diff options
Diffstat (limited to 'OpenSim')
52 files changed, 1622 insertions, 12636 deletions
diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs index 85b19c0..b24336d 100644 --- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs +++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs | |||
| @@ -1025,7 +1025,8 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 1025 | return buffer; | 1025 | return buffer; |
| 1026 | } | 1026 | } |
| 1027 | 1027 | ||
| 1028 | // JsonRpc (v2.0 only) | 1028 | // JsonRpc (v2.0 only) |
| 1029 | // Batch requests not yet supported | ||
| 1029 | private byte[] HandleJsonRpcRequests(OSHttpRequest request, OSHttpResponse response) | 1030 | private byte[] HandleJsonRpcRequests(OSHttpRequest request, OSHttpResponse response) |
| 1030 | { | 1031 | { |
| 1031 | Stream requestStream = request.InputStream; | 1032 | Stream requestStream = request.InputStream; |
| @@ -1065,8 +1066,26 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 1065 | { | 1066 | { |
| 1066 | jsonRpcHandlers.TryGetValue(methodname, out method); | 1067 | jsonRpcHandlers.TryGetValue(methodname, out method); |
| 1067 | } | 1068 | } |
| 1068 | 1069 | bool res = false; | |
| 1069 | method(jsonRpcRequest, ref jsonRpcResponse); | 1070 | try |
| 1071 | { | ||
| 1072 | res = method(jsonRpcRequest, ref jsonRpcResponse); | ||
| 1073 | if(!res) | ||
| 1074 | { | ||
| 1075 | // The handler sent back an unspecified error | ||
| 1076 | if(jsonRpcResponse.Error.Code == 0) | ||
| 1077 | { | ||
| 1078 | jsonRpcResponse.Error.Code = ErrorCode.InternalError; | ||
| 1079 | } | ||
| 1080 | } | ||
| 1081 | } | ||
| 1082 | catch (Exception e) | ||
| 1083 | { | ||
| 1084 | string ErrorMessage = string.Format("[BASE HTTP SERVER]: Json-Rpc Handler Error method {0} - {1}", methodname, e.Message); | ||
| 1085 | m_log.Error(ErrorMessage); | ||
| 1086 | jsonRpcResponse.Error.Code = ErrorCode.InternalError; | ||
| 1087 | jsonRpcResponse.Error.Message = ErrorMessage; | ||
| 1088 | } | ||
| 1070 | } | 1089 | } |
| 1071 | else // Error no hanlder defined for requested method | 1090 | else // Error no hanlder defined for requested method |
| 1072 | { | 1091 | { |
| @@ -1731,6 +1750,7 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 1731 | 1750 | ||
| 1732 | // Long Poll Service Manager with 3 worker threads a 25 second timeout for no events | 1751 | // Long Poll Service Manager with 3 worker threads a 25 second timeout for no events |
| 1733 | m_PollServiceManager = new PollServiceRequestManager(this, 3, 25000); | 1752 | m_PollServiceManager = new PollServiceRequestManager(this, 3, 25000); |
| 1753 | m_PollServiceManager.Start(); | ||
| 1734 | HTTPDRunning = true; | 1754 | HTTPDRunning = true; |
| 1735 | 1755 | ||
| 1736 | //HttpListenerContext context; | 1756 | //HttpListenerContext context; |
| @@ -1781,6 +1801,8 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 1781 | HTTPDRunning = false; | 1801 | HTTPDRunning = false; |
| 1782 | try | 1802 | try |
| 1783 | { | 1803 | { |
| 1804 | m_PollServiceManager.Stop(); | ||
| 1805 | |||
| 1784 | m_httpListener2.ExceptionThrown -= httpServerException; | 1806 | m_httpListener2.ExceptionThrown -= httpServerException; |
| 1785 | //m_httpListener2.DisconnectHandler = null; | 1807 | //m_httpListener2.DisconnectHandler = null; |
| 1786 | 1808 | ||
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs index 7334049..5bab508 100644 --- a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs +++ b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs | |||
| @@ -30,5 +30,5 @@ using OpenMetaverse.StructuredData; | |||
| 30 | 30 | ||
| 31 | namespace OpenSim.Framework.Servers.HttpServer | 31 | namespace OpenSim.Framework.Servers.HttpServer |
| 32 | { | 32 | { |
| 33 | public delegate void JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response); | 33 | public delegate bool JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response); |
| 34 | } | 34 | } |
diff --git a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs index 8d50151..3e84c55 100644 --- a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs +++ b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs | |||
| @@ -45,19 +45,26 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 45 | private uint m_WorkerThreadCount = 0; | 45 | private uint m_WorkerThreadCount = 0; |
| 46 | private Thread[] m_workerThreads; | 46 | private Thread[] m_workerThreads; |
| 47 | private PollServiceWorkerThread[] m_PollServiceWorkerThreads; | 47 | private PollServiceWorkerThread[] m_PollServiceWorkerThreads; |
| 48 | private bool m_running = true; | 48 | private volatile bool m_running = true; |
| 49 | private int m_pollTimeout; | ||
| 49 | 50 | ||
| 50 | public PollServiceRequestManager(BaseHttpServer pSrv, uint pWorkerThreadCount, int pTimeout) | 51 | public PollServiceRequestManager(BaseHttpServer pSrv, uint pWorkerThreadCount, int pTimeout) |
| 51 | { | 52 | { |
| 52 | m_server = pSrv; | 53 | m_server = pSrv; |
| 53 | m_WorkerThreadCount = pWorkerThreadCount; | 54 | m_WorkerThreadCount = pWorkerThreadCount; |
| 55 | m_pollTimeout = pTimeout; | ||
| 56 | } | ||
| 57 | |||
| 58 | public void Start() | ||
| 59 | { | ||
| 60 | m_running = true; | ||
| 54 | m_workerThreads = new Thread[m_WorkerThreadCount]; | 61 | m_workerThreads = new Thread[m_WorkerThreadCount]; |
| 55 | m_PollServiceWorkerThreads = new PollServiceWorkerThread[m_WorkerThreadCount]; | 62 | m_PollServiceWorkerThreads = new PollServiceWorkerThread[m_WorkerThreadCount]; |
| 56 | 63 | ||
| 57 | //startup worker threads | 64 | //startup worker threads |
| 58 | for (uint i = 0; i < m_WorkerThreadCount; i++) | 65 | for (uint i = 0; i < m_WorkerThreadCount; i++) |
| 59 | { | 66 | { |
| 60 | m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, pTimeout); | 67 | m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, m_pollTimeout); |
| 61 | m_PollServiceWorkerThreads[i].ReQueue += ReQueueEvent; | 68 | m_PollServiceWorkerThreads[i].ReQueue += ReQueueEvent; |
| 62 | 69 | ||
| 63 | m_workerThreads[i] | 70 | m_workerThreads[i] |
| @@ -136,8 +143,10 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 136 | 143 | ||
| 137 | } | 144 | } |
| 138 | 145 | ||
| 139 | ~PollServiceRequestManager() | 146 | public void Stop() |
| 140 | { | 147 | { |
| 148 | m_running = false; | ||
| 149 | |||
| 141 | foreach (object o in m_requests) | 150 | foreach (object o in m_requests) |
| 142 | { | 151 | { |
| 143 | PollServiceHttpRequest req = (PollServiceHttpRequest) o; | 152 | PollServiceHttpRequest req = (PollServiceHttpRequest) o; |
| @@ -151,8 +160,6 @@ namespace OpenSim.Framework.Servers.HttpServer | |||
| 151 | { | 160 | { |
| 152 | t.Abort(); | 161 | t.Abort(); |
| 153 | } | 162 | } |
| 154 | |||
| 155 | m_running = false; | ||
| 156 | } | 163 | } |
| 157 | } | 164 | } |
| 158 | } \ No newline at end of file | 165 | } \ No newline at end of file |
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs index f6c9d15..9b1e97d 100644 --- a/OpenSim/Framework/Util.cs +++ b/OpenSim/Framework/Util.cs | |||
| @@ -1658,8 +1658,13 @@ namespace OpenSim.Framework | |||
| 1658 | if (m_ThreadPool != null) | 1658 | if (m_ThreadPool != null) |
| 1659 | throw new InvalidOperationException("SmartThreadPool is already initialized"); | 1659 | throw new InvalidOperationException("SmartThreadPool is already initialized"); |
| 1660 | 1660 | ||
| 1661 | m_ThreadPool = new SmartThreadPool(2000, maxThreads, 2); | 1661 | STPStartInfo startInfo = new STPStartInfo(); |
| 1662 | m_ThreadPool.Name = "Util"; | 1662 | startInfo.ThreadPoolName = "Util"; |
| 1663 | startInfo.IdleTimeout = 2000; | ||
| 1664 | startInfo.MaxWorkerThreads = maxThreads; | ||
| 1665 | startInfo.MinWorkerThreads = 2; | ||
| 1666 | |||
| 1667 | m_ThreadPool = new SmartThreadPool(startInfo); | ||
| 1663 | } | 1668 | } |
| 1664 | 1669 | ||
| 1665 | public static int FireAndForgetCount() | 1670 | public static int FireAndForgetCount() |
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs index 5778176..f2cb117 100644 --- a/OpenSim/Region/Framework/Scenes/Scene.cs +++ b/OpenSim/Region/Framework/Scenes/Scene.cs | |||
| @@ -1983,6 +1983,19 @@ namespace OpenSim.Region.Framework.Scenes | |||
| 1983 | EventManager.TriggerPrimsLoaded(this); | 1983 | EventManager.TriggerPrimsLoaded(this); |
| 1984 | } | 1984 | } |
| 1985 | 1985 | ||
| 1986 | public bool SupportsRayCastFiltered() | ||
| 1987 | { | ||
| 1988 | if (PhysicsScene == null) | ||
| 1989 | return false; | ||
| 1990 | return PhysicsScene.SupportsRaycastWorldFiltered(); | ||
| 1991 | } | ||
| 1992 | |||
| 1993 | public object RayCastFiltered(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) | ||
| 1994 | { | ||
| 1995 | if (PhysicsScene == null) | ||
| 1996 | return null; | ||
| 1997 | return PhysicsScene.RaycastWorld(position, direction, length, Count,filter); | ||
| 1998 | } | ||
| 1986 | 1999 | ||
| 1987 | /// <summary> | 2000 | /// <summary> |
| 1988 | /// Gets a new rez location based on the raycast and the size of the object that is being rezzed. | 2001 | /// Gets a new rez location based on the raycast and the size of the object that is being rezzed. |
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 44e8fdf..e0ea344 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | |||
| @@ -1952,6 +1952,16 @@ namespace OpenSim.Region.Framework.Scenes | |||
| 1952 | PhysicsActor pa = PhysActor; | 1952 | PhysicsActor pa = PhysActor; |
| 1953 | 1953 | ||
| 1954 | if (pa != null) | 1954 | if (pa != null) |
| 1955 | return new Vector3(pa.GeometricCenter.X, pa.GeometricCenter.Y, pa.GeometricCenter.Z); | ||
| 1956 | else | ||
| 1957 | return new Vector3(0, 0, 0); | ||
| 1958 | } | ||
| 1959 | |||
| 1960 | public Vector3 GetCenterOfMass() | ||
| 1961 | { | ||
| 1962 | PhysicsActor pa = PhysActor; | ||
| 1963 | |||
| 1964 | if (pa != null) | ||
| 1955 | return new Vector3(pa.CenterOfMass.X, pa.CenterOfMass.Y, pa.CenterOfMass.Z); | 1965 | return new Vector3(pa.CenterOfMass.X, pa.CenterOfMass.Y, pa.CenterOfMass.Z); |
| 1956 | else | 1966 | else |
| 1957 | return new Vector3(0, 0, 0); | 1967 | return new Vector3(0, 0, 0); |
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs index c295305..a90872e 100644 --- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs +++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs | |||
| @@ -1954,8 +1954,7 @@ namespace OpenSim.Region.Framework.Scenes | |||
| 1954 | { | 1954 | { |
| 1955 | if (ParentID != 0) | 1955 | if (ParentID != 0) |
| 1956 | { | 1956 | { |
| 1957 | var targetPart = m_scene.GetSceneObjectPart(targetID); | 1957 | if (ParentPart.UUID == targetID) |
| 1958 | if (targetPart != null && targetPart.LocalId == ParentID) | ||
| 1959 | return; // already sitting here, ignore | 1958 | return; // already sitting here, ignore |
| 1960 | 1959 | ||
| 1961 | StandUp(); | 1960 | StandUp(); |
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs index 66265d8..5a37fad 100644 --- a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs +++ b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs | |||
| @@ -55,42 +55,42 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 55 | // These are the IRC Connector configurable parameters with hard-wired | 55 | // These are the IRC Connector configurable parameters with hard-wired |
| 56 | // default values (retained for compatability). | 56 | // default values (retained for compatability). |
| 57 | 57 | ||
| 58 | internal string Server = null; | 58 | internal string Server = null; |
| 59 | internal string Password = null; | 59 | internal string Password = null; |
| 60 | internal string IrcChannel = null; | 60 | internal string IrcChannel = null; |
| 61 | internal string BaseNickname = "OSimBot"; | 61 | internal string BaseNickname = "OSimBot"; |
| 62 | internal uint Port = 6667; | 62 | internal uint Port = 6667; |
| 63 | internal string User = null; | 63 | internal string User = null; |
| 64 | 64 | ||
| 65 | internal bool ClientReporting = true; | 65 | internal bool ClientReporting = true; |
| 66 | internal bool RelayChat = true; | 66 | internal bool RelayChat = true; |
| 67 | internal bool RelayPrivateChannels = false; | 67 | internal bool RelayPrivateChannels = false; |
| 68 | internal int RelayChannel = 1; | 68 | internal int RelayChannel = 1; |
| 69 | internal List<int> ValidInWorldChannels = new List<int>(); | 69 | internal List<int> ValidInWorldChannels = new List<int>(); |
| 70 | 70 | ||
| 71 | // Connector agnostic parameters. These values are NOT shared with the | 71 | // Connector agnostic parameters. These values are NOT shared with the |
| 72 | // connector and do not differentiate at an IRC level | 72 | // connector and do not differentiate at an IRC level |
| 73 | 73 | ||
| 74 | internal string PrivateMessageFormat = "PRIVMSG {0} :<{2}> {1} {3}"; | 74 | internal string PrivateMessageFormat = "PRIVMSG {0} :<{2}> {1} {3}"; |
| 75 | internal string NoticeMessageFormat = "PRIVMSG {0} :<{2}> {3}"; | 75 | internal string NoticeMessageFormat = "PRIVMSG {0} :<{2}> {3}"; |
| 76 | internal int RelayChannelOut = -1; | 76 | internal int RelayChannelOut = -1; |
| 77 | internal bool RandomizeNickname = true; | 77 | internal bool RandomizeNickname = true; |
| 78 | internal bool CommandsEnabled = false; | 78 | internal bool CommandsEnabled = false; |
| 79 | internal int CommandChannel = -1; | 79 | internal int CommandChannel = -1; |
| 80 | internal int ConnectDelay = 10; | 80 | internal int ConnectDelay = 10; |
| 81 | internal int PingDelay = 15; | 81 | internal int PingDelay = 15; |
| 82 | internal string DefaultZone = "Sim"; | 82 | internal string DefaultZone = "Sim"; |
| 83 | 83 | ||
| 84 | internal string _accessPassword = String.Empty; | 84 | internal string _accessPassword = String.Empty; |
| 85 | internal Regex AccessPasswordRegex = null; | 85 | internal Regex AccessPasswordRegex = null; |
| 86 | internal List<string> ExcludeList = new List<string>(); | 86 | internal List<string> ExcludeList = new List<string>(); |
| 87 | internal string AccessPassword | 87 | internal string AccessPassword |
| 88 | { | 88 | { |
| 89 | get { return _accessPassword; } | 89 | get { return _accessPassword; } |
| 90 | set | 90 | set |
| 91 | { | 91 | { |
| 92 | _accessPassword = value; | 92 | _accessPassword = value; |
| 93 | AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword), | 93 | AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword), |
| 94 | RegexOptions.Compiled); | 94 | RegexOptions.Compiled); |
| 95 | } | 95 | } |
| 96 | } | 96 | } |
| @@ -99,9 +99,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 99 | 99 | ||
| 100 | // IRC connector reference | 100 | // IRC connector reference |
| 101 | 101 | ||
| 102 | internal IRCConnector irc = null; | 102 | internal IRCConnector irc = null; |
| 103 | 103 | ||
| 104 | internal int idn = _idk_++; | 104 | internal int idn = _idk_++; |
| 105 | 105 | ||
| 106 | // List of regions dependent upon this connection | 106 | // List of regions dependent upon this connection |
| 107 | 107 | ||
| @@ -119,29 +119,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 119 | 119 | ||
| 120 | internal ChannelState(ChannelState model) | 120 | internal ChannelState(ChannelState model) |
| 121 | { | 121 | { |
| 122 | Server = model.Server; | 122 | Server = model.Server; |
| 123 | Password = model.Password; | 123 | Password = model.Password; |
| 124 | IrcChannel = model.IrcChannel; | 124 | IrcChannel = model.IrcChannel; |
| 125 | Port = model.Port; | 125 | Port = model.Port; |
| 126 | BaseNickname = model.BaseNickname; | 126 | BaseNickname = model.BaseNickname; |
| 127 | RandomizeNickname = model.RandomizeNickname; | 127 | RandomizeNickname = model.RandomizeNickname; |
| 128 | User = model.User; | 128 | User = model.User; |
| 129 | CommandsEnabled = model.CommandsEnabled; | 129 | CommandsEnabled = model.CommandsEnabled; |
| 130 | CommandChannel = model.CommandChannel; | 130 | CommandChannel = model.CommandChannel; |
| 131 | RelayChat = model.RelayChat; | 131 | RelayChat = model.RelayChat; |
| 132 | RelayPrivateChannels = model.RelayPrivateChannels; | 132 | RelayPrivateChannels = model.RelayPrivateChannels; |
| 133 | RelayChannelOut = model.RelayChannelOut; | 133 | RelayChannelOut = model.RelayChannelOut; |
| 134 | RelayChannel = model.RelayChannel; | 134 | RelayChannel = model.RelayChannel; |
| 135 | ValidInWorldChannels = model.ValidInWorldChannels; | 135 | ValidInWorldChannels = model.ValidInWorldChannels; |
| 136 | PrivateMessageFormat = model.PrivateMessageFormat; | 136 | PrivateMessageFormat = model.PrivateMessageFormat; |
| 137 | NoticeMessageFormat = model.NoticeMessageFormat; | 137 | NoticeMessageFormat = model.NoticeMessageFormat; |
| 138 | ClientReporting = model.ClientReporting; | 138 | ClientReporting = model.ClientReporting; |
| 139 | AccessPassword = model.AccessPassword; | 139 | AccessPassword = model.AccessPassword; |
| 140 | DefaultZone = model.DefaultZone; | 140 | DefaultZone = model.DefaultZone; |
| 141 | ConnectDelay = model.ConnectDelay; | 141 | ConnectDelay = model.ConnectDelay; |
| 142 | PingDelay = model.PingDelay; | 142 | PingDelay = model.PingDelay; |
| 143 | } | 143 | } |
| 144 | 144 | ||
| 145 | // Read the configuration file, performing variable substitution and any | 145 | // Read the configuration file, performing variable substitution and any |
| 146 | // necessary aliasing. See accompanying documentation for how this works. | 146 | // necessary aliasing. See accompanying documentation for how this works. |
| 147 | // If you don't need variables, then this works exactly as before. | 147 | // If you don't need variables, then this works exactly as before. |
| @@ -160,54 +160,54 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 160 | 160 | ||
| 161 | m_log.DebugFormat("[IRC-Channel-{0}] Initial request by Region {1} to connect to IRC", cs.idn, rs.Region); | 161 | m_log.DebugFormat("[IRC-Channel-{0}] Initial request by Region {1} to connect to IRC", cs.idn, rs.Region); |
| 162 | 162 | ||
| 163 | cs.Server = Substitute(rs, config.GetString("server", null)); | 163 | cs.Server = Substitute(rs, config.GetString("server", null)); |
| 164 | m_log.DebugFormat("[IRC-Channel-{0}] Server : <{1}>", cs.idn, cs.Server); | 164 | m_log.DebugFormat("[IRC-Channel-{0}] Server : <{1}>", cs.idn, cs.Server); |
| 165 | cs.Password = Substitute(rs, config.GetString("password", null)); | 165 | cs.Password = Substitute(rs, config.GetString("password", null)); |
| 166 | // probably not a good idea to put a password in the log file | 166 | // probably not a good idea to put a password in the log file |
| 167 | cs.User = Substitute(rs, config.GetString("user", null)); | 167 | cs.User = Substitute(rs, config.GetString("user", null)); |
| 168 | cs.IrcChannel = Substitute(rs, config.GetString("channel", null)); | 168 | cs.IrcChannel = Substitute(rs, config.GetString("channel", null)); |
| 169 | m_log.DebugFormat("[IRC-Channel-{0}] IrcChannel : <{1}>", cs.idn, cs.IrcChannel); | 169 | m_log.DebugFormat("[IRC-Channel-{0}] IrcChannel : <{1}>", cs.idn, cs.IrcChannel); |
| 170 | cs.Port = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port)))); | 170 | cs.Port = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port)))); |
| 171 | m_log.DebugFormat("[IRC-Channel-{0}] Port : <{1}>", cs.idn, cs.Port); | 171 | m_log.DebugFormat("[IRC-Channel-{0}] Port : <{1}>", cs.idn, cs.Port); |
| 172 | cs.BaseNickname = Substitute(rs, config.GetString("nick", cs.BaseNickname)); | 172 | cs.BaseNickname = Substitute(rs, config.GetString("nick", cs.BaseNickname)); |
| 173 | m_log.DebugFormat("[IRC-Channel-{0}] BaseNickname : <{1}>", cs.idn, cs.BaseNickname); | 173 | m_log.DebugFormat("[IRC-Channel-{0}] BaseNickname : <{1}>", cs.idn, cs.BaseNickname); |
| 174 | cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname)))); | 174 | cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname)))); |
| 175 | m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname); | 175 | m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname); |
| 176 | cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname)))); | 176 | cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname)))); |
| 177 | m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname); | 177 | m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname); |
| 178 | cs.User = Substitute(rs, config.GetString("username", cs.User)); | 178 | cs.User = Substitute(rs, config.GetString("username", cs.User)); |
| 179 | m_log.DebugFormat("[IRC-Channel-{0}] User : <{1}>", cs.idn, cs.User); | 179 | m_log.DebugFormat("[IRC-Channel-{0}] User : <{1}>", cs.idn, cs.User); |
| 180 | cs.CommandsEnabled = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled)))); | 180 | cs.CommandsEnabled = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled)))); |
| 181 | m_log.DebugFormat("[IRC-Channel-{0}] CommandsEnabled : <{1}>", cs.idn, cs.CommandsEnabled); | 181 | m_log.DebugFormat("[IRC-Channel-{0}] CommandsEnabled : <{1}>", cs.idn, cs.CommandsEnabled); |
| 182 | cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel)))); | 182 | cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel)))); |
| 183 | m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel); | 183 | m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel); |
| 184 | cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel)))); | 184 | cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel)))); |
| 185 | m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel); | 185 | m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel); |
| 186 | cs.RelayChat = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat)))); | 186 | cs.RelayChat = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat)))); |
| 187 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChat : <{1}>", cs.idn, cs.RelayChat); | 187 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChat : <{1}>", cs.idn, cs.RelayChat); |
| 188 | cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("relay_private_channels", Convert.ToString(cs.RelayPrivateChannels)))); | 188 | cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("relay_private_channels", Convert.ToString(cs.RelayPrivateChannels)))); |
| 189 | m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels); | 189 | m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels); |
| 190 | cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("useworldcomm", Convert.ToString(cs.RelayPrivateChannels)))); | 190 | cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("useworldcomm", Convert.ToString(cs.RelayPrivateChannels)))); |
| 191 | m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels); | 191 | m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels); |
| 192 | cs.RelayChannelOut = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut)))); | 192 | cs.RelayChannelOut = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut)))); |
| 193 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChannelOut : <{1}>", cs.idn, cs.RelayChannelOut); | 193 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChannelOut : <{1}>", cs.idn, cs.RelayChannelOut); |
| 194 | cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel)))); | 194 | cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel)))); |
| 195 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel); | 195 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel); |
| 196 | cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel)))); | 196 | cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel)))); |
| 197 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel); | 197 | m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel); |
| 198 | cs.PrivateMessageFormat = Substitute(rs, config.GetString("msgformat", cs.PrivateMessageFormat)); | 198 | cs.PrivateMessageFormat = Substitute(rs, config.GetString("msgformat", cs.PrivateMessageFormat)); |
| 199 | m_log.DebugFormat("[IRC-Channel-{0}] PrivateMessageFormat : <{1}>", cs.idn, cs.PrivateMessageFormat); | 199 | m_log.DebugFormat("[IRC-Channel-{0}] PrivateMessageFormat : <{1}>", cs.idn, cs.PrivateMessageFormat); |
| 200 | cs.NoticeMessageFormat = Substitute(rs, config.GetString("noticeformat", cs.NoticeMessageFormat)); | 200 | cs.NoticeMessageFormat = Substitute(rs, config.GetString("noticeformat", cs.NoticeMessageFormat)); |
| 201 | m_log.DebugFormat("[IRC-Channel-{0}] NoticeMessageFormat : <{1}>", cs.idn, cs.NoticeMessageFormat); | 201 | m_log.DebugFormat("[IRC-Channel-{0}] NoticeMessageFormat : <{1}>", cs.idn, cs.NoticeMessageFormat); |
| 202 | cs.ClientReporting = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting?"1":"0"))) > 0; | 202 | cs.ClientReporting = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting ? "1" : "0"))) > 0; |
| 203 | m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting); | 203 | m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting); |
| 204 | cs.ClientReporting = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting)))); | 204 | cs.ClientReporting = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting)))); |
| 205 | m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting); | 205 | m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting); |
| 206 | cs.DefaultZone = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone)); | 206 | cs.DefaultZone = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone)); |
| 207 | m_log.DebugFormat("[IRC-Channel-{0}] DefaultZone : <{1}>", cs.idn, cs.DefaultZone); | 207 | m_log.DebugFormat("[IRC-Channel-{0}] DefaultZone : <{1}>", cs.idn, cs.DefaultZone); |
| 208 | cs.ConnectDelay = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay)))); | 208 | cs.ConnectDelay = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay)))); |
| 209 | m_log.DebugFormat("[IRC-Channel-{0}] ConnectDelay : <{1}>", cs.idn, cs.ConnectDelay); | 209 | m_log.DebugFormat("[IRC-Channel-{0}] ConnectDelay : <{1}>", cs.idn, cs.ConnectDelay); |
| 210 | cs.PingDelay = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay)))); | 210 | cs.PingDelay = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay)))); |
| 211 | m_log.DebugFormat("[IRC-Channel-{0}] PingDelay : <{1}>", cs.idn, cs.PingDelay); | 211 | m_log.DebugFormat("[IRC-Channel-{0}] PingDelay : <{1}>", cs.idn, cs.PingDelay); |
| 212 | cs.AccessPassword = Substitute(rs, config.GetString("access_password", cs.AccessPassword)); | 212 | cs.AccessPassword = Substitute(rs, config.GetString("access_password", cs.AccessPassword)); |
| 213 | m_log.DebugFormat("[IRC-Channel-{0}] AccessPassword : <{1}>", cs.idn, cs.AccessPassword); | 213 | m_log.DebugFormat("[IRC-Channel-{0}] AccessPassword : <{1}>", cs.idn, cs.AccessPassword); |
| @@ -217,7 +217,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 217 | { | 217 | { |
| 218 | cs.ExcludeList.Add(name.Trim().ToLower()); | 218 | cs.ExcludeList.Add(name.Trim().ToLower()); |
| 219 | } | 219 | } |
| 220 | 220 | ||
| 221 | // Fail if fundamental information is still missing | 221 | // Fail if fundamental information is still missing |
| 222 | 222 | ||
| 223 | if (cs.Server == null) | 223 | if (cs.Server == null) |
| @@ -306,8 +306,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 306 | 306 | ||
| 307 | IRCBridgeModule.m_channels.Add(cs); | 307 | IRCBridgeModule.m_channels.Add(cs); |
| 308 | 308 | ||
| 309 | m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}", | 309 | m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}", |
| 310 | cs.idn, rs.Region, cs.DefaultZone, | 310 | cs.idn, rs.Region, cs.DefaultZone, |
| 311 | cs.CommandsEnabled ? "enabled" : "not enabled", | 311 | cs.CommandsEnabled ? "enabled" : "not enabled", |
| 312 | cs.RelayPrivateChannels ? "relayed" : "not relayed"); | 312 | cs.RelayPrivateChannels ? "relayed" : "not relayed"); |
| 313 | } | 313 | } |
| @@ -417,7 +417,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 417 | private bool IsAConnectionMatchFor(ChannelState cs) | 417 | private bool IsAConnectionMatchFor(ChannelState cs) |
| 418 | { | 418 | { |
| 419 | return ( | 419 | return ( |
| 420 | Server == cs.Server && | 420 | Server == cs.Server && |
| 421 | IrcChannel == cs.IrcChannel && | 421 | IrcChannel == cs.IrcChannel && |
| 422 | Port == cs.Port && | 422 | Port == cs.Port && |
| 423 | BaseNickname == cs.BaseNickname && | 423 | BaseNickname == cs.BaseNickname && |
| @@ -473,27 +473,27 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 473 | { | 473 | { |
| 474 | 474 | ||
| 475 | string vvar = arg.Match(result).ToString(); | 475 | string vvar = arg.Match(result).ToString(); |
| 476 | string var = vvar.Substring(1,vvar.Length-2).Trim(); | 476 | string var = vvar.Substring(1, vvar.Length - 2).Trim(); |
| 477 | 477 | ||
| 478 | switch (var.ToLower()) | 478 | switch (var.ToLower()) |
| 479 | { | 479 | { |
| 480 | case "%region" : | 480 | case "%region": |
| 481 | result = result.Replace(vvar, rs.Region); | 481 | result = result.Replace(vvar, rs.Region); |
| 482 | break; | 482 | break; |
| 483 | case "%host" : | 483 | case "%host": |
| 484 | result = result.Replace(vvar, rs.Host); | 484 | result = result.Replace(vvar, rs.Host); |
| 485 | break; | 485 | break; |
| 486 | case "%locx" : | 486 | case "%locx": |
| 487 | result = result.Replace(vvar, rs.LocX); | 487 | result = result.Replace(vvar, rs.LocX); |
| 488 | break; | 488 | break; |
| 489 | case "%locy" : | 489 | case "%locy": |
| 490 | result = result.Replace(vvar, rs.LocY); | 490 | result = result.Replace(vvar, rs.LocY); |
| 491 | break; | 491 | break; |
| 492 | case "%k" : | 492 | case "%k": |
| 493 | result = result.Replace(vvar, rs.IDK); | 493 | result = result.Replace(vvar, rs.IDK); |
| 494 | break; | 494 | break; |
| 495 | default : | 495 | default: |
| 496 | result = result.Replace(vvar, rs.config.GetString(var,var)); | 496 | result = result.Replace(vvar, rs.config.GetString(var, var)); |
| 497 | break; | 497 | break; |
| 498 | } | 498 | } |
| 499 | // m_log.DebugFormat("[IRC-Channel] Parse[2]: {0}", result); | 499 | // m_log.DebugFormat("[IRC-Channel] Parse[2]: {0}", result); |
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs index 2e1d03d..351dbfe 100644 --- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs +++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs | |||
| @@ -46,18 +46,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 46 | { | 46 | { |
| 47 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 47 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
| 48 | 48 | ||
| 49 | internal static bool m_pluginEnabled = false; | 49 | internal static bool Enabled = false; |
| 50 | internal static IConfig m_config = null; | 50 | internal static IConfig m_config = null; |
| 51 | 51 | ||
| 52 | internal static List<ChannelState> m_channels = new List<ChannelState>(); | 52 | internal static List<ChannelState> m_channels = new List<ChannelState>(); |
| 53 | internal static List<RegionState> m_regions = new List<RegionState>(); | 53 | internal static List<RegionState> m_regions = new List<RegionState>(); |
| 54 | 54 | ||
| 55 | internal static string m_password = String.Empty; | 55 | internal static string m_password = String.Empty; |
| 56 | internal RegionState m_region = null; | 56 | internal RegionState m_region = null; |
| 57 | 57 | ||
| 58 | #region INonSharedRegionModule Members | 58 | #region INonSharedRegionModule Members |
| 59 | 59 | ||
| 60 | public Type ReplaceableInterface | 60 | public Type ReplaceableInterface |
| 61 | { | 61 | { |
| 62 | get { return null; } | 62 | get { return null; } |
| 63 | } | 63 | } |
| @@ -72,13 +72,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 72 | m_config = config.Configs["IRC"]; | 72 | m_config = config.Configs["IRC"]; |
| 73 | if (m_config == null) | 73 | if (m_config == null) |
| 74 | { | 74 | { |
| 75 | // m_log.InfoFormat("[IRC-Bridge] module not configured"); | 75 | // m_log.InfoFormat("[IRC-Bridge] module not configured"); |
| 76 | return; | 76 | return; |
| 77 | } | 77 | } |
| 78 | 78 | ||
| 79 | if (!m_config.GetBoolean("enabled", false)) | 79 | if (!m_config.GetBoolean("enabled", false)) |
| 80 | { | 80 | { |
| 81 | // m_log.InfoFormat("[IRC-Bridge] module disabled in configuration"); | 81 | // m_log.InfoFormat("[IRC-Bridge] module disabled in configuration"); |
| 82 | return; | 82 | return; |
| 83 | } | 83 | } |
| 84 | 84 | ||
| @@ -87,19 +87,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 87 | m_password = config.Configs["RemoteAdmin"].GetString("access_password", m_password); | 87 | m_password = config.Configs["RemoteAdmin"].GetString("access_password", m_password); |
| 88 | } | 88 | } |
| 89 | 89 | ||
| 90 | m_pluginEnabled = true; | 90 | Enabled = true; |
| 91 | m_log.InfoFormat("[IRC-Bridge]: Module enabled"); | 91 | |
| 92 | m_log.InfoFormat("[IRC-Bridge]: Module is enabled"); | ||
| 92 | } | 93 | } |
| 93 | 94 | ||
| 94 | public void AddRegion(Scene scene) | 95 | public void AddRegion(Scene scene) |
| 95 | { | 96 | { |
| 96 | if (m_pluginEnabled) | 97 | if (Enabled) |
| 97 | { | 98 | { |
| 98 | try | 99 | try |
| 99 | { | 100 | { |
| 100 | m_log.InfoFormat("[IRC-Bridge] Connecting region {0}", scene.RegionInfo.RegionName); | 101 | m_log.InfoFormat("[IRC-Bridge] Connecting region {0}", scene.RegionInfo.RegionName); |
| 102 | |||
| 101 | if (!String.IsNullOrEmpty(m_password)) | 103 | if (!String.IsNullOrEmpty(m_password)) |
| 102 | MainServer.Instance.AddXmlRPCHandler("irc_admin", XmlRpcAdminMethod, false); | 104 | MainServer.Instance.AddXmlRPCHandler("irc_admin", XmlRpcAdminMethod, false); |
| 105 | |||
| 103 | m_region = new RegionState(scene, m_config); | 106 | m_region = new RegionState(scene, m_config); |
| 104 | lock (m_regions) m_regions.Add(m_region); | 107 | lock (m_regions) m_regions.Add(m_region); |
| 105 | m_region.Open(); | 108 | m_region.Open(); |
| @@ -123,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 123 | 126 | ||
| 124 | public void RemoveRegion(Scene scene) | 127 | public void RemoveRegion(Scene scene) |
| 125 | { | 128 | { |
| 126 | if (!m_pluginEnabled) | 129 | if (!Enabled) |
| 127 | return; | 130 | return; |
| 128 | 131 | ||
| 129 | if (m_region == null) | 132 | if (m_region == null) |
| @@ -150,12 +153,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 150 | m_log.Debug("[IRC-Bridge]: XML RPC Admin Entry"); | 153 | m_log.Debug("[IRC-Bridge]: XML RPC Admin Entry"); |
| 151 | 154 | ||
| 152 | XmlRpcResponse response = new XmlRpcResponse(); | 155 | XmlRpcResponse response = new XmlRpcResponse(); |
| 153 | Hashtable responseData = new Hashtable(); | 156 | Hashtable responseData = new Hashtable(); |
| 154 | 157 | ||
| 155 | try | 158 | try |
| 156 | { | 159 | { |
| 157 | Hashtable requestData = (Hashtable)request.Params[0]; | 160 | Hashtable requestData = (Hashtable)request.Params[0]; |
| 158 | bool found = false; | 161 | bool found = false; |
| 159 | string region = String.Empty; | 162 | string region = String.Empty; |
| 160 | 163 | ||
| 161 | if (m_password != String.Empty) | 164 | if (m_password != String.Empty) |
| @@ -169,18 +172,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 169 | if (!requestData.ContainsKey("region")) | 172 | if (!requestData.ContainsKey("region")) |
| 170 | throw new Exception("No region name specified"); | 173 | throw new Exception("No region name specified"); |
| 171 | region = (string)requestData["region"]; | 174 | region = (string)requestData["region"]; |
| 172 | 175 | ||
| 173 | foreach (RegionState rs in m_regions) | 176 | foreach (RegionState rs in m_regions) |
| 174 | { | 177 | { |
| 175 | if (rs.Region == region) | 178 | if (rs.Region == region) |
| 176 | { | 179 | { |
| 177 | responseData["server"] = rs.cs.Server; | 180 | responseData["server"] = rs.cs.Server; |
| 178 | responseData["port"] = (int)rs.cs.Port; | 181 | responseData["port"] = (int)rs.cs.Port; |
| 179 | responseData["user"] = rs.cs.User; | 182 | responseData["user"] = rs.cs.User; |
| 180 | responseData["channel"] = rs.cs.IrcChannel; | 183 | responseData["channel"] = rs.cs.IrcChannel; |
