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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using OpenMetaverse;
33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager;
35
36using OMV = OpenMetaverse;
37
38namespace OpenSim.Region.Physics.BulletSPlugin
39{
40public class BSPrimDisplaced : BSPrim
41{
42 // The purpose of this subclass is to do any mapping between what the simulator thinks
43 // the prim position and orientation is and what the physical position/orientation.
44 // This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
45 // of the prim/linkset. The simulator, on the other hand, tracks the location of
46 // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere
47 // but the origin of the root prim, the physical origin is displaced from the simulator origin.
48 //
49 // This routine works by capturing ForcePosition and
50 // adjusting the simulator values (being set) into the physical values.
51 // The conversion is also done in the opposite direction (physical origin -> simulator origin).
52 //
53 // The updateParameter call is also captured and the values from the physics engine
54 // are converted into simulator origin values before being passed to the base
55 // class.
56
57 // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass.
58 public virtual OMV.Vector3 PositionDisplacement { get; set; }
59
60 public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
61 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
62 : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
63 {
64 ClearDisplacement();
65 }
66
67 // Clears any center-of-mass displacement introduced by linksets, etc.
68 // Does not clear the displacement set by the user.
69 public void ClearDisplacement()
70 {
71 if (UserSetCenterOfMassDisplacement.HasValue)
72 PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement;
73 else
74 PositionDisplacement = OMV.Vector3.Zero;
75 }
76
77 // Set this sets and computes the displacement from the passed prim to the center-of-mass.
78 // A user set value for center-of-mass overrides whatever might be passed in here.
79 // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
80 // Returns the relative offset from the root position to the center-of-mass.
81 // Called at taint time.
82 public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
83 {
84 PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
85 Vector3 comDisp;
86 if (UserSetCenterOfMassDisplacement.HasValue)
87 comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
88 else
89 comDisp = centerOfMassDisplacement;
90
91 // Eliminate any jitter caused be very slight differences in masses and positions
92 if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
93 comDisp = Vector3.Zero;
94
95 DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
96 LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
97 if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) )
98 {
99 // Displacement setting is changing.
100 // The relationship between the physical object and simulated object must be aligned.
101 PositionDisplacement = comDisp;
102 this.ForcePosition = RawPosition;
103 }
104
105 return PositionDisplacement;
106 }
107
108 // 'ForcePosition' is the one way to set the physical position of the body in the physics engine.
109 // Displace the simulator idea of position (center of root prim) to the physical position.
110 public override Vector3 ForcePosition
111 {
112 get {
113 OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody);
114 if (PositionDisplacement != OMV.Vector3.Zero)
115 {
116 // If there is some displacement, return the physical position (center-of-mass)
117 // location minus the displacement to give the center of the root prim.
118 OMV.Vector3 displacement = PositionDisplacement * ForceOrientation;
119 DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}",
120 LocalID, physPosition, displacement, physPosition - displacement);
121 physPosition -= displacement;
122 }
123 RawPosition = physPosition;
124 return physPosition;
125 }
126 set
127 {
128 if (PositionDisplacement != OMV.Vector3.Zero)
129 {
130 // This value is the simulator's idea of where the prim is: the center of the root prim
131 RawPosition = value;
132
133 // Move the passed root prim postion to the center-of-mass position and set in the physics engine.
134 OMV.Vector3 displacement = PositionDisplacement * RawOrientation;
135 OMV.Vector3 displacedPos = RawPosition + displacement;
136 DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}",
137 LocalID, RawPosition, displacement, displacedPos);
138 if (PhysBody.HasPhysicalBody)
139 {
140 PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation);
141 ActivateIfPhysical(false);
142 }
143 }
144 else
145 {
146 base.ForcePosition = value;
147 }
148 }
149 }
150
151 // These are also overridden by BSPrimLinkable if the prim can be part of a linkset
152 public override OMV.Vector3 CenterOfMass
153 {
154 get { return RawPosition; }
155 }
156
157 public override OMV.Vector3 GeometricCenter
158 {
159 get { return RawPosition; }
160 }
161
162 public override void UpdateProperties(EntityProperties entprop)
163 {
164 // Undo any center-of-mass displacement that might have been done.
165 if (PositionDisplacement != OMV.Vector3.Zero)
166 {
167 // The origional shape was offset from 'zero' by PositionDisplacement.
168 // These physical location must be back converted to be centered around the displaced
169 // root shape.
170
171 // Move the returned center-of-mass location to the root prim location.
172 OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
173 OMV.Vector3 displacedPos = entprop.Position - displacement;
174 DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
175 LocalID, entprop.Position, displacement, displacedPos);
176 entprop.Position = displacedPos;
177 }
178
179 base.UpdateProperties(entprop);
180 }
181}
182}