreateGeomAndObject()
1229 {
1230 CreateGeom(true);
1231 CreateObject();
1232 return;
1233 }
1234
1235 // The physics engine says that properties have updated. Update same and inform
1236 // the world that things have changed.
1237 // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
1238 enum UpdatedProperties {
1239 Position = 1 << 0,
1240 Rotation = 1 << 1,
1241 Velocity = 1 << 2,
1242 Acceleration = 1 << 3,
1243 RotationalVel = 1 << 4
1244 }
1245
1246 const float ROTATION_TOLERANCE = 0.01f;
1247 const float VELOCITY_TOLERANCE = 0.001f;
1248 const float POSITION_TOLERANCE = 0.05f;
1249 const float ACCELERATION_TOLERANCE = 0.01f;
1250 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
1251 const bool SHOULD_DAMP_UPDATES = false;
1252
1253 public void UpdateProperties(EntityProperties entprop)
1254 {
1255 UpdatedProperties changed = 0;
1256 if (SHOULD_DAMP_UPDATES)
1257 {
1258 // assign to the local variables so the normal set action does not happen
1259 // if (_position != entprop.Position)
1260 if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
1261 {
1262 _position = entprop.Position;
1263 // m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position);
1264 changed |= UpdatedProperties.Position;
1265 }
1266 // if (_orientation != entprop.Rotation)
1267 if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
1268 {
1269 _orientation = entprop.Rotation;
1270 // m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation);
1271 changed |= UpdatedProperties.Rotation;
1272 }
1273 // if (_velocity != entprop.Velocity)
1274 if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
1275 {
1276 _velocity = entprop.Velocity;
1277 // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
1278 changed |= UpdatedProperties.Velocity;
1279 }
1280 // if (_acceleration != entprop.Acceleration)
1281 if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
1282 {
1283 _acceleration = entprop.Acceleration;
1284 // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
1285 changed |= UpdatedProperties.Acceleration;
1286 }
1287 // if (_rotationalVelocity != entprop.RotationalVelocity)
1288 if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
1289 {
1290 _rotationalVelocity = entprop.RotationalVelocity;
1291 // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
1292 changed |= UpdatedProperties.RotationalVel;
1293 }
1294 if (changed != 0)
1295 {
1296 // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
1297 // Only update the position of single objects and linkset roots
1298 if (this._parentPrim == null)
1299 {
1300 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
1301 base.RequestPhysicsterseUpdate();
1302 }
1303 }
1304 }
1305 else
1306 {
1307 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
1308
1309 // Only updates only for individual prims and for the root object of a linkset.
1310 if (this._parentPrim == null)
1311 {
1312 // Assign to the local variables so the normal set action does not happen
1313 _position = entprop.Position;
1314 _orientation = entprop.Rotation;
1315 _velocity = entprop.Velocity;
1316 _acceleration = entprop.Acceleration;
1317 _rotationalVelocity = entprop.RotationalVelocity;
1318 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
1319 base.RequestPhysicsterseUpdate();
1320 }
1321 }
1322 }
1323
1324 // I've collided with something
1325 public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
1326 {
1327 // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
1328
1329 // The following lines make IsColliding() and IsCollidingGround() work
1330 _collidingStep = _scene.SimulationStep;
1331 if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
1332 {
1333 _collidingGroundStep = _scene.SimulationStep;
1334 }
1335
1336 if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events
1337 // throttle the collisions to the number of milliseconds specified in the subscription
1338 int nowTime = _scene.SimulationNowTime;
1339 if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
1340 _lastCollisionTime = nowTime;
1341
1342 // create the event for the collision
1343 Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
1344 contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
1345 CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints);
1346 base.SendCollisionUpdate(args);
1347 }
1348}
1349}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
new file mode 100644
index 0000000..e91455a
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -0,0 +1,860 @@
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 copyrightD
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 */
27using System;
28using System.Collections.Generic;
29using System.Runtime.InteropServices;
30using System.Text;
31using System.Threading;
32using Nini.Config;
33using log4net;
34using OpenSim.Framework;
35using OpenSim.Region.Physics.Manager;
36using OpenMetaverse;
37using OpenSim.Region.Framework;
38
39// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
40// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
41// Test sculpties
42// Compute physics FPS reasonably
43// Based on material, set density and friction
44// More efficient memory usage in passing hull information from BSPrim to BulletSim
45// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
46// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
47// At the moment, physical and phantom causes object to drop through the terrain
48// Should prim.link() and prim.delink() membership checking happen at taint time?
49// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
50// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
51// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
52// Implement LockAngularMotion
53// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
54// Does NeedsMeshing() really need to exclude all the different shapes?
55//
56namespace OpenSim.Region.Physics.BulletSPlugin
57{
58public class BSScene : PhysicsScene, IPhysicsParameters
59{
60 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
61 private static readonly string LogHeader = "[BULLETS SCENE]";
62
63 public string BulletSimVersion = "?";
64
65 private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
66 private Dictionary<uint, BSPrim> m_prims = new Dictionary<uint, BSPrim>();
67 private List<BSPrim> m_vehicles = new List<BSPrim>();
68 private float[] m_heightMap;
69 private float m_waterLevel;
70 private uint m_worldID;
71 public uint WorldID { get { return m_worldID; } }
72
73 private bool m_initialized = false;
74
75 public IMesher mesher;
76 private int m_meshLOD;
77 public int MeshLOD
78 {
79 get { return m_meshLOD; }
80 }
81 private int m_sculptLOD;
82 public int SculptLOD
83 {
84 get { return m_sculptLOD; }
85 }
86
87 private int m_maxSubSteps;
88 private float m_fixedTimeStep;
89 private long m_simulationStep = 0;
90 public long SimulationStep { get { return m_simulationStep; } }
91
92 // A value of the time now so all the collision and update routines do not have to get their own
93 // Set to 'now' just before all the prims and actors are called for collisions and updates
94 private int m_simulationNowTime;
95 public int SimulationNowTime { get { return m_simulationNowTime; } }
96
97 private int m_maxCollisionsPerFrame;
98 private CollisionDesc[] m_collisionArray;
99 private GCHandle m_collisionArrayPinnedHandle;
100
101 private int m_maxUpdatesPerFrame;
102 private EntityProperties[] m_updateArray;
103 private GCHandle m_updateArrayPinnedHandle;
104
105 private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed
106 private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes
107
108 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
109 public const uint GROUNDPLANE_ID = 1;
110
111 public ConfigurationParameters Params
112 {
113 get { return m_params[0]; }
114 }
115 public Vector3 DefaultGravity
116 {
117 get { return new Vector3(0f, 0f, Params.gravity); }
118 }
119
120 private float m_maximumObjectMass;
121 public float MaximumObjectMass
122 {
123 get { return m_maximumObjectMass; }
124 }
125
126 public delegate void TaintCallback();
127 private List<TaintCallback> _taintedObjects;
128 private Object _taintLock = new Object();
129
130 // A pointer to an instance if this structure is passed to the C++ code
131 ConfigurationParameters[] m_params;
132 GCHandle m_paramsHandle;
133
134 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
135
136 public BSScene(string identifier)
137 {
138 m_initialized = false;
139 }
140
141 public override void Initialise(IMesher meshmerizer, IConfigSource config)
142 {
143 // Allocate pinned memory to pass parameters.
144 m_params = new ConfigurationParameters[1];
145 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
146
147 // Set default values for physics parameters plus any overrides from the ini file
148 GetInitialParameterValues(config);
149
150 // allocate more pinned memory close to the above in an attempt to get the memory all together
151 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
152 m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
153 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
154 m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
155
156 // Get the version of the DLL
157 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
158 // BulletSimVersion = BulletSimAPI.GetVersion();
159 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
160
161 // if Debug, enable logging from the unmanaged code
162 if (m_log.IsDebugEnabled)
163 {
164 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
165 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
166 BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
167 }
168
169 _taintedObjects = new List<TaintCallback>();
170
171 mesher = meshmerizer;
172 // The bounding box for the simulated world
173 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
174
175 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
176 m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
177 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
178 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
179
180 m_initialized = true;
181 }
182
183 // All default parameter values are set here. There should be no values set in the
184 // variable definitions.
185 private void GetInitialParameterValues(IConfigSource config)
186 {
187 ConfigurationParameters parms = new ConfigurationParameters();
188
189 _meshSculptedPrim = true; // mesh sculpted prims
190 _forceSimplePrimMeshing = false; // use complex meshing if called for
191
192 m_meshLOD = 8;
193 m_sculptLOD = 32;
194
195 m_maxSubSteps = 10;
196 m_fixedTimeStep = 1f / 60f;
197 m_maxCollisionsPerFrame = 2048;
198 m_maxUpdatesPerFrame = 2048;
199 m_maximumObjectMass = 10000.01f;
200
201 parms.defaultFriction = 0.5f;
202 parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
203 parms.defaultRestitution = 0f;
204 parms.collisionMargin = 0.0f;
205 parms.gravity = -9.80665f;
206
207 parms.linearDamping = 0.0f;
208 parms.angularDamping = 0.0f;
209 parms.deactivationTime = 0.2f;
210 parms.linearSleepingThreshold = 0.8f;
211 parms.angularSleepingThreshold = 1.0f;
212 parms.ccdMotionThreshold = 0.5f; // set to zero to disable
213 parms.ccdSweptSphereRadius = 0.2f;
214
215 parms.terrainFriction = 0.5f;
216 parms.terrainHitFraction = 0.8f;
217 parms.terrainRestitution = 0f;
218 parms.avatarFriction = 0.0f;
219 parms.avatarDensity = 60f;
220 parms.avatarCapsuleRadius = 0.37f;
221 parms.avatarCapsuleHeight = 1.5f; // 2.140599f
222
223 if (config != null)
224 {
225 // If there are specifications in the ini file, use those values
226 // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini
227 // ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS.
228 IConfig pConfig = config.Configs["BulletSim"];
229 if (pConfig != null)
230 {
231 _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
232 _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
233
234 m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD);
235 m_sculptLOD = pConfig.GetInt("SculptLevelOfDetail", m_sculptLOD);
236
237 m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
238 m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
239 m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
240 m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
241 m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
242
243 parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
244 parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
245 parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
246 parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
247 parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
248
249 parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
250 parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
251 parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
252 parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold);
253 parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
254 parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
255 parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
256
257 parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
258 parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
259 parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
260 parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
261 parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
262 parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
263 parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
264 }
265 }
266 m_params[0] = parms;
267 }
268
269 // Called directly from unmanaged code so don't do much
270 private void BulletLogger(string msg)
271 {
272 m_log.Debug("[BULLETS UNMANAGED]:" + msg);
273 }
274
275 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
276 {
277 m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
278 return null;
279 }
280
281 public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
282 {
283 // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
284 BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
285 lock (m_avatars) m_avatars.Add(localID, actor);
286 return actor;
287 }
288
289 public override void RemoveAvatar(PhysicsActor actor)
290 {
291 // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
292 if (actor is BSCharacter)
293 {
294 ((BSCharacter)actor).Destroy();
295 }
296 try
297 {
298 lock (m_avatars) m_avatars.Remove(actor.LocalID);
299 }
300 catch (Exception e)
301 {
302 m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
303 }
304 }
305
306 public override void RemovePrim(PhysicsActor prim)
307 {
308 // m_log.DebugFormat("{0}: RemovePrim", LogHeader);
309 if (prim is BSPrim)
310 {
311 ((BSPrim)prim).Destroy();
312 }
313 try
314 {
315 lock (m_prims) m_prims.Remove(prim.LocalID);
316 }
317 catch (Exception e)
318 {
319 m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
320 }
321 }
322
323 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
324 Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
325 {
326 // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
327 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
328 lock (m_prims) m_prims.Add(localID, prim);
329 return prim;
330 }
331
332 // This is a call from the simulator saying that some physical property has been updated.
333 // The BulletSim driver senses the changing of relevant properties so this taint
334 // information call is not needed.
335 public override void AddPhysicsActorTaint(PhysicsActor prim) { }
336
337 // Simulate one timestep
338 public override float Simulate(float timeStep)
339 {
340 int updatedEntityCount;
341 IntPtr updatedEntitiesPtr;
342 int collidersCount;
343 IntPtr collidersPtr;
344
345 // prevent simulation until we've been initialized
346 if (!m_initialized) return 10.0f;
347
348 // update the prim states while we know the physics engine is not busy
349 ProcessTaints();
350
351 // Some of the prims operate with special vehicle properties
352 ProcessVehicles(timeStep);
353 ProcessTaints(); // the vehicles might have added taints
354
355 // step the physical world one interval
356 m_simulationStep++;
357 int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
358 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
359
360 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
361
362 // Get a value for 'now' so all the collision and update routines don't have to get their own
363 m_simulationNowTime = Util.EnvironmentTickCount();
364
365 // If there were collisions, process them by sending the event to the prim.
366 // Collisions must be processed before updates.
367 if (collidersCount > 0)
368 {
369 for (int ii = 0; ii < collidersCount; ii++)
370 {
371 uint cA = m_collisionArray[ii].aID;
372 uint cB = m_collisionArray[ii].bID;
373 Vector3 point = m_collisionArray[ii].point;
374 Vector3 normal = m_collisionArray[ii].normal;
375 SendCollision(cA, cB, point, normal, 0.01f);
376 SendCollision(cB, cA, point, -normal, 0.01f);
377 }
378 }
379
380 // If any of the objects had updated properties, tell the object it has been changed by the physics engine
381 if (updatedEntityCount > 0)
382 {
383 for (int ii = 0; ii < updatedEntityCount; ii++)
384 {
385 EntityProperties entprop = m_updateArray[ii];
386 // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
387 BSCharacter actor;
388 if (m_avatars.TryGetValue(entprop.ID, out actor))
389 {
390 actor.UpdateProperties(entprop);
391 continue;
392 }
393 BSPrim prim;
394 if (m_prims.TryGetValue(entprop.ID, out prim))
395 {
396 prim.UpdateProperties(entprop);
397 }
398 }
399 }
400
401 // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
402 return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
403 }
404
405 // Something has collided
406 private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration)
407 {
408 if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
409 {
410 return; // don't send collisions to the terrain
411 }
412
413 ActorTypes type = ActorTypes.Prim;
414 if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
415 type = ActorTypes.Ground;
416 else if (m_avatars.ContainsKey(collidingWith))
417 type = ActorTypes.Agent;
418
419 BSPrim prim;
420 if (m_prims.TryGetValue(localID, out prim)) {
421 prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
422 return;
423 }
424 BSCharacter actor;
425 if (m_avatars.TryGetValue(localID, out actor)) {
426 actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
427 return;
428 }
429 return;
430 }
431
432 public override void GetResults() { }
433
434 public override void SetTerrain(float[] heightMap) {
435 m_heightMap = heightMap;
436 this.TaintedObject(delegate()
437 {
438 BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
439 });
440 }
441
442 public float GetTerrainHeightAtXY(float tX, float tY)
443 {
444 return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
445 }
446
447 public override void SetWaterLevel(float baseheight)
448 {
449 m_waterLevel = baseheight;
450 }
451 public float GetWaterLevel()
452 {
453 return m_waterLevel;
454 }
455
456 public override void DeleteTerrain()
457 {
458 m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
459 }
460
461 public override void Dispose()
462 {
463 m_log.DebugFormat("{0}: Dispose()", LogHeader);
464 }
465
466 public override Dictionary<uint, float> GetTopColliders()
467 {
468 return new Dictionary<uint, float>();
469 }
470
471 public override bool IsThreaded { get { return false; } }
472
473 /// <summary>
474 /// Routine to figure out if we need to mesh this prim with our mesher
475 /// </summary>
476 /// <param name="pbs"></param>
477 /// <returns>true if the prim needs meshing</returns>
478 public bool NeedsMeshing(PrimitiveBaseShape pbs)
479 {
480 // most of this is redundant now as the mesher will return null if it cant mesh a prim
481 // but we still need to check for sculptie meshing being enabled so this is the most
482 // convenient place to do it for now...
483
484 // int iPropertiesNotSupportedDefault = 0;
485
486 if (pbs.SculptEntry && !_meshSculptedPrim)
487 {
488 // Render sculpties as boxes
489 return false;
490 }
491
492 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet
493 // can use an internal representation for the prim
494 if (!_forceSimplePrimMeshing)
495 {
496 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
497 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
498 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
499 {
500
501 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
502 && pbs.ProfileHollow == 0
503 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
504 && pbs.PathBegin == 0 && pbs.PathEnd == 0
505 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
506 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
507 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
508 {
509 return false;
510 }
511 }
512 }
513
514 /* TODO: verify that the mesher will now do all these shapes
515 if (pbs.ProfileHollow != 0)
516 iPropertiesNotSupportedDefault++;
517
518 if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
519 iPropertiesNotSupportedDefault++;
520
521 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
522 iPropertiesNotSupportedDefault++;
523
524 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
525 iPropertiesNotSupportedDefault++;
526
527 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
528 iPropertiesNotSupportedDefault++;
529
530 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
531 iPropertiesNotSupportedDefault++;
532
533 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
534 iPropertiesNotSupportedDefault++;
535
536 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))
537 iPropertiesNotSupportedDefault++;
538
539 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
540 iPropertiesNotSupportedDefault++;
541
542 // test for torus
543 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
544 {
545 if (pbs.PathCurve == (byte)Extrusion.Curve1)
546 {
547 iPropertiesNotSupportedDefault++;
548 }
549 }
550 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
551 {
552 if (pbs.PathCurve == (byte)Extrusion.Straight)
553 {
554 iPropertiesNotSupportedDefault++;
555 }
556 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
557 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
558 {
559 iPropertiesNotSupportedDefault++;
560 }
561 }
562 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
563 {
564 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
565 {
566 iPropertiesNotSupportedDefault++;
567 }
568 }
569 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
570 {
571 if (pbs.PathCurve == (byte)Extrusion.Straight)
572 {
573 iPropertiesNotSupportedDefault++;
574 }
575 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
576 {
577 iPropertiesNotSupportedDefault++;
578 }
579 }
580 if (iPropertiesNotSupportedDefault == 0)
581 {
582 return false;
583 }
584 */
585 return true;
586 }
587
588 // The calls to the PhysicsActors can't directly call into the physics engine
589 // because it might be busy. We we delay changes to a known time.
590 // We rely on C#'s closure to save and restore the context for the delegate.
591 public void TaintedObject(TaintCallback callback)
592 {
593 lock (_taintLock)
594 _taintedObjects.Add(callback);
595 return;
596 }
597
598 // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
599 // a callback into itself to do the actual property change. That callback is called
600 // here just before the physics engine is called to step the simulation.
601 public void ProcessTaints()
602 {
603 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process
604 {
605 // swizzle a new list into the list location so we can process what's there
606 List<TaintCallback> oldList;
607 lock (_taintLock)
608 {
609 oldList = _taintedObjects;
610 _taintedObjects = new List<TaintCallback>();
611 }
612
613 foreach (TaintCallback callback in oldList)
614 {
615 try
616 {
617 callback();
618 }
619 catch (Exception e)
620 {
621 m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e);
622 }
623 }
624 oldList.Clear();
625 }
626 }
627
628 #region Vehicles
629 // Make so the scene will call this prim for vehicle actions each tick.
630 // Safe to call if prim is already in the vehicle list.
631 public void AddVehiclePrim(BSPrim vehicle)
632 {
633 lock (m_vehicles)
634 {
635 if (!m_vehicles.Contains(vehicle))
636 {
637 m_vehicles.Add(vehicle);
638 }
639 }
640 }
641
642 // Remove a prim from our list of vehicles.
643 // Safe to call if the prim is not in the vehicle list.
644 public void RemoveVehiclePrim(BSPrim vehicle)
645 {
646 lock (m_vehicles)
647 {
648 if (m_vehicles.Contains(vehicle))
649 {
650 m_vehicles.Remove(vehicle);
651 }
652 }
653 }
654
655 // Some prims have extra vehicle actions
656 // no locking because only called when physics engine is not busy
657 private void ProcessVehicles(float timeStep)
658 {
659 foreach (BSPrim prim in m_vehicles)
660 {
661 prim.StepVehicle(timeStep);
662 }
663 }
664 #endregion Vehicles
665
666 #region Runtime settable parameters
667 public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[]
668 {
669 new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)"),
670 new PhysParameterEntry("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)"),
671 new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"),
672 new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"),
673 new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"),
674
675 new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"),
676 new PhysParameterEntry("DefaultDensity", "Density for new objects" ),
677 new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ),
678 // new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ),
679 new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ),
680
681 new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ),
682 new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ),
683 new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ),
684 new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ),
685 new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
686 // new PhysParameterEntry("CcdMotionThreshold", "" ),
687 // new PhysParameterEntry("CcdSweptSphereRadius", "" ),
688
689 new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
690 new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
691 new PhysParameterEntry("TerrainRestitution", "Bouncyness" ),
692 new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ),
693 new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ),
694 new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ),
695 new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ),
696 new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" )
697 };
698
699 #region IPhysicsParameters
700 // Get the list of parameters this physics engine supports
701 public PhysParameterEntry[] GetParameterList()
702 {
703 return SettableParameters;
704 }
705
706 // Set parameter on a specific or all instances.
707 // Return 'false' if not able to set the parameter.
708 // Setting the value in the m_params block will change the value the physics engine
709 // will use the next time since it's pinned and shared memory.
710 // Some of the values require calling into the physics engine to get the new
711 // value activated ('terrainFriction' for instance).
712 public bool SetPhysicsParameter(string parm, float val, uint localID)
713 {
714 bool ret = true;
715 string lparm = parm.ToLower();
716 switch (lparm)
717 {
718 case "meshlod": m_meshLOD = (int)val; break;
719 case "sculptlod": m_sculptLOD = (int)val; break;
720 case "maxsubstep": m_maxSubSteps = (int)val; break;
721 case "fixedtimestep": m_fixedTimeStep = val; break;
722 case "maxobjectmass": m_maximumObjectMass = val; break;
723
724 case "defaultfriction": m_params[0].defaultFriction = val; break;
725 case "defaultdensity": m_params[0].defaultDensity = val; break;
726 case "defaultrestitution": m_params[0].defaultRestitution = val; break;
727 case "collisionmargin": m_params[0].collisionMargin = val; break;
728 case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
729
730 case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break;
731 case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
732 case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break;
733 case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break;
734 case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
735 case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break;
736 case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
737
738 // set a terrain physical feature and cause terrain to be recalculated
739 case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
740 case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break;
741 case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break;
742 // set an avatar physical feature and cause avatar(s) to be recalculated
743 case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break;
744 case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break;
745 case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break;
746 case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break;
747 case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break;
748
749 default: ret = false; break;
750 }
751 return ret;
752 }
753
754 // check to see if we are updating a parameter for a particular or all of the prims
755 private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val)
756 {
757 List<uint> operateOn;
758 lock (m_prims) operateOn = new List<uint>(m_prims.Keys);
759 UpdateParameterSet(operateOn, ref loc, parm, localID, val);
760 }
761
762 // check to see if we are updating a parameter for a particular or all of the avatars
763 private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val)
764 {
765 List<uint> operateOn;
766 lock (m_avatars) operateOn = new List<uint>(m_avatars.Keys);
767 UpdateParameterSet(operateOn, ref loc, parm, localID, val);
768 }
769
770 // update all the localIDs specified
771 // If the local ID is APPLY_TO_NONE, just change the default value
772 // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
773 // If the localID is a specific object, apply the parameter change to only that object
774 private void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
775 {
776 switch (localID)
777 {
778 case PhysParameterEntry.APPLY_TO_NONE:
779 defaultLoc = val; // setting only the default value
780 break;
781 case PhysParameterEntry.APPLY_TO_ALL:
782 defaultLoc = val; // setting ALL also sets the default value
783 List<uint> objectIDs = lIDs;
784 string xparm = parm.ToLower();
785 float xval = val;
786 TaintedObject(delegate() {
787 foreach (uint lID in objectIDs)
788 {
789 BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
790 }
791 });
792 break;
793 default:
794 // setting only one localID
795 TaintedUpdateParameter(parm, localID, val);
796 break;
797 }
798 }
799
800 // schedule the actual updating of the paramter to when the phys engine is not busy
801 private void TaintedUpdateParameter(string parm, uint localID, float val)
802 {
803 uint xlocalID = localID;
804 string xparm = parm.ToLower();
805 float xval = val;
806 TaintedObject(delegate() {
807 BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
808 });
809 }
810
811 // Get parameter.
