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-rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | 4256 |
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diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs new file mode 100644 index 0000000..aa208e2 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | |||
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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 | |||
28 | /* | ||
29 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
30 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
31 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
32 | * characteristics and Kinetic motion. | ||
33 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
34 | * (dynamics) and the associated settings. Old Linear and angular | ||
35 | * motors for dynamic motion have been replace with MoveLinear() | ||
36 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
37 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
38 | * switch between 'VEHICLE' parameter use and general dynamics | ||
39 | * settings use. | ||
40 | */ | ||
41 | |||
42 | //#define SPAM | ||
43 | |||
44 | using System; | ||
45 | using System.Collections.Generic; | ||
46 | using System.Reflection; | ||
47 | using System.Runtime.InteropServices; | ||
48 | using System.Threading; | ||
49 | using log4net; | ||
50 | using OpenMetaverse; | ||
51 | using OdeAPI; | ||
52 | using OpenSim.Framework; | ||
53 | using OpenSim.Region.PhysicsModules.SharedBase; | ||
54 | |||
55 | namespace OpenSim.Region.PhysicsModule.ubOde | ||
56 | { | ||
57 | public class OdePrim : PhysicsActor | ||
58 | { | ||
59 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
60 | |||
61 | private bool m_isphysical; | ||
62 | private bool m_fakeisphysical; | ||
63 | private bool m_isphantom; | ||
64 | private bool m_fakeisphantom; | ||
65 | internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | ||
66 | private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively | ||
67 | |||
68 | internal bool m_building; | ||
69 | protected bool m_forcePosOrRotation; | ||
70 | private bool m_iscolliding; | ||
71 | |||
72 | internal bool m_isSelected; | ||
73 | private bool m_delaySelect; | ||
74 | private bool m_lastdoneSelected; | ||
75 | internal bool m_outbounds; | ||
76 | |||
77 | private byte m_angularlocks = 0; | ||
78 | |||
79 | private Quaternion m_lastorientation; | ||
80 | private Quaternion _orientation; | ||
81 | |||
82 | private Vector3 _position; | ||
83 | private Vector3 _velocity; | ||
84 | private Vector3 m_lastVelocity; | ||
85 | private Vector3 m_lastposition; | ||
86 | private Vector3 m_rotationalVelocity; | ||
87 | private Vector3 _size; | ||
88 | private Vector3 m_acceleration; | ||
89 | private IntPtr Amotor; | ||
90 | |||
91 | internal Vector3 m_force; | ||
92 | internal Vector3 m_forceacc; | ||
93 | internal Vector3 m_torque; | ||
94 | internal Vector3 m_angularForceacc; | ||
95 | |||
96 | private float m_invTimeStep; | ||
97 | private float m_timeStep; | ||
98 | |||
99 | private Vector3 m_PIDTarget; | ||
100 | private float m_PIDTau; | ||
101 | private bool m_usePID; | ||
102 | |||
103 | private float m_PIDHoverHeight; | ||
104 | private float m_PIDHoverTau; | ||
105 | private bool m_useHoverPID; | ||
106 | private PIDHoverType m_PIDHoverType; | ||
107 | private float m_targetHoverHeight; | ||
108 | private float m_groundHeight; | ||
109 | private float m_waterHeight; | ||
110 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | ||
111 | |||
112 | private int m_body_autodisable_frames; | ||
113 | public int m_bodydisablecontrol = 0; | ||
114 | private float m_gravmod = 1.0f; | ||
115 | |||
116 | // Default we're a Geometry | ||
117 | private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); | ||
118 | // Default colide nonphysical don't try to colide with anything | ||
119 | private const CollisionCategories m_default_collisionFlagsNotPhysical = 0; | ||
120 | |||
121 | private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom | | ||
122 | CollisionCategories.Character | | ||
123 | CollisionCategories.Land | | ||
124 | CollisionCategories.VolumeDtc); | ||
125 | |||
126 | // private bool m_collidesLand = true; | ||
127 | private bool m_collidesWater; | ||
128 | // public bool m_returnCollisions; | ||
129 | |||
130 | private bool m_NoColide; // for now only for internal use for bad meshs | ||
131 | |||
132 | |||
133 | // Default, Collide with Other Geometries, spaces and Bodies | ||
134 | private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical; | ||
135 | |||
136 | public bool m_disabled; | ||
137 | |||
138 | private uint m_localID; | ||
139 | |||
140 | private IMesh m_mesh; | ||
141 | private object m_meshlock = new object(); | ||
142 | private PrimitiveBaseShape _pbs; | ||
143 | |||
144 | private UUID? m_assetID; | ||
145 | private MeshState m_meshState; | ||
146 | |||
147 | public ODEScene _parent_scene; | ||
148 | |||
149 | /// <summary> | ||
150 | /// The physics space which contains prim geometry | ||
151 | /// </summary> | ||
152 | public IntPtr m_targetSpace; | ||
153 | |||
154 | public IntPtr prim_geom; | ||
155 | public IntPtr _triMeshData; | ||
156 | |||
157 | private PhysicsActor _parent; | ||
158 | |||
159 | private List<OdePrim> childrenPrim = new List<OdePrim>(); | ||
160 | |||
161 | public float m_collisionscore; | ||
162 | private int m_colliderfilter = 0; | ||
163 | |||
164 | public IntPtr collide_geom; // for objects: geom if single prim space it linkset | ||
165 | |||
166 | private float m_density; | ||
167 | private byte m_shapetype; | ||
168 | private byte m_fakeShapetype; | ||
169 | public bool _zeroFlag; | ||
170 | private bool m_lastUpdateSent; | ||
171 | |||
172 | public IntPtr Body; | ||
173 | |||
174 | private Vector3 _target_velocity; | ||
175 | |||
176 | public Vector3 m_OBBOffset; | ||
177 | public Vector3 m_OBB; | ||
178 | public float primOOBradiusSQ; | ||
179 | |||
180 | private bool m_hasOBB = true; | ||
181 | |||
182 | private float m_physCost; | ||
183 | private float m_streamCost; | ||
184 | |||
185 | public d.Mass primdMass; // prim inertia information on it's own referencial | ||
186 | private PhysicsInertiaData m_InertiaOverride; | ||
187 | float primMass; // prim own mass | ||
188 | float primVolume; // prim own volume; | ||
189 | float m_mass; // object mass acording to case | ||
190 | |||
191 | public int givefakepos; | ||
192 | private Vector3 fakepos; | ||
193 | public int givefakeori; | ||
194 | private Quaternion fakeori; | ||
195 | private PhysicsInertiaData m_fakeInertiaOverride; | ||
196 | |||
197 | private int m_eventsubscription; | ||
198 | private int m_cureventsubscription; | ||
199 | private CollisionEventUpdate CollisionEventsThisFrame = null; | ||
200 | private CollisionEventUpdate CollisionVDTCEventsThisFrame = null; | ||
201 | private bool SentEmptyCollisionsEvent; | ||
202 | |||
203 | public volatile bool childPrim; | ||
204 | |||
205 | public ODEDynamics m_vehicle; | ||
206 | |||
207 | internal int m_material = (int)Material.Wood; | ||
208 | private float mu; | ||
209 | private float bounce; | ||
210 | |||
211 | /// <summary> | ||
212 | /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. | ||
213 | /// </summary> | ||
214 | public override bool IsPhysical // this is not reliable for internal use | ||
215 | { | ||
216 | get { return m_fakeisphysical; } | ||
217 | set | ||
218 | { | ||
219 | m_fakeisphysical = value; // we show imediatly to outside that we changed physical | ||
220 | // and also to stop imediatly some updates | ||
221 | // but real change will only happen in taintprocessing | ||
222 | |||
223 | if (!value) // Zero the remembered last velocity | ||
224 | m_lastVelocity = Vector3.Zero; | ||
225 | AddChange(changes.Physical, value); | ||
226 | } | ||
227 | } | ||
228 | |||
229 | public override bool IsVolumeDtc | ||
230 | { | ||
231 | get { return m_fakeisVolumeDetect; } | ||
232 | set | ||
233 | { | ||
234 | m_fakeisVolumeDetect = value; | ||
235 | AddChange(changes.VolumeDtc, value); | ||
236 | } | ||
237 | } | ||
238 | |||
239 | public override bool Phantom // this is not reliable for internal use | ||
240 | { | ||
241 | get { return m_fakeisphantom; } | ||
242 | set | ||
243 | { | ||
244 | m_fakeisphantom = value; | ||
245 | AddChange(changes.Phantom, value); | ||
246 | } | ||
247 | } | ||
248 | |||
249 | public override bool Building // this is not reliable for internal use | ||
250 | { | ||
251 | get { return m_building; } | ||
252 | set | ||
253 | { | ||
254 | // if (value) | ||
255 | // m_building = true; | ||
256 | AddChange(changes.building, value); | ||
257 | } | ||
258 | } | ||
259 | |||
260 | public override void getContactData(ref ContactData cdata) | ||
261 | { | ||
262 | cdata.mu = mu; | ||
263 | cdata.bounce = bounce; | ||
264 | |||
265 | // cdata.softcolide = m_softcolide; | ||
266 | cdata.softcolide = false; | ||
267 | |||
268 | if (m_isphysical) | ||
269 | { | ||
270 | ODEDynamics veh; | ||
271 | if (_parent != null) | ||
272 | veh = ((OdePrim)_parent).m_vehicle; | ||
273 | else | ||
274 | veh = m_vehicle; | ||
275 | |||
276 | if (veh != null && veh.Type != Vehicle.TYPE_NONE) | ||
277 | cdata.mu *= veh.FrictionFactor; | ||
278 | // cdata.mu *= 0; | ||
279 | } | ||
280 | } | ||
281 | |||
282 | public override float PhysicsCost | ||
283 | { | ||
284 | get | ||
285 | { | ||
286 | return m_physCost; | ||
287 | } | ||
288 | } | ||
289 | |||
290 | public override float StreamCost | ||
291 | { | ||
292 | get | ||
293 | { | ||
294 | return m_streamCost; | ||
295 | } | ||
296 | } | ||
297 | |||
298 | public override int PhysicsActorType | ||
299 | { | ||
300 | get { return (int)ActorTypes.Prim; } | ||
301 | set { return; } | ||
302 | } | ||
303 | |||
304 | public override bool SetAlwaysRun | ||
305 | { | ||
306 | get { return false; } | ||
307 | set { return; } | ||
308 | } | ||
309 | |||
310 | public override uint LocalID | ||
311 | { | ||
312 | get { return m_localID; } | ||
313 | set | ||
314 | { | ||
315 | uint oldid = m_localID; | ||
316 | m_localID = value; | ||
317 | _parent_scene.changePrimID(this, oldid); | ||
318 | } | ||
319 | } | ||
320 | |||
321 | public override PhysicsActor ParentActor | ||
322 | { | ||
323 | get | ||
324 | { | ||
325 | if (childPrim) | ||
326 | return _parent; | ||
327 | else | ||
328 | return (PhysicsActor)this; | ||
329 | } | ||
330 | } | ||
331 | |||
332 | public override bool Grabbed | ||
333 | { | ||
334 | set { return; } | ||
335 | } | ||
336 | |||
337 | public override bool Selected | ||
338 | { | ||
339 | set | ||
340 | { | ||
341 | if (value) | ||
342 | m_isSelected = value; // if true set imediatly to stop moves etc | ||
343 | AddChange(changes.Selected, value); | ||
344 | } | ||
345 | } | ||
346 | |||
347 | public override bool Flying | ||
348 | { | ||
349 | // no flying prims for you | ||
350 | get { return false; } | ||
351 | set { } | ||
352 | } | ||
353 | |||
354 | public override bool IsColliding | ||
355 | { | ||
356 | get { return m_iscolliding; } | ||
357 | set | ||
358 | { | ||
359 | if (value) | ||
360 | { | ||
361 | m_colliderfilter += 2; | ||
362 | if (m_colliderfilter > 2) | ||
363 | m_colliderfilter = 2; | ||
364 | } | ||
365 | else | ||
366 | { | ||
367 | m_colliderfilter--; | ||
368 | if (m_colliderfilter < 0) | ||
369 | m_colliderfilter = 0; | ||
370 | } | ||
371 | |||
372 | if (m_colliderfilter == 0) | ||
373 | m_iscolliding = false; | ||
374 | else | ||
375 | m_iscolliding = true; | ||
376 | } | ||
377 | } | ||
378 | |||
379 | public override bool CollidingGround | ||
380 | { | ||
381 | get { return false; } | ||
382 | set { return; } | ||
383 | } | ||
384 | |||
385 | public override bool CollidingObj | ||
386 | { | ||
387 | get { return false; } | ||
388 | set { return; } | ||
389 | } | ||
390 | |||
391 | |||
392 | public override bool ThrottleUpdates {get;set;} | ||
393 | |||
394 | public override bool Stopped | ||
395 | { | ||
396 | get { return _zeroFlag; } | ||
397 | } | ||
398 | |||
399 | public override Vector3 Position | ||
400 | { | ||
401 | get | ||
402 | { | ||
403 | if (givefakepos > 0) | ||
404 | return fakepos; | ||
405 | else | ||
406 | return _position; | ||
407 | } | ||
408 | |||
409 | set | ||
410 | { | ||
411 | fakepos = value; | ||
412 | givefakepos++; | ||
413 | AddChange(changes.Position, value); | ||
414 | } | ||
415 | } | ||
416 | |||
417 | public override Vector3 Size | ||
418 | { | ||
419 | get { return _size; } | ||
420 | set | ||
421 | { | ||
422 | if (value.IsFinite()) | ||
423 | { | ||
424 | _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_fakeShapetype); | ||
425 | } | ||
426 | else | ||
427 | { | ||
428 | m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); | ||
429 | } | ||
430 | } | ||
431 | } | ||
432 | |||
433 | public override float Mass | ||
434 | { | ||
435 | get { return primMass; } | ||
436 | } | ||
437 | |||
438 | public override Vector3 Force | ||
439 | { | ||
440 | get { return m_force; } | ||
441 | set | ||
442 | { | ||
443 | if (value.IsFinite()) | ||
444 | { | ||
445 | AddChange(changes.Force, value); | ||
446 | } | ||
447 | else | ||
448 | { | ||
449 | m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); | ||
450 | } | ||
451 | } | ||
452 | } | ||
453 | |||
454 | public override void SetVolumeDetect(int param) | ||
455 | { | ||
456 | m_fakeisVolumeDetect = (param != 0); | ||
457 | AddChange(changes.VolumeDtc, m_fakeisVolumeDetect); | ||
458 | } | ||
459 | |||
460 | public override Vector3 GeometricCenter | ||
461 | { | ||
462 | // this is not real geometric center but a average of positions relative to root prim acording to | ||
463 | // http://wiki.secondlife.com/wiki/llGetGeometricCenter | ||
464 | // ignoring tortured prims details since sl also seems to ignore | ||
465 | // so no real use in doing it on physics | ||
466 | get | ||
467 | { | ||
468 | return Vector3.Zero; | ||
469 | } | ||
470 | } | ||
471 | |||
472 | public override PhysicsInertiaData GetInertiaData() | ||
473 | { | ||
474 | PhysicsInertiaData inertia; | ||
475 | if(childPrim) | ||
476 | { | ||
477 | if(_parent != null) | ||
478 | return _parent.GetInertiaData(); | ||
479 | else | ||
480 | { | ||
481 | inertia = new PhysicsInertiaData(); | ||
482 | inertia.TotalMass = -1; | ||
483 | return inertia; | ||
484 | } | ||
485 | } | ||
486 | |||
487 | inertia = new PhysicsInertiaData(); | ||
488 | |||
489 | // double buffering | ||
490 | if(m_fakeInertiaOverride != null) | ||
491 | { | ||
492 | d.Mass objdmass = new d.Mass(); | ||
493 | objdmass.I.M00 = m_fakeInertiaOverride.Inertia.X; | ||
494 | objdmass.I.M11 = m_fakeInertiaOverride.Inertia.Y; | ||
495 | objdmass.I.M22 = m_fakeInertiaOverride.Inertia.Z; | ||
496 | |||
497 | objdmass.mass = m_fakeInertiaOverride.TotalMass; | ||
498 | |||
499 | if(Math.Abs(m_fakeInertiaOverride.InertiaRotation.W) < 0.999) | ||
500 | { | ||
501 | d.Matrix3 inertiarotmat = new d.Matrix3(); | ||
502 | d.Quaternion inertiarot = new d.Quaternion(); | ||
503 | |||
504 | inertiarot.X = m_fakeInertiaOverride.InertiaRotation.X; | ||
505 | inertiarot.Y = m_fakeInertiaOverride.InertiaRotation.Y; | ||
506 | inertiarot.Z = m_fakeInertiaOverride.InertiaRotation.Z; | ||
507 | inertiarot.W = m_fakeInertiaOverride.InertiaRotation.W; | ||
508 | d.RfromQ(out inertiarotmat, ref inertiarot); | ||
509 | d.MassRotate(ref objdmass, ref inertiarotmat); | ||
510 | } | ||
511 | |||
512 | inertia.TotalMass = m_fakeInertiaOverride.TotalMass; | ||
513 | inertia.CenterOfMass = m_fakeInertiaOverride.CenterOfMass; | ||
514 | inertia.Inertia.X = objdmass.I.M00; | ||
515 | inertia.Inertia.Y = objdmass.I.M11; | ||
516 | inertia.Inertia.Z = objdmass.I.M22; | ||
517 | inertia.InertiaRotation.X = objdmass.I.M01; | ||
518 | inertia.InertiaRotation.Y = objdmass.I.M02; | ||
519 | inertia.InertiaRotation.Z = objdmass.I.M12; | ||
520 | return inertia; | ||
521 | } | ||
522 | |||
523 | inertia.TotalMass = m_mass; | ||
524 | |||
525 | if(Body == IntPtr.Zero || prim_geom == IntPtr.Zero) | ||
526 | { | ||
527 | inertia.CenterOfMass = Vector3.Zero; | ||
528 | inertia.Inertia = Vector3.Zero; | ||
529 | inertia.InertiaRotation = Vector4.Zero; | ||
530 | return inertia; | ||
531 | } | ||
532 | |||