| 181 | responseData["enabled"] = rs.cs.irc.Enabled; | 184 | responseData["enabled"] = rs.cs.irc.Enabled; |
| 182 | responseData["connected"] = rs.cs.irc.Connected; | 185 | responseData["connected"] = rs.cs.irc.Connected; |
| 183 | responseData["nickname"] = rs.cs.irc.Nick; | 186 | responseData["nickname"] = rs.cs.irc.Nick; |
| 184 | found = true; | 187 | found = true; |
| 185 | break; | 188 | break; |
| 186 | } | 189 | } |
| @@ -195,7 +198,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 195 | m_log.ErrorFormat("[IRC-Bridge] XML RPC Admin request failed : {0}", e.Message); | 198 | m_log.ErrorFormat("[IRC-Bridge] XML RPC Admin request failed : {0}", e.Message); |
| 196 | 199 | ||
| 197 | responseData["success"] = "false"; | 200 | responseData["success"] = "false"; |
| 198 | responseData["error"] = e.Message; | 201 | responseData["error"] = e.Message; |
| 199 | } | 202 | } |
| 200 | finally | 203 | finally |
| 201 | { | 204 | { |
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs index a014798..c5cba8e 100644 --- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs +++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs | |||
| @@ -53,16 +53,16 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 53 | // Local constants | 53 | // Local constants |
| 54 | 54 | ||
| 55 | private static readonly Vector3 CenterOfRegion = new Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20); | 55 | private static readonly Vector3 CenterOfRegion = new Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20); |
| 56 | private static readonly char[] CS_SPACE = { ' ' }; | 56 | private static readonly char[] CS_SPACE = { ' ' }; |
| 57 | 57 | ||
| 58 | private const int WD_INTERVAL = 1000; // base watchdog interval | 58 | private const int WD_INTERVAL = 1000; // base watchdog interval |
| 59 | private static int PING_PERIOD = 15; // WD intervals per PING | 59 | private static int PING_PERIOD = 15; // WD intervals per PING |
| 60 | private static int ICCD_PERIOD = 10; // WD intervals between Connects | 60 | private static int ICCD_PERIOD = 10; // WD intervals between Connects |
| 61 | private static int L_TIMEOUT = 25; // Login time out interval | 61 | private static int L_TIMEOUT = 25; // Login time out interval |
| 62 | 62 | ||
| 63 | private static int _idk_ = 0; // core connector identifier | 63 | private static int _idk_ = 0; // core connector identifier |
| 64 | private static int _pdk_ = 0; // ping interval counter | 64 | private static int _pdk_ = 0; // ping interval counter |
| 65 | private static int _icc_ = ICCD_PERIOD; // IRC connect counter | 65 | private static int _icc_ = ICCD_PERIOD; // IRC connect counter |
| 66 | 66 | ||
| 67 | // List of configured connectors | 67 | // List of configured connectors |
| 68 | 68 | ||
| @@ -113,7 +113,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 113 | 113 | ||
| 114 | private Object msyncConnect = new Object(); | 114 | private Object msyncConnect = new Object(); |
| 115 | 115 | ||
| 116 | internal bool m_randomizeNick = true; // add random suffix | 116 | internal bool m_randomizeNick = true; // add random suffix |
| 117 | internal string m_baseNick = null; // base name for randomizing | 117 | internal string m_baseNick = null; // base name for randomizing |
| 118 | internal string m_nick = null; // effective nickname | 118 | internal string m_nick = null; // effective nickname |
| 119 | 119 | ||
| @@ -122,7 +122,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 122 | get { return m_nick; } | 122 | get { return m_nick; } |
| 123 | set { m_nick = value; } | 123 | set { m_nick = value; } |
| 124 | } | 124 | } |
| 125 | 125 | ||
| 126 | private bool m_enabled = false; // connector enablement | 126 | private bool m_enabled = false; // connector enablement |
| 127 | public bool Enabled | 127 | public bool Enabled |
| 128 | { | 128 | { |
| @@ -130,8 +130,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 130 | } | 130 | } |
| 131 | 131 | ||
| 132 | private bool m_connected = false; // connection status | 132 | private bool m_connected = false; // connection status |
| 133 | private bool m_pending = false; // login disposition | 133 | private bool m_pending = false; // login disposition |
| 134 | private int m_timeout = L_TIMEOUT; // login timeout counter | 134 | private int m_timeout = L_TIMEOUT; // login timeout counter |
| 135 | public bool Connected | 135 | public bool Connected |
| 136 | { | 136 | { |
| 137 | get { return m_connected; } | 137 | get { return m_connected; } |
| @@ -143,9 +143,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 143 | get { return m_ircChannel; } | 143 | get { return m_ircChannel; } |
| 144 | set { m_ircChannel = value; } | 144 | set { m_ircChannel = value; } |
| 145 | } | 145 | } |
| 146 | 146 | ||
| 147 | private uint m_port = 6667; // session port | 147 | private uint m_port = 6667; // session port |
| 148 | public uint Port | 148 | public uint Port |
| 149 | { | 149 | { |
| 150 | get { return m_port; } | 150 | get { return m_port; } |
| 151 | set { m_port = value; } | 151 | set { m_port = value; } |
| @@ -172,10 +172,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 172 | 172 | ||
| 173 | // Network interface | 173 | // Network interface |
| 174 | 174 | ||
| 175 | private TcpClient m_tcp; | 175 | private TcpClient m_tcp; |
| 176 | private NetworkStream m_stream = null; | 176 | private NetworkStream m_stream = null; |
| 177 | private StreamReader m_reader; | 177 | private StreamReader m_reader; |
| 178 | private StreamWriter m_writer; | 178 | private StreamWriter m_writer; |
| 179 | 179 | ||
| 180 | // Channel characteristic info (if available) | 180 | // Channel characteristic info (if available) |
| 181 | 181 | ||
| @@ -193,26 +193,26 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 193 | 193 | ||
| 194 | // Prepare network interface | 194 | // Prepare network interface |
| 195 | 195 | ||
| 196 | m_tcp = null; | 196 | m_tcp = null; |
| 197 | m_writer = null; | 197 | m_writer = null; |
| 198 | m_reader = null; | 198 | m_reader = null; |
| 199 | 199 | ||
| 200 | // Setup IRC session parameters | 200 | // Setup IRC session parameters |
| 201 | 201 | ||
| 202 | m_server = cs.Server; | 202 | m_server = cs.Server; |
| 203 | m_password = cs.Password; | 203 | m_password = cs.Password; |
| 204 | m_baseNick = cs.BaseNickname; | 204 | m_baseNick = cs.BaseNickname; |
| 205 | m_randomizeNick = cs.RandomizeNickname; | 205 | m_randomizeNick = cs.RandomizeNickname; |
| 206 | m_ircChannel = cs.IrcChannel; | 206 | m_ircChannel = cs.IrcChannel; |
| 207 | m_port = cs.Port; | 207 | m_port = cs.Port; |
| 208 | m_user = cs.User; | 208 | m_user = cs.User; |
| 209 | 209 | ||
| 210 | if (m_watchdog == null) | 210 | if (m_watchdog == null) |
| 211 | { | 211 | { |
| 212 | // Non-differentiating | 212 | // Non-differentiating |
| 213 | 213 | ||
| 214 | ICCD_PERIOD = cs.ConnectDelay; | 214 | ICCD_PERIOD = cs.ConnectDelay; |
| 215 | PING_PERIOD = cs.PingDelay; | 215 | PING_PERIOD = cs.PingDelay; |
| 216 | 216 | ||
| 217 | // Smaller values are not reasonable | 217 | // Smaller values are not reasonable |
| 218 | 218 | ||
| @@ -235,7 +235,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 235 | 235 | ||
| 236 | if (m_randomizeNick) | 236 | if (m_randomizeNick) |
| 237 | m_nick = m_baseNick + Util.RandomClass.Next(1, 99); | 237 | m_nick = m_baseNick + Util.RandomClass.Next(1, 99); |
| 238 | else | 238 | else |
| 239 | m_nick = m_baseNick; | 239 | m_nick = m_baseNick; |
| 240 | 240 | ||
| 241 | m_log.InfoFormat("[IRC-Connector-{0}]: Initialization complete", idn); | 241 | m_log.InfoFormat("[IRC-Connector-{0}]: Initialization complete", idn); |
| @@ -295,18 +295,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 295 | m_nick, m_ircChannel, m_server)); | 295 | m_nick, m_ircChannel, m_server)); |
| 296 | m_writer.Flush(); | 296 | m_writer.Flush(); |
| 297 | } | 297 | } |
| 298 | catch (Exception) {} | 298 | catch (Exception) { } |
| 299 | 299 | ||
| 300 | 300 | ||
| 301 | m_connected = false; | 301 | m_connected = false; |
| 302 | 302 | ||
| 303 | try { m_writer.Close(); } catch (Exception) {} | 303 | try { m_writer.Close(); } |
| 304 | try { m_reader.Close(); } catch (Exception) {} | 304 | catch (Exception) { } |
| 305 | try { m_stream.Close(); } catch (Exception) {} | 305 | try { m_reader.Close(); } |
| 306 | try { m_tcp.Close(); } catch (Exception) {} | 306 | catch (Exception) { } |
| 307 | try { m_stream.Close(); } | ||
| 308 | catch (Exception) { } | ||
| 309 | try { m_tcp.Close(); } | ||
| 310 | catch (Exception) { } | ||
| 307 | 311 | ||
| 308 | } | 312 | } |
| 309 | 313 | ||
| 310 | lock (m_connectors) | 314 | lock (m_connectors) |
| 311 | m_connectors.Remove(this); | 315 | m_connectors.Remove(this); |
| 312 | 316 | ||
| @@ -347,15 +351,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 347 | if (m_connected) return; | 351 | if (m_connected) return; |
| 348 | 352 | ||
| 349 | m_connected = true; | 353 | m_connected = true; |
| 350 | m_pending = true; | 354 | m_pending = true; |
| 351 | m_timeout = L_TIMEOUT; | 355 | m_timeout = L_TIMEOUT; |
| 352 | 356 | ||
| 353 | m_tcp = new TcpClient(m_server, (int)m_port); | 357 | m_tcp = new TcpClient(m_server, (int)m_port); |
| 354 | m_stream = m_tcp.GetStream(); | 358 | m_stream = m_tcp.GetStream(); |
| 355 | m_reader = new StreamReader(m_stream); | 359 | m_reader = new StreamReader(m_stream); |
| 356 | m_writer = new StreamWriter(m_stream); | 360 | m_writer = new StreamWriter(m_stream); |
| 357 | 361 | ||
| 358 | m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port); | 362 | m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port); |
| 359 | 363 | ||
| 360 | m_listener = new Thread(new ThreadStart(ListenerRun)); | 364 | m_listener = new Thread(new ThreadStart(ListenerRun)); |
| 361 | m_listener.Name = "IRCConnectorListenerThread"; | 365 | m_listener.Name = "IRCConnectorListenerThread"; |
| @@ -418,12 +422,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 418 | // the socket and it will disappear of its own accord, once this | 422 | // the socket and it will disappear of its own accord, once this |
| 419 | // processing is completed. | 423 | // processing is completed. |
| 420 | 424 | ||
| 421 | try { m_writer.Close(); } catch (Exception) {} | 425 | try { m_writer.Close(); } |
| 422 | try { m_reader.Close(); } catch (Exception) {} | 426 | catch (Exception) { } |
| 423 | try { m_tcp.Close(); } catch (Exception) {} | 427 | try { m_reader.Close(); } |
| 428 | catch (Exception) { } | ||
| 429 | try { m_tcp.Close(); } | ||
| 430 | catch (Exception) { } | ||
| 424 | 431 | ||
| 425 | m_connected = false; | 432 | m_connected = false; |
| 426 | m_pending = false; | 433 | m_pending = false; |
| 427 | m_resetk++; | 434 | m_resetk++; |
| 428 | 435 | ||
| 429 | } | 436 | } |
| @@ -495,7 +502,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 495 | { | 502 | { |
| 496 | 503 | ||
| 497 | string inputLine; | 504 | string inputLine; |
| 498 | int resetk = m_resetk; | 505 | int resetk = m_resetk; |
| 499 | 506 | ||
| 500 | try | 507 | try |
| 501 | { | 508 | { |
| @@ -555,7 +562,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 555 | Reconnect(); | 562 | Reconnect(); |
| 556 | } | 563 | } |
| 557 | 564 | ||
| 558 | private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)", | 565 | private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)", |
| 559 | RegexOptions.Multiline); | 566 | RegexOptions.Multiline); |
| 560 | 567 | ||
| 561 | private Dictionary<string, string> ExtractMsg(string input) | 568 | private Dictionary<string, string> ExtractMsg(string input) |
| @@ -617,8 +624,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 617 | string[] commArgs; | 624 | string[] commArgs; |
| 618 | string c_server = m_server; | 625 | string c_server = m_server; |
| 619 | 626 | ||
| 620 | string pfx = String.Empty; | 627 | string pfx = String.Empty; |
| 621 | string cmd = String.Empty; | 628 | string cmd = String.Empty; |
| 622 | string parms = String.Empty; | 629 | string parms = String.Empty; |
| 623 | 630 | ||
| 624 | // ":" indicates that a prefix is present | 631 | // ":" indicates that a prefix is present |
| @@ -627,15 +634,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 627 | // ":" indicates that the remainder of the | 634 | // ":" indicates that the remainder of the |
| 628 | // line is a single parameter value. | 635 | // line is a single parameter value. |
| 629 | 636 | ||
| 630 | commArgs = command.Split(CS_SPACE,2); | 637 | commArgs = command.Split(CS_SPACE, 2); |
| 631 | 638 | ||
| 632 | if (commArgs[0].StartsWith(":")) | 639 | if (commArgs[0].StartsWith(":")) |
| 633 | { | 640 | { |
| 634 | pfx = commArgs[0].Substring(1); | 641 | pfx = commArgs[0].Substring(1); |
| 635 | commArgs = commArgs[1].Split(CS_SPACE,2); | 642 | commArgs = commArgs[1].Split(CS_SPACE, 2); |
| 636 | } | 643 | } |
| 637 | 644 | ||
| 638 | cmd = commArgs[0]; | 645 | cmd = commArgs[0]; |
| 639 | parms = commArgs[1]; | 646 | parms = commArgs[1]; |
| 640 | 647 | ||
| 641 | // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}>", idn, pfx, cmd); | 648 | // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}>", idn, pfx, cmd); |
| @@ -646,44 +653,44 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 646 | // Messages 001-004 are always sent | 653 | // Messages 001-004 are always sent |
| 647 | // following signon. | 654 | // following signon. |
| 648 | 655 | ||
| 649 | case "001" : // Welcome ... | 656 | case "001": // Welcome ... |
| 650 | case "002" : // Server information | 657 | case "002": // Server information |
| 651 | case "003" : // Welcome ... | 658 | case "003": // Welcome ... |
| 652 | break; | 659 | break; |
| 653 | case "004" : // Server information | 660 | case "004": // Server information |
| 654 | m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms); | 661 | m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms); |
| 655 | commArgs = parms.Split(CS_SPACE); | 662 | commArgs = parms.Split(CS_SPACE); |
| 656 | c_server = commArgs[1]; | 663 | c_server = commArgs[1]; |
| 657 | m_server = c_server; | 664 | m_server = c_server; |
| 658 | version = commArgs[2]; | 665 | version = commArgs[2]; |
| 659 | usermod = commArgs[3]; | 666 | usermod = commArgs[3]; |
| 660 | chanmod = commArgs[4]; | 667 | chanmod = commArgs[4]; |
| 661 | break; | 668 | break; |
| 662 | case "005" : // Server information | 669 | case "005": // Server information |
| 663 | break; | 670 | break; |
| 664 | case "042" : | 671 | case "042": |
| 665 | case "250" : | 672 | case "250": |
| 666 | case "251" : | 673 | case "251": |
| 667 | case "252" : | 674 | case "252": |
| 668 | case "254" : | 675 | case "254": |
| 669 | case "255" : | 676 | case "255": |
| 670 | case "265" : | 677 | case "265": |
| 671 | case "266" : | 678 | case "266": |
| 672 | case "332" : // Subject | 679 | case "332": // Subject |
| 673 | case "333" : // Subject owner (?) | 680 | case "333": // Subject owner (?) |
| 674 | case "353" : // Name list | 681 | case "353": // Name list |
| 675 | case "366" : // End-of-Name list marker | 682 | case "366": // End-of-Name list marker |
| 676 | case "372" : // MOTD body | 683 | case "372": // MOTD body |
| 677 | case "375" : // MOTD start | 684 | case "375": // MOTD start |
| 678 | // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); | 685 | // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); |
| 679 | break; | 686 | break; |
| 680 | case "376" : // MOTD end | 687 | case "376": // MOTD end |
| 681 | // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); | 688 | // m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); |
| 682 | motd = true; | 689 | motd = true; |
| 683 | break; | 690 | break; |
| 684 | case "451" : // Not registered | 691 | case "451": // Not registered |
| 685 | break; | 692 | break; |
| 686 | case "433" : // Nickname in use | 693 | case "433": // Nickname in use |
| 687 | // Gen a new name | 694 | // Gen a new name |
| 688 | m_nick = m_baseNick + Util.RandomClass.Next(1, 99); | 695 | m_nick = m_baseNick + Util.RandomClass.Next(1, 99); |
| 689 | m_log.ErrorFormat("[IRC-Connector-{0}]: [{1}] IRC SERVER reports NicknameInUse, trying {2}", idn, cmd, m_nick); | 696 | m_log.ErrorFormat("[IRC-Connector-{0}]: [{1}] IRC SERVER reports NicknameInUse, trying {2}", idn, cmd, m_nick); |
| @@ -695,29 +702,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 695 | m_writer.WriteLine(String.Format("JOIN {0}", m_ircChannel)); | 702 | m_writer.WriteLine(String.Format("JOIN {0}", m_ircChannel)); |
| 696 | m_writer.Flush(); | 703 | m_writer.Flush(); |
| 697 | break; | 704 | break; |
| 698 | case "479" : // Bad channel name, etc. This will never work, so disable the connection | 705 | case "479": // Bad channel name, etc. This will never work, so disable the connection |
| 699 | m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); | 706 | m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]); |
| 700 | m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] Connector disabled", idn, cmd); | 707 | m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] Connector disabled", idn, cmd); |
| 701 | m_enabled = false; | 708 | m_enabled = false; |
| 702 | m_connected = false; | 709 | m_connected = false; |
| 703 | m_pending = false; | 710 | m_pending = false; |
| 704 | break; | 711 | break; |
| 705 | case "NOTICE" : | 712 | case "NOTICE": |
| 706 | // m_log.WarnFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); | 713 | // m_log.WarnFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); |
| 707 | break; | 714 | break; |
| 708 | case "ERROR" : | 715 | case "ERROR": |
| 709 | m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]); | 716 | m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]); |
| 710 | if (parms.Contains("reconnect too fast")) | 717 | if (parms.Contains("reconnect too fast")) |
| 711 | ICCD_PERIOD++; | 718 | ICCD_PERIOD++; |
| 712 | m_pending = false; | 719 | m_pending = false; |
| 713 | Reconnect(); | 720 | Reconnect(); |
| 714 | break; | 721 | break; |
| 715 | case "PING" : | 722 | case "PING": |
| 716 | m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms); | 723 | m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms); |
| 717 | m_writer.WriteLine(String.Format("PONG {0}", parms)); | 724 | m_writer.WriteLine(String.Format("PONG {0}", parms)); |
| 718 | m_writer.Flush(); | 725 | m_writer.Flush(); |
| 719 | break; | 726 | break; |
| 720 | case "PONG" : | 727 | case "PONG": |
| 721 | break; | 728 | break; |
| 722 | case "JOIN": | 729 | case "JOIN": |
| 723 | if (m_pending) | 730 | if (m_pending) |
| @@ -748,19 +755,19 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 748 | m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms); | 755 | m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms); |
| 749 | eventIrcQuit(pfx, cmd, parms); | 756 | eventIrcQuit(pfx, cmd, parms); |
| 750 | break; | 757 | break; |
| 751 | default : | 758 | default: |
| 752 | m_log.DebugFormat("[IRC-Connector-{0}] Command '{1}' ignored, parms = {2}", idn, cmd, parms); | 759 | m_log.DebugFormat("[IRC-Connector-{0}] Command '{1}' ignored, parms = {2}", idn, cmd, parms); |
| 753 | break; | 760 | break; |
| 754 | } | 761 | } |
| 755 | 762 | ||
| 756 | // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}> complete", idn, pfx, cmd); | 763 | // m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}> complete", idn, pfx, cmd); |
| 757 | 764 | ||
| 758 | } | 765 | } |
| 759 | 766 | ||
| 760 | public void eventIrcJoin(string prefix, string command, string parms) | 767 | public void eventIrcJoin(string prefix, string command, string parms) |
| 761 | { | 768 | { |
| 762 | string[] args = parms.Split(CS_SPACE,2); | 769 | string[] args = parms.Split(CS_SPACE, 2); |
| 763 | string IrcUser = prefix.Split('!')[0]; | 770 | string IrcUser = prefix.Split('!')[0]; |
| 764 | string IrcChannel = args[0]; | 771 | string IrcChannel = args[0]; |
| 765 | 772 | ||
| 766 | if (IrcChannel.StartsWith(":")) | 773 | if (IrcChannel.StartsWith(":")) |
| @@ -772,8 +779,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 772 | 779 | ||
| 773 | public void eventIrcPart(string prefix, string command, string parms) | 780 | public void eventIrcPart(string prefix, string command, string parms) |
| 774 | { | 781 | { |
| 775 | string[] args = parms.Split(CS_SPACE,2); | 782 | string[] args = parms.Split(CS_SPACE, 2); |
| 776 | string IrcUser = prefix.Split('!')[0]; | 783 | string IrcUser = prefix.Split('!')[0]; |
| 777 | string IrcChannel = args[0]; | 784 | string IrcChannel = args[0]; |
| 778 | 785 | ||
| 779 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCPart {1}:{2}", idn, m_server, m_ircChannel); | 786 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCPart {1}:{2}", idn, m_server, m_ircChannel); |
| @@ -782,7 +789,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 782 | 789 | ||
| 783 | public void eventIrcMode(string prefix, string command, string parms) | 790 | public void eventIrcMode(string prefix, string command, string parms) |
| 784 | { | 791 | { |
| 785 | string[] args = parms.Split(CS_SPACE,2); | 792 | string[] args = parms.Split(CS_SPACE, 2); |
| 786 | string UserMode = args[1]; | 793 | string UserMode = args[1]; |
| 787 | 794 | ||
| 788 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCMode {1}:{2}", idn, m_server, m_ircChannel); | 795 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCMode {1}:{2}", idn, m_server, m_ircChannel); |
| @@ -794,7 +801,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 794 | 801 | ||
| 795 | public void eventIrcNickChange(string prefix, string command, string parms) | 802 | public void eventIrcNickChange(string prefix, string command, string parms) |
| 796 | { | 803 | { |
| 797 | string[] args = parms.Split(CS_SPACE,2); | 804 | string[] args = parms.Split(CS_SPACE, 2); |
| 798 | string UserOldNick = prefix.Split('!')[0]; | 805 | string UserOldNick = prefix.Split('!')[0]; |
| 799 | string UserNewNick = args[0].Remove(0, 1); | 806 | string UserNewNick = args[0].Remove(0, 1); |
| 800 | 807 | ||
| @@ -804,11 +811,11 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 804 | 811 | ||
| 805 | public void eventIrcKick(string prefix, string command, string parms) | 812 | public void eventIrcKick(string prefix, string command, string parms) |
| 806 | { | 813 | { |
| 807 | string[] args = parms.Split(CS_SPACE,3); | 814 | string[] args = parms.Split(CS_SPACE, 3); |
| 808 | string UserKicker = prefix.Split('!')[0]; | 815 | string UserKicker = prefix.Split('!')[0]; |
| 809 | string IrcChannel = args[0]; | 816 | string IrcChannel = args[0]; |
| 810 | string UserKicked = args[1]; | 817 | string UserKicked = args[1]; |
| 811 | string KickMessage = args[2]; | 818 | string KickMessage = args[2]; |
| 812 | 819 | ||
| 813 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCKick {1}:{2}", idn, m_server, m_ircChannel); | 820 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCKick {1}:{2}", idn, m_server, m_ircChannel); |
| 814 | BroadcastSim(UserKicker, "/me kicks kicks {0} off {1} saying \"{2}\"", UserKicked, IrcChannel, KickMessage); | 821 | BroadcastSim(UserKicker, "/me kicks kicks {0} off {1} saying \"{2}\"", UserKicked, IrcChannel, KickMessage); |
| @@ -822,7 +829,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 822 | 829 | ||
| 823 | public void eventIrcQuit(string prefix, string command, string parms) | 830 | public void eventIrcQuit(string prefix, string command, string parms) |
| 824 | { | 831 | { |
| 825 | string IrcUser = prefix.Split('!')[0]; | 832 | string IrcUser = prefix.Split('!')[0]; |
| 826 | string QuitMessage = parms; | 833 | string QuitMessage = parms; |
| 827 | 834 | ||
| 828 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCQuit {1}:{2}", idn, m_server, m_ircChannel); | 835 | m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCQuit {1}:{2}", idn, m_server, m_ircChannel); |
| @@ -842,65 +849,65 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 842 | 849 | ||
| 843 | // m_log.InfoFormat("[IRC-Watchdog] Status scan, pdk = {0}, icc = {1}", _pdk_, _icc_); | 850 | // m_log.InfoFormat("[IRC-Watchdog] Status scan, pdk = {0}, icc = {1}", _pdk_, _icc_); |
| 844 | 851 | ||
| 845 | _pdk_ = (_pdk_+1)%PING_PERIOD; // cycle the ping trigger | 852 | _pdk_ = (_pdk_ + 1) % PING_PERIOD; // cycle the ping trigger |
| 846 | _icc_++; // increment the inter-consecutive-connect-delay counter | 853 | _icc_++; // increment the inter-consecutive-connect-delay counter |
| 847 | 854 | ||
| 848 | lock (m_connectors) | 855 | lock (m_connectors) |
| 849 | foreach (IRCConnector connector in m_connectors) | 856 | foreach (IRCConnector connector in m_connectors) |
| 850 | { | 857 | { |
| 851 | 858 | ||
| 852 | // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector); | 859 | // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector); |
| 853 | 860 | ||
| 854 | if (connector.Enabled) | 861 | if (connector.Enabled) |
| 855 | { | ||
| 856 | if (!connector.Connected) | ||
| 857 | { | 862 | { |
| 858 | try | 863 | if (!connector.Connected) |
| 859 | { | 864 | { |
| 860 | // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel); | 865 | try |
| 861 | connector.Connect(); | 866 | { |
| 867 | // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel); | ||
| 868 | connector.Connect(); | ||
| 869 | } | ||
| 870 | catch (Exception e) | ||
| 871 | { | ||
| 872 | m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message); | ||
| 873 | } | ||
| 862 | } | 874 | } |
| 863 | catch (Exception e) | 875 | else |
| 864 | { | 876 | { |
| 865 | m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message); | ||
| 866 | } | ||
| 867 | } | ||
| 868 | else | ||
| 869 | { | ||
| 870 | 877 | ||
| 871 | if (connector.m_pending) | 878 | if (connector.m_pending) |
| 872 | { | ||
| 873 | if (connector.m_timeout == 0) | ||
| 874 | { | 879 | { |
| 875 | m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn); | 880 | if (connector.m_timeout == 0) |
| 876 | connector.Reconnect(); | 881 | { |
| 882 | m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn); | ||
| 883 | connector.Reconnect(); | ||
| 884 | } | ||
| 885 | else | ||
| 886 | connector.m_timeout--; | ||
| 877 | } | 887 | } |
| 878 | else | ||
| 879 | connector.m_timeout--; | ||
| 880 | } | ||
| 881 | 888 | ||
| 882 | // Being marked connected is not enough to ping. Socket establishment can sometimes take a long | 889 | // Being marked connected is not enough to ping. Socket establishment can sometimes take a long |
| 883 | // time, in which case the watch dog might try to ping the server before the socket has been | 890 | // time, in which case the watch dog might try to ping the server before the socket has been |
| 884 | // set up, with nasty side-effects. | 891 | // set up, with nasty side-effects. |
| 885 | 892 | ||
| 886 | else if (_pdk_ == 0) | 893 | else if (_pdk_ == 0) |
| 887 | { | ||
| 888 | try | ||
| 889 | { | ||
| 890 | connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server)); | ||
| 891 | connector.m_writer.Flush(); | ||
| 892 | } | ||
| 893 | catch (Exception e) | ||
| 894 | { | 894 | { |
| 895 | m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message); | 895 | try |
| 896 | m_log.Debug(e); | 896 | { |
| 897 | connector.Reconnect(); | 897 | connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server)); |
| 898 | connector.m_writer.Flush(); | ||
| 899 | } | ||
| 900 | catch (Exception e) | ||
| 901 | { | ||
| 902 | m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message); | ||
| 903 | m_log.Debug(e); | ||
| 904 | connector.Reconnect(); | ||
| 905 | } | ||
| 898 | } | 906 | } |
| 899 | } | ||
| 900 | 907 | ||
| 908 | } | ||
| 901 | } | 909 | } |
| 902 | } | 910 | } |
| 903 | } | ||
| 904 | 911 | ||
| 905 | // m_log.InfoFormat("[IRC-Watchdog] Status scan completed"); | 912 | // m_log.InfoFormat("[IRC-Watchdog] Status scan completed"); |
| 906 | 913 | ||
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs index 53b103e..d4fe5e0 100644 --- a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs +++ b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs | |||
| @@ -41,49 +41,71 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 41 | 41 | ||
| 42 | internal class RegionState | 42 | internal class RegionState |
| 43 | { | 43 | { |
| 44 | |||
| 45 | private static readonly ILog m_log = | 44 | private static readonly ILog m_log = |
| 46 | LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 45 | LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
| 47 | 46 | ||
| 48 | private static readonly OpenMetaverse.Vector3 CenterOfRegion = new OpenMetaverse.Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20); | 47 | private static readonly OpenMetaverse.Vector3 CenterOfRegion = new OpenMetaverse.Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20); |
| 49 | private const int DEBUG_CHANNEL = 2147483647; | 48 | private const int DEBUG_CHANNEL = 2147483647; |
| 50 | 49 | ||
| 51 | private static int _idk_ = 0; | 50 | private static int _idk_ = 0; |
| 52 | 51 | ||
| 53 | // Runtime variables; these values are assigned when the | 52 | // Runtime variables; these values are assigned when the |
| 54 | // IrcState is created and remain constant thereafter. | 53 | // IrcState is created and remain constant thereafter. |
| 55 | 54 | ||
| 56 | internal string Region = String.Empty; | 55 | internal string Region = String.Empty; |
| 57 | internal string Host = String.Empty; | 56 | internal string Host = String.Empty; |
| 58 | internal string LocX = String.Empty; | 57 | internal string LocX = String.Empty; |
| 59 | internal string LocY = String.Empty; | 58 | internal string LocY = String.Empty; |
| 60 | internal string IDK = String.Empty; | 59 | internal string IDK = String.Empty; |
| 61 | 60 | ||
| 62 | // System values - used only be the IRC classes themselves | 61 | // System values - used only be the IRC classes themselves |
| 63 | 62 | ||
| 64 | internal ChannelState cs = null; // associated IRC configuration | 63 | internal ChannelState cs = null; // associated IRC configuration |
| 65 | internal Scene scene = null; // associated scene | 64 | internal Scene scene = null; // associated scene |
| 66 | internal IConfig config = null; // configuration file reference | 65 | internal IConfig config = null; // configuration file reference |
| 67 | internal bool enabled = true; | 66 | internal bool enabled = true; |
| 68 | 67 | ||
| 68 | //AgentAlert | ||
| 69 | internal bool showAlert = false; | ||
| 70 | internal string alertMessage = String.Empty; | ||
| 71 | internal IDialogModule dialogModule = null; | ||
| 72 | |||
| 69 | // This list is used to keep track of who is here, and by | 73 | // This list is used to keep track of who is here, and by |
| 70 | // implication, who is not. | 74 | // implication, who is not. |
| 71 | 75 | ||
| 72 | internal List<IClientAPI> clients = new List<IClientAPI>(); | 76 | internal List<IClientAPI> clients = new List<IClientAPI>(); |
| 73 | 77 | ||
| 74 | // Setup runtime variable values | 78 | // Setup runtime variable values |
| 75 | 79 | ||
| 76 | public RegionState(Scene p_scene, IConfig p_config) | 80 | public RegionState(Scene p_scene, IConfig p_config) |
| 77 | { | 81 | { |
| 78 | 82 | scene = p_scene; | |
| 79 | scene = p_scene; | ||
| 80 | config = p_config; | 83 | config = p_config; |
| 81 | 84 | ||
| 82 | Region = scene.RegionInfo.RegionName; | 85 | Region = scene.RegionInfo.RegionName; |
| 83 | Host = scene.RegionInfo.ExternalHostName; | 86 | Host = scene.RegionInfo.ExternalHostName; |
| 84 | LocX = Convert.ToString(scene.RegionInfo.RegionLocX); | 87 | LocX = Convert.ToString(scene.RegionInfo.RegionLocX); |
| 85 | LocY = Convert.ToString(scene.RegionInfo.RegionLocY); | 88 | LocY = Convert.ToString(scene.RegionInfo.RegionLocY); |
| 86 | IDK = Convert.ToString(_idk_++); | 89 | IDK = Convert.ToString(_idk_++); |
| 90 | |||
| 91 | showAlert = config.GetBoolean("alert_show", false); | ||
| 92 | string alertServerInfo = String.Empty; | ||
| 93 | |||
| 94 | if (showAlert) | ||
| 95 | { | ||
| 96 | bool showAlertServerInfo = config.GetBoolean("alert_show_serverinfo", true); | ||
| 97 | |||
| 98 | if (showAlertServerInfo) | ||
| 99 | alertServerInfo = String.Format("\nServer: {0}\nPort: {1}\nChannel: {2}\n\n", | ||
| 100 | config.GetString("server", ""), config.GetString("port", ""), config.GetString("channel", "")); | ||
| 101 | |||
| 102 | string alertPreMessage = config.GetString("alert_msg_pre", "This region is linked to Irc."); | ||
| 103 | string alertPostMessage = config.GetString("alert_msg_post", "Everything you say in public chat can be listened."); | ||
| 104 | |||
| 105 | alertMessage = String.Format("{0}\n{1}{2}", alertPreMessage, alertServerInfo, alertPostMessage); | ||
| 106 | |||
| 107 | dialogModule = scene.RequestModuleInterface<IDialogModule>(); | ||
| 108 | } | ||
| 87 | 109 | ||
| 88 | // OpenChannel conditionally establishes a connection to the | 110 | // OpenChannel conditionally establishes a connection to the |
| 89 | // IRC server. The request will either succeed, or it will | 111 | // IRC server. The request will either succeed, or it will |
| @@ -93,9 +115,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 93 | 115 | ||
| 94 | // Connect channel to world events | 116 | // Connect channel to world events |
| 95 | 117 | ||
| 96 | scene.EventManager.OnChatFromWorld += OnSimChat; | 118 | scene.EventManager.OnChatFromWorld += OnSimChat; |
| 97 | scene.EventManager.OnChatFromClient += OnSimChat; | 119 | scene.EventManager.OnChatFromClient += OnSimChat; |
| 98 | scene.EventManager.OnMakeRootAgent += OnMakeRootAgent; | 120 | scene.EventManager.OnMakeRootAgent += OnMakeRootAgent; |
| 99 | scene.EventManager.OnMakeChildAgent += OnMakeChildAgent; | 121 | scene.EventManager.OnMakeChildAgent += OnMakeChildAgent; |
| 100 | 122 | ||
| 101 | m_log.InfoFormat("[IRC-Region {0}] Initialization complete", Region); | 123 | m_log.InfoFormat("[IRC-Region {0}] Initialization complete", Region); |
| @@ -106,8 +128,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 106 | 128 | ||
| 107 | ~RegionState() | 129 | ~RegionState() |
| 108 | { | 130 | { |
| 109 | if (cs != null) | 131 | if (cs != null) |
| 110 | cs.RemoveRegion(this); | 132 | cs.RemoveRegion(this); |
| 111 | } | 133 | } |
| 112 | 134 | ||
| 113 | // Called by PostInitialize after all regions have been created | 135 | // Called by PostInitialize after all regions have been created |
| @@ -138,7 +160,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 138 | { | 160 | { |
| 139 | if (clients.Contains(client)) | 161 | if (clients.Contains(client)) |
| 140 | { | 162 | { |
| 141 | if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) | 163 | if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) |
| 142 | { | 164 | { |
| 143 | m_log.InfoFormat("[IRC-Region {0}]: {1} has left", Region, client.Name); | 165 | m_log.InfoFormat("[IRC-Region {0}]: {1} has left", Region, client.Name); |
| 144 | //Check if this person is excluded from IRC | 166 | //Check if this person is excluded from IRC |
| @@ -147,7 +169,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 147 | cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", client.Name)); | 169 | cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", client.Name)); |
| 148 | } | 170 | } |
| 149 | } | 171 | } |
| 150 | client.OnLogout -= OnClientLoggedOut; | 172 | client.OnLogout -= OnClientLoggedOut; |
| 151 | client.OnConnectionClosed -= OnClientLoggedOut; | 173 | client.OnConnectionClosed -= OnClientLoggedOut; |
| 152 | clients.Remove(client); | 174 | clients.Remove(client); |
| 153 | } | 175 | } |
| @@ -171,13 +193,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 171 | { | 193 | { |
| 172 | if (clients.Contains(client)) | 194 | if (clients.Contains(client)) |
| 173 | { | 195 | { |