812 // Return 'false' if not able to get the parameter.
813 public bool GetPhysicsParameter(string parm, out float value)
814 {
815 float val = 0f;
816 bool ret = true;
817 switch (parm.ToLower())
818 {
819 case "meshlod": val = (float)m_meshLOD; break;
820 case "sculptlod": val = (float)m_sculptLOD; break;
821 case "maxsubstep": val = (float)m_maxSubSteps; break;
822 case "fixedtimestep": val = m_fixedTimeStep; break;
823 case "maxobjectmass": val = m_maximumObjectMass; break;
824
825 case "defaultfriction": val = m_params[0].defaultFriction; break;
826 case "defaultdensity": val = m_params[0].defaultDensity; break;
827 case "defaultrestitution": val = m_params[0].defaultRestitution; break;
828 case "collisionmargin": val = m_params[0].collisionMargin; break;
829 case "gravity": val = m_params[0].gravity; break;
830
831 case "lineardamping": val = m_params[0].linearDamping; break;
832 case "angulardamping": val = m_params[0].angularDamping; break;
833 case "deactivationtime": val = m_params[0].deactivationTime; break;
834 case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break;
835 case "angularsleepingthreshold": val = m_params[0].angularDamping; break;
836 case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break;
837 case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break;
838
839 case "terrainfriction": val = m_params[0].terrainFriction; break;
840 case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;
841 case "terrainrestitution": val = m_params[0].terrainRestitution; break;
842
843 case "avatarfriction": val = m_params[0].avatarFriction; break;
844 case "avatardensity": val = m_params[0].avatarDensity; break;
845 case "avatarrestitution": val = m_params[0].avatarRestitution; break;
846 case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break;
847 case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break;
848 default: ret = false; break;
849
850 }
851 value = val;
852 return ret;
853 }
854
855 #endregion IPhysicsParameters
856
857 #endregion Runtime settable parameters
858
859}
860}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
new file mode 100644
index 0000000..a610c8d
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -0,0 +1,257 @@
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 copyrightD
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 */
27using System;
28using System.Runtime.InteropServices;
29using System.Security;
30using System.Text;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSPlugin {
34
35[StructLayout(LayoutKind.Sequential)]
36public struct ConvexHull
37{
38 Vector3 Offset;
39 int VertexCount;
40 Vector3[] Vertices;
41}
42[StructLayout(LayoutKind.Sequential)]
43public struct ShapeData
44{
45 public enum PhysicsShapeType
46 {
47 SHAPE_AVATAR = 0,
48 SHAPE_BOX = 1,
49 SHAPE_CONE = 2,
50 SHAPE_CYLINDER = 3,
51 SHAPE_SPHERE = 4,
52 SHAPE_MESH = 5,
53 SHAPE_HULL = 6
54 };
55 public uint ID;
56 public PhysicsShapeType Type;
57 public Vector3 Position;
58 public Quaternion Rotation;
59 public Vector3 Velocity;
60 public Vector3 Scale;
61 public float Mass;
62 public float Buoyancy;
63 public System.UInt64 HullKey;
64 public System.UInt64 MeshKey;
65 public float Friction;
66 public float Restitution;
67 public int Collidable;
68 public int Static; // true if a static object. Otherwise gravity, etc.
69
70 // note that bools are passed as ints since bool size changes by language and architecture
71 public const int numericTrue = 1;
72 public const int numericFalse = 0;
73}
74[StructLayout(LayoutKind.Sequential)]
75public struct SweepHit
76{
77 public uint ID;
78 public float Fraction;
79 public Vector3 Normal;
80 public Vector3 Point;
81}
82[StructLayout(LayoutKind.Sequential)]
83public struct RaycastHit
84{
85 public uint ID;
86 public float Fraction;
87 public Vector3 Normal;
88}
89[StructLayout(LayoutKind.Sequential)]
90public struct CollisionDesc
91{
92 public uint aID;
93 public uint bID;
94 public Vector3 point;
95 public Vector3 normal;
96}
97[StructLayout(LayoutKind.Sequential)]
98public struct EntityProperties
99{
100 public uint ID;
101 public Vector3 Position;
102 public Quaternion Rotation;
103 public Vector3 Velocity;
104 public Vector3 Acceleration;
105 public Vector3 RotationalVelocity;
106}
107
108// Format of this structure must match the definition in the C++ code
109[StructLayout(LayoutKind.Sequential)]
110public struct ConfigurationParameters
111{
112 public float defaultFriction;
113 public float defaultDensity;
114 public float defaultRestitution;
115 public float collisionMargin;
116 public float gravity;
117
118 public float linearDamping;
119 public float angularDamping;
120 public float deactivationTime;
121 public float linearSleepingThreshold;
122 public float angularSleepingThreshold;
123 public float ccdMotionThreshold;
124 public float ccdSweptSphereRadius;
125
126 public float terrainFriction;
127 public float terrainHitFraction;
128 public float terrainRestitution;
129 public float avatarFriction;
130 public float avatarDensity;
131 public float avatarRestitution;
132 public float avatarCapsuleRadius;
133 public float avatarCapsuleHeight;
134
135 public const float numericTrue = 1f;
136 public const float numericFalse = 0f;
137}
138
139static class BulletSimAPI {
140
141[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
142[return: MarshalAs(UnmanagedType.LPStr)]
143public static extern string GetVersion();
144
145[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
146public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
147 int maxCollisions, IntPtr collisionArray,
148 int maxUpdates, IntPtr updateArray);
149
150[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
151public static extern bool UpdateParameter(uint worldID, uint localID,
152 [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
153
154[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
155public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
156
157[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
158public static extern void Shutdown(uint worldID);
159
160
161[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
162public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
163 out int updatedEntityCount,
164 out IntPtr updatedEntitiesPtr,
165 out int collidersCount,
166 out IntPtr collidersPtr);
167
168[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
169public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
170 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
171 );
172
173[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
174public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
175 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
176 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
177 );
178
179[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
180public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
181
182[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
183public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
184
185[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
186public static extern bool CreateObject(uint worldID, ShapeData shapeData);
187
188[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
189public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
190
191[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
192public static extern void AddConstraint(uint worldID, uint id1, uint id2,
193 Vector3 frame1, Quaternion frame1rot,
194 Vector3 frame2, Quaternion frame2rot,
195 Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
196
197[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
198public static extern bool RemoveConstraintByID(uint worldID, uint id1);
199
200[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
201public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
202
203[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
204public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
205
206[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
207public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
208
209[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
210public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
211
212[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
213public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
214
215[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
216public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
217
218[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
219public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
220
221[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
222public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
223
224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
225public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
226
227[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
228public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
229
230[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
231public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
232
233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
234public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
235
236[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
237public static extern bool HasObject(uint worldID, uint id);
238
239[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
240public static extern bool DestroyObject(uint worldID, uint id);
241
242[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
243public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
244
245[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
246public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
247
248[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
249public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
250
251// Log a debug message
252[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
253public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
254[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
255public static extern void SetDebugLogCallback(DebugLogCallback callback);
256}
257}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs
new file mode 100644
index 0000000..4d84c44
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/CTri.cs
@@ -0,0 +1,341 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class Wpoint
34 {
35 public float3 mPoint;
36 public float mWeight;
37
38 public Wpoint(float3 p, float w)
39 {
40 mPoint = p;
41 mWeight = w;
42 }
43 }
44
45 public class CTri
46 {
47 private const int WSCALE = 4;
48
49 public float3 mP1;
50 public float3 mP2;
51 public float3 mP3;
52 public float3 mNear1;
53 public float3 mNear2;
54 public float3 mNear3;
55 public float3 mNormal;
56 public float mPlaneD;
57 public float mConcavity;
58 public float mC1;
59 public float mC2;
60 public float mC3;
61 public int mI1;
62 public int mI2;
63 public int mI3;
64 public int mProcessed; // already been added...
65
66 public CTri(float3 p1, float3 p2, float3 p3, int i1, int i2, int i3)
67 {
68 mProcessed = 0;
69 mI1 = i1;
70 mI2 = i2;
71 mI3 = i3;
72
73 mP1 = new float3(p1);
74 mP2 = new float3(p2);
75 mP3 = new float3(p3);
76
77 mNear1 = new float3();
78 mNear2 = new float3();
79 mNear3 = new float3();
80
81 mNormal = new float3();
82 mPlaneD = mNormal.ComputePlane(mP1, mP2, mP3);
83 }
84
85 public float Facing(CTri t)
86 {
87 return float3.dot(mNormal, t.mNormal);
88 }
89
90 public bool clip(float3 start, ref float3 end)
91 {
92 float3 sect = new float3();
93 bool hit = lineIntersectsTriangle(start, end, mP1, mP2, mP3, ref sect);
94
95 if (hit)
96 end = sect;
97 return hit;
98 }
99
100 public bool Concave(float3 p, ref float distance, ref float3 n)
101 {
102 n.NearestPointInTriangle(p, mP1, mP2, mP3);
103 distance = p.Distance(n);
104 return true;
105 }
106
107 public void addTri(int[] indices, int i1, int i2, int i3, ref int tcount)
108 {
109 indices[tcount * 3 + 0] = i1;
110 indices[tcount * 3 + 1] = i2;
111 indices[tcount * 3 + 2] = i3;
112 tcount++;
113 }
114
115 public float getVolume()
116 {
117 int[] indices = new int[8 * 3];
118
119 int tcount = 0;
120
121 addTri(indices, 0, 1, 2, ref tcount);
122 addTri(indices, 3, 4, 5, ref tcount);
123
124 addTri(indices, 0, 3, 4, ref tcount);
125 addTri(indices, 0, 4, 1, ref tcount);
126
127 addTri(indices, 1, 4, 5, ref tcount);
128 addTri(indices, 1, 5, 2, ref tcount);
129
130 addTri(indices, 0, 3, 5, ref tcount);
131 addTri(indices, 0, 5, 2, ref tcount);
132
133 List<float3> vertices = new List<float3> { mP1, mP2, mP3, mNear1, mNear2, mNear3 };
134 List<int> indexList = new List<int>(indices);
135
136 float v = Concavity.computeMeshVolume(vertices, indexList);
137 return v;
138 }
139
140 public float raySect(float3 p, float3 dir, ref float3 sect)
141 {
142 float4 plane = new float4();
143
144 plane.x = mNormal.x;
145 plane.y = mNormal.y;
146 plane.z = mNormal.z;
147 plane.w = mPlaneD;
148
149 float3 dest = p + dir * 100000f;
150
151 intersect(p, dest, ref sect, plane);
152
153 return sect.Distance(p); // return the intersection distance
154 }
155
156 public float planeDistance(float3 p)
157 {
158 float4 plane = new float4();
159
160 plane.x = mNormal.x;
161 plane.y = mNormal.y;
162 plane.z = mNormal.z;
163 plane.w = mPlaneD;
164
165 return DistToPt(p, plane);
166 }
167
168 public bool samePlane(CTri t)
169 {
170 const float THRESH = 0.001f;
171 float dd = Math.Abs(t.mPlaneD - mPlaneD);
172 if (dd > THRESH)
173 return false;
174 dd = Math.Abs(t.mNormal.x - mNormal.x);
175 if (dd > THRESH)
176 return false;
177 dd = Math.Abs(t.mNormal.y - mNormal.y);
178 if (dd > THRESH)
179 return false;
180 dd = Math.Abs(t.mNormal.z - mNormal.z);
181 if (dd > THRESH)
182 return false;
183 return true;
184 }
185
186 public bool hasIndex(int i)
187 {
188 if (i == mI1 || i == mI2 || i == mI3)
189 return true;
190 return false;
191 }
192
193 public bool sharesEdge(CTri t)
194 {
195 bool ret = false;
196 uint count = 0;
197
198 if (t.hasIndex(mI1))
199 count++;
200 if (t.hasIndex(mI2))
201 count++;
202 if (t.hasIndex(mI3))
203 count++;
204
205 if (count >= 2)
206 ret = true;
207
208 return ret;
209 }
210
211 public float area()
212 {
213 float a = mConcavity * mP1.Area(mP2, mP3);
214 return a;
215 }
216
217 public void addWeighted(List<Wpoint> list)
218 {
219 Wpoint p1 = new Wpoint(mP1, mC1);
220 Wpoint p2 = new Wpoint(mP2, mC2);
221 Wpoint p3 = new Wpoint(mP3, mC3);
222
223 float3 d1 = mNear1 - mP1;
224 float3 d2 = mNear2 - mP2;
225 float3 d3 = mNear3 - mP3;
226
227 d1 *= WSCALE;
228 d2 *= WSCALE;
229 d3 *= WSCALE;
230
231 d1 = d1 + mP1;
232 d2 = d2 + mP2;
233 d3 = d3 + mP3;
234
235 Wpoint p4 = new Wpoint(d1, mC1);
236 Wpoint p5 = new Wpoint(d2, mC2);
237 Wpoint p6 = new Wpoint(d3, mC3);
238
239 list.Add(p1);
240 list.Add(p2);
241 list.Add(p3);
242
243 list.Add(p4);
244 list.Add(p5);
245 list.Add(p6);
246 }
247
248 private static float DistToPt(float3 p, float4 plane)
249 {
250 float x = p.x;
251 float y = p.y;
252 float z = p.z;
253 float d = x*plane.x + y*plane.y + z*plane.z + plane.w;
254 return d;
255 }
256
257 private static void intersect(float3 p1, float3 p2, ref float3 split, float4 plane)
258 {
259 float dp1 = DistToPt(p1, plane);
260
261 float3 dir = new float3();
262 dir.x = p2[0] - p1[0];
263 dir.y = p2[1] - p1[1];
264 dir.z = p2[2] - p1[2];
265
266 float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
267 float dot2 = dp1 - plane[3];
268
269 float t = -(plane[3] + dot2) / dot1;
270
271 split.x = (dir[0] * t) + p1[0];
272 split.y = (dir[1] * t) + p1[1];
273 split.z = (dir[2] * t) + p1[2];
274 }
275
276 private static bool rayIntersectsTriangle(float3 p, float3 d, float3 v0, float3 v1, float3 v2, out float t)
277 {
278 t = 0f;
279
280 float3 e1, e2, h, s, q;
281 float a, f, u, v;
282
283 e1 = v1 - v0;
284 e2 = v2 - v0;
285 h = float3.cross(d, e2);
286 a = float3.dot(e1, h);
287
288 if (a > -0.00001f && a < 0.00001f)
289 return false;
290
291 f = 1f / a;
292 s = p - v0;
293 u = f * float3.dot(s, h);
294
295 if (u < 0.0f || u > 1.0f)
296 return false;
297
298 q = float3.cross(s, e1);
299 v = f * float3.dot(d, q);
300 if (v < 0.0f || u + v > 1.0f)
301 return false;
302
303 // at this stage we can compute t to find out where
304 // the intersection point is on the line
305 t = f * float3.dot(e2, q);
306 if (t > 0f) // ray intersection
307 return true;
308 else // this means that there is a line intersection but not a ray intersection
309 return false;
310 }
311
312 private static bool lineIntersectsTriangle(float3 rayStart, float3 rayEnd, float3 p1, float3 p2, float3 p3, ref float3 sect)
313 {
314 float3 dir = rayEnd - rayStart;
315
316 float d = (float)Math.Sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
317 float r = 1.0f / d;
318
319 dir *= r;
320
321 float t;
322 bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, out t);
323
324 if (ret)
325 {
326 if (t > d)
327 {
328 sect.x = rayStart.x + dir.x * t;
329 sect.y = rayStart.y + dir.y * t;
330 sect.z = rayStart.z + dir.z * t;
331 }
332 else
333 {
334 ret = false;
335 }
336 }
337
338 return ret;
339 }
340 }
341}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs
new file mode 100644
index 0000000..cc6383a
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Concavity.cs
@@ -0,0 +1,233 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Text;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public static class Concavity
35 {
36 // compute's how 'concave' this object is and returns the total volume of the
37 // convex hull as well as the volume of the 'concavity' which was found.
38 public static float computeConcavity(List<float3> vertices, List<int> indices, ref float4 plane, ref float volume)
39 {
40 float cret = 0f;
41 volume = 1f;
42
43 HullResult result = new HullResult();
44 HullDesc desc = new HullDesc();
45
46 desc.MaxFaces = 256;
47 desc.MaxVertices = 256;
48 desc.SetHullFlag(HullFlag.QF_TRIANGLES);
49 desc.Vertices = vertices;
50
51 HullError ret = HullUtils.CreateConvexHull(desc, ref result);
52
53 if (ret == HullError.QE_OK)
54 {
55 volume = computeMeshVolume2(result.OutputVertices, result.Indices);
56
57 // ok..now..for each triangle on the original mesh..
58 // we extrude the points to the nearest point on the hull.
59 List<CTri> tris = new List<CTri>();
60
61 for (int i = 0; i < result.Indices.Count / 3; i++)
62 {
63 int i1 = result.Indices[i * 3 + 0];
64 int i2 = result.Indices[i * 3 + 1];
65 int i3 = result.Indices[i * 3 + 2];
66
67 float3 p1 = result.OutputVertices[i1];
68 float3 p2 = result.OutputVertices[i2];
69 float3 p3 = result.OutputVertices[i3];
70
71 CTri t = new CTri(p1, p2, p3, i1, i2, i3);
72 tris.Add(t);
73 }
74
75 // we have not pre-computed the plane equation for each triangle in the convex hull..
76 float totalVolume = 0;
77
78 List<CTri> ftris = new List<CTri>(); // 'feature' triangles.
79 List<CTri> input_mesh = new List<CTri>();
80
81 for (int i = 0; i < indices.Count / 3; i++)
82 {
83 int i1 = indices[i * 3 + 0];
84 int i2 = indices[i * 3 + 1];
85 int i3 = indices[i * 3 + 2];
86
87 float3 p1 = vertices[i1];
88 float3 p2 = vertices[i2];
89 float3 p3 = vertices[i3];
90
91 CTri t = new CTri(p1, p2, p3, i1, i2, i3);
92 input_mesh.Add(t);
93 }
94
95 for (int i = 0; i < indices.Count / 3; i++)
96 {
97 int i1 = indices[i * 3 + 0];
98 int i2 = indices[i * 3 + 1];
99 int i3 = indices[i * 3 + 2];
100
101 float3 p1 = vertices[i1];
102 float3 p2 = vertices[i2];
103 float3 p3 = vertices[i3];
104
105 CTri t = new CTri(p1, p2, p3, i1, i2, i3);
106
107 featureMatch(t, tris, input_mesh);
108
109 if (t.mConcavity > 0.05f)
110 {
111 float v = t.getVolume();
112 totalVolume += v;
113 ftris.Add(t);
114 }
115 }
116
117 SplitPlane.computeSplitPlane(vertices, indices, ref plane);
118 cret = totalVolume;
119 }
120
121 return cret;
122 }
123
124 public static bool featureMatch(CTri m, List<CTri> tris, List<CTri> input_mesh)
125 {
126 bool ret = false;
127 float neardot = 0.707f;
128 m.mConcavity = 0;
129
130 for (int i = 0; i < tris.Count; i++)
131 {
132 CTri t = tris[i];
133
134 if (t.samePlane(m))
135 {
136 ret = false;
137 break;
138 }
139
140 float dot = float3.dot(t.mNormal, m.mNormal);
141
142 if (dot > neardot)
143 {
144 float d1 = t.planeDistance(m.mP1);
145 float d2 = t.planeDistance(m.mP2);
146 float d3 = t.planeDistance(m.mP3);
147
148 if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner!
149 {
150 neardot = dot;
151
152 t.raySect(m.mP1, m.mNormal, ref m.mNear1);
153 t.raySect(m.mP2, m.mNormal, ref m.mNear2);
154 t.raySect(m.mP3, m.mNormal, ref m.mNear3);
155
156 ret = true;
157 }
158 }
159 }
160
161 if (ret)
162 {
163 m.mC1 = m.mP1.Distance(m.mNear1);
164 m.mC2 = m.mP2.Distance(m.mNear2);
165 m.mC3 = m.mP3.Distance(m.mNear3);
166
167 m.mConcavity = m.mC1;
168
169 if (m.mC2 > m.mConcavity)
170 m.mConcavity = m.mC2;
171 if (m.mC3 > m.mConcavity)
172 m.mConcavity = m.mC3;
173 }
174
175 return ret;
176 }
177
178 private static float det(float3 p1, float3 p2, float3 p3)
179 {
180 return p1.x * p2.y * p3.z + p2.x * p3.y * p1.z + p3.x * p1.y * p2.z - p1.x * p3.y * p2.z - p2.x * p1.y * p3.z - p3.x * p2.y * p1.z;
181 }
182
183 public static float computeMeshVolume(List<float3> vertices, List<int> indices)
184 {
185 float volume = 0f;
186
187 for (int i = 0; i < indices.Count / 3; i++)
188 {
189 float3 p1 = vertices[indices[i * 3 + 0]];
190 float3 p2 = vertices[indices[i * 3 + 1]];
191 float3 p3 = vertices[indices[i * 3 + 2]];
192
193 volume += det(p1, p2, p3); // compute the volume of the tetrahedran relative to the origin.
194 }
195
196 volume *= (1.0f / 6.0f);
197 if (volume < 0f)
198 return -volume;
199 return volume;
200 }
201
202 public static float computeMeshVolume2(List<float3> vertices, List<int> indices)
203 {
204 float volume = 0f;
205
206 float3 p0 = vertices[0];
207 for (int i = 0; i < indices.Count / 3; i++)
208 {
209 float3 p1 = vertices[indices[i * 3 + 0]];
210 float3 p2 = vertices[indices[i * 3 + 1]];
211 float3 p3 = vertices[indices[i * 3 + 2]];
212
213 volume += tetVolume(p0, p1, p2, p3); // compute the volume of the tetrahedron relative to the root vertice
214 }
215
216 return volume * (1.0f / 6.0f);
217 }
218
219 private static float tetVolume(float3 p0, float3 p1, float3 p2, float3 p3)
220 {
221 float3 a = p1 - p0;
222 float3 b = p2 - p0;
223 float3 c = p3 - p0;
224
225 float3 cross = float3.cross(b, c);
226 float volume = float3.dot(a, cross);
227
228 if (volume < 0f)
229 return -volume;
230 return volume;
231 }
232 }
233}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs
new file mode 100644
index 0000000..dfaede1
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexBuilder.cs
@@ -0,0 +1,411 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public class DecompDesc
35 {
36 public List<float3> mVertices;
37 public List<int> mIndices;
38
39 // options
40 public uint mDepth; // depth to split, a maximum of 10, generally not over 7.
41 public float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
42 public float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
43
44 // hull output limits.
45 public uint mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
46 public float mSkinWidth; // a skin width to apply to the output hulls.
47
48 public ConvexDecompositionCallback mCallback; // the interface to receive back the results.