533 | d.Vector3 dtmp; | ||
534 | d.Mass m = new d.Mass(); | ||
535 | lock(_parent_scene.OdeLock) | ||
536 | { | ||
537 | d.AllocateODEDataForThread(0); | ||
538 | dtmp = d.GeomGetOffsetPosition(prim_geom); | ||
539 | d.BodyGetMass(Body, out m); | ||
540 | } | ||
541 | |||
542 | Vector3 cm = new Vector3(-dtmp.X, -dtmp.Y, -dtmp.Z); | ||
543 | inertia.CenterOfMass = cm; | ||
544 | inertia.Inertia = new Vector3(m.I.M00, m.I.M11, m.I.M22); | ||
545 | inertia.InertiaRotation = new Vector4(m.I.M01, m.I.M02 , m.I.M12, 0); | ||
546 | |||
547 | return inertia; | ||
548 | } | ||
549 | |||
550 | public override void SetInertiaData(PhysicsInertiaData inertia) | ||
551 | { | ||
552 | if(childPrim) | ||
553 | { | ||
554 | if(_parent != null) | ||
555 | _parent.SetInertiaData(inertia); | ||
556 | return; | ||
557 | } | ||
558 | |||
559 | if(inertia.TotalMass > 0) | ||
560 | m_fakeInertiaOverride = new PhysicsInertiaData(inertia); | ||
561 | else | ||
562 | m_fakeInertiaOverride = null; | ||
563 | |||
564 | if (inertia.TotalMass > _parent_scene.maximumMassObject) | ||
565 | inertia.TotalMass = _parent_scene.maximumMassObject; | ||
566 | AddChange(changes.SetInertia,(object)m_fakeInertiaOverride); | ||
567 | } | ||
568 | |||
569 | public override Vector3 CenterOfMass | ||
570 | { | ||
571 | get | ||
572 | { | ||
573 | lock (_parent_scene.OdeLock) | ||
574 | { | ||
575 | d.AllocateODEDataForThread(0); | ||
576 | |||
577 | d.Vector3 dtmp; | ||
578 | if (!childPrim && Body != IntPtr.Zero) | ||
579 | { | ||
580 | dtmp = d.BodyGetPosition(Body); | ||
581 | return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | ||
582 | } | ||
583 | else if (prim_geom != IntPtr.Zero) | ||
584 | { | ||
585 | d.Quaternion dq; | ||
586 | d.GeomCopyQuaternion(prim_geom, out dq); | ||
587 | Quaternion q; | ||
588 | q.X = dq.X; | ||
589 | q.Y = dq.Y; | ||
590 | q.Z = dq.Z; | ||
591 | q.W = dq.W; | ||
592 | |||
593 | Vector3 Ptot = m_OBBOffset * q; | ||
594 | dtmp = d.GeomGetPosition(prim_geom); | ||
595 | Ptot.X += dtmp.X; | ||
596 | Ptot.Y += dtmp.Y; | ||
597 | Ptot.Z += dtmp.Z; | ||
598 | |||
599 | // if(childPrim) we only know about physical linksets | ||
600 | return Ptot; | ||
601 | /* | ||
602 | float tmass = _mass; | ||
603 | Ptot *= tmass; | ||
604 | |||
605 | float m; | ||
606 | |||
607 | foreach (OdePrim prm in childrenPrim) | ||
608 | { | ||
609 | m = prm._mass; | ||
610 | Ptot += prm.CenterOfMass * m; | ||
611 | tmass += m; | ||
612 | } | ||
613 | |||
614 | if (tmass == 0) | ||
615 | tmass = 0; | ||
616 | else | ||
617 | tmass = 1.0f / tmass; | ||
618 | |||
619 | Ptot *= tmass; | ||
620 | return Ptot; | ||
621 | */ | ||
622 | } | ||
623 | else | ||
624 | return _position; | ||
625 | } | ||
626 | } | ||
627 | } | ||
628 | |||
629 | public override PrimitiveBaseShape Shape | ||
630 | { | ||
631 | set | ||
632 | { | ||
633 | // AddChange(changes.Shape, value); | ||
634 | _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_fakeShapetype); | ||
635 | } | ||
636 | } | ||
637 | |||
638 | public override byte PhysicsShapeType | ||
639 | { | ||
640 | get | ||
641 | { | ||
642 | return m_fakeShapetype; | ||
643 | } | ||
644 | set | ||
645 | { | ||
646 | m_fakeShapetype = value; | ||
647 | _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); | ||
648 | } | ||
649 | } | ||
650 | |||
651 | public override Vector3 rootVelocity | ||
652 | { | ||
653 | get | ||
654 | { | ||
655 | if(_parent != null) | ||
656 | return ((OdePrim)_parent).Velocity; | ||
657 | return Velocity; | ||
658 | } | ||
659 | } | ||
660 | |||
661 | public override Vector3 Velocity | ||
662 | { | ||
663 | get | ||
664 | { | ||
665 | if (_zeroFlag) | ||
666 | return Vector3.Zero; | ||
667 | return _velocity; | ||
668 | } | ||
669 | set | ||
670 | { | ||
671 | if (value.IsFinite()) | ||
672 | { | ||
673 | if(m_outbounds) | ||
674 | _velocity = value; | ||
675 | else | ||
676 | AddChange(changes.Velocity, value); | ||
677 | } | ||
678 | else | ||
679 | { | ||
680 | m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); | ||
681 | } | ||
682 | } | ||
683 | } | ||
684 | |||
685 | public override Vector3 Torque | ||
686 | { | ||
687 | get | ||
688 | { | ||
689 | if (!IsPhysical || Body == IntPtr.Zero) | ||
690 | return Vector3.Zero; | ||
691 | |||
692 | return m_torque; | ||
693 | } | ||
694 | |||
695 | set | ||
696 | { | ||
697 | if (value.IsFinite()) | ||
698 | { | ||
699 | AddChange(changes.Torque, value); | ||
700 | } | ||
701 | else | ||
702 | { | ||
703 | m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); | ||
704 | } | ||
705 | } | ||
706 | } | ||
707 | |||
708 | public override float CollisionScore | ||
709 | { | ||
710 | get { return m_collisionscore; } | ||
711 | set { m_collisionscore = value; } | ||
712 | } | ||
713 | |||
714 | public override bool Kinematic | ||
715 | { | ||
716 | get { return false; } | ||
717 | set { } | ||
718 | } | ||
719 | |||
720 | public override Quaternion Orientation | ||
721 | { | ||
722 | get | ||
723 | { | ||
724 | if (givefakeori > 0) | ||
725 | return fakeori; | ||
726 | else | ||
727 | |||
728 | return _orientation; | ||
729 | } | ||
730 | set | ||
731 | { | ||
732 | if (QuaternionIsFinite(value)) | ||
733 | { | ||
734 | fakeori = value; | ||
735 | givefakeori++; | ||
736 | |||
737 | value.Normalize(); | ||
738 | |||
739 | AddChange(changes.Orientation, value); | ||
740 | } | ||
741 | else | ||
742 | m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); | ||
743 | |||
744 | } | ||
745 | } | ||
746 | |||
747 | public override Vector3 Acceleration | ||
748 | { | ||
749 | get { return m_acceleration; } | ||
750 | set | ||
751 | { | ||
752 | if(m_outbounds) | ||
753 | m_acceleration = value; | ||
754 | } | ||
755 | } | ||
756 | |||
757 | public override Vector3 RotationalVelocity | ||
758 | { | ||
759 | get | ||
760 | { | ||
761 | Vector3 pv = Vector3.Zero; | ||
762 | if (_zeroFlag) | ||
763 | return pv; | ||
764 | |||
765 | if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) | ||
766 | return pv; | ||
767 | |||
768 | return m_rotationalVelocity; | ||
769 | } | ||
770 | set | ||
771 | { | ||
772 | if (value.IsFinite()) | ||
773 | { | ||
774 | if(m_outbounds) | ||
775 | m_rotationalVelocity = value; | ||
776 | else | ||
777 | AddChange(changes.AngVelocity, value); | ||
778 | } | ||
779 | else | ||
780 | { | ||
781 | m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); | ||
782 | } | ||
783 | } | ||
784 | } | ||
785 | |||
786 | public override float Buoyancy | ||
787 | { | ||
788 | get { return m_buoyancy; } | ||
789 | set | ||
790 | { | ||
791 | AddChange(changes.Buoyancy,value); | ||
792 | } | ||
793 | } | ||
794 | |||
795 | public override bool FloatOnWater | ||
796 | { | ||
797 | set | ||
798 | { | ||
799 | AddChange(changes.CollidesWater, value); | ||
800 | } | ||
801 | } | ||
802 | |||
803 | public override Vector3 PIDTarget | ||
804 | { | ||
805 | set | ||
806 | { | ||
807 | if (value.IsFinite()) | ||
808 | { | ||
809 | AddChange(changes.PIDTarget,value); | ||
810 | } | ||
811 | else | ||
812 | m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); | ||
813 | } | ||
814 | } | ||
815 | |||
816 | public override bool PIDActive | ||
817 | { | ||
818 | get | ||
819 | { | ||
820 | return m_usePID; | ||
821 | } | ||
822 | set | ||
823 | { | ||
824 | AddChange(changes.PIDActive,value); | ||
825 | } | ||
826 | } | ||
827 | |||
828 | public override float PIDTau | ||
829 | { | ||
830 | set | ||
831 | { | ||
832 | float tmp = 0; | ||
833 | if (value > 0) | ||
834 | { | ||
835 | float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); | ||
836 | if (value < mint) | ||
837 | tmp = mint; | ||
838 | else | ||
839 | tmp = value; | ||
840 | } | ||
841 | AddChange(changes.PIDTau,tmp); | ||
842 | } | ||
843 | } | ||
844 | |||
845 | public override float PIDHoverHeight | ||
846 | { | ||
847 | set | ||
848 | { | ||
849 | AddChange(changes.PIDHoverHeight,value); | ||
850 | } | ||
851 | } | ||
852 | public override bool PIDHoverActive | ||
853 | { | ||
854 | get | ||
855 | { | ||
856 | return m_useHoverPID; | ||
857 | } | ||
858 | set | ||
859 | { | ||
860 | AddChange(changes.PIDHoverActive, value); | ||
861 | } | ||
862 | } | ||
863 | |||
864 | public override PIDHoverType PIDHoverType | ||
865 | { | ||
866 | set | ||
867 | { | ||
868 | AddChange(changes.PIDHoverType,value); | ||
869 | } | ||
870 | } | ||
871 | |||
872 | public override float PIDHoverTau | ||
873 | { | ||
874 | set | ||
875 | { | ||
876 | float tmp =0; | ||
877 | if (value > 0) | ||
878 | { | ||
879 | float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); | ||
880 | if (value < mint) | ||
881 | tmp = mint; | ||
882 | else | ||
883 | tmp = value; | ||
884 | } | ||
885 | AddChange(changes.PIDHoverTau, tmp); | ||
886 | } | ||
887 | } | ||
888 | |||
889 | public override Quaternion APIDTarget { set { return; } } | ||
890 | |||
891 | public override bool APIDActive { set { return; } } | ||
892 | |||
893 | public override float APIDStrength { set { return; } } | ||
894 | |||
895 | public override float APIDDamping { set { return; } } | ||
896 | |||
897 | public override int VehicleType | ||
898 | { | ||
899 | // we may need to put a fake on this | ||
900 | get | ||
901 | { | ||
902 | if (m_vehicle == null) | ||
903 | return (int)Vehicle.TYPE_NONE; | ||
904 | else | ||
905 | return (int)m_vehicle.Type; | ||
906 | } | ||
907 | set | ||
908 | { | ||
909 | AddChange(changes.VehicleType, value); | ||
910 | } | ||
911 | } | ||
912 | |||
913 | public override void VehicleFloatParam(int param, float value) | ||
914 | { | ||
915 | strVehicleFloatParam fp = new strVehicleFloatParam(); | ||
916 | fp.param = param; | ||
917 | fp.value = value; | ||
918 | AddChange(changes.VehicleFloatParam, fp); | ||
919 | } | ||
920 | |||
921 | public override void VehicleVectorParam(int param, Vector3 value) | ||
922 | { | ||
923 | strVehicleVectorParam fp = new strVehicleVectorParam(); | ||
924 | fp.param = param; | ||
925 | fp.value = value; | ||
926 | AddChange(changes.VehicleVectorParam, fp); | ||
927 | } | ||
928 | |||
929 | public override void VehicleRotationParam(int param, Quaternion value) | ||
930 | { | ||
931 | strVehicleQuatParam fp = new strVehicleQuatParam(); | ||
932 | fp.param = param; | ||
933 | fp.value = value; | ||
934 | AddChange(changes.VehicleRotationParam, fp); | ||
935 | } | ||
936 | |||
937 | public override void VehicleFlags(int param, bool value) | ||
938 | { | ||
939 | strVehicleBoolParam bp = new strVehicleBoolParam(); | ||
940 | bp.param = param; | ||
941 | bp.value = value; | ||
942 | AddChange(changes.VehicleFlags, bp); | ||
943 | } | ||
944 | |||
945 | public override void SetVehicle(object vdata) | ||
946 | { | ||
947 | AddChange(changes.SetVehicle, vdata); | ||
948 | } | ||
949 | public void SetAcceleration(Vector3 accel) | ||
950 | { | ||
951 | m_acceleration = accel; | ||
952 | } | ||
953 | |||
954 | public override void AddForce(Vector3 force, bool pushforce) | ||
955 | { | ||
956 | if (force.IsFinite()) | ||
957 | { | ||
958 | if(pushforce) | ||
959 | AddChange(changes.AddForce, force); | ||
960 | else // a impulse | ||
961 | AddChange(changes.AddForce, force * m_invTimeStep); | ||
962 | } | ||
963 | else | ||
964 | { | ||
965 | m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); | ||
966 | } | ||
967 | //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); | ||
968 | } | ||
969 | |||
970 | public override void AddAngularForce(Vector3 force, bool pushforce) | ||
971 | { | ||
972 | if (force.IsFinite()) | ||
973 | { | ||
974 | // if(pushforce) for now applyrotationimpulse seems more happy applied as a force | ||
975 | AddChange(changes.AddAngForce, force); | ||
976 | // else // a impulse | ||
977 | // AddChange(changes.AddAngForce, force * m_invTimeStep); | ||
978 | } | ||
979 | else | ||
980 | { | ||
981 | m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); | ||
982 | } | ||
983 | } | ||
984 | |||
985 | public override void CrossingFailure() | ||
986 | { | ||
987 | lock(_parent_scene.OdeLock) | ||
988 | { | ||
989 | if (m_outbounds) | ||
990 | { | ||
991 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); | ||
992 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | ||
993 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | ||
994 | |||
995 | m_lastposition = _position; | ||
996 | _velocity.X = 0; | ||
997 | _velocity.Y = 0; | ||
998 | _velocity.Z = 0; | ||
999 | |||
1000 | d.AllocateODEDataForThread(0); | ||
1001 | |||
1002 | m_lastVelocity = _velocity; | ||
1003 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
1004 | m_vehicle.Stop(); | ||
1005 | |||
1006 | if(Body != IntPtr.Zero) | ||
1007 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
1008 | if (prim_geom != IntPtr.Zero) | ||
1009 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1010 | |||
1011 | m_outbounds = false; | ||
1012 | changeDisable(false); | ||
1013 | base.RequestPhysicsterseUpdate(); | ||
1014 | } | ||
1015 | } | ||
1016 | } | ||
1017 | |||
1018 | public override void CrossingStart() | ||
1019 | { | ||
1020 | lock(_parent_scene.OdeLock) | ||
1021 | { | ||
1022 | if (m_outbounds || childPrim) | ||
1023 | return; | ||
1024 | |||
1025 | m_outbounds = true; | ||
1026 | |||
1027 | m_lastposition = _position; | ||
1028 | m_lastorientation = _orientation; | ||
1029 | |||
1030 | d.AllocateODEDataForThread(0); | ||
1031 | if(Body != IntPtr.Zero) | ||
1032 | { | ||
1033 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | ||
1034 | m_rotationalVelocity.X = dtmp.X; | ||
1035 | m_rotationalVelocity.Y = dtmp.Y; | ||
1036 | m_rotationalVelocity.Z = dtmp.Z; | ||
1037 | |||
1038 | dtmp = d.BodyGetLinearVel(Body); | ||
1039 | _velocity.X = dtmp.X; | ||
1040 | _velocity.Y = dtmp.Y; | ||
1041 | _velocity.Z = dtmp.Z; | ||
1042 | |||
1043 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
1044 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
1045 | } | ||
1046 | if(prim_geom != IntPtr.Zero) | ||
1047 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1048 | disableBodySoft(); // stop collisions | ||
1049 | UnSubscribeEvents(); | ||
1050 | } | ||
1051 | } | ||
1052 | |||
1053 | public override void SetMomentum(Vector3 momentum) | ||
1054 | { | ||
1055 | } | ||
1056 | |||
1057 | public override void SetMaterial(int pMaterial) | ||
1058 | { | ||
1059 | m_material = pMaterial; | ||
1060 | mu = _parent_scene.m_materialContactsData[pMaterial].mu; | ||
1061 | bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; | ||
1062 | } | ||
1063 | |||
1064 | public override float Density | ||
1065 | { | ||
1066 | get | ||
1067 | { | ||
1068 | return m_density * 100f; | ||
1069 | } | ||
1070 | set | ||
1071 | { | ||
1072 | float old = m_density; | ||
1073 | m_density = value / 100f; | ||
1074 | // if(m_density != old) | ||
1075 | // UpdatePrimBodyData(); | ||
1076 | } | ||
1077 | } | ||
1078 | public override float GravModifier | ||
1079 | { | ||
1080 | get | ||
1081 | { | ||
1082 | return m_gravmod; | ||
1083 | } | ||
1084 | set | ||
1085 | { | ||
1086 | m_gravmod = value; | ||
1087 | if (m_vehicle != null) | ||
1088 | m_vehicle.GravMod = m_gravmod; | ||
1089 | } | ||
1090 | } | ||
1091 | public override float Friction | ||
1092 | { | ||
1093 | get | ||
1094 | { | ||
1095 | return mu; | ||
1096 | } | ||
1097 | set | ||
1098 | { | ||
1099 | mu = value; | ||
1100 | } | ||
1101 | } | ||
1102 | |||
1103 | public override float Restitution | ||
1104 | { | ||
1105 | get | ||
1106 | { | ||
1107 | return bounce; | ||
1108 | } | ||
1109 | set | ||
1110 | { | ||
1111 | bounce = value; | ||
1112 | } | ||
1113 | } | ||
1114 | |||
1115 | public void setPrimForRemoval() | ||
1116 | { | ||
1117 | AddChange(changes.Remove, null); | ||
1118 | } | ||
1119 | |||
1120 | public override void link(PhysicsActor obj) | ||
1121 | { | ||
1122 | AddChange(changes.Link, obj); | ||
1123 | } | ||
1124 | |||
1125 | public override void delink() | ||
1126 | { | ||
1127 | AddChange(changes.DeLink, null); | ||
1128 | } | ||
1129 | |||
1130 | public override void LockAngularMotion(byte axislock) | ||
1131 | { | ||
1132 | // m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); | ||
1133 | AddChange(changes.AngLock, axislock); | ||
1134 | |||
1135 | } | ||
1136 | |||