| 174 | if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) | 196 | if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) |
| 175 | { | 197 | { |
| 176 | string clientName = String.Format("{0} {1}", presence.Firstname, presence.Lastname); | 198 | string clientName = String.Format("{0} {1}", presence.Firstname, presence.Lastname); |
| 177 | m_log.DebugFormat("[IRC-Region {0}] {1} has left", Region, clientName); | 199 | m_log.DebugFormat("[IRC-Region {0}] {1} has left", Region, clientName); |
| 178 | cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", clientName)); | 200 | cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", clientName)); |
| 179 | } | 201 | } |
| 180 | client.OnLogout -= OnClientLoggedOut; | 202 | client.OnLogout -= OnClientLoggedOut; |
| 181 | client.OnConnectionClosed -= OnClientLoggedOut; | 203 | client.OnConnectionClosed -= OnClientLoggedOut; |
| 182 | clients.Remove(client); | 204 | clients.Remove(client); |
| 183 | } | 205 | } |
| @@ -195,14 +217,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 195 | 217 | ||
| 196 | private void OnMakeRootAgent(ScenePresence presence) | 218 | private void OnMakeRootAgent(ScenePresence presence) |
| 197 | { | 219 | { |
| 198 | |||
| 199 | IClientAPI client = presence.ControllingClient; | 220 | IClientAPI client = presence.ControllingClient; |
| 200 | 221 | ||
| 201 | try | 222 | try |
| 202 | { | 223 | { |
| 203 | if (!clients.Contains(client)) | 224 | if (!clients.Contains(client)) |
| 204 | { | 225 | { |
| 205 | client.OnLogout += OnClientLoggedOut; | 226 | client.OnLogout += OnClientLoggedOut; |
| 206 | client.OnConnectionClosed += OnClientLoggedOut; | 227 | client.OnConnectionClosed += OnClientLoggedOut; |
| 207 | clients.Add(client); | 228 | clients.Add(client); |
| 208 | if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) | 229 | if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting)) |
| @@ -216,17 +237,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 216 | } | 237 | } |
| 217 | } | 238 | } |
| 218 | } | 239 | } |
| 240 | |||
| 241 | if (dialogModule != null && showAlert) | ||
| 242 | dialogModule.SendAlertToUser(client, alertMessage, true); | ||
| 219 | } | 243 | } |
| 220 | catch (Exception ex) | 244 | catch (Exception ex) |
| 221 | { | 245 | { |
| 222 | m_log.ErrorFormat("[IRC-Region {0}]: MakeRootAgent exception: {1}", Region, ex.Message); | 246 | m_log.ErrorFormat("[IRC-Region {0}]: MakeRootAgent exception: {1}", Region, ex.Message); |
| 223 | m_log.Debug(ex); | 247 | m_log.Debug(ex); |
| 224 | } | 248 | } |
| 225 | |||
| 226 | } | 249 | } |
| 227 | 250 | ||
| 228 | // This handler detects chat events int he virtual world. | 251 | // This handler detects chat events int he virtual world. |
| 229 | |||
| 230 | public void OnSimChat(Object sender, OSChatMessage msg) | 252 | public void OnSimChat(Object sender, OSChatMessage msg) |
| 231 | { | 253 | { |
| 232 | 254 | ||
| @@ -317,14 +339,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 317 | // that evident. | 339 | // that evident. |
| 318 | 340 | ||
| 319 | default: | 341 | default: |
| 320 | m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}", | 342 | m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}", |
| 321 | Region, msg.Message); | 343 | Region, msg.Message); |
| 322 | cs.irc.Send(msg.Message); | 344 | cs.irc.Send(msg.Message); |
| 323 | break; | 345 | break; |
| 324 | } | 346 | } |
| 325 | } | 347 | } |
| 326 | catch (Exception ex) | 348 | catch (Exception ex) |
| 327 | { | 349 | { |
| 328 | m_log.WarnFormat("[IRC-Region {0}] error processing in-world command channel input: {1}", | 350 | m_log.WarnFormat("[IRC-Region {0}] error processing in-world command channel input: {1}", |
| 329 | Region, ex.Message); | 351 | Region, ex.Message); |
| 330 | m_log.Debug(ex); | 352 | m_log.Debug(ex); |
| @@ -366,7 +388,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 366 | 388 | ||
| 367 | m_log.DebugFormat("[IRC-Region {0}] heard on channel {1} : {2}", Region, msg.Channel, msg.Message); | 389 | m_log.DebugFormat("[IRC-Region {0}] heard on channel {1} : {2}", Region, msg.Channel, msg.Message); |
| 368 | 390 | ||
| 369 | if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL)) | 391 | if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL)) |
| 370 | { | 392 | { |
| 371 | string txt = msg.Message; | 393 | string txt = msg.Message; |
| 372 | if (txt.StartsWith("/me ")) | 394 | if (txt.StartsWith("/me ")) |
| @@ -376,13 +398,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat | |||
| 376 | return; | 398 | return; |
| 377 | } | 399 | } |
| 378 | 400 | ||
| 379 | if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword && | 401 | if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword && |
| 380 | msg.Channel == cs.RelayChannelOut) | 402 | msg.Channel == cs.RelayChannelOut) |
| 381 | { | 403 | { |
| 382 | Match m = cs.AccessPasswordRegex.Match(msg.Message); | 404 | Match m = cs.AccessPasswordRegex.Match(msg.Message); |
| 383 | if (null != m) | 405 | if (null != m) |
| 384 | { | 406 | { |
| 385 | m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(), | 407 | m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(), |
| 386 | m.Groups["message"].ToString()); | 408 | m.Groups["message"].ToString()); |
| 387 | cs.irc.PrivMsg(cs.PrivateMessageFormat, m.Groups["avatar"].ToString(), | 409 | cs.irc.PrivMsg(cs.PrivateMessageFormat, m.Groups["avatar"].ToString(), |
| 388 | scene.RegionInfo.RegionName, m.Groups["message"].ToString()); | 410 | scene.RegionInfo.RegionName, m.Groups["message"].ToString()); |
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs deleted file mode 100644 index d91c47f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs +++ /dev/null | |||
| @@ -1,814 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Reflection; | ||
| 30 | using log4net; | ||
| 31 | using OMV = OpenMetaverse; | ||
| 32 | using OpenSim.Framework; | ||
| 33 | using OpenSim.Region.Physics.Manager; | ||
| 34 | |||
| 35 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 36 | { | ||
| 37 | public sealed class BSCharacter : BSPhysObject | ||
| 38 | { | ||
| 39 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
| 40 | private static readonly string LogHeader = "[BULLETS CHAR]"; | ||
| 41 | |||
| 42 | // private bool _stopped; | ||
| 43 | private OMV.Vector3 _size; | ||
| 44 | private bool _grabbed; | ||
| 45 | private bool _selected; | ||
| 46 | private OMV.Vector3 _position; | ||
| 47 | private float _mass; | ||
| 48 | private float _avatarDensity; | ||
| 49 | private float _avatarVolume; | ||
| 50 | private OMV.Vector3 _force; | ||
| 51 | private OMV.Vector3 _velocity; | ||
| 52 | private OMV.Vector3 _torque; | ||
| 53 | private float _collisionScore; | ||
| 54 | private OMV.Vector3 _acceleration; | ||
| 55 | private OMV.Quaternion _orientation; | ||
| 56 | private int _physicsActorType; | ||
| 57 | private bool _isPhysical; | ||
| 58 | private bool _flying; | ||
| 59 | private bool _setAlwaysRun; | ||
| 60 | private bool _throttleUpdates; | ||
| 61 | private bool _isColliding; | ||
| 62 | private bool _collidingObj; | ||
| 63 | private bool _floatOnWater; | ||
| 64 | private OMV.Vector3 _rotationalVelocity; | ||
| 65 | private bool _kinematic; | ||
| 66 | private float _buoyancy; | ||
| 67 | |||
| 68 | // The friction and velocity of the avatar is modified depending on whether walking or not. | ||
| 69 | private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar | ||
| 70 | private float _currentFriction; // the friction currently being used (changed by setVelocity). | ||
| 71 | |||
| 72 | private BSVMotor _velocityMotor; | ||
| 73 | |||
| 74 | private OMV.Vector3 _PIDTarget; | ||
| 75 | private bool _usePID; | ||
| 76 | private float _PIDTau; | ||
| 77 | private bool _useHoverPID; | ||
| 78 | private float _PIDHoverHeight; | ||
| 79 | private PIDHoverType _PIDHoverType; | ||
| 80 | private float _PIDHoverTao; | ||
| 81 | |||
| 82 | public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) | ||
| 83 | : base(parent_scene, localID, avName, "BSCharacter") | ||
| 84 | { | ||
| 85 | _physicsActorType = (int)ActorTypes.Agent; | ||
| 86 | _position = pos; | ||
| 87 | |||
| 88 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, | ||
| 89 | // replace with the default values. | ||
| 90 | _size = size; | ||
| 91 | if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; | ||
| 92 | if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; | ||
| 93 | |||
| 94 | // A motor to control the acceleration and deceleration of the avatar movement. | ||
| 95 | // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); | ||
| 96 | // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); | ||
| 97 | // Infinite decay and timescale values so motor only changes current to target values. | ||
| 98 | _velocityMotor = new BSVMotor("BSCharacter.Velocity", | ||
| 99 | 0.2f, // time scale | ||
| 100 | BSMotor.Infinite, // decay time scale | ||
| 101 | BSMotor.InfiniteVector, // friction timescale | ||
| 102 | 1f // efficiency | ||
| 103 | ); | ||
| 104 | _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. | ||
| 105 | |||
| 106 | _flying = isFlying; | ||
| 107 | _orientation = OMV.Quaternion.Identity; | ||
| 108 | _velocity = OMV.Vector3.Zero; | ||
| 109 | _appliedVelocity = OMV.Vector3.Zero; | ||
| 110 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); | ||
| 111 | _currentFriction = BSParam.AvatarStandingFriction; | ||
| 112 | _avatarDensity = BSParam.AvatarDensity; | ||
| 113 | |||
| 114 | // The dimensions of the avatar capsule are kept in the scale. | ||
| 115 | // Physics creates a unit capsule which is scaled by the physics engine. | ||
| 116 | ComputeAvatarScale(_size); | ||
| 117 | // set _avatarVolume and _mass based on capsule size, _density and Scale | ||
| 118 | ComputeAvatarVolumeAndMass(); | ||
| 119 | DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", | ||
| 120 | LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); | ||
| 121 | |||
| 122 | // do actual creation in taint time | ||
| 123 | PhysicsScene.TaintedObject("BSCharacter.create", delegate() | ||
| 124 | { | ||
| 125 | DetailLog("{0},BSCharacter.create,taint", LocalID); | ||
| 126 | // New body and shape into PhysBody and PhysShape | ||
| 127 | PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); | ||
| 128 | |||
| 129 | SetPhysicalProperties(); | ||
| 130 | }); | ||
| 131 | return; | ||
| 132 | } | ||
| 133 | |||
| 134 | // called when this character is being destroyed and the resources should be released | ||
| 135 | public override void Destroy() | ||
| 136 | { | ||
| 137 | base.Destroy(); | ||
| 138 | |||
| 139 | DetailLog("{0},BSCharacter.Destroy", LocalID); | ||
| 140 | PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() | ||
| 141 | { | ||
| 142 | PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); | ||
| 143 | PhysBody.Clear(); | ||
| 144 | PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); | ||
| 145 | PhysShape.Clear(); | ||
| 146 | }); | ||
| 147 | } | ||
| 148 | |||
| 149 | private void SetPhysicalProperties() | ||
| 150 | { | ||
| 151 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); | ||
| 152 | |||
| 153 | ZeroMotion(true); | ||
| 154 | ForcePosition = _position; | ||
| 155 | // Set the velocity and compute the proper friction | ||
| 156 | ForceVelocity = _velocity; | ||
| 157 | // Setting the current and target in the motor will cause it to start computing any deceleration. | ||
| 158 | _velocityMotor.Reset(); | ||
| 159 | _velocityMotor.SetCurrent(_velocity); | ||
| 160 | _velocityMotor.SetTarget(_velocity); | ||
| 161 | _velocityMotor.Enabled = false; | ||
| 162 | |||
| 163 | // This will enable or disable the flying buoyancy of the avatar. | ||
| 164 | // Needs to be reset especially when an avatar is recreated after crossing a region boundry. | ||
| 165 | Flying = _flying; | ||
| 166 | |||
| 167 | BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution); | ||
| 168 | BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); | ||
| 169 | BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); | ||
| 170 | BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); | ||
| 171 | if (BSParam.CcdMotionThreshold > 0f) | ||
| 172 | { | ||
| 173 | BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); | ||
| 174 | BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); | ||
| 175 | } | ||
| 176 | |||
| 177 | UpdatePhysicalMassProperties(RawMass, false); | ||
| 178 | |||
| 179 | // Make so capsule does not fall over | ||
| 180 | BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); | ||
| 181 | |||
| 182 | BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); | ||
| 183 | |||
| 184 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation); | ||
| 185 | |||
| 186 | // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); | ||
| 187 | BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); | ||
| 188 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); | ||
| 189 | |||
| 190 | // Do this after the object has been added to the world | ||
| 191 | PhysBody.collisionType = CollisionType.Avatar; | ||
| 192 | PhysBody.ApplyCollisionMask(); | ||
| 193 | } | ||
| 194 | |||
| 195 | public override void RequestPhysicsterseUpdate() | ||
| 196 | { | ||
| 197 | base.RequestPhysicsterseUpdate(); | ||
| 198 | } | ||
| 199 | // No one calls this method so I don't know what it could possibly mean | ||
| 200 | public override bool Stopped { get { return false; } } | ||
| 201 | |||
| 202 | public override OMV.Vector3 Size { | ||
| 203 | get | ||
| 204 | { | ||
| 205 | // Avatar capsule size is kept in the scale parameter. | ||
| 206 | return _size; | ||
| 207 | } | ||
| 208 | |||
| 209 | set { | ||
| 210 | // When an avatar's size is set, only the height is changed. | ||
| 211 | _size = value; | ||
| 212 | // Old versions of ScenePresence passed only the height. If width and/or depth are zero, | ||
| 213 | // replace with the default values. | ||
| 214 | if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; | ||
| 215 | if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; | ||
| 216 | |||
| 217 | ComputeAvatarScale(_size); | ||
| 218 | ComputeAvatarVolumeAndMass(); | ||
| 219 | DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", | ||
| 220 | LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); | ||
| 221 | |||
| 222 | PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() | ||
| 223 | { | ||
| 224 | if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) | ||
| 225 | { | ||
| 226 | BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); | ||
| 227 | UpdatePhysicalMassProperties(RawMass, true); | ||
| 228 | // Make sure this change appears as a property update event | ||
| 229 | BulletSimAPI.PushUpdate2(PhysBody.ptr); | ||
| 230 | } | ||
| 231 | }); | ||
| 232 | |||
| 233 | } | ||
| 234 | } | ||
| 235 | |||
| 236 | public override PrimitiveBaseShape Shape | ||
| 237 | { | ||
| 238 | set { BaseShape = value; } | ||
| 239 | } | ||
| 240 | // I want the physics engine to make an avatar capsule | ||
| 241 | public override BSPhysicsShapeType PreferredPhysicalShape | ||
| 242 | { | ||
| 243 | get {return BSPhysicsShapeType.SHAPE_CAPSULE; } | ||
| 244 | } | ||
| 245 | |||
| 246 | public override bool Grabbed { | ||
| 247 | set { _grabbed = value; } | ||
| 248 | } | ||
| 249 | public override bool Selected { | ||
| 250 | set { _selected = value; } | ||
| 251 | } | ||
| 252 | public override void CrossingFailure() { return; } | ||
| 253 | public override void link(PhysicsActor obj) { return; } | ||
| 254 | public override void delink() { return; } | ||
| 255 | |||
| 256 | // Set motion values to zero. | ||
| 257 | // Do it to the properties so the values get set in the physics engine. | ||
| 258 | // Push the setting of the values to the viewer. | ||
| 259 | // Called at taint time! | ||
| 260 | public override void ZeroMotion(bool inTaintTime) | ||
| 261 | { | ||
| 262 | _velocity = OMV.Vector3.Zero; | ||
| 263 | _acceleration = OMV.Vector3.Zero; | ||
| 264 | _rotationalVelocity = OMV.Vector3.Zero; | ||
| 265 | |||
| 266 | // Zero some other properties directly into the physics engine | ||
| 267 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() | ||
| 268 | { | ||
| 269 | if (PhysBody.HasPhysicalBody) | ||
| 270 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | ||
| 271 | }); | ||
| 272 | } | ||
| 273 | public override void ZeroAngularMotion(bool inTaintTime) | ||
| 274 | { | ||
| 275 | _rotationalVelocity = OMV.Vector3.Zero; | ||
| 276 | |||
| 277 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() | ||
| 278 | { | ||
| 279 | if (PhysBody.HasPhysicalBody) | ||
| 280 | { | ||
| 281 | BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); | ||
| 282 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); | ||
| 283 | // The next also get rid of applied linear force but the linear velocity is untouched. | ||
| 284 | BulletSimAPI.ClearForces2(PhysBody.ptr); | ||
| 285 | } | ||
| 286 | }); | ||
| 287 | } | ||
| 288 | |||
| 289 | |||
| 290 | public override void LockAngularMotion(OMV.Vector3 axis) { return; } | ||
| 291 | |||
| 292 | public override OMV.Vector3 RawPosition | ||
| 293 | { | ||
| 294 | get { return _position; } | ||
| 295 | set { _position = value; } | ||
| 296 | } | ||
| 297 | public override OMV.Vector3 Position { | ||
| 298 | get { | ||
| 299 | // Don't refetch the position because this function is called a zillion times | ||
| 300 | // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); | ||
| 301 | return _position; | ||
| 302 | } | ||
| 303 | set { | ||
| 304 | _position = value; | ||
| 305 | PositionSanityCheck(); | ||
| 306 | |||
| 307 | PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() | ||
| 308 | { | ||
| 309 | DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
| 310 | if (PhysBody.HasPhysicalBody) | ||
| 311 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 312 | }); | ||
| 313 | } | ||
| 314 | } | ||
| 315 | public override OMV.Vector3 ForcePosition { | ||
| 316 | get { | ||
| 317 | _position = BulletSimAPI.GetPosition2(PhysBody.ptr); | ||
| 318 | return _position; | ||
| 319 | } | ||
| 320 | set { | ||
| 321 | _position = value; | ||
| 322 | PositionSanityCheck(); | ||
| 323 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 324 | } | ||
| 325 | } | ||
| 326 | |||
| 327 | |||
| 328 | // Check that the current position is sane and, if not, modify the position to make it so. | ||
| 329 | // Check for being below terrain or on water. | ||
| 330 | // Returns 'true' of the position was made sane by some action. | ||
| 331 | private bool PositionSanityCheck() | ||
| 332 | { | ||
| 333 | bool ret = false; | ||
| 334 | |||
| 335 | // TODO: check for out of bounds | ||
| 336 | if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) | ||
| 337 | { | ||
| 338 | // The character is out of the known/simulated area. | ||
| 339 | // Upper levels of code will handle the transition to other areas so, for | ||
| 340 | // the time, we just ignore the position. | ||
| 341 | return ret; | ||
| 342 | } | ||
| 343 | |||
| 344 | // If below the ground, move the avatar up | ||
| 345 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | ||
| 346 | if (Position.Z < terrainHeight) | ||
| 347 | { | ||
| 348 | DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | ||
| 349 | _position.Z = terrainHeight + 2.0f; | ||
| 350 | ret = true; | ||
| 351 | } | ||
| 352 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) | ||
| 353 | { | ||
| 354 | float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); | ||
| 355 | if (Position.Z < waterHeight) | ||
| 356 | { | ||
| 357 | _position.Z = waterHeight; | ||
| 358 | ret = true; | ||
| 359 | } | ||
| 360 | } | ||
| 361 | |||
| 362 | return ret; | ||
| 363 | } | ||
| 364 | |||
| 365 | // A version of the sanity check that also makes sure a new position value is | ||
| 366 | // pushed back to the physics engine. This routine would be used by anyone | ||
| 367 | // who is not already pushing the value. | ||
| 368 | private bool PositionSanityCheck(bool inTaintTime) | ||
| 369 | { | ||
| 370 | bool ret = false; | ||
| 371 | if (PositionSanityCheck()) | ||
| 372 | { | ||
| 373 | // The new position value must be pushed into the physics engine but we can't | ||
| 374 | // just assign to "Position" because of potential call loops. | ||
| 375 | PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() | ||
| 376 | { | ||
| 377 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
| 378 | if (PhysBody.HasPhysicalBody) | ||
| 379 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 380 | }); | ||
| 381 | ret = true; | ||
| 382 | } | ||
| 383 | return ret; | ||
| 384 | } | ||
| 385 | |||
| 386 | public override float Mass { get { return _mass; } } | ||
| 387 | |||
| 388 | // used when we only want this prim's mass and not the linkset thing | ||
| 389 | public override float RawMass { | ||
| 390 | get {return _mass; } | ||
| 391 | } | ||
| 392 | public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) | ||
| 393 | { | ||
| 394 | OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); | ||
| 395 | BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); | ||
| 396 | } | ||
| 397 | |||
| 398 | public override OMV.Vector3 Force { | ||
| 399 | get { return _force; } | ||
| 400 | set { | ||
| 401 | _force = value; | ||
| 402 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); | ||
| 403 | PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() | ||
| 404 | { | ||
| 405 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); | ||
| 406 | if (PhysBody.HasPhysicalBody) | ||
| 407 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | ||
| 408 | }); | ||
| 409 | } | ||
| 410 | } | ||
| 411 | |||
| 412 | public bool TouchingGround() | ||
| 413 | { | ||
| 414 | bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr); | ||
| 415 | return ret; | ||
| 416 | } | ||
| 417 | // Avatars don't do vehicles | ||
| 418 | public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } | ||
| 419 | public override void VehicleFloatParam(int param, float value) { } | ||
| 420 | public override void VehicleVectorParam(int param, OMV.Vector3 value) {} | ||
| 421 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } | ||
| 422 | public override void VehicleFlags(int param, bool remove) { } | ||
| 423 | |||
| 424 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more | ||
| 425 | public override void SetVolumeDetect(int param) { return; } | ||
| 426 | |||
| 427 | public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } | ||
| 428 | public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } | ||
| 429 | |||
| 430 | // Sets the target in the motor. This starts the changing of the avatar's velocity. | ||
| 431 | public override OMV.Vector3 TargetVelocity | ||
| 432 | { | ||
| 433 | get | ||
| 434 | { | ||
| 435 | return _velocityMotor.TargetValue; | ||
| 436 | } | ||
| 437 | set | ||
| 438 | { | ||
| 439 | DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); | ||
| 440 | |||
| 441 | if (!_flying) | ||
| 442 | if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f) | ||
| 443 | if (!TouchingGround()) | ||
| 444 | value.Z = _velocity.Z; | ||
| 445 | if (_setAlwaysRun) | ||
| 446 | value *= 1.3f; | ||
| 447 | |||
| 448 | OMV.Vector3 targetVel = value; | ||
| 449 | |||
| 450 | PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() | ||
| 451 | { | ||
| 452 | |||
| 453 | _velocityMotor.Reset(); | ||
| 454 | _velocityMotor.SetTarget(targetVel); | ||
| 455 | _velocityMotor.SetCurrent(_velocity); | ||
| 456 | _velocityMotor.Enabled = true; | ||
| 457 | |||
| 458 | // Make sure a property update happens next step so the motor gets incorporated. | ||
| 459 | BulletSimAPI.PushUpdate2(PhysBody.ptr); | ||
| 460 | }); | ||
| 461 | } | ||
| 462 | } | ||
| 463 | // Directly setting velocity means this is what the user really wants now. | ||
| 464 | public override OMV.Vector3 Velocity { | ||
| 465 | get { return _velocity; } | ||
| 466 | set { | ||
| 467 | _velocity = value; | ||
| 468 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); | ||
| 469 | PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() | ||
| 470 | { | ||
| 471 | _velocityMotor.Reset(); | ||
| 472 | _velocityMotor.SetCurrent(_velocity); | ||
| 473 | _velocityMotor.SetTarget(_velocity); | ||
| 474 | // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar. | ||
| 475 | _velocityMotor.Enabled = false; | ||
| 476 | |||
| 477 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); | ||
| 478 | ForceVelocity = _velocity; | ||
| 479 | }); | ||
| 480 | } | ||
| 481 | } | ||
| 482 | public override OMV.Vector3 ForceVelocity { | ||
| 483 | get { return _velocity; } | ||
| 484 | set { | ||
| 485 | PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); | ||
| 486 | |||
| 487 | _velocity = value; | ||
| 488 | // Depending on whether the avatar is moving or not, change the friction | ||
| 489 | // to keep the avatar from slipping around | ||
| 490 | if (_velocity.Length() == 0) | ||
| 491 | { | ||
| 492 | if (_currentFriction != BSParam.AvatarStandingFriction) | ||
| 493 | { | ||
| 494 | _currentFriction = BSParam.AvatarStandingFriction; | ||
| 495 | if (PhysBody.HasPhysicalBody) | ||
| 496 | BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); | ||
| 497 | } | ||
| 498 | } | ||
| 499 | else | ||
| 500 | { | ||
| 501 | if (_currentFriction != BSParam.AvatarFriction) | ||
| 502 | { | ||
| 503 | _currentFriction = BSParam.AvatarFriction; | ||
| 504 | if (PhysBody.HasPhysicalBody) | ||
| 505 | BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); | ||
| 506 | } | ||
| 507 | } | ||
| 508 | // Remember the set velocity so we can suppress the reduction by friction, ... | ||
| 509 | _appliedVelocity = value; | ||
| 510 | |||
| 511 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | ||
| 512 | BulletSimAPI.Activate2(PhysBody.ptr, true); | ||
| 513 | } | ||
| 514 | } | ||
| 515 | public override OMV.Vector3 Torque { | ||
| 516 | get { return _torque; } | ||
| 517 | set { _torque = value; | ||
| 518 | } | ||
| 519 | } | ||
| 520 | public override float CollisionScore { | ||
| 521 | get { return _collisionScore; } | ||
| 522 | set { _collisionScore = value; | ||
| 523 | } | ||
| 524 | } | ||
| 525 | public override OMV.Vector3 Acceleration { | ||
| 526 | get { return _acceleration; } | ||
| 527 | set { _acceleration = value; } | ||
| 528 | } | ||
| 529 | public override OMV.Quaternion RawOrientation | ||
| 530 | { | ||
| 531 | get { return _orientation; } | ||
| 532 | set { _orientation = value; } | ||
| 533 | } | ||
| 534 | public override OMV.Quaternion Orientation { | ||
| 535 | get { return _orientation; } | ||
| 536 | set { | ||
| 537 | _orientation = value; | ||
| 538 | // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); | ||
| 539 | PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() | ||
| 540 | { | ||
| 541 | if (PhysBody.HasPhysicalBody) | ||
| 542 | { | ||
| 543 | // _position = BulletSimAPI.GetPosition2(BSBody.ptr); | ||
| 544 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 545 | } | ||
| 546 | }); | ||
| 547 | } | ||
| 548 | } | ||
| 549 | // Go directly to Bullet to get/set the value. | ||
| 550 | public override OMV.Quaternion ForceOrientation | ||
| 551 | { | ||
| 552 | get | ||
| 553 | { | ||
| 554 | _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); | ||
| 555 | return _orientation; | ||
| 556 | } | ||
| 557 | set | ||
| 558 | { | ||
| 559 | _orientation = value; | ||
| 560 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 561 | } | ||
| 562 | } | ||
| 563 | public override int PhysicsActorType { | ||
| 564 | get { return _physicsActorType; } | ||
| 565 | set { _physicsActorType = value; | ||
| 566 | } | ||
| 567 | } | ||
| 568 | public override bool IsPhysical { | ||
| 569 | get { return _isPhysical; } | ||
| 570 | set { _isPhysical = value; | ||
| 571 | } | ||
| 572 | } | ||
| 573 | public override bool IsSolid { | ||
| 574 | get { return true; } | ||
| 575 | } | ||
| 576 | public override bool IsStatic { | ||
| 577 | get { return false; } | ||
| 578 | } | ||
| 579 | public override bool Flying { | ||
| 580 | get { return _flying; } | ||
| 581 | set { | ||
| 582 | _flying = value; | ||
| 583 | |||
| 584 | // simulate flying by changing the effect of gravity | ||
| 585 | Buoyancy = ComputeBuoyancyFromFlying(_flying); | ||
| 586 | } | ||
| 587 | } | ||
| 588 | // Flying is implimented by changing the avatar's buoyancy. | ||
| 589 | // Would this be done better with a vehicle type? | ||
| 590 | private float ComputeBuoyancyFromFlying(bool ifFlying) { | ||
| 591 | return ifFlying ? 1f : 0f; | ||
| 592 | } | ||
| 593 | public override bool | ||
| 594 | SetAlwaysRun { | ||
| 595 | get { return _setAlwaysRun; } | ||
| 596 | set { _setAlwaysRun = value; } | ||
| 597 | } | ||
| 598 | public override bool ThrottleUpdates { | ||
| 599 | get { return _throttleUpdates; } | ||
| 600 | set { _throttleUpdates = value; } | ||
| 601 | } | ||
| 602 | public override bool IsColliding { | ||
| 603 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | ||
| 604 | set { _isColliding = value; } | ||
| 605 | } | ||
| 606 | public override bool CollidingGround { | ||
| 607 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } | ||
| 608 | set { CollidingGround = value; } | ||
| 609 | } | ||
| 610 | public override bool CollidingObj { | ||
| 611 | get { return _collidingObj; } | ||
| 612 | set { _collidingObj = value; } | ||
| 613 | } | ||
| 614 | public override bool FloatOnWater { | ||
| 615 | set { | ||
| 616 | _floatOnWater = value; | ||
| 617 | PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() | ||
| 618 | { | ||
| 619 | if (PhysBody.HasPhysicalBody) | ||
| 620 | { | ||
| 621 | if (_floatOnWater) | ||
| 622 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
| 623 | else | ||
| 624 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
| 625 | } | ||
| 626 | }); | ||
| 627 | } | ||
| 628 | } | ||
| 629 | public override OMV.Vector3 RotationalVelocity { | ||
| 630 | get { return _rotationalVelocity; } | ||
| 631 | set { _rotationalVelocity = value; } | ||
| 632 | } | ||
| 633 | public override OMV.Vector3 ForceRotationalVelocity { | ||
| 634 | get { return _rotationalVelocity; } | ||
| 635 | set { _rotationalVelocity = value; } | ||
| 636 | } | ||
| 637 | public override bool Kinematic { | ||
| 638 | get { return _kinematic; } | ||
| 639 | set { _kinematic = value; } | ||
| 640 | } | ||
| 641 | // neg=fall quickly, 0=1g, 1=0g, pos=float up | ||
| 642 | public override float Buoyancy { | ||
| 643 | get { return _buoyancy; } | ||
| 644 | set { _buoyancy = value; | ||
| 645 | PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() | ||
| 646 | { | ||
| 647 | DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | ||
| 648 | ForceBuoyancy = _buoyancy; | ||
| 649 | }); | ||
| 650 | } | ||
| 651 | } | ||
| 652 | public override float ForceBuoyancy { | ||
| 653 | get { return _buoyancy; } | ||
| 654 | set { | ||
| 655 | PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); | ||
| 656 | |||
| 657 | _buoyancy = value; | ||
| 658 | DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | ||
| 659 | // Buoyancy is faked by changing the gravity applied to the object | ||
| 660 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); | ||
| 661 | if (PhysBody.HasPhysicalBody) | ||
| 662 | BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); | ||
| 663 | } | ||
| 664 | } | ||
| 665 | |||
| 666 | // Used for MoveTo | ||
| 667 | public override OMV.Vector3 PIDTarget { | ||
| 668 | set { _PIDTarget = value; } | ||
| 669 | } | ||
| 670 | public override bool PIDActive { | ||
| 671 | set { _usePID = value; } | ||
| 672 | } | ||
| 673 | public override float PIDTau { | ||
| 674 | set { _PIDTau = value; } | ||
| 675 | } | ||
| 676 | |||
| 677 | // Used for llSetHoverHeight and maybe vehicle height | ||
| 678 | // Hover Height will override MoveTo target's Z | ||
| 679 | public override bool PIDHoverActive { | ||
| 680 | set { _useHoverPID = value; } | ||
| 681 | } | ||
| 682 | public override float PIDHoverHeight { | ||
| 683 | set { _PIDHoverHeight = value; } | ||
| 684 | } | ||
| 685 | public override PIDHoverType PIDHoverType { | ||
| 686 | set { _PIDHoverType = value; } | ||
| 687 | } | ||
| 688 | public override float PIDHoverTau { | ||
| 689 | set { _PIDHoverTao = value; } | ||
| 690 | } | ||
| 691 | |||
| 692 | // For RotLookAt | ||
| 693 | public override OMV.Quaternion APIDTarget { set { return; } } | ||
| 694 | public override bool APIDActive { set { return; } } | ||
| 695 | public override float APIDStrength { set { return; } } | ||
| 696 | public override float APIDDamping { set { return; } } | ||
| 697 | |||
| 698 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | ||
| 699 | if (force.IsFinite()) | ||
| 700 | { | ||
| 701 | _force.X += force.X; | ||
| 702 | _force.Y += force.Y; | ||
| 703 | _force.Z += force.Z; | ||
| 704 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); | ||
| 705 | PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() | ||
| 706 | { | ||
| 707 | DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); | ||
| 708 | if (PhysBody.HasPhysicalBody) | ||
| 709 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | ||
| 710 | }); | ||
| 711 | } | ||
| 712 | else | ||
| 713 | { | ||
| 714 | m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); | ||
| 715 | } | ||
| 716 | //m_lastUpdateSent = false; | ||
| 717 | } | ||
| 718 | |||
| 719 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | ||
| 720 | } | ||
| 721 | public override void SetMomentum(OMV.Vector3 momentum) { | ||
| 722 | } | ||
| 723 | |||
| 724 | private void ComputeAvatarScale(OMV.Vector3 size) | ||
| 725 | { | ||
| 726 | OMV.Vector3 newScale = size; | ||
| 727 | // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; | ||
| 728 | // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; | ||
| 729 | |||
| 730 | // From the total height, remove the capsule half spheres that are at each end | ||
| 731 | // The 1.15f came from ODE. Not sure what this factors in. | ||
| 732 | // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); | ||
| 733 | |||
| 734 | // The total scale height is the central cylindar plus the caps on the two ends. | ||
| 735 | newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f); | ||
| 736 | |||
| 737 | // Convert diameters to radii and height to half height -- the way Bullet expects it. | ||
| 738 | Scale = newScale / 2f; | ||
| 739 | } | ||
| 740 | |||
| 741 | // set _avatarVolume and _mass based on capsule size, _density and Scale | ||
| 742 | private void ComputeAvatarVolumeAndMass() | ||
| 743 | { | ||
| 744 | _avatarVolume = (float)( | ||
| 745 | Math.PI | ||
| 746 | * Scale.X | ||
| 747 | * Scale.Y // the area of capsule cylinder | ||
| 748 | * Scale.Z // times height of capsule cylinder | ||
| 749 | + 1.33333333f | ||
| 750 | * Math.PI | ||
| 751 | * Scale.X | ||
| 752 | * Math.Min(Scale.X, Scale.Y) | ||
| 753 | * Scale.Y // plus the volume of the capsule end caps | ||
| 754 | ); | ||
| 755 | _mass = _avatarDensity * _avatarVolume; | ||
| 756 | } | ||
| 757 | |||
| 758 | // The physics engine says that properties have updated. Update same and inform | ||
| 759 | // the world that things have changed. | ||
| 760 | public override void UpdateProperties(EntityProperties entprop) | ||
| 761 | { | ||
| 762 | _position = entprop.Position; | ||
| 763 | _orientation = entprop.Rotation; | ||
| 764 | _velocity = entprop.Velocity; | ||
| 765 | _acceleration = entprop.Acceleration; | ||
| 766 | _rotationalVelocity = entprop.RotationalVelocity; | ||
| 767 | |||
| 768 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. | ||
| 769 | PositionSanityCheck(true); | ||
| 770 | |||
| 771 | if (_velocityMotor.Enabled) | ||
| 772 | { | ||
| 773 | // TODO: Decide if the step parameters should be changed depending on the avatar's | ||