49
50 public DecompDesc()
51 {
52 mDepth = 5;
53 mCpercent = 5;
54 mPpercent = 5;
55 mMaxVertices = 32;
56 }
57 }
58
59 public class CHull
60 {
61 public float[] mMin = new float[3];
62 public float[] mMax = new float[3];
63 public float mVolume;
64 public float mDiagonal;
65 public ConvexResult mResult;
66
67 public CHull(ConvexResult result)
68 {
69 mResult = new ConvexResult(result);
70 mVolume = Concavity.computeMeshVolume(result.HullVertices, result.HullIndices);
71
72 mDiagonal = getBoundingRegion(result.HullVertices, mMin, mMax);
73
74 float dx = mMax[0] - mMin[0];
75 float dy = mMax[1] - mMin[1];
76 float dz = mMax[2] - mMin[2];
77
78 dx *= 0.1f; // inflate 1/10th on each edge
79 dy *= 0.1f; // inflate 1/10th on each edge
80 dz *= 0.1f; // inflate 1/10th on each edge
81
82 mMin[0] -= dx;
83 mMin[1] -= dy;
84 mMin[2] -= dz;
85
86 mMax[0] += dx;
87 mMax[1] += dy;
88 mMax[2] += dz;
89 }
90
91 public void Dispose()
92 {
93 mResult = null;
94 }
95
96 public bool overlap(CHull h)
97 {
98 return overlapAABB(mMin, mMax, h.mMin, h.mMax);
99 }
100
101 // returns the d1Giagonal distance
102 private static float getBoundingRegion(List<float3> points, float[] bmin, float[] bmax)
103 {
104 float3 first = points[0];
105
106 bmin[0] = first.x;
107 bmin[1] = first.y;
108 bmin[2] = first.z;
109
110 bmax[0] = first.x;
111 bmax[1] = first.y;
112 bmax[2] = first.z;
113
114 for (int i = 1; i < points.Count; i++)
115 {
116 float3 p = points[i];
117
118 if (p[0] < bmin[0]) bmin[0] = p[0];
119 if (p[1] < bmin[1]) bmin[1] = p[1];
120 if (p[2] < bmin[2]) bmin[2] = p[2];
121
122 if (p[0] > bmax[0]) bmax[0] = p[0];
123 if (p[1] > bmax[1]) bmax[1] = p[1];
124 if (p[2] > bmax[2]) bmax[2] = p[2];
125 }
126
127 float dx = bmax[0] - bmin[0];
128 float dy = bmax[1] - bmin[1];
129 float dz = bmax[2] - bmin[2];
130
131 return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
132 }
133
134 // return true if the two AABB's overlap.
135 private static bool overlapAABB(float[] bmin1, float[] bmax1, float[] bmin2, float[] bmax2)
136 {
137 if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
138 if (bmax2[1] < bmin1[1]) return false;
139 if (bmax2[2] < bmin1[2]) return false;
140
141 if (bmin2[0] > bmax1[0]) return false; // if the minimum is greater than our maximum on any axis
142 if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
143 if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
144
145 return true; // the extents overlap
146 }
147 }
148
149 public class ConvexBuilder
150 {
151 public List<CHull> mChulls = new List<CHull>();
152 private ConvexDecompositionCallback mCallback;
153
154 private int MAXDEPTH = 8;
155 private float CONCAVE_PERCENT = 1f;
156 private float MERGE_PERCENT = 2f;
157
158 public ConvexBuilder(ConvexDecompositionCallback callback)
159 {
160 mCallback = callback;
161 }
162
163 public void Dispose()
164 {
165 int i;
166 for (i = 0; i < mChulls.Count; i++)
167 {
168 CHull cr = mChulls[i];
169 cr.Dispose();
170 }
171 }
172
173 public bool isDuplicate(uint i1, uint i2, uint i3, uint ci1, uint ci2, uint ci3)
174 {
175 uint dcount = 0;
176
177 Debug.Assert(i1 != i2 && i1 != i3 && i2 != i3);
178 Debug.Assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);
179
180 if (i1 == ci1 || i1 == ci2 || i1 == ci3)
181 dcount++;
182 if (i2 == ci1 || i2 == ci2 || i2 == ci3)
183 dcount++;
184 if (i3 == ci1 || i3 == ci2 || i3 == ci3)
185 dcount++;
186
187 return dcount == 3;
188 }
189
190 public void getMesh(ConvexResult cr, VertexPool vc, List<int> indices)
191 {
192 List<int> src = cr.HullIndices;
193
194 for (int i = 0; i < src.Count / 3; i++)
195 {
196 int i1 = src[i * 3 + 0];
197 int i2 = src[i * 3 + 1];
198 int i3 = src[i * 3 + 2];
199
200 float3 p1 = cr.HullVertices[i1];
201 float3 p2 = cr.HullVertices[i2];
202 float3 p3 = cr.HullVertices[i3];
203
204 i1 = vc.getIndex(p1);
205 i2 = vc.getIndex(p2);
206 i3 = vc.getIndex(p3);
207 }
208 }
209
210 public CHull canMerge(CHull a, CHull b)
211 {
212 if (!a.overlap(b)) // if their AABB's (with a little slop) don't overlap, then return.
213 return null;
214
215 CHull ret = null;
216
217 // ok..we are going to combine both meshes into a single mesh
218 // and then we are going to compute the concavity...
219
220 VertexPool vc = new VertexPool();
221
222 List<int> indices = new List<int>();
223
224 getMesh(a.mResult, vc, indices);
225 getMesh(b.mResult, vc, indices);
226
227 int vcount = vc.GetSize();
228 List<float3> vertices = vc.GetVertices();
229 int tcount = indices.Count / 3;
230
231 //don't do anything if hull is empty
232 if (tcount == 0)
233 {
234 vc.Clear();
235 return null;
236 }
237
238 HullResult hresult = new HullResult();
239 HullDesc desc = new HullDesc();
240
241 desc.SetHullFlag(HullFlag.QF_TRIANGLES);
242 desc.Vertices = vertices;
243
244 HullError hret = HullUtils.CreateConvexHull(desc, ref hresult);
245
246 if (hret == HullError.QE_OK)
247 {
248 float combineVolume = Concavity.computeMeshVolume(hresult.OutputVertices, hresult.Indices);
249 float sumVolume = a.mVolume + b.mVolume;
250
251 float percent = (sumVolume * 100) / combineVolume;
252 if (percent >= (100.0f - MERGE_PERCENT))
253 {
254 ConvexResult cr = new ConvexResult(hresult.OutputVertices, hresult.Indices);
255 ret = new CHull(cr);
256 }
257 }
258
259 vc.Clear();
260 return ret;
261 }
262
263 public bool combineHulls()
264 {
265 bool combine = false;
266
267 sortChulls(mChulls); // sort the convex hulls, largest volume to least...
268
269 List<CHull> output = new List<CHull>(); // the output hulls...
270
271 int i;
272 for (i = 0; i < mChulls.Count && !combine; ++i)
273 {
274 CHull cr = mChulls[i];
275
276 int j;
277 for (j = 0; j < mChulls.Count; j++)
278 {
279 CHull match = mChulls[j];
280
281 if (cr != match) // don't try to merge a hull with itself, that be stoopid
282 {
283
284 CHull merge = canMerge(cr, match); // if we can merge these two....
285
286 if (merge != null)
287 {
288 output.Add(merge);
289
290 ++i;
291 while (i != mChulls.Count)
292 {
293 CHull cr2 = mChulls[i];
294 if (cr2 != match)
295 {
296 output.Add(cr2);
297 }
298 i++;
299 }
300
301 cr.Dispose();
302 match.Dispose();
303 combine = true;
304 break;
305 }
306 }
307 }
308
309 if (combine)
310 {
311 break;
312 }
313 else
314 {
315 output.Add(cr);
316 }
317 }
318
319 if (combine)
320 {
321 mChulls.Clear();
322 mChulls = output;
323 output.Clear();
324 }
325
326 return combine;
327 }
328
329 public int process(DecompDesc desc)
330 {
331 int ret = 0;
332
333 MAXDEPTH = (int)desc.mDepth;
334 CONCAVE_PERCENT = desc.mCpercent;
335 MERGE_PERCENT = desc.mPpercent;
336
337 ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0, MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);
338
339 while (combineHulls()) // keep combinging hulls until I can't combine any more...
340 ;
341
342 int i;
343 for (i = 0; i < mChulls.Count; i++)
344 {
345 CHull cr = mChulls[i];
346
347 // before we hand it back to the application, we need to regenerate the hull based on the
348 // limits given by the user.
349
350 ConvexResult c = cr.mResult; // the high resolution hull...
351
352 HullResult result = new HullResult();
353 HullDesc hdesc = new HullDesc();
354
355 hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);
356
357 hdesc.Vertices = c.HullVertices;
358 hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
359
360 if (desc.mSkinWidth != 0f)
361 {
362 hdesc.SkinWidth = desc.mSkinWidth;
363 hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
364 }
365
366 HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);
367
368 if (ret2 == HullError.QE_OK)
369 {
370 ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
371
372 r.mHullVolume = Concavity.computeMeshVolume(result.OutputVertices, result.Indices); // the volume of the hull.
373
374 // compute the best fit OBB
375 //computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
376
377 //r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
378
379 //fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
380
381 //fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
382
383 //r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
384 //r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
385
386 mCallback(r);
387 }
388
389 result = null;
390 cr.Dispose();
391 }
392
393 ret = mChulls.Count;
394
395 mChulls.Clear();
396
397 return ret;
398 }
399
400 public void ConvexDecompResult(ConvexResult result)
401 {
402 CHull ch = new CHull(result);
403 mChulls.Add(ch);
404 }
405
406 public void sortChulls(List<CHull> hulls)
407 {
408 hulls.Sort(delegate(CHull a, CHull b) { return a.mVolume.CompareTo(b.mVolume); });
409 }
410 }
411}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs
new file mode 100644
index 0000000..2e2bb70
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexDecomposition.cs
@@ -0,0 +1,200 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public delegate void ConvexDecompositionCallback(ConvexResult result);
35
36 public class FaceTri
37 {
38 public float3 P1;
39 public float3 P2;
40 public float3 P3;
41
42 public FaceTri() { }
43
44 public FaceTri(List<float3> vertices, int i1, int i2, int i3)
45 {
46 P1 = new float3(vertices[i1]);
47 P2 = new float3(vertices[i2]);
48 P3 = new float3(vertices[i3]);
49 }
50 }
51
52 public static class ConvexDecomposition
53 {
54 private static void addTri(VertexPool vl, List<int> list, float3 p1, float3 p2, float3 p3)
55 {
56 int i1 = vl.getIndex(p1);
57 int i2 = vl.getIndex(p2);
58 int i3 = vl.getIndex(p3);
59
60 // do *not* process degenerate triangles!
61 if ( i1 != i2 && i1 != i3 && i2 != i3 )
62 {
63 list.Add(i1);
64 list.Add(i2);
65 list.Add(i3);
66 }
67 }
68
69 public static void calcConvexDecomposition(List<float3> vertices, List<int> indices, ConvexDecompositionCallback callback, float masterVolume, int depth,
70 int maxDepth, float concavePercent, float mergePercent)
71 {
72 float4 plane = new float4();
73 bool split = false;
74
75 if (depth < maxDepth)
76 {
77 float volume = 0f;
78 float c = Concavity.computeConcavity(vertices, indices, ref plane, ref volume);
79
80 if (depth == 0)
81 {
82 masterVolume = volume;
83 }
84
85 float percent = (c * 100.0f) / masterVolume;
86
87 if (percent > concavePercent) // if great than 5% of the total volume is concave, go ahead and keep splitting.
88 {
89 split = true;
90 }
91 }
92
93 if (depth >= maxDepth || !split)
94 {
95 HullResult result = new HullResult();
96 HullDesc desc = new HullDesc();
97
98 desc.SetHullFlag(HullFlag.QF_TRIANGLES);
99
100 desc.Vertices = vertices;
101
102 HullError ret = HullUtils.CreateConvexHull(desc, ref result);
103
104 if (ret == HullError.QE_OK)
105 {
106 ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
107 callback(r);
108 }
109
110 return;
111 }
112
113 List<int> ifront = new List<int>();
114 List<int> iback = new List<int>();
115
116 VertexPool vfront = new VertexPool();
117 VertexPool vback = new VertexPool();
118
119 // ok..now we are going to 'split' all of the input triangles against this plane!
120 for (int i = 0; i < indices.Count / 3; i++)
121 {
122 int i1 = indices[i * 3 + 0];
123 int i2 = indices[i * 3 + 1];
124 int i3 = indices[i * 3 + 2];
125
126 FaceTri t = new FaceTri(vertices, i1, i2, i3);
127
128 float3[] front = new float3[4];
129 float3[] back = new float3[4];
130
131 int fcount = 0;
132 int bcount = 0;
133
134 PlaneTriResult result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
135
136 if (fcount > 4 || bcount > 4)
137 {
138 result = PlaneTri.planeTriIntersection(plane, t, 0.00001f, ref front, out fcount, ref back, out bcount);
139 }
140
141 switch (result)
142 {
143 case PlaneTriResult.PTR_FRONT:
144 Debug.Assert(fcount == 3);
145 addTri(vfront, ifront, front[0], front[1], front[2]);
146 break;
147 case PlaneTriResult.PTR_BACK:
148 Debug.Assert(bcount == 3);
149 addTri(vback, iback, back[0], back[1], back[2]);
150 break;
151 case PlaneTriResult.PTR_SPLIT:
152 Debug.Assert(fcount >= 3 && fcount <= 4);
153 Debug.Assert(bcount >= 3 && bcount <= 4);
154
155 addTri(vfront, ifront, front[0], front[1], front[2]);
156 addTri(vback, iback, back[0], back[1], back[2]);
157
158 if (fcount == 4)
159 {
160 addTri(vfront, ifront, front[0], front[2], front[3]);
161 }
162
163 if (bcount == 4)
164 {
165 addTri(vback, iback, back[0], back[2], back[3]);
166 }
167
168 break;
169 }
170 }
171
172 // ok... here we recursively call
173 if (ifront.Count > 0)
174 {
175 int vcount = vfront.GetSize();
176 List<float3> vertices2 = vfront.GetVertices();
177 for (int i = 0; i < vertices2.Count; i++)
178 vertices2[i] = new float3(vertices2[i]);
179 int tcount = ifront.Count / 3;
180
181 calcConvexDecomposition(vertices2, ifront, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
182 }
183
184 ifront.Clear();
185 vfront.Clear();
186
187 if (iback.Count > 0)
188 {
189 int vcount = vback.GetSize();
190 List<float3> vertices2 = vback.GetVertices();
191 int tcount = iback.Count / 3;
192
193 calcConvexDecomposition(vertices2, iback, callback, masterVolume, depth + 1, maxDepth, concavePercent, mergePercent);
194 }
195
196 iback.Clear();
197 vback.Clear();
198 }
199 }
200}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs
new file mode 100644
index 0000000..87758b5
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/ConvexResult.cs
@@ -0,0 +1,74 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class ConvexResult
34 {
35 public List<float3> HullVertices;
36 public List<int> HullIndices;
37
38 public float mHullVolume; // the volume of the convex hull.
39
40 //public float[] OBBSides = new float[3]; // the width, height and breadth of the best fit OBB
41 //public float[] OBBCenter = new float[3]; // the center of the OBB
42 //public float[] OBBOrientation = new float[4]; // the quaternion rotation of the OBB.
43 //public float[] OBBTransform = new float[16]; // the 4x4 transform of the OBB.
44 //public float OBBVolume; // the volume of the OBB
45
46 //public float SphereRadius; // radius and center of best fit sphere
47 //public float[] SphereCenter = new float[3];
48 //public float SphereVolume; // volume of the best fit sphere
49
50 public ConvexResult()
51 {
52 HullVertices = new List<float3>();
53 HullIndices = new List<int>();
54 }
55
56 public ConvexResult(List<float3> hvertices, List<int> hindices)
57 {
58 HullVertices = hvertices;
59 HullIndices = hindices;
60 }
61
62 public ConvexResult(ConvexResult r)
63 {
64 HullVertices = new List<float3>(r.HullVertices);
65 HullIndices = new List<int>(r.HullIndices);
66 }
67
68 public void Dispose()
69 {
70 HullVertices = null;
71 HullIndices = null;
72 }
73 }
74}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
new file mode 100644
index 0000000..d81df26
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
@@ -0,0 +1,171 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class HullResult
34 {
35 public bool Polygons = true; // true if indices represents polygons, false indices are triangles
36 public List<float3> OutputVertices = new List<float3>();
37 public List<int> Indices;
38
39 // If triangles, then indices are array indexes into the vertex list.
40 // If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
41 }
42
43 public class PHullResult
44 {
45 public List<float3> Vertices = new List<float3>();
46 public List<int> Indices = new List<int>();
47 }
48
49 [Flags]
50 public enum HullFlag : int
51 {
52 QF_DEFAULT = 0,
53 QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
54 QF_SKIN_WIDTH = (1 << 2) // extrude hull based on this skin width
55 }
56
57 public enum HullError : int
58 {
59 QE_OK, // success!
60 QE_FAIL // failed.
61 }
62
63 public class HullDesc
64 {
65 public HullFlag Flags; // flags to use when generating the convex hull.
66 public List<float3> Vertices;
67 public float NormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
68 public float SkinWidth;
69 public uint MaxVertices; // maximum number of vertices to be considered for the hull!
70 public uint MaxFaces;
71
72 public HullDesc()
73 {
74 Flags = HullFlag.QF_DEFAULT;
75 Vertices = new List<float3>();
76 NormalEpsilon = 0.001f;
77 MaxVertices = 4096;
78 MaxFaces = 4096;
79 SkinWidth = 0.01f;
80 }
81
82 public HullDesc(HullFlag flags, List<float3> vertices)
83 {
84 Flags = flags;
85 Vertices = new List<float3>(vertices);
86 NormalEpsilon = 0.001f;
87 MaxVertices = 4096;
88 MaxFaces = 4096;
89 SkinWidth = 0.01f;
90 }
91
92 public bool HasHullFlag(HullFlag flag)
93 {
94 return (Flags & flag) != 0;
95 }
96
97 public void SetHullFlag(HullFlag flag)
98 {
99 Flags |= flag;
100 }
101
102 public void ClearHullFlag(HullFlag flag)
103 {
104 Flags &= ~flag;
105 }
106 }
107
108 public class ConvexH
109 {
110 public struct HalfEdge
111 {
112 public short ea; // the other half of the edge (index into edges list)
113 public byte v; // the vertex at the start of this edge (index into vertices list)
114 public byte p; // the facet on which this edge lies (index into facets list)
115
116 public HalfEdge(short _ea, byte _v, byte _p)
117 {
118 ea = _ea;
119 v = _v;
120 p = _p;
121 }
122
123 public HalfEdge(HalfEdge e)
124 {
125 ea = e.ea;
126 v = e.v;
127 p = e.p;
128 }
129 }
130
131 public List<float3> vertices = new List<float3>();
132 public List<HalfEdge> edges = new List<HalfEdge>();
133 public List<Plane> facets = new List<Plane>();
134
135 public ConvexH(int vertices_size, int edges_size, int facets_size)
136 {
137 vertices = new List<float3>(vertices_size);
138 edges = new List<HalfEdge>(edges_size);
139 facets = new List<Plane>(facets_size);
140 }
141 }
142
143 public class VertFlag
144 {
145 public byte planetest;
146 public byte junk;
147 public byte undermap;
148 public byte overmap;
149 }
150
151 public class EdgeFlag
152 {
153 public byte planetest;
154 public byte fixes;
155 public short undermap;
156 public short overmap;
157 }
158
159 public class PlaneFlag
160 {
161 public byte undermap;
162 public byte overmap;
163 }
164
165 public class Coplanar
166 {
167 public ushort ea;
168 public byte v0;
169 public byte v1;
170 }
171}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs
new file mode 100644
index 0000000..1119a75
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullTriangle.cs
@@ -0,0 +1,99 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public class HullTriangle : int3
35 {
36 public int3 n = new int3();
37 public int id;
38 public int vmax;
39 public float rise;
40 private List<HullTriangle> tris;
41
42 public HullTriangle(int a, int b, int c, List<HullTriangle> tris)
43 : base(a, b, c)
44 {
45 this.tris = tris;
46
47 n = new int3(-1, -1, -1);
48 id = tris.Count;
49 tris.Add(this);
50 vmax = -1;
51 rise = 0.0f;
52 }
53
54 public void Dispose()
55 {
56 Debug.Assert(tris[id] == this);
57 tris[id] = null;
58 }
59
60 public int neib(int a, int b)
61 {
62 int i;
63
64 for (i = 0; i < 3; i++)
65 {
66 int i1 = (i + 1) % 3;
67 int i2 = (i + 2) % 3;
68 if ((this)[i] == a && (this)[i1] == b)
69 return n[i2];
70 if ((this)[i] == b && (this)[i1] == a)
71 return n[i2];
72 }
73
74 Debug.Assert(false);
75 return -1;
76 }
77
78 public void setneib(int a, int b, int value)
79 {
80 int i;
81
82 for (i = 0; i < 3; i++)
83 {
84 int i1 = (i + 1) % 3;
85 int i2 = (i + 2) % 3;
86 if ((this)[i] == a && (this)[i1] == b)
87 {
88 n[i2] = value;
89 return;
90 }
91 if ((this)[i] == b && (this)[i1] == a)
92 {
93 n[i2] = value;
94 return;
95 }
96 }
97 }
98 }
99}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs
new file mode 100644
index 0000000..c9ccfe2
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/HullUtils.cs
@@ -0,0 +1,1868 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public static class HullUtils
35 {
36 public static int argmin(float[] a, int n)
37 {
38 int r = 0;
39 for (int i = 1; i < n; i++)
40 {
41 if (a[i] < a[r])
42 {
43 r = i;
44 }
45 }
46 return r;
47 }
48
49 public static float clampf(float a)
50 {
51 return Math.Min(1.0f, Math.Max(0.0f, a));
52 }
53
54 public static float Round(float a, float precision)
55 {
56 return (float)Math.Floor(0.5f + a / precision) * precision;
57 }
58
59 public static float Interpolate(float f0, float f1, float alpha)
60 {
61 return f0 * (1 - alpha) + f1 * alpha;
62 }
63
64 public static void Swap<T>(ref T a, ref T b)
65 {
66 T tmp = a;
67 a = b;
68 b = tmp;
69 }
70
71 public static bool above(List<float3> vertices, int3 t, float3 p, float epsilon)
72 {
73 float3 vtx = vertices[t.x];
74 float3 n = TriNormal(vtx, vertices[t.y], vertices[t.z]);
75 return (float3.dot(n, p - vtx) > epsilon); // EPSILON???