1137 | public override void SubscribeEvents(int ms) | ||
1138 | { | ||
1139 | m_eventsubscription = ms; | ||
1140 | m_cureventsubscription = 0; | ||
1141 | if (CollisionEventsThisFrame == null) | ||
1142 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
1143 | if (CollisionVDTCEventsThisFrame == null) | ||
1144 | CollisionVDTCEventsThisFrame = new CollisionEventUpdate(); | ||
1145 | SentEmptyCollisionsEvent = false; | ||
1146 | } | ||
1147 | |||
1148 | public override void UnSubscribeEvents() | ||
1149 | { | ||
1150 | if (CollisionVDTCEventsThisFrame != null) | ||
1151 | { | ||
1152 | CollisionVDTCEventsThisFrame.Clear(); | ||
1153 | CollisionVDTCEventsThisFrame = null; | ||
1154 | } | ||
1155 | if (CollisionEventsThisFrame != null) | ||
1156 | { | ||
1157 | CollisionEventsThisFrame.Clear(); | ||
1158 | CollisionEventsThisFrame = null; | ||
1159 | } | ||
1160 | m_eventsubscription = 0; | ||
1161 | _parent_scene.RemoveCollisionEventReporting(this); | ||
1162 | } | ||
1163 | |||
1164 | public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
1165 | { | ||
1166 | if (CollisionEventsThisFrame == null) | ||
1167 | CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
1168 | |||
1169 | CollisionEventsThisFrame.AddCollider(CollidedWith, contact); | ||
1170 | _parent_scene.AddCollisionEventReporting(this); | ||
1171 | } | ||
1172 | |||
1173 | public override void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
1174 | { | ||
1175 | if (CollisionVDTCEventsThisFrame == null) | ||
1176 | CollisionVDTCEventsThisFrame = new CollisionEventUpdate(); | ||
1177 | |||
1178 | CollisionVDTCEventsThisFrame.AddCollider(CollidedWith, contact); | ||
1179 | _parent_scene.AddCollisionEventReporting(this); | ||
1180 | } | ||
1181 | |||
1182 | internal void SleeperAddCollisionEvents() | ||
1183 | { | ||
1184 | if(CollisionEventsThisFrame != null && CollisionEventsThisFrame.m_objCollisionList.Count != 0) | ||
1185 | { | ||
1186 | foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEventsThisFrame.m_objCollisionList) | ||
1187 | { | ||
1188 | if(kvp.Key == 0) | ||
1189 | continue; | ||
1190 | OdePrim other = _parent_scene.getPrim(kvp.Key); | ||
1191 | if(other == null) | ||
1192 | continue; | ||
1193 | ContactPoint cp = kvp.Value; | ||
1194 | cp.SurfaceNormal = - cp.SurfaceNormal; | ||
1195 | cp.RelativeSpeed = -cp.RelativeSpeed; | ||
1196 | other.AddCollisionEvent(ParentActor.LocalID,cp); | ||
1197 | } | ||
1198 | } | ||
1199 | if(CollisionVDTCEventsThisFrame != null && CollisionVDTCEventsThisFrame.m_objCollisionList.Count != 0) | ||
1200 | { | ||
1201 | foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionVDTCEventsThisFrame.m_objCollisionList) | ||
1202 | { | ||
1203 | OdePrim other = _parent_scene.getPrim(kvp.Key); | ||
1204 | if(other == null) | ||
1205 | continue; | ||
1206 | ContactPoint cp = kvp.Value; | ||
1207 | cp.SurfaceNormal = - cp.SurfaceNormal; | ||
1208 | cp.RelativeSpeed = -cp.RelativeSpeed; | ||
1209 | other.AddCollisionEvent(ParentActor.LocalID,cp); | ||
1210 | } | ||
1211 | } | ||
1212 | } | ||
1213 | |||
1214 | internal void clearSleeperCollisions() | ||
1215 | { | ||
1216 | if(CollisionVDTCEventsThisFrame != null && CollisionVDTCEventsThisFrame.Count >0 ) | ||
1217 | CollisionVDTCEventsThisFrame.Clear(); | ||
1218 | } | ||
1219 | |||
1220 | public void SendCollisions(int timestep) | ||
1221 | { | ||
1222 | if (m_cureventsubscription < 50000) | ||
1223 | m_cureventsubscription += timestep; | ||
1224 | |||
1225 | |||
1226 | if (m_cureventsubscription < m_eventsubscription) | ||
1227 | return; | ||
1228 | |||
1229 | if (CollisionEventsThisFrame == null) | ||
1230 | return; | ||
1231 | |||
1232 | int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; | ||
1233 | |||
1234 | if (!SentEmptyCollisionsEvent || ncolisions > 0) | ||
1235 | { | ||
1236 | base.SendCollisionUpdate(CollisionEventsThisFrame); | ||
1237 | m_cureventsubscription = 0; | ||
1238 | |||
1239 | if (ncolisions == 0) | ||
1240 | { | ||
1241 | SentEmptyCollisionsEvent = true; | ||
1242 | // _parent_scene.RemoveCollisionEventReporting(this); | ||
1243 | } | ||
1244 | else if(Body == IntPtr.Zero || (d.BodyIsEnabled(Body) && m_bodydisablecontrol >= 0 )) | ||
1245 | { | ||
1246 | SentEmptyCollisionsEvent = false; | ||
1247 | CollisionEventsThisFrame.Clear(); | ||
1248 | } | ||
1249 | } | ||
1250 | } | ||
1251 | |||
1252 | public override bool SubscribedEvents() | ||
1253 | { | ||
1254 | if (m_eventsubscription > 0) | ||
1255 | return true; | ||
1256 | return false; | ||
1257 | } | ||
1258 | |||
1259 | public OdePrim(String primName, ODEScene parent_scene, Vector3 pos, Vector3 size, | ||
1260 | Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) | ||
1261 | { | ||
1262 | _parent_scene = parent_scene; | ||
1263 | |||
1264 | Name = primName; | ||
1265 | m_localID = plocalID; | ||
1266 | |||
1267 | m_vehicle = null; | ||
1268 | |||
1269 | if (!pos.IsFinite()) | ||
1270 | { | ||
1271 | pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), | ||
1272 | parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); | ||
1273 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); | ||
1274 | } | ||
1275 | _position = pos; | ||
1276 | givefakepos = 0; | ||
1277 | |||
1278 | m_timeStep = parent_scene.ODE_STEPSIZE; | ||
1279 | m_invTimeStep = 1f / m_timeStep; | ||
1280 | |||
1281 | m_density = parent_scene.geomDefaultDensity; | ||
1282 | m_body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | ||
1283 | |||
1284 | prim_geom = IntPtr.Zero; | ||
1285 | collide_geom = IntPtr.Zero; | ||
1286 | Body = IntPtr.Zero; | ||
1287 | |||
1288 | if (!size.IsFinite()) | ||
1289 | { | ||
1290 | size = new Vector3(0.5f, 0.5f, 0.5f); | ||
1291 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); | ||
1292 | } | ||
1293 | |||
1294 | if (size.X <= 0) size.X = 0.01f; | ||
1295 | if (size.Y <= 0) size.Y = 0.01f; | ||
1296 | if (size.Z <= 0) size.Z = 0.01f; | ||
1297 | |||
1298 | _size = size; | ||
1299 | |||
1300 | if (!QuaternionIsFinite(rotation)) | ||
1301 | { | ||
1302 | rotation = Quaternion.Identity; | ||
1303 | m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); | ||
1304 | } | ||
1305 | |||
1306 | _orientation = rotation; | ||
1307 | givefakeori = 0; | ||
1308 | |||
1309 | _pbs = pbs; | ||
1310 | |||
1311 | m_targetSpace = IntPtr.Zero; | ||
1312 | |||
1313 | if (pos.Z < 0) | ||
1314 | { | ||
1315 | m_isphysical = false; | ||
1316 | } | ||
1317 | else | ||
1318 | { | ||
1319 | m_isphysical = pisPhysical; | ||
1320 | } | ||
1321 | m_fakeisphysical = m_isphysical; | ||
1322 | |||
1323 | m_isVolumeDetect = false; | ||
1324 | m_fakeisVolumeDetect = false; | ||
1325 | |||
1326 | m_force = Vector3.Zero; | ||
1327 | |||
1328 | m_iscolliding = false; | ||
1329 | m_colliderfilter = 0; | ||
1330 | m_NoColide = false; | ||
1331 | |||
1332 | _triMeshData = IntPtr.Zero; | ||
1333 | |||
1334 | m_fakeShapetype = _shapeType; | ||
1335 | |||
1336 | m_lastdoneSelected = false; | ||
1337 | m_isSelected = false; | ||
1338 | m_delaySelect = false; | ||
1339 | |||
1340 | m_isphantom = pisPhantom; | ||
1341 | m_fakeisphantom = pisPhantom; | ||
1342 | |||
1343 | mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; | ||
1344 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; | ||
1345 | |||
1346 | m_building = true; // control must set this to false when done | ||
1347 | |||
1348 | AddChange(changes.Add, null); | ||
1349 | |||
1350 | // get basic mass parameters | ||
1351 | ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, _shapeType); | ||
1352 | |||
1353 | primVolume = repData.volume; | ||
1354 | m_OBB = repData.OBB; | ||
1355 | m_OBBOffset = repData.OBBOffset; | ||
1356 | |||
1357 | UpdatePrimBodyData(); | ||
1358 | } | ||
1359 | |||
1360 | private void resetCollisionAccounting() | ||
1361 | { | ||
1362 | m_collisionscore = 0; | ||
1363 | } | ||
1364 | |||
1365 | private void UpdateCollisionCatFlags() | ||
1366 | { | ||
1367 | if(m_isphysical && m_disabled) | ||
1368 | { | ||
1369 | m_collisionCategories = 0; | ||
1370 | m_collisionFlags = 0; | ||
1371 | } | ||
1372 | |||
1373 | else if (m_isSelected) | ||
1374 | { | ||
1375 | m_collisionCategories = CollisionCategories.Selected; | ||
1376 | m_collisionFlags = 0; | ||
1377 | } | ||
1378 | |||
1379 | else if (m_isVolumeDetect) | ||
1380 | { | ||
1381 | m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1382 | if (m_isphysical) | ||
1383 | m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; | ||
1384 | else | ||
1385 | m_collisionFlags = 0; | ||
1386 | } | ||
1387 | else if (m_isphantom) | ||
1388 | { | ||
1389 | m_collisionCategories = CollisionCategories.Phantom; | ||
1390 | if (m_isphysical) | ||
1391 | m_collisionFlags = CollisionCategories.Land; | ||
1392 | else | ||
1393 | m_collisionFlags = 0; | ||
1394 | } | ||
1395 | else | ||
1396 | { | ||
1397 | m_collisionCategories = CollisionCategories.Geom; | ||
1398 | if (m_isphysical) | ||
1399 | m_collisionFlags = m_default_collisionFlagsPhysical; | ||
1400 | else | ||
1401 | m_collisionFlags = m_default_collisionFlagsNotPhysical; | ||
1402 | } | ||
1403 | } | ||
1404 | |||
1405 | private void ApplyCollisionCatFlags() | ||
1406 | { | ||
1407 | if (prim_geom != IntPtr.Zero) | ||
1408 | { | ||
1409 | if (!childPrim && childrenPrim.Count > 0) | ||
1410 | { | ||
1411 | foreach (OdePrim prm in childrenPrim) | ||
1412 | { | ||
1413 | if (m_isphysical && m_disabled) | ||
1414 | { | ||
1415 | prm.m_collisionCategories = 0; | ||
1416 | prm.m_collisionFlags = 0; | ||
1417 | } | ||
1418 | else | ||
1419 | { | ||
1420 | // preserve some | ||
1421 | if (prm.m_isSelected) | ||
1422 | { | ||
1423 | prm.m_collisionCategories = CollisionCategories.Selected; | ||
1424 | prm.m_collisionFlags = 0; | ||
1425 | } | ||
1426 | else if (prm.m_isVolumeDetect) | ||
1427 | { | ||
1428 | prm.m_collisionCategories = CollisionCategories.VolumeDtc; | ||
1429 | if (m_isphysical) | ||
1430 | prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; | ||
1431 | else | ||
1432 | prm.m_collisionFlags = 0; | ||
1433 | } | ||
1434 | else if (prm.m_isphantom) | ||
1435 | { | ||
1436 | prm.m_collisionCategories = CollisionCategories.Phantom; | ||
1437 | if (m_isphysical) | ||
1438 | prm.m_collisionFlags = CollisionCategories.Land; | ||
1439 | else | ||
1440 | prm.m_collisionFlags = 0; | ||
1441 | } | ||
1442 | else | ||
1443 | { | ||
1444 | prm.m_collisionCategories = m_collisionCategories; | ||
1445 | prm.m_collisionFlags = m_collisionFlags; | ||
1446 | } | ||
1447 | } | ||
1448 | |||
1449 | if (prm.prim_geom != IntPtr.Zero) | ||
1450 | { | ||
1451 | if (prm.m_NoColide) | ||
1452 | { | ||
1453 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
1454 | if (m_isphysical) | ||
1455 | d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); | ||
1456 | else | ||
1457 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
1458 | } | ||
1459 | else | ||
1460 | { | ||
1461 | d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); | ||
1462 | d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); | ||
1463 | } | ||
1464 | } | ||
1465 | } | ||
1466 | } | ||
1467 | |||
1468 | if (m_NoColide) | ||
1469 | { | ||
1470 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1471 | d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); | ||
1472 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
1473 | { | ||
1474 | d.GeomSetCategoryBits(collide_geom, 0); | ||
1475 | d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); | ||
1476 | } | ||
1477 | } | ||
1478 | else | ||
1479 | { | ||
1480 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1481 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1482 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
1483 | { | ||
1484 | d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); | ||
1485 | d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); | ||
1486 | } | ||
1487 | } | ||
1488 | } | ||
1489 | } | ||
1490 | |||
1491 | private void createAMotor(byte axislock) | ||
1492 | { | ||
1493 | if (Body == IntPtr.Zero) | ||
1494 | return; | ||
1495 | |||
1496 | if (Amotor != IntPtr.Zero) | ||
1497 | { | ||
1498 | d.JointDestroy(Amotor); | ||
1499 | Amotor = IntPtr.Zero; | ||
1500 | } | ||
1501 | |||
1502 | int axisnum = 0; | ||
1503 | bool axisX = false; | ||
1504 | bool axisY = false; | ||
1505 | bool axisZ = false; | ||
1506 | if((axislock & 0x02) != 0) | ||
1507 | { | ||
1508 | axisnum++; | ||
1509 | axisX = true; | ||
1510 | } | ||
1511 | if((axislock & 0x04) != 0) | ||
1512 | { | ||
1513 | axisnum++; | ||
1514 | axisY = true; | ||
1515 | } | ||
1516 | if((axislock & 0x08) != 0) | ||
1517 | { | ||
1518 | axisnum++; | ||
1519 | axisZ = true; | ||
1520 | } | ||
1521 | |||
1522 | if(axisnum == 0) | ||
1523 | return; | ||
1524 | // stop it | ||
1525 | d.BodySetTorque(Body, 0, 0, 0); | ||
1526 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
1527 | |||
1528 | Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); | ||
1529 | d.JointAttach(Amotor, Body, IntPtr.Zero); | ||
1530 | |||
1531 | d.JointSetAMotorMode(Amotor, 0); | ||
1532 | |||
1533 | d.JointSetAMotorNumAxes(Amotor, axisnum); | ||
1534 | |||
1535 | // get current orientation to lock | ||
1536 | |||
1537 | d.Quaternion dcur = d.BodyGetQuaternion(Body); | ||
1538 | Quaternion curr; // crap convertion between identical things | ||
1539 | curr.X = dcur.X; | ||
1540 | curr.Y = dcur.Y; | ||
1541 | curr.Z = dcur.Z; | ||
1542 | curr.W = dcur.W; | ||
1543 | Vector3 ax; | ||
1544 | |||
1545 | int i = 0; | ||
1546 | int j = 0; | ||
1547 | if (axisX) | ||
1548 | { | ||
1549 | ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X | ||
1550 | d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); | ||
1551 | d.JointSetAMotorAngle(Amotor, 0, 0); | ||
1552 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f); | ||
1553 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f); | ||
1554 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); | ||
1555 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1556 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); | ||
1557 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.CFM, 0f); | ||
1558 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); | ||
1559 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); | ||
1560 | d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); | ||
1561 | i++; | ||
1562 | j = 256; // move to next axis set | ||
1563 | } | ||
1564 | |||
1565 | if (axisY) | ||
1566 | { | ||
1567 | ax = (new Vector3(0, 1, 0)) * curr; | ||
1568 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
1569 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
1570 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); | ||
1571 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); | ||
1572 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
1573 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1574 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
1575 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f); | ||
1576 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
1577 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | ||
1578 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | ||
1579 | i++; | ||
1580 | j += 256; | ||
1581 | } | ||
1582 | |||
1583 | if (axisZ) | ||
1584 | { | ||
1585 | ax = (new Vector3(0, 0, 1)) * curr; | ||
1586 | d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); | ||
1587 | d.JointSetAMotorAngle(Amotor, i, 0); | ||
1588 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); | ||
1589 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); | ||
1590 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); | ||
1591 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); | ||
1592 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); | ||
1593 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f); | ||
1594 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); | ||
1595 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); | ||
1596 | d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); | ||
1597 | } | ||
1598 | } | ||
1599 | |||
1600 | |||
1601 | private void SetGeom(IntPtr geom) | ||
1602 | { | ||
1603 | prim_geom = geom; | ||