| 774 | // state (flying, colliding, ...). | ||
| 775 | |||
| 776 | OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep); | ||
| 777 | |||
| 778 | // If falling, we keep the world's downward vector no matter what the other axis specify. | ||
| 779 | if (!Flying && !IsColliding) | ||
| 780 | { | ||
| 781 | stepVelocity.Z = entprop.Velocity.Z; | ||
| 782 | DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); | ||
| 783 | } | ||
| 784 | |||
| 785 | // If the user has said stop and we've stopped applying velocity correction, | ||
| 786 | // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. | ||
| 787 | if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) | ||
| 788 | { | ||
| 789 | ZeroMotion(true); | ||
| 790 | stepVelocity = OMV.Vector3.Zero; | ||
| 791 | _velocityMotor.Enabled = false; | ||
| 792 | DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); | ||
| 793 | } | ||
| 794 | |||
| 795 | _velocity = stepVelocity; | ||
| 796 | entprop.Velocity = _velocity; | ||
| 797 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | ||
| 798 | } | ||
| 799 | |||
| 800 | // remember the current and last set values | ||
| 801 | LastEntityProperties = CurrentEntityProperties; | ||
| 802 | CurrentEntityProperties = entprop; | ||
| 803 | |||
| 804 | // Tell the linkset about value changes | ||
| 805 | Linkset.UpdateProperties(this, true); | ||
| 806 | |||
| 807 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. | ||
| 808 | // base.RequestPhysicsterseUpdate(); | ||
| 809 | |||
| 810 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | ||
| 811 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | ||
| 812 | } | ||
| 813 | } | ||
| 814 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs deleted file mode 100644 index f1bed39..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs +++ /dev/null | |||
| @@ -1,135 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using OpenMetaverse; | ||
| 31 | |||
| 32 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 33 | { | ||
| 34 | |||
| 35 | public abstract class BSConstraint : IDisposable | ||
| 36 | { | ||
| 37 | private static string LogHeader = "[BULLETSIM CONSTRAINT]"; | ||
| 38 | |||
| 39 | protected BulletWorld m_world; | ||
| 40 | protected BulletBody m_body1; | ||
| 41 | protected BulletBody m_body2; | ||
| 42 | protected BulletConstraint m_constraint; | ||
| 43 | protected bool m_enabled = false; | ||
| 44 | |||
| 45 | public BulletBody Body1 { get { return m_body1; } } | ||
| 46 | public BulletBody Body2 { get { return m_body2; } } | ||
| 47 | public BulletConstraint Constraint { get { return m_constraint; } } | ||
| 48 | public abstract ConstraintType Type { get; } | ||
| 49 | public bool IsEnabled { get { return m_enabled; } } | ||
| 50 | |||
| 51 | public BSConstraint() | ||
| 52 | { | ||
| 53 | } | ||
| 54 | |||
| 55 | public virtual void Dispose() | ||
| 56 | { | ||
| 57 | if (m_enabled) | ||
| 58 | { | ||
| 59 | m_enabled = false; | ||
| 60 | if (m_constraint.HasPhysicalConstraint) | ||
| 61 | { | ||
| 62 | bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); | ||
| 63 | m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", | ||
| 64 | BSScene.DetailLogZero, | ||
| 65 | m_body1.ID, m_body1.ptr.ToString(), | ||
| 66 | m_body2.ID, m_body2.ptr.ToString(), | ||
| 67 | success); | ||
| 68 | m_constraint.Clear(); | ||
| 69 | } | ||
| 70 | } | ||
| 71 | } | ||
| 72 | |||
| 73 | public virtual bool SetLinearLimits(Vector3 low, Vector3 high) | ||
| 74 | { | ||
| 75 | bool ret = false; | ||
| 76 | if (m_enabled) | ||
| 77 | ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); | ||
| 78 | return ret; | ||
| 79 | } | ||
| 80 | |||
| 81 | public virtual bool SetAngularLimits(Vector3 low, Vector3 high) | ||
| 82 | { | ||
| 83 | bool ret = false; | ||
| 84 | if (m_enabled) | ||
| 85 | ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); | ||
| 86 | return ret; | ||
| 87 | } | ||
| 88 | |||
| 89 | public virtual bool SetSolverIterations(float cnt) | ||
| 90 | { | ||
| 91 | bool ret = false; | ||
| 92 | if (m_enabled) | ||
| 93 | { | ||
| 94 | BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); | ||
| 95 | ret = true; | ||
| 96 | } | ||
| 97 | return ret; | ||
| 98 | } | ||
| 99 | |||
| 100 | public virtual bool CalculateTransforms() | ||
| 101 | { | ||
| 102 | bool ret = false; | ||
| 103 | if (m_enabled) | ||
| 104 | { | ||
| 105 | // Recompute the internal transforms | ||
| 106 | BulletSimAPI.CalculateTransforms2(m_constraint.ptr); | ||
| 107 | ret = true; | ||
| 108 | } | ||
| 109 | return ret; | ||
| 110 | } | ||
| 111 | |||
| 112 | // Reset this constraint making sure it has all its internal structures | ||
| 113 | // recomputed and is enabled and ready to go. | ||
| 114 | public virtual bool RecomputeConstraintVariables(float mass) | ||
| 115 | { | ||
| 116 | bool ret = false; | ||
| 117 | if (m_enabled) | ||
| 118 | { | ||
| 119 | ret = CalculateTransforms(); | ||
| 120 | if (ret) | ||
| 121 | { | ||
| 122 | // Setting an object's mass to zero (making it static like when it's selected) | ||
| 123 | // automatically disables the constraints. | ||
| 124 | // If the link is enabled, be sure to set the constraint itself to enabled. | ||
| 125 | BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); | ||
| 126 | } | ||
| 127 | else | ||
| 128 | { | ||
| 129 | m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID); | ||
| 130 | } | ||
| 131 | } | ||
| 132 | return ret; | ||
| 133 | } | ||
| 134 | } | ||
| 135 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs deleted file mode 100644 index d1e3f55..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs +++ /dev/null | |||
| @@ -1,153 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using OpenMetaverse; | ||
| 31 | |||
| 32 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 33 | { | ||
| 34 | |||
| 35 | public sealed class BSConstraint6Dof : BSConstraint | ||
| 36 | { | ||
| 37 | private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; | ||
| 38 | |||
| 39 | public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } | ||
| 40 | |||
| 41 | // Create a btGeneric6DofConstraint | ||
| 42 | public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, | ||
| 43 | Vector3 frame1, Quaternion frame1rot, | ||
| 44 | Vector3 frame2, Quaternion frame2rot, | ||
| 45 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) | ||
| 46 | { | ||
| 47 | m_world = world; | ||
| 48 | m_body1 = obj1; | ||
| 49 | m_body2 = obj2; | ||
| 50 | m_constraint = new BulletConstraint( | ||
| 51 | BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, | ||
| 52 | frame1, frame1rot, | ||
| 53 | frame2, frame2rot, | ||
| 54 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
| 55 | m_enabled = true; | ||
| 56 | world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | ||
| 57 | BSScene.DetailLogZero, world.worldID, | ||
| 58 | obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); | ||
| 59 | } | ||
| 60 | |||
| 61 | public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, | ||
| 62 | Vector3 joinPoint, | ||
| 63 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) | ||
| 64 | { | ||
| 65 | m_world = world; | ||
| 66 | m_body1 = obj1; | ||
| 67 | m_body2 = obj2; | ||
| 68 | if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) | ||
| 69 | { | ||
| 70 | world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | ||
| 71 | BSScene.DetailLogZero, world.worldID, | ||
| 72 | obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); | ||
| 73 | world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | ||
| 74 | LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); | ||
| 75 | m_enabled = false; | ||
| 76 | } | ||
| 77 | else | ||
| 78 | { | ||
| 79 | m_constraint = new BulletConstraint( | ||
| 80 | BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, | ||
| 81 | joinPoint, | ||
| 82 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
| 83 | world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", | ||
| 84 | BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(), | ||
| 85 | obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); | ||
| 86 | if (!m_constraint.HasPhysicalConstraint) | ||
| 87 | { | ||
| 88 | world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", | ||
| 89 | LogHeader, obj1.ID, obj2.ID); | ||
| 90 | m_enabled = false; | ||
| 91 | } | ||
| 92 | else | ||
| 93 | { | ||
| 94 | m_enabled = true; | ||
| 95 | } | ||
| 96 | } | ||
| 97 | } | ||
| 98 | |||
| 99 | public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) | ||
| 100 | { | ||
| 101 | bool ret = false; | ||
| 102 | if (m_enabled) | ||
| 103 | { | ||
| 104 | BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); | ||
| 105 | ret = true; | ||
| 106 | } | ||
| 107 | return ret; | ||
| 108 | } | ||
| 109 | |||
| 110 | public bool SetCFMAndERP(float cfm, float erp) | ||
| 111 | { | ||
| 112 | bool ret = false; | ||
| 113 | if (m_enabled) | ||
| 114 | { | ||
| 115 | BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | ||
| 116 | BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); | ||
| 117 | BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | ||
| 118 | ret = true; | ||
| 119 | } | ||
| 120 | return ret; | ||
| 121 | } | ||
| 122 | |||
| 123 | public bool UseFrameOffset(bool useOffset) | ||
| 124 | { | ||
| 125 | bool ret = false; | ||
| 126 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | ||
| 127 | if (m_enabled) | ||
| 128 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); | ||
| 129 | return ret; | ||
| 130 | } | ||
| 131 | |||
| 132 | public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) | ||
| 133 | { | ||
| 134 | bool ret = false; | ||
| 135 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | ||
| 136 | if (m_enabled) | ||
| 137 | { | ||
| 138 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); | ||
| 139 | m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", | ||
| 140 | BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); | ||
| 141 | } | ||
| 142 | return ret; | ||
| 143 | } | ||
| 144 | |||
| 145 | public bool SetBreakingImpulseThreshold(float threshold) | ||
| 146 | { | ||
| 147 | bool ret = false; | ||
| 148 | if (m_enabled) | ||
| 149 | ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); | ||
| 150 | return ret; | ||
| 151 | } | ||
| 152 | } | ||
| 153 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs deleted file mode 100644 index 87d1e44..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs +++ /dev/null | |||
| @@ -1,180 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using log4net; | ||
| 31 | using OpenMetaverse; | ||
| 32 | |||
| 33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 34 | { | ||
| 35 | |||
| 36 | public sealed class BSConstraintCollection : IDisposable | ||
| 37 | { | ||
| 38 | // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | ||
| 39 | // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; | ||
| 40 | |||
| 41 | delegate bool ConstraintAction(BSConstraint constrain); | ||
| 42 | |||
| 43 | private List<BSConstraint> m_constraints; | ||
| 44 | private BulletWorld m_world; | ||
| 45 | |||
| 46 | public BSConstraintCollection(BulletWorld world) | ||
| 47 | { | ||
| 48 | m_world = world; | ||
| 49 | m_constraints = new List<BSConstraint>(); | ||
| 50 | } | ||
| 51 | |||
| 52 | public void Dispose() | ||
| 53 | { | ||
| 54 | this.Clear(); | ||
| 55 | } | ||
| 56 | |||
| 57 | public void Clear() | ||
| 58 | { | ||
| 59 | lock (m_constraints) | ||
| 60 | { | ||
| 61 | foreach (BSConstraint cons in m_constraints) | ||
| 62 | { | ||
| 63 | cons.Dispose(); | ||
| 64 | } | ||
| 65 | m_constraints.Clear(); | ||
| 66 | } | ||
| 67 | } | ||
| 68 | |||
| 69 | public bool AddConstraint(BSConstraint cons) | ||
| 70 | { | ||
| 71 | lock (m_constraints) | ||
| 72 | { | ||
| 73 | // There is only one constraint between any bodies. Remove any old just to make sure. | ||
| 74 | RemoveAndDestroyConstraint(cons.Body1, cons.Body2); | ||
| 75 | |||
| 76 | m_constraints.Add(cons); | ||
| 77 | } | ||
| 78 | |||
| 79 | return true; | ||
| 80 | } | ||
| 81 | |||
| 82 | // Get the constraint between two bodies. There can be only one. | ||
| 83 | // Return 'true' if a constraint was found. | ||
| 84 | public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) | ||
| 85 | { | ||
| 86 | bool found = false; | ||
| 87 | BSConstraint foundConstraint = null; | ||
| 88 | |||
| 89 | uint lookingID1 = body1.ID; | ||
| 90 | uint lookingID2 = body2.ID; | ||
| 91 | lock (m_constraints) | ||
| 92 | { | ||
| 93 | foreach (BSConstraint constrain in m_constraints) | ||
| 94 | { | ||
| 95 | if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) | ||
| 96 | || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) | ||
| 97 | { | ||
| 98 | foundConstraint = constrain; | ||
| 99 | found = true; | ||
| 100 | break; | ||
| 101 | } | ||
| 102 | } | ||
| 103 | } | ||
| 104 | returnConstraint = foundConstraint; | ||
| 105 | return found; | ||
| 106 | } | ||
| 107 | |||
| 108 | // Remove any constraint between the passed bodies. | ||
| 109 | // Presumed there is only one such constraint possible. | ||
| 110 | // Return 'true' if a constraint was found and destroyed. | ||
| 111 | public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) | ||
| 112 | { | ||
| 113 | bool ret = false; | ||
| 114 | lock (m_constraints) | ||
| 115 | { | ||
| 116 | BSConstraint constrain; | ||
| 117 | if (this.TryGetConstraint(body1, body2, out constrain)) | ||
| 118 | { | ||
| 119 | // remove the constraint from our collection | ||
| 120 | RemoveAndDestroyConstraint(constrain); | ||
| 121 | ret = true; | ||
| 122 | } | ||
| 123 | } | ||
| 124 | |||
| 125 | return ret; | ||
| 126 | } | ||
| 127 | |||
| 128 | // The constraint MUST exist in the collection | ||
| 129 | public bool RemoveAndDestroyConstraint(BSConstraint constrain) | ||
| 130 | { | ||
| 131 | lock (m_constraints) | ||
| 132 | { | ||
| 133 | // remove the constraint from our collection | ||
| 134 | m_constraints.Remove(constrain); | ||
| 135 | } | ||
| 136 | // tell the engine that all its structures need to be freed | ||
| 137 | constrain.Dispose(); | ||
| 138 | // we destroyed something | ||
| 139 | return true; | ||
| 140 | } | ||
| 141 | |||
| 142 | // Remove all constraints that reference the passed body. | ||
| 143 | // Return 'true' if any constraints were destroyed. | ||
| 144 | public bool RemoveAndDestroyConstraint(BulletBody body1) | ||
| 145 | { | ||
| 146 | List<BSConstraint> toRemove = new List<BSConstraint>(); | ||
| 147 | uint lookingID = body1.ID; | ||
| 148 | lock (m_constraints) | ||
| 149 | { | ||
| 150 | foreach (BSConstraint constrain in m_constraints) | ||
| 151 | { | ||
| 152 | if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) | ||
| 153 | { | ||
| 154 | toRemove.Add(constrain); | ||
| 155 | } | ||
| 156 | } | ||
| 157 | foreach (BSConstraint constrain in toRemove) | ||
| 158 | { | ||
| 159 | m_constraints.Remove(constrain); | ||
| 160 | constrain.Dispose(); | ||
| 161 | } | ||
| 162 | } | ||
| 163 | return (toRemove.Count > 0); | ||
| 164 | } | ||
| 165 | |||
| 166 | public bool RecalculateAllConstraints() | ||
| 167 | { | ||
| 168 | bool ret = false; | ||
| 169 | lock (m_constraints) | ||
| 170 | { | ||
| 171 | foreach (BSConstraint constrain in m_constraints) | ||
| 172 | { | ||
| 173 | constrain.CalculateTransforms(); | ||
| 174 | ret = true; | ||
| 175 | } | ||
| 176 | } | ||
| 177 | return ret; | ||
| 178 | } | ||
| 179 | } | ||
| 180 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs deleted file mode 100644 index fbd1bc0..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs +++ /dev/null | |||
| @@ -1,57 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using OpenMetaverse; | ||
| 31 | |||
| 32 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 33 | { | ||
| 34 | |||
| 35 | public sealed class BSConstraintHinge : BSConstraint | ||
| 36 | { | ||
| 37 | public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } | ||
| 38 | |||
| 39 | public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2, | ||
| 40 | Vector3 pivotInA, Vector3 pivotInB, | ||
| 41 | Vector3 axisInA, Vector3 axisInB, | ||
| 42 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) | ||
| 43 | { | ||
| 44 | m_world = world; | ||
| 45 | m_body1 = obj1; | ||
| 46 | m_body2 = obj2; | ||
| 47 | m_constraint = new BulletConstraint( | ||
| 48 | BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, | ||
| 49 | pivotInA, pivotInB, | ||
| 50 | axisInA, axisInB, | ||
| 51 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
| 52 | m_enabled = true; | ||
| 53 | } | ||
| 54 | |||
| 55 | } | ||
| 56 | |||
| 57 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs deleted file mode 100644 index 415ad4f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs +++ /dev/null | |||
| @@ -1,1377 +0,0 @@ | |||
| 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 | * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial | ||
| 28 | * are Copyright (c) 2009 Linden Research, Inc and are used under their license | ||
| 29 | * of Creative Commons Attribution-Share Alike 3.0 | ||
| 30 | * (http://creativecommons.org/licenses/by-sa/3.0/). | ||
| 31 | */ | ||
| 32 | |||
| 33 | using System; | ||
| 34 | using System.Collections.Generic; | ||
| 35 | using System.Reflection; | ||
| 36 | using System.Runtime.InteropServices; | ||
| 37 | using OpenMetaverse; | ||
| 38 | using OpenSim.Region.Physics.Manager; | ||
| 39 | |||
| 40 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 41 | { | ||
| 42 | public sealed class BSDynamics | ||
| 43 | { | ||
| 44 | private static string LogHeader = "[BULLETSIM VEHICLE]"; | ||
| 45 | |||
| 46 | private BSScene PhysicsScene { get; set; } | ||
| 47 | // the prim this dynamic controller belongs to | ||
| 48 | private BSPrim Prim { get; set; } | ||
| 49 | |||
| 50 | // mass of the vehicle fetched each time we're calles | ||
| 51 | private float m_vehicleMass; | ||
| 52 | |||
| 53 | // Vehicle properties | ||
| 54 | public Vehicle Type { get; set; } | ||
| 55 | |||
| 56 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | ||
| 57 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: | ||
| 58 | // HOVER_TERRAIN_ONLY | ||
| 59 | // HOVER_GLOBAL_HEIGHT | ||
| 60 | // NO_DEFLECTION_UP | ||
| 61 | // HOVER_WATER_ONLY | ||
| 62 | // HOVER_UP_ONLY | ||
| 63 | // LIMIT_MOTOR_UP | ||
| 64 | // LIMIT_ROLL_ONLY | ||
| 65 | private Vector3 m_BlockingEndPoint = Vector3.Zero; | ||
| 66 | private Quaternion m_RollreferenceFrame = Quaternion.Identity; | ||
| 67 | private Quaternion m_referenceFrame = Quaternion.Identity; | ||
| 68 | |||
| 69 | // Linear properties | ||
| 70 | private BSVMotor m_linearMotor = new BSVMotor("LinearMotor"); | ||
| 71 | private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time | ||
| 72 | private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center | ||
| 73 | private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL | ||
| 74 | private Vector3 m_linearFrictionTimescale = Vector3.Zero; | ||
| 75 | private float m_linearMotorDecayTimescale = 0; | ||
| 76 | private float m_linearMotorTimescale = 0; | ||
| 77 | private Vector3 m_lastLinearVelocityVector = Vector3.Zero; | ||
| 78 | private Vector3 m_lastPositionVector = Vector3.Zero; | ||
| 79 | // private bool m_LinearMotorSetLastFrame = false; | ||
| 80 | // private Vector3 m_linearMotorOffset = Vector3.Zero; | ||
| 81 | |||
| 82 | //Angular properties | ||
| 83 | private BSVMotor m_angularMotor = new BSVMotor("AngularMotor"); | ||
| 84 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor | ||
| 85 | // private int m_angularMotorApply = 0; // application frame counter | ||
| 86 | private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity | ||
| 87 | private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate | ||
| 88 | private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate | ||
| 89 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate | ||
| 90 | private Vector3 m_lastAngularVelocity = Vector3.Zero; | ||
| 91 | private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body | ||
| 92 | |||
| 93 | //Deflection properties | ||
| 94 | private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection"); | ||
| 95 | private float m_angularDeflectionEfficiency = 0; | ||
| 96 | private float m_angularDeflectionTimescale = 0; | ||
| 97 | private float m_linearDeflectionEfficiency = 0; | ||
| 98 | private float m_linearDeflectionTimescale = 0; | ||
| 99 | |||
| 100 | //Banking properties | ||
| 101 | private float m_bankingEfficiency = 0; | ||
| 102 | private float m_bankingMix = 0; | ||
| 103 | private float m_bankingTimescale = 0; | ||
| 104 | |||
| 105 | //Hover and Buoyancy properties | ||
| 106 | private BSVMotor m_hoverMotor = new BSVMotor("Hover"); | ||
| 107 | private float m_VhoverHeight = 0f; | ||
| 108 | private float m_VhoverEfficiency = 0f; | ||
| 109 | private float m_VhoverTimescale = 0f; | ||
| 110 | private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height | ||
| 111 | private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. | ||
| 112 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) | ||
| 113 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. | ||
| 114 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. | ||
| 115 | |||
| 116 | //Attractor properties | ||
| 117 | private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); | ||
| 118 | private float m_verticalAttractionEfficiency = 1.0f; // damped | ||
| 119 | private float m_verticalAttractionCutoff = 500f; // per the documentation | ||
| 120 | // Timescale > cutoff means no vert attractor. | ||
| 121 | private float m_verticalAttractionTimescale = 510f; | ||
| 122 | |||
| 123 | // Just some recomputed constants: | ||
| 124 | static readonly float PIOverFour = ((float)Math.PI) / 4f; | ||
| 125 | static readonly float PIOverTwo = ((float)Math.PI) / 2f; | ||
| 126 | |||
| 127 | public BSDynamics(BSScene myScene, BSPrim myPrim) | ||
| 128 | { | ||
| 129 | PhysicsScene = myScene; | ||
| 130 | Prim = myPrim; | ||
| 131 | Type = Vehicle.TYPE_NONE; | ||
| 132 | } | ||
| 133 | |||
| 134 | // Return 'true' if this vehicle is doing vehicle things | ||
| 135 | public bool IsActive | ||
| 136 | { | ||
| 137 | get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } | ||
| 138 | } | ||
| 139 | |||
| 140 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) | ||
| 141 | { | ||
| 142 | VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); | ||
| 143 | switch (pParam) | ||
| 144 | { | ||
| 145 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: | ||
| 146 | m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); | ||
| 147 | break; | ||
| 148 | case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: | ||
| 149 | m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); | ||
| 150 | break; | ||
| 151 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: | ||
| 152 | m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); | ||
| 153 | m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; | ||
| 154 | break; | ||
| 155 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | ||
| 156 | m_angularMotorTimescale = Math.Max(pValue, 0.01f); | ||
| 157 | m_angularMotor.TimeScale = m_angularMotorTimescale; | ||
| 158 | break; | ||
| 159 | case Vehicle.BANKING_EFFICIENCY: | ||
| 160 | m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); | ||
| 161 | break; | ||
| 162 | case Vehicle.BANKING_MIX: | ||
| 163 | m_bankingMix = Math.Max(pValue, 0.01f); | ||
| 164 | break; | ||
| 165 | case Vehicle.BANKING_TIMESCALE: | ||
| 166 | m_bankingTimescale = Math.Max(pValue, 0.01f); | ||
| 167 | break; | ||
| 168 | case Vehicle.BUOYANCY: | ||
| 169 | m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); | ||
| 170 | break; | ||
| 171 | case Vehicle.HOVER_EFFICIENCY: | ||
| 172 | m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); | ||
| 173 | break; | ||
| 174 | case Vehicle.HOVER_HEIGHT: | ||
| 175 | m_VhoverHeight = pValue; | ||
| 176 | break; | ||
| 177 | case Vehicle.HOVER_TIMESCALE: | ||
| 178 | m_VhoverTimescale = Math.Max(pValue, 0.01f); | ||
| 179 | break; | ||
| 180 | case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: | ||
| 181 | m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); | ||
| 182 | break; | ||
| 183 | case Vehicle.LINEAR_DEFLECTION_TIMESCALE: | ||
| 184 | m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); | ||
| 185 | break; | ||
| 186 | case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: | ||
| 187 | m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); | ||
| 188 | m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; | ||
| 189 | break; | ||
| 190 | case Vehicle.LINEAR_MOTOR_TIMESCALE: | ||
| 191 | m_linearMotorTimescale = Math.Max(pValue, 0.01f); | ||
| 192 | m_linearMotor.TimeScale = m_linearMotorTimescale; | ||
| 193 | break; | ||
| 194 | case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: | ||
| 195 | m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f); | ||
| 196 | m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; | ||
| 197 | break; | ||
| 198 | case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: | ||
| 199 | m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); | ||
| 200 | m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; | ||
| 201 | break; | ||
| 202 | |||
| 203 | // These are vector properties but the engine lets you use a single float value to | ||
| 204 | // set all of the components to the same value | ||
| 205 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
| 206 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
| 207 | m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; | ||
| 208 | break; | ||
| 209 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
| 210 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | ||
| 211 | m_angularMotor.SetTarget(m_angularMotorDirection); | ||
| 212 | break; | ||
| 213 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
| 214 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | ||
| 215 | m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; | ||
| 216 | break; | ||
| 217 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
| 218 | m_linearMotorDirection = new Vector3(pValue, pValue, pValue); | ||
| 219 | m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); | ||
| 220 | m_linearMotor.SetTarget(m_linearMotorDirection); | ||
| 221 | break; | ||
| 222 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
| 223 | m_linearMotorOffset = new Vector3(pValue, pValue, pValue); | ||
| 224 | break; | ||
| 225 | |||
| 226 | } | ||
| 227 | }//end ProcessFloatVehicleParam | ||
| 228 | |||
| 229 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | ||
| 230 | { | ||
| 231 | VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); | ||
| 232 | switch (pParam) | ||
| 233 | { | ||
| 234 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | ||
| 235 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 236 | m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; | ||
| 237 | break; | ||
| 238 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | ||
| 239 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | ||
| 240 | pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); | ||
| 241 | pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); | ||
| 242 | pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); | ||
| 243 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 244 | m_angularMotor.SetTarget(m_angularMotorDirection); | ||
| 245 | break; | ||
| 246 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | ||
| 247 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 248 | m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; | ||
| 249 | break; | ||
| 250 | case Vehicle.LINEAR_MOTOR_DIRECTION: | ||
| 251 | m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 252 | m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 253 | m_linearMotor.SetTarget(m_linearMotorDirection); | ||
| 254 | break; | ||
| 255 | case Vehicle.LINEAR_MOTOR_OFFSET: | ||
| 256 | m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 257 | break; | ||
| 258 | case Vehicle.BLOCK_EXIT: | ||
| 259 | m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); | ||
| 260 | break; | ||
| 261 | } | ||
| 262 | }//end ProcessVectorVehicleParam | ||
| 263 | |||
| 264 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | ||
| 265 | { | ||
| 266 | VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); | ||
| 267 | switch (pParam) | ||
| 268 | { | ||
| 269 | case Vehicle.REFERENCE_FRAME: | ||
| 270 | m_referenceFrame = pValue; | ||
| 271 | break; | ||
| 272 | case Vehicle.ROLL_FRAME: | ||
| 273 | m_RollreferenceFrame = pValue; | ||
| 274 | break; | ||
| 275 | } | ||
| 276 | }//end ProcessRotationVehicleParam | ||
| 277 | |||
| 278 | internal void ProcessVehicleFlags(int pParam, bool remove) | ||
| 279 | { | ||
| 280 | VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); | ||
| 281 | VehicleFlag parm = (VehicleFlag)pParam; | ||
| 282 | if (pParam == -1) | ||
| 283 | m_flags = (VehicleFlag)0; | ||
| 284 | else | ||
| 285 | { | ||
| 286 | if (remove) | ||
| 287 | m_flags &= ~parm; | ||
| 288 | else | ||
| 289 | m_flags |= parm; | ||
| 290 | } | ||
| 291 | } | ||
| 292 | |||
| 293 | internal void ProcessTypeChange(Vehicle pType) | ||
| 294 | { | ||
| 295 | VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); | ||
| 296 | // Set Defaults For Type | ||
| 297 | Type = pType; | ||
| 298 | switch (pType) | ||
| 299 | { | ||
| 300 | case Vehicle.TYPE_NONE: | ||
| 301 | m_linearMotorDirection = Vector3.Zero; | ||
| 302 | m_linearMotorTimescale = 0; | ||
| 303 | m_linearMotorDecayTimescale = 0; | ||
| 304 | m_linearFrictionTimescale = new Vector3(0, 0, 0); | ||
| 305 | |||
| 306 | m_angularMotorDirection = Vector3.Zero; | ||
| 307 | m_angularMotorDecayTimescale = 0; | ||
| 308 | m_angularMotorTimescale = 0; | ||
| 309 | m_angularFrictionTimescale = new Vector3(0, 0, 0); | ||
| 310 | |||
| 311 | m_VhoverHeight = 0; | ||
| 312 | m_VhoverEfficiency = 0; | ||
| 313 | m_VhoverTimescale = 0; | ||
| 314 | m_VehicleBuoyancy = 0; | ||
| 315 | |||
| 316 | m_linearDeflectionEfficiency = 1; | ||
| 317 | m_linearDeflectionTimescale = 1; | ||
| 318 | |||
| 319 | m_angularDeflectionEfficiency = 0; | ||
| 320 | m_angularDeflectionTimescale = 1000; | ||
| 321 | |||
| 322 | m_verticalAttractionEfficiency = 0; | ||
| 323 | m_verticalAttractionTimescale = 0; | ||
| 324 | |||
| 325 | m_bankingEfficiency = 0; | ||
| 326 | m_bankingTimescale = 1000; | ||
| 327 | m_bankingMix = 1; | ||
| 328 | |||
| 329 | m_referenceFrame = Quaternion.Identity; | ||
| 330 | m_flags = (VehicleFlag)0; | ||
| 331 | |||
| 332 | break; | ||
| 333 | |||
| 334 | case Vehicle.TYPE_SLED: | ||
| 335 | m_linearMotorDirection = Vector3.Zero; | ||
| 336 | m_linearMotorTimescale = 1000; | ||
| 337 | m_linearMotorDecayTimescale = 120; | ||
| 338 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); | ||
| 339 | |||
| 340 | m_angularMotorDirection = Vector3.Zero; | ||
| 341 | m_angularMotorTimescale = 1000; | ||
| 342 | m_angularMotorDecayTimescale = 120; | ||
| 343 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
| 344 | |||
| 345 | m_VhoverHeight = 0; | ||
| 346 | m_VhoverEfficiency = 10; // TODO: this looks wrong!! | ||
| 347 | m_VhoverTimescale = 10; | ||
| 348 | m_VehicleBuoyancy = 0; | ||
| 349 | |||
| 350 | m_linearDeflectionEfficiency = 1; | ||
| 351 | m_linearDeflectionTimescale = 1; | ||
| 352 | |||
| 353 | m_angularDeflectionEfficiency = 1; | ||
| 354 | m_angularDeflectionTimescale = 1000; | ||
| 355 | |||
| 356 | m_verticalAttractionEfficiency = 0; | ||
| 357 | m_verticalAttractionTimescale = 0; | ||
| 358 | |||
| 359 | m_bankingEfficiency = 0; | ||
| 360 | m_bankingTimescale = 10; | ||
| 361 | m_bankingMix = 1; | ||
| 362 | |||
| 363 | m_referenceFrame = Quaternion.Identity; | ||
| 364 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | ||
| 365 | | VehicleFlag.HOVER_TERRAIN_ONLY | ||
| 366 | | VehicleFlag.HOVER_GLOBAL_HEIGHT | ||
| 367 | | VehicleFlag.HOVER_UP_ONLY); | ||
| 368 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | ||
| 369 | | VehicleFlag.LIMIT_ROLL_ONLY | ||
| 370 | | VehicleFlag.LIMIT_MOTOR_UP); | ||
| 371 | |||
| 372 | break; | ||
| 373 | case Vehicle.TYPE_CAR: | ||
| 374 | m_linearMotorDirection = Vector3.Zero; | ||
| 375 | m_linearMotorTimescale = 1; | ||
| 376 | m_linearMotorDecayTimescale = 60; | ||
| 377 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); | ||
| 378 | |||
| 379 | m_angularMotorDirection = Vector3.Zero; | ||
| 380 | m_angularMotorTimescale = 1; | ||
| 381 | m_angularMotorDecayTimescale = 0.8f; | ||
| 382 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | ||
| 383 | |||
| 384 | m_VhoverHeight = 0; | ||
| 385 | m_VhoverEfficiency = 0; | ||
| 386 | m_VhoverTimescale = 1000; | ||
| 387 | m_VehicleBuoyancy = 0; | ||
| 388 | |||
| 389 | m_linearDeflectionEfficiency = 1; | ||
| 390 | m_linearDeflectionTimescale = 2; | ||
| 391 | |||
| 392 | m_angularDeflectionEfficiency = 0; | ||
| 393 | m_angularDeflectionTimescale = 10; | ||
| 394 | |||
| 395 | m_verticalAttractionEfficiency = 1f; | ||
| 396 | m_verticalAttractionTimescale = 10f; | ||
| 397 | |||
| 398 | m_bankingEfficiency = -0.2f; | ||
| 399 | m_bankingMix = 1; | ||
| 400 | m_bankingTimescale = 1; | ||
| 401 | |||
| 402 | m_referenceFrame = Quaternion.Identity; | ||
| 403 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | ||
| 404 | | VehicleFlag.HOVER_TERRAIN_ONLY | ||
| 405 | | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
| 406 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | ||
| 407 | | VehicleFlag.LIMIT_ROLL_ONLY | ||
| 408 | | VehicleFlag.LIMIT_MOTOR_UP | ||
| 409 | | VehicleFlag.HOVER_UP_ONLY); | ||
| 410 | break; | ||
| 411 | case Vehicle.TYPE_BOAT: | ||
| 412 | m_linearMotorDirection = Vector3.Zero; | ||
| 413 | m_linearMotorTimescale = 5; | ||
| 414 | m_linearMotorDecayTimescale = 60; | ||
| 415 | m_linearFrictionTimescale = new Vector3(10, 3, 2); | ||
| 416 | |||
| 417 | m_angularMotorDirection = Vector3.Zero; | ||
| 418 | m_angularMotorTimescale = 4; | ||
| 419 | m_angularMotorDecayTimescale = 4; | ||
| 420 | m_angularFrictionTimescale = new Vector3(10,10,10); | ||
| 421 | |||
| 422 | m_VhoverHeight = 0; | ||
| 423 | m_VhoverEfficiency = 0.5f; | ||
| 424 | m_VhoverTimescale = 2; | ||
| 425 | m_VehicleBuoyancy = 1; | ||
| 426 | |||
| 427 | m_linearDeflectionEfficiency = 0.5f; | ||
| 428 | m_linearDeflectionTimescale = 3; | ||
| 429 | |||
| 430 | m_angularDeflectionEfficiency = 0.5f; | ||
| 431 | m_angularDeflectionTimescale = 5; | ||
| 432 | |||
| 433 | m_verticalAttractionEfficiency = 0.5f; | ||
| 434 | m_verticalAttractionTimescale = 5f; | ||
| 435 | |||
| 436 | m_bankingEfficiency = -0.3f; | ||
| 437 | m_bankingMix = 0.8f; | ||
| 438 | m_bankingTimescale = 1; | ||
| 439 | |||
| 440 | m_referenceFrame = Quaternion.Identity; | ||
| 441 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | ||
| 442 | | VehicleFlag.HOVER_GLOBAL_HEIGHT | ||
| 443 | | VehicleFlag.LIMIT_ROLL_ONLY | ||
| 444 | | VehicleFlag.HOVER_UP_ONLY); | ||
| 445 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | ||
| 446 | | VehicleFlag.LIMIT_MOTOR_UP | ||
| 447 | | VehicleFlag.HOVER_WATER_ONLY); | ||
| 448 | break; | ||
| 449 | case Vehicle.TYPE_AIRPLANE: | ||
| 450 | m_linearMotorDirection = Vector3.Zero; | ||
| 451 | m_linearMotorTimescale = 2; | ||
| 452 | m_linearMotorDecayTimescale = 60; | ||
| 453 | m_linearFrictionTimescale = new Vector3(200, 10, 5); | ||
| 454 | |||
| 455 | m_angularMotorDirection = Vector3.Zero; | ||
| 456 | m_angularMotorTimescale = 4; | ||
| 457 | m_angularMotorDecayTimescale = 4; | ||
| 458 | m_angularFrictionTimescale = new Vector3(20, 20, 20); | ||
| 459 | |||
| 460 | m_VhoverHeight = 0; | ||
| 461 | m_VhoverEfficiency = 0.5f; | ||