76 }
77
78 public static int hasedge(int3 t, int a, int b)
79 {
80 for (int i = 0; i < 3; i++)
81 {
82 int i1 = (i + 1) % 3;
83 if (t[i] == a && t[i1] == b)
84 return 1;
85 }
86 return 0;
87 }
88
89 public static bool hasvert(int3 t, int v)
90 {
91 return (t[0] == v || t[1] == v || t[2] == v);
92 }
93
94 public static int shareedge(int3 a, int3 b)
95 {
96 int i;
97 for (i = 0; i < 3; i++)
98 {
99 int i1 = (i + 1) % 3;
100 if (hasedge(a, b[i1], b[i]) != 0)
101 return 1;
102 }
103 return 0;
104 }
105
106 public static void b2bfix(HullTriangle s, HullTriangle t, List<HullTriangle> tris)
107 {
108 int i;
109 for (i = 0; i < 3; i++)
110 {
111 int i1 = (i + 1) % 3;
112 int i2 = (i + 2) % 3;
113 int a = (s)[i1];
114 int b = (s)[i2];
115 Debug.Assert(tris[s.neib(a, b)].neib(b, a) == s.id);
116 Debug.Assert(tris[t.neib(a, b)].neib(b, a) == t.id);
117 tris[s.neib(a, b)].setneib(b, a, t.neib(b, a));
118 tris[t.neib(b, a)].setneib(a, b, s.neib(a, b));
119 }
120 }
121
122 public static void removeb2b(HullTriangle s, HullTriangle t, List<HullTriangle> tris)
123 {
124 b2bfix(s, t, tris);
125 s.Dispose();
126 t.Dispose();
127 }
128
129 public static void checkit(HullTriangle t, List<HullTriangle> tris)
130 {
131 int i;
132 Debug.Assert(tris[t.id] == t);
133 for (i = 0; i < 3; i++)
134 {
135 int i1 = (i + 1) % 3;
136 int i2 = (i + 2) % 3;
137 int a = (t)[i1];
138 int b = (t)[i2];
139 Debug.Assert(a != b);
140 Debug.Assert(tris[t.n[i]].neib(b, a) == t.id);
141 }
142 }
143
144 public static void extrude(HullTriangle t0, int v, List<HullTriangle> tris)
145 {
146 int3 t = t0;
147 int n = tris.Count;
148 HullTriangle ta = new HullTriangle(v, t[1], t[2], tris);
149 ta.n = new int3(t0.n[0], n + 1, n + 2);
150 tris[t0.n[0]].setneib(t[1], t[2], n + 0);
151 HullTriangle tb = new HullTriangle(v, t[2], t[0], tris);
152 tb.n = new int3(t0.n[1], n + 2, n + 0);
153 tris[t0.n[1]].setneib(t[2], t[0], n + 1);
154 HullTriangle tc = new HullTriangle(v, t[0], t[1], tris);
155 tc.n = new int3(t0.n[2], n + 0, n + 1);
156 tris[t0.n[2]].setneib(t[0], t[1], n + 2);
157 checkit(ta, tris);
158 checkit(tb, tris);
159 checkit(tc, tris);
160 if (hasvert(tris[ta.n[0]], v))
161 removeb2b(ta, tris[ta.n[0]], tris);
162 if (hasvert(tris[tb.n[0]], v))
163 removeb2b(tb, tris[tb.n[0]], tris);
164 if (hasvert(tris[tc.n[0]], v))
165 removeb2b(tc, tris[tc.n[0]], tris);
166 t0.Dispose();
167 }
168
169 public static HullTriangle extrudable(float epsilon, List<HullTriangle> tris)
170 {
171 int i;
172 HullTriangle t = null;
173 for (i = 0; i < tris.Count; i++)
174 {
175 if (t == null || (tris.Count > i && (object)tris[i] != null && t.rise < tris[i].rise))
176 {
177 t = tris[i];
178 }
179 }
180 return (t.rise > epsilon) ? t : null;
181 }
182
183 public static Quaternion RotationArc(float3 v0, float3 v1)
184 {
185 Quaternion q = new Quaternion();
186 v0 = float3.normalize(v0); // Comment these two lines out if you know its not needed.
187 v1 = float3.normalize(v1); // If vector is already unit length then why do it again?
188 float3 c = float3.cross(v0, v1);
189 float d = float3.dot(v0, v1);
190 if (d <= -1.0f) // 180 about x axis
191 {
192 return new Quaternion(1f, 0f, 0f, 0f);
193 }
194 float s = (float)Math.Sqrt((1 + d) * 2f);
195 q.x = c.x / s;
196 q.y = c.y / s;
197 q.z = c.z / s;
198 q.w = s / 2.0f;
199 return q;
200 }
201
202 public static float3 PlaneLineIntersection(Plane plane, float3 p0, float3 p1)
203 {
204 // returns the point where the line p0-p1 intersects the plane n&d
205 float3 dif = p1 - p0;
206 float dn = float3.dot(plane.normal, dif);
207 float t = -(plane.dist + float3.dot(plane.normal, p0)) / dn;
208 return p0 + (dif * t);
209 }
210
211 public static float3 LineProject(float3 p0, float3 p1, float3 a)
212 {
213 float3 w = new float3();
214 w = p1 - p0;
215 float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z);
216 return p0 + w * t;
217 }
218
219 public static float3 PlaneProject(Plane plane, float3 point)
220 {
221 return point - plane.normal * (float3.dot(point, plane.normal) + plane.dist);
222 }
223
224 public static float LineProjectTime(float3 p0, float3 p1, float3 a)
225 {
226 float3 w = new float3();
227 w = p1 - p0;
228 float t = float3.dot(w, (a - p0)) / (w.x * w.x + w.y * w.y + w.z * w.z);
229 return t;
230 }
231
232 public static float3 ThreePlaneIntersection(Plane p0, Plane p1, Plane p2)
233 {
234 float3x3 mp = float3x3.Transpose(new float3x3(p0.normal, p1.normal, p2.normal));
235 float3x3 mi = float3x3.Inverse(mp);
236 float3 b = new float3(p0.dist, p1.dist, p2.dist);
237 return -b * mi;
238 }
239
240 public static bool PolyHit(List<float3> vert, float3 v0, float3 v1)
241 {
242 float3 impact = new float3();
243 float3 normal = new float3();
244 return PolyHit(vert, v0, v1, out impact, out normal);
245 }
246
247 public static bool PolyHit(List<float3> vert, float3 v0, float3 v1, out float3 impact)
248 {
249 float3 normal = new float3();
250 return PolyHit(vert, v0, v1, out impact, out normal);
251 }
252
253 public static bool PolyHit(List<float3> vert, float3 v0, float3 v1, out float3 impact, out float3 normal)
254 {
255 float3 the_point = new float3();
256
257 impact = null;
258 normal = null;
259
260 int i;
261 float3 nrml = new float3(0, 0, 0);
262 for (i = 0; i < vert.Count; i++)
263 {
264 int i1 = (i + 1) % vert.Count;
265 int i2 = (i + 2) % vert.Count;
266 nrml = nrml + float3.cross(vert[i1] - vert[i], vert[i2] - vert[i1]);
267 }
268
269 float m = float3.magnitude(nrml);
270 if (m == 0.0)
271 {
272 return false;
273 }
274 nrml = nrml * (1.0f / m);
275 float dist = -float3.dot(nrml, vert[0]);
276 float d0;
277 float d1;
278 if ((d0 = float3.dot(v0, nrml) + dist) < 0 || (d1 = float3.dot(v1, nrml) + dist) > 0)
279 {
280 return false;
281 }
282
283 // By using the cached plane distances d0 and d1
284 // we can optimize the following:
285 // the_point = planelineintersection(nrml,dist,v0,v1);
286 float a = d0 / (d0 - d1);
287 the_point = v0 * (1 - a) + v1 * a;
288
289
290 bool inside = true;
291 for (int j = 0; inside && j < vert.Count; j++)
292 {
293 // let inside = 0 if outside
294 float3 pp1 = new float3();
295 float3 pp2 = new float3();
296 float3 side = new float3();
297 pp1 = vert[j];
298 pp2 = vert[(j + 1) % vert.Count];
299 side = float3.cross((pp2 - pp1), (the_point - pp1));
300 inside = (float3.dot(nrml, side) >= 0.0);
301 }
302 if (inside)
303 {
304 if (normal != null)
305 {
306 normal = nrml;
307 }
308 if (impact != null)
309 {
310 impact = the_point;
311 }
312 }
313 return inside;
314 }
315
316 public static bool BoxInside(float3 p, float3 bmin, float3 bmax)
317 {
318 return (p.x >= bmin.x && p.x <= bmax.x && p.y >= bmin.y && p.y <= bmax.y && p.z >= bmin.z && p.z <= bmax.z);
319 }
320
321 public static bool BoxIntersect(float3 v0, float3 v1, float3 bmin, float3 bmax, float3 impact)
322 {
323 if (BoxInside(v0, bmin, bmax))
324 {
325 impact = v0;
326 return true;
327 }
328 if (v0.x <= bmin.x && v1.x >= bmin.x)
329 {
330 float a = (bmin.x - v0.x) / (v1.x - v0.x);
331 //v.x = bmin.x;
332 float vy = (1 - a) * v0.y + a * v1.y;
333 float vz = (1 - a) * v0.z + a * v1.z;
334 if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z)
335 {
336 impact.x = bmin.x;
337 impact.y = vy;
338 impact.z = vz;
339 return true;
340 }
341 }
342 else if (v0.x >= bmax.x && v1.x <= bmax.x)
343 {
344 float a = (bmax.x - v0.x) / (v1.x - v0.x);
345 //v.x = bmax.x;
346 float vy = (1 - a) * v0.y + a * v1.y;
347 float vz = (1 - a) * v0.z + a * v1.z;
348 if (vy >= bmin.y && vy <= bmax.y && vz >= bmin.z && vz <= bmax.z)
349 {
350 impact.x = bmax.x;
351 impact.y = vy;
352 impact.z = vz;
353 return true;
354 }
355 }
356 if (v0.y <= bmin.y && v1.y >= bmin.y)
357 {
358 float a = (bmin.y - v0.y) / (v1.y - v0.y);
359 float vx = (1 - a) * v0.x + a * v1.x;
360 //v.y = bmin.y;
361 float vz = (1 - a) * v0.z + a * v1.z;
362 if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z)
363 {
364 impact.x = vx;
365 impact.y = bmin.y;
366 impact.z = vz;
367 return true;
368 }
369 }
370 else if (v0.y >= bmax.y && v1.y <= bmax.y)
371 {
372 float a = (bmax.y - v0.y) / (v1.y - v0.y);
373 float vx = (1 - a) * v0.x + a * v1.x;
374 // vy = bmax.y;
375 float vz = (1 - a) * v0.z + a * v1.z;
376 if (vx >= bmin.x && vx <= bmax.x && vz >= bmin.z && vz <= bmax.z)
377 {
378 impact.x = vx;
379 impact.y = bmax.y;
380 impact.z = vz;
381 return true;
382 }
383 }
384 if (v0.z <= bmin.z && v1.z >= bmin.z)
385 {
386 float a = (bmin.z - v0.z) / (v1.z - v0.z);
387 float vx = (1 - a) * v0.x + a * v1.x;
388 float vy = (1 - a) * v0.y + a * v1.y;
389 // v.z = bmin.z;
390 if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x)
391 {
392 impact.x = vx;
393 impact.y = vy;
394 impact.z = bmin.z;
395 return true;
396 }
397 }
398 else if (v0.z >= bmax.z && v1.z <= bmax.z)
399 {
400 float a = (bmax.z - v0.z) / (v1.z - v0.z);
401 float vx = (1 - a) * v0.x + a * v1.x;
402 float vy = (1 - a) * v0.y + a * v1.y;
403 // v.z = bmax.z;
404 if (vy >= bmin.y && vy <= bmax.y && vx >= bmin.x && vx <= bmax.x)
405 {
406 impact.x = vx;
407 impact.y = vy;
408 impact.z = bmax.z;
409 return true;
410 }
411 }
412 return false;
413 }
414
415 public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint)
416 {
417 return DistanceBetweenLines(ustart, udir, vstart, vdir, upoint, null);
418 }
419
420 public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir)
421 {
422 return DistanceBetweenLines(ustart, udir, vstart, vdir, null, null);
423 }
424
425 public static float DistanceBetweenLines(float3 ustart, float3 udir, float3 vstart, float3 vdir, float3 upoint, float3 vpoint)
426 {
427 float3 cp = float3.normalize(float3.cross(udir, vdir));
428
429 float distu = -float3.dot(cp, ustart);
430 float distv = -float3.dot(cp, vstart);
431 float dist = (float)Math.Abs(distu - distv);
432 if (upoint != null)
433 {
434 Plane plane = new Plane();
435 plane.normal = float3.normalize(float3.cross(vdir, cp));
436 plane.dist = -float3.dot(plane.normal, vstart);
437 upoint = PlaneLineIntersection(plane, ustart, ustart + udir);
438 }
439 if (vpoint != null)
440 {
441 Plane plane = new Plane();
442 plane.normal = float3.normalize(float3.cross(udir, cp));
443 plane.dist = -float3.dot(plane.normal, ustart);
444 vpoint = PlaneLineIntersection(plane, vstart, vstart + vdir);
445 }
446 return dist;
447 }
448
449 public static float3 TriNormal(float3 v0, float3 v1, float3 v2)
450 {
451 // return the normal of the triangle
452 // inscribed by v0, v1, and v2
453 float3 cp = float3.cross(v1 - v0, v2 - v1);
454 float m = float3.magnitude(cp);
455 if (m == 0)
456 return new float3(1, 0, 0);
457 return cp * (1.0f / m);
458 }
459
460 public static int PlaneTest(Plane p, float3 v, float planetestepsilon)
461 {
462 float a = float3.dot(v, p.normal) + p.dist;
463 int flag = (a > planetestepsilon) ? (2) : ((a < -planetestepsilon) ? (1) : (0));
464 return flag;
465 }
466
467 public static int SplitTest(ref ConvexH convex, Plane plane, float planetestepsilon)
468 {
469 int flag = 0;
470 for (int i = 0; i < convex.vertices.Count; i++)
471 {
472 flag |= PlaneTest(plane, convex.vertices[i], planetestepsilon);
473 }
474 return flag;
475 }
476
477 public static Quaternion VirtualTrackBall(float3 cop, float3 cor, float3 dir1, float3 dir2)
478 {
479 // routine taken from game programming gems.
480 // Implement track ball functionality to spin stuf on the screen
481 // cop center of projection
482 // cor center of rotation
483 // dir1 old mouse direction
484 // dir2 new mouse direction
485 // pretend there is a sphere around cor. Then find the points
486 // where dir1 and dir2 intersect that sphere. Find the
487 // rotation that takes the first point to the second.
488 float m;
489 // compute plane
490 float3 nrml = cor - cop;
491 float fudgefactor = 1.0f / (float3.magnitude(nrml) * 0.25f); // since trackball proportional to distance from cop
492 nrml = float3.normalize(nrml);
493 float dist = -float3.dot(nrml, cor);
494 float3 u = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir1);
495 u = u - cor;
496 u = u * fudgefactor;
497 m = float3.magnitude(u);
498 if (m > 1)
499 {
500 u /= m;
501 }
502 else
503 {
504 u = u - (nrml * (float)Math.Sqrt(1 - m * m));
505 }
506 float3 v = PlaneLineIntersection(new Plane(nrml, dist), cop, cop + dir2);
507 v = v - cor;
508 v = v * fudgefactor;
509 m = float3.magnitude(v);
510 if (m > 1)
511 {
512 v /= m;
513 }
514 else
515 {
516 v = v - (nrml * (float)Math.Sqrt(1 - m * m));
517 }
518 return RotationArc(u, v);
519 }
520
521 public static bool AssertIntact(ConvexH convex, float planetestepsilon)
522 {
523 int i;
524 int estart = 0;
525 for (i = 0; i < convex.edges.Count; i++)
526 {
527 if (convex.edges[estart].p != convex.edges[i].p)
528 {
529 estart = i;
530 }
531 int inext = i + 1;
532 if (inext >= convex.edges.Count || convex.edges[inext].p != convex.edges[i].p)
533 {
534 inext = estart;
535 }
536 Debug.Assert(convex.edges[inext].p == convex.edges[i].p);
537 int nb = convex.edges[i].ea;
538 Debug.Assert(nb != 255);
539 if (nb == 255 || nb == -1)
540 return false;
541 Debug.Assert(nb != -1);
542 Debug.Assert(i == convex.edges[nb].ea);
543 }
544 for (i = 0; i < convex.edges.Count; i++)
545 {
546 Debug.Assert((0) == PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon));
547 if ((0) != PlaneTest(convex.facets[convex.edges[i].p], convex.vertices[convex.edges[i].v], planetestepsilon))
548 return false;
549 if (convex.edges[estart].p != convex.edges[i].p)
550 {
551 estart = i;
552 }
553 int i1 = i + 1;
554 if (i1 >= convex.edges.Count || convex.edges[i1].p != convex.edges[i].p)
555 {
556 i1 = estart;
557 }
558 int i2 = i1 + 1;
559 if (i2 >= convex.edges.Count || convex.edges[i2].p != convex.edges[i].p)
560 {
561 i2 = estart;
562 }
563 if (i == i2) // i sliced tangent to an edge and created 2 meaningless edges
564 continue;
565 float3 localnormal = TriNormal(convex.vertices[convex.edges[i].v], convex.vertices[convex.edges[i1].v], convex.vertices[convex.edges[i2].v]);
566 Debug.Assert(float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) > 0);
567 if (float3.dot(localnormal, convex.facets[convex.edges[i].p].normal) <= 0)
568 return false;
569 }
570 return true;
571 }
572
573 public static ConvexH test_btbq(float planetestepsilon)
574 {
575 // back to back quads
576 ConvexH convex = new ConvexH(4, 8, 2);
577 convex.vertices[0] = new float3(0, 0, 0);
578 convex.vertices[1] = new float3(1, 0, 0);
579 convex.vertices[2] = new float3(1, 1, 0);
580 convex.vertices[3] = new float3(0, 1, 0);
581 convex.facets[0] = new Plane(new float3(0, 0, 1), 0);
582 convex.facets[1] = new Plane(new float3(0, 0, -1), 0);
583 convex.edges[0] = new ConvexH.HalfEdge(7, 0, 0);
584 convex.edges[1] = new ConvexH.HalfEdge(6, 1, 0);
585 convex.edges[2] = new ConvexH.HalfEdge(5, 2, 0);
586 convex.edges[3] = new ConvexH.HalfEdge(4, 3, 0);
587
588 convex.edges[4] = new ConvexH.HalfEdge(3, 0, 1);
589 convex.edges[5] = new ConvexH.HalfEdge(2, 3, 1);
590 convex.edges[6] = new ConvexH.HalfEdge(1, 2, 1);
591 convex.edges[7] = new ConvexH.HalfEdge(0, 1, 1);
592 AssertIntact(convex, planetestepsilon);
593 return convex;
594 }
595
596 public static ConvexH test_cube()
597 {
598 ConvexH convex = new ConvexH(8, 24, 6);
599 convex.vertices[0] = new float3(0, 0, 0);
600 convex.vertices[1] = new float3(0, 0, 1);
601 convex.vertices[2] = new float3(0, 1, 0);
602 convex.vertices[3] = new float3(0, 1, 1);
603 convex.vertices[4] = new float3(1, 0, 0);
604 convex.vertices[5] = new float3(1, 0, 1);
605 convex.vertices[6] = new float3(1, 1, 0);
606 convex.vertices[7] = new float3(1, 1, 1);
607
608 convex.facets[0] = new Plane(new float3(-1, 0, 0), 0);
609 convex.facets[1] = new Plane(new float3(1, 0, 0), -1);
610 convex.facets[2] = new Plane(new float3(0, -1, 0), 0);
611 convex.facets[3] = new Plane(new float3(0, 1, 0), -1);
612 convex.facets[4] = new Plane(new float3(0, 0, -1), 0);
613 convex.facets[5] = new Plane(new float3(0, 0, 1), -1);
614
615 convex.edges[0] = new ConvexH.HalfEdge(11, 0, 0);
616 convex.edges[1] = new ConvexH.HalfEdge(23, 1, 0);
617 convex.edges[2] = new ConvexH.HalfEdge(15, 3, 0);
618 convex.edges[3] = new ConvexH.HalfEdge(16, 2, 0);
619
620 convex.edges[4] = new ConvexH.HalfEdge(13, 6, 1);
621 convex.edges[5] = new ConvexH.HalfEdge(21, 7, 1);
622 convex.edges[6] = new ConvexH.HalfEdge(9, 5, 1);
623 convex.edges[7] = new ConvexH.HalfEdge(18, 4, 1);
624
625 convex.edges[8] = new ConvexH.HalfEdge(19, 0, 2);
626 convex.edges[9] = new ConvexH.HalfEdge(6, 4, 2);
627 convex.edges[10] = new ConvexH.HalfEdge(20, 5, 2);
628 convex.edges[11] = new ConvexH.HalfEdge(0, 1, 2);
629
630 convex.edges[12] = new ConvexH.HalfEdge(22, 3, 3);
631 convex.edges[13] = new ConvexH.HalfEdge(4, 7, 3);
632 convex.edges[14] = new ConvexH.HalfEdge(17, 6, 3);
633 convex.edges[15] = new ConvexH.HalfEdge(2, 2, 3);
634
635 convex.edges[16] = new ConvexH.HalfEdge(3, 0, 4);
636 convex.edges[17] = new ConvexH.HalfEdge(14, 2, 4);
637 convex.edges[18] = new ConvexH.HalfEdge(7, 6, 4);
638 convex.edges[19] = new ConvexH.HalfEdge(8, 4, 4);
639
640 convex.edges[20] = new ConvexH.HalfEdge(10, 1, 5);
641 convex.edges[21] = new ConvexH.HalfEdge(5, 5, 5);
642 convex.edges[22] = new ConvexH.HalfEdge(12, 7, 5);
643 convex.edges[23] = new ConvexH.HalfEdge(1, 3, 5);
644
645 return convex;
646 }
647
648 public static ConvexH ConvexHMakeCube(float3 bmin, float3 bmax)
649 {
650 ConvexH convex = test_cube();
651 convex.vertices[0] = new float3(bmin.x, bmin.y, bmin.z);
652 convex.vertices[1] = new float3(bmin.x, bmin.y, bmax.z);
653 convex.vertices[2] = new float3(bmin.x, bmax.y, bmin.z);
654 convex.vertices[3] = new float3(bmin.x, bmax.y, bmax.z);
655 convex.vertices[4] = new float3(bmax.x, bmin.y, bmin.z);
656 convex.vertices[5] = new float3(bmax.x, bmin.y, bmax.z);
657 convex.vertices[6] = new float3(bmax.x, bmax.y, bmin.z);
658 convex.vertices[7] = new float3(bmax.x, bmax.y, bmax.z);
659
660 convex.facets[0] = new Plane(new float3(-1, 0, 0), bmin.x);
661 convex.facets[1] = new Plane(new float3(1, 0, 0), -bmax.x);
662 convex.facets[2] = new Plane(new float3(0, -1, 0), bmin.y);
663 convex.facets[3] = new Plane(new float3(0, 1, 0), -bmax.y);
664 convex.facets[4] = new Plane(new float3(0, 0, -1), bmin.z);
665 convex.facets[5] = new Plane(new float3(0, 0, 1), -bmax.z);
666 return convex;
667 }
668
669 public static ConvexH ConvexHCrop(ref ConvexH convex, Plane slice, float planetestepsilon)
670 {
671 int i;
672 int vertcountunder = 0;
673 int vertcountover = 0;
674 List<int> vertscoplanar = new List<int>(); // existing vertex members of convex that are coplanar
675 List<int> edgesplit = new List<int>(); // existing edges that members of convex that cross the splitplane
676
677 Debug.Assert(convex.edges.Count < 480);
678
679 EdgeFlag[] edgeflag = new EdgeFlag[512];
680 VertFlag[] vertflag = new VertFlag[256];
681 PlaneFlag[] planeflag = new PlaneFlag[128];
682 ConvexH.HalfEdge[] tmpunderedges = new ConvexH.HalfEdge[512];
683 Plane[] tmpunderplanes = new Plane[128];
684 Coplanar[] coplanaredges = new Coplanar[512];
685 int coplanaredges_num = 0;
686
687 List<float3> createdverts = new List<float3>();
688
689 // do the side-of-plane tests
690 for (i = 0; i < convex.vertices.Count; i++)
691 {
692 vertflag[i].planetest = (byte)PlaneTest(slice, convex.vertices[i], planetestepsilon);
693 if (vertflag[i].planetest == (0))
694 {
695 // ? vertscoplanar.Add(i);
696 vertflag[i].undermap = (byte)vertcountunder++;
697 vertflag[i].overmap = (byte)vertcountover++;
698 }
699 else if (vertflag[i].planetest == (1))
700 {
701 vertflag[i].undermap = (byte)vertcountunder++;
702 }
703 else
704 {
705 Debug.Assert(vertflag[i].planetest == (2));
706 vertflag[i].overmap = (byte)vertcountover++;
707 vertflag[i].undermap = 255; // for debugging purposes
708 }
709 }
710 int vertcountunderold = vertcountunder; // for debugging only
711
712 int under_edge_count = 0;
713 int underplanescount = 0;
714 int e0 = 0;
715
716 for (int currentplane = 0; currentplane < convex.facets.Count; currentplane++)
717 {
718 int estart = e0;
719 int enextface = 0;
720 int planeside = 0;
721 int e1 = e0 + 1;
722 int vout = -1;
723 int vin = -1;
724 int coplanaredge = -1;
725 do
726 {
727
728 if (e1 >= convex.edges.Count || convex.edges[e1].p != currentplane)
729 {
730 enextface = e1;
731 e1 = estart;
732 }
733 ConvexH.HalfEdge edge0 = convex.edges[e0];
734 ConvexH.HalfEdge edge1 = convex.edges[e1];
735 ConvexH.HalfEdge edgea = convex.edges[edge0.ea];
736
737 planeside |= vertflag[edge0.v].planetest;
738 //if((vertflag[edge0.v].planetest & vertflag[edge1.v].planetest) == COPLANAR) {
739 // assert(ecop==-1);
740 // ecop=e;
741 //}
742
743 if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (2))
744 {
745 // both endpoints over plane
746 edgeflag[e0].undermap = -1;
747 }
748 else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (1))
749 {
750 // at least one endpoint under, the other coplanar or under
751
752 edgeflag[e0].undermap = (short)under_edge_count;
753 tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
754 tmpunderedges[under_edge_count].p = (byte)underplanescount;
755 if (edge0.ea < e0)
756 {
757 // connect the neighbors
758 Debug.Assert(edgeflag[edge0.ea].undermap != -1);
759 tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
760 tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
761 }
762 under_edge_count++;
763 }
764 else if ((vertflag[edge0.v].planetest | vertflag[edge1.v].planetest) == (0))
765 {
766 // both endpoints coplanar
767 // must check a 3rd point to see if UNDER
768 int e2 = e1 + 1;
769 if (e2 >= convex.edges.Count || convex.edges[e2].p != currentplane)
770 {
771 e2 = estart;
772 }
773 Debug.Assert(convex.edges[e2].p == currentplane);
774 ConvexH.HalfEdge edge2 = convex.edges[e2];
775 if (vertflag[edge2.v].planetest == (1))
776 {
777
778 edgeflag[e0].undermap = (short)under_edge_count;
779 tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
780 tmpunderedges[under_edge_count].p = (byte)underplanescount;
781 tmpunderedges[under_edge_count].ea = -1;
782 // make sure this edge is added to the "coplanar" list
783 coplanaredge = under_edge_count;
784 vout = vertflag[edge0.v].undermap;
785 vin = vertflag[edge1.v].undermap;
786 under_edge_count++;
787 }
788 else
789 {
790 edgeflag[e0].undermap = -1;
791 }
792 }
793 else if (vertflag[edge0.v].planetest == (1) && vertflag[edge1.v].planetest == (2))
794 {
795 // first is under 2nd is over
796
797 edgeflag[e0].undermap = (short)under_edge_count;
798 tmpunderedges[under_edge_count].v = vertflag[edge0.v].undermap;
799 tmpunderedges[under_edge_count].p = (byte)underplanescount;
800 if (edge0.ea < e0)
801 {
802 Debug.Assert(edgeflag[edge0.ea].undermap != -1);
803 // connect the neighbors
804 tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
805 tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
806 vout = tmpunderedges[edgeflag[edge0.ea].undermap].v;
807 }
808 else
809 {
810 Plane p0 = convex.facets[edge0.p];
811 Plane pa = convex.facets[edgea.p];
812 createdverts.Add(ThreePlaneIntersection(p0, pa, slice));
813 //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])));
814 //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]));
815 vout = vertcountunder++;
816 }
817 under_edge_count++;
818 /// hmmm something to think about: i might be able to output this edge regarless of
819 // wheter or not we know v-in yet. ok i;ll try this now:
820 tmpunderedges[under_edge_count].v = (byte)vout;
821 tmpunderedges[under_edge_count].p = (byte)underplanescount;
822 tmpunderedges[under_edge_count].ea = -1;
823 coplanaredge = under_edge_count;
824 under_edge_count++;
825
826 if (vin != -1)
827 {
828 // we previously processed an edge where we came under
829 // now we know about vout as well
830
831 // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
832 }
833
834 }
835 else if (vertflag[edge0.v].planetest == (0) && vertflag[edge1.v].planetest == (2))
836 {
837 // first is coplanar 2nd is over
838
839 edgeflag[e0].undermap = -1;
840 vout = vertflag[edge0.v].undermap;
841 // I hate this but i have to make sure part of this face is UNDER before ouputting this vert
842 int k = estart;
843 Debug.Assert(edge0.p == currentplane);
844 while (!((planeside & 1) != 0) && k < convex.edges.Count && convex.edges[k].p == edge0.p)
845 {
846 planeside |= vertflag[convex.edges[k].v].planetest;
847 k++;
848 }
849 if ((planeside & 1) != 0)
850 {
851 tmpunderedges[under_edge_count].v = (byte)vout;
852 tmpunderedges[under_edge_count].p = (byte)underplanescount;
853 tmpunderedges[under_edge_count].ea = -1;
854 coplanaredge = under_edge_count; // hmmm should make a note of the edge # for later on
855 under_edge_count++;
856
857 }
858 }
859 else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (1))
860 {
861 // first is over next is under
862 // new vertex!!!