1604 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); | ||
1605 | if (prim_geom != IntPtr.Zero) | ||
1606 | { | ||
1607 | |||
1608 | if (m_NoColide) | ||
1609 | { | ||
1610 | d.GeomSetCategoryBits(prim_geom, 0); | ||
1611 | if (m_isphysical) | ||
1612 | { | ||
1613 | d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); | ||
1614 | } | ||
1615 | else | ||
1616 | { | ||
1617 | d.GeomSetCollideBits(prim_geom, 0); | ||
1618 | d.GeomDisable(prim_geom); | ||
1619 | } | ||
1620 | } | ||
1621 | else | ||
1622 | { | ||
1623 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
1624 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
1625 | } | ||
1626 | |||
1627 | UpdatePrimBodyData(); | ||
1628 | _parent_scene.actor_name_map[prim_geom] = this; | ||
1629 | |||
1630 | /* | ||
1631 | // debug | ||
1632 | d.AABB aabb; | ||
1633 | d.GeomGetAABB(prim_geom, out aabb); | ||
1634 | float x = aabb.MaxX - aabb.MinX; | ||
1635 | float y = aabb.MaxY - aabb.MinY; | ||
1636 | float z = aabb.MaxZ - aabb.MinZ; | ||
1637 | if( x > 60.0f || y > 60.0f || z > 60.0f) | ||
1638 | m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", | ||
1639 | Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); | ||
1640 | else if (x < 0.001f || y < 0.001f || z < 0.001f) | ||
1641 | m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", | ||
1642 | Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); | ||
1643 | */ | ||
1644 | |||
1645 | } | ||
1646 | else | ||
1647 | m_log.Warn("Setting bad Geom"); | ||
1648 | } | ||
1649 | |||
1650 | private bool GetMeshGeom() | ||
1651 | { | ||
1652 | IntPtr vertices, indices; | ||
1653 | int vertexCount, indexCount; | ||
1654 | int vertexStride, triStride; | ||
1655 | |||
1656 | IMesh mesh = m_mesh; | ||
1657 | |||
1658 | if (mesh == null) | ||
1659 | return false; | ||
1660 | |||
1661 | mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); | ||
1662 | mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); | ||
1663 | |||
1664 | if (vertexCount == 0 || indexCount == 0) | ||
1665 | { | ||
1666 | m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1} at {2}", | ||
1667 | Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh",_position.ToString()); | ||
1668 | |||
1669 | m_hasOBB = false; | ||
1670 | m_OBBOffset = Vector3.Zero; | ||
1671 | m_OBB = _size * 0.5f; | ||
1672 | |||
1673 | m_physCost = 0.1f; | ||
1674 | m_streamCost = 1.0f; | ||
1675 | |||
1676 | _parent_scene.mesher.ReleaseMesh(mesh); | ||
1677 | m_meshState = MeshState.MeshFailed; | ||
1678 | m_mesh = null; | ||
1679 | return false; | ||
1680 | } | ||
1681 | |||
1682 | if (vertexCount > 64000 || indexCount > 64000) | ||
1683 | { | ||
1684 | m_log.WarnFormat("[PHYSICS]: large mesh data on OdePrim {0}, mesh {1} at {2}, {3} vertices, {4} indexes", | ||
1685 | Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", | ||
1686 | _position.ToString() ,vertexCount , indexCount ); | ||
1687 | } | ||
1688 | IntPtr geo = IntPtr.Zero; | ||
1689 | |||
1690 | try | ||
1691 | { | ||
1692 | _triMeshData = d.GeomTriMeshDataCreate(); | ||
1693 | |||
1694 | d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); | ||
1695 | d.GeomTriMeshDataPreprocess(_triMeshData); | ||
1696 | |||
1697 | geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); | ||
1698 | } | ||
1699 | |||
1700 | catch (Exception e) | ||
1701 | { | ||
1702 | m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); | ||
1703 | if (_triMeshData != IntPtr.Zero) | ||
1704 | { | ||
1705 | try | ||
1706 | { | ||
1707 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1708 | } | ||
1709 | catch | ||
1710 | { | ||
1711 | } | ||
1712 | } | ||
1713 | _triMeshData = IntPtr.Zero; | ||
1714 | |||
1715 | m_hasOBB = false; | ||
1716 | m_OBBOffset = Vector3.Zero; | ||
1717 | m_OBB = _size * 0.5f; | ||
1718 | m_physCost = 0.1f; | ||
1719 | m_streamCost = 1.0f; | ||
1720 | |||
1721 | _parent_scene.mesher.ReleaseMesh(mesh); | ||
1722 | m_meshState = MeshState.MeshFailed; | ||
1723 | m_mesh = null; | ||
1724 | return false; | ||
1725 | } | ||
1726 | |||
1727 | m_physCost = 0.0013f * (float)indexCount; | ||
1728 | // todo | ||
1729 | m_streamCost = 1.0f; | ||
1730 | |||
1731 | SetGeom(geo); | ||
1732 | |||
1733 | return true; | ||
1734 | } | ||
1735 | |||
1736 | private void CreateGeom(bool OverrideToBox) | ||
1737 | { | ||
1738 | bool hasMesh = false; | ||
1739 | |||
1740 | m_NoColide = false; | ||
1741 | |||
1742 | if ((m_meshState & MeshState.MeshNoColide) != 0) | ||
1743 | m_NoColide = true; | ||
1744 | |||
1745 | else if(!OverrideToBox && m_mesh != null) | ||
1746 | { | ||
1747 | if (GetMeshGeom()) | ||
1748 | hasMesh = true; | ||
1749 | else | ||
1750 | m_NoColide = true; | ||
1751 | } | ||
1752 | |||
1753 | |||
1754 | if (!hasMesh) | ||
1755 | { | ||
1756 | IntPtr geo = IntPtr.Zero; | ||
1757 | |||
1758 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1759 | && _size.X == _size.Y && _size.Y == _size.Z) | ||
1760 | { // it's a sphere | ||
1761 | try | ||
1762 | { | ||
1763 | geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); | ||
1764 | } | ||
1765 | catch (Exception e) | ||
1766 | { | ||
1767 | m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); | ||
1768 | return; | ||
1769 | } | ||
1770 | } | ||
1771 | else | ||
1772 | {// do it as a box | ||
1773 | try | ||
1774 | { | ||
1775 | geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); | ||
1776 | } | ||
1777 | catch (Exception e) | ||
1778 | { | ||
1779 | m_log.Warn("[PHYSICS]: Create box failed: {0}", e); | ||
1780 | return; | ||
1781 | } | ||
1782 | } | ||
1783 | m_physCost = 0.1f; | ||
1784 | m_streamCost = 1.0f; | ||
1785 | SetGeom(geo); | ||
1786 | } | ||
1787 | } | ||
1788 | |||
1789 | private void RemoveGeom() | ||
1790 | { | ||
1791 | if (prim_geom != IntPtr.Zero) | ||
1792 | { | ||
1793 | _parent_scene.actor_name_map.Remove(prim_geom); | ||
1794 | |||
1795 | try | ||
1796 | { | ||
1797 | d.GeomDestroy(prim_geom); | ||
1798 | if (_triMeshData != IntPtr.Zero) | ||
1799 | { | ||
1800 | d.GeomTriMeshDataDestroy(_triMeshData); | ||
1801 | _triMeshData = IntPtr.Zero; | ||
1802 | } | ||
1803 | } | ||
1804 | catch (Exception e) | ||
1805 | { | ||
1806 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); | ||
1807 | } | ||
1808 | |||
1809 | prim_geom = IntPtr.Zero; | ||
1810 | collide_geom = IntPtr.Zero; | ||
1811 | m_targetSpace = IntPtr.Zero; | ||
1812 | } | ||
1813 | else | ||
1814 | { | ||
1815 | m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); | ||
1816 | } | ||
1817 | |||
1818 | lock (m_meshlock) | ||
1819 | { | ||
1820 | if (m_mesh != null) | ||
1821 | { | ||
1822 | _parent_scene.mesher.ReleaseMesh(m_mesh); | ||
1823 | m_mesh = null; | ||
1824 | } | ||
1825 | } | ||
1826 | |||
1827 | Body = IntPtr.Zero; | ||
1828 | m_hasOBB = false; | ||
1829 | } | ||
1830 | |||
1831 | //sets non physical prim m_targetSpace to right space in spaces grid for static prims | ||
1832 | // should only be called for non physical prims unless they are becoming non physical | ||
1833 | private void SetInStaticSpace(OdePrim prim) | ||
1834 | { | ||
1835 | IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); | ||
1836 | prim.m_targetSpace = targetSpace; | ||
1837 | collide_geom = IntPtr.Zero; | ||
1838 | } | ||
1839 | |||
1840 | public void enableBodySoft() | ||
1841 | { | ||
1842 | m_disabled = false; | ||
1843 | if (!childPrim && !m_isSelected) | ||
1844 | { | ||
1845 | if (m_isphysical && Body != IntPtr.Zero) | ||
1846 | { | ||
1847 | UpdateCollisionCatFlags(); | ||
1848 | ApplyCollisionCatFlags(); | ||
1849 | |||
1850 | _zeroFlag = true; | ||
1851 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
1852 | d.BodyEnable(Body); | ||
1853 | } | ||
1854 | } | ||
1855 | resetCollisionAccounting(); | ||
1856 | } | ||
1857 | |||
1858 | private void disableBodySoft() | ||
1859 | { | ||
1860 | m_disabled = true; | ||
1861 | if (!childPrim) | ||
1862 | { | ||
1863 | if (m_isphysical && Body != IntPtr.Zero) | ||
1864 | { | ||
1865 | if (m_isSelected) | ||
1866 | m_collisionFlags = CollisionCategories.Selected; | ||
1867 | else | ||
1868 | m_collisionCategories = 0; | ||
1869 | m_collisionFlags = 0; | ||
1870 | ApplyCollisionCatFlags(); | ||
1871 | d.BodyDisable(Body); | ||
1872 | } | ||
1873 | } | ||
1874 | } | ||
1875 | |||
1876 | private void MakeBody() | ||
1877 | { | ||
1878 | if (!m_isphysical) // only physical get bodies | ||
1879 | return; | ||
1880 | |||
1881 | if (childPrim) // child prims don't get bodies; | ||
1882 | return; | ||
1883 | |||
1884 | if (m_building) | ||
1885 | return; | ||
1886 | |||
1887 | if (prim_geom == IntPtr.Zero) | ||
1888 | { | ||
1889 | m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); | ||
1890 | return; | ||
1891 | } | ||
1892 | |||
1893 | if (Body != IntPtr.Zero) | ||
1894 | { | ||
1895 | DestroyBody(); | ||
1896 | m_log.Warn("[PHYSICS]: MakeBody called having a body"); | ||
1897 | } | ||
1898 | |||
1899 | if (d.GeomGetBody(prim_geom) != IntPtr.Zero) | ||
1900 | { | ||
1901 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
1902 | m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); | ||
1903 | } | ||
1904 | |||
1905 | bool noInertiaOverride = (m_InertiaOverride == null); | ||
1906 | |||
1907 | Body = d.BodyCreate(_parent_scene.world); | ||
1908 | |||
1909 | d.Matrix3 mymat = new d.Matrix3(); | ||
1910 | d.Quaternion myrot = new d.Quaternion(); | ||
1911 | d.Mass objdmass = new d.Mass { }; | ||
1912 | |||
1913 | myrot.X = _orientation.X; | ||
1914 | myrot.Y = _orientation.Y; | ||
1915 | myrot.Z = _orientation.Z; | ||
1916 | myrot.W = _orientation.W; | ||
1917 | d.RfromQ(out mymat, ref myrot); | ||
1918 | |||
1919 | // set the body rotation | ||
1920 | d.BodySetRotation(Body, ref mymat); | ||
1921 | |||
1922 | if(noInertiaOverride) | ||
1923 | { | ||
1924 | objdmass = primdMass; | ||
1925 | d.MassRotate(ref objdmass, ref mymat); | ||
1926 | } | ||
1927 | |||
1928 | // recompute full object inertia if needed | ||
1929 | if (childrenPrim.Count > 0) | ||
1930 | { | ||
1931 | d.Matrix3 mat = new d.Matrix3(); | ||
1932 | d.Quaternion quat = new d.Quaternion(); | ||
1933 | d.Mass tmpdmass = new d.Mass { }; | ||
1934 | Vector3 rcm; | ||
1935 | |||
1936 | rcm.X = _position.X; | ||
1937 | rcm.Y = _position.Y; | ||
1938 | rcm.Z = _position.Z; | ||
1939 | |||
1940 | lock (childrenPrim) | ||
1941 | { | ||
1942 | foreach (OdePrim prm in childrenPrim) | ||
1943 | { | ||
1944 | if (prm.prim_geom == IntPtr.Zero) | ||
1945 | { | ||
1946 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); | ||
1947 | continue; | ||
1948 | } | ||
1949 | |||
1950 | quat.X = prm._orientation.X; | ||
1951 | quat.Y = prm._orientation.Y; | ||
1952 | quat.Z = prm._orientation.Z; | ||
1953 | quat.W = prm._orientation.W; | ||
1954 | d.RfromQ(out mat, ref quat); | ||
1955 | |||
1956 | // fix prim colision cats | ||
1957 | |||
1958 | if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) | ||
1959 | { | ||
1960 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
1961 | m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); | ||
1962 | } | ||
1963 | |||
1964 | d.GeomClearOffset(prm.prim_geom); | ||
1965 | d.GeomSetBody(prm.prim_geom, Body); | ||
1966 | prm.Body = Body; | ||
1967 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation | ||
1968 | |||
1969 | if(noInertiaOverride) | ||
1970 | { | ||
1971 | tmpdmass = prm.primdMass; | ||
1972 | |||
1973 | d.MassRotate(ref tmpdmass, ref mat); | ||
1974 | Vector3 ppos = prm._position; | ||
1975 | ppos.X -= rcm.X; | ||
1976 | ppos.Y -= rcm.Y; | ||
1977 | ppos.Z -= rcm.Z; | ||
1978 | // refer inertia to root prim center of mass position | ||
1979 | d.MassTranslate(ref tmpdmass, | ||
1980 | ppos.X, | ||
1981 | ppos.Y, | ||
1982 | ppos.Z); | ||
1983 | |||
1984 | d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia | ||
1985 | } | ||
1986 | } | ||
1987 | } | ||
1988 | } | ||
1989 | |||
1990 | d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset | ||
1991 | // associate root geom with body | ||
1992 | d.GeomSetBody(prim_geom, Body); | ||
1993 | |||
1994 | if(noInertiaOverride) | ||
1995 | d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); | ||
1996 | else | ||
1997 | { | ||
1998 | Vector3 ncm = m_InertiaOverride.CenterOfMass * _orientation; | ||
1999 | d.BodySetPosition(Body, | ||
2000 | _position.X + ncm.X, | ||
2001 | _position.Y + ncm.Y, | ||
2002 | _position.Z + ncm.Z); | ||
2003 | } | ||
2004 | |||
2005 | d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
2006 | |||
2007 | if(noInertiaOverride) | ||
2008 | { | ||
2009 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2010 | myrot.X = -myrot.X; | ||
2011 | myrot.Y = -myrot.Y; | ||
2012 | myrot.Z = -myrot.Z; | ||
2013 | |||
2014 | d.RfromQ(out mymat, ref myrot); | ||
2015 | d.MassRotate(ref objdmass, ref mymat); | ||
2016 | |||
2017 | d.BodySetMass(Body, ref objdmass); | ||
2018 | m_mass = objdmass.mass; | ||
2019 | } | ||
2020 | else | ||
2021 | { | ||
2022 | objdmass.c.X = 0; | ||
2023 | objdmass.c.Y = 0; | ||
2024 | objdmass.c.Z = 0; | ||
2025 | |||
2026 | objdmass.I.M00 = m_InertiaOverride.Inertia.X; | ||
2027 | objdmass.I.M11 = m_InertiaOverride.Inertia.Y; | ||
2028 | objdmass.I.M22 = m_InertiaOverride.Inertia.Z; | ||
2029 | |||
2030 | objdmass.mass = m_InertiaOverride.TotalMass; | ||
2031 | |||
2032 | if(Math.Abs(m_InertiaOverride.InertiaRotation.W) < 0.999) | ||
2033 | { | ||
2034 | d.Matrix3 inertiarotmat = new d.Matrix3(); | ||
2035 | d.Quaternion inertiarot = new d.Quaternion(); | ||
2036 | |||
2037 | inertiarot.X = m_InertiaOverride.InertiaRotation.X; | ||
2038 | inertiarot.Y = m_InertiaOverride.InertiaRotation.Y; | ||
2039 | inertiarot.Z = m_InertiaOverride.InertiaRotation.Z; | ||
2040 | inertiarot.W = m_InertiaOverride.InertiaRotation.W; | ||
2041 | d.RfromQ(out inertiarotmat, ref inertiarot); | ||
2042 | d.MassRotate(ref objdmass, ref inertiarotmat); | ||
2043 | } | ||
2044 | d.BodySetMass(Body, ref objdmass); | ||
2045 | |||
2046 | m_mass = objdmass.mass; | ||
2047 | } | ||
2048 | |||
2049 | // disconnect from world gravity so we can apply buoyancy | ||
2050 | d.BodySetGravityMode(Body, false); | ||
2051 | |||
2052 | d.BodySetAutoDisableFlag(Body, true); | ||
2053 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
2054 | d.BodySetAutoDisableAngularThreshold(Body, 0.05f); | ||
2055 | d.BodySetAutoDisableLinearThreshold(Body, 0.05f); | ||
2056 | d.BodySetDamping(Body, .004f, .001f); | ||
2057 | |||
2058 | if (m_targetSpace != IntPtr.Zero) | ||
2059 | { | ||
2060 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | ||
2061 | if (d.SpaceQuery(m_targetSpace, prim_geom)) | ||
2062 | d.SpaceRemove(m_targetSpace, prim_geom); | ||
2063 | } | ||
2064 | |||
2065 | if (childrenPrim.Count == 0) | ||
2066 | { | ||
2067 | collide_geom = prim_geom; | ||
2068 | m_targetSpace = _parent_scene.ActiveSpace; | ||
2069 | } | ||
2070 | else | ||
2071 | { | ||
2072 | m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); | ||
2073 | d.HashSpaceSetLevels(m_targetSpace, -2, 8); | ||
2074 | d.SpaceSetSublevel(m_targetSpace, 3); | ||
2075 | d.SpaceSetCleanup(m_targetSpace, false); | ||
2076 | |||
2077 | d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | | ||
2078 | CollisionCategories.Geom | | ||
2079 | CollisionCategories.Phantom | | ||
2080 | CollisionCategories.VolumeDtc | ||
2081 | )); | ||
2082 | d.GeomSetCollideBits(m_targetSpace, 0); | ||
2083 | collide_geom = m_targetSpace; | ||
2084 | } | ||
2085 | |||
2086 | d.SpaceAdd(m_targetSpace, prim_geom); | ||
2087 | |||
2088 | if (m_delaySelect) | ||
2089 | { | ||
2090 | m_isSelected = true; | ||
2091 | m_delaySelect = false; | ||
2092 | } | ||
2093 | |||
2094 | m_collisionscore = 0; | ||
2095 | |||
2096 | UpdateCollisionCatFlags(); | ||
2097 | ApplyCollisionCatFlags(); | ||
2098 | |||
2099 | _parent_scene.addActivePrim(this); | ||
2100 | |||
2101 | lock (childrenPrim) | ||
2102 | { | ||
2103 | foreach (OdePrim prm in childrenPrim) | ||
2104 | { | ||
2105 | if (prm.prim_geom == IntPtr.Zero) | ||
2106 | continue; | ||
2107 | |||
2108 | Vector3 ppos = prm._position; | ||
2109 | d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position | ||
2110 | |||
2111 | if (prm.m_targetSpace != m_targetSpace) | ||
2112 | { | ||
2113 | if (prm.m_targetSpace != IntPtr.Zero) | ||