| 462 | m_VhoverTimescale = 1000; | ||
| 463 | m_VehicleBuoyancy = 0; | ||
| 464 | |||
| 465 | m_linearDeflectionEfficiency = 0.5f; | ||
| 466 | m_linearDeflectionTimescale = 3; | ||
| 467 | |||
| 468 | m_angularDeflectionEfficiency = 1; | ||
| 469 | m_angularDeflectionTimescale = 2; | ||
| 470 | |||
| 471 | m_verticalAttractionEfficiency = 0.9f; | ||
| 472 | m_verticalAttractionTimescale = 2f; | ||
| 473 | |||
| 474 | m_bankingEfficiency = 1; | ||
| 475 | m_bankingMix = 0.7f; | ||
| 476 | m_bankingTimescale = 2; | ||
| 477 | |||
| 478 | m_referenceFrame = Quaternion.Identity; | ||
| 479 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | ||
| 480 | | VehicleFlag.HOVER_TERRAIN_ONLY | ||
| 481 | | VehicleFlag.HOVER_GLOBAL_HEIGHT | ||
| 482 | | VehicleFlag.HOVER_UP_ONLY | ||
| 483 | | VehicleFlag.NO_DEFLECTION_UP | ||
| 484 | | VehicleFlag.LIMIT_MOTOR_UP); | ||
| 485 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); | ||
| 486 | break; | ||
| 487 | case Vehicle.TYPE_BALLOON: | ||
| 488 | m_linearMotorDirection = Vector3.Zero; | ||
| 489 | m_linearMotorTimescale = 5; | ||
| 490 | m_linearFrictionTimescale = new Vector3(5, 5, 5); | ||
| 491 | m_linearMotorDecayTimescale = 60; | ||
| 492 | |||
| 493 | m_angularMotorDirection = Vector3.Zero; | ||
| 494 | m_angularMotorTimescale = 6; | ||
| 495 | m_angularFrictionTimescale = new Vector3(10, 10, 10); | ||
| 496 | m_angularMotorDecayTimescale = 10; | ||
| 497 | |||
| 498 | m_VhoverHeight = 5; | ||
| 499 | m_VhoverEfficiency = 0.8f; | ||
| 500 | m_VhoverTimescale = 10; | ||
| 501 | m_VehicleBuoyancy = 1; | ||
| 502 | |||
| 503 | m_linearDeflectionEfficiency = 0; | ||
| 504 | m_linearDeflectionTimescale = 5; | ||
| 505 | |||
| 506 | m_angularDeflectionEfficiency = 0; | ||
| 507 | m_angularDeflectionTimescale = 5; | ||
| 508 | |||
| 509 | m_verticalAttractionEfficiency = 1f; | ||
| 510 | m_verticalAttractionTimescale = 100f; | ||
| 511 | |||
| 512 | m_bankingEfficiency = 0; | ||
| 513 | m_bankingMix = 0.7f; | ||
| 514 | m_bankingTimescale = 5; | ||
| 515 | |||
| 516 | m_referenceFrame = Quaternion.Identity; | ||
| 517 | |||
| 518 | m_referenceFrame = Quaternion.Identity; | ||
| 519 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | ||
| 520 | | VehicleFlag.HOVER_TERRAIN_ONLY | ||
| 521 | | VehicleFlag.HOVER_UP_ONLY | ||
| 522 | | VehicleFlag.NO_DEFLECTION_UP | ||
| 523 | | VehicleFlag.LIMIT_MOTOR_UP); | ||
| 524 | m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | ||
| 525 | | VehicleFlag.HOVER_GLOBAL_HEIGHT); | ||
| 526 | break; | ||
| 527 | } | ||
| 528 | |||
| 529 | // Update any physical parameters based on this type. | ||
| 530 | Refresh(); | ||
| 531 | |||
| 532 | m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, | ||
| 533 | m_linearMotorDecayTimescale, m_linearFrictionTimescale, | ||
| 534 | 1f); | ||
| 535 | m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) | ||
| 536 | |||
| 537 | m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, | ||
| 538 | m_angularMotorDecayTimescale, m_angularFrictionTimescale, | ||
| 539 | 1f); | ||
| 540 | m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) | ||
| 541 | |||
| 542 | m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, | ||
| 543 | BSMotor.Infinite, BSMotor.InfiniteVector, | ||
| 544 | m_verticalAttractionEfficiency); | ||
| 545 | // Z goes away and we keep X and Y | ||
| 546 | m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); | ||
| 547 | m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) | ||
| 548 | } | ||
| 549 | |||
| 550 | // Some of the properties of this prim may have changed. | ||
| 551 | // Do any updating needed for a vehicle | ||
| 552 | public void Refresh() | ||
| 553 | { | ||
| 554 | if (IsActive) | ||
| 555 | { | ||
| 556 | // Remember the mass so we don't have to fetch it every step | ||
| 557 | m_vehicleMass = Prim.Linkset.LinksetMass; | ||
| 558 | |||
| 559 | // Friction affects are handled by this vehicle code | ||
| 560 | float friction = 0f; | ||
| 561 | BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); | ||
| 562 | |||
| 563 | // Moderate angular movement introduced by Bullet. | ||
| 564 | // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. | ||
| 565 | // Maybe compute linear and angular factor and damping from params. | ||
| 566 | float angularDamping = BSParam.VehicleAngularDamping; | ||
| 567 | BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); | ||
| 568 | |||
| 569 | // Vehicles report collision events so we know when it's on the ground | ||
| 570 | BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); | ||
| 571 | |||
| 572 | Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); | ||
| 573 | BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); | ||
| 574 | BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); | ||
| 575 | |||
| 576 | Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); | ||
| 577 | BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); | ||
| 578 | |||
| 579 | VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", | ||
| 580 | Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); | ||
| 581 | } | ||
| 582 | else | ||
| 583 | { | ||
| 584 | BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); | ||
| 585 | } | ||
| 586 | } | ||
| 587 | |||
| 588 | public bool RemoveBodyDependencies(BSPhysObject prim) | ||
| 589 | { | ||
| 590 | // If active, we need to add our properties back when the body is rebuilt. | ||
| 591 | return IsActive; | ||
| 592 | } | ||
| 593 | |||
| 594 | public void RestoreBodyDependencies(BSPhysObject prim) | ||
| 595 | { | ||
| 596 | if (Prim.LocalID != prim.LocalID) | ||
| 597 | { | ||
| 598 | // The call should be on us by our prim. Error if not. | ||
| 599 | PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}", | ||
| 600 | LogHeader, prim.LocalID, Prim.LocalID); | ||
| 601 | return; | ||
| 602 | } | ||
| 603 | Refresh(); | ||
| 604 | } | ||
| 605 | |||
| 606 | #region Known vehicle value functions | ||
| 607 | // Vehicle physical parameters that we buffer from constant getting and setting. | ||
| 608 | // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set. | ||
| 609 | // Changing is remembered and the parameter is stored back into the physics engine only if updated. | ||
| 610 | // This does two things: 1) saves continuious calls into unmanaged code, and | ||
| 611 | // 2) signals when a physics property update must happen back to the simulator | ||
| 612 | // to update values modified for the vehicle. | ||
| 613 | private int m_knownChanged; | ||
| 614 | private int m_knownHas; | ||
| 615 | private float m_knownTerrainHeight; | ||
| 616 | private float m_knownWaterLevel; | ||
| 617 | private Vector3 m_knownPosition; | ||
| 618 | private Vector3 m_knownVelocity; | ||
| 619 | private Vector3 m_knownForce; | ||
| 620 | private Quaternion m_knownOrientation; | ||
| 621 | private Vector3 m_knownRotationalVelocity; | ||
| 622 | private Vector3 m_knownRotationalForce; | ||
| 623 | private Vector3 m_knownForwardVelocity; // vehicle relative forward speed | ||
| 624 | |||
| 625 | private const int m_knownChangedPosition = 1 << 0; | ||
| 626 | private const int m_knownChangedVelocity = 1 << 1; | ||
| 627 | private const int m_knownChangedForce = 1 << 2; | ||
| 628 | private const int m_knownChangedOrientation = 1 << 3; | ||
| 629 | private const int m_knownChangedRotationalVelocity = 1 << 4; | ||
| 630 | private const int m_knownChangedRotationalForce = 1 << 5; | ||
| 631 | private const int m_knownChangedTerrainHeight = 1 << 6; | ||
| 632 | private const int m_knownChangedWaterLevel = 1 << 7; | ||
| 633 | private const int m_knownChangedForwardVelocity = 1 << 8; | ||
| 634 | |||
| 635 | private void ForgetKnownVehicleProperties() | ||
| 636 | { | ||
| 637 | m_knownHas = 0; | ||
| 638 | m_knownChanged = 0; | ||
| 639 | } | ||
| 640 | // Push all the changed values back into the physics engine | ||
| 641 | private void PushKnownChanged() | ||
| 642 | { | ||
| 643 | if (m_knownChanged != 0) | ||
| 644 | { | ||
| 645 | if ((m_knownChanged & m_knownChangedPosition) != 0) | ||
| 646 | Prim.ForcePosition = m_knownPosition; | ||
| 647 | |||
| 648 | if ((m_knownChanged & m_knownChangedOrientation) != 0) | ||
| 649 | Prim.ForceOrientation = m_knownOrientation; | ||
| 650 | |||
| 651 | if ((m_knownChanged & m_knownChangedVelocity) != 0) | ||
| 652 | { | ||
| 653 | Prim.ForceVelocity = m_knownVelocity; | ||
| 654 | BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); | ||
| 655 | } | ||
| 656 | |||
| 657 | if ((m_knownChanged & m_knownChangedForce) != 0) | ||
| 658 | Prim.AddForce((Vector3)m_knownForce, false, true); | ||
| 659 | |||
| 660 | if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) | ||
| 661 | { | ||
| 662 | Prim.ForceRotationalVelocity = m_knownRotationalVelocity; | ||
| 663 | // Fake out Bullet by making it think the velocity is the same as last time. | ||
| 664 | BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); | ||
| 665 | } | ||
| 666 | |||
| 667 | if ((m_knownChanged & m_knownChangedRotationalForce) != 0) | ||
| 668 | Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); | ||
| 669 | |||
| 670 | // If we set one of the values (ie, the physics engine didn't do it) we must force | ||
| 671 | // an UpdateProperties event to send the changes up to the simulator. | ||
| 672 | BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); | ||
| 673 | } | ||
| 674 | m_knownChanged = 0; | ||
| 675 | } | ||
| 676 | |||
| 677 | // Since the computation of terrain height can be a little involved, this routine | ||
| 678 | // is used to fetch the height only once for each vehicle simulation step. | ||
| 679 | private float GetTerrainHeight(Vector3 pos) | ||
| 680 | { | ||
| 681 | if ((m_knownHas & m_knownChangedTerrainHeight) == 0) | ||
| 682 | { | ||
| 683 | m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); | ||
| 684 | m_knownHas |= m_knownChangedTerrainHeight; | ||
| 685 | } | ||
| 686 | return m_knownTerrainHeight; | ||
| 687 | } | ||
| 688 | |||
| 689 | // Since the computation of water level can be a little involved, this routine | ||
| 690 | // is used ot fetch the level only once for each vehicle simulation step. | ||
| 691 | private float GetWaterLevel(Vector3 pos) | ||
| 692 | { | ||
| 693 | if ((m_knownHas & m_knownChangedWaterLevel) == 0) | ||
| 694 | { | ||
| 695 | m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); | ||
| 696 | m_knownHas |= m_knownChangedWaterLevel; | ||
| 697 | } | ||
| 698 | return (float)m_knownWaterLevel; | ||
| 699 | } | ||
| 700 | |||
| 701 | private Vector3 VehiclePosition | ||
| 702 | { | ||
| 703 | get | ||
| 704 | { | ||
| 705 | if ((m_knownHas & m_knownChangedPosition) == 0) | ||
| 706 | { | ||
| 707 | m_knownPosition = Prim.ForcePosition; | ||
| 708 | m_knownHas |= m_knownChangedPosition; | ||
| 709 | } | ||
| 710 | return m_knownPosition; | ||
| 711 | } | ||
| 712 | set | ||
| 713 | { | ||
| 714 | m_knownPosition = value; | ||
| 715 | m_knownChanged |= m_knownChangedPosition; | ||
| 716 | m_knownHas |= m_knownChangedPosition; | ||
| 717 | } | ||
| 718 | } | ||
| 719 | |||
| 720 | private Quaternion VehicleOrientation | ||
| 721 | { | ||
| 722 | get | ||
| 723 | { | ||
| 724 | if ((m_knownHas & m_knownChangedOrientation) == 0) | ||
| 725 | { | ||
| 726 | m_knownOrientation = Prim.ForceOrientation; | ||
| 727 | m_knownHas |= m_knownChangedOrientation; | ||
| 728 | } | ||
| 729 | return m_knownOrientation; | ||
| 730 | } | ||
| 731 | set | ||
| 732 | { | ||
| 733 | m_knownOrientation = value; | ||
| 734 | m_knownChanged |= m_knownChangedOrientation; | ||
| 735 | m_knownHas |= m_knownChangedOrientation; | ||
| 736 | } | ||
| 737 | } | ||
| 738 | |||
| 739 | private Vector3 VehicleVelocity | ||
| 740 | { | ||
| 741 | get | ||
| 742 | { | ||
| 743 | if ((m_knownHas & m_knownChangedVelocity) == 0) | ||
| 744 | { | ||
| 745 | m_knownVelocity = Prim.ForceVelocity; | ||
| 746 | m_knownHas |= m_knownChangedVelocity; | ||
| 747 | } | ||
| 748 | return (Vector3)m_knownVelocity; | ||
| 749 | } | ||
| 750 | set | ||
| 751 | { | ||
| 752 | m_knownVelocity = value; | ||
| 753 | m_knownChanged |= m_knownChangedVelocity; | ||
| 754 | m_knownHas |= m_knownChangedVelocity; | ||
| 755 | } | ||
| 756 | } | ||
| 757 | |||
| 758 | private void VehicleAddForce(Vector3 aForce) | ||
| 759 | { | ||
| 760 | if ((m_knownHas & m_knownChangedForce) == 0) | ||
| 761 | { | ||
| 762 | m_knownForce = Vector3.Zero; | ||
| 763 | } | ||
| 764 | m_knownForce += aForce; | ||
| 765 | m_knownChanged |= m_knownChangedForce; | ||
| 766 | m_knownHas |= m_knownChangedForce; | ||
| 767 | } | ||
| 768 | |||
| 769 | private Vector3 VehicleRotationalVelocity | ||
| 770 | { | ||
| 771 | get | ||
| 772 | { | ||
| 773 | if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) | ||
| 774 | { | ||
| 775 | m_knownRotationalVelocity = Prim.ForceRotationalVelocity; | ||
| 776 | m_knownHas |= m_knownChangedRotationalVelocity; | ||
| 777 | } | ||
| 778 | return (Vector3)m_knownRotationalVelocity; | ||
| 779 | } | ||
| 780 | set | ||
| 781 | { | ||
| 782 | m_knownRotationalVelocity = value; | ||
| 783 | m_knownChanged |= m_knownChangedRotationalVelocity; | ||
| 784 | m_knownHas |= m_knownChangedRotationalVelocity; | ||
| 785 | } | ||
| 786 | } | ||
| 787 | private void VehicleAddAngularForce(Vector3 aForce) | ||
| 788 | { | ||
| 789 | if ((m_knownHas & m_knownChangedRotationalForce) == 0) | ||
| 790 | { | ||
| 791 | m_knownRotationalForce = Vector3.Zero; | ||
| 792 | } | ||
| 793 | m_knownRotationalForce += aForce; | ||
| 794 | m_knownChanged |= m_knownChangedRotationalForce; | ||
| 795 | m_knownHas |= m_knownChangedRotationalForce; | ||
| 796 | } | ||
| 797 | // Vehicle relative forward velocity | ||
| 798 | private Vector3 VehicleForwardVelocity | ||
| 799 | { | ||
| 800 | get | ||
| 801 | { | ||
| 802 | if ((m_knownHas & m_knownChangedForwardVelocity) == 0) | ||
| 803 | { | ||
| 804 | m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); | ||
| 805 | m_knownHas |= m_knownChangedForwardVelocity; | ||
| 806 | } | ||
| 807 | return m_knownForwardVelocity; | ||
| 808 | } | ||
| 809 | } | ||
| 810 | private float VehicleForwardSpeed | ||
| 811 | { | ||
| 812 | get | ||
| 813 | { | ||
| 814 | return VehicleForwardVelocity.X; | ||
| 815 | } | ||
| 816 | } | ||
| 817 | |||
| 818 | #endregion // Known vehicle value functions | ||
| 819 | |||
| 820 | // One step of the vehicle properties for the next 'pTimestep' seconds. | ||
| 821 | internal void Step(float pTimestep) | ||
| 822 | { | ||
| 823 | if (!IsActive) return; | ||
| 824 | |||
| 825 | ForgetKnownVehicleProperties(); | ||
| 826 | |||
| 827 | MoveLinear(pTimestep); | ||
| 828 | MoveAngular(pTimestep); | ||
| 829 | |||
| 830 | LimitRotation(pTimestep); | ||
| 831 | |||
| 832 | // remember the position so next step we can limit absolute movement effects | ||
| 833 | m_lastPositionVector = VehiclePosition; | ||
| 834 | |||
| 835 | // If we forced the changing of some vehicle parameters, update the values and | ||
| 836 | // for the physics engine to note the changes so an UpdateProperties event will happen. | ||
| 837 | PushKnownChanged(); | ||
| 838 | |||
| 839 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", | ||
| 840 | Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); | ||
| 841 | } | ||
| 842 | |||
| 843 | // Apply the effect of the linear motor and other linear motions (like hover and float). | ||
| 844 | private void MoveLinear(float pTimestep) | ||
| 845 | { | ||
| 846 | Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); | ||
| 847 | |||
| 848 | // The movement computed in the linear motor is relative to the vehicle | ||
| 849 | // coordinates. Rotate the movement to world coordinates. | ||
| 850 | linearMotorContribution *= VehicleOrientation; | ||
| 851 | |||
| 852 | // ================================================================== | ||
| 853 | // Buoyancy: force to overcome gravity. | ||
| 854 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; | ||
| 855 | // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity. | ||
| 856 | Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy; | ||
| 857 | |||
| 858 | Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); | ||
| 859 | |||
| 860 | Vector3 hoverContribution = ComputeLinearHover(pTimestep); | ||
| 861 | |||
| 862 | ComputeLinearBlockingEndPoint(pTimestep); | ||
| 863 | |||
| 864 | Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); | ||
| 865 | |||
| 866 | // ================================================================== | ||
| 867 | Vector3 newVelocity = linearMotorContribution | ||
| 868 | + terrainHeightContribution | ||
| 869 | + hoverContribution | ||
| 870 | + limitMotorUpContribution; | ||
| 871 | |||
| 872 | Vector3 newForce = buoyancyContribution; | ||
| 873 | |||
| 874 | // If not changing some axis, reduce out velocity | ||
| 875 | if ((m_flags & (VehicleFlag.NO_X)) != 0) | ||
| 876 | newVelocity.X = 0; | ||
| 877 | if ((m_flags & (VehicleFlag.NO_Y)) != 0) | ||
| 878 | newVelocity.Y = 0; | ||
| 879 | if ((m_flags & (VehicleFlag.NO_Z)) != 0) | ||
| 880 | newVelocity.Z = 0; | ||
| 881 | |||
| 882 | // ================================================================== | ||
| 883 | // Clamp high or low velocities | ||
| 884 | float newVelocityLengthSq = newVelocity.LengthSquared(); | ||
| 885 | if (newVelocityLengthSq > 1000f) | ||
| 886 | { | ||
| 887 | newVelocity /= newVelocity.Length(); | ||
| 888 | newVelocity *= 1000f; | ||
| 889 | } | ||
| 890 | else if (newVelocityLengthSq < 0.001f) | ||
| 891 | newVelocity = Vector3.Zero; | ||
| 892 | |||
| 893 | // ================================================================== | ||
| 894 | // Stuff new linear velocity into the vehicle. | ||
| 895 | // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. | ||
| 896 | VehicleVelocity = newVelocity; | ||
| 897 | |||
| 898 | // Other linear forces are applied as forces. | ||
| 899 | Vector3 totalDownForce = newForce * m_vehicleMass; | ||
| 900 | if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) | ||
| 901 | { | ||
| 902 | VehicleAddForce(totalDownForce); | ||
| 903 | } | ||
| 904 | |||
| 905 | VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}", | ||
| 906 | Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding); | ||
| 907 | VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}", | ||
| 908 | Prim.LocalID, | ||
| 909 | linearMotorContribution, terrainHeightContribution, hoverContribution, | ||
| 910 | limitMotorUpContribution, buoyancyContribution | ||
| 911 | ); | ||
| 912 | |||
| 913 | } // end MoveLinear() | ||
| 914 | |||
| 915 | public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) | ||
| 916 | { | ||
| 917 | Vector3 ret = Vector3.Zero; | ||
| 918 | // If below the terrain, move us above the ground a little. | ||
| 919 | // TODO: Consider taking the rotated size of the object or possibly casting a ray. | ||
| 920 | if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) | ||
| 921 | { | ||
| 922 | // TODO: correct position by applying force rather than forcing position. | ||
| 923 | Vector3 newPosition = VehiclePosition; | ||
| 924 | newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; | ||
| 925 | VehiclePosition = newPosition; | ||
| 926 | VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", | ||
| 927 | Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); | ||
| 928 | } | ||
| 929 | return ret; | ||
| 930 | } | ||
| 931 | |||
| 932 | public Vector3 ComputeLinearHover(float pTimestep) | ||
| 933 | { | ||
| 934 | Vector3 ret = Vector3.Zero; | ||
| 935 | |||
| 936 | // m_VhoverEfficiency: 0=bouncy, 1=totally damped | ||
| 937 | // m_VhoverTimescale: time to achieve height | ||
| 938 | if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) | ||
| 939 | { | ||
| 940 | // We should hover, get the target height | ||
| 941 | if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) | ||
| 942 | { | ||
| 943 | m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight; | ||
| 944 | } | ||
| 945 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) | ||
| 946 | { | ||
| 947 | m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight; | ||
| 948 | } | ||
| 949 | if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) | ||
| 950 | { | ||
| 951 | m_VhoverTargetHeight = m_VhoverHeight; | ||
| 952 | } | ||
| 953 | |||
| 954 | if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) | ||
| 955 | { | ||
| 956 | // If body is already heigher, use its height as target height | ||
| 957 | if (VehiclePosition.Z > m_VhoverTargetHeight) | ||
| 958 | m_VhoverTargetHeight = VehiclePosition.Z; | ||
| 959 | } | ||
| 960 | |||
| 961 | if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) | ||
| 962 | { | ||
| 963 | if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) | ||
| 964 | { | ||
| 965 | Vector3 pos = VehiclePosition; | ||
| 966 | pos.Z = m_VhoverTargetHeight; | ||
| 967 | VehiclePosition = pos; | ||
| 968 | } | ||
| 969 | } | ||
| 970 | else | ||
| 971 | { | ||
| 972 | // Error is positive if below the target and negative if above. | ||
| 973 | float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; | ||
| 974 | float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; | ||
| 975 | |||
| 976 | // TODO: implement m_VhoverEfficiency correctly | ||
| 977 | if (Math.Abs(verticalError) > m_VhoverEfficiency) | ||
| 978 | { | ||
| 979 | ret = new Vector3(0f, 0f, verticalCorrectionVelocity); | ||
| 980 | } | ||
| 981 | } | ||
| 982 | |||
| 983 | VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", | ||
| 984 | Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); | ||
| 985 | } | ||
| 986 | |||
| 987 | return ret; | ||
| 988 | } | ||
| 989 | |||
| 990 | public bool ComputeLinearBlockingEndPoint(float pTimestep) | ||
| 991 | { | ||
| 992 | bool changed = false; | ||
| 993 | |||
| 994 | Vector3 pos = VehiclePosition; | ||
| 995 | Vector3 posChange = pos - m_lastPositionVector; | ||
| 996 | if (m_BlockingEndPoint != Vector3.Zero) | ||
| 997 | { | ||
| 998 | if (pos.X >= (m_BlockingEndPoint.X - (float)1)) | ||
| 999 | { | ||
| 1000 | pos.X -= posChange.X + 1; | ||
| 1001 | changed = true; | ||
| 1002 | } | ||
| 1003 | if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) | ||
| 1004 | { | ||
| 1005 | pos.Y -= posChange.Y + 1; | ||
| 1006 | changed = true; | ||
| 1007 | } | ||
| 1008 | if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) | ||
| 1009 | { | ||
| 1010 | pos.Z -= posChange.Z + 1; | ||
| 1011 | changed = true; | ||
| 1012 | } | ||
| 1013 | if (pos.X <= 0) | ||
| 1014 | { | ||
| 1015 | pos.X += posChange.X + 1; | ||
| 1016 | changed = true; | ||
| 1017 | } | ||
| 1018 | if (pos.Y <= 0) | ||
| 1019 | { | ||
| 1020 | pos.Y += posChange.Y + 1; | ||
| 1021 | changed = true; | ||
| 1022 | } | ||
| 1023 | if (changed) | ||
| 1024 | { | ||
| 1025 | VehiclePosition = pos; | ||
| 1026 | VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", | ||
| 1027 | Prim.LocalID, m_BlockingEndPoint, posChange, pos); | ||
| 1028 | } | ||
| 1029 | } | ||
| 1030 | return changed; | ||
| 1031 | } | ||
| 1032 | |||
| 1033 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : | ||
| 1034 | // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when | ||
| 1035 | // used with conjunction with banking: the strength of the banking will decay when the | ||
| 1036 | // vehicle no longer experiences collisions. The decay timescale is the same as | ||
| 1037 | // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering | ||
| 1038 | // when they are in mid jump. | ||
| 1039 | // TODO: this code is wrong. Also, what should it do for boats (height from water)? | ||
| 1040 | // This is just using the ground and a general collision check. Should really be using | ||
| 1041 | // a downward raycast to find what is below. | ||
| 1042 | public Vector3 ComputeLinearMotorUp(float pTimestep) | ||
| 1043 | { | ||
| 1044 | Vector3 ret = Vector3.Zero; | ||
| 1045 | float distanceAboveGround = 0f; | ||
| 1046 | |||
| 1047 | if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) | ||
| 1048 | { | ||
| 1049 | float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); | ||
| 1050 | distanceAboveGround = VehiclePosition.Z - targetHeight; | ||
| 1051 | // Not colliding if the vehicle is off the ground | ||
| 1052 | if (!Prim.IsColliding) | ||
| 1053 | { | ||
| 1054 | // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); | ||
| 1055 | ret = new Vector3(0, 0, -distanceAboveGround); | ||
| 1056 | } | ||
| 1057 | // TODO: this calculation is wrong. From the description at | ||
| 1058 | // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce | ||
| 1059 | // has a decay factor. This says this force should | ||
| 1060 | // be computed with a motor. | ||
| 1061 | // TODO: add interaction with banking. | ||
| 1062 | } | ||
| 1063 | VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", | ||
| 1064 | Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); | ||
| 1065 | return ret; | ||
| 1066 | } | ||
| 1067 | |||
| 1068 | // ======================================================================= | ||
| 1069 | // ======================================================================= | ||
| 1070 | // Apply the effect of the angular motor. | ||
| 1071 | // The 'contribution' is how much angular correction velocity each function wants. | ||
| 1072 | // All the contributions are added together and the resulting velocity is | ||
| 1073 | // set directly on the vehicle. | ||
| 1074 | private void MoveAngular(float pTimestep) | ||
| 1075 | { | ||
| 1076 | // The user wants this many radians per second angular change? | ||
| 1077 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); | ||
| 1078 | |||
| 1079 | // ================================================================== | ||
| 1080 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : | ||
| 1081 | // This flag prevents linear deflection parallel to world z-axis. This is useful | ||
| 1082 | // for preventing ground vehicles with large linear deflection, like bumper cars, | ||
| 1083 | // from climbing their linear deflection into the sky. | ||
| 1084 | // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement | ||
| 1085 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) | ||
| 1086 | { | ||
| 1087 | angularMotorContribution.X = 0f; | ||
| 1088 | angularMotorContribution.Y = 0f; | ||
| 1089 | VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); | ||
| 1090 | } | ||
| 1091 | |||
| 1092 | Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); | ||
| 1093 | |||
| 1094 | Vector3 deflectionContribution = ComputeAngularDeflection(); | ||
| 1095 | |||
| 1096 | Vector3 bankingContribution = ComputeAngularBanking(); | ||
| 1097 | |||
| 1098 | // ================================================================== | ||
| 1099 | m_lastVertAttractor = verticalAttractionContribution; | ||
| 1100 | |||
| 1101 | m_lastAngularVelocity = angularMotorContribution | ||
| 1102 | + verticalAttractionContribution | ||
| 1103 | + deflectionContribution | ||
| 1104 | + bankingContribution; | ||
| 1105 | |||
| 1106 | // ================================================================== | ||
| 1107 | // Apply the correction velocity. | ||
| 1108 | // TODO: Should this be applied as an angular force (torque)? | ||
| 1109 | if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | ||
| 1110 | { | ||
| 1111 | VehicleRotationalVelocity = m_lastAngularVelocity; | ||
| 1112 | |||
| 1113 | VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", | ||
| 1114 | Prim.LocalID, | ||
| 1115 | angularMotorContribution, verticalAttractionContribution, | ||
| 1116 | bankingContribution, deflectionContribution, | ||
| 1117 | m_lastAngularVelocity | ||
| 1118 | ); | ||
| 1119 | } | ||
| 1120 | else | ||
| 1121 | { | ||
| 1122 | // The vehicle is not adding anything angular wise. | ||
| 1123 | VehicleRotationalVelocity = Vector3.Zero; | ||
| 1124 | VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); | ||
| 1125 | } | ||
| 1126 | |||
| 1127 | // ================================================================== | ||
| 1128 | //Offset section | ||
| 1129 | if (m_linearMotorOffset != Vector3.Zero) | ||
| 1130 | { | ||
| 1131 | //Offset of linear velocity doesn't change the linear velocity, | ||
| 1132 | // but causes a torque to be applied, for example... | ||
| 1133 | // | ||
| 1134 | // IIIII >>> IIIII | ||
| 1135 | // IIIII >>> IIIII | ||
| 1136 | // IIIII >>> IIIII | ||
| 1137 | // ^ | ||
| 1138 | // | Applying a force at the arrow will cause the object to move forward, but also rotate | ||
| 1139 | // | ||
| 1140 | // | ||
| 1141 | // The torque created is the linear velocity crossed with the offset | ||
| 1142 | |||
| 1143 | // TODO: this computation should be in the linear section | ||
| 1144 | // because that is where we know the impulse being applied. | ||
| 1145 | Vector3 torqueFromOffset = Vector3.Zero; | ||
| 1146 | // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); | ||
| 1147 | if (float.IsNaN(torqueFromOffset.X)) | ||
| 1148 | torqueFromOffset.X = 0; | ||
| 1149 | if (float.IsNaN(torqueFromOffset.Y)) | ||
| 1150 | torqueFromOffset.Y = 0; | ||
| 1151 | if (float.IsNaN(torqueFromOffset.Z)) | ||
| 1152 | torqueFromOffset.Z = 0; | ||
| 1153 | |||
| 1154 | VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); | ||
| 1155 | VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); | ||
| 1156 | } | ||
| 1157 | |||
| 1158 | } | ||
| 1159 | // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: | ||
| 1160 | // Some vehicles, like boats, should always keep their up-side up. This can be done by | ||
| 1161 | // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to | ||
| 1162 | // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the | ||
| 1163 | // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency, | ||
| 1164 | // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An | ||
| 1165 | // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an | ||
| 1166 | // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. | ||
| 1167 | public Vector3 ComputeAngularVerticalAttraction() | ||
| 1168 | { | ||
| 1169 | Vector3 ret = Vector3.Zero; | ||
| 1170 | |||
| 1171 | // If vertical attaction timescale is reasonable | ||
| 1172 | if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) | ||
| 1173 | { | ||
| 1174 | // Take a vector pointing up and convert it from world to vehicle relative coords. | ||
| 1175 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | ||
| 1176 | |||
| 1177 | // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) | ||
| 1178 | // is now: | ||
| 1179 | // leaning to one side: rotated around the X axis with the Y value going | ||
| 1180 | // from zero (nearly straight up) to one (completely to the side)) or | ||
| 1181 | // leaning front-to-back: rotated around the Y axis with the value of X being between | ||
| 1182 | // zero and one. | ||
| 1183 | // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. | ||
| 1184 | |||
| 1185 | // Y error means needed rotation around X axis and visa versa. | ||
| 1186 | // Since the error goes from zero to one, the asin is the corresponding angle. | ||
| 1187 | ret.X = (float)Math.Asin(verticalError.Y); | ||
| 1188 | // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) | ||
| 1189 | ret.Y = -(float)Math.Asin(verticalError.X); | ||
| 1190 | |||
| 1191 | // If verticalError.Z is negative, the vehicle is upside down. Add additional push. | ||
| 1192 | if (verticalError.Z < 0f) | ||
| 1193 | { | ||
| 1194 | ret.X += PIOverFour; | ||
| 1195 | ret.Y += PIOverFour; | ||
| 1196 | } | ||
| 1197 | |||
| 1198 | // 'ret' is now the necessary velocity to correct tilt in one second. | ||
| 1199 | // Correction happens over a number of seconds. | ||
| 1200 | Vector3 unscaledContrib = ret; | ||
| 1201 | ret /= m_verticalAttractionTimescale; | ||
| 1202 | |||
| 1203 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", | ||
| 1204 | Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret); | ||
| 1205 | } | ||
| 1206 | return ret; | ||
| 1207 | } | ||
| 1208 | |||
| 1209 | // Return the angular correction to correct the direction the vehicle is pointing to be | ||
| 1210 | // the direction is should want to be pointing. | ||
| 1211 | // The vehicle is moving in some direction and correct its orientation to it is pointing | ||
| 1212 | // in that direction. | ||
| 1213 | // TODO: implement reference frame. | ||
| 1214 | public Vector3 ComputeAngularDeflection() | ||
| 1215 | { | ||
| 1216 | Vector3 ret = Vector3.Zero; | ||
| 1217 | return ret; // DEBUG DEBUG DEBUG | ||
| 1218 | // Disable angular deflection for the moment. | ||
| 1219 | // Since angularMotorUp and angularDeflection are computed independently, they will calculate | ||
| 1220 | // approximately the same X or Y correction. When added together (when contributions are combined) | ||
| 1221 | // this creates an over-correction and then wabbling as the target is overshot. | ||
| 1222 | // TODO: rethink how the different correction computations inter-relate. | ||
| 1223 | |||
| 1224 | if (m_angularDeflectionEfficiency != 0) | ||
| 1225 | { | ||
| 1226 | // The direction the vehicle is moving | ||
| 1227 | Vector3 movingDirection = VehicleVelocity; | ||
| 1228 | movingDirection.Normalize(); | ||
| 1229 | |||
| 1230 | // The direction the vehicle is pointing | ||
| 1231 | Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; | ||
| 1232 | pointingDirection.Normalize(); | ||
| 1233 | |||
| 1234 | // The difference between what is and what should be. | ||
| 1235 | Vector3 deflectionError = movingDirection - pointingDirection; | ||
| 1236 | |||
| 1237 | // Don't try to correct very large errors (not our job) | ||
| 1238 | if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; | ||
| 1239 | if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; | ||
| 1240 | if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; | ||
| 1241 | |||
| 1242 | // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); | ||
| 1243 | |||
| 1244 | // Scale the correction by recovery timescale and efficiency | ||
| 1245 | ret = (-deflectionError) * m_angularDeflectionEfficiency; | ||
| 1246 | ret /= m_angularDeflectionTimescale; | ||
| 1247 | |||
| 1248 | VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", | ||
| 1249 | Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); | ||
| 1250 | VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", | ||
| 1251 | Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); | ||
| 1252 | } | ||
| 1253 | return ret; | ||
| 1254 | } | ||
| 1255 | |||
| 1256 | // Return an angular change to rotate the vehicle around the Z axis when the vehicle | ||
| 1257 | // is tipped around the X axis. | ||
| 1258 | // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: | ||
| 1259 | // The vertical attractor feature must be enabled in order for the banking behavior to | ||
| 1260 | // function. The way banking works is this: a rotation around the vehicle's roll-axis will | ||
| 1261 | // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude | ||
| 1262 | // of the yaw effect will be proportional to the | ||
| 1263 | // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's | ||
| 1264 | // velocity along its preferred axis of motion. | ||
| 1265 | // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any | ||
| 1266 | // positive rotation (by the right-hand rule) about the roll-axis will effect a | ||
| 1267 | // (negative) torque around the yaw-axis, making it turn to the right--that is the | ||
| 1268 | // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. | ||
| 1269 | // Negating the banking coefficient will make it so that the vehicle leans to the | ||
| 1270 | // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). | ||
| 1271 | // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making | ||
| 1272 | // banking vehicles do what you want rather than what the laws of physics allow. | ||