863 Debug.Assert(vin == -1);
864 if (e0 < edge0.ea)
865 {
866 Plane p0 = convex.facets[edge0.p];
867 Plane pa = convex.facets[edgea.p];
868 createdverts.Add(ThreePlaneIntersection(p0, pa, slice));
869 //createdverts.Add(PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v]));
870 //createdverts.Add(PlaneProject(slice,PlaneLineIntersection(slice,convex.vertices[edge0.v],convex.vertices[edgea.v])));
871 vin = vertcountunder++;
872 }
873 else
874 {
875 // find the new vertex that was created by edge[edge0.ea]
876 int nea = edgeflag[edge0.ea].undermap;
877 Debug.Assert(tmpunderedges[nea].p == tmpunderedges[nea + 1].p);
878 vin = tmpunderedges[nea + 1].v;
879 Debug.Assert(vin < vertcountunder);
880 Debug.Assert(vin >= vertcountunderold); // for debugging only
881 }
882 if (vout != -1)
883 {
884 // we previously processed an edge where we went over
885 // now we know vin too
886 // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
887 }
888 // output edge
889 tmpunderedges[under_edge_count].v = (byte)vin;
890 tmpunderedges[under_edge_count].p = (byte)underplanescount;
891 edgeflag[e0].undermap = (short)under_edge_count;
892 if (e0 > edge0.ea)
893 {
894 Debug.Assert(edgeflag[edge0.ea].undermap != -1);
895 // connect the neighbors
896 tmpunderedges[under_edge_count].ea = edgeflag[edge0.ea].undermap;
897 tmpunderedges[edgeflag[edge0.ea].undermap].ea = (short)under_edge_count;
898 }
899 Debug.Assert(edgeflag[e0].undermap == under_edge_count);
900 under_edge_count++;
901 }
902 else if (vertflag[edge0.v].planetest == (2) && vertflag[edge1.v].planetest == (0))
903 {
904 // first is over next is coplanar
905
906 edgeflag[e0].undermap = -1;
907 vin = vertflag[edge1.v].undermap;
908 Debug.Assert(vin != -1);
909 if (vout != -1)
910 {
911 // we previously processed an edge where we came under
912 // now we know both endpoints
913 // ADD THIS EDGE TO THE LIST OF EDGES THAT NEED NEIGHBOR ON PARTITION PLANE!!
914 }
915
916 }
917 else
918 {
919 Debug.Assert(false);
920 }
921
922
923 e0 = e1;
924 e1++; // do the modulo at the beginning of the loop
925
926 } while (e0 != estart);
927 e0 = enextface;
928 if ((planeside & 1) != 0)
929 {
930 planeflag[currentplane].undermap = (byte)underplanescount;
931 tmpunderplanes[underplanescount] = convex.facets[currentplane];
932 underplanescount++;
933 }
934 else
935 {
936 planeflag[currentplane].undermap = 0;
937 }
938 if (vout >= 0 && (planeside & 1) != 0)
939 {
940 Debug.Assert(vin >= 0);
941 Debug.Assert(coplanaredge >= 0);
942 Debug.Assert(coplanaredge != 511);
943 coplanaredges[coplanaredges_num].ea = (ushort)coplanaredge;
944 coplanaredges[coplanaredges_num].v0 = (byte)vin;
945 coplanaredges[coplanaredges_num].v1 = (byte)vout;
946 coplanaredges_num++;
947 }
948 }
949
950 // add the new plane to the mix:
951 if (coplanaredges_num > 0)
952 {
953 tmpunderplanes[underplanescount++] = slice;
954 }
955 for (i = 0; i < coplanaredges_num - 1; i++)
956 {
957 if (coplanaredges[i].v1 != coplanaredges[i + 1].v0)
958 {
959 int j = 0;
960 for (j = i + 2; j < coplanaredges_num; j++)
961 {
962 if (coplanaredges[i].v1 == coplanaredges[j].v0)
963 {
964 Coplanar tmp = coplanaredges[i + 1];
965 coplanaredges[i + 1] = coplanaredges[j];
966 coplanaredges[j] = tmp;
967 break;
968 }
969 }
970 if (j >= coplanaredges_num)
971 {
972 Debug.Assert(j < coplanaredges_num);
973 return null;
974 }
975 }
976 }
977
978 ConvexH punder = new ConvexH(vertcountunder, under_edge_count + coplanaredges_num, underplanescount);
979 ConvexH under = punder;
980
981 {
982 int k = 0;
983 for (i = 0; i < convex.vertices.Count; i++)
984 {
985 if (vertflag[i].planetest != (2))
986 {
987 under.vertices[k++] = convex.vertices[i];
988 }
989 }
990 i = 0;
991 while (k < vertcountunder)
992 {
993 under.vertices[k++] = createdverts[i++];
994 }
995 Debug.Assert(i == createdverts.Count);
996 }
997
998 for (i = 0; i < coplanaredges_num; i++)
999 {
1000 ConvexH.HalfEdge edge = under.edges[under_edge_count + i];
1001 edge.p = (byte)(underplanescount - 1);
1002 edge.ea = (short)coplanaredges[i].ea;
1003 edge.v = (byte)coplanaredges[i].v0;
1004 under.edges[under_edge_count + i] = edge;
1005
1006 tmpunderedges[coplanaredges[i].ea].ea = (short)(under_edge_count + i);
1007 }
1008
1009 under.edges = new List<ConvexH.HalfEdge>(tmpunderedges);
1010 under.facets = new List<Plane>(tmpunderplanes);
1011 return punder;
1012 }
1013
1014 public static ConvexH ConvexHDup(ConvexH src)
1015 {
1016 ConvexH dst = new ConvexH(src.vertices.Count, src.edges.Count, src.facets.Count);
1017 dst.vertices = new List<float3>(src.vertices.Count);
1018 foreach (float3 f in src.vertices)
1019 dst.vertices.Add(new float3(f));
1020 dst.edges = new List<ConvexH.HalfEdge>(src.edges.Count);
1021 foreach (ConvexH.HalfEdge e in src.edges)
1022 dst.edges.Add(new ConvexH.HalfEdge(e));
1023 dst.facets = new List<Plane>(src.facets.Count);
1024 foreach (Plane p in src.facets)
1025 dst.facets.Add(new Plane(p));
1026 return dst;
1027 }
1028
1029 public static int candidateplane(List<Plane> planes, int planes_count, ConvexH convex, float epsilon)
1030 {
1031 int p = 0;
1032 float md = 0;
1033 int i;
1034 for (i = 0; i < planes_count; i++)
1035 {
1036 float d = 0;
1037 for (int j = 0; j < convex.vertices.Count; j++)
1038 {
1039 d = Math.Max(d, float3.dot(convex.vertices[j], planes[i].normal) + planes[i].dist);
1040 }
1041 if (i == 0 || d > md)
1042 {
1043 p = i;
1044 md = d;
1045 }
1046 }
1047 return (md > epsilon) ? p : -1;
1048 }
1049
1050 public static float3 orth(float3 v)
1051 {
1052 float3 a = float3.cross(v, new float3(0f, 0f, 1f));
1053 float3 b = float3.cross(v, new float3(0f, 1f, 0f));
1054 return float3.normalize((float3.magnitude(a) > float3.magnitude(b)) ? a : b);
1055 }
1056
1057 public static int maxdir(List<float3> p, int count, float3 dir)
1058 {
1059 Debug.Assert(count != 0);
1060 int m = 0;
1061 float currDotm = float3.dot(p[0], dir);
1062 for (int i = 1; i < count; i++)
1063 {
1064 float currDoti = float3.dot(p[i], dir);
1065 if (currDoti > currDotm)
1066 {
1067 currDotm = currDoti;
1068 m = i;
1069 }
1070 }
1071 return m;
1072 }
1073
1074 public static int maxdirfiltered(List<float3> p, int count, float3 dir, byte[] allow)
1075 {
1076 //Debug.Assert(count != 0);
1077 int m = 0;
1078 float currDotm = float3.dot(p[0], dir);
1079 float currDoti;
1080
1081 while (allow[m] == 0)
1082 m++;
1083
1084 for (int i = 1; i < count; i++)
1085 {
1086 if (allow[i] != 0)
1087 {
1088 currDoti = float3.dot(p[i], dir);
1089 if (currDoti > currDotm)
1090 {
1091 currDotm = currDoti;
1092 m = i;
1093 }
1094 }
1095 }
1096 //Debug.Assert(m != -1);
1097 return m;
1098 }
1099
1100 public static int maxdirsterid(List<float3> p, int count, float3 dir, byte[] allow)
1101 {
1102 int m = -1;
1103 while (m == -1)
1104 {
1105 m = maxdirfiltered(p, count, dir, allow);
1106 if (allow[m] == 3)
1107 return m;
1108 float3 u = orth(dir);
1109 float3 v = float3.cross(u, dir);
1110 int ma = -1;
1111 for (float x = 0.0f; x <= 360.0f; x += 45.0f)
1112 {
1113 int mb;
1114 {
1115 float s = (float)Math.Sin((3.14159264f / 180.0f) * (x));
1116 float c = (float)Math.Cos((3.14159264f / 180.0f) * (x));
1117 mb = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
1118 }
1119 if (ma == m && mb == m)
1120 {
1121 allow[m] = 3;
1122 return m;
1123 }
1124 if (ma != -1 && ma != mb) // Yuck - this is really ugly
1125 {
1126 int mc = ma;
1127 for (float xx = x - 40.0f; xx <= x; xx += 5.0f)
1128 {
1129 float s = (float)Math.Sin((3.14159264f / 180.0f) * (xx));
1130 float c = (float)Math.Cos((3.14159264f / 180.0f) * (xx));
1131 int md = maxdirfiltered(p, count, dir + (u * s + v * c) * 0.025f, allow);
1132 if (mc == m && md == m)
1133 {
1134 allow[m] = 3;
1135 return m;
1136 }
1137 mc = md;
1138 }
1139 }
1140 ma = mb;
1141 }
1142 allow[m] = 0;
1143 m = -1;
1144 }
1145
1146 Debug.Assert(false);
1147 return m;
1148 }
1149
1150 public static int4 FindSimplex(List<float3> verts, byte[] allow)
1151 {
1152 float3[] basis = new float3[3];
1153 basis[0] = new float3(0.01f, 0.02f, 1.0f);
1154 int p0 = maxdirsterid(verts, verts.Count, basis[0], allow);
1155 int p1 = maxdirsterid(verts, verts.Count, -basis[0], allow);
1156 basis[0] = verts[p0] - verts[p1];
1157 if (p0 == p1 || basis[0] == new float3(0, 0, 0))
1158 return new int4(-1, -1, -1, -1);
1159 basis[1] = float3.cross(new float3(1, 0.02f, 0), basis[0]);
1160 basis[2] = float3.cross(new float3(-0.02f, 1, 0), basis[0]);
1161 basis[1] = float3.normalize((float3.magnitude(basis[1]) > float3.magnitude(basis[2])) ? basis[1] : basis[2]);
1162 int p2 = maxdirsterid(verts, verts.Count, basis[1], allow);
1163 if (p2 == p0 || p2 == p1)
1164 {
1165 p2 = maxdirsterid(verts, verts.Count, -basis[1], allow);
1166 }
1167 if (p2 == p0 || p2 == p1)
1168 return new int4(-1, -1, -1, -1);
1169 basis[1] = verts[p2] - verts[p0];
1170 basis[2] = float3.normalize(float3.cross(basis[1], basis[0]));
1171 int p3 = maxdirsterid(verts, verts.Count, basis[2], allow);
1172 if (p3 == p0 || p3 == p1 || p3 == p2)
1173 p3 = maxdirsterid(verts, verts.Count, -basis[2], allow);
1174 if (p3 == p0 || p3 == p1 || p3 == p2)
1175 return new int4(-1, -1, -1, -1);
1176 Debug.Assert(!(p0 == p1 || p0 == p2 || p0 == p3 || p1 == p2 || p1 == p3 || p2 == p3));
1177 if (float3.dot(verts[p3] - verts[p0], float3.cross(verts[p1] - verts[p0], verts[p2] - verts[p0])) < 0)
1178 {
1179 Swap(ref p2, ref p3);
1180 }
1181 return new int4(p0, p1, p2, p3);
1182 }
1183
1184 public static float GetDist(float px, float py, float pz, float3 p2)
1185 {
1186 float dx = px - p2.x;
1187 float dy = py - p2.y;
1188 float dz = pz - p2.z;
1189
1190 return dx * dx + dy * dy + dz * dz;
1191 }
1192
1193 public static void ReleaseHull(PHullResult result)
1194 {
1195 if (result.Indices != null)
1196 result.Indices = null;
1197 if (result.Vertices != null)
1198 result.Vertices = null;
1199 }
1200
1201 public static int calchullgen(List<float3> verts, int vlimit, List<HullTriangle> tris)
1202 {
1203 if (verts.Count < 4)
1204 return 0;
1205 if (vlimit == 0)
1206 vlimit = 1000000000;
1207 int j;
1208 float3 bmin = new float3(verts[0]);
1209 float3 bmax = new float3(verts[0]);
1210 List<int> isextreme = new List<int>(verts.Count);
1211 byte[] allow = new byte[verts.Count];
1212 for (j = 0; j < verts.Count; j++)
1213 {
1214 allow[j] = 1;
1215 isextreme.Add(0);
1216 bmin = float3.VectorMin(bmin, verts[j]);
1217 bmax = float3.VectorMax(bmax, verts[j]);
1218 }
1219 float epsilon = float3.magnitude(bmax - bmin) * 0.001f;
1220
1221 int4 p = FindSimplex(verts, allow);
1222 if (p.x == -1) // simplex failed
1223 return 0;
1224
1225 float3 center = (verts[p[0]] + verts[p[1]] + verts[p[2]] + verts[p[3]]) / 4.0f; // a valid interior point
1226 HullTriangle t0 = new HullTriangle(p[2], p[3], p[1], tris);
1227 t0.n = new int3(2, 3, 1);
1228 HullTriangle t1 = new HullTriangle(p[3], p[2], p[0], tris);
1229 t1.n = new int3(3, 2, 0);
1230 HullTriangle t2 = new HullTriangle(p[0], p[1], p[3], tris);
1231 t2.n = new int3(0, 1, 3);
1232 HullTriangle t3 = new HullTriangle(p[1], p[0], p[2], tris);
1233 t3.n = new int3(1, 0, 2);
1234 isextreme[p[0]] = isextreme[p[1]] = isextreme[p[2]] = isextreme[p[3]] = 1;
1235 checkit(t0, tris);
1236 checkit(t1, tris);
1237 checkit(t2, tris);
1238 checkit(t3, tris);
1239
1240 for (j = 0; j < tris.Count; j++)
1241 {
1242 HullTriangle t = tris[j];
1243 Debug.Assert((object)t != null);
1244 Debug.Assert(t.vmax < 0);
1245 float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
1246 t.vmax = maxdirsterid(verts, verts.Count, n, allow);
1247 t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]);
1248 }
1249 HullTriangle te;
1250 vlimit -= 4;
1251 while (vlimit > 0 && (te = extrudable(epsilon, tris)) != null)
1252 {
1253 int3 ti = te;
1254 int v = te.vmax;
1255 Debug.Assert(isextreme[v] == 0); // wtf we've already done this vertex
1256 isextreme[v] = 1;
1257 //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already
1258 j = tris.Count;
1259 while (j-- != 0)
1260 {
1261 if (tris.Count <= j || (object)tris[j] == null)
1262 continue;
1263 int3 t = tris[j];
1264 if (above(verts, t, verts[v], 0.01f * epsilon))
1265 {
1266 extrude(tris[j], v, tris);
1267 }
1268 }
1269 // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
1270 j = tris.Count;
1271 while (j-- != 0)
1272 {
1273 if (tris.Count <= j || (object)tris[j] == null)
1274 continue;
1275 if (!hasvert(tris[j], v))
1276 break;
1277 int3 nt = tris[j];
1278 if (above(verts, nt, center, 0.01f * epsilon) || float3.magnitude(float3.cross(verts[nt[1]] - verts[nt[0]], verts[nt[2]] - verts[nt[1]])) < epsilon * epsilon * 0.1f)
1279 {
1280 HullTriangle nb = tris[tris[j].n[0]];
1281 Debug.Assert(nb != null);
1282 Debug.Assert(!hasvert(nb, v));
1283 Debug.Assert(nb.id < j);
1284 extrude(nb, v, tris);
1285 j = tris.Count;
1286 }
1287 }
1288 j = tris.Count;
1289 while (j-- != 0)
1290 {
1291 HullTriangle t = tris[j];
1292 if (t == null)
1293 continue;
1294 if (t.vmax >= 0)
1295 break;
1296 float3 n = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
1297 t.vmax = maxdirsterid(verts, verts.Count, n, allow);
1298 if (isextreme[t.vmax] != 0)
1299 {
1300 t.vmax = -1; // already done that vertex - algorithm needs to be able to terminate.
1301 }
1302 else
1303 {
1304 t.rise = float3.dot(n, verts[t.vmax] - verts[(t)[0]]);
1305 }
1306 }
1307 vlimit--;
1308 }
1309 return 1;
1310 }
1311
1312 public static bool calchull(List<float3> verts, out List<int> tris_out, int vlimit, List<HullTriangle> tris)
1313 {
1314 tris_out = null;
1315
1316 int rc = calchullgen(verts, vlimit, tris);
1317 if (rc == 0)
1318 return false;
1319 List<int> ts = new List<int>();
1320 for (int i = 0; i < tris.Count; i++)
1321 {
1322 if ((object)tris[i] != null)
1323 {
1324 for (int j = 0; j < 3; j++)
1325 ts.Add((tris[i])[j]);
1326 tris[i] = null;
1327 }
1328 }
1329
1330 tris_out = ts;
1331 tris.Clear();
1332 return true;
1333 }
1334
1335 public static int calchullpbev(List<float3> verts, int vlimit, out List<Plane> planes, float bevangle, List<HullTriangle> tris)
1336 {
1337 int i;
1338 int j;
1339 planes = new List<Plane>();
1340 int rc = calchullgen(verts, vlimit, tris);
1341 if (rc == 0)
1342 return 0;
1343 for (i = 0; i < tris.Count; i++)
1344 {
1345 if (tris[i] != null)
1346 {
1347 Plane p = new Plane();
1348 HullTriangle t = tris[i];
1349 p.normal = TriNormal(verts[(t)[0]], verts[(t)[1]], verts[(t)[2]]);
1350 p.dist = -float3.dot(p.normal, verts[(t)[0]]);
1351 planes.Add(p);
1352 for (j = 0; j < 3; j++)
1353 {
1354 if (t.n[j] < t.id)
1355 continue;
1356 HullTriangle s = tris[t.n[j]];
1357 float3 snormal = TriNormal(verts[(s)[0]], verts[(s)[1]], verts[(s)[2]]);
1358 if (float3.dot(snormal, p.normal) >= Math.Cos(bevangle * (3.14159264f / 180.0f)))
1359 continue;
1360 float3 n = float3.normalize(snormal + p.normal);
1361 planes.Add(new Plane(n, -float3.dot(n, verts[maxdir(verts, verts.Count, n)])));
1362 }
1363 }
1364 }
1365
1366 tris.Clear();
1367 return 1;
1368 }
1369
1370 public static int overhull(List<Plane> planes, List<float3> verts, int maxplanes, out List<float3> verts_out, out List<int> faces_out, float inflate)
1371 {
1372 verts_out = null;
1373 faces_out = null;
1374
1375 int i;
1376 int j;
1377 if (verts.Count < 4)
1378 return 0;
1379 maxplanes = Math.Min(maxplanes, planes.Count);
1380 float3 bmin = new float3(verts[0]);
1381 float3 bmax = new float3(verts[0]);
1382 for (i = 0; i < verts.Count; i++)
1383 {
1384 bmin = float3.VectorMin(bmin, verts[i]);
1385 bmax = float3.VectorMax(bmax, verts[i]);
1386 }
1387 // float diameter = magnitude(bmax-bmin);
1388 // inflate *=diameter; // RELATIVE INFLATION
1389 bmin -= new float3(inflate, inflate, inflate);
1390 bmax += new float3(inflate, inflate, inflate);
1391 for (i = 0; i < planes.Count; i++)
1392 {
1393 planes[i].dist -= inflate;
1394 }
1395 float3 emin = new float3(bmin);
1396 float3 emax = new float3(bmax);
1397 float epsilon = float3.magnitude(emax - emin) * 0.025f;
1398 float planetestepsilon = float3.magnitude(emax - emin) * (0.001f);
1399 // todo: add bounding cube planes to force bevel. or try instead not adding the diameter expansion ??? must think.