2114 | { | ||
2115 | _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); | ||
2116 | if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) | ||
2117 | d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); | ||
2118 | } | ||
2119 | prm.m_targetSpace = m_targetSpace; | ||
2120 | d.SpaceAdd(m_targetSpace, prm.prim_geom); | ||
2121 | } | ||
2122 | |||
2123 | prm.m_collisionscore = 0; | ||
2124 | |||
2125 | if(!m_disabled) | ||
2126 | prm.m_disabled = false; | ||
2127 | |||
2128 | _parent_scene.addActivePrim(prm); | ||
2129 | } | ||
2130 | } | ||
2131 | |||
2132 | // The body doesn't already have a finite rotation mode set here | ||
2133 | if (m_angularlocks != 0 && _parent == null) | ||
2134 | { | ||
2135 | createAMotor(m_angularlocks); | ||
2136 | } | ||
2137 | |||
2138 | if (m_isSelected || m_disabled) | ||
2139 | { | ||
2140 | d.BodyDisable(Body); | ||
2141 | _zeroFlag = true; | ||
2142 | } | ||
2143 | else | ||
2144 | { | ||
2145 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); | ||
2146 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | ||
2147 | |||
2148 | _zeroFlag = false; | ||
2149 | m_bodydisablecontrol = 0; | ||
2150 | } | ||
2151 | _parent_scene.addActiveGroups(this); | ||
2152 | } | ||
2153 | |||
2154 | private void DestroyBody() | ||
2155 | { | ||
2156 | if (Body != IntPtr.Zero) | ||
2157 | { | ||
2158 | _parent_scene.remActivePrim(this); | ||
2159 | |||
2160 | collide_geom = IntPtr.Zero; | ||
2161 | |||
2162 | if (m_disabled) | ||
2163 | m_collisionCategories = 0; | ||
2164 | else if (m_isSelected) | ||
2165 | m_collisionCategories = CollisionCategories.Selected; | ||
2166 | else if (m_isVolumeDetect) | ||
2167 | m_collisionCategories = CollisionCategories.VolumeDtc; | ||
2168 | else if (m_isphantom) | ||
2169 | m_collisionCategories = CollisionCategories.Phantom; | ||
2170 | else | ||
2171 | m_collisionCategories = CollisionCategories.Geom; | ||
2172 | |||
2173 | m_collisionFlags = 0; | ||
2174 | |||
2175 | if (prim_geom != IntPtr.Zero) | ||
2176 | { | ||
2177 | if (m_NoColide) | ||
2178 | { | ||
2179 | d.GeomSetCategoryBits(prim_geom, 0); | ||
2180 | d.GeomSetCollideBits(prim_geom, 0); | ||
2181 | } | ||
2182 | else | ||
2183 | { | ||
2184 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
2185 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
2186 | } | ||
2187 | UpdateDataFromGeom(); | ||
2188 | d.GeomSetBody(prim_geom, IntPtr.Zero); | ||
2189 | SetInStaticSpace(this); | ||
2190 | } | ||
2191 | |||
2192 | if (!childPrim) | ||
2193 | { | ||
2194 | lock (childrenPrim) | ||
2195 | { | ||
2196 | foreach (OdePrim prm in childrenPrim) | ||
2197 | { | ||
2198 | _parent_scene.remActivePrim(prm); | ||
2199 | |||
2200 | if (prm.m_isSelected) | ||
2201 | prm.m_collisionCategories = CollisionCategories.Selected; | ||
2202 | else if (prm.m_isVolumeDetect) | ||
2203 | prm.m_collisionCategories = CollisionCategories.VolumeDtc; | ||
2204 | else if (prm.m_isphantom) | ||
2205 | prm.m_collisionCategories = CollisionCategories.Phantom; | ||
2206 | else | ||
2207 | prm.m_collisionCategories = CollisionCategories.Geom; | ||
2208 | |||
2209 | prm.m_collisionFlags = 0; | ||
2210 | |||
2211 | if (prm.prim_geom != IntPtr.Zero) | ||
2212 | { | ||
2213 | if (prm.m_NoColide) | ||
2214 | { | ||
2215 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
2216 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
2217 | } | ||
2218 | else | ||
2219 | { | ||
2220 | d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); | ||
2221 | d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); | ||
2222 | } | ||
2223 | prm.UpdateDataFromGeom(); | ||
2224 | SetInStaticSpace(prm); | ||
2225 | } | ||
2226 | prm.Body = IntPtr.Zero; | ||
2227 | prm.m_mass = prm.primMass; | ||
2228 | prm.m_collisionscore = 0; | ||
2229 | } | ||
2230 | } | ||
2231 | if (Amotor != IntPtr.Zero) | ||
2232 | { | ||
2233 | d.JointDestroy(Amotor); | ||
2234 | Amotor = IntPtr.Zero; | ||
2235 | } | ||
2236 | _parent_scene.remActiveGroup(this); | ||
2237 | d.BodyDestroy(Body); | ||
2238 | } | ||
2239 | Body = IntPtr.Zero; | ||
2240 | } | ||
2241 | m_mass = primMass; | ||
2242 | m_collisionscore = 0; | ||
2243 | } | ||
2244 | |||
2245 | private void FixInertia(Vector3 NewPos,Quaternion newrot) | ||
2246 | { | ||
2247 | d.Matrix3 mat = new d.Matrix3(); | ||
2248 | d.Quaternion quat = new d.Quaternion(); | ||
2249 | |||
2250 | d.Mass tmpdmass = new d.Mass { }; | ||
2251 | d.Mass objdmass = new d.Mass { }; | ||
2252 | |||
2253 | d.BodyGetMass(Body, out tmpdmass); | ||
2254 | objdmass = tmpdmass; | ||
2255 | |||
2256 | d.Vector3 dobjpos; | ||
2257 | d.Vector3 thispos; | ||
2258 | |||
2259 | // get current object position and rotation | ||
2260 | dobjpos = d.BodyGetPosition(Body); | ||
2261 | |||
2262 | // get prim own inertia in its local frame | ||
2263 | tmpdmass = primdMass; | ||
2264 | |||
2265 | // transform to object frame | ||
2266 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2267 | d.MassRotate(ref tmpdmass, ref mat); | ||
2268 | |||
2269 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2270 | d.MassTranslate(ref tmpdmass, | ||
2271 | thispos.X, | ||
2272 | thispos.Y, | ||
2273 | thispos.Z); | ||
2274 | |||
2275 | // subtract current prim inertia from object | ||
2276 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2277 | |||
2278 | // back prim own inertia | ||
2279 | tmpdmass = primdMass; | ||
2280 | |||
2281 | // update to new position and orientation | ||
2282 | _position = NewPos; | ||
2283 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
2284 | _orientation = newrot; | ||
2285 | quat.X = newrot.X; | ||
2286 | quat.Y = newrot.Y; | ||
2287 | quat.Z = newrot.Z; | ||
2288 | quat.W = newrot.W; | ||
2289 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
2290 | |||
2291 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2292 | d.MassRotate(ref tmpdmass, ref mat); | ||
2293 | |||
2294 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2295 | d.MassTranslate(ref tmpdmass, | ||
2296 | thispos.X, | ||
2297 | thispos.Y, | ||
2298 | thispos.Z); | ||
2299 | |||
2300 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
2301 | |||
2302 | // fix all positions | ||
2303 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2304 | while (g != IntPtr.Zero) | ||
2305 | { | ||
2306 | thispos = d.GeomGetOffsetPosition(g); | ||
2307 | thispos.X -= objdmass.c.X; | ||
2308 | thispos.Y -= objdmass.c.Y; | ||
2309 | thispos.Z -= objdmass.c.Z; | ||
2310 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2311 | g = d.dBodyGetNextGeom(g); | ||
2312 | } | ||
2313 | d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); | ||
2314 | |||
2315 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2316 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2317 | d.BodySetMass(Body, ref objdmass); | ||
2318 | m_mass = objdmass.mass; | ||
2319 | } | ||
2320 | |||
2321 | private void FixInertia(Vector3 NewPos) | ||
2322 | { | ||
2323 | d.Matrix3 primmat = new d.Matrix3(); | ||
2324 | d.Mass tmpdmass = new d.Mass { }; | ||
2325 | d.Mass objdmass = new d.Mass { }; | ||
2326 | d.Mass primmass = new d.Mass { }; | ||
2327 | |||
2328 | d.Vector3 dobjpos; | ||
2329 | d.Vector3 thispos; | ||
2330 | |||
2331 | d.BodyGetMass(Body, out objdmass); | ||
2332 | |||
2333 | // get prim own inertia in its local frame | ||
2334 | primmass = primdMass; | ||
2335 | // transform to object frame | ||
2336 | primmat = d.GeomGetOffsetRotation(prim_geom); | ||
2337 | d.MassRotate(ref primmass, ref primmat); | ||
2338 | |||
2339 | tmpdmass = primmass; | ||
2340 | |||
2341 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2342 | d.MassTranslate(ref tmpdmass, | ||
2343 | thispos.X, | ||
2344 | thispos.Y, | ||
2345 | thispos.Z); | ||
2346 | |||
2347 | // subtract current prim inertia from object | ||
2348 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2349 | |||
2350 | // update to new position | ||
2351 | _position = NewPos; | ||
2352 | d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); | ||
2353 | |||
2354 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2355 | d.MassTranslate(ref primmass, | ||
2356 | thispos.X, | ||
2357 | thispos.Y, | ||
2358 | thispos.Z); | ||
2359 | |||
2360 | d.MassAdd(ref objdmass, ref primmass); | ||
2361 | |||
2362 | // fix all positions | ||
2363 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2364 | while (g != IntPtr.Zero) | ||
2365 | { | ||
2366 | thispos = d.GeomGetOffsetPosition(g); | ||
2367 | thispos.X -= objdmass.c.X; | ||
2368 | thispos.Y -= objdmass.c.Y; | ||
2369 | thispos.Z -= objdmass.c.Z; | ||
2370 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2371 | g = d.dBodyGetNextGeom(g); | ||
2372 | } | ||
2373 | |||
2374 | d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); | ||
2375 | |||
2376 | // get current object position and rotation | ||
2377 | dobjpos = d.BodyGetPosition(Body); | ||
2378 | |||
2379 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2380 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2381 | d.BodySetMass(Body, ref objdmass); | ||
2382 | m_mass = objdmass.mass; | ||
2383 | } | ||
2384 | |||
2385 | private void FixInertia(Quaternion newrot) | ||
2386 | { | ||
2387 | d.Matrix3 mat = new d.Matrix3(); | ||
2388 | d.Quaternion quat = new d.Quaternion(); | ||
2389 | |||
2390 | d.Mass tmpdmass = new d.Mass { }; | ||
2391 | d.Mass objdmass = new d.Mass { }; | ||
2392 | d.Vector3 dobjpos; | ||
2393 | d.Vector3 thispos; | ||
2394 | |||
2395 | d.BodyGetMass(Body, out objdmass); | ||
2396 | |||
2397 | // get prim own inertia in its local frame | ||
2398 | tmpdmass = primdMass; | ||
2399 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2400 | d.MassRotate(ref tmpdmass, ref mat); | ||
2401 | // transform to object frame | ||
2402 | thispos = d.GeomGetOffsetPosition(prim_geom); | ||
2403 | d.MassTranslate(ref tmpdmass, | ||
2404 | thispos.X, | ||
2405 | thispos.Y, | ||
2406 | thispos.Z); | ||
2407 | |||
2408 | // subtract current prim inertia from object | ||
2409 | DMassSubPartFromObj(ref tmpdmass, ref objdmass); | ||
2410 | |||
2411 | // update to new orientation | ||
2412 | _orientation = newrot; | ||
2413 | quat.X = newrot.X; | ||
2414 | quat.Y = newrot.Y; | ||
2415 | quat.Z = newrot.Z; | ||
2416 | quat.W = newrot.W; | ||
2417 | d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); | ||
2418 | |||
2419 | tmpdmass = primdMass; | ||
2420 | mat = d.GeomGetOffsetRotation(prim_geom); | ||
2421 | d.MassRotate(ref tmpdmass, ref mat); | ||
2422 | d.MassTranslate(ref tmpdmass, | ||
2423 | thispos.X, | ||
2424 | thispos.Y, | ||
2425 | thispos.Z); | ||
2426 | |||
2427 | d.MassAdd(ref objdmass, ref tmpdmass); | ||
2428 | |||
2429 | // fix all positions | ||
2430 | IntPtr g = d.BodyGetFirstGeom(Body); | ||
2431 | while (g != IntPtr.Zero) | ||
2432 | { | ||
2433 | thispos = d.GeomGetOffsetPosition(g); | ||
2434 | thispos.X -= objdmass.c.X; | ||
2435 | thispos.Y -= objdmass.c.Y; | ||
2436 | thispos.Z -= objdmass.c.Z; | ||
2437 | d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); | ||
2438 | g = d.dBodyGetNextGeom(g); | ||
2439 | } | ||
2440 | |||
2441 | d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); | ||
2442 | // get current object position and rotation | ||
2443 | dobjpos = d.BodyGetPosition(Body); | ||
2444 | |||
2445 | d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); | ||
2446 | d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body | ||
2447 | d.BodySetMass(Body, ref objdmass); | ||
2448 | m_mass = objdmass.mass; | ||
2449 | } | ||
2450 | |||
2451 | |||
2452 | #region Mass Calculation | ||
2453 | |||
2454 | private void UpdatePrimBodyData() | ||
2455 | { | ||
2456 | primMass = m_density * primVolume; | ||
2457 | |||
2458 | if (primMass <= 0) | ||
2459 | primMass = 0.0001f;//ckrinke: Mass must be greater then zero. | ||
2460 | if (primMass > _parent_scene.maximumMassObject) | ||
2461 | primMass = _parent_scene.maximumMassObject; | ||
2462 | |||
2463 | m_mass = primMass; // just in case | ||
2464 | |||
2465 | d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z); | ||
2466 | |||
2467 | d.MassTranslate(ref primdMass, | ||
2468 | m_OBBOffset.X, | ||
2469 | m_OBBOffset.Y, | ||
2470 | m_OBBOffset.Z); | ||
2471 | |||
2472 | primOOBradiusSQ = m_OBB.LengthSquared(); | ||
2473 | |||
2474 | if (_triMeshData != IntPtr.Zero) | ||
2475 | { | ||
2476 | float pc = m_physCost; | ||
2477 | float psf = primOOBradiusSQ; | ||
2478 | psf *= 1.33f * .2f; | ||
2479 | pc *= psf; | ||
2480 | if (pc < 0.1f) | ||
2481 | pc = 0.1f; | ||
2482 | |||
2483 | m_physCost = pc; | ||
2484 | } | ||
2485 | else | ||
2486 | m_physCost = 0.1f; | ||
2487 | |||
2488 | m_streamCost = 1.0f; | ||
2489 | } | ||
2490 | |||
2491 | #endregion | ||
2492 | |||
2493 | |||
2494 | /// <summary> | ||
2495 | /// Add a child prim to this parent prim. | ||
2496 | /// </summary> | ||
2497 | /// <param name="prim">Child prim</param> | ||
2498 | // I'm the parent | ||
2499 | // prim is the child | ||
2500 | public void ParentPrim(OdePrim prim) | ||
2501 | { | ||
2502 | //Console.WriteLine("ParentPrim " + m_primName); | ||
2503 | if (this.m_localID != prim.m_localID) | ||
2504 | { | ||
2505 | DestroyBody(); // for now we need to rebuil entire object on link change | ||
2506 | |||
2507 | lock (childrenPrim) | ||
2508 | { | ||
2509 | // adopt the prim | ||
2510 | if (!childrenPrim.Contains(prim)) | ||
2511 | childrenPrim.Add(prim); | ||
2512 | |||
2513 | // see if this prim has kids and adopt them also | ||
2514 | // should not happen for now | ||
2515 | foreach (OdePrim prm in prim.childrenPrim) | ||
2516 | { | ||
2517 | if (!childrenPrim.Contains(prm)) | ||
2518 | { | ||
2519 | if (prm.Body != IntPtr.Zero) | ||
2520 | { | ||
2521 | if (prm.prim_geom != IntPtr.Zero) | ||
2522 | d.GeomSetBody(prm.prim_geom, IntPtr.Zero); | ||
2523 | if (prm.Body != prim.Body) | ||
2524 | prm.DestroyBody(); // don't loose bodies around | ||
2525 | prm.Body = IntPtr.Zero; | ||
2526 | } | ||
2527 | |||
2528 | childrenPrim.Add(prm); | ||
2529 | prm._parent = this; | ||
2530 | } | ||
2531 | } | ||
2532 | } | ||
2533 | //Remove old children from the prim | ||
2534 | prim.childrenPrim.Clear(); | ||
2535 | |||
2536 | if (prim.Body != IntPtr.Zero) | ||
2537 | { | ||
2538 | if (prim.prim_geom != IntPtr.Zero) | ||
2539 | d.GeomSetBody(prim.prim_geom, IntPtr.Zero); | ||
2540 | prim.DestroyBody(); // don't loose bodies around | ||
2541 | prim.Body = IntPtr.Zero; | ||
2542 | } | ||
2543 | |||
2544 | prim.childPrim = true; | ||
2545 | prim._parent = this; | ||
2546 | |||
2547 | MakeBody(); // full nasty reconstruction | ||
2548 | } | ||
2549 | } | ||
2550 | |||
2551 | private void UpdateChildsfromgeom() | ||
2552 | { | ||
2553 | if (childrenPrim.Count > 0) | ||
2554 | { | ||
2555 | foreach (OdePrim prm in childrenPrim) | ||
2556 | prm.UpdateDataFromGeom(); | ||
2557 | } | ||
2558 | } | ||
2559 | |||
2560 | private void UpdateDataFromGeom() | ||
2561 | { | ||
2562 | if (prim_geom != IntPtr.Zero) | ||
2563 | { | ||
2564 | d.Quaternion qtmp; | ||
2565 | d.GeomCopyQuaternion(prim_geom, out qtmp); | ||
2566 | _orientation.X = qtmp.X; | ||
2567 | _orientation.Y = qtmp.Y; | ||
2568 | _orientation.Z = qtmp.Z; | ||
2569 | _orientation.W = qtmp.W; | ||
2570 | /* | ||
2571 | // Debug | ||
2572 | float qlen = _orientation.Length(); | ||
2573 | if (qlen > 1.01f || qlen < 0.99) | ||
2574 | m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); | ||
2575 | // | ||
2576 | */ | ||
2577 | _orientation.Normalize(); | ||
2578 | |||
2579 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); | ||
2580 | _position.X = lpos.X; | ||
2581 | _position.Y = lpos.Y; | ||
2582 | _position.Z = lpos.Z; | ||
2583 | } | ||
2584 | } | ||
2585 | |||
2586 | private void ChildDelink(OdePrim odePrim, bool remakebodies) | ||
2587 | { | ||
2588 | // Okay, we have a delinked child.. destroy all body and remake | ||
2589 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
2590 | return; | ||
2591 | |||
2592 | DestroyBody(); | ||
2593 | |||
2594 | if (odePrim == this) // delinking the root prim | ||
2595 | { | ||
2596 | OdePrim newroot = null; | ||
2597 | lock (childrenPrim) | ||
2598 | { | ||
2599 | if (childrenPrim.Count > 0) | ||
2600 | { | ||