| 1273 | // For example, consider a real motorcycle...it must be moving forward in order for | ||
| 1274 | // it to turn while banking, however video-game motorcycles are often configured | ||
| 1275 | // to turn in place when at a dead stop--because they are often easier to control | ||
| 1276 | // that way using the limited interface of the keyboard or game controller. The | ||
| 1277 | // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic | ||
| 1278 | // banking by functioning as a slider between a banking that is correspondingly | ||
| 1279 | // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the | ||
| 1280 | // banking effect depends only on the vehicle's rotation about its roll-axis compared | ||
| 1281 | // to "dynamic" where the banking is also proportional to its velocity along its | ||
| 1282 | // roll-axis. Finding the best value of the "mixture" will probably require trial and error. | ||
| 1283 | // The time it takes for the banking behavior to defeat a preexisting angular velocity about the | ||
| 1284 | // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to | ||
| 1285 | // bank quickly then give it a banking timescale of about a second or less, otherwise you can | ||
| 1286 | // make a sluggish vehicle by giving it a timescale of several seconds. | ||
| 1287 | public Vector3 ComputeAngularBanking() | ||
| 1288 | { | ||
| 1289 | Vector3 ret = Vector3.Zero; | ||
| 1290 | |||
| 1291 | if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) | ||
| 1292 | { | ||
| 1293 | // This works by rotating a unit vector to the orientation of the vehicle. The | ||
| 1294 | // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt | ||
| 1295 | // up to one for full over). | ||
| 1296 | Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; | ||
| 1297 | |||
| 1298 | // Figure out the yaw value for this much roll. | ||
| 1299 | float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; | ||
| 1300 | // Keep the sign | ||
| 1301 | if (rollComponents.Y < 0f) | ||
| 1302 | turnComponent = -turnComponent; | ||
| 1303 | |||
| 1304 | // TODO: there must be a better computation of the banking force. | ||
| 1305 | float bankingTurnForce = turnComponent; | ||
| 1306 | |||
| 1307 | // actual error = static turn error + dynamic turn error | ||
| 1308 | float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; | ||
| 1309 | // TODO: the banking effect should not go to infinity but what to limit it to? | ||
| 1310 | mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); | ||
| 1311 | |||
| 1312 | // Build the force vector to change rotation from what it is to what it should be | ||
| 1313 | ret.Z = -mixedBankingError; | ||
| 1314 | |||
| 1315 | // Don't do it all at once. | ||
| 1316 | ret /= m_bankingTimescale; | ||
| 1317 | |||
| 1318 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", | ||
| 1319 | Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); | ||
| 1320 | } | ||
| 1321 | return ret; | ||
| 1322 | } | ||
| 1323 | |||
| 1324 | // This is from previous instantiations of XXXDynamics.cs. | ||
| 1325 | // Applies roll reference frame. | ||
| 1326 | // TODO: is this the right way to separate the code to do this operation? | ||
| 1327 | // Should this be in MoveAngular()? | ||
| 1328 | internal void LimitRotation(float timestep) | ||
| 1329 | { | ||
| 1330 | Quaternion rotq = VehicleOrientation; | ||
| 1331 | Quaternion m_rot = rotq; | ||
| 1332 | if (m_RollreferenceFrame != Quaternion.Identity) | ||
| 1333 | { | ||
| 1334 | if (rotq.X >= m_RollreferenceFrame.X) | ||
| 1335 | { | ||
| 1336 | m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); | ||
| 1337 | } | ||
| 1338 | if (rotq.Y >= m_RollreferenceFrame.Y) | ||
| 1339 | { | ||
| 1340 | m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); | ||
| 1341 | } | ||
| 1342 | if (rotq.X <= -m_RollreferenceFrame.X) | ||
| 1343 | { | ||
| 1344 | m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); | ||
| 1345 | } | ||
| 1346 | if (rotq.Y <= -m_RollreferenceFrame.Y) | ||
| 1347 | { | ||
| 1348 | m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); | ||
| 1349 | } | ||
| 1350 | } | ||
| 1351 | if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) | ||
| 1352 | { | ||
| 1353 | m_rot.X = 0; | ||
| 1354 | m_rot.Y = 0; | ||
| 1355 | } | ||
| 1356 | if (rotq != m_rot) | ||
| 1357 | { | ||
| 1358 | VehicleOrientation = m_rot; | ||
| 1359 | VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); | ||
| 1360 | } | ||
| 1361 | |||
| 1362 | } | ||
| 1363 | |||
| 1364 | private float ClampInRange(float low, float val, float high) | ||
| 1365 | { | ||
| 1366 | return Math.Max(low, Math.Min(val, high)); | ||
| 1367 | // return Utils.Clamp(val, low, high); | ||
| 1368 | } | ||
| 1369 | |||
| 1370 | // Invoke the detailed logger and output something if it's enabled. | ||
| 1371 | private void VDetailLog(string msg, params Object[] args) | ||
| 1372 | { | ||
| 1373 | if (Prim.PhysicsScene.VehicleLoggingEnabled) | ||
| 1374 | Prim.PhysicsScene.DetailLog(msg, args); | ||
| 1375 | } | ||
| 1376 | } | ||
| 1377 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs deleted file mode 100644 index 845a113..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs +++ /dev/null | |||
| @@ -1,329 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OMV = OpenMetaverse; | ||
| 32 | |||
| 33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 34 | { | ||
| 35 | |||
| 36 | // A BSPrim can get individual information about its linkedness attached | ||
| 37 | // to it through an instance of a subclass of LinksetInfo. | ||
| 38 | // Each type of linkset will define the information needed for its type. | ||
| 39 | public abstract class BSLinksetInfo | ||
| 40 | { | ||
| 41 | public virtual void Clear() { } | ||
| 42 | } | ||
| 43 | |||
| 44 | public abstract class BSLinkset | ||
| 45 | { | ||
| 46 | // private static string LogHeader = "[BULLETSIM LINKSET]"; | ||
| 47 | |||
| 48 | public enum LinksetImplementation | ||
| 49 | { | ||
| 50 | Constraint = 0, // linkset tied together with constraints | ||
| 51 | Compound = 1, // linkset tied together as a compound object | ||
| 52 | Manual = 2 // linkset tied together manually (code moves all the pieces) | ||
| 53 | } | ||
| 54 | // Create the correct type of linkset for this child | ||
| 55 | public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) | ||
| 56 | { | ||
| 57 | BSLinkset ret = null; | ||
| 58 | |||
| 59 | switch ((int)BSParam.LinksetImplementation) | ||
| 60 | { | ||
| 61 | case (int)LinksetImplementation.Constraint: | ||
| 62 | ret = new BSLinksetConstraints(physScene, parent); | ||
| 63 | break; | ||
| 64 | case (int)LinksetImplementation.Compound: | ||
| 65 | ret = new BSLinksetCompound(physScene, parent); | ||
| 66 | break; | ||
| 67 | case (int)LinksetImplementation.Manual: | ||
| 68 | // ret = new BSLinksetManual(physScene, parent); | ||
| 69 | break; | ||
| 70 | default: | ||
| 71 | ret = new BSLinksetCompound(physScene, parent); | ||
| 72 | break; | ||
| 73 | } | ||
| 74 | return ret; | ||
| 75 | } | ||
| 76 | |||
| 77 | public BSPhysObject LinksetRoot { get; protected set; } | ||
| 78 | |||
| 79 | public BSScene PhysicsScene { get; private set; } | ||
| 80 | |||
| 81 | static int m_nextLinksetID = 1; | ||
| 82 | public int LinksetID { get; private set; } | ||
| 83 | |||
| 84 | // The children under the root in this linkset. | ||
| 85 | protected HashSet<BSPhysObject> m_children; | ||
| 86 | |||
| 87 | // We lock the diddling of linkset classes to prevent any badness. | ||
| 88 | // This locks the modification of the instances of this class. Changes | ||
| 89 | // to the physical representation is done via the tainting mechenism. | ||
| 90 | protected object m_linksetActivityLock = new Object(); | ||
| 91 | |||
| 92 | // Some linksets have a preferred physical shape. | ||
| 93 | // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. | ||
| 94 | public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) | ||
| 95 | { | ||
| 96 | return BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
| 97 | } | ||
| 98 | |||
| 99 | // We keep the prim's mass in the linkset structure since it could be dependent on other prims | ||
| 100 | public float LinksetMass { get; protected set; } | ||
| 101 | |||
| 102 | public virtual bool LinksetIsColliding { get { return false; } } | ||
| 103 | |||
| 104 | public OMV.Vector3 CenterOfMass | ||
| 105 | { | ||
| 106 | get { return ComputeLinksetCenterOfMass(); } | ||
| 107 | } | ||
| 108 | |||
| 109 | public OMV.Vector3 GeometricCenter | ||
| 110 | { | ||
| 111 | get { return ComputeLinksetGeometricCenter(); } | ||
| 112 | } | ||
| 113 | |||
| 114 | protected BSLinkset(BSScene scene, BSPhysObject parent) | ||
| 115 | { | ||
| 116 | // A simple linkset of one (no children) | ||
| 117 | LinksetID = m_nextLinksetID++; | ||
| 118 | // We create LOTS of linksets. | ||
| 119 | if (m_nextLinksetID <= 0) | ||
| 120 | m_nextLinksetID = 1; | ||
| 121 | PhysicsScene = scene; | ||
| 122 | LinksetRoot = parent; | ||
| 123 | m_children = new HashSet<BSPhysObject>(); | ||
| 124 | LinksetMass = parent.RawMass; | ||
| 125 | Rebuilding = false; | ||
| 126 | } | ||
| 127 | |||
| 128 | // Link to a linkset where the child knows the parent. | ||
| 129 | // Parent changing should not happen so do some sanity checking. | ||
| 130 | // We return the parent's linkset so the child can track its membership. | ||
| 131 | // Called at runtime. | ||
| 132 | public BSLinkset AddMeToLinkset(BSPhysObject child) | ||
| 133 | { | ||
| 134 | lock (m_linksetActivityLock) | ||
| 135 | { | ||
| 136 | // Don't add the root to its own linkset | ||
| 137 | if (!IsRoot(child)) | ||
| 138 | AddChildToLinkset(child); | ||
| 139 | LinksetMass = ComputeLinksetMass(); | ||
| 140 | } | ||
| 141 | return this; | ||
| 142 | } | ||
| 143 | |||
| 144 | // Remove a child from a linkset. | ||
| 145 | // Returns a new linkset for the child which is a linkset of one (just the | ||
| 146 | // orphened child). | ||
| 147 | // Called at runtime. | ||
| 148 | public BSLinkset RemoveMeFromLinkset(BSPhysObject child) | ||
| 149 | { | ||
| 150 | lock (m_linksetActivityLock) | ||
| 151 | { | ||
| 152 | if (IsRoot(child)) | ||
| 153 | { | ||
| 154 | // Cannot remove the root from a linkset. | ||
| 155 | return this; | ||
| 156 | } | ||
| 157 | RemoveChildFromLinkset(child); | ||
| 158 | LinksetMass = ComputeLinksetMass(); | ||
| 159 | } | ||
| 160 | |||
| 161 | // The child is down to a linkset of just itself | ||
| 162 | return BSLinkset.Factory(PhysicsScene, child); | ||
| 163 | } | ||
| 164 | |||
| 165 | // Return 'true' if the passed object is the root object of this linkset | ||
| 166 | public bool IsRoot(BSPhysObject requestor) | ||
| 167 | { | ||
| 168 | return (requestor.LocalID == LinksetRoot.LocalID); | ||
| 169 | } | ||
| 170 | |||
| 171 | public int NumberOfChildren { get { return m_children.Count; } } | ||
| 172 | |||
| 173 | // Return 'true' if this linkset has any children (more than the root member) | ||
| 174 | public bool HasAnyChildren { get { return (m_children.Count > 0); } } | ||
| 175 | |||
| 176 | // Return 'true' if this child is in this linkset | ||
| 177 | public bool HasChild(BSPhysObject child) | ||
| 178 | { | ||
| 179 | bool ret = false; | ||
| 180 | lock (m_linksetActivityLock) | ||
| 181 | { | ||
| 182 | ret = m_children.Contains(child); | ||
| 183 | /* Safer version but the above should work | ||
| 184 | foreach (BSPhysObject bp in m_children) | ||
| 185 | { | ||
| 186 | if (child.LocalID == bp.LocalID) | ||
| 187 | { | ||
| 188 | ret = true; | ||
| 189 | break; | ||
| 190 | } | ||
| 191 | } | ||
| 192 | */ | ||
| 193 | } | ||
| 194 | return ret; | ||
| 195 | } | ||
| 196 | |||
| 197 | // Perform an action on each member of the linkset including root prim. | ||
| 198 | // Depends on the action on whether this should be done at taint time. | ||
| 199 | public delegate bool ForEachMemberAction(BSPhysObject obj); | ||
| 200 | public virtual bool ForEachMember(ForEachMemberAction action) | ||
| 201 | { | ||
| 202 | bool ret = false; | ||
| 203 | lock (m_linksetActivityLock) | ||
| 204 | { | ||
| 205 | action(LinksetRoot); | ||
| 206 | foreach (BSPhysObject po in m_children) | ||
| 207 | { | ||
| 208 | if (action(po)) | ||
| 209 | break; | ||
| 210 | } | ||
| 211 | } | ||
| 212 | return ret; | ||
| 213 | } | ||
| 214 | |||
| 215 | // I am the root of a linkset and a new child is being added | ||
| 216 | // Called while LinkActivity is locked. | ||
| 217 | protected abstract void AddChildToLinkset(BSPhysObject child); | ||
| 218 | |||
| 219 | // I am the root of a linkset and one of my children is being removed. | ||
| 220 | // Safe to call even if the child is not really in my linkset. | ||
| 221 | protected abstract void RemoveChildFromLinkset(BSPhysObject child); | ||
| 222 | |||
| 223 | // When physical properties are changed the linkset needs to recalculate | ||
| 224 | // its internal properties. | ||
| 225 | // May be called at runtime or taint-time. | ||
| 226 | public virtual void Refresh(BSPhysObject requestor) | ||
| 227 | { | ||
| 228 | LinksetMass = ComputeLinksetMass(); | ||
| 229 | } | ||
| 230 | |||
| 231 | // Flag denoting the linkset is in the process of being rebuilt. | ||
| 232 | // Used to know not the schedule a rebuild in the middle of a rebuild. | ||
| 233 | protected bool Rebuilding { get; set; } | ||
| 234 | |||
| 235 | // The object is going dynamic (physical). Do any setup necessary | ||
| 236 | // for a dynamic linkset. | ||
| 237 | // Only the state of the passed object can be modified. The rest of the linkset | ||
| 238 | // has not yet been fully constructed. | ||
| 239 | // Return 'true' if any properties updated on the passed object. | ||
| 240 | // Called at taint-time! | ||
| 241 | public abstract bool MakeDynamic(BSPhysObject child); | ||
| 242 | |||
| 243 | // The object is going static (non-physical). Do any setup necessary | ||
| 244 | // for a static linkset. | ||
| 245 | // Return 'true' if any properties updated on the passed object. | ||
| 246 | // Called at taint-time! | ||
| 247 | public abstract bool MakeStatic(BSPhysObject child); | ||
| 248 | |||
| 249 | // Called when a parameter update comes from the physics engine for any object | ||
| 250 | // of the linkset is received. | ||
| 251 | // Passed flag is update came from physics engine (true) or the user (false). | ||
| 252 | // Called at taint-time!! | ||
| 253 | public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate); | ||
| 254 | |||
| 255 | // Routine used when rebuilding the body of the root of the linkset | ||
| 256 | // Destroy all the constraints have have been made to root. | ||
| 257 | // This is called when the root body is changing. | ||
| 258 | // Returns 'true' of something was actually removed and would need restoring | ||
| 259 | // Called at taint-time!! | ||
| 260 | public abstract bool RemoveBodyDependencies(BSPrim child); | ||
| 261 | |||
| 262 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
| 263 | // this routine will restore the removed constraints. | ||
| 264 | // Called at taint-time!! | ||
| 265 | public abstract void RestoreBodyDependencies(BSPrim child); | ||
| 266 | |||
| 267 | // ================================================================ | ||
| 268 | protected virtual float ComputeLinksetMass() | ||
| 269 | { | ||
| 270 | float mass = LinksetRoot.RawMass; | ||
| 271 | if (HasAnyChildren) | ||
| 272 | { | ||
| 273 | lock (m_linksetActivityLock) | ||
| 274 | { | ||
| 275 | foreach (BSPhysObject bp in m_children) | ||
| 276 | { | ||
| 277 | mass += bp.RawMass; | ||
| 278 | } | ||
| 279 | } | ||
| 280 | } | ||
| 281 | return mass; | ||
| 282 | } | ||
| 283 | |||
| 284 | protected virtual OMV.Vector3 ComputeLinksetCenterOfMass() | ||
| 285 | { | ||
| 286 | OMV.Vector3 com; | ||
| 287 | lock (m_linksetActivityLock) | ||
| 288 | { | ||
| 289 | com = LinksetRoot.Position * LinksetRoot.RawMass; | ||
| 290 | float totalMass = LinksetRoot.RawMass; | ||
| 291 | |||
| 292 | foreach (BSPhysObject bp in m_children) | ||
| 293 | { | ||
| 294 | com += bp.Position * bp.RawMass; | ||
| 295 | totalMass += bp.RawMass; | ||
| 296 | } | ||
| 297 | if (totalMass != 0f) | ||
| 298 | com /= totalMass; | ||
| 299 | } | ||
| 300 | |||
| 301 | return com; | ||
| 302 | } | ||
| 303 | |||
| 304 | protected virtual OMV.Vector3 ComputeLinksetGeometricCenter() | ||
| 305 | { | ||
| 306 | OMV.Vector3 com; | ||
| 307 | lock (m_linksetActivityLock) | ||
| 308 | { | ||
| 309 | com = LinksetRoot.Position; | ||
| 310 | |||
| 311 | foreach (BSPhysObject bp in m_children) | ||
| 312 | { | ||
| 313 | com += bp.Position * bp.RawMass; | ||
| 314 | } | ||
| 315 | com /= (m_children.Count + 1); | ||
| 316 | } | ||
| 317 | |||
| 318 | return com; | ||
| 319 | } | ||
| 320 | |||
| 321 | // Invoke the detailed logger and output something if it's enabled. | ||
| 322 | protected void DetailLog(string msg, params Object[] args) | ||
| 323 | { | ||
| 324 | if (PhysicsScene.PhysicsLogging.Enabled) | ||
| 325 | PhysicsScene.DetailLog(msg, args); | ||
| 326 | } | ||
| 327 | |||
| 328 | } | ||
| 329 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs deleted file mode 100644 index 9a977e6..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs +++ /dev/null | |||
| @@ -1,397 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OpenSim.Framework; | ||
| 32 | |||
| 33 | using OMV = OpenMetaverse; | ||
| 34 | |||
| 35 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 36 | { | ||
| 37 | |||
| 38 | // When a child is linked, the relationship position of the child to the parent | ||
| 39 | // is remembered so the child's world position can be recomputed when it is | ||
| 40 | // removed from the linkset. | ||
| 41 | sealed class BSLinksetCompoundInfo : BSLinksetInfo | ||
| 42 | { | ||
| 43 | public OMV.Vector3 OffsetPos; | ||
| 44 | public OMV.Quaternion OffsetRot; | ||
| 45 | public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) | ||
| 46 | { | ||
| 47 | OffsetPos = p; | ||
| 48 | OffsetRot = r; | ||
| 49 | } | ||
| 50 | public override void Clear() | ||
| 51 | { | ||
| 52 | OffsetPos = OMV.Vector3.Zero; | ||
| 53 | OffsetRot = OMV.Quaternion.Identity; | ||
| 54 | } | ||
| 55 | public override string ToString() | ||
| 56 | { | ||
| 57 | StringBuilder buff = new StringBuilder(); | ||
| 58 | buff.Append("<p="); | ||
| 59 | buff.Append(OffsetPos.ToString()); | ||
| 60 | buff.Append(",r="); | ||
| 61 | buff.Append(OffsetRot.ToString()); | ||
| 62 | buff.Append(">"); | ||
| 63 | return buff.ToString(); | ||
| 64 | } | ||
| 65 | }; | ||
| 66 | |||
| 67 | public sealed class BSLinksetCompound : BSLinkset | ||
| 68 | { | ||
| 69 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; | ||
| 70 | |||
| 71 | public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) | ||
| 72 | { | ||
| 73 | } | ||
| 74 | |||
| 75 | // For compound implimented linksets, if there are children, use compound shape for the root. | ||
| 76 | public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) | ||
| 77 | { | ||
| 78 | // Returning 'unknown' means we don't have a preference. | ||
| 79 | BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
| 80 | if (IsRoot(requestor) && HasAnyChildren) | ||
| 81 | { | ||
| 82 | ret = BSPhysicsShapeType.SHAPE_COMPOUND; | ||
| 83 | } | ||
| 84 | // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); | ||
| 85 | return ret; | ||
| 86 | } | ||
| 87 | |||
| 88 | // When physical properties are changed the linkset needs to recalculate | ||
| 89 | // its internal properties. | ||
| 90 | public override void Refresh(BSPhysObject requestor) | ||
| 91 | { | ||
| 92 | base.Refresh(requestor); | ||
| 93 | |||
| 94 | // Something changed so do the rebuilding thing | ||
| 95 | // ScheduleRebuild(); | ||
| 96 | } | ||
| 97 | |||
| 98 | // Schedule a refresh to happen after all the other taint processing. | ||
| 99 | private void ScheduleRebuild(BSPhysObject requestor) | ||
| 100 | { | ||
| 101 | DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", | ||
| 102 | requestor.LocalID, Rebuilding); | ||
| 103 | // When rebuilding, it is possible to set properties that would normally require a rebuild. | ||
| 104 | // If already rebuilding, don't request another rebuild. | ||
| 105 | if (!Rebuilding) | ||
| 106 | { | ||
| 107 | PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() | ||
| 108 | { | ||
| 109 | if (HasAnyChildren) | ||
| 110 | RecomputeLinksetCompound(); | ||
| 111 | }); | ||
| 112 | } | ||
| 113 | } | ||
| 114 | |||
| 115 | // The object is going dynamic (physical). Do any setup necessary | ||
| 116 | // for a dynamic linkset. | ||
| 117 | // Only the state of the passed object can be modified. The rest of the linkset | ||
| 118 | // has not yet been fully constructed. | ||
| 119 | // Return 'true' if any properties updated on the passed object. | ||
| 120 | // Called at taint-time! | ||
| 121 | public override bool MakeDynamic(BSPhysObject child) | ||
| 122 | { | ||
| 123 | bool ret = false; | ||
| 124 | DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); | ||
| 125 | if (IsRoot(child)) | ||
| 126 | { | ||
| 127 | // The root is going dynamic. Make sure mass is properly set. | ||
| 128 | ScheduleRebuild(LinksetRoot); | ||
| 129 | } | ||
| 130 | else | ||
| 131 | { | ||
| 132 | // The origional prims are removed from the world as the shape of the root compound | ||
| 133 | // shape takes over. | ||
| 134 | BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | ||
| 135 | BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
| 136 | // We don't want collisions from the old linkset children. | ||
| 137 | BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
| 138 | |||
| 139 | child.PhysBody.collisionType = CollisionType.LinksetChild; | ||
| 140 | |||
| 141 | ret = true; | ||
| 142 | } | ||
| 143 | return ret; | ||
| 144 | } | ||
| 145 | |||
| 146 | // The object is going static (non-physical). Do any setup necessary for a static linkset. | ||
| 147 | // Return 'true' if any properties updated on the passed object. | ||
| 148 | // This doesn't normally happen -- OpenSim removes the objects from the physical | ||
| 149 | // world if it is a static linkset. | ||
| 150 | // Called at taint-time! | ||
| 151 | public override bool MakeStatic(BSPhysObject child) | ||
| 152 | { | ||
| 153 | bool ret = false; | ||
| 154 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); | ||
| 155 | if (IsRoot(child)) | ||
| 156 | { | ||
| 157 | ScheduleRebuild(LinksetRoot); | ||
| 158 | } | ||
| 159 | else | ||
| 160 | { | ||
| 161 | // The non-physical children can come back to life. | ||
| 162 | BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | ||
| 163 | |||
| 164 | child.PhysBody.collisionType = CollisionType.LinksetChild; | ||
| 165 | |||
| 166 | // Don't force activation so setting of DISABLE_SIMULATION can stay if used. | ||
| 167 | BulletSimAPI.Activate2(child.PhysBody.ptr, false); | ||
| 168 | ret = true; | ||
| 169 | } | ||
| 170 | return ret; | ||
| 171 | } | ||
| 172 | |||
| 173 | public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) | ||
| 174 | { | ||
| 175 | // The user moving a child around requires the rebuilding of the linkset compound shape | ||
| 176 | // One problem is this happens when a border is crossed -- the simulator implementation | ||
| 177 | // is to store the position into the group which causes the move of the object | ||
| 178 | // but it also means all the child positions get updated. | ||
| 179 | // What would cause an unnecessary rebuild so we make sure the linkset is in a | ||
| 180 | // region before bothering to do a rebuild. | ||
| 181 | if (!IsRoot(updated) | ||
| 182 | && !physicalUpdate | ||
| 183 | && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) | ||
| 184 | { | ||
| 185 | updated.LinksetInfo = null; | ||
| 186 | ScheduleRebuild(updated); | ||
| 187 | } | ||
| 188 | } | ||
| 189 | |||
| 190 | // Routine called when rebuilding the body of some member of the linkset. | ||
| 191 | // Since we don't keep in world relationships, do nothing unless it's a child changing. | ||
| 192 | // Returns 'true' of something was actually removed and would need restoring | ||
| 193 | // Called at taint-time!! | ||
| 194 | public override bool RemoveBodyDependencies(BSPrim child) | ||
| 195 | { | ||
| 196 | bool ret = false; | ||
| 197 | |||
| 198 | DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", | ||
| 199 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child)); | ||
| 200 | |||
| 201 | if (!IsRoot(child)) | ||
| 202 | { | ||
| 203 | // Because it is a convenient time, recompute child world position and rotation based on | ||
| 204 | // its position in the linkset. | ||
| 205 | RecomputeChildWorldPosition(child, true); | ||
| 206 | } | ||
| 207 | |||
| 208 | // Cannot schedule a refresh/rebuild here because this routine is called when | ||
| 209 | // the linkset is being rebuilt. | ||
| 210 | // InternalRefresh(LinksetRoot); | ||
| 211 | |||
| 212 | return ret; | ||
| 213 | } | ||
| 214 | |||
| 215 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
| 216 | // this routine will restore the removed constraints. | ||
| 217 | // Called at taint-time!! | ||
| 218 | public override void RestoreBodyDependencies(BSPrim child) | ||
| 219 | { | ||
| 220 | } | ||
| 221 | |||
| 222 | // When the linkset is built, the child shape is added to the compound shape relative to the | ||
| 223 | // root shape. The linkset then moves around but this does not move the actual child | ||
| 224 | // prim. The child prim's location must be recomputed based on the location of the root shape. | ||
| 225 | private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) | ||
| 226 | { | ||
| 227 | BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; | ||
| 228 | if (lci != null) | ||
| 229 | { | ||
| 230 | if (inTaintTime) | ||
| 231 | { | ||
| 232 | OMV.Vector3 oldPos = child.RawPosition; | ||
| 233 | child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; | ||
| 234 | child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; | ||
| 235 | DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", | ||
| 236 | child.LocalID, oldPos, lci, child.RawPosition); | ||
| 237 | } | ||
| 238 | else | ||
| 239 | { | ||
| 240 | // TaintedObject is not used here so the raw position is set now and not at taint-time. | ||
| 241 | child.Position = LinksetRoot.RawPosition + lci.OffsetPos; | ||
| 242 | child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; | ||
| 243 | } | ||
| 244 | } | ||
| 245 | else | ||
| 246 | { | ||
| 247 | // This happens when children have been added to the linkset but the linkset | ||
| 248 | // has not been constructed yet. So like, at taint time, adding children to a linkset | ||
| 249 | // and then changing properties of the children (makePhysical, for instance) | ||
| 250 | // but the post-print action of actually rebuilding the linkset has not yet happened. | ||
| 251 | // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", | ||
| 252 | // LogHeader, child.LocalID); | ||
| 253 | DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); | ||
| 254 | } | ||
| 255 | } | ||
| 256 | |||
| 257 | // ================================================================ | ||
| 258 | |||
| 259 | // Add a new child to the linkset. | ||
| 260 | // Called while LinkActivity is locked. | ||
| 261 | protected override void AddChildToLinkset(BSPhysObject child) | ||
| 262 | { | ||
| 263 | if (!HasChild(child)) | ||
| 264 | { | ||
| 265 | m_children.Add(child); | ||
| 266 | |||
| 267 | DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); | ||
| 268 | |||
| 269 | // Rebuild the compound shape with the new child shape included | ||
| 270 | ScheduleRebuild(child); | ||
| 271 | } | ||
| 272 | return; | ||
| 273 | } | ||
| 274 | |||
| 275 | // Remove the specified child from the linkset. | ||
| 276 | // Safe to call even if the child is not really in the linkset. | ||
| 277 | protected override void RemoveChildFromLinkset(BSPhysObject child) | ||
| 278 | { | ||
| 279 | if (m_children.Remove(child)) | ||
| 280 | { | ||
| 281 | DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | ||
| 282 | child.LocalID, | ||
| 283 | LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), | ||
| 284 | child.LocalID, child.PhysBody.ptr.ToString()); | ||
| 285 | |||
| 286 | // Cause the child's body to be rebuilt and thus restored to normal operation | ||
| 287 | RecomputeChildWorldPosition(child, false); | ||
| 288 | child.ForceBodyShapeRebuild(false); | ||
| 289 | |||
| 290 | if (!HasAnyChildren) | ||
| 291 | { | ||
| 292 | // The linkset is now empty. The root needs rebuilding. | ||
| 293 | LinksetRoot.ForceBodyShapeRebuild(false); | ||
| 294 | } | ||
| 295 | else | ||
| 296 | { | ||
| 297 | // Rebuild the compound shape with the child removed | ||
| 298 | ScheduleRebuild(child); | ||
| 299 | } | ||
| 300 | } | ||
| 301 | return; | ||
| 302 | } | ||
| 303 | |||
| 304 | // Called before the simulation step to make sure the compound based linkset | ||
| 305 | // is all initialized. | ||
| 306 | // Constraint linksets are rebuilt every time. | ||
| 307 | // Note that this works for rebuilding just the root after a linkset is taken apart. | ||
| 308 | // Called at taint time!! | ||
| 309 | private void RecomputeLinksetCompound() | ||
| 310 | { | ||
| 311 | try | ||
| 312 | { | ||
| 313 | // Suppress rebuilding while rebuilding | ||
| 314 | Rebuilding = true; | ||
| 315 | |||
| 316 | // Cause the root shape to be rebuilt as a compound object with just the root in it | ||
| 317 | LinksetRoot.ForceBodyShapeRebuild(true); | ||
| 318 | |||
| 319 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", | ||
| 320 | LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); | ||
| 321 | |||
| 322 | // Add a shape for each of the other children in the linkset | ||
| 323 | ForEachMember(delegate(BSPhysObject cPrim) | ||
| 324 | { | ||
| 325 | if (!IsRoot(cPrim)) | ||
| 326 | { | ||
| 327 | // Compute the displacement of the child from the root of the linkset. | ||
| 328 | // This info is saved in the child prim so the relationship does not | ||
| 329 | // change over time and the new child position can be computed | ||
| 330 | // when the linkset is being disassembled (the linkset may have moved). | ||
| 331 | BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; | ||
| 332 | if (lci == null) | ||
| 333 | { | ||
| 334 | // Each child position and rotation is given relative to the root. | ||
| 335 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); | ||
| 336 | OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; | ||
| 337 | OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; | ||
| 338 | |||
| 339 | // Save relative position for recomputing child's world position after moving linkset. | ||
| 340 | lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); | ||
| 341 | cPrim.LinksetInfo = lci; | ||
| 342 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); | ||
| 343 | } | ||
| 344 | |||
| 345 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", | ||
| 346 | LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); | ||
| 347 | |||
| 348 | if (cPrim.PhysShape.isNativeShape) | ||
| 349 | { | ||
| 350 | // A native shape is turning into a hull collision shape because native | ||
| 351 | // shapes are not shared so we have to hullify it so it will be tracked | ||
| 352 | // and freed at the correct time. This also solves the scaling problem | ||
| 353 | // (native shapes scaled but hull/meshes are assumed to not be). | ||
| 354 | // TODO: decide of the native shape can just be used in the compound shape. | ||
| 355 | // Use call to CreateGeomNonSpecial(). | ||
| 356 | BulletShape saveShape = cPrim.PhysShape; | ||
| 357 | cPrim.PhysShape.Clear(); // Don't let the create free the child's shape | ||
| 358 | // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); | ||
| 359 | PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); | ||
| 360 | BulletShape newShape = cPrim.PhysShape; | ||
| 361 | cPrim.PhysShape = saveShape; | ||
| 362 | BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); | ||
| 363 | } | ||
| 364 | else | ||
| 365 | { | ||
| 366 | // For the shared shapes (meshes and hulls), just use the shape in the child. | ||
| 367 | // The reference count added here will be decremented when the compound shape | ||
| 368 | // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). | ||
| 369 | if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) | ||
| 370 | { | ||
| 371 | PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", | ||
| 372 | LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); | ||
| 373 | } | ||
| 374 | BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); | ||
| 375 | } | ||
| 376 | } | ||
| 377 | return false; // 'false' says to move onto the next child in the list | ||
| 378 | }); | ||
| 379 | |||
| 380 | // With all of the linkset packed into the root prim, it has the mass of everyone. | ||
| 381 | LinksetMass = LinksetMass; | ||
| 382 | LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); | ||
| 383 | } | ||
| 384 | finally | ||
| 385 | { | ||
| 386 | Rebuilding = false; | ||
| 387 | } | ||
| 388 | |||
| 389 | BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); | ||
| 390 | |||
| 391 | // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. | ||
| 392 | // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, | ||
| 393 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | ||
| 394 | |||
| 395 | } | ||
| 396 | } | ||
| 397 | } \ No newline at end of file | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs deleted file mode 100644 index 46ff99f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs +++ /dev/null | |||
| @@ -1,316 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OMV = OpenMetaverse; | ||
| 32 | |||
| 33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 34 | { | ||
| 35 | public sealed class BSLinksetConstraints : BSLinkset | ||
| 36 | { | ||
| 37 | // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; | ||
| 38 | |||
| 39 | public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent) | ||
| 40 | { | ||
| 41 | } | ||
| 42 | |||
| 43 | // When physical properties are changed the linkset needs to recalculate | ||
| 44 | // its internal properties. | ||
| 45 | // This is queued in the 'post taint' queue so the | ||
| 46 | // refresh will happen once after all the other taints are applied. | ||
| 47 | public override void Refresh(BSPhysObject requestor) | ||
| 48 | { | ||
| 49 | base.Refresh(requestor); | ||
| 50 | |||
| 51 | // Queue to happen after all the other taint processing | ||
| 52 | PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() | ||
| 53 | { | ||
| 54 | if (HasAnyChildren && IsRoot(requestor)) | ||
| 55 | RecomputeLinksetConstraints(); | ||
| 56 | }); | ||
| 57 | } | ||
| 58 | |||
| 59 | // The object is going dynamic (physical). Do any setup necessary | ||
| 60 | // for a dynamic linkset. | ||
| 61 | // Only the state of the passed object can be modified. The rest of the linkset | ||
| 62 | // has not yet been fully constructed. | ||
| 63 | // Return 'true' if any properties updated on the passed object. | ||
| 64 | // Called at taint-time! | ||
| 65 | public override bool MakeDynamic(BSPhysObject child) | ||
| 66 | { | ||
| 67 | // What is done for each object in BSPrim is what we want. | ||
| 68 | return false; | ||
| 69 | } | ||
| 70 | |||
| 71 | // The object is going static (non-physical). Do any setup necessary for a static linkset. | ||
| 72 | // Return 'true' if any properties updated on the passed object. | ||
| 73 | // This doesn't normally happen -- OpenSim removes the objects from the physical | ||
| 74 | // world if it is a static linkset. | ||
| 75 | // Called at taint-time! | ||
| 76 | public override bool MakeStatic(BSPhysObject child) | ||