1400 // ConvexH *convex = ConvexHMakeCube(bmin - float3(diameter,diameter,diameter),bmax+float3(diameter,diameter,diameter));
1401 ConvexH c = ConvexHMakeCube(new float3(bmin), new float3(bmax));
1402 int k;
1403 while (maxplanes-- != 0 && (k = candidateplane(planes, planes.Count, c, epsilon)) >= 0)
1404 {
1405 ConvexH tmp = c;
1406 c = ConvexHCrop(ref tmp, planes[k], planetestepsilon);
1407 if (c == null) // might want to debug this case better!!!
1408 {
1409 c = tmp;
1410 break;
1411 }
1412 if (AssertIntact(c, planetestepsilon) == false) // might want to debug this case better too!!!
1413 {
1414 c = tmp;
1415 break;
1416 }
1417 tmp.edges = null;
1418 tmp.facets = null;
1419 tmp.vertices = null;
1420 }
1421
1422 Debug.Assert(AssertIntact(c, planetestepsilon));
1423 //return c;
1424 //C++ TO C# CONVERTER TODO TASK: The memory management function 'malloc' has no equivalent in C#:
1425 faces_out = new List<int>(); //(int)malloc(sizeof(int) * (1 + c.facets.Count + c.edges.Count)); // new int[1+c->facets.count+c->edges.count];
1426 int faces_count_out = 0;
1427 i = 0;
1428 faces_out[faces_count_out++] = -1;
1429 k = 0;
1430 while (i < c.edges.Count)
1431 {
1432 j = 1;
1433 while (j + i < c.edges.Count && c.edges[i].p == c.edges[i + j].p)
1434 {
1435 j++;
1436 }
1437 faces_out[faces_count_out++] = j;
1438 while (j-- != 0)
1439 {
1440 faces_out[faces_count_out++] = c.edges[i].v;
1441 i++;
1442 }
1443 k++;
1444 }
1445 faces_out[0] = k; // number of faces.
1446 Debug.Assert(k == c.facets.Count);
1447 Debug.Assert(faces_count_out == 1 + c.facets.Count + c.edges.Count);
1448 verts_out = c.vertices; // new float3[c->vertices.count];
1449 int verts_count_out = c.vertices.Count;
1450 for (i = 0; i < c.vertices.Count; i++)
1451 {
1452 verts_out[i] = new float3(c.vertices[i]);
1453 }
1454
1455 c.edges = null;
1456 c.facets = null;
1457 c.vertices = null;
1458 return 1;
1459 }
1460
1461 public static int overhullv(List<float3> verts, int maxplanes, out List<float3> verts_out, out List<int> faces_out, float inflate, float bevangle, int vlimit, List<HullTriangle> tris)
1462 {
1463 verts_out = null;
1464 faces_out = null;
1465
1466 if (verts.Count == 0)
1467 return 0;
1468 List<Plane> planes = new List<Plane>();
1469 int rc = calchullpbev(verts, vlimit, out planes, bevangle, tris);
1470 if (rc == 0)
1471 return 0;
1472 return overhull(planes, verts, maxplanes, out verts_out, out faces_out, inflate);
1473 }
1474
1475 public static void addPoint(ref uint vcount, List<float3> p, float x, float y, float z)
1476 {
1477 p.Add(new float3(x, y, z));
1478 vcount++;
1479 }
1480
1481 public static bool ComputeHull(List<float3> vertices, ref PHullResult result, int vlimit, float inflate)
1482 {
1483 List<HullTriangle> tris = new List<HullTriangle>();
1484 List<int> faces;
1485 List<float3> verts_out;
1486
1487 if (inflate == 0.0f)
1488 {
1489 List<int> tris_out;
1490 bool ret = calchull(vertices, out tris_out, vlimit, tris);
1491 if (ret == false)
1492 return false;
1493
1494 result.Indices = tris_out;
1495 result.Vertices = vertices;
1496 return true;
1497 }
1498 else
1499 {
1500 int ret = overhullv(vertices, 35, out verts_out, out faces, inflate, 120.0f, vlimit, tris);
1501 if (ret == 0)
1502 return false;
1503
1504 List<int3> tris2 = new List<int3>();
1505 int n = faces[0];
1506 int k = 1;
1507 for (int i = 0; i < n; i++)
1508 {
1509 int pn = faces[k++];
1510 for (int j = 2; j < pn; j++)
1511 tris2.Add(new int3(faces[k], faces[k + j - 1], faces[k + j]));
1512 k += pn;
1513 }
1514 Debug.Assert(tris2.Count == faces.Count - 1 - (n * 3));
1515
1516 result.Indices = new List<int>(tris2.Count * 3);
1517 for (int i = 0; i < tris2.Count; i++)
1518 {
1519 result.Indices.Add(tris2[i].x);
1520 result.Indices.Add(tris2[i].y);
1521 result.Indices.Add(tris2[i].z);
1522 }
1523 result.Vertices = verts_out;
1524
1525 return true;
1526 }
1527 }
1528
1529 private static bool CleanupVertices(List<float3> svertices, out List<float3> vertices, float normalepsilon, out float3 scale)
1530 {
1531 const float EPSILON = 0.000001f;
1532
1533 vertices = new List<float3>();
1534 scale = new float3(1f, 1f, 1f);
1535
1536 if (svertices.Count == 0)
1537 return false;
1538
1539 uint vcount = 0;
1540
1541 float[] recip = new float[3];
1542
1543 float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
1544 float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
1545
1546 for (int i = 0; i < svertices.Count; i++)
1547 {
1548 float3 p = svertices[i];
1549
1550 for (int j = 0; j < 3; j++)
1551 {
1552 if (p[j] < bmin[j])
1553 bmin[j] = p[j];
1554 if (p[j] > bmax[j])
1555 bmax[j] = p[j];
1556 }
1557 }
1558
1559 float dx = bmax[0] - bmin[0];
1560 float dy = bmax[1] - bmin[1];
1561 float dz = bmax[2] - bmin[2];
1562
1563 float3 center = new float3();
1564
1565 center.x = dx * 0.5f + bmin[0];
1566 center.y = dy * 0.5f + bmin[1];
1567 center.z = dz * 0.5f + bmin[2];
1568
1569 if (dx < EPSILON || dy < EPSILON || dz < EPSILON || svertices.Count < 3)
1570 {
1571 float len = Single.MaxValue;
1572
1573 if (dx > EPSILON && dx < len)
1574 len = dx;
1575 if (dy > EPSILON && dy < len)
1576 len = dy;
1577 if (dz > EPSILON && dz < len)
1578 len = dz;
1579
1580 if (len == Single.MaxValue)
1581 {
1582 dx = dy = dz = 0.01f; // one centimeter
1583 }
1584 else
1585 {
1586 if (dx < EPSILON) // 1/5th the shortest non-zero edge.
1587 dx = len * 0.05f;
1588 if (dy < EPSILON)
1589 dy = len * 0.05f;
1590 if (dz < EPSILON)
1591 dz = len * 0.05f;
1592 }
1593
1594 float x1 = center[0] - dx;
1595 float x2 = center[0] + dx;
1596
1597 float y1 = center[1] - dy;
1598 float y2 = center[1] + dy;
1599
1600 float z1 = center[2] - dz;
1601 float z2 = center[2] + dz;
1602
1603 addPoint(ref vcount, vertices, x1, y1, z1);
1604 addPoint(ref vcount, vertices, x2, y1, z1);
1605 addPoint(ref vcount, vertices, x2, y2, z1);
1606 addPoint(ref vcount, vertices, x1, y2, z1);
1607 addPoint(ref vcount, vertices, x1, y1, z2);
1608 addPoint(ref vcount, vertices, x2, y1, z2);
1609 addPoint(ref vcount, vertices, x2, y2, z2);
1610 addPoint(ref vcount, vertices, x1, y2, z2);
1611
1612 return true; // return cube
1613 }
1614 else
1615 {
1616 scale.x = dx;
1617 scale.y = dy;
1618 scale.z = dz;
1619
1620 recip[0] = 1f / dx;
1621 recip[1] = 1f / dy;
1622 recip[2] = 1f / dz;
1623
1624 center.x *= recip[0];
1625 center.y *= recip[1];
1626 center.z *= recip[2];
1627 }
1628
1629 for (int i = 0; i < svertices.Count; i++)
1630 {
1631 float3 p = svertices[i];
1632
1633 float px = p[0];
1634 float py = p[1];
1635 float pz = p[2];
1636
1637 px = px * recip[0]; // normalize
1638 py = py * recip[1]; // normalize
1639 pz = pz * recip[2]; // normalize
1640
1641 if (true)
1642 {
1643 int j;
1644
1645 for (j = 0; j < vcount; j++)
1646 {
1647 float3 v = vertices[j];
1648
1649 float x = v[0];
1650 float y = v[1];
1651 float z = v[2];
1652
1653 float dx1 = Math.Abs(x - px);
1654 float dy1 = Math.Abs(y - py);
1655 float dz1 = Math.Abs(z - pz);
1656
1657 if (dx1 < normalepsilon && dy1 < normalepsilon && dz1 < normalepsilon)
1658 {
1659 // ok, it is close enough to the old one
1660 // now let us see if it is further from the center of the point cloud than the one we already recorded.
1661 // in which case we keep this one instead.
1662 float dist1 = GetDist(px, py, pz, center);
1663 float dist2 = GetDist(v[0], v[1], v[2], center);
1664
1665 if (dist1 > dist2)
1666 {
1667 v.x = px;
1668 v.y = py;
1669 v.z = pz;
1670 }
1671
1672 break;
1673 }
1674 }
1675
1676 if (j == vcount)
1677 {
1678 float3 dest = new float3(px, py, pz);
1679 vertices.Add(dest);
1680 vcount++;
1681 }
1682 }
1683 }
1684
1685 // ok..now make sure we didn't prune so many vertices it is now invalid.
1686 if (true)
1687 {
1688 float[] bmin2 = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
1689 float[] bmax2 = { Single.MinValue, Single.MinValue, Single.MinValue };
1690
1691 for (int i = 0; i < vcount; i++)
1692 {
1693 float3 p = vertices[i];
1694 for (int j = 0; j < 3; j++)
1695 {
1696 if (p[j] < bmin2[j])
1697 bmin2[j] = p[j];
1698 if (p[j] > bmax2[j])
1699 bmax2[j] = p[j];
1700 }
1701 }
1702
1703 float dx2 = bmax2[0] - bmin2[0];
1704 float dy2 = bmax2[1] - bmin2[1];
1705 float dz2 = bmax2[2] - bmin2[2];
1706
1707 if (dx2 < EPSILON || dy2 < EPSILON || dz2 < EPSILON || vcount < 3)
1708 {
1709 float cx = dx2 * 0.5f + bmin2[0];
1710 float cy = dy2 * 0.5f + bmin2[1];
1711 float cz = dz2 * 0.5f + bmin2[2];
1712
1713 float len = Single.MaxValue;
1714
1715 if (dx2 >= EPSILON && dx2 < len)
1716 len = dx2;
1717 if (dy2 >= EPSILON && dy2 < len)
1718 len = dy2;
1719 if (dz2 >= EPSILON && dz2 < len)
1720 len = dz2;
1721
1722 if (len == Single.MaxValue)
1723 {
1724 dx2 = dy2 = dz2 = 0.01f; // one centimeter
1725 }
1726 else
1727 {
1728 if (dx2 < EPSILON) // 1/5th the shortest non-zero edge.
1729 dx2 = len * 0.05f;
1730 if (dy2 < EPSILON)
1731 dy2 = len * 0.05f;
1732 if (dz2 < EPSILON)
1733 dz2 = len * 0.05f;
1734 }
1735
1736 float x1 = cx - dx2;
1737 float x2 = cx + dx2;
1738
1739 float y1 = cy - dy2;
1740 float y2 = cy + dy2;
1741
1742 float z1 = cz - dz2;
1743 float z2 = cz + dz2;
1744
1745 vcount = 0; // add box
1746
1747 addPoint(ref vcount, vertices, x1, y1, z1);
1748 addPoint(ref vcount, vertices, x2, y1, z1);
1749 addPoint(ref vcount, vertices, x2, y2, z1);
1750 addPoint(ref vcount, vertices, x1, y2, z1);
1751 addPoint(ref vcount, vertices, x1, y1, z2);
1752 addPoint(ref vcount, vertices, x2, y1, z2);
1753 addPoint(ref vcount, vertices, x2, y2, z2);
1754 addPoint(ref vcount, vertices, x1, y2, z2);
1755
1756 return true;
1757 }
1758 }
1759
1760 return true;
1761 }
1762
1763 private static void BringOutYourDead(List<float3> verts, out List<float3> overts, List<int> indices)
1764 {
1765 int[] used = new int[verts.Count];
1766 int ocount = 0;
1767
1768 overts = new List<float3>();
1769
1770 for (int i = 0; i < indices.Count; i++)
1771 {
1772 int v = indices[i]; // original array index
1773
1774 Debug.Assert(v >= 0 && v < verts.Count);
1775
1776 if (used[v] != 0) // if already remapped
1777 {
1778 indices[i] = used[v] - 1; // index to new array
1779 }
1780 else
1781 {
1782 indices[i] = ocount; // new index mapping
1783
1784 overts.Add(verts[v]); // copy old vert to new vert array
1785
1786 ocount++; // increment output vert count
1787
1788 Debug.Assert(ocount >= 0 && ocount <= verts.Count);
1789
1790 used[v] = ocount; // assign new index remapping
1791 }
1792 }
1793 }
1794
1795 public static HullError CreateConvexHull(HullDesc desc, ref HullResult result)
1796 {
1797 HullError ret = HullError.QE_FAIL;
1798
1799 PHullResult hr = new PHullResult();
1800
1801 uint vcount = (uint)desc.Vertices.Count;
1802 if (vcount < 8)
1803 vcount = 8;
1804
1805 List<float3> vsource;
1806 float3 scale = new float3();
1807
1808 bool ok = CleanupVertices(desc.Vertices, out vsource, desc.NormalEpsilon, out scale); // normalize point cloud, remove duplicates!
1809
1810 if (ok)
1811 {
1812 if (true) // scale vertices back to their original size.
1813 {
1814 for (int i = 0; i < vsource.Count; i++)
1815 {
1816 float3 v = vsource[i];
1817 v.x *= scale[0];
1818 v.y *= scale[1];
1819 v.z *= scale[2];
1820 }
1821 }
1822
1823 float skinwidth = 0;
1824 if (desc.HasHullFlag(HullFlag.QF_SKIN_WIDTH))
1825 skinwidth = desc.SkinWidth;
1826
1827 ok = ComputeHull(vsource, ref hr, (int)desc.MaxVertices, skinwidth);
1828
1829 if (ok)
1830 {
1831 List<float3> vscratch;
1832 BringOutYourDead(hr.Vertices, out vscratch, hr.Indices);
1833
1834 ret = HullError.QE_OK;
1835
1836 if (desc.HasHullFlag(HullFlag.QF_TRIANGLES)) // if he wants the results as triangle!
1837 {
1838 result.Polygons = false;
1839 result.Indices = hr.Indices;
1840 result.OutputVertices = vscratch;
1841 }
1842 else
1843 {
1844 result.Polygons = true;
1845 result.OutputVertices = vscratch;
1846
1847 if (true)
1848 {
1849 List<int> source = hr.Indices;
1850 List<int> dest = new List<int>();
1851 for (int i = 0; i < hr.Indices.Count / 3; i++)
1852 {
1853 dest.Add(3);
1854 dest.Add(source[i * 3 + 0]);
1855 dest.Add(source[i * 3 + 1]);
1856 dest.Add(source[i * 3 + 2]);
1857 }
1858
1859 result.Indices = dest;
1860 }
1861 }
1862 }
1863 }
1864
1865 return ret;
1866 }
1867 }
1868}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt b/OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt
new file mode 100644
index 0000000..714ae89
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/LICENSE.txt
@@ -0,0 +1,28 @@
1ConvexDecompositionDotNet
2-------------------------
3
4The MIT License
5
6Copyright (c) 2010 Intel Corporation.
7All rights reserved.
8
9Based on the convexdecomposition library from
10<http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
11
12Permission is hereby granted, free of charge, to any person obtaining a copy
13of this software and associated documentation files (the "Software"), to deal
14in the Software without restriction, including without limitation the rights
15to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
16copies of the Software, and to permit persons to whom the Software is
17furnished to do so, subject to the following conditions:
18
19The above copyright notice and this permission notice shall be included in
20all copies or substantial portions of the Software.
21
22THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
23IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
24FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
25AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
26LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
27OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
28THE SOFTWARE.
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs
new file mode 100644
index 0000000..d099676
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Plane.cs
@@ -0,0 +1,99 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class Plane
33 {
34 public float3 normal = new float3();
35 public float dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0
36
37 public Plane(float3 n, float d)
38 {
39 normal = new float3(n);
40 dist = d;
41 }
42
43 public Plane(Plane p)
44 {
45 normal = new float3(p.normal);
46 dist = p.dist;
47 }
48
49 public Plane()
50 {
51 dist = 0;
52 }
53
54 public void Transform(float3 position, Quaternion orientation)
55 {
56 // Transforms the plane to the space defined by the
57 // given position/orientation
58 float3 newNormal = Quaternion.Inverse(orientation) * normal;
59 float3 origin = Quaternion.Inverse(orientation) * (-normal * dist - position);
60
61 normal = newNormal;
62 dist = -float3.dot(newNormal, origin);
63 }
64
65 public override int GetHashCode()
66 {
67 return normal.GetHashCode() ^ dist.GetHashCode();
68 }
69
70 public override bool Equals(object obj)
71 {
72 Plane p = obj as Plane;
73 if (p == null)
74 return false;
75
76 return this == p;
77 }
78
79 public static bool operator ==(Plane a, Plane b)
80 {
81 return (a.normal == b.normal && a.dist == b.dist);
82 }
83
84 public static bool operator !=(Plane a, Plane b)
85 {
86 return !(a == b);
87 }
88
89 public static Plane PlaneFlip(Plane plane)
90 {
91 return new Plane(-plane.normal, -plane.dist);
92 }
93
94 public static bool coplanar(Plane a, Plane b)
95 {
96 return (a == b || a == PlaneFlip(b));
97 }
98 }
99}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs
new file mode 100644
index 0000000..31f0182
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/PlaneTri.cs
@@ -0,0 +1,211 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public enum PlaneTriResult : int
35 {
36 PTR_FRONT,
37 PTR_BACK,
38 PTR_SPLIT
39 }
40
41 public static class PlaneTri
42 {
43 private static float DistToPt(float3 p, float4 plane)
44 {
45 return p.x * plane.x + p.y * plane.y + p.z * plane.z + plane.w;
46 }
47
48 private static PlaneTriResult getSidePlane(float3 p, float4 plane, float epsilon)
49 {
50 float d = DistToPt(p, plane);
51
52 if ((d + epsilon) > 0f)
53 return PlaneTriResult.PTR_FRONT; // it is 'in front' within the provided epsilon value.
54
55 return PlaneTriResult.PTR_BACK;
56 }
57
58 private static void add(float3 p, float3[] dest, ref int pcount)
59 {
60 dest[pcount++] = new float3(p);
61 Debug.Assert(pcount <= 4);
62 }
63
64 // assumes that the points are on opposite sides of the plane!
65 private static void intersect(float3 p1, float3 p2, float3 split, float4 plane)
66 {
67 float dp1 = DistToPt(p1, plane);
68 float[] dir = new float[3];
69
70 dir[0] = p2[0] - p1[0];
71 dir[1] = p2[1] - p1[1];
72 dir[2] = p2[2] - p1[2];
73
74 float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
75 float dot2 = dp1 - plane[3];
76
77 float t = -(plane[3] + dot2) / dot1;
78
79 split.x = (dir[0] * t) + p1[0];
80 split.y = (dir[1] * t) + p1[1];
81 split.z = (dir[2] * t) + p1[2];
82 }
83
84 public static PlaneTriResult planeTriIntersection(float4 plane, FaceTri triangle, float epsilon, ref float3[] front, out int fcount, ref float3[] back, out int bcount)
85 {
86 fcount = 0;
87 bcount = 0;
88
89 // get the three vertices of the triangle.
90 float3 p1 = triangle.P1;
91 float3 p2 = triangle.P2;
92 float3 p3 = triangle.P3;
93
94 PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on
95 PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
96 PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
97
98 if (r1 == r2 && r1 == r3) // if all three vertices are on the same side of the plane.
99 {
100 if (r1 == PlaneTriResult.PTR_FRONT) // if all three are in front of the plane, then copy to the 'front' output triangle.
101 {
102 add(p1, front, ref fcount);
103 add(p2, front, ref fcount);
104 add(p3, front, ref fcount);
105 }
106 else
107 {
108 add(p1, back, ref bcount); // if all three are in 'back' then copy to the 'back' output triangle.
109 add(p2, back, ref bcount);
110 add(p3, back, ref bcount);
111 }
112 return r1; // if all three points are on the same side of the plane return result
113 }
114
115 // ok.. we need to split the triangle at the plane.
116
117 // First test ray segment P1 to P2
118 if (r1 == r2) // if these are both on the same side...
119 {
120 if (r1 == PlaneTriResult.PTR_FRONT)
121 {
122 add(p1, front, ref fcount);
123 add(p2, front, ref fcount);
124 }
125 else
126 {
127 add(p1, back, ref bcount);
128 add(p2, back, ref bcount);
129 }
130 }
131 else
132 {
133 float3 split = new float3();
134 intersect(p1, p2, split, plane);
135
136 if (r1 == PlaneTriResult.PTR_FRONT)
137 {
138
139 add(p1, front, ref fcount);
140 add(split, front, ref fcount);
141
142 add(split, back, ref bcount);
143 add(p2, back, ref bcount);
144
145 }
146 else
147 {
148 add(p1, back, ref bcount);
149 add(split, back, ref bcount);
150
151 add(split, front, ref fcount);
152 add(p2, front, ref fcount);
153 }
154
155 }
156
157 // Next test ray segment P2 to P3
158 if (r2 == r3) // if these are both on the same side...