2601 | newroot = childrenPrim[0]; | ||
2602 | childrenPrim.RemoveAt(0); | ||
2603 | foreach (OdePrim prm in childrenPrim) | ||
2604 | { | ||
2605 | newroot.childrenPrim.Add(prm); | ||
2606 | } | ||
2607 | childrenPrim.Clear(); | ||
2608 | } | ||
2609 | if (newroot != null) | ||
2610 | { | ||
2611 | newroot.childPrim = false; | ||
2612 | newroot._parent = null; | ||
2613 | if (remakebodies) | ||
2614 | newroot.MakeBody(); | ||
2615 | } | ||
2616 | } | ||
2617 | } | ||
2618 | |||
2619 | else | ||
2620 | { | ||
2621 | lock (childrenPrim) | ||
2622 | { | ||
2623 | childrenPrim.Remove(odePrim); | ||
2624 | odePrim.childPrim = false; | ||
2625 | odePrim._parent = null; | ||
2626 | // odePrim.UpdateDataFromGeom(); | ||
2627 | if (remakebodies) | ||
2628 | odePrim.MakeBody(); | ||
2629 | } | ||
2630 | } | ||
2631 | if (remakebodies) | ||
2632 | MakeBody(); | ||
2633 | } | ||
2634 | |||
2635 | protected void ChildRemove(OdePrim odePrim, bool reMakeBody) | ||
2636 | { | ||
2637 | // Okay, we have a delinked child.. destroy all body and remake | ||
2638 | if (odePrim != this && !childrenPrim.Contains(odePrim)) | ||
2639 | return; | ||
2640 | |||
2641 | DestroyBody(); | ||
2642 | |||
2643 | if (odePrim == this) | ||
2644 | { | ||
2645 | OdePrim newroot = null; | ||
2646 | lock (childrenPrim) | ||
2647 | { | ||
2648 | if (childrenPrim.Count > 0) | ||
2649 | { | ||
2650 | newroot = childrenPrim[0]; | ||
2651 | childrenPrim.RemoveAt(0); | ||
2652 | foreach (OdePrim prm in childrenPrim) | ||
2653 | { | ||
2654 | newroot.childrenPrim.Add(prm); | ||
2655 | } | ||
2656 | childrenPrim.Clear(); | ||
2657 | } | ||
2658 | if (newroot != null) | ||
2659 | { | ||
2660 | newroot.childPrim = false; | ||
2661 | newroot._parent = null; | ||
2662 | newroot.MakeBody(); | ||
2663 | } | ||
2664 | } | ||
2665 | if (reMakeBody) | ||
2666 | MakeBody(); | ||
2667 | return; | ||
2668 | } | ||
2669 | else | ||
2670 | { | ||
2671 | lock (childrenPrim) | ||
2672 | { | ||
2673 | childrenPrim.Remove(odePrim); | ||
2674 | odePrim.childPrim = false; | ||
2675 | odePrim._parent = null; | ||
2676 | if (reMakeBody) | ||
2677 | odePrim.MakeBody(); | ||
2678 | } | ||
2679 | } | ||
2680 | MakeBody(); | ||
2681 | } | ||
2682 | |||
2683 | |||
2684 | #region changes | ||
2685 | |||
2686 | private void changeadd() | ||
2687 | { | ||
2688 | _parent_scene.addToPrims(this); | ||
2689 | } | ||
2690 | |||
2691 | private void changeAngularLock(byte newLocks) | ||
2692 | { | ||
2693 | // do we have a Physical object? | ||
2694 | if (Body != IntPtr.Zero) | ||
2695 | { | ||
2696 | //Check that we have a Parent | ||
2697 | //If we have a parent then we're not authorative here | ||
2698 | if (_parent == null) | ||
2699 | { | ||
2700 | if (newLocks != 0) | ||
2701 | { | ||
2702 | createAMotor(newLocks); | ||
2703 | } | ||
2704 | else | ||
2705 | { | ||
2706 | if (Amotor != IntPtr.Zero) | ||
2707 | { | ||
2708 | d.JointDestroy(Amotor); | ||
2709 | Amotor = IntPtr.Zero; | ||
2710 | } | ||
2711 | } | ||
2712 | } | ||
2713 | } | ||
2714 | // Store this for later in case we get turned into a separate body | ||
2715 | m_angularlocks = newLocks; | ||
2716 | } | ||
2717 | |||
2718 | private void changeLink(OdePrim NewParent) | ||
2719 | { | ||
2720 | if (_parent == null && NewParent != null) | ||
2721 | { | ||
2722 | NewParent.ParentPrim(this); | ||
2723 | } | ||
2724 | else if (_parent != null) | ||
2725 | { | ||
2726 | if (_parent is OdePrim) | ||
2727 | { | ||
2728 | if (NewParent != _parent) | ||
2729 | { | ||
2730 | (_parent as OdePrim).ChildDelink(this, false); // for now... | ||
2731 | childPrim = false; | ||
2732 | |||
2733 | if (NewParent != null) | ||
2734 | { | ||
2735 | NewParent.ParentPrim(this); | ||
2736 | } | ||
2737 | } | ||
2738 | } | ||
2739 | } | ||
2740 | _parent = NewParent; | ||
2741 | } | ||
2742 | |||
2743 | |||
2744 | private void Stop() | ||
2745 | { | ||
2746 | if (!childPrim) | ||
2747 | { | ||
2748 | // m_force = Vector3.Zero; | ||
2749 | m_forceacc = Vector3.Zero; | ||
2750 | m_angularForceacc = Vector3.Zero; | ||
2751 | // m_torque = Vector3.Zero; | ||
2752 | _velocity = Vector3.Zero; | ||
2753 | m_acceleration = Vector3.Zero; | ||
2754 | m_rotationalVelocity = Vector3.Zero; | ||
2755 | _target_velocity = Vector3.Zero; | ||
2756 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
2757 | m_vehicle.Stop(); | ||
2758 | |||
2759 | _zeroFlag = false; | ||
2760 | base.RequestPhysicsterseUpdate(); | ||
2761 | } | ||
2762 | |||
2763 | if (Body != IntPtr.Zero) | ||
2764 | { | ||
2765 | d.BodySetForce(Body, 0f, 0f, 0f); | ||
2766 | d.BodySetTorque(Body, 0f, 0f, 0f); | ||
2767 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | ||
2768 | d.BodySetAngularVel(Body, 0f, 0f, 0f); | ||
2769 | } | ||
2770 | } | ||
2771 | |||
2772 | private void changePhantomStatus(bool newval) | ||
2773 | { | ||
2774 | m_isphantom = newval; | ||
2775 | |||
2776 | UpdateCollisionCatFlags(); | ||
2777 | ApplyCollisionCatFlags(); | ||
2778 | } | ||
2779 | |||
2780 | /* not in use | ||
2781 | internal void ChildSelectedChange(bool childSelect) | ||
2782 | { | ||
2783 | if(childPrim) | ||
2784 | return; | ||
2785 | |||
2786 | if (childSelect == m_isSelected) | ||
2787 | return; | ||
2788 | |||
2789 | if (childSelect) | ||
2790 | { | ||
2791 | DoSelectedStatus(true); | ||
2792 | } | ||
2793 | |||
2794 | else | ||
2795 | { | ||
2796 | foreach (OdePrim prm in childrenPrim) | ||
2797 | { | ||
2798 | if (prm.m_isSelected) | ||
2799 | return; | ||
2800 | } | ||
2801 | DoSelectedStatus(false); | ||
2802 | } | ||
2803 | } | ||
2804 | */ | ||
2805 | private void changeSelectedStatus(bool newval) | ||
2806 | { | ||
2807 | if (m_lastdoneSelected == newval) | ||
2808 | return; | ||
2809 | |||
2810 | m_lastdoneSelected = newval; | ||
2811 | DoSelectedStatus(newval); | ||
2812 | } | ||
2813 | |||
2814 | private void CheckDelaySelect() | ||
2815 | { | ||
2816 | if (m_delaySelect) | ||
2817 | { | ||
2818 | DoSelectedStatus(m_isSelected); | ||
2819 | } | ||
2820 | } | ||
2821 | |||
2822 | private void DoSelectedStatus(bool newval) | ||
2823 | { | ||
2824 | m_isSelected = newval; | ||
2825 | Stop(); | ||
2826 | |||
2827 | if (newval) | ||
2828 | { | ||
2829 | if (!childPrim && Body != IntPtr.Zero) | ||
2830 | d.BodyDisable(Body); | ||
2831 | |||
2832 | if (m_delaySelect || m_isphysical) | ||
2833 | { | ||
2834 | m_collisionCategories = CollisionCategories.Selected; | ||
2835 | m_collisionFlags = 0; | ||
2836 | |||
2837 | if (!childPrim) | ||
2838 | { | ||
2839 | foreach (OdePrim prm in childrenPrim) | ||
2840 | { | ||
2841 | prm.m_collisionCategories = m_collisionCategories; | ||
2842 | prm.m_collisionFlags = m_collisionFlags; | ||
2843 | |||
2844 | if (prm.prim_geom != IntPtr.Zero) | ||
2845 | { | ||
2846 | |||
2847 | if (prm.m_NoColide) | ||
2848 | { | ||
2849 | d.GeomSetCategoryBits(prm.prim_geom, 0); | ||
2850 | d.GeomSetCollideBits(prm.prim_geom, 0); | ||
2851 | } | ||
2852 | else | ||
2853 | { | ||
2854 | d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); | ||
2855 | d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); | ||
2856 | } | ||
2857 | } | ||
2858 | prm.m_delaySelect = false; | ||
2859 | } | ||
2860 | } | ||
2861 | // else if (_parent != null) | ||
2862 | // ((OdePrim)_parent).ChildSelectedChange(true); | ||
2863 | |||
2864 | |||
2865 | if (prim_geom != IntPtr.Zero) | ||
2866 | { | ||
2867 | if (m_NoColide) | ||
2868 | { | ||
2869 | d.GeomSetCategoryBits(prim_geom, 0); | ||
2870 | d.GeomSetCollideBits(prim_geom, 0); | ||
2871 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
2872 | { | ||
2873 | d.GeomSetCategoryBits(collide_geom, 0); | ||
2874 | d.GeomSetCollideBits(collide_geom, 0); | ||
2875 | } | ||
2876 | |||
2877 | } | ||
2878 | else | ||
2879 | { | ||
2880 | d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); | ||
2881 | d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); | ||
2882 | if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) | ||
2883 | { | ||
2884 | d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); | ||
2885 | d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); | ||
2886 | } | ||
2887 | } | ||
2888 | } | ||
2889 | |||
2890 | m_delaySelect = false; | ||
2891 | } | ||
2892 | else if(!m_isphysical) | ||
2893 | { | ||
2894 | m_delaySelect = true; | ||
2895 | } | ||
2896 | } | ||
2897 | else | ||
2898 | { | ||
2899 | if (!childPrim) | ||
2900 | { | ||
2901 | if (Body != IntPtr.Zero && !m_disabled) | ||
2902 | { | ||
2903 | _zeroFlag = true; | ||
2904 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
2905 | d.BodyEnable(Body); | ||
2906 | } | ||
2907 | } | ||
2908 | // else if (_parent != null) | ||
2909 | // ((OdePrim)_parent).ChildSelectedChange(false); | ||
2910 | |||
2911 | UpdateCollisionCatFlags(); | ||
2912 | ApplyCollisionCatFlags(); | ||
2913 | |||
2914 | m_delaySelect = false; | ||
2915 | } | ||
2916 | |||
2917 | resetCollisionAccounting(); | ||
2918 | } | ||
2919 | |||
2920 | private void changePosition(Vector3 newPos) | ||
2921 | { | ||
2922 | CheckDelaySelect(); | ||
2923 | if (m_isphysical) | ||
2924 | { | ||
2925 | if (childPrim) // inertia is messed, must rebuild | ||
2926 | { | ||
2927 | if (m_building) | ||
2928 | { | ||
2929 | _position = newPos; | ||
2930 | } | ||
2931 | |||
2932 | else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) | ||
2933 | { | ||
2934 | FixInertia(newPos); | ||
2935 | if (!d.BodyIsEnabled(Body)) | ||
2936 | { | ||
2937 | _zeroFlag = true; | ||
2938 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
2939 | d.BodyEnable(Body); | ||
2940 | } | ||
2941 | } | ||
2942 | } | ||
2943 | else | ||
2944 | { | ||
2945 | if (_position != newPos) | ||
2946 | { | ||
2947 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2948 | _position = newPos; | ||
2949 | } | ||
2950 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
2951 | { | ||
2952 | _zeroFlag = true; | ||
2953 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
2954 | d.BodyEnable(Body); | ||
2955 | } | ||
2956 | } | ||
2957 | } | ||
2958 | else | ||
2959 | { | ||
2960 | if (prim_geom != IntPtr.Zero) | ||
2961 | { | ||
2962 | if (newPos != _position) | ||
2963 | { | ||
2964 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
2965 | _position = newPos; | ||
2966 | |||
2967 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
2968 | } | ||
2969 | } | ||
2970 | } | ||
2971 | givefakepos--; | ||
2972 | if (givefakepos < 0) | ||
2973 | givefakepos = 0; | ||
2974 | // changeSelectedStatus(); | ||
2975 | resetCollisionAccounting(); | ||
2976 | } | ||
2977 | |||
2978 | private void changeOrientation(Quaternion newOri) | ||
2979 | { | ||
2980 | CheckDelaySelect(); | ||
2981 | if (m_isphysical) | ||
2982 | { | ||
2983 | if (childPrim) // inertia is messed, must rebuild | ||
2984 | { | ||
2985 | if (m_building) | ||
2986 | { | ||
2987 | _orientation = newOri; | ||
2988 | } | ||
2989 | /* | ||
2990 | else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) | ||
2991 | { | ||
2992 | FixInertia(_position, newOri); | ||
2993 | if (!d.BodyIsEnabled(Body)) | ||
2994 | d.BodyEnable(Body); | ||
2995 | } | ||
2996 | */ | ||
2997 | } | ||
2998 | else | ||
2999 | { | ||
3000 | if (newOri != _orientation) | ||
3001 | { | ||
3002 | d.Quaternion myrot = new d.Quaternion(); | ||
3003 | myrot.X = newOri.X; | ||
3004 | myrot.Y = newOri.Y; | ||
3005 | myrot.Z = newOri.Z; | ||
3006 | myrot.W = newOri.W; | ||
3007 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3008 | _orientation = newOri; | ||
3009 | |||
3010 | if (Body != IntPtr.Zero) | ||
3011 | { | ||
3012 | if(m_angularlocks != 0) | ||
3013 | createAMotor(m_angularlocks); | ||
3014 | } | ||
3015 | } | ||
3016 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
3017 | { | ||
3018 | _zeroFlag = true; | ||
3019 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3020 | d.BodyEnable(Body); | ||
3021 | } | ||
3022 | } | ||
3023 | } | ||
3024 | else | ||
3025 | { | ||
3026 | if (prim_geom != IntPtr.Zero) | ||
3027 | { | ||
3028 | if (newOri != _orientation) | ||
3029 | { | ||
3030 | d.Quaternion myrot = new d.Quaternion(); | ||
3031 | myrot.X = newOri.X; | ||
3032 | myrot.Y = newOri.Y; | ||
3033 | myrot.Z = newOri.Z; | ||
3034 | myrot.W = newOri.W; | ||
3035 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3036 | _orientation = newOri; | ||
3037 | } | ||
3038 | } | ||
3039 | } | ||
3040 | givefakeori--; | ||
3041 | if (givefakeori < 0) | ||
3042 | givefakeori = 0; | ||
3043 | resetCollisionAccounting(); | ||
3044 | } | ||
3045 | |||
3046 | private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) | ||
3047 | { | ||
3048 | CheckDelaySelect(); | ||
3049 | if (m_isphysical) | ||
3050 | { | ||
3051 | if (childPrim && m_building) // inertia is messed, must rebuild | ||
3052 | { | ||
3053 | _position = newPos; | ||
3054 | _orientation = newOri; | ||
3055 | } | ||
3056 | else | ||
3057 | { | ||
3058 | if (newOri != _orientation) | ||
3059 | { | ||
3060 | d.Quaternion myrot = new d.Quaternion(); | ||
3061 | myrot.X = newOri.X; | ||
3062 | myrot.Y = newOri.Y; | ||
3063 | myrot.Z = newOri.Z; | ||
3064 | myrot.W = newOri.W; | ||
3065 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3066 | _orientation = newOri; | ||
3067 | if (Body != IntPtr.Zero && m_angularlocks != 0) | ||
3068 | createAMotor(m_angularlocks); | ||
3069 | } | ||
3070 | if (_position != newPos) | ||
3071 | { | ||
3072 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
3073 | _position = newPos; | ||
3074 | } | ||
3075 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
3076 | { | ||
3077 | _zeroFlag = true; | ||
3078 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3079 | d.BodyEnable(Body); | ||
3080 | } | ||
3081 | } | ||
3082 | } | ||
3083 | else | ||
3084 | { | ||
3085 | // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | ||
3086 | // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | ||
3087 | |||
3088 | if (prim_geom != IntPtr.Zero) | ||
3089 | { | ||
3090 | if (newOri != _orientation) | ||
3091 | { | ||
3092 | d.Quaternion myrot = new d.Quaternion(); | ||
3093 | myrot.X = newOri.X; | ||
3094 | myrot.Y = newOri.Y; | ||
3095 | myrot.Z = newOri.Z; | ||
3096 | myrot.W = newOri.W; | ||
3097 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3098 | _orientation = newOri; | ||
3099 | } | ||
3100 | |||
3101 | if (newPos != _position) | ||
3102 | { | ||
3103 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | ||
3104 | _position = newPos; | ||
3105 | |||
3106 | m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); | ||
3107 | } | ||
3108 | } | ||
3109 | } | ||
3110 | givefakepos--; | ||
3111 | if (givefakepos < 0) | ||
3112 | givefakepos = 0; | ||
3113 | givefakeori--; | ||
3114 | if (givefakeori < 0) | ||
3115 | givefakeori = 0; | ||
3116 | resetCollisionAccounting(); | ||
3117 | } | ||
3118 | |||
3119 | private void changeDisable(bool disable) | ||
3120 | { | ||
3121 | if (disable) | ||
3122 | { | ||
3123 | if (!m_disabled) | ||
3124 | disableBodySoft(); | ||
3125 | } | ||
3126 | else | ||
3127 | { | ||
3128 | if (m_disabled) | ||
3129 | enableBodySoft(); | ||
3130 | } | ||
3131 | } | ||
3132 | |||
3133 | private void changePhysicsStatus(bool NewStatus) | ||
3134 | { | ||
3135 | CheckDelaySelect(); | ||
3136 | |||
3137 | m_isphysical = NewStatus; | ||
3138 | |||
3139 | if (!childPrim) | ||
3140 | { | ||
3141 | if (NewStatus) | ||
3142 | { | ||
3143 | if (Body == IntPtr.Zero) | ||
3144 | MakeBody(); | ||
3145 | } | ||
3146 | else | ||
3147 | { | ||
3148 | if (Body != IntPtr.Zero) | ||
3149 | { | ||
3150 | DestroyBody(); | ||
3151 | } | ||
3152 | Stop(); | ||
3153 | } | ||
3154 | } | ||
3155 | |||
3156 | resetCollisionAccounting(); | ||
3157 | } | ||
3158 | |||
3159 | private void changeSize(Vector3 newSize) | ||
3160 | { | ||
3161 | } | ||
3162 | |||
3163 | private void changeShape(PrimitiveBaseShape newShape) | ||
3164 | { | ||
3165 | } | ||
3166 | |||
3167 | private void changeAddPhysRep(ODEPhysRepData repData) | ||
3168 | { | ||
3169 | _size = repData.size; //?? | ||
3170 | _pbs = repData.pbs; | ||
3171 | |||
3172 | m_mesh = repData.mesh; | ||
3173 | |||
3174 | m_assetID = repData.assetID; | ||
3175 | m_meshState = repData.meshState; | ||
3176 | |||
3177 | m_hasOBB = repData.hasOBB; | ||