| 77 | { | ||
| 78 | // What is done for each object in BSPrim is what we want. | ||
| 79 | return false; | ||
| 80 | } | ||
| 81 | |||
| 82 | // Called at taint-time!! | ||
| 83 | public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) | ||
| 84 | { | ||
| 85 | // Nothing to do for constraints on property updates | ||
| 86 | } | ||
| 87 | |||
| 88 | // Routine called when rebuilding the body of some member of the linkset. | ||
| 89 | // Destroy all the constraints have have been made to root and set | ||
| 90 | // up to rebuild the constraints before the next simulation step. | ||
| 91 | // Returns 'true' of something was actually removed and would need restoring | ||
| 92 | // Called at taint-time!! | ||
| 93 | public override bool RemoveBodyDependencies(BSPrim child) | ||
| 94 | { | ||
| 95 | bool ret = false; | ||
| 96 | |||
| 97 | DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", | ||
| 98 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString()); | ||
| 99 | |||
| 100 | lock (m_linksetActivityLock) | ||
| 101 | { | ||
| 102 | // Just undo all the constraints for this linkset. Rebuild at the end of the step. | ||
| 103 | ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); | ||
| 104 | // Cause the constraints, et al to be rebuilt before the next simulation step. | ||
| 105 | Refresh(LinksetRoot); | ||
| 106 | } | ||
| 107 | return ret; | ||
| 108 | } | ||
| 109 | |||
| 110 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
| 111 | // this routine will restore the removed constraints. | ||
| 112 | // Called at taint-time!! | ||
| 113 | public override void RestoreBodyDependencies(BSPrim child) | ||
| 114 | { | ||
| 115 | // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. | ||
| 116 | } | ||
| 117 | |||
| 118 | // ================================================================ | ||
| 119 | |||
| 120 | // Add a new child to the linkset. | ||
| 121 | // Called while LinkActivity is locked. | ||
| 122 | protected override void AddChildToLinkset(BSPhysObject child) | ||
| 123 | { | ||
| 124 | if (!HasChild(child)) | ||
| 125 | { | ||
| 126 | m_children.Add(child); | ||
| 127 | |||
| 128 | DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); | ||
| 129 | |||
| 130 | // Cause constraints and assorted properties to be recomputed before the next simulation step. | ||
| 131 | Refresh(LinksetRoot); | ||
| 132 | } | ||
| 133 | return; | ||
| 134 | } | ||
| 135 | |||
| 136 | // Remove the specified child from the linkset. | ||
| 137 | // Safe to call even if the child is not really in my linkset. | ||
| 138 | protected override void RemoveChildFromLinkset(BSPhysObject child) | ||
| 139 | { | ||
| 140 | if (m_children.Remove(child)) | ||
| 141 | { | ||
| 142 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now | ||
| 143 | BSPhysObject childx = child; | ||
| 144 | |||
| 145 | DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | ||
| 146 | childx.LocalID, | ||
| 147 | rootx.LocalID, rootx.PhysBody.ptr.ToString(), | ||
| 148 | childx.LocalID, childx.PhysBody.ptr.ToString()); | ||
| 149 | |||
| 150 | PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() | ||
| 151 | { | ||
| 152 | PhysicallyUnlinkAChildFromRoot(rootx, childx); | ||
| 153 | }); | ||
| 154 | // See that the linkset parameters are recomputed at the end of the taint time. | ||
| 155 | Refresh(LinksetRoot); | ||
| 156 | } | ||
| 157 | else | ||
| 158 | { | ||
| 159 | // Non-fatal occurance. | ||
| 160 | // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); | ||
| 161 | } | ||
| 162 | return; | ||
| 163 | } | ||
| 164 | |||
| 165 | // Create a constraint between me (root of linkset) and the passed prim (the child). | ||
| 166 | // Called at taint time! | ||
| 167 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
| 168 | { | ||
| 169 | // Don't build the constraint when asked. Put it off until just before the simulation step. | ||
| 170 | Refresh(rootPrim); | ||
| 171 | } | ||
| 172 | |||
| 173 | private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
| 174 | { | ||
| 175 | // Zero motion for children so they don't interpolate | ||
| 176 | childPrim.ZeroMotion(true); | ||
| 177 | |||
| 178 | // Relative position normalized to the root prim | ||
| 179 | // Essentually a vector pointing from center of rootPrim to center of childPrim | ||
| 180 | OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; | ||
| 181 | |||
| 182 | // real world coordinate of midpoint between the two objects | ||
| 183 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); | ||
| 184 | |||
| 185 | DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", | ||
| 186 | rootPrim.LocalID, | ||
| 187 | rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(), | ||
| 188 | childPrim.LocalID, childPrim.PhysBody.ptr.ToString(), | ||
| 189 | rootPrim.Position, childPrim.Position, midPoint); | ||
| 190 | |||
| 191 | // create a constraint that allows no freedom of movement between the two objects | ||
| 192 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | ||
| 193 | |||
| 194 | BSConstraint6Dof constrain = new BSConstraint6Dof( | ||
| 195 | PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); | ||
| 196 | // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); | ||
| 197 | |||
| 198 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. | ||
| 199 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms | ||
| 200 | * of the objects. | ||
| 201 | * Code left for future programmers. | ||
| 202 | // ================================================================================== | ||
| 203 | // relative position normalized to the root prim | ||
| 204 | OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); | ||
| 205 | OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; | ||
| 206 | |||
| 207 | // relative rotation of the child to the parent | ||
| 208 | OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; | ||
| 209 | OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); | ||
| 210 | |||
| 211 | DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); | ||
| 212 | BS6DofConstraint constrain = new BS6DofConstraint( | ||
| 213 | PhysicsScene.World, rootPrim.Body, childPrim.Body, | ||
| 214 | OMV.Vector3.Zero, | ||
| 215 | OMV.Quaternion.Inverse(rootPrim.Orientation), | ||
| 216 | OMV.Vector3.Zero, | ||
| 217 | OMV.Quaternion.Inverse(childPrim.Orientation), | ||
| 218 | true, | ||
| 219 | true | ||
| 220 | ); | ||
| 221 | // ================================================================================== | ||
| 222 | */ | ||
| 223 | |||
| 224 | PhysicsScene.Constraints.AddConstraint(constrain); | ||
| 225 | |||
| 226 | // zero linear and angular limits makes the objects unable to move in relation to each other | ||
| 227 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
| 228 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
| 229 | |||
| 230 | // tweek the constraint to increase stability | ||
| 231 | constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset)); | ||
| 232 | constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor), | ||
| 233 | BSParam.LinkConstraintTransMotorMaxVel, | ||
| 234 | BSParam.LinkConstraintTransMotorMaxForce); | ||
| 235 | constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP); | ||
| 236 | if (BSParam.LinkConstraintSolverIterations != 0f) | ||
| 237 | { | ||
| 238 | constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations); | ||
| 239 | } | ||
| 240 | return constrain; | ||
| 241 | } | ||
| 242 | |||
| 243 | // Remove linkage between the linkset root and a particular child | ||
| 244 | // The root and child bodies are passed in because we need to remove the constraint between | ||
| 245 | // the bodies that were present at unlink time. | ||
| 246 | // Called at taint time! | ||
| 247 | private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
| 248 | { | ||
| 249 | bool ret = false; | ||
| 250 | DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", | ||
| 251 | rootPrim.LocalID, | ||
| 252 | rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(), | ||
| 253 | childPrim.LocalID, childPrim.PhysBody.ptr.ToString()); | ||
| 254 | |||
| 255 | // Find the constraint for this link and get rid of it from the overall collection and from my list | ||
| 256 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) | ||
| 257 | { | ||
| 258 | // Make the child refresh its location | ||
| 259 | BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); | ||
| 260 | ret = true; | ||
| 261 | } | ||
| 262 | |||
| 263 | return ret; | ||
| 264 | } | ||
| 265 | |||
| 266 | // Remove linkage between myself and any possible children I might have. | ||
| 267 | // Returns 'true' of any constraints were destroyed. | ||
| 268 | // Called at taint time! | ||
| 269 | private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) | ||
| 270 | { | ||
| 271 | DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); | ||
| 272 | |||
| 273 | return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); | ||
| 274 | } | ||
| 275 | |||
| 276 | // Call each of the constraints that make up this linkset and recompute the | ||
| 277 | // various transforms and variables. Create constraints of not created yet. | ||
| 278 | // Called before the simulation step to make sure the constraint based linkset | ||
| 279 | // is all initialized. | ||
| 280 | // Called at taint time!! | ||
| 281 | private void RecomputeLinksetConstraints() | ||
| 282 | { | ||
| 283 | float linksetMass = LinksetMass; | ||
| 284 | LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); | ||
| 285 | |||
| 286 | // DEBUG: see of inter-linkset collisions are causing problems | ||
| 287 | // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, | ||
| 288 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | ||
| 289 | DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", | ||
| 290 | LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), linksetMass); | ||
| 291 | |||
| 292 | foreach (BSPhysObject child in m_children) | ||
| 293 | { | ||
| 294 | // A child in the linkset physically shows the mass of the whole linkset. | ||
| 295 | // This allows Bullet to apply enough force on the child to move the whole linkset. | ||
| 296 | // (Also do the mass stuff before recomputing the constraint so mass is not zero.) | ||
| 297 | child.UpdatePhysicalMassProperties(linksetMass, true); | ||
| 298 | |||
| 299 | BSConstraint constrain; | ||
| 300 | if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) | ||
| 301 | { | ||
| 302 | // If constraint doesn't exist yet, create it. | ||
| 303 | constrain = BuildConstraint(LinksetRoot, child); | ||
| 304 | } | ||
| 305 | constrain.RecomputeConstraintVariables(linksetMass); | ||
| 306 | |||
| 307 | // DEBUG: see of inter-linkset collisions are causing problems | ||
| 308 | // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, | ||
| 309 | // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); | ||
| 310 | |||
| 311 | // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG | ||
| 312 | } | ||
| 313 | |||
| 314 | } | ||
| 315 | } | ||
| 316 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs deleted file mode 100644 index d7941b6..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs +++ /dev/null | |||
| @@ -1,200 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using System.Reflection; | ||
| 31 | using Nini.Config; | ||
| 32 | |||
| 33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 34 | { | ||
| 35 | |||
| 36 | public struct MaterialAttributes | ||
| 37 | { | ||
| 38 | // Material type values that correspond with definitions for LSL | ||
| 39 | public enum Material : int | ||
| 40 | { | ||
| 41 | Stone = 0, | ||
| 42 | Metal, | ||
| 43 | Glass, | ||
| 44 | Wood, | ||
| 45 | Flesh, | ||
| 46 | Plastic, | ||
| 47 | Rubber, | ||
| 48 | Light, | ||
| 49 | // Hereafter are BulletSim additions | ||
| 50 | Avatar, | ||
| 51 | NumberOfTypes // the count of types in the enum. | ||
| 52 | } | ||
| 53 | |||
| 54 | // Names must be in the order of the above enum. | ||
| 55 | // These names must coorespond to the lower case field names in the MaterialAttributes | ||
| 56 | // structure as reflection is used to select the field to put the value in. | ||
| 57 | public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"}; | ||
| 58 | |||
| 59 | public MaterialAttributes(string t, float d, float f, float r) | ||
| 60 | { | ||
| 61 | type = t; | ||
| 62 | density = d; | ||
| 63 | friction = f; | ||
| 64 | restitution = r; | ||
| 65 | } | ||
| 66 | public string type; | ||
| 67 | public float density; | ||
| 68 | public float friction; | ||
| 69 | public float restitution; | ||
| 70 | } | ||
| 71 | |||
| 72 | public static class BSMaterials | ||
| 73 | { | ||
| 74 | // Attributes for each material type | ||
| 75 | private static readonly MaterialAttributes[] Attributes; | ||
| 76 | |||
| 77 | // Map of material name to material type code | ||
| 78 | public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap; | ||
| 79 | |||
| 80 | static BSMaterials() | ||
| 81 | { | ||
| 82 | // Attribute sets for both the non-physical and physical instances of materials. | ||
| 83 | Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; | ||
| 84 | |||
| 85 | // Map of name to type code. | ||
| 86 | MaterialMap = new Dictionary<string, MaterialAttributes.Material>(); | ||
| 87 | MaterialMap.Add("Stone", MaterialAttributes.Material.Stone); | ||
| 88 | MaterialMap.Add("Metal", MaterialAttributes.Material.Metal); | ||
| 89 | MaterialMap.Add("Glass", MaterialAttributes.Material.Glass); | ||
| 90 | MaterialMap.Add("Wood", MaterialAttributes.Material.Wood); | ||
| 91 | MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh); | ||
| 92 | MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic); | ||
| 93 | MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber); | ||
| 94 | MaterialMap.Add("Light", MaterialAttributes.Material.Light); | ||
| 95 | MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar); | ||
| 96 | } | ||
| 97 | |||
| 98 | // This is where all the default material attributes are defined. | ||
| 99 | public static void InitializeFromDefaults(ConfigurationParameters parms) | ||
| 100 | { | ||
| 101 | // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL | ||
| 102 | float dDensity = parms.defaultDensity; | ||
| 103 | float dFriction = parms.defaultFriction; | ||
| 104 | float dRestitution = parms.defaultRestitution; | ||
| 105 | Attributes[(int)MaterialAttributes.Material.Stone] = | ||
| 106 | new MaterialAttributes("stone",dDensity, 0.8f, 0.4f); | ||
| 107 | Attributes[(int)MaterialAttributes.Material.Metal] = | ||
| 108 | new MaterialAttributes("metal",dDensity, 0.3f, 0.4f); | ||
| 109 | Attributes[(int)MaterialAttributes.Material.Glass] = | ||
| 110 | new MaterialAttributes("glass",dDensity, 0.2f, 0.7f); | ||
| 111 | Attributes[(int)MaterialAttributes.Material.Wood] = | ||
| 112 | new MaterialAttributes("wood",dDensity, 0.6f, 0.5f); | ||
| 113 | Attributes[(int)MaterialAttributes.Material.Flesh] = | ||
| 114 | new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f); | ||
| 115 | Attributes[(int)MaterialAttributes.Material.Plastic] = | ||
| 116 | new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f); | ||
| 117 | Attributes[(int)MaterialAttributes.Material.Rubber] = | ||
| 118 | new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f); | ||
| 119 | Attributes[(int)MaterialAttributes.Material.Light] = | ||
| 120 | new MaterialAttributes("light",dDensity, dFriction, dRestitution); | ||
| 121 | Attributes[(int)MaterialAttributes.Material.Avatar] = | ||
| 122 | new MaterialAttributes("avatar",3.5f, 0.2f, 0f); | ||
| 123 | |||
| 124 | Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 125 | new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); | ||
| 126 | Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 127 | new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f); | ||
| 128 | Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 129 | new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f); | ||
| 130 | Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 131 | new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f); | ||
| 132 | Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 133 | new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f); | ||
| 134 | Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 135 | new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f); | ||
| 136 | Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 137 | new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f); | ||
| 138 | Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 139 | new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); | ||
| 140 | Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = | ||
| 141 | new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f); | ||
| 142 | } | ||
| 143 | |||
| 144 | // Under the [BulletSim] section, one can change the individual material | ||
| 145 | // attribute values. The format of the configuration parameter is: | ||
| 146 | // <materialName><Attribute>["Physical"] = floatValue | ||
| 147 | // For instance: | ||
| 148 | // [BulletSim] | ||
| 149 | // StoneFriction = 0.2 | ||
| 150 | // FleshRestitutionPhysical = 0.8 | ||
| 151 | // Materials can have different parameters for their static and | ||
| 152 | // physical instantiations. When setting the non-physical value, | ||
| 153 | // both values are changed. Setting the physical value only changes | ||
| 154 | // the physical value. | ||
| 155 | public static void InitializefromParameters(IConfig pConfig) | ||
| 156 | { | ||
| 157 | foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap) | ||
| 158 | { | ||
| 159 | string matName = kvp.Key; | ||
| 160 | foreach (string attribName in MaterialAttributes.MaterialAttribs) | ||
| 161 | { | ||
| 162 | string paramName = matName + attribName; | ||
| 163 | if (pConfig.Contains(paramName)) | ||
| 164 | { | ||
| 165 | float paramValue = pConfig.GetFloat(paramName); | ||
| 166 | SetAttributeValue((int)kvp.Value, attribName, paramValue); | ||
| 167 | // set the physical value also | ||
| 168 | SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); | ||
| 169 | } | ||
| 170 | paramName += "Physical"; | ||
| 171 | if (pConfig.Contains(paramName)) | ||
| 172 | { | ||
| 173 | float paramValue = pConfig.GetFloat(paramName); | ||
| 174 | SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); | ||
| 175 | } | ||
| 176 | } | ||
| 177 | } | ||
| 178 | } | ||
| 179 | |||
| 180 | // Use reflection to set the value in the attribute structure. | ||
| 181 | private static void SetAttributeValue(int matType, string attribName, float val) | ||
| 182 | { | ||
| 183 | MaterialAttributes thisAttrib = Attributes[matType]; | ||
| 184 | FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower()); | ||
| 185 | if (fieldInfo != null) | ||
| 186 | { | ||
| 187 | fieldInfo.SetValue(thisAttrib, val); | ||
| 188 | Attributes[matType] = thisAttrib; | ||
| 189 | } | ||
| 190 | } | ||
| 191 | |||
| 192 | // Given a material type, return a structure of attributes. | ||
| 193 | public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) | ||
| 194 | { | ||
| 195 | int ind = (int)type; | ||
| 196 | if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes; | ||
| 197 | return Attributes[ind]; | ||
| 198 | } | ||
| 199 | } | ||
| 200 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs deleted file mode 100644 index 7abc9b2..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs +++ /dev/null | |||
| @@ -1,347 +0,0 @@ | |||
| 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 | using System; | ||
| 29 | using System.Collections.Generic; | ||
| 30 | using System.Text; | ||
| 31 | using OpenMetaverse; | ||
| 32 | using OpenSim.Framework; | ||
| 33 | |||
| 34 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 35 | { | ||
| 36 | public abstract class BSMotor | ||
| 37 | { | ||
| 38 | // Timescales and other things can be turned off by setting them to 'infinite'. | ||
| 39 | public const float Infinite = 12345.6f; | ||
| 40 | public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); | ||
| 41 | |||
| 42 | public BSMotor(string useName) | ||
| 43 | { | ||
| 44 | UseName = useName; | ||
| 45 | PhysicsScene = null; | ||
| 46 | Enabled = true; | ||
| 47 | } | ||
| 48 | public virtual bool Enabled { get; set; } | ||
| 49 | public virtual void Reset() { } | ||
| 50 | public virtual void Zero() { } | ||
| 51 | public virtual void GenerateTestOutput(float timeStep) { } | ||
| 52 | |||
| 53 | // A name passed at motor creation for easily identifyable debugging messages. | ||
| 54 | public string UseName { get; private set; } | ||
| 55 | |||
| 56 | // Used only for outputting debug information. Might not be set so check for null. | ||
| 57 | public BSScene PhysicsScene { get; set; } | ||
| 58 | protected void MDetailLog(string msg, params Object[] parms) | ||
| 59 | { | ||
| 60 | if (PhysicsScene != null) | ||
| 61 | { | ||
| 62 | if (PhysicsScene.VehicleLoggingEnabled) | ||
| 63 | { | ||
| 64 | PhysicsScene.DetailLog(msg, parms); | ||
| 65 | } | ||
| 66 | } | ||
| 67 | } | ||
| 68 | } | ||
| 69 | |||
| 70 | // Motor which moves CurrentValue to TargetValue over TimeScale seconds. | ||
| 71 | // The TargetValue decays in TargetValueDecayTimeScale and | ||
| 72 | // the CurrentValue will be held back by FrictionTimeScale. | ||
| 73 | // This motor will "zero itself" over time in that the targetValue will | ||
| 74 | // decay to zero and the currentValue will follow it to that zero. | ||
| 75 | // The overall effect is for the returned correction value to go from large | ||
| 76 | // values (the total difference between current and target minus friction) | ||
| 77 | // to small and eventually zero values. | ||
| 78 | // TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay. | ||
| 79 | |||
| 80 | // For instance, if something is moving at speed X and the desired speed is Y, | ||
| 81 | // CurrentValue is X and TargetValue is Y. As the motor is stepped, new | ||
| 82 | // values of CurrentValue are returned that approach the TargetValue. | ||
| 83 | // The feature of decaying TargetValue is so vehicles will eventually | ||
| 84 | // come to a stop rather than run forever. This can be disabled by | ||
| 85 | // setting TargetValueDecayTimescale to 'infinite'. | ||
| 86 | // The change from CurrentValue to TargetValue is linear over TimeScale seconds. | ||
| 87 | public class BSVMotor : BSMotor | ||
| 88 | { | ||
| 89 | // public Vector3 FrameOfReference { get; set; } | ||
| 90 | // public Vector3 Offset { get; set; } | ||
| 91 | |||
| 92 | public virtual float TimeScale { get; set; } | ||
| 93 | public virtual float TargetValueDecayTimeScale { get; set; } | ||
| 94 | public virtual Vector3 FrictionTimescale { get; set; } | ||
| 95 | public virtual float Efficiency { get; set; } | ||
| 96 | |||
| 97 | public virtual float ErrorZeroThreshold { get; set; } | ||
| 98 | |||
| 99 | public virtual Vector3 TargetValue { get; protected set; } | ||
| 100 | public virtual Vector3 CurrentValue { get; protected set; } | ||
| 101 | public virtual Vector3 LastError { get; protected set; } | ||
| 102 | |||
| 103 | public virtual bool ErrorIsZero | ||
| 104 | { get { | ||
| 105 | return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold); | ||
| 106 | } | ||
| 107 | } | ||
| 108 | |||
| 109 | public BSVMotor(string useName) | ||
| 110 | : base(useName) | ||
| 111 | { | ||
| 112 | TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; | ||
| 113 | Efficiency = 1f; | ||
| 114 | FrictionTimescale = BSMotor.InfiniteVector; | ||
| 115 | CurrentValue = TargetValue = Vector3.Zero; | ||
| 116 | ErrorZeroThreshold = 0.001f; | ||
| 117 | } | ||
| 118 | public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) | ||
| 119 | : this(useName) | ||
| 120 | { | ||
| 121 | TimeScale = timeScale; | ||
| 122 | TargetValueDecayTimeScale = decayTimeScale; | ||
| 123 | FrictionTimescale = frictionTimeScale; | ||
| 124 | Efficiency = efficiency; | ||
| 125 | CurrentValue = TargetValue = Vector3.Zero; | ||
| 126 | } | ||
| 127 | public void SetCurrent(Vector3 current) | ||
| 128 | { | ||
| 129 | CurrentValue = current; | ||
| 130 | } | ||
| 131 | public void SetTarget(Vector3 target) | ||
| 132 | { | ||
| 133 | TargetValue = target; | ||
| 134 | } | ||
| 135 | public override void Zero() | ||
| 136 | { | ||
| 137 | base.Zero(); | ||
| 138 | CurrentValue = TargetValue = Vector3.Zero; | ||
| 139 | } | ||
| 140 | |||
| 141 | // Compute the next step and return the new current value | ||
| 142 | public virtual Vector3 Step(float timeStep) | ||
| 143 | { | ||
| 144 | if (!Enabled) return TargetValue; | ||
| 145 | |||
| 146 | Vector3 origTarget = TargetValue; // DEBUG | ||
| 147 | Vector3 origCurrVal = CurrentValue; // DEBUG | ||
| 148 | |||
| 149 | Vector3 correction = Vector3.Zero; | ||
| 150 | Vector3 error = TargetValue - CurrentValue; | ||
| 151 | if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) | ||
| 152 | { | ||
| 153 | correction = Step(timeStep, error); | ||
| 154 | |||
| 155 | CurrentValue += correction; | ||
| 156 | |||
| 157 | // The desired value reduces to zero which also reduces the difference with current. | ||
| 158 | // If the decay time is infinite, don't decay at all. | ||
| 159 | float decayFactor = 0f; | ||
| 160 | if (TargetValueDecayTimeScale != BSMotor.Infinite) | ||
| 161 | { | ||
| 162 | decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; | ||
| 163 | TargetValue *= (1f - decayFactor); | ||
| 164 | } | ||
| 165 | |||
| 166 | // The amount we can correct the error is reduced by the friction | ||
| 167 | Vector3 frictionFactor = Vector3.Zero; | ||
| 168 | if (FrictionTimescale != BSMotor.InfiniteVector) | ||
| 169 | { | ||
| 170 | // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; | ||
| 171 | // Individual friction components can be 'infinite' so compute each separately. | ||
| 172 | frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X); | ||
| 173 | frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y); | ||
| 174 | frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z); | ||
| 175 | frictionFactor *= timeStep; | ||
| 176 | CurrentValue *= (Vector3.One - frictionFactor); | ||
| 177 | } | ||
| 178 | |||
| 179 | MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", | ||
| 180 | BSScene.DetailLogZero, UseName, origCurrVal, origTarget, | ||
| 181 | timeStep, error, correction); | ||
| 182 | MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", | ||
| 183 | BSScene.DetailLogZero, UseName, | ||
| 184 | TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor, | ||
| 185 | TargetValue, CurrentValue); | ||
| 186 | } | ||
| 187 | else | ||
| 188 | { | ||
| 189 | // Difference between what we have and target is small. Motor is done. | ||
| 190 | CurrentValue = TargetValue; | ||
| 191 | MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", | ||
| 192 | BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); | ||
| 193 | } | ||
| 194 | |||
| 195 | return CurrentValue; | ||
| 196 | } | ||
| 197 | public virtual Vector3 Step(float timeStep, Vector3 error) | ||
| 198 | { | ||
| 199 | if (!Enabled) return Vector3.Zero; | ||
| 200 | |||
| 201 | LastError = error; | ||
| 202 | Vector3 returnCorrection = Vector3.Zero; | ||
| 203 | if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) | ||
| 204 | { | ||
| 205 | // correction = error / secondsItShouldTakeToCorrect | ||
| 206 | Vector3 correctionAmount; | ||
| 207 | if (TimeScale == 0f || TimeScale == BSMotor.Infinite) | ||
| 208 | correctionAmount = error * timeStep; | ||
| 209 | else | ||
| 210 | correctionAmount = error / TimeScale * timeStep; | ||
| 211 | |||
| 212 | returnCorrection = correctionAmount; | ||
| 213 | MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}", | ||
| 214 | BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount); | ||
| 215 | } | ||
| 216 | return returnCorrection; | ||
| 217 | } | ||
| 218 | |||
| 219 | // The user sets all the parameters and calls this which outputs values until error is zero. | ||
| 220 | public override void GenerateTestOutput(float timeStep) | ||
| 221 | { | ||
| 222 | // maximum number of outputs to generate. | ||
| 223 | int maxOutput = 50; | ||
| 224 | MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); | ||
| 225 | MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", | ||
| 226 | BSScene.DetailLogZero, UseName, | ||
| 227 | TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, | ||
| 228 | CurrentValue, TargetValue); | ||
| 229 | |||
| 230 | LastError = BSMotor.InfiniteVector; | ||
| 231 | while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) | ||
| 232 | { | ||
| 233 | Vector3 lastStep = Step(timeStep); | ||
| 234 | MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", | ||
| 235 | BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep); | ||
| 236 | } | ||
| 237 | MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName); | ||
| 238 | |||
| 239 | |||
| 240 | } | ||
| 241 | |||
| 242 | public override string ToString() | ||
| 243 | { | ||
| 244 | return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", | ||
| 245 | UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); | ||
| 246 | } | ||
| 247 | } | ||
| 248 | |||
| 249 | public class BSFMotor : BSMotor | ||
| 250 | { | ||
| 251 | public float TimeScale { get; set; } | ||
| 252 | public float DecayTimeScale { get; set; } | ||
| 253 | public float Friction { get; set; } | ||
| 254 | public float Efficiency { get; set; } | ||
| 255 | |||
| 256 | public float Target { get; private set; } | ||
| 257 | public float CurrentValue { get; private set; } | ||
| 258 | |||
| 259 | public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) | ||
| 260 | : base(useName) | ||
| 261 | { | ||
| 262 | } | ||
| 263 | public void SetCurrent(float target) | ||
| 264 | { | ||
| 265 | } | ||
| 266 | public void SetTarget(float target) | ||
| 267 | { | ||
| 268 | } | ||
| 269 | public virtual float Step(float timeStep) | ||
| 270 | { | ||
| 271 | return 0f; | ||
| 272 | } | ||
| 273 | } | ||
| 274 | |||
| 275 | // Proportional, Integral, Derivitive Motor | ||
| 276 | // Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. | ||
| 277 | public class BSPIDVMotor : BSVMotor | ||
| 278 | { | ||
| 279 | // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10. | ||
| 280 | public Vector3 proportionFactor { get; set; } | ||
| 281 | public Vector3 integralFactor { get; set; } | ||
| 282 | public Vector3 derivFactor { get; set; } | ||
| 283 | |||
| 284 | // Arbritrary factor range. | ||
| 285 | // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct. | ||
| 286 | public float EfficiencyHigh = 0.4f; | ||
| 287 | public float EfficiencyLow = 4.0f; | ||
| 288 | |||
| 289 | // Running integration of the error | ||
| 290 | Vector3 RunningIntegration { get; set; } | ||
| 291 | |||
| 292 | public BSPIDVMotor(string useName) | ||
| 293 | : base(useName) | ||
| 294 | { | ||
| 295 | proportionFactor = new Vector3(1.00f, 1.00f, 1.00f); | ||
| 296 | integralFactor = new Vector3(1.00f, 1.00f, 1.00f); | ||
| 297 | derivFactor = new Vector3(1.00f, 1.00f, 1.00f); | ||
| 298 | RunningIntegration = Vector3.Zero; | ||
| 299 | LastError = Vector3.Zero; | ||
| 300 | } | ||
| 301 | |||
| 302 | public override void Zero() | ||
| 303 | { | ||
| 304 | base.Zero(); | ||
| 305 | } | ||
| 306 | |||
| 307 | public override float Efficiency | ||
| 308 | { | ||
| 309 | get { return base.Efficiency; } | ||
| 310 | set | ||
| 311 | { | ||
| 312 | base.Efficiency = Util.Clamp(value, 0f, 1f); | ||
| 313 | // Compute factors based on efficiency. | ||
| 314 | // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. | ||
| 315 | // If efficiency is low (0f), use a factor value that overcorrects. | ||
| 316 | // TODO: might want to vary contribution of different factor depending on efficiency. | ||
| 317 | float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; | ||
| 318 | // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; | ||
| 319 | proportionFactor = new Vector3(factor, factor, factor); | ||
| 320 | integralFactor = new Vector3(factor, factor, factor); | ||
| 321 | derivFactor = new Vector3(factor, factor, factor); | ||
| 322 | } | ||
| 323 | } | ||
| 324 | |||
| 325 | // Ignore Current and Target Values and just advance the PID computation on this error. | ||
| 326 | public override Vector3 Step(float timeStep, Vector3 error) | ||
| 327 | { | ||
| 328 | if (!Enabled) return Vector3.Zero; | ||
| 329 | |||
| 330 | // Add up the error so we can integrate over the accumulated errors | ||
| 331 | RunningIntegration += error * timeStep; | ||
| 332 | |||
| 333 | // A simple derivitive is the rate of change from the last error. | ||
| 334 | Vector3 derivFactor = (error - LastError) * timeStep; | ||
| 335 | LastError = error; | ||
| 336 | |||
| 337 | // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) | ||
| 338 | Vector3 ret = -( | ||
| 339 | error * proportionFactor | ||
| 340 | + RunningIntegration * integralFactor | ||
| 341 | + derivFactor * derivFactor | ||
| 342 | ); | ||
| 343 | |||
| 344 | return ret; | ||
| 345 | } | ||
| 346 | } | ||
| 347 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs deleted file mode 100644 index 5e93a03..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs +++ /dev/null | |||
| @@ -1,559 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OpenSim.Region.Physics.Manager; | ||
| 32 | |||
| 33 | using OpenMetaverse; | ||
| 34 | using Nini.Config; | ||
| 35 | |||
| 36 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 37 | { | ||
| 38 | public static class BSParam | ||
| 39 | { | ||
| 40 | // Level of Detail values kept as float because that's what the Meshmerizer wants | ||
| 41 | public static float MeshLOD { get; private set; } | ||
| 42 | public static float MeshMegaPrimLOD { get; private set; } | ||
| 43 | public static float MeshMegaPrimThreshold { get; private set; } | ||
| 44 | public static float SculptLOD { get; private set; } | ||
| 45 | |||
| 46 | public static float MinimumObjectMass { get; private set; } | ||
| 47 | public static float MaximumObjectMass { get; private set; } | ||
| 48 | |||
| 49 | public static float LinearDamping { get; private set; } | ||
| 50 | public static float AngularDamping { get; private set; } | ||
| 51 | public static float DeactivationTime { get; private set; } | ||
| 52 | public static float LinearSleepingThreshold { get; private set; } | ||
| 53 | public static float AngularSleepingThreshold { get; private set; } | ||
| 54 | public static float CcdMotionThreshold { get; private set; } | ||
| 55 | public static float CcdSweptSphereRadius { get; private set; } | ||
| 56 | public static float ContactProcessingThreshold { get; private set; } | ||
| 57 | |||
| 58 | public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed | ||
| 59 | public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes | ||
| 60 | public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects | ||
| 61 | |||
| 62 | public static float TerrainImplementation { get; private set; } | ||
| 63 | public static float TerrainFriction { get; private set; } | ||
| 64 | public static float TerrainHitFraction { get; private set; } | ||
| 65 | public static float TerrainRestitution { get; private set; } | ||
| 66 | public static float TerrainCollisionMargin { get; private set; } | ||
| 67 | |||
| 68 | // Avatar parameters | ||
| 69 | public static float AvatarFriction { get; private set; } | ||
| 70 | public static float AvatarStandingFriction { get; private set; } | ||
| 71 | public static float AvatarDensity { get; private set; } | ||
| 72 | public static float AvatarRestitution { get; private set; } | ||
| 73 | public static float AvatarCapsuleWidth { get; private set; } | ||
| 74 | public static float AvatarCapsuleDepth { get; private set; } | ||