159 {
160 if (r3 == PlaneTriResult.PTR_FRONT)
161 {
162 add(p3, front, ref fcount);
163 }
164 else
165 {
166 add(p3, back, ref bcount);
167 }
168 }
169 else
170 {
171 float3 split = new float3(); // split the point
172 intersect(p2, p3, split, plane);
173
174 if (r3 == PlaneTriResult.PTR_FRONT)
175 {
176 add(split, front, ref fcount);
177 add(split, back, ref bcount);
178
179 add(p3, front, ref fcount);
180 }
181 else
182 {
183 add(split, front, ref fcount);
184 add(split, back, ref bcount);
185
186 add(p3, back, ref bcount);
187 }
188 }
189
190 // Next test ray segment P3 to P1
191 if (r3 != r1) // if these are both on the same side...
192 {
193 float3 split = new float3(); // split the point
194 intersect(p3, p1, split, plane);
195
196 if (r1 == PlaneTriResult.PTR_FRONT)
197 {
198 add(split, front, ref fcount);
199 add(split, back, ref bcount);
200 }
201 else
202 {
203 add(split, front, ref fcount);
204 add(split, back, ref bcount);
205 }
206 }
207
208 return PlaneTriResult.PTR_SPLIT;
209 }
210 }
211}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
new file mode 100644
index 0000000..4285e8c
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// General Information about an assembly is controlled through the following
6// set of attributes. Change these attribute values to modify the information
7// associated with an assembly.
8[assembly: AssemblyTitle("ConvexDecompositionDotNet")]
9[assembly: AssemblyDescription("")]
10[assembly: AssemblyConfiguration("")]
11[assembly: AssemblyCompany("Intel Corporation")]
12[assembly: AssemblyProduct("ConvexDecompositionDotNet")]
13[assembly: AssemblyCopyright("Copyright © Intel Corporation 2010")]
14[assembly: AssemblyTrademark("")]
15[assembly: AssemblyCulture("")]
16
17// Setting ComVisible to false makes the types in this assembly not visible
18// to COM components. If you need to access a type in this assembly from
19// COM, set the ComVisible attribute to true on that type.
20[assembly: ComVisible(false)]
21
22// The following GUID is for the ID of the typelib if this project is exposed to COM
23[assembly: Guid("2a1c9467-1a17-4c8d-bf9f-4b4d86dd0cbb")]
24
25// Version information for an assembly consists of the following four values:
26//
27// Major Version
28// Minor Version
29// Build Number
30// Revision
31//
32// You can specify all the values or you can default the Build and Revision Numbers
33// by using the '*' as shown below:
34// [assembly: AssemblyVersion("1.0.*")]
35[assembly: AssemblyVersion("1.0.0.0")]
36[assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs
new file mode 100644
index 0000000..0ba8f17
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs
@@ -0,0 +1,209 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class Quaternion : float4
33 {
34 public Quaternion()
35 {
36 x = y = z = 0.0f;
37 w = 1.0f;
38 }
39
40 public Quaternion(float3 v, float t)
41 {
42 v = float3.normalize(v);
43 w = (float)Math.Cos(t / 2.0f);
44 v = v * (float)Math.Sin(t / 2.0f);
45 x = v.x;
46 y = v.y;
47 z = v.z;
48 }
49
50 public Quaternion(float _x, float _y, float _z, float _w)
51 {
52 x = _x;
53 y = _y;
54 z = _z;
55 w = _w;
56 }
57
58 public float angle()
59 {
60 return (float)Math.Acos(w) * 2.0f;
61 }
62
63 public float3 axis()
64 {
65 float3 a = new float3(x, y, z);
66 if (Math.Abs(angle()) < 0.0000001f)
67 return new float3(1f, 0f, 0f);
68 return a * (1 / (float)Math.Sin(angle() / 2.0f));
69 }
70
71 public float3 xdir()
72 {
73 return new float3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
74 }
75
76 public float3 ydir()
77 {
78 return new float3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x));
79 }
80
81 public float3 zdir()
82 {
83 return new float3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y));
84 }
85
86 public float3x3 getmatrix()
87 {
88 return new float3x3(xdir(), ydir(), zdir());
89 }
90
91 public static implicit operator float3x3(Quaternion q)
92 {
93 return q.getmatrix();
94 }
95
96 public static Quaternion operator *(Quaternion a, Quaternion b)
97 {
98 Quaternion c = new Quaternion();
99 c.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z;
100 c.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y;
101 c.y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x;
102 c.z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w;
103 return c;
104 }
105
106 public static float3 operator *(Quaternion q, float3 v)
107 {
108 // The following is equivalent to:
109 //return (q.getmatrix() * v);
110 float qx2 = q.x * q.x;
111 float qy2 = q.y * q.y;
112 float qz2 = q.z * q.z;
113
114 float qxqy = q.x * q.y;
115 float qxqz = q.x * q.z;
116 float qxqw = q.x * q.w;
117 float qyqz = q.y * q.z;
118 float qyqw = q.y * q.w;
119 float qzqw = q.z * q.w;
120 return new float3((1 - 2 * (qy2 + qz2)) * v.x + (2 * (qxqy - qzqw)) * v.y + (2 * (qxqz + qyqw)) * v.z, (2 * (qxqy + qzqw)) * v.x + (1 - 2 * (qx2 + qz2)) * v.y + (2 * (qyqz - qxqw)) * v.z, (2 * (qxqz - qyqw)) * v.x + (2 * (qyqz + qxqw)) * v.y + (1 - 2 * (qx2 + qy2)) * v.z);
121 }
122
123 public static Quaternion operator +(Quaternion a, Quaternion b)
124 {
125 return new Quaternion(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
126 }
127
128 public static Quaternion operator *(Quaternion a, float b)
129 {
130 return new Quaternion(a.x *b, a.y *b, a.z *b, a.w *b);
131 }
132
133 public static Quaternion normalize(Quaternion a)
134 {
135 float m = (float)Math.Sqrt(a.w * a.w + a.x * a.x + a.y * a.y + a.z * a.z);
136 if (m < 0.000000001f)
137 {
138 a.w = 1;
139 a.x = a.y = a.z = 0;
140 return a;
141 }
142 return a * (1f / m);
143 }
144
145 public static float dot(Quaternion a, Quaternion b)
146 {
147 return (a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
148 }
149
150 public static Quaternion slerp(Quaternion a, Quaternion b, float interp)
151 {
152 if (dot(a, b) < 0.0)
153 {
154 a.w = -a.w;
155 a.x = -a.x;
156 a.y = -a.y;
157 a.z = -a.z;
158 }
159 float d = dot(a, b);
160 if (d >= 1.0)
161 {
162 return a;
163 }
164 float theta = (float)Math.Acos(d);
165 if (theta == 0.0f)
166 {
167 return (a);
168 }
169 return a * ((float)Math.Sin(theta - interp * theta) / (float)Math.Sin(theta)) + b * ((float)Math.Sin(interp * theta) / (float)Math.Sin(theta));
170 }
171
172 public static Quaternion Interpolate(Quaternion q0, Quaternion q1, float alpha)
173 {
174 return slerp(q0, q1, alpha);
175 }
176
177 public static Quaternion Inverse(Quaternion q)
178 {
179 return new Quaternion(-q.x, -q.y, -q.z, q.w);
180 }
181
182 public static Quaternion YawPitchRoll(float yaw, float pitch, float roll)
183 {
184 roll *= (3.14159264f / 180.0f);
185 yaw *= (3.14159264f / 180.0f);
186 pitch *= (3.14159264f / 180.0f);
187 return new Quaternion(new float3(0.0f, 0.0f, 1.0f), yaw) * new Quaternion(new float3(1.0f, 0.0f, 0.0f), pitch) * new Quaternion(new float3(0.0f, 1.0f, 0.0f), roll);
188 }
189
190 public static float Yaw(Quaternion q)
191 {
192 float3 v = q.ydir();
193 return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
194 }
195
196 public static float Pitch(Quaternion q)
197 {
198 float3 v = q.ydir();
199 return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
200 }
201
202 public static float Roll(Quaternion q)
203 {
204 q = new Quaternion(new float3(0.0f, 0.0f, 1.0f), -Yaw(q) * (3.14159264f / 180.0f)) * q;
205 q = new Quaternion(new float3(1.0f, 0.0f, 0.0f), -Pitch(q) * (3.14159264f / 180.0f)) * q;
206 return (float)Math.Atan2(-q.xdir().z, q.xdir().x) * (180.0f / 3.14159264f);
207 }
208 }
209}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt b/OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt
new file mode 100644
index 0000000..fc53ae7
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/README.txt
@@ -0,0 +1,7 @@
1ConvexDecompositionDotNet
2=========================
3
4A C# port of the ConvexDecomposition library by John W. Ratcliff and Stan Melax.
5The original C++ version is available at <http://codesuppository.googlecode.com/>.
6See the blog post at <http://codesuppository.blogspot.com/2006/08/approximate-convexdecomposition.html>
7for a thorough explanation of generating convex hulls from concave meshes.
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs
new file mode 100644
index 0000000..9f06a9a
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/SplitPlane.cs
@@ -0,0 +1,265 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class Rect3d
34 {
35 public float[] mMin = new float[3];
36 public float[] mMax = new float[3];
37
38 public Rect3d()
39 {
40 }
41
42 public Rect3d(float[] bmin, float[] bmax)
43 {
44 mMin[0] = bmin[0];
45 mMin[1] = bmin[1];
46 mMin[2] = bmin[2];
47
48 mMax[0] = bmax[0];
49 mMax[1] = bmax[1];
50 mMax[2] = bmax[2];
51 }
52
53 public void SetMin(float[] bmin)
54 {
55 mMin[0] = bmin[0];
56 mMin[1] = bmin[1];
57 mMin[2] = bmin[2];
58 }
59
60 public void SetMax(float[] bmax)
61 {
62 mMax[0] = bmax[0];
63 mMax[1] = bmax[1];
64 mMax[2] = bmax[2];
65 }
66
67 public void SetMin(float x, float y, float z)
68 {
69 mMin[0] = x;
70 mMin[1] = y;
71 mMin[2] = z;
72 }
73
74 public void SetMax(float x, float y, float z)
75 {
76 mMax[0] = x;
77 mMax[1] = y;
78 mMax[2] = z;
79 }
80 }
81
82 public static class SplitPlane
83 {
84 public static bool computeSplitPlane(List<float3> vertices, List<int> indices, ref float4 plane)
85 {
86 float[] bmin = { Single.MaxValue, Single.MaxValue, Single.MaxValue };
87 float[] bmax = { Single.MinValue, Single.MinValue, Single.MinValue };
88
89 for (int i = 0; i < vertices.Count; i++)
90 {
91 float3 p = vertices[i];
92
93 if (p[0] < bmin[0])
94 bmin[0] = p[0];
95 if (p[1] < bmin[1])
96 bmin[1] = p[1];
97 if (p[2] < bmin[2])
98 bmin[2] = p[2];
99
100 if (p[0] > bmax[0])
101 bmax[0] = p[0];
102 if (p[1] > bmax[1])
103 bmax[1] = p[1];
104 if (p[2] > bmax[2])
105 bmax[2] = p[2];
106 }
107
108 float dx = bmax[0] - bmin[0];
109 float dy = bmax[1] - bmin[1];
110 float dz = bmax[2] - bmin[2];
111
112 float laxis = dx;
113
114 int axis = 0;
115
116 if (dy > dx)
117 {
118 axis = 1;
119 laxis = dy;
120 }
121
122 if (dz > dx && dz > dy)
123 {
124 axis = 2;
125 laxis = dz;
126 }
127
128 float[] p1 = new float[3];
129 float[] p2 = new float[3];
130 float[] p3 = new float[3];
131
132 p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f;
133 p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f;
134 p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f;
135
136 Rect3d b = new Rect3d(bmin, bmax);
137
138 Rect3d b1 = new Rect3d();
139 Rect3d b2 = new Rect3d();
140
141 splitRect(axis, b, b1, b2, p1);
142
143 switch (axis)
144 {
145 case 0:
146 p2[1] = bmin[1];
147 p2[2] = bmin[2];
148
149 if (dz > dy)
150 {
151 p3[1] = bmax[1];
152 p3[2] = bmin[2];
153 }
154 else
155 {
156 p3[1] = bmin[1];
157 p3[2] = bmax[2];
158 }
159
160 break;
161 case 1:
162 p2[0] = bmin[0];
163 p2[2] = bmin[2];
164
165 if (dx > dz)
166 {
167 p3[0] = bmax[0];
168 p3[2] = bmin[2];
169 }
170 else
171 {
172 p3[0] = bmin[0];
173 p3[2] = bmax[2];
174 }
175
176 break;
177 case 2:
178 p2[0] = bmin[0];
179 p2[1] = bmin[1];
180
181 if (dx > dy)
182 {
183 p3[0] = bmax[0];
184 p3[1] = bmin[1];
185 }
186 else
187 {
188 p3[0] = bmin[0];
189 p3[1] = bmax[1];
190 }
191
192 break;
193 }
194
195 computePlane(p1, p2, p3, plane);
196
197 return true;
198 }
199
200 internal static void computePlane(float[] A, float[] B, float[] C, float4 plane)
201 {
202 float vx = (B[0] - C[0]);
203 float vy = (B[1] - C[1]);
204 float vz = (B[2] - C[2]);
205
206 float wx = (A[0] - B[0]);
207 float wy = (A[1] - B[1]);
208 float wz = (A[2] - B[2]);
209
210 float vw_x = vy * wz - vz * wy;
211 float vw_y = vz * wx - vx * wz;
212 float vw_z = vx * wy - vy * wx;
213
214 float mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
215
216 if (mag < 0.000001f)
217 {
218 mag = 0;
219 }
220 else
221 {
222 mag = 1.0f / mag;
223 }
224
225 float x = vw_x * mag;
226 float y = vw_y * mag;
227 float z = vw_z * mag;
228
229 float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
230
231 plane.x = x;
232 plane.y = y;
233 plane.z = z;
234 plane.w = D;
235 }
236
237 public static void splitRect(int axis, Rect3d source, Rect3d b1, Rect3d b2, float[] midpoint)
238 {
239 switch (axis)
240 {
241 case 0:
242 b1.SetMin(source.mMin);
243 b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]);
244
245 b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]);
246 b2.SetMax(source.mMax);
247 break;
248 case 1:
249 b1.SetMin(source.mMin);
250 b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]);
251
252 b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]);
253 b2.SetMax(source.mMax);
254 break;
255 case 2:
256 b1.SetMin(source.mMin);
257 b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]);
258
259 b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]);
260 b2.SetMax(source.mMax);
261 break;
262 }
263 }
264 }
265}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs
new file mode 100644
index 0000000..6f17c9f
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/VertexLookup.cs
@@ -0,0 +1,70 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class VertexPool
34 {
35 private List<float3> mVertices = new List<float3>();
36 private Dictionary<float3, int> mIndices = new Dictionary<float3, int>();
37
38 public int getIndex(float3 vtx)
39 {
40 int idx;
41 if (mIndices.TryGetValue(vtx, out idx))
42 return idx;
43
44 idx = mVertices.Count;
45 mVertices.Add(vtx);
46 mIndices.Add(vtx, idx);
47 return idx;
48 }
49
50 public float3 Get(int idx)
51 {
52 return mVertices[idx];
53 }
54
55 public int GetSize()
56 {
57 return mVertices.Count;
58 }
59
60 public List<float3> GetVertices()
61 {
62 return mVertices;
63 }
64
65 public void Clear()
66 {
67 mVertices.Clear();
68 }
69 }
70}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs
new file mode 100644
index 0000000..ce88fc8
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float2.cs
@@ -0,0 +1,70 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class float2
33 {
34 public float x;
35 public float y;
36
37 public float2()
38 {
39 }
40
41 public float2(float _x, float _y)
42 {
43 x = _x;
44 y = _y;
45 }
46
47 public float this[int i]
48 {
49 get
50 {
51 switch (i)
52 {
53 case 0: return x;
54 case 1: return y;
55 }
56 throw new ArgumentOutOfRangeException();
57 }
58 }
59
60 public static float2 operator -(float2 a, float2 b)
61 {
62 return new float2(a.x - b.x, a.y - b.y);
63 }
64
65 public static float2 operator +(float2 a, float2 b)
66 {
67 return new float2(a.x + b.x, a.y + b.y);
68 }
69 }
70}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs
new file mode 100644
index 0000000..4389114
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3.cs
@@ -0,0 +1,444 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class float3 : IEquatable<float3>
33 {
34 public float x;
35 public float y;
36 public float z;
37
38 public float3()
39 {
40 x = 0;
41 y = 0;
42 z = 0;
43 }
44
45 public float3(float _x, float _y, float _z)
46 {
47 x = _x;
48 y = _y;
49 z = _z;
50 }
51
52 public float3(float3 f)
53 {
54 x = f.x;
55 y = f.y;
56 z = f.z;
57 }
58
59 public float this[int i]
60 {
61 get
62 {
63 switch (i)
64 {
65 case 0: return x;
66 case 1: return y;
67 case 2: return z;
68 }
69 throw new ArgumentOutOfRangeException();
70 }
71 }
72
73 public float Distance(float3 a)
74 {
75 float3 d = new float3(a.x - x, a.y - y, a.z - z);
76 return d.Length();
77 }
78
79 public float Distance2(float3 a)
80 {
81 float dx = a.x - x;
82 float dy = a.y - y;
83 float dz = a.z - z;
84 return dx * dx + dy * dy + dz * dz;
85 }
86
87 public float Length()
88 {
89 return (float)Math.Sqrt(x * x + y * y + z * z);
90 }
91
92 public float Area(float3 p1, float3 p2)
93 {
94 float A = Partial(p1);
95 A += p1.Partial(p2);
96 A += p2.Partial(this);
97 return A * 0.5f;
98 }
99
100 public float Partial(float3 p)
101 {
102 return (x * p.y) - (p.x * y);
103 }
104
105 // Given a point and a line (defined by two points), compute the closest point
106 // in the line. (The line is treated as infinitely long.)
107 public void NearestPointInLine(float3 point, float3 line0, float3 line1)
108 {
109 float3 nearestPoint = new float3();
110 float3 lineDelta = line1 - line0;
111
112 // Handle degenerate lines
113 if (lineDelta == float3.Zero)
114 {
115 nearestPoint = line0;
116 }
117 else
118 {
119 float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
120 nearestPoint = line0 + lineDelta * delta;
121 }
122
123 this.x = nearestPoint.x;
124 this.y = nearestPoint.y;
125 this.z = nearestPoint.z;
126 }
127
128 // Given a point and a line segment (defined by two points), compute the closest point
129 // in the line. Cap the point at the endpoints of the line segment.
130 public void NearestPointInLineSegment(float3 point, float3 line0, float3 line1)
131 {
132 float3 nearestPoint = new float3();
133 float3 lineDelta = line1 - line0;
134
135 // Handle degenerate lines
136 if (lineDelta == Zero)
137 {
138 nearestPoint = line0;
139 }
140 else
141 {
142 float delta = float3.dot(point - line0, lineDelta) / float3.dot(lineDelta, lineDelta);
143
144 // Clamp the point to conform to the segment's endpoints
145 if (delta < 0)
146 delta = 0;
147 else if (delta > 1)
148 delta = 1;
149
150 nearestPoint = line0 + lineDelta * delta;
151 }
152
153 this.x = nearestPoint.x;
154 this.y = nearestPoint.y;
155 this.z = nearestPoint.z;
156 }
157
158 // Given a point and a triangle (defined by three points), compute the closest point
159 // in the triangle. Clamp the point so it's confined to the area of the triangle.
160 public void NearestPointInTriangle(float3 point, float3 triangle0, float3 triangle1, float3 triangle2)
161 {
162 float3 nearestPoint = new float3();
163
164 float3 lineDelta0 = triangle1 - triangle0;
165 float3 lineDelta1 = triangle2 - triangle0;
166
167 // Handle degenerate triangles
168 if ((lineDelta0 == Zero) || (lineDelta1 == Zero))
169 {
170 nearestPoint.NearestPointInLineSegment(point, triangle1, triangle2);
171 }
172 else if (lineDelta0 == lineDelta1)
173 {
174 nearestPoint.NearestPointInLineSegment(point, triangle0, triangle1);
175 }
176 else
177 {
178 float3[] axis = new float3[3] { new float3(), new float3(), new float3() };
179 axis[0].NearestPointInLine(triangle0, triangle1, triangle2);
180 axis[1].NearestPointInLine(triangle1, triangle0, triangle2);
181 axis[2].NearestPointInLine(triangle2, triangle0, triangle1);
182
183 float3 axisDot = new float3();
184 axisDot.x = dot(triangle0 - axis[0], point - axis[0]);
185 axisDot.y = dot(triangle1 - axis[1], point - axis[1]);
186 axisDot.z = dot(triangle2 - axis[2], point - axis[2]);
187
188 bool bForce = true;
189 float bestMagnitude2 = 0;
190 float closeMagnitude2;
191 float3 closePoint = new float3();
192
193 if (axisDot.x < 0f)
194 {
195 closePoint.NearestPointInLineSegment(point, triangle1, triangle2);
196 closeMagnitude2 = point.Distance2(closePoint);
197 if (bForce || (bestMagnitude2 > closeMagnitude2))
198 {
199 bForce = false;
200 bestMagnitude2 = closeMagnitude2;
201 nearestPoint = closePoint;
202 }
203 }
204 if (axisDot.y < 0f)
205 {
206 closePoint.NearestPointInLineSegment(point, triangle0, triangle2);
207 closeMagnitude2 = point.Distance2(closePoint);
208 if (bForce || (bestMagnitude2 > closeMagnitude2))
209 {
210 bForce = false;
211 bestMagnitude2 = closeMagnitude2;
212 nearestPoint = closePoint;
213 }
214 }
215 if (axisDot.z < 0f)
216 {
217 closePoint.NearestPointInLineSegment(point, triangle0, triangle1);
218 closeMagnitude2 = point.Distance2(closePoint);
219 if (bForce || (bestMagnitude2 > closeMagnitude2))
220 {
221 bForce = false;
222 bestMagnitude2 = closeMagnitude2;
223 nearestPoint = closePoint;
224 }
225 }
226
227 // If bForce is true at this point, it means the nearest point lies
228 // inside the triangle; use the nearest-point-on-a-plane equation
229 if (bForce)
230 {
231 float3 normal;
232
233 // Get the normal of the polygon (doesn't have to be a unit vector)
234 normal = float3.cross(lineDelta0, lineDelta1);
235
236 float3 pointDelta = point - triangle0;
237 float delta = float3.dot(normal, pointDelta) / float3.dot(normal, normal);
238
239 nearestPoint = point - normal * delta;
240 }
241 }
242
243 this.x = nearestPoint.x;
244 this.y = nearestPoint.y;
245 this.z = nearestPoint.z;
246 }
247
248 public static float3 operator +(float3 a, float3 b)
249 {
250 return new float3(a.x + b.x, a.y + b.y, a.z + b.z);
251 }
252
253 public static float3 operator -(float3 a, float3 b)
254 {
255 return new float3(a.x - b.x, a.y - b.y, a.z - b.z);
256 }
257
258 public static float3 operator -(float3 a, float s)
259 {
260 return new float3(a.x - s, a.y - s, a.z - s);
261 }
262
263 public static float3 operator -(float3 v)
264 {
265 return new float3(-v.x, -v.y, -v.z);
266 }
267
268 public static float3 operator *(float3 v, float s)
269 {
270 return new float3(v.x * s, v.y * s, v.z * s);
271 }
272
273 public static float3 operator *(float s, float3 v)
274 {
275 return new float3(v.x * s, v.y * s, v.z * s);
276 }
277
278 public static float3 operator *(float3 v, float3x3 m)
279 {
280 return new float3((m.x.x * v.x + m.y.x * v.y + m.z.x * v.z), (m.x.y * v.x + m.y.y * v.y + m.z.y * v.z), (m.x.z * v.x + m.y.z * v.y + m.z.z * v.z));
281 }
282
283 public static float3 operator *(float3x3 m, float3 v)
284 {
285 return new float3(dot(m.x, v), dot(m.y, v), dot(m.z, v));
286 }
287
288 public static float3 operator /(float3 v, float s)
289 {
290 float sinv = 1.0f / s;
291 return new float3(v.x * sinv, v.y * sinv, v.z * sinv);
292 }
293
294 public bool Equals(float3 other)
295 {
296 return this == other;
297 }
298
299 public override bool Equals(object obj)
300 {
301 float3 f = obj as float3;
302 if (f == null)
303 return false;
304
305 return this == f;
306 }
307
308 public override int GetHashCode()
309 {
310 return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
311 }
312
313 public static bool operator ==(float3 a, float3 b)
314 {
315 // If both are null, or both are same instance, return true.