3178 | m_OBBOffset = repData.OBBOffset; | ||
3179 | m_OBB = repData.OBB; | ||
3180 | |||
3181 | primVolume = repData.volume; | ||
3182 | |||
3183 | CreateGeom(repData.isTooSmall); | ||
3184 | |||
3185 | if (prim_geom != IntPtr.Zero) | ||
3186 | { | ||
3187 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
3188 | d.Quaternion myrot = new d.Quaternion(); | ||
3189 | myrot.X = _orientation.X; | ||
3190 | myrot.Y = _orientation.Y; | ||
3191 | myrot.Z = _orientation.Z; | ||
3192 | myrot.W = _orientation.W; | ||
3193 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3194 | } | ||
3195 | |||
3196 | if (!m_isphysical) | ||
3197 | { | ||
3198 | SetInStaticSpace(this); | ||
3199 | UpdateCollisionCatFlags(); | ||
3200 | ApplyCollisionCatFlags(); | ||
3201 | } | ||
3202 | else | ||
3203 | MakeBody(); | ||
3204 | |||
3205 | if ((m_meshState & MeshState.NeedMask) != 0) | ||
3206 | { | ||
3207 | repData.size = _size; | ||
3208 | repData.pbs = _pbs; | ||
3209 | repData.shapetype = m_fakeShapetype; | ||
3210 | _parent_scene.m_meshWorker.RequestMesh(repData); | ||
3211 | } | ||
3212 | else | ||
3213 | m_shapetype = repData.shapetype; | ||
3214 | } | ||
3215 | |||
3216 | private void changePhysRepData(ODEPhysRepData repData) | ||
3217 | { | ||
3218 | if(_size == repData.size && | ||
3219 | _pbs == repData.pbs && | ||
3220 | m_shapetype == repData.shapetype && | ||
3221 | m_mesh == repData.mesh && | ||
3222 | primVolume == repData.volume) | ||
3223 | return; | ||
3224 | |||
3225 | CheckDelaySelect(); | ||
3226 | |||
3227 | OdePrim parent = (OdePrim)_parent; | ||
3228 | |||
3229 | bool chp = childPrim; | ||
3230 | |||
3231 | if (chp) | ||
3232 | { | ||
3233 | if (parent != null) | ||
3234 | { | ||
3235 | parent.DestroyBody(); | ||
3236 | } | ||
3237 | } | ||
3238 | else | ||
3239 | { | ||
3240 | DestroyBody(); | ||
3241 | } | ||
3242 | |||
3243 | RemoveGeom(); | ||
3244 | |||
3245 | _size = repData.size; | ||
3246 | _pbs = repData.pbs; | ||
3247 | |||
3248 | m_mesh = repData.mesh; | ||
3249 | |||
3250 | m_assetID = repData.assetID; | ||
3251 | m_meshState = repData.meshState; | ||
3252 | |||
3253 | m_hasOBB = repData.hasOBB; | ||
3254 | m_OBBOffset = repData.OBBOffset; | ||
3255 | m_OBB = repData.OBB; | ||
3256 | |||
3257 | primVolume = repData.volume; | ||
3258 | |||
3259 | CreateGeom(repData.isTooSmall); | ||
3260 | |||
3261 | if (prim_geom != IntPtr.Zero) | ||
3262 | { | ||
3263 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
3264 | d.Quaternion myrot = new d.Quaternion(); | ||
3265 | myrot.X = _orientation.X; | ||
3266 | myrot.Y = _orientation.Y; | ||
3267 | myrot.Z = _orientation.Z; | ||
3268 | myrot.W = _orientation.W; | ||
3269 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
3270 | } | ||
3271 | |||
3272 | if (m_isphysical) | ||
3273 | { | ||
3274 | if (chp) | ||
3275 | { | ||
3276 | if (parent != null) | ||
3277 | { | ||
3278 | parent.MakeBody(); | ||
3279 | } | ||
3280 | } | ||
3281 | else | ||
3282 | MakeBody(); | ||
3283 | } | ||
3284 | else | ||
3285 | { | ||
3286 | SetInStaticSpace(this); | ||
3287 | UpdateCollisionCatFlags(); | ||
3288 | ApplyCollisionCatFlags(); | ||
3289 | } | ||
3290 | |||
3291 | resetCollisionAccounting(); | ||
3292 | |||
3293 | if ((m_meshState & MeshState.NeedMask) != 0) | ||
3294 | { | ||
3295 | repData.size = _size; | ||
3296 | repData.pbs = _pbs; | ||
3297 | repData.shapetype = m_fakeShapetype; | ||
3298 | _parent_scene.m_meshWorker.RequestMesh(repData); | ||
3299 | } | ||
3300 | else | ||
3301 | m_shapetype = repData.shapetype; | ||
3302 | } | ||
3303 | |||
3304 | private void changeFloatOnWater(bool newval) | ||
3305 | { | ||
3306 | m_collidesWater = newval; | ||
3307 | |||
3308 | UpdateCollisionCatFlags(); | ||
3309 | ApplyCollisionCatFlags(); | ||
3310 | } | ||
3311 | |||
3312 | private void changeSetTorque(Vector3 newtorque) | ||
3313 | { | ||
3314 | if (!m_isSelected && !m_outbounds) | ||
3315 | { | ||
3316 | if (m_isphysical && Body != IntPtr.Zero) | ||
3317 | { | ||
3318 | if (m_disabled) | ||
3319 | enableBodySoft(); | ||
3320 | else if (!d.BodyIsEnabled(Body)) | ||
3321 | { | ||
3322 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3323 | d.BodyEnable(Body); | ||
3324 | } | ||
3325 | } | ||
3326 | m_torque = newtorque; | ||
3327 | } | ||
3328 | } | ||
3329 | |||
3330 | private void changeForce(Vector3 force) | ||
3331 | { | ||
3332 | m_force = force; | ||
3333 | if (!m_isSelected && !m_outbounds && Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | ||
3334 | { | ||
3335 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3336 | d.BodyEnable(Body); | ||
3337 | } | ||
3338 | } | ||
3339 | |||
3340 | private void changeAddForce(Vector3 theforce) | ||
3341 | { | ||
3342 | m_forceacc += theforce; | ||
3343 | if (!m_isSelected && !m_outbounds) | ||
3344 | { | ||
3345 | lock (this) | ||
3346 | { | ||
3347 | //m_log.Info("[PHYSICS]: dequeing forcelist"); | ||
3348 | if (m_isphysical && Body != IntPtr.Zero) | ||
3349 | { | ||
3350 | if (m_disabled) | ||
3351 | enableBodySoft(); | ||
3352 | else if (!d.BodyIsEnabled(Body)) | ||
3353 | { | ||
3354 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3355 | d.BodyEnable(Body); | ||
3356 | } | ||
3357 | } | ||
3358 | } | ||
3359 | m_collisionscore = 0; | ||
3360 | } | ||
3361 | } | ||
3362 | |||
3363 | // actually angular impulse | ||
3364 | private void changeAddAngularImpulse(Vector3 aimpulse) | ||
3365 | { | ||
3366 | m_angularForceacc += aimpulse * m_invTimeStep; | ||
3367 | if (!m_isSelected && !m_outbounds) | ||
3368 | { | ||
3369 | lock (this) | ||
3370 | { | ||
3371 | if (m_isphysical && Body != IntPtr.Zero) | ||
3372 | { | ||
3373 | if (m_disabled) | ||
3374 | enableBodySoft(); | ||
3375 | else if (!d.BodyIsEnabled(Body)) | ||
3376 | { | ||
3377 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3378 | d.BodyEnable(Body); | ||
3379 | } | ||
3380 | } | ||
3381 | } | ||
3382 | m_collisionscore = 0; | ||
3383 | } | ||
3384 | } | ||
3385 | |||
3386 | private void changevelocity(Vector3 newVel) | ||
3387 | { | ||
3388 | float len = newVel.LengthSquared(); | ||
3389 | if (len > 100000.0f) // limit to 100m/s | ||
3390 | { | ||
3391 | len = 100.0f / (float)Math.Sqrt(len); | ||
3392 | newVel *= len; | ||
3393 | } | ||
3394 | |||
3395 | if (!m_isSelected && !m_outbounds) | ||
3396 | { | ||
3397 | if (Body != IntPtr.Zero) | ||
3398 | { | ||
3399 | if (m_disabled) | ||
3400 | enableBodySoft(); | ||
3401 | else if (!d.BodyIsEnabled(Body)) | ||
3402 | { | ||
3403 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3404 | d.BodyEnable(Body); | ||
3405 | } | ||
3406 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); | ||
3407 | } | ||
3408 | //resetCollisionAccounting(); | ||
3409 | } | ||
3410 | _velocity = newVel; | ||
3411 | } | ||
3412 | |||
3413 | private void changeangvelocity(Vector3 newAngVel) | ||
3414 | { | ||
3415 | float len = newAngVel.LengthSquared(); | ||
3416 | if (len > _parent_scene.maxAngVelocitySQ) | ||
3417 | { | ||
3418 | len = _parent_scene.maximumAngularVelocity / (float)Math.Sqrt(len); | ||
3419 | newAngVel *= len; | ||
3420 | } | ||
3421 | |||
3422 | if (!m_isSelected && !m_outbounds) | ||
3423 | { | ||
3424 | if (Body != IntPtr.Zero) | ||
3425 | { | ||
3426 | if (m_disabled) | ||
3427 | enableBodySoft(); | ||
3428 | else if (!d.BodyIsEnabled(Body)) | ||
3429 | { | ||
3430 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); | ||
3431 | d.BodyEnable(Body); | ||
3432 | } | ||
3433 | d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); | ||
3434 | } | ||
3435 | //resetCollisionAccounting(); | ||
3436 | } | ||
3437 | m_rotationalVelocity = newAngVel; | ||
3438 | } | ||
3439 | |||
3440 | private void changeVolumedetetion(bool newVolDtc) | ||
3441 | { | ||
3442 | m_isVolumeDetect = newVolDtc; | ||
3443 | m_fakeisVolumeDetect = newVolDtc; | ||
3444 | UpdateCollisionCatFlags(); | ||
3445 | ApplyCollisionCatFlags(); | ||
3446 | } | ||
3447 | |||
3448 | protected void changeBuilding(bool newbuilding) | ||
3449 | { | ||
3450 | // Check if we need to do anything | ||
3451 | if (newbuilding == m_building) | ||
3452 | return; | ||
3453 | |||
3454 | if ((bool)newbuilding) | ||
3455 | { | ||
3456 | m_building = true; | ||
3457 | if (!childPrim) | ||
3458 | DestroyBody(); | ||
3459 | } | ||
3460 | else | ||
3461 | { | ||
3462 | m_building = false; | ||
3463 | CheckDelaySelect(); | ||
3464 | if (!childPrim) | ||
3465 | MakeBody(); | ||
3466 | } | ||
3467 | if (!childPrim && childrenPrim.Count > 0) | ||
3468 | { | ||
3469 | foreach (OdePrim prm in childrenPrim) | ||
3470 | prm.changeBuilding(m_building); // call directly | ||
3471 | } | ||
3472 | } | ||
3473 | |||
3474 | public void changeSetVehicle(VehicleData vdata) | ||
3475 | { | ||
3476 | if (m_vehicle == null) | ||
3477 | m_vehicle = new ODEDynamics(this); | ||
3478 | m_vehicle.DoSetVehicle(vdata); | ||
3479 | } | ||
3480 | |||
3481 | private void changeVehicleType(int value) | ||
3482 | { | ||
3483 | if (value == (int)Vehicle.TYPE_NONE) | ||
3484 | { | ||
3485 | if (m_vehicle != null) | ||
3486 | m_vehicle = null; | ||
3487 | } | ||
3488 | else | ||
3489 | { | ||
3490 | if (m_vehicle == null) | ||
3491 | m_vehicle = new ODEDynamics(this); | ||
3492 | |||
3493 | m_vehicle.ProcessTypeChange((Vehicle)value); | ||
3494 | } | ||
3495 | } | ||
3496 | |||
3497 | private void changeVehicleFloatParam(strVehicleFloatParam fp) | ||
3498 | { | ||
3499 | if (m_vehicle == null) | ||
3500 | return; | ||
3501 | |||
3502 | m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); | ||
3503 | } | ||
3504 | |||
3505 | private void changeVehicleVectorParam(strVehicleVectorParam vp) | ||
3506 | { | ||
3507 | if (m_vehicle == null) | ||
3508 | return; | ||
3509 | m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); | ||
3510 | } | ||
3511 | |||
3512 | private void changeVehicleRotationParam(strVehicleQuatParam qp) | ||
3513 | { | ||
3514 | if (m_vehicle == null) | ||
3515 | return; | ||
3516 | m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); | ||
3517 | } | ||
3518 | |||
3519 | private void changeVehicleFlags(strVehicleBoolParam bp) | ||
3520 | { | ||
3521 | if (m_vehicle == null) | ||
3522 | return; | ||
3523 | m_vehicle.ProcessVehicleFlags(bp.param, bp.value); | ||
3524 | } | ||
3525 | |||
3526 | private void changeBuoyancy(float b) | ||
3527 | { | ||
3528 | m_buoyancy = b; | ||
3529 | } | ||
3530 | |||
3531 | private void changePIDTarget(Vector3 trg) | ||
3532 | { | ||
3533 | m_PIDTarget = trg; | ||
3534 | } | ||
3535 | |||
3536 | private void changePIDTau(float tau) | ||
3537 | { | ||
3538 | m_PIDTau = tau; | ||
3539 | } | ||
3540 | |||
3541 | private void changePIDActive(bool val) | ||
3542 | { | ||
3543 | m_usePID = val; | ||
3544 | } | ||
3545 | |||
3546 | private void changePIDHoverHeight(float val) | ||
3547 | { | ||
3548 | m_PIDHoverHeight = val; | ||
3549 | if (val == 0) | ||
3550 | m_useHoverPID = false; | ||
3551 | } | ||
3552 | |||
3553 | private void changePIDHoverType(PIDHoverType type) | ||
3554 | { | ||
3555 | m_PIDHoverType = type; | ||
3556 | } | ||
3557 | |||
3558 | private void changePIDHoverTau(float tau) | ||
3559 | { | ||
3560 | m_PIDHoverTau = tau; | ||
3561 | } | ||
3562 | |||
3563 | private void changePIDHoverActive(bool active) | ||
3564 | { | ||
3565 | m_useHoverPID = active; | ||
3566 | } | ||
3567 | |||
3568 | private void changeInertia(PhysicsInertiaData inertia) | ||
3569 | { | ||
3570 | m_InertiaOverride = inertia; | ||
3571 | |||
3572 | if (Body != IntPtr.Zero) | ||
3573 | DestroyBody(); | ||
3574 | MakeBody(); | ||
3575 | } | ||
3576 | |||
3577 | #endregion | ||
3578 | |||
3579 | public void Move() | ||
3580 | { | ||
3581 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && | ||
3582 | !m_disabled && !m_isSelected && !m_building && !m_outbounds) | ||
3583 | { | ||
3584 | if (!d.BodyIsEnabled(Body)) | ||
3585 | { | ||
3586 | // let vehicles sleep | ||
3587 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
3588 | return; | ||
3589 | |||
3590 | if (++m_bodydisablecontrol < 50) | ||
3591 | return; | ||
3592 | |||
3593 | // clear residuals | ||
3594 | d.BodySetAngularVel(Body,0f,0f,0f); | ||
3595 | d.BodySetLinearVel(Body,0f,0f,0f); | ||
3596 | _zeroFlag = true; | ||
3597 | d.BodySetAutoDisableSteps(Body, 1); | ||
3598 | d.BodyEnable(Body); | ||
3599 | m_bodydisablecontrol = -3; | ||
3600 | } | ||
3601 | |||
3602 | if(m_bodydisablecontrol < 0) | ||
3603 | m_bodydisablecontrol++; | ||
3604 | |||
3605 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator | ||
3606 | |||
3607 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | ||
3608 | { | ||
3609 | // 'VEHICLES' are dealt with in ODEDynamics.cs | ||
3610 | m_vehicle.Step(); | ||
3611 | return; | ||
3612 | } | ||
3613 | |||
3614 | float fx = 0; | ||
3615 | float fy = 0; | ||
3616 | float fz = 0; | ||
3617 | |||
3618 | float mass = m_mass; | ||
3619 | |||
3620 | if (m_usePID && m_PIDTau > 0) | ||
3621 | { | ||
3622 | // for now position error | ||
3623 | _target_velocity = | ||
3624 | new Vector3( | ||
3625 | (m_PIDTarget.X - lpos.X), | ||
3626 | (m_PIDTarget.Y - lpos.Y), | ||
3627 | (m_PIDTarget.Z - lpos.Z) | ||
3628 | ); | ||
3629 | |||
3630 | if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) | ||
3631 | { | ||
3632 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | ||
3633 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
3634 | return; | ||
3635 | } | ||
3636 | else | ||
3637 | { | ||
3638 | _zeroFlag = false; | ||
3639 | |||
3640 | float tmp = 1 / m_PIDTau; | ||
3641 | _target_velocity *= tmp; | ||
3642 | |||
3643 | // apply limits | ||
3644 | tmp = _target_velocity.Length(); | ||
3645 | if (tmp > 50.0f) | ||
3646 | { | ||
3647 | tmp = 50 / tmp; | ||
3648 | _target_velocity *= tmp; | ||
3649 | } | ||
3650 | else if (tmp < 0.05f) | ||
3651 | { | ||
3652 | tmp = 0.05f / tmp; | ||
3653 | _target_velocity *= tmp; | ||
3654 | } | ||
3655 | |||
3656 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3657 | fx = (_target_velocity.X - vel.X) * m_invTimeStep; | ||
3658 | fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; | ||
3659 | fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; | ||
3660 | // d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); | ||
3661 | } | ||
3662 | } // end if (m_usePID) | ||
3663 | |||
3664 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | ||
3665 | else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) | ||
3666 | { | ||
3667 | |||
3668 | // Non-Vehicles have a limited set of Hover options. | ||
3669 | // determine what our target height really is based on HoverType | ||
3670 | |||
3671 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); | ||
3672 | |||
3673 | switch (m_PIDHoverType) | ||
3674 | { | ||
3675 | case PIDHoverType.Ground: | ||
3676 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
3677 | break; | ||
3678 | |||
3679 | case PIDHoverType.GroundAndWater: | ||
3680 | m_waterHeight = _parent_scene.GetWaterLevel(); | ||
3681 | if (m_groundHeight > m_waterHeight) | ||
3682 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | ||
3683 | else | ||
3684 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | ||
3685 | break; | ||
3686 | } // end switch (m_PIDHoverType) | ||
3687 | |||
3688 | // don't go underground unless volumedetector | ||
3689 | |||
3690 | if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) | ||
3691 | { | ||
3692 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3693 | |||
3694 | fz = (m_targetHoverHeight - lpos.Z); | ||
3695 | |||
3696 | // if error is zero, use position control; otherwise, velocity control | ||
3697 | if (Math.Abs(fz) < 0.01f) | ||
3698 | { | ||
3699 | d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); | ||
3700 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | ||
3701 | } | ||
3702 | else | ||
3703 | { | ||
3704 | _zeroFlag = false; | ||
3705 | fz /= m_PIDHoverTau; | ||
3706 | |||
3707 | float tmp = Math.Abs(fz); | ||
3708 | if (tmp > 50) | ||
3709 | fz = 50 * Math.Sign(fz); | ||
3710 | else if (tmp < 0.1) | ||
3711 | fz = 0.1f * Math.Sign(fz); | ||
3712 | |||
3713 | fz = ((fz - vel.Z) * m_invTimeStep); | ||
3714 | } | ||
3715 | } | ||
3716 | } | ||
3717 | else | ||
3718 | { | ||