316 if (System.Object.ReferenceEquals(a, b))
317 return true;
318 // If one is null, but not both, return false.
319 if (((object)a == null) || ((object)b == null))
320 return false;
321
322 return (a.x == b.x && a.y == b.y && a.z == b.z);
323 }
324
325 public static bool operator !=(float3 a, float3 b)
326 {
327 return (a.x != b.x || a.y != b.y || a.z != b.z);
328 }
329
330 public static float dot(float3 a, float3 b)
331 {
332 return a.x * b.x + a.y * b.y + a.z * b.z;
333 }
334
335 public static float3 cmul(float3 v1, float3 v2)
336 {
337 return new float3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
338 }
339
340 public static float3 cross(float3 a, float3 b)
341 {
342 return new float3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
343 }
344
345 public static float3 Interpolate(float3 v0, float3 v1, float alpha)
346 {
347 return v0 * (1 - alpha) + v1 * alpha;
348 }
349
350 public static float3 Round(float3 a, int digits)
351 {
352 return new float3((float)Math.Round(a.x, digits), (float)Math.Round(a.y, digits), (float)Math.Round(a.z, digits));
353 }
354
355 public static float3 VectorMax(float3 a, float3 b)
356 {
357 return new float3(Math.Max(a.x, b.x), Math.Max(a.y, b.y), Math.Max(a.z, b.z));
358 }
359
360 public static float3 VectorMin(float3 a, float3 b)
361 {
362 return new float3(Math.Min(a.x, b.x), Math.Min(a.y, b.y), Math.Min(a.z, b.z));
363 }
364
365 public static float3 vabs(float3 v)
366 {
367 return new float3(Math.Abs(v.x), Math.Abs(v.y), Math.Abs(v.z));
368 }
369
370 public static float magnitude(float3 v)
371 {
372 return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
373 }
374
375 public static float3 normalize(float3 v)
376 {
377 float d = magnitude(v);
378 if (d == 0)
379 d = 0.1f;
380 d = 1 / d;
381 return new float3(v.x * d, v.y * d, v.z * d);
382 }
383
384 public static float3 safenormalize(float3 v)
385 {
386 if (magnitude(v) <= 0.0f)
387 return new float3(1, 0, 0);
388 else
389 return normalize(v);
390 }
391
392 public static float Yaw(float3 v)
393 {
394 return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f);
395 }
396
397 public static float Pitch(float3 v)
398 {
399 return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f);
400 }
401
402 public float ComputePlane(float3 A, float3 B, float3 C)
403 {
404 float vx, vy, vz, wx, wy, wz, vw_x, vw_y, vw_z, mag;
405
406 vx = (B.x - C.x);
407 vy = (B.y - C.y);
408 vz = (B.z - C.z);
409
410 wx = (A.x - B.x);
411 wy = (A.y - B.y);
412 wz = (A.z - B.z);
413
414 vw_x = vy * wz - vz * wy;
415 vw_y = vz * wx - vx * wz;
416 vw_z = vx * wy - vy * wx;
417
418 mag = (float)Math.Sqrt((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
419
420 if (mag < 0.000001f)
421 {
422 mag = 0;
423 }
424 else
425 {
426 mag = 1.0f / mag;
427 }
428
429 x = vw_x * mag;
430 y = vw_y * mag;
431 z = vw_z * mag;
432
433 float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z));
434 return D;
435 }
436
437 public override string ToString()
438 {
439 return String.Format("<{0}, {1}, {2}>", x, y, z);
440 }
441
442 public static readonly float3 Zero = new float3();
443 }
444}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
new file mode 100644
index 0000000..76cf063
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float3x3.cs
@@ -0,0 +1,195 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Diagnostics;
31
32namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
33{
34 public class float3x3
35 {
36 public float3 x = new float3();
37 public float3 y = new float3();
38 public float3 z = new float3();
39
40 public float3x3()
41 {
42 }
43
44 public float3x3(float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz)
45 {
46 x = new float3(xx, xy, xz);
47 y = new float3(yx, yy, yz);
48 z = new float3(zx, zy, zz);
49 }
50
51 public float3x3(float3 _x, float3 _y, float3 _z)
52 {
53 x = new float3(_x);
54 y = new float3(_y);
55 z = new float3(_z);
56 }
57
58 public float3 this[int i]
59 {
60 get
61 {
62 switch (i)
63 {
64 case 0: return x;
65 case 1: return y;
66 case 2: return z;
67 }
68 throw new ArgumentOutOfRangeException();
69 }
70 }
71
72 public float this[int i, int j]
73 {
74 get
75 {
76 switch (i)
77 {
78 case 0:
79 switch (j)
80 {
81 case 0: return x.x;
82 case 1: return x.y;
83 case 2: return x.z;
84 }
85 break;
86 case 1:
87 switch (j)
88 {
89 case 0: return y.x;
90 case 1: return y.y;
91 case 2: return y.z;
92 }
93 break;
94 case 2:
95 switch (j)
96 {
97 case 0: return z.x;
98 case 1: return z.y;
99 case 2: return z.z;
100 }
101 break;
102 }
103 throw new ArgumentOutOfRangeException();
104 }
105 set
106 {
107 switch (i)
108 {
109 case 0:
110 switch (j)
111 {
112 case 0: x.x = value; return;
113 case 1: x.y = value; return;
114 case 2: x.z = value; return;
115 }
116 break;
117 case 1:
118 switch (j)
119 {
120 case 0: y.x = value; return;
121 case 1: y.y = value; return;
122 case 2: y.z = value; return;
123 }
124 break;
125 case 2:
126 switch (j)
127 {
128 case 0: z.x = value; return;
129 case 1: z.y = value; return;
130 case 2: z.z = value; return;
131 }
132 break;
133 }
134 throw new ArgumentOutOfRangeException();
135 }
136 }
137
138 public static float3x3 Transpose(float3x3 m)
139 {
140 return new float3x3(new float3(m.x.x, m.y.x, m.z.x), new float3(m.x.y, m.y.y, m.z.y), new float3(m.x.z, m.y.z, m.z.z));
141 }
142
143 public static float3x3 operator *(float3x3 a, float3x3 b)
144 {
145 return new float3x3(a.x * b, a.y * b, a.z * b);
146 }
147
148 public static float3x3 operator *(float3x3 a, float s)
149 {
150 return new float3x3(a.x * s, a.y * s, a.z * s);
151 }
152
153 public static float3x3 operator /(float3x3 a, float s)
154 {
155 float t = 1f / s;
156 return new float3x3(a.x * t, a.y * t, a.z * t);
157 }
158
159 public static float3x3 operator +(float3x3 a, float3x3 b)
160 {
161 return new float3x3(a.x + b.x, a.y + b.y, a.z + b.z);
162 }
163
164 public static float3x3 operator -(float3x3 a, float3x3 b)
165 {
166 return new float3x3(a.x - b.x, a.y - b.y, a.z - b.z);
167 }
168
169 public static float Determinant(float3x3 m)
170 {
171 return m.x.x * m.y.y * m.z.z + m.y.x * m.z.y * m.x.z + m.z.x * m.x.y * m.y.z - m.x.x * m.z.y * m.y.z - m.y.x * m.x.y * m.z.z - m.z.x * m.y.y * m.x.z;
172 }
173
174 public static float3x3 Inverse(float3x3 a)
175 {
176 float3x3 b = new float3x3();
177 float d = Determinant(a);
178 Debug.Assert(d != 0);
179 for (int i = 0; i < 3; i++)
180 {
181 for (int j = 0; j < 3; j++)
182 {
183 int i1 = (i + 1) % 3;
184 int i2 = (i + 2) % 3;
185 int j1 = (j + 1) % 3;
186 int j2 = (j + 2) % 3;
187
188 // reverse indexs i&j to take transpose
189 b[i, j] = (a[i1][j1] * a[i2][j2] - a[i1][j2] * a[i2][j1]) / d;
190 }
191 }
192 return b;
193 }
194 }
195}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs
new file mode 100644
index 0000000..fa60876
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4.cs
@@ -0,0 +1,170 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class float4
33 {
34 public float x;
35 public float y;
36 public float z;
37 public float w;
38
39 public float4()
40 {
41 x = 0;
42 y = 0;
43 z = 0;
44 w = 0;
45 }
46
47 public float4(float _x, float _y, float _z, float _w)
48 {
49 x = _x;
50 y = _y;
51 z = _z;
52 w = _w;
53 }
54
55 public float4(float3 v, float _w)
56 {
57 x = v.x;
58 y = v.y;
59 z = v.z;
60 w = _w;
61 }
62
63 public float4(float4 f)
64 {
65 x = f.x;
66 y = f.y;
67 z = f.z;
68 w = f.w;
69 }
70
71 public float this[int i]
72 {
73 get
74 {
75 switch (i)
76 {
77 case 0: return x;
78 case 1: return y;
79 case 2: return z;
80 case 3: return w;
81 }
82 throw new ArgumentOutOfRangeException();
83 }
84 }
85
86 public float3 xyz()
87 {
88 return new float3(x, y, z);
89 }
90
91 public void setxyz(float3 xyz)
92 {
93 x = xyz.x;
94 y = xyz.y;
95 z = xyz.z;
96 }
97
98 public override int GetHashCode()
99 {
100 return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
101 }
102
103 public override bool Equals(object obj)
104 {
105 float4 f = obj as float4;
106 if (f == null)
107 return false;
108
109 return this == f;
110 }
111
112 public static float4 Homogenize(float3 v3)
113 {
114 return Homogenize(v3, 1.0f);
115 }
116
117 //C++ TO C# CONVERTER NOTE: C# does not allow default values for parameters. Overloaded methods are inserted above.
118 //ORIGINAL LINE: float4 Homogenize(const float3 &v3, const float &w =1.0f)
119 public static float4 Homogenize(float3 v3, float w)
120 {
121 return new float4(v3.x, v3.y, v3.z, w);
122 }
123
124 public static float4 cmul(float4 a, float4 b)
125 {
126 return new float4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w);
127 }
128
129 public static float4 operator +(float4 a, float4 b)
130 {
131 return new float4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
132 }
133 public static float4 operator -(float4 a, float4 b)
134 {
135 return new float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
136 }
137
138 public static float4 operator *(float4 v, float4x4 m)
139 {
140 return v.x * m.x + v.y * m.y + v.z * m.z + v.w * m.w; // yes this actually works
141 }
142
143 public static bool operator ==(float4 a, float4 b)
144 {
145 // If both are null, or both are same instance, return true.
146 if (System.Object.ReferenceEquals(a, b))
147 return true;
148 // If one is null, but not both, return false.
149 if (((object)a == null) || ((object)b == null))
150 return false;
151
152 return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
153 }
154
155 public static bool operator !=(float4 a, float4 b)
156 {
157 return !(a == b);
158 }
159
160 public static float4 operator *(float4 v, float s)
161 {
162 return new float4(v.x * s, v.y * s, v.z * s, v.w * s);
163 }
164
165 public static float4 operator *(float s, float4 v)
166 {
167 return new float4(v.x * s, v.y * s, v.z * s, v.w * s);
168 }
169 }
170}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs
new file mode 100644
index 0000000..7d1592f
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/float4x4.cs
@@ -0,0 +1,284 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Linq;
31using System.Text;
32
33namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
34{
35 public class float4x4
36 {
37 public float4 x = new float4();
38 public float4 y = new float4();
39 public float4 z = new float4();
40 public float4 w = new float4();
41
42 public float4x4()
43 {
44 }
45
46 public float4x4(float4 _x, float4 _y, float4 _z, float4 _w)
47 {
48 x = new float4(_x);
49 y = new float4(_y);
50 z = new float4(_z);
51 w = new float4(_w);
52 }
53
54 public float4x4(
55 float m00, float m01, float m02, float m03,
56 float m10, float m11, float m12, float m13,
57 float m20, float m21, float m22, float m23,
58 float m30, float m31, float m32, float m33)
59 {
60 x = new float4(m00, m01, m02, m03);
61 y = new float4(m10, m11, m12, m13);
62 z = new float4(m20, m21, m22, m23);
63 w = new float4(m30, m31, m32, m33);
64 }
65
66 public float4x4(float4x4 m)
67 {
68 x = new float4(m.x);
69 y = new float4(m.y);
70 z = new float4(m.z);
71 w = new float4(m.w);
72 }
73
74 public float4 this[int i]
75 {
76 get
77 {
78 switch (i)
79 {
80 case 0: return x;
81 case 1: return y;
82 case 2: return z;
83 case 3: return w;
84 }
85 throw new ArgumentOutOfRangeException();
86 }
87 set
88 {
89 switch (i)
90 {
91 case 0: x = value; return;
92 case 1: y = value; return;
93 case 2: z = value; return;
94 case 3: w = value; return;
95 }
96 throw new ArgumentOutOfRangeException();
97 }
98 }
99
100 public override int GetHashCode()
101 {
102 return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
103 }
104
105 public override bool Equals(object obj)
106 {
107 float4x4 m = obj as float4x4;
108 if (m == null)
109 return false;
110
111 return this == m;
112 }
113
114 public static float4x4 operator *(float4x4 a, float4x4 b)
115 {
116 return new float4x4(a.x * b, a.y * b, a.z * b, a.w * b);
117 }
118
119 public static bool operator ==(float4x4 a, float4x4 b)
120 {
121 return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
122 }
123
124 public static bool operator !=(float4x4 a, float4x4 b)
125 {
126 return !(a == b);
127 }
128
129 public static float4x4 Inverse(float4x4 m)
130 {
131 float4x4 d = new float4x4();
132 //float dst = d.x.x;
133 float[] tmp = new float[12]; // temp array for pairs
134 float[] src = new float[16]; // array of transpose source matrix
135 float det; // determinant
136 // transpose matrix
137 for (int i = 0; i < 4; i++)
138 {
139 src[i] = m[i].x;
140 src[i + 4] = m[i].y;
141 src[i + 8] = m[i].z;
142 src[i + 12] = m[i].w;
143 }
144 // calculate pairs for first 8 elements (cofactors)
145 tmp[0] = src[10] * src[15];
146 tmp[1] = src[11] * src[14];
147 tmp[2] = src[9] * src[15];
148 tmp[3] = src[11] * src[13];
149 tmp[4] = src[9] * src[14];
150 tmp[5] = src[10] * src[13];
151 tmp[6] = src[8] * src[15];
152 tmp[7] = src[11] * src[12];
153 tmp[8] = src[8] * src[14];
154 tmp[9] = src[10] * src[12];
155 tmp[10] = src[8] * src[13];
156 tmp[11] = src[9] * src[12];
157 // calculate first 8 elements (cofactors)
158 d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
159 d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
160 d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
161 d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
162 d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
163 d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
164 d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
165 d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
166 d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
167 d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
168 d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
169 d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
170 d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
171 d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
172 d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
173 d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
174 // calculate pairs for second 8 elements (cofactors)
175 tmp[0] = src[2]*src[7];
176 tmp[1] = src[3]*src[6];
177 tmp[2] = src[1]*src[7];
178 tmp[3] = src[3]*src[5];
179 tmp[4] = src[1]*src[6];
180 tmp[5] = src[2]*src[5];
181 tmp[6] = src[0]*src[7];
182 tmp[7] = src[3]*src[4];
183 tmp[8] = src[0]*src[6];
184 tmp[9] = src[2]*src[4];
185 tmp[10] = src[0]*src[5];
186 tmp[11] = src[1]*src[4];
187 // calculate second 8 elements (cofactors)
188 d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
189 d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
190 d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
191 d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
192 d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
193 d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
194 d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
195 d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
196 d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
197 d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
198 d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
199 d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
200 d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
201 d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
202 d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
203 d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
204 // calculate determinant
205 det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w;
206 // calculate matrix inverse
207 det = 1/det;
208 for (int j = 0; j < 4; j++)
209 d[j] *= det;
210 return d;
211 }
212
213 public static float4x4 MatrixRigidInverse(float4x4 m)
214 {
215 float4x4 trans_inverse = MatrixTranslation(-m.w.xyz());
216 float4x4 rot = new float4x4(m);
217 rot.w = new float4(0f, 0f, 0f, 1f);
218 return trans_inverse * MatrixTranspose(rot);
219 }
220 public static float4x4 MatrixTranspose(float4x4 m)
221 {
222 return new float4x4(m.x.x, m.y.x, m.z.x, m.w.x, m.x.y, m.y.y, m.z.y, m.w.y, m.x.z, m.y.z, m.z.z, m.w.z, m.x.w, m.y.w, m.z.w, m.w.w);
223 }
224 public static float4x4 MatrixPerspectiveFov(float fovy, float aspect, float zn, float zf)
225 {
226 float h = 1.0f / (float)Math.Tan(fovy / 2.0f); // view space height
227 float w = h / aspect; // view space width
228 return new float4x4(w, 0, 0, 0, 0, h, 0, 0, 0, 0, zf / (zn - zf), -1, 0, 0, zn * zf / (zn - zf), 0);
229 }
230 public static float4x4 MatrixTranslation(float3 t)
231 {
232 return new float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, t.x, t.y, t.z, 1);
233 }
234 public static float4x4 MatrixRotationZ(float angle_radians)
235 {
236 float s = (float)Math.Sin(angle_radians);
237 float c = (float)Math.Cos(angle_radians);
238 return new float4x4(c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
239 }
240 public static float4x4 MatrixLookAt(float3 eye, float3 at, float3 up)
241 {
242 float4x4 m = new float4x4();
243 m.w.w = 1.0f;
244 m.w.setxyz(eye);
245 m.z.setxyz(float3.normalize(eye - at));
246 m.x.setxyz(float3.normalize(float3.cross(up, m.z.xyz())));
247 m.y.setxyz(float3.cross(m.z.xyz(), m.x.xyz()));
248 return MatrixRigidInverse(m);
249 }
250
251 public static float4x4 MatrixFromQuatVec(Quaternion q, float3 v)
252 {
253 // builds a 4x4 transformation matrix based on orientation q and translation v
254 float qx2 = q.x * q.x;
255 float qy2 = q.y * q.y;
256 float qz2 = q.z * q.z;
257
258 float qxqy = q.x * q.y;
259 float qxqz = q.x * q.z;
260 float qxqw = q.x * q.w;
261 float qyqz = q.y * q.z;
262 float qyqw = q.y * q.w;
263 float qzqw = q.z * q.w;
264
265 return new float4x4(
266 1 - 2 * (qy2 + qz2),
267 2 * (qxqy + qzqw),
268 2 * (qxqz - qyqw),
269 0,
270 2 * (qxqy - qzqw),
271 1 - 2 * (qx2 + qz2),
272 2 * (qyqz + qxqw),
273 0,
274 2 * (qxqz + qyqw),
275 2 * (qyqz - qxqw),
276 1 - 2 * (qx2 + qy2),
277 0,
278 v.x,
279 v.y,
280 v.z,
281 1.0f);
282 }
283 }
284}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs
new file mode 100644
index 0000000..9c5760d
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int3.cs
@@ -0,0 +1,128 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class int3
33 {
34 public int x;
35 public int y;
36 public int z;
37
38 public int3()
39 {
40 }
41
42 public int3(int _x, int _y, int _z)
43 {
44 x = _x;
45 y = _y;
46 z = _z;
47 }
48
49 public int this[int i]
50 {
51 get
52 {
53 switch (i)
54 {
55 case 0: return x;
56 case 1: return y;
57 case 2: return z;
58 }
59 throw new ArgumentOutOfRangeException();
60 }
61 set
62 {
63 switch (i)
64 {
65 case 0: x = value; return;
66 case 1: y = value; return;
67 case 2: z = value; return;
68 }
69 throw new ArgumentOutOfRangeException();
70 }
71 }
72
73 public override int GetHashCode()
74 {
75 return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode();
76 }
77
78 public override bool Equals(object obj)
79 {
80 int3 i = obj as int3;
81 if (i == null)
82 return false;
83
84 return this == i;
85 }
86
87 public static bool operator ==(int3 a, int3 b)
88 {
89 // If both are null, or both are same instance, return true.
90 if (System.Object.ReferenceEquals(a, b))
91 return true;
92 // If one is null, but not both, return false.
93 if (((object)a == null) || ((object)b == null))
94 return false;
95
96 for (int i = 0; i < 3; i++)
97 {
98 if (a[i] != b[i])
99 return false;
100 }
101 return true;
102 }
103
104 public static bool operator !=(int3 a, int3 b)
105 {
106 return !(a == b);
107 }
108
109 public static int3 roll3(int3 a)
110 {
111 int tmp = a[0];
112 a[0] = a[1];
113 a[1] = a[2];
114 a[2] = tmp;
115 return a;
116 }
117
118 public static bool isa(int3 a, int3 b)
119 {
120 return (a == b || roll3(a) == b || a == roll3(b));
121 }
122
123 public static bool b2b(int3 a, int3 b)
124 {
125 return isa(a, new int3(b[2], b[1], b[0]));
126 }
127 }
128}
diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs
new file mode 100644
index 0000000..c2b32e5
--- /dev/null
+++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/int4.cs
@@ -0,0 +1,66 @@
1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29
30namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
31{
32 public class int4
33 {
34 public int x;
35 public int y;
36 public int z;
37 public int w;
38
39 public int4()
40 {
41 }
42
43 public int4(int _x, int _y, int _z, int _w)
44 {
45 x = _x;
46 y = _y;
47 z = _z;
48 w = _w;
49 }
50
51 public int this[int i]
52 {
53 get
54 {
55 switch (i)
56 {
57 case 0: return x;
58 case 1: return y;
59 case 2: return z;
60 case 3: return w;
61 }
62 throw new ArgumentOutOfRangeException();
63 }
64 }
65 }
66}
diff --git a/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs b/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
new file mode 100755
index 0000000..b8676ba
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/IPhysicsParameters.cs
@@ -0,0 +1,73 @@
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 OpenSim.Framework;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.Manager
34{
35 public struct PhysParameterEntry
36 {
37 // flags to say to apply to all or no instances (I wish one could put consts into interfaces)
38 public const uint APPLY_TO_ALL = 0xfffffff3;
39 public const uint APPLY_TO_NONE = 0xfffffff4;
40
41 // values that denote true and false values
42 public const float NUMERIC_TRUE = 1f;
43 public const float NUMERIC_FALSE = 0f;
44
45 public string name;
46 public string desc;
47
48 public PhysParameterEntry(string n, string d)
49 {
50 name = n;
51 desc = d;
52 }
53 }
54
55 // Interface for a physics scene that implements the runtime setting and getting of physics parameters
56 public interface IPhysicsParameters
57 {
58 // Get the list of parameters this physics engine supports
59 PhysParameterEntry[] GetParameterList();
60
61 // Set parameter on a specific or all instances.
62 // Return 'false' if not able to set the parameter.
63 bool SetPhysicsParameter(string parm, float value, uint localID);
64
65 // Get parameter.
66 // Return 'false' if not able to get the parameter.
67 bool GetPhysicsParameter(string parm, out float value);
68
69 // Get parameter from a particular object
70 // TODO:
71 // bool GetPhysicsParameter(string parm, out float value, uint localID);
72 }
73}
generated by cgit v1.1 at 2024-08-28 19:06:15 +0000