3719 | float b = (1.0f - m_buoyancy) * m_gravmod; | ||
3720 | fx = _parent_scene.gravityx * b; | ||
3721 | fy = _parent_scene.gravityy * b; | ||
3722 | fz = _parent_scene.gravityz * b; | ||
3723 | } | ||
3724 | |||
3725 | fx *= mass; | ||
3726 | fy *= mass; | ||
3727 | fz *= mass; | ||
3728 | |||
3729 | // constant force | ||
3730 | fx += m_force.X; | ||
3731 | fy += m_force.Y; | ||
3732 | fz += m_force.Z; | ||
3733 | |||
3734 | fx += m_forceacc.X; | ||
3735 | fy += m_forceacc.Y; | ||
3736 | fz += m_forceacc.Z; | ||
3737 | |||
3738 | m_forceacc = Vector3.Zero; | ||
3739 | |||
3740 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | ||
3741 | if (fx != 0 || fy != 0 || fz != 0) | ||
3742 | { | ||
3743 | d.BodyAddForce(Body, fx, fy, fz); | ||
3744 | //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); | ||
3745 | } | ||
3746 | |||
3747 | Vector3 trq; | ||
3748 | |||
3749 | trq = m_torque; | ||
3750 | trq += m_angularForceacc; | ||
3751 | m_angularForceacc = Vector3.Zero; | ||
3752 | if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) | ||
3753 | { | ||
3754 | d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); | ||
3755 | } | ||
3756 | } | ||
3757 | else | ||
3758 | { // is not physical, or is not a body or is selected | ||
3759 | // _zeroPosition = d.BodyGetPosition(Body); | ||
3760 | return; | ||
3761 | //Console.WriteLine("Nothing " + Name); | ||
3762 | |||
3763 | } | ||
3764 | } | ||
3765 | |||
3766 | public void UpdatePositionAndVelocity(int frame) | ||
3767 | { | ||
3768 | if (_parent == null && !m_isSelected && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) | ||
3769 | { | ||
3770 | if(m_bodydisablecontrol < 0) | ||
3771 | return; | ||
3772 | |||
3773 | bool bodyenabled = d.BodyIsEnabled(Body); | ||
3774 | if (bodyenabled || !_zeroFlag) | ||
3775 | { | ||
3776 | bool lastZeroFlag = _zeroFlag; | ||
3777 | |||
3778 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); | ||
3779 | |||
3780 | // check outside region | ||
3781 | if (lpos.Z < -100 || lpos.Z > 100000f) | ||
3782 | { | ||
3783 | m_outbounds = true; | ||
3784 | |||
3785 | lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); | ||
3786 | m_acceleration.X = 0; | ||
3787 | m_acceleration.Y = 0; | ||
3788 | m_acceleration.Z = 0; | ||
3789 | |||
3790 | _velocity.X = 0; | ||
3791 | _velocity.Y = 0; | ||
3792 | _velocity.Z = 0; | ||
3793 | m_rotationalVelocity.X = 0; | ||
3794 | m_rotationalVelocity.Y = 0; | ||
3795 | m_rotationalVelocity.Z = 0; | ||
3796 | |||
3797 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
3798 | d.BodySetAngularVel(Body, 0, 0, 0); // stop it | ||
3799 | d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere | ||
3800 | m_lastposition = _position; | ||
3801 | m_lastorientation = _orientation; | ||
3802 | |||
3803 | base.RequestPhysicsterseUpdate(); | ||
3804 | |||
3805 | // throttleCounter = 0; | ||
3806 | _zeroFlag = true; | ||
3807 | |||
3808 | disableBodySoft(); // disable it and colisions | ||
3809 | base.RaiseOutOfBounds(_position); | ||
3810 | return; | ||
3811 | } | ||
3812 | |||
3813 | if (lpos.X < 0f) | ||
3814 | { | ||
3815 | _position.X = Util.Clip(lpos.X, -2f, -0.1f); | ||
3816 | m_outbounds = true; | ||
3817 | } | ||
3818 | else if (lpos.X > _parent_scene.WorldExtents.X) | ||
3819 | { | ||
3820 | _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); | ||
3821 | m_outbounds = true; | ||
3822 | } | ||
3823 | if (lpos.Y < 0f) | ||
3824 | { | ||
3825 | _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); | ||
3826 | m_outbounds = true; | ||
3827 | } | ||
3828 | else if (lpos.Y > _parent_scene.WorldExtents.Y) | ||
3829 | { | ||
3830 | _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); | ||
3831 | m_outbounds = true; | ||
3832 | } | ||
3833 | |||
3834 | if (m_outbounds) | ||
3835 | { | ||
3836 | m_lastposition = _position; | ||
3837 | m_lastorientation = _orientation; | ||
3838 | |||
3839 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | ||
3840 | m_rotationalVelocity.X = dtmp.X; | ||
3841 | m_rotationalVelocity.Y = dtmp.Y; | ||
3842 | m_rotationalVelocity.Z = dtmp.Z; | ||
3843 | |||
3844 | dtmp = d.BodyGetLinearVel(Body); | ||
3845 | _velocity.X = dtmp.X; | ||
3846 | _velocity.Y = dtmp.Y; | ||
3847 | _velocity.Z = dtmp.Z; | ||
3848 | |||
3849 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
3850 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
3851 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
3852 | disableBodySoft(); // stop collisions | ||
3853 | UnSubscribeEvents(); | ||
3854 | |||
3855 | base.RequestPhysicsterseUpdate(); | ||
3856 | return; | ||
3857 | } | ||
3858 | |||
3859 | d.Quaternion ori; | ||
3860 | d.GeomCopyQuaternion(prim_geom, out ori); | ||
3861 | |||
3862 | // decide if moving | ||
3863 | // use positions since this are integrated quantities | ||
3864 | // tolerance values depende a lot on simulation noise... | ||
3865 | // use simple math.abs since we dont need to be exact | ||
3866 | if(!bodyenabled) | ||
3867 | { | ||
3868 | _zeroFlag = true; | ||
3869 | } | ||
3870 | else | ||
3871 | { | ||
3872 | float poserror; | ||
3873 | float angerror; | ||
3874 | if(_zeroFlag) | ||
3875 | { | ||
3876 | poserror = 0.01f; | ||
3877 | angerror = 0.001f; | ||
3878 | } | ||
3879 | else | ||
3880 | { | ||
3881 | poserror = 0.005f; | ||
3882 | angerror = 0.0005f; | ||
3883 | } | ||
3884 | |||
3885 | if ( | ||
3886 | (Math.Abs(_position.X - lpos.X) < poserror) | ||
3887 | && (Math.Abs(_position.Y - lpos.Y) < poserror) | ||
3888 | && (Math.Abs(_position.Z - lpos.Z) < poserror) | ||
3889 | && (Math.Abs(_orientation.X - ori.X) < angerror) | ||
3890 | && (Math.Abs(_orientation.Y - ori.Y) < angerror) | ||
3891 | && (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W | ||
3892 | ) | ||
3893 | _zeroFlag = true; | ||
3894 | else | ||
3895 | _zeroFlag = false; | ||
3896 | } | ||
3897 | |||
3898 | // update position | ||
3899 | if (!(_zeroFlag && lastZeroFlag)) | ||
3900 | { | ||
3901 | _position.X = lpos.X; | ||
3902 | _position.Y = lpos.Y; | ||
3903 | _position.Z = lpos.Z; | ||
3904 | |||
3905 | _orientation.X = ori.X; | ||
3906 | _orientation.Y = ori.Y; | ||
3907 | _orientation.Z = ori.Z; | ||
3908 | _orientation.W = ori.W; | ||
3909 | } | ||
3910 | |||
3911 | // update velocities and acceleration | ||
3912 | if (_zeroFlag || lastZeroFlag) | ||
3913 | { | ||
3914 | // disable interpolators | ||
3915 | _velocity = Vector3.Zero; | ||
3916 | m_acceleration = Vector3.Zero; | ||
3917 | m_rotationalVelocity = Vector3.Zero; | ||
3918 | } | ||
3919 | else | ||
3920 | { | ||
3921 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3922 | |||
3923 | m_acceleration = _velocity; | ||
3924 | |||
3925 | if ((Math.Abs(vel.X) < 0.005f) && | ||
3926 | (Math.Abs(vel.Y) < 0.005f) && | ||
3927 | (Math.Abs(vel.Z) < 0.005f)) | ||
3928 | { | ||
3929 | _velocity = Vector3.Zero; | ||
3930 | float t = -m_invTimeStep; | ||
3931 | m_acceleration = m_acceleration * t; | ||
3932 | } | ||
3933 | else | ||
3934 | { | ||
3935 | _velocity.X = vel.X; | ||
3936 | _velocity.Y = vel.Y; | ||
3937 | _velocity.Z = vel.Z; | ||
3938 | m_acceleration = (_velocity - m_acceleration) * m_invTimeStep; | ||
3939 | } | ||
3940 | |||
3941 | if ((Math.Abs(m_acceleration.X) < 0.01f) && | ||
3942 | (Math.Abs(m_acceleration.Y) < 0.01f) && | ||
3943 | (Math.Abs(m_acceleration.Z) < 0.01f)) | ||
3944 | { | ||
3945 | m_acceleration = Vector3.Zero; | ||
3946 | } | ||
3947 | |||
3948 | vel = d.BodyGetAngularVel(Body); | ||
3949 | if ((Math.Abs(vel.X) < 0.0001) && | ||
3950 | (Math.Abs(vel.Y) < 0.0001) && | ||
3951 | (Math.Abs(vel.Z) < 0.0001) | ||
3952 | ) | ||
3953 | { | ||
3954 | m_rotationalVelocity = Vector3.Zero; | ||
3955 | } | ||
3956 | else | ||
3957 | { | ||
3958 | m_rotationalVelocity.X = vel.X; | ||
3959 | m_rotationalVelocity.Y = vel.Y; | ||
3960 | m_rotationalVelocity.Z = vel.Z; | ||
3961 | } | ||
3962 | } | ||
3963 | |||
3964 | if (_zeroFlag) | ||
3965 | { | ||
3966 | if (!m_lastUpdateSent) | ||
3967 | { | ||
3968 | base.RequestPhysicsterseUpdate(); | ||
3969 | if (lastZeroFlag) | ||
3970 | m_lastUpdateSent = true; | ||
3971 | } | ||
3972 | return; | ||
3973 | } | ||
3974 | |||
3975 | base.RequestPhysicsterseUpdate(); | ||
3976 | m_lastUpdateSent = false; | ||
3977 | } | ||
3978 | } | ||
3979 | } | ||
3980 | |||
3981 | internal static bool QuaternionIsFinite(Quaternion q) | ||
3982 | { | ||
3983 | if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) | ||
3984 | return false; | ||
3985 | if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) | ||
3986 | return false; | ||
3987 | if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) | ||
3988 | return false; | ||
3989 | if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) | ||
3990 | return false; | ||
3991 | return true; | ||
3992 | } | ||
3993 | |||
3994 | internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) | ||
3995 | { | ||
3996 | // assumes object center of mass is zero | ||
3997 | float smass = part.mass; | ||
3998 | theobj.mass -= smass; | ||
3999 | |||
4000 | smass *= 1.0f / (theobj.mass); ; | ||
4001 | |||
4002 | theobj.c.X -= part.c.X * smass; | ||
4003 | theobj.c.Y -= part.c.Y * smass; | ||
4004 | theobj.c.Z -= part.c.Z * smass; | ||
4005 | |||
4006 | theobj.I.M00 -= part.I.M00; | ||
4007 | theobj.I.M01 -= part.I.M01; | ||
4008 | theobj.I.M02 -= part.I.M02; | ||
4009 | theobj.I.M10 -= part.I.M10; | ||
4010 | theobj.I.M11 -= part.I.M11; | ||
4011 | theobj.I.M12 -= part.I.M12; | ||
4012 | theobj.I.M20 -= part.I.M20; | ||
4013 | theobj.I.M21 -= part.I.M21; | ||
4014 | theobj.I.M22 -= part.I.M22; | ||
4015 | } | ||
4016 | |||
4017 | private void donullchange() | ||
4018 | { | ||
4019 | } | ||
4020 | |||
4021 | public bool DoAChange(changes what, object arg) | ||
4022 | { | ||
4023 | if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) | ||
4024 | { | ||
4025 | return false; | ||
4026 | } | ||
4027 | |||
4028 | // nasty switch | ||
4029 | switch (what) | ||
4030 | { | ||
4031 | case changes.Add: | ||
4032 | changeadd(); | ||
4033 | break; | ||
4034 | |||
4035 | case changes.AddPhysRep: | ||
4036 | changeAddPhysRep((ODEPhysRepData)arg); | ||
4037 | break; | ||
4038 | |||
4039 | case changes.Remove: | ||
4040 | //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... | ||
4041 | //When we return true, it destroys all of the prims in the linkset anyway | ||
4042 | if (_parent != null) | ||
4043 | { | ||
4044 | OdePrim parent = (OdePrim)_parent; | ||
4045 | parent.ChildRemove(this, false); | ||
4046 | } | ||
4047 | else | ||
4048 | ChildRemove(this, false); | ||
4049 | |||
4050 | m_vehicle = null; | ||
4051 | RemoveGeom(); | ||
4052 | m_targetSpace = IntPtr.Zero; | ||
4053 | UnSubscribeEvents(); | ||
4054 | return true; | ||
4055 | |||
4056 | case changes.Link: | ||
4057 | OdePrim tmp = (OdePrim)arg; | ||
4058 | changeLink(tmp); | ||
4059 | break; | ||
4060 | |||
4061 | case changes.DeLink: | ||
4062 | changeLink(null); | ||
4063 | break; | ||
4064 | |||
4065 | case changes.Position: | ||
4066 | changePosition((Vector3)arg); | ||
4067 | break; | ||
4068 | |||
4069 | case changes.Orientation: | ||
4070 | changeOrientation((Quaternion)arg); | ||
4071 | break; | ||
4072 | |||
4073 | case changes.PosOffset: | ||
4074 | donullchange(); | ||
4075 | break; | ||
4076 | |||
4077 | case changes.OriOffset: | ||
4078 | donullchange(); | ||
4079 | break; | ||
4080 | |||
4081 | case changes.Velocity: | ||
4082 | changevelocity((Vector3)arg); | ||
4083 | break; | ||
4084 | |||
4085 | case changes.TargetVelocity: | ||
4086 | break; | ||
4087 | |||
4088 | // case changes.Acceleration: | ||
4089 | // changeacceleration((Vector3)arg); | ||
4090 | // break; | ||
4091 | |||
4092 | case changes.AngVelocity: | ||
4093 | changeangvelocity((Vector3)arg); | ||
4094 | break; | ||
4095 | |||
4096 | case changes.Force: | ||
4097 | changeForce((Vector3)arg); | ||
4098 | break; | ||
4099 | |||
4100 | case changes.Torque: | ||
4101 | changeSetTorque((Vector3)arg); | ||
4102 | break; | ||
4103 | |||
4104 | case changes.AddForce: | ||
4105 | changeAddForce((Vector3)arg); | ||
4106 | break; | ||
4107 | |||
4108 | case changes.AddAngForce: | ||
4109 | changeAddAngularImpulse((Vector3)arg); | ||
4110 | break; | ||
4111 | |||
4112 | case changes.AngLock: | ||
4113 | changeAngularLock((byte)arg); | ||
4114 | break; | ||
4115 | |||
4116 | case changes.Size: | ||
4117 | changeSize((Vector3)arg); | ||
4118 | break; | ||
4119 | |||
4120 | case changes.Shape: | ||
4121 | changeShape((PrimitiveBaseShape)arg); | ||
4122 | break; | ||
4123 | |||
4124 | case changes.PhysRepData: | ||
4125 | changePhysRepData((ODEPhysRepData) arg); | ||
4126 | break; | ||
4127 | |||
4128 | case changes.CollidesWater: | ||
4129 | changeFloatOnWater((bool)arg); | ||
4130 | break; | ||
4131 | |||
4132 | case changes.VolumeDtc: | ||
4133 | changeVolumedetetion((bool)arg); | ||
4134 | break; | ||
4135 | |||
4136 | case changes.Phantom: | ||
4137 | changePhantomStatus((bool)arg); | ||
4138 | break; | ||
4139 | |||
4140 | case changes.Physical: | ||
4141 | changePhysicsStatus((bool)arg); | ||
4142 | break; | ||
4143 | |||
4144 | case changes.Selected: | ||
4145 | changeSelectedStatus((bool)arg); | ||
4146 | break; | ||
4147 | |||
4148 | case changes.disabled: | ||
4149 | changeDisable((bool)arg); | ||
4150 | break; | ||
4151 | |||
4152 | case changes.building: | ||
4153 | changeBuilding((bool)arg); | ||
4154 | break; | ||
4155 | |||
4156 | case changes.VehicleType: | ||
4157 | changeVehicleType((int)arg); | ||
4158 | break; | ||
4159 | |||
4160 | case changes.VehicleFlags: | ||
4161 | changeVehicleFlags((strVehicleBoolParam) arg); | ||
4162 | break; | ||
4163 | |||
4164 | case changes.VehicleFloatParam: | ||
4165 | changeVehicleFloatParam((strVehicleFloatParam) arg); | ||
4166 | break; | ||
4167 | |||
4168 | case changes.VehicleVectorParam: | ||
4169 | changeVehicleVectorParam((strVehicleVectorParam) arg); | ||
4170 | break; | ||
4171 | |||
4172 | case changes.VehicleRotationParam: | ||
4173 | changeVehicleRotationParam((strVehicleQuatParam) arg); | ||
4174 | break; | ||
4175 | |||
4176 | case changes.SetVehicle: | ||
4177 | changeSetVehicle((VehicleData) arg); | ||
4178 | break; | ||
4179 | |||
4180 | case changes.Buoyancy: | ||
4181 | changeBuoyancy((float)arg); | ||
4182 | break; | ||
4183 | |||
4184 | case changes.PIDTarget: | ||
4185 | changePIDTarget((Vector3)arg); | ||
4186 | break; | ||
4187 | |||
4188 | case changes.PIDTau: | ||
4189 | changePIDTau((float)arg); | ||
4190 | break; | ||
4191 | |||
4192 | case changes.PIDActive: | ||
4193 | changePIDActive((bool)arg); | ||
4194 | break; | ||
4195 | |||
4196 | case changes.PIDHoverHeight: | ||
4197 | changePIDHoverHeight((float)arg); | ||
4198 | break; | ||
4199 | |||
4200 | case changes.PIDHoverType: | ||
4201 | changePIDHoverType((PIDHoverType)arg); | ||
4202 | break; | ||
4203 | |||
4204 | case changes.PIDHoverTau: | ||
4205 | changePIDHoverTau((float)arg); | ||
4206 | break; | ||
4207 | |||
4208 | case changes.PIDHoverActive: | ||
4209 | changePIDHoverActive((bool)arg); | ||
4210 | break; | ||
4211 | |||
4212 | case changes.SetInertia: | ||
4213 | changeInertia((PhysicsInertiaData) arg); | ||
4214 | break; | ||
4215 | |||
4216 | case changes.Null: | ||
4217 | donullchange(); | ||
4218 | break; | ||
4219 | |||
4220 | default: | ||
4221 | donullchange(); | ||
4222 | break; | ||
4223 | } | ||
4224 | return false; | ||
4225 | } | ||
4226 | |||
4227 | public void AddChange(changes what, object arg) | ||
4228 | { | ||
4229 | _parent_scene.AddChange((PhysicsActor) this, what, arg); | ||
4230 | } | ||
4231 | |||
4232 | private struct strVehicleBoolParam | ||
4233 | { | ||
4234 | public int param; | ||
4235 | public bool value; | ||
4236 | } | ||
4237 | |||
4238 | private struct strVehicleFloatParam | ||
4239 | { | ||
4240 | public int param; | ||
4241 | public float value; | ||
4242 | } | ||
4243 | |||
4244 | private struct strVehicleQuatParam | ||
4245 | { | ||
4246 | public int param; | ||
4247 | public Quaternion value; | ||
4248 | } | ||
4249 | |||
4250 | private struct strVehicleVectorParam | ||
4251 | { | ||
4252 | public int param; | ||
4253 | public Vector3 value; | ||
4254 | } | ||
4255 | } | ||
4256 | } | ||