| 75 | public static float AvatarCapsuleHeight { get; private set; } | ||
| 76 | public static float AvatarContactProcessingThreshold { get; private set; } | ||
| 77 | |||
| 78 | public static float VehicleAngularDamping { get; private set; } | ||
| 79 | |||
| 80 | public static float LinksetImplementation { get; private set; } | ||
| 81 | public static float LinkConstraintUseFrameOffset { get; private set; } | ||
| 82 | public static float LinkConstraintEnableTransMotor { get; private set; } | ||
| 83 | public static float LinkConstraintTransMotorMaxVel { get; private set; } | ||
| 84 | public static float LinkConstraintTransMotorMaxForce { get; private set; } | ||
| 85 | public static float LinkConstraintERP { get; private set; } | ||
| 86 | public static float LinkConstraintCFM { get; private set; } | ||
| 87 | public static float LinkConstraintSolverIterations { get; private set; } | ||
| 88 | |||
| 89 | public static float PID_D { get; private set; } // derivative | ||
| 90 | public static float PID_P { get; private set; } // proportional | ||
| 91 | |||
| 92 | public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); | ||
| 93 | public delegate float ParamGet(BSScene scene); | ||
| 94 | public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); | ||
| 95 | public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); | ||
| 96 | |||
| 97 | public struct ParameterDefn | ||
| 98 | { | ||
| 99 | public string name; // string name of the parameter | ||
| 100 | public string desc; // a short description of what the parameter means | ||
| 101 | public float defaultValue; // default value if not specified anywhere else | ||
| 102 | public ParamUser userParam; // get the value from the configuration file | ||
| 103 | public ParamGet getter; // return the current value stored for this parameter | ||
| 104 | public ParamSet setter; // set the current value for this parameter | ||
| 105 | public SetOnObject onObject; // set the value on an object in the physical domain | ||
| 106 | public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) | ||
| 107 | { | ||
| 108 | name = n; | ||
| 109 | desc = d; | ||
| 110 | defaultValue = v; | ||
| 111 | userParam = u; | ||
| 112 | getter = g; | ||
| 113 | setter = s; | ||
| 114 | onObject = null; | ||
| 115 | } | ||
| 116 | public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) | ||
| 117 | { | ||
| 118 | name = n; | ||
| 119 | desc = d; | ||
| 120 | defaultValue = v; | ||
| 121 | userParam = u; | ||
| 122 | getter = g; | ||
| 123 | setter = s; | ||
| 124 | onObject = o; | ||
| 125 | } | ||
| 126 | } | ||
| 127 | |||
| 128 | // List of all of the externally visible parameters. | ||
| 129 | // For each parameter, this table maps a text name to getter and setters. | ||
| 130 | // To add a new externally referencable/settable parameter, add the paramter storage | ||
| 131 | // location somewhere in the program and make an entry in this table with the | ||
| 132 | // getters and setters. | ||
| 133 | // It is easiest to find an existing definition and copy it. | ||
| 134 | // Parameter values are floats. Booleans are converted to a floating value. | ||
| 135 | // | ||
| 136 | // A ParameterDefn() takes the following parameters: | ||
| 137 | // -- the text name of the parameter. This is used for console input and ini file. | ||
| 138 | // -- a short text description of the parameter. This shows up in the console listing. | ||
| 139 | // -- a default value (float) | ||
| 140 | // -- a delegate for fetching the parameter from the ini file. | ||
| 141 | // Should handle fetching the right type from the ini file and converting it. | ||
| 142 | // -- a delegate for getting the value as a float | ||
| 143 | // -- a delegate for setting the value from a float | ||
| 144 | // -- an optional delegate to update the value in the world. Most often used to | ||
| 145 | // push the new value to an in-world object. | ||
| 146 | // | ||
| 147 | // The single letter parameters for the delegates are: | ||
| 148 | // s = BSScene | ||
| 149 | // o = BSPhysObject | ||
| 150 | // p = string parameter name | ||
| 151 | // l = localID of referenced object | ||
| 152 | // v = value (float) | ||
| 153 | // cf = parameter configuration class (for fetching values from ini file) | ||
| 154 | private static ParameterDefn[] ParameterDefinitions = | ||
| 155 | { | ||
| 156 | new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", | ||
| 157 | ConfigurationParameters.numericTrue, | ||
| 158 | (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, | ||
| 159 | (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); }, | ||
| 160 | (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ), | ||
| 161 | new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", | ||
| 162 | ConfigurationParameters.numericFalse, | ||
| 163 | (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, | ||
| 164 | (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); }, | ||
| 165 | (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ), | ||
| 166 | new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", | ||
| 167 | ConfigurationParameters.numericTrue, | ||
| 168 | (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, | ||
| 169 | (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, | ||
| 170 | (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), | ||
| 171 | |||
| 172 | new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", | ||
| 173 | 8f, | ||
| 174 | (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, | ||
| 175 | (s) => { return MeshLOD; }, | ||
| 176 | (s,p,l,v) => { MeshLOD = v; } ), | ||
| 177 | new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", | ||
| 178 | 16f, | ||
| 179 | (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, | ||
| 180 | (s) => { return MeshMegaPrimLOD; }, | ||
| 181 | (s,p,l,v) => { MeshMegaPrimLOD = v; } ), | ||
| 182 | new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", | ||
| 183 | 10f, | ||
| 184 | (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, | ||
| 185 | (s) => { return MeshMegaPrimThreshold; }, | ||
| 186 | (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), | ||
| 187 | new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", | ||
| 188 | 32f, | ||
| 189 | (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, | ||
| 190 | (s) => { return SculptLOD; }, | ||
| 191 | (s,p,l,v) => { SculptLOD = v; } ), | ||
| 192 | |||
| 193 | new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", | ||
| 194 | 10f, | ||
| 195 | (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, | ||
| 196 | (s) => { return (float)s.m_maxSubSteps; }, | ||
| 197 | (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), | ||
| 198 | new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", | ||
| 199 | 1f / 60f, | ||
| 200 | (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, | ||
| 201 | (s) => { return (float)s.m_fixedTimeStep; }, | ||
| 202 | (s,p,l,v) => { s.m_fixedTimeStep = v; } ), | ||
| 203 | new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", | ||
| 204 | 2048f, | ||
| 205 | (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, | ||
| 206 | (s) => { return (float)s.m_maxCollisionsPerFrame; }, | ||
| 207 | (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), | ||
| 208 | new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", | ||
| 209 | 8000f, | ||
| 210 | (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, | ||
| 211 | (s) => { return (float)s.m_maxUpdatesPerFrame; }, | ||
| 212 | (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), | ||
| 213 | new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", | ||
| 214 | 500f, | ||
| 215 | (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, | ||
| 216 | (s) => { return (float)s.m_taintsToProcessPerStep; }, | ||
| 217 | (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), | ||
| 218 | new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", | ||
| 219 | 0.0001f, | ||
| 220 | (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, | ||
| 221 | (s) => { return (float)MinimumObjectMass; }, | ||
| 222 | (s,p,l,v) => { MinimumObjectMass = v; } ), | ||
| 223 | new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", | ||
| 224 | 10000.01f, | ||
| 225 | (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, | ||
| 226 | (s) => { return (float)MaximumObjectMass; }, | ||
| 227 | (s,p,l,v) => { MaximumObjectMass = v; } ), | ||
| 228 | |||
| 229 | new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", | ||
| 230 | 2200f, | ||
| 231 | (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); }, | ||
| 232 | (s) => { return (float)PID_D; }, | ||
| 233 | (s,p,l,v) => { PID_D = v; } ), | ||
| 234 | new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", | ||
| 235 | 900f, | ||
| 236 | (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); }, | ||
| 237 | (s) => { return (float)PID_P; }, | ||
| 238 | (s,p,l,v) => { PID_P = v; } ), | ||
| 239 | |||
| 240 | new ParameterDefn("DefaultFriction", "Friction factor used on new objects", | ||
| 241 | 0.2f, | ||
| 242 | (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); }, | ||
| 243 | (s) => { return s.UnmanagedParams[0].defaultFriction; }, | ||
| 244 | (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ), | ||
| 245 | new ParameterDefn("DefaultDensity", "Density for new objects" , | ||
| 246 | 10.000006836f, // Aluminum g/cm3 | ||
| 247 | (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); }, | ||
| 248 | (s) => { return s.UnmanagedParams[0].defaultDensity; }, | ||
| 249 | (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ), | ||
| 250 | new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , | ||
| 251 | 0f, | ||
| 252 | (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); }, | ||
| 253 | (s) => { return s.UnmanagedParams[0].defaultRestitution; }, | ||
| 254 | (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ), | ||
| 255 | new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", | ||
| 256 | 0.04f, | ||
| 257 | (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); }, | ||
| 258 | (s) => { return s.UnmanagedParams[0].collisionMargin; }, | ||
| 259 | (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ), | ||
| 260 | new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", | ||
| 261 | -9.80665f, | ||
| 262 | (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, | ||
| 263 | (s) => { return s.UnmanagedParams[0].gravity; }, | ||
| 264 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, | ||
| 265 | (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), | ||
| 266 | |||
| 267 | |||
| 268 | new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", | ||
| 269 | 0f, | ||
| 270 | (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, | ||
| 271 | (s) => { return LinearDamping; }, | ||
| 272 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, | ||
| 273 | (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), | ||
| 274 | new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", | ||
| 275 | 0f, | ||
| 276 | (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, | ||
| 277 | (s) => { return AngularDamping; }, | ||
| 278 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, | ||
| 279 | (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), | ||
| 280 | new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", | ||
| 281 | 0.2f, | ||
| 282 | (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, | ||
| 283 | (s) => { return DeactivationTime; }, | ||
| 284 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, | ||
| 285 | (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), | ||
| 286 | new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", | ||
| 287 | 0.8f, | ||
| 288 | (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, | ||
| 289 | (s) => { return LinearSleepingThreshold; }, | ||
| 290 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, | ||
| 291 | (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), | ||
| 292 | new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", | ||
| 293 | 1.0f, | ||
| 294 | (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, | ||
| 295 | (s) => { return AngularSleepingThreshold; }, | ||
| 296 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, | ||
| 297 | (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), | ||
| 298 | new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , | ||
| 299 | 0f, // set to zero to disable | ||
| 300 | (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, | ||
| 301 | (s) => { return CcdMotionThreshold; }, | ||
| 302 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, | ||
| 303 | (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), | ||
| 304 | new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , | ||
| 305 | 0f, | ||
| 306 | (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, | ||
| 307 | (s) => { return CcdSweptSphereRadius; }, | ||
| 308 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, | ||
| 309 | (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), | ||
| 310 | new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , | ||
| 311 | 0.1f, | ||
| 312 | (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, | ||
| 313 | (s) => { return ContactProcessingThreshold; }, | ||
| 314 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, | ||
| 315 | (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), | ||
| 316 | |||
| 317 | new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", | ||
| 318 | (float)BSTerrainPhys.TerrainImplementation.Heightmap, | ||
| 319 | (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); }, | ||
| 320 | (s) => { return TerrainImplementation; }, | ||
| 321 | (s,p,l,v) => { TerrainImplementation = v; } ), | ||
| 322 | new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , | ||
| 323 | 0.3f, | ||
| 324 | (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); }, | ||
| 325 | (s) => { return TerrainFriction; }, | ||
| 326 | (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), | ||
| 327 | new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , | ||
| 328 | 0.8f, | ||
| 329 | (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); }, | ||
| 330 | (s) => { return TerrainHitFraction; }, | ||
| 331 | (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), | ||
| 332 | new ParameterDefn("TerrainRestitution", "Bouncyness" , | ||
| 333 | 0f, | ||
| 334 | (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); }, | ||
| 335 | (s) => { return TerrainRestitution; }, | ||
| 336 | (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), | ||
| 337 | new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , | ||
| 338 | 0.04f, | ||
| 339 | (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, | ||
| 340 | (s) => { return TerrainCollisionMargin; }, | ||
| 341 | (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), | ||
| 342 | |||
| 343 | new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", | ||
| 344 | 0.2f, | ||
| 345 | (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, | ||
| 346 | (s) => { return AvatarFriction; }, | ||
| 347 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ), | ||
| 348 | new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", | ||
| 349 | 10.0f, | ||
| 350 | (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, | ||
| 351 | (s) => { return AvatarStandingFriction; }, | ||
| 352 | (s,p,l,v) => { AvatarStandingFriction = v; } ), | ||
| 353 | new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", | ||
| 354 | 3.5f, | ||
| 355 | (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, | ||
| 356 | (s) => { return AvatarDensity; }, | ||
| 357 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), | ||
| 358 | new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", | ||
| 359 | 0f, | ||
| 360 | (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, | ||
| 361 | (s) => { return AvatarRestitution; }, | ||
| 362 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ), | ||
| 363 | new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", | ||
| 364 | 0.6f, | ||
| 365 | (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, | ||
| 366 | (s) => { return AvatarCapsuleWidth; }, | ||
| 367 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ), | ||
| 368 | new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", | ||
| 369 | 0.45f, | ||
| 370 | (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, | ||
| 371 | (s) => { return AvatarCapsuleDepth; }, | ||
| 372 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ), | ||
| 373 | new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", | ||
| 374 | 1.5f, | ||
| 375 | (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, | ||
| 376 | (s) => { return AvatarCapsuleHeight; }, | ||
| 377 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ), | ||
| 378 | new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", | ||
| 379 | 0.1f, | ||
| 380 | (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, | ||
| 381 | (s) => { return AvatarContactProcessingThreshold; }, | ||
| 382 | (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), | ||
| 383 | |||
| 384 | new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", | ||
| 385 | 0.95f, | ||
| 386 | (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, | ||
| 387 | (s) => { return VehicleAngularDamping; }, | ||
| 388 | (s,p,l,v) => { VehicleAngularDamping = v; } ), | ||
| 389 | |||
| 390 | new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", | ||
| 391 | 0f, | ||
| 392 | (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, | ||
| 393 | (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; }, | ||
| 394 | (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), | ||
| 395 | new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", | ||
| 396 | 0f, | ||
| 397 | (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, | ||
| 398 | (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; }, | ||
| 399 | (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), | ||
| 400 | new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", | ||
| 401 | ConfigurationParameters.numericFalse, | ||
| 402 | (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 403 | (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; }, | ||
| 404 | (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), | ||
| 405 | new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", | ||
| 406 | ConfigurationParameters.numericFalse, | ||
| 407 | (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 408 | (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; }, | ||
| 409 | (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), | ||
| 410 | new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", | ||
| 411 | ConfigurationParameters.numericTrue, | ||
| 412 | (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 413 | (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; }, | ||
| 414 | (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), | ||
| 415 | new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", | ||
| 416 | ConfigurationParameters.numericTrue, | ||
| 417 | (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 418 | (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, | ||
| 419 | (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), | ||
| 420 | new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", | ||
| 421 | ConfigurationParameters.numericFalse, | ||
| 422 | (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 423 | (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, | ||
| 424 | (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), | ||
| 425 | new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", | ||
| 426 | 0f, // zero says use Bullet default | ||
| 427 | (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); }, | ||
| 428 | (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; }, | ||
| 429 | (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ), | ||
| 430 | |||
| 431 | new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", | ||
| 432 | (float)BSLinkset.LinksetImplementation.Compound, | ||
| 433 | (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); }, | ||
| 434 | (s) => { return LinksetImplementation; }, | ||
| 435 | (s,p,l,v) => { LinksetImplementation = v; } ), | ||
| 436 | new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", | ||
| 437 | ConfigurationParameters.numericFalse, | ||
| 438 | (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 439 | (s) => { return LinkConstraintUseFrameOffset; }, | ||
| 440 | (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ), | ||
| 441 | new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", | ||
| 442 | ConfigurationParameters.numericTrue, | ||
| 443 | (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, | ||
| 444 | (s) => { return LinkConstraintEnableTransMotor; }, | ||
| 445 | (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), | ||
| 446 | new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", | ||
| 447 | 5.0f, | ||
| 448 | (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, | ||
| 449 | (s) => { return LinkConstraintTransMotorMaxVel; }, | ||
| 450 | (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ), | ||
| 451 | new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", | ||
| 452 | 0.1f, | ||
| 453 | (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, | ||
| 454 | (s) => { return LinkConstraintTransMotorMaxForce; }, | ||
| 455 | (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ), | ||
| 456 | new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", | ||
| 457 | 0.1f, | ||
| 458 | (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); }, | ||
| 459 | (s) => { return LinkConstraintCFM; }, | ||
| 460 | (s,p,l,v) => { LinkConstraintCFM = v; } ), | ||
| 461 | new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", | ||
| 462 | 0.1f, | ||
| 463 | (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); }, | ||
| 464 | (s) => { return LinkConstraintERP; }, | ||
| 465 | (s,p,l,v) => { LinkConstraintERP = v; } ), | ||
| 466 | new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", | ||
| 467 | 40, | ||
| 468 | (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); }, | ||
| 469 | (s) => { return LinkConstraintSolverIterations; }, | ||
| 470 | (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), | ||
| 471 | |||
| 472 | new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", | ||
| 473 | 0f, | ||
| 474 | (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, | ||
| 475 | (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; }, | ||
| 476 | (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ), | ||
| 477 | }; | ||
| 478 | |||
| 479 | // Convert a boolean to our numeric true and false values | ||
| 480 | public static float NumericBool(bool b) | ||
| 481 | { | ||
| 482 | return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); | ||
| 483 | } | ||
| 484 | |||
| 485 | // Convert numeric true and false values to a boolean | ||
| 486 | public static bool BoolNumeric(float b) | ||
| 487 | { | ||
| 488 | return (b == ConfigurationParameters.numericTrue ? true : false); | ||
| 489 | } | ||
| 490 | |||
| 491 | // Search through the parameter definitions and return the matching | ||
| 492 | // ParameterDefn structure. | ||
| 493 | // Case does not matter as names are compared after converting to lower case. | ||
| 494 | // Returns 'false' if the parameter is not found. | ||
| 495 | internal static bool TryGetParameter(string paramName, out ParameterDefn defn) | ||
| 496 | { | ||
| 497 | bool ret = false; | ||
| 498 | ParameterDefn foundDefn = new ParameterDefn(); | ||
| 499 | string pName = paramName.ToLower(); | ||
| 500 | |||
| 501 | foreach (ParameterDefn parm in ParameterDefinitions) | ||
| 502 | { | ||
| 503 | if (pName == parm.name.ToLower()) | ||
| 504 | { | ||
| 505 | foundDefn = parm; | ||
| 506 | ret = true; | ||
| 507 | break; | ||
| 508 | } | ||
| 509 | } | ||
| 510 | defn = foundDefn; | ||
| 511 | return ret; | ||
| 512 | } | ||
| 513 | |||
| 514 | // Pass through the settable parameters and set the default values | ||
| 515 | internal static void SetParameterDefaultValues(BSScene physicsScene) | ||
| 516 | { | ||
| 517 | foreach (ParameterDefn parm in ParameterDefinitions) | ||
| 518 | { | ||
| 519 | parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); | ||
| 520 | } | ||
| 521 | } | ||
| 522 | |||
| 523 | // Get user set values out of the ini file. | ||
| 524 | internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) | ||
| 525 | { | ||
| 526 | foreach (ParameterDefn parm in ParameterDefinitions) | ||
| 527 | { | ||
| 528 | parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); | ||
| 529 | } | ||
| 530 | } | ||
| 531 | |||
| 532 | internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; | ||
| 533 | |||
| 534 | // This creates an array in the correct format for returning the list of | ||
| 535 | // parameters. This is used by the 'list' option of the 'physics' command. | ||
| 536 | internal static void BuildParameterTable() | ||
| 537 | { | ||
| 538 | if (SettableParameters.Length < ParameterDefinitions.Length) | ||
| 539 | { | ||
| 540 | List<PhysParameterEntry> entries = new List<PhysParameterEntry>(); | ||
| 541 | for (int ii = 0; ii < ParameterDefinitions.Length; ii++) | ||
| 542 | { | ||
| 543 | ParameterDefn pd = ParameterDefinitions[ii]; | ||
| 544 | entries.Add(new PhysParameterEntry(pd.name, pd.desc)); | ||
| 545 | } | ||
| 546 | |||
| 547 | // make the list in alphabetical order for estetic reasons | ||
| 548 | entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) | ||
| 549 | { | ||
| 550 | return ppe1.name.CompareTo(ppe2.name); | ||
| 551 | }); | ||
| 552 | |||
| 553 | SettableParameters = entries.ToArray(); | ||
| 554 | } | ||
| 555 | } | ||
| 556 | |||
| 557 | |||
| 558 | } | ||
| 559 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs deleted file mode 100644 index 689da7f..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs +++ /dev/null | |||
| @@ -1,346 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OMV = OpenMetaverse; | ||
| 32 | using OpenSim.Framework; | ||
| 33 | using OpenSim.Region.Physics.Manager; | ||
| 34 | |||
| 35 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 36 | { | ||
| 37 | /* | ||
| 38 | * Class to wrap all objects. | ||
| 39 | * The rest of BulletSim doesn't need to keep checking for avatars or prims | ||
| 40 | * unless the difference is significant. | ||
| 41 | * | ||
| 42 | * Variables in the physicsl objects are in three forms: | ||
| 43 | * VariableName: used by the simulator and performs taint operations, etc | ||
| 44 | * RawVariableName: direct reference to the BulletSim storage for the variable value | ||
| 45 | * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. | ||
| 46 | * The last two (and certainly the last one) should be referenced only in taint-time. | ||
| 47 | */ | ||
| 48 | |||
| 49 | /* | ||
| 50 | * As of 20121221, the following are the call sequences (going down) for different script physical functions: | ||
| 51 | * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce | ||
| 52 | * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce | ||
| 53 | * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse | ||
| 54 | * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v | ||
| 55 | * BS.ApplyCentralForce BS.ApplyTorque | ||
| 56 | */ | ||
| 57 | |||
| 58 | public abstract class BSPhysObject : PhysicsActor | ||
| 59 | { | ||
| 60 | protected BSPhysObject() | ||
| 61 | { | ||
| 62 | } | ||
| 63 | protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) | ||
| 64 | { | ||
| 65 | PhysicsScene = parentScene; | ||
| 66 | LocalID = localID; | ||
| 67 | PhysObjectName = name; | ||
| 68 | TypeName = typeName; | ||
| 69 | |||
| 70 | Linkset = BSLinkset.Factory(PhysicsScene, this); | ||
| 71 | LastAssetBuildFailed = false; | ||
| 72 | |||
| 73 | // Default material type | ||
| 74 | Material = MaterialAttributes.Material.Wood; | ||
| 75 | |||
| 76 | CollisionCollection = new CollisionEventUpdate(); | ||
| 77 | SubscribedEventsMs = 0; | ||
| 78 | CollidingStep = 0; | ||
| 79 | CollidingGroundStep = 0; | ||
| 80 | } | ||
| 81 | |||
| 82 | // Tell the object to clean up. | ||
| 83 | public virtual void Destroy() | ||
| 84 | { | ||
| 85 | UnRegisterAllPreStepActions(); | ||
| 86 | } | ||
| 87 | |||
| 88 | public BSScene PhysicsScene { get; protected set; } | ||
| 89 | // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor | ||
| 90 | public string PhysObjectName { get; protected set; } | ||
| 91 | public string TypeName { get; protected set; } | ||
| 92 | |||
| 93 | public BSLinkset Linkset { get; set; } | ||
| 94 | public BSLinksetInfo LinksetInfo { get; set; } | ||
| 95 | |||
| 96 | // Return the object mass without calculating it or having side effects | ||
| 97 | public abstract float RawMass { get; } | ||
| 98 | // Set the raw mass but also update physical mass properties (inertia, ...) | ||
| 99 | // 'inWorld' true if the object has already been added to the dynamic world. | ||
| 100 | public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); | ||
| 101 | |||
| 102 | // The last value calculated for the prim's inertia | ||
| 103 | public OMV.Vector3 Inertia { get; set; } | ||
| 104 | |||
| 105 | // Reference to the physical body (btCollisionObject) of this object | ||
| 106 | public BulletBody PhysBody; | ||
| 107 | // Reference to the physical shape (btCollisionShape) of this object | ||
| 108 | public BulletShape PhysShape; | ||
| 109 | |||
| 110 | // 'true' if the mesh's underlying asset failed to build. | ||
| 111 | // This will keep us from looping after the first time the build failed. | ||
| 112 | public bool LastAssetBuildFailed { get; set; } | ||
| 113 | |||
| 114 | // The objects base shape information. Null if not a prim type shape. | ||
| 115 | public PrimitiveBaseShape BaseShape { get; protected set; } | ||
| 116 | // Some types of objects have preferred physical representations. | ||
| 117 | // Returns SHAPE_UNKNOWN if there is no preference. | ||
| 118 | public virtual BSPhysicsShapeType PreferredPhysicalShape | ||
| 119 | { | ||
| 120 | get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } | ||
| 121 | } | ||
| 122 | |||
| 123 | // When the physical properties are updated, an EntityProperty holds the update values. | ||
| 124 | // Keep the current and last EntityProperties to enable computation of differences | ||
| 125 | // between the current update and the previous values. | ||
| 126 | public EntityProperties CurrentEntityProperties { get; set; } | ||
| 127 | public EntityProperties LastEntityProperties { get; set; } | ||
| 128 | |||
| 129 | public virtual OMV.Vector3 Scale { get; set; } | ||
| 130 | public abstract bool IsSolid { get; } | ||
| 131 | public abstract bool IsStatic { get; } | ||
| 132 | |||
| 133 | // Materialness | ||
| 134 | public MaterialAttributes.Material Material { get; private set; } | ||
| 135 | public override void SetMaterial(int material) | ||
| 136 | { | ||
| 137 | Material = (MaterialAttributes.Material)material; | ||
| 138 | } | ||
| 139 | |||
| 140 | // Stop all physical motion. | ||
| 141 | public abstract void ZeroMotion(bool inTaintTime); | ||
| 142 | public abstract void ZeroAngularMotion(bool inTaintTime); | ||
| 143 | |||
| 144 | // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. | ||
| 145 | public virtual void StepVehicle(float timeStep) { } | ||
| 146 | |||
| 147 | // Update the physical location and motion of the object. Called with data from Bullet. | ||
| 148 | public abstract void UpdateProperties(EntityProperties entprop); | ||
| 149 | |||
| 150 | public abstract OMV.Vector3 RawPosition { get; set; } | ||
| 151 | public abstract OMV.Vector3 ForcePosition { get; set; } | ||
| 152 | |||
| 153 | public abstract OMV.Quaternion RawOrientation { get; set; } | ||
| 154 | public abstract OMV.Quaternion ForceOrientation { get; set; } | ||
| 155 | |||
| 156 | // The system is telling us the velocity it wants to move at. | ||
| 157 | // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor | ||
| 158 | public override OMV.Vector3 TargetVelocity | ||
| 159 | { | ||
| 160 | get { return m_targetVelocity; } | ||
| 161 | set | ||
| 162 | { | ||
| 163 | m_targetVelocity = value; | ||
| 164 | Velocity = value; | ||
| 165 | } | ||
| 166 | } | ||
| 167 | public abstract OMV.Vector3 ForceVelocity { get; set; } | ||
| 168 | |||
| 169 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } | ||
| 170 | |||
| 171 | public abstract float ForceBuoyancy { get; set; } | ||
| 172 | |||
| 173 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } | ||
| 174 | |||
| 175 | #region Collisions | ||
| 176 | |||
| 177 | // Requested number of milliseconds between collision events. Zero means disabled. | ||
| 178 | protected int SubscribedEventsMs { get; set; } | ||
| 179 | // Given subscription, the time that a collision may be passed up | ||
| 180 | protected int NextCollisionOkTime { get; set; } | ||
| 181 | // The simulation step that last had a collision | ||
| 182 | protected long CollidingStep { get; set; } | ||
| 183 | // The simulation step that last had a collision with the ground | ||
| 184 | protected long CollidingGroundStep { get; set; } | ||
| 185 | // The collision flags we think are set in Bullet | ||
| 186 | protected CollisionFlags CurrentCollisionFlags { get; set; } | ||
| 187 | |||
| 188 | // The collisions that have been collected this tick | ||
| 189 | protected CollisionEventUpdate CollisionCollection; | ||
| 190 | |||
| 191 | // The simulation step is telling this object about a collision. | ||
| 192 | // Return 'true' if a collision was processed and should be sent up. | ||
| 193 | // Called at taint time from within the Step() function | ||
| 194 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, | ||
| 195 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | ||
| 196 | { | ||
| 197 | bool ret = false; | ||
| 198 | |||
| 199 | // The following lines make IsColliding() and IsCollidingGround() work | ||
| 200 | CollidingStep = PhysicsScene.SimulationStep; | ||
| 201 | if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) | ||
| 202 | { | ||
| 203 | CollidingGroundStep = PhysicsScene.SimulationStep; | ||
| 204 | } | ||
| 205 | |||
| 206 | // prims in the same linkset cannot collide with each other | ||
| 207 | if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) | ||
| 208 | { | ||
| 209 | return ret; | ||
| 210 | } | ||
| 211 | |||
| 212 | // if someone has subscribed for collision events.... | ||
| 213 | if (SubscribedEvents()) { | ||
| 214 | CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
| 215 | DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", | ||
| 216 | LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); | ||
| 217 | |||
| 218 | ret = true; | ||
| 219 | } | ||
| 220 | return ret; | ||
| 221 | } | ||
| 222 | |||
| 223 | // Send the collected collisions into the simulator. | ||
| 224 | // Called at taint time from within the Step() function thus no locking problems | ||
| 225 | // with CollisionCollection and ObjectsWithNoMoreCollisions. | ||
| 226 | // Return 'true' if there were some actual collisions passed up | ||
| 227 | public virtual bool SendCollisions() | ||
| 228 | { | ||
| 229 | bool ret = true; | ||
| 230 | // If the 'no collision' call, force it to happen right now so quick collision_end | ||
| 231 | bool force = (CollisionCollection.Count == 0); | ||
| 232 | |||
| 233 | // throttle the collisions to the number of milliseconds specified in the subscription | ||
| 234 | if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) | ||
| 235 | { | ||
| 236 | NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; | ||
| 237 | |||
| 238 | // We are called if we previously had collisions. If there are no collisions | ||
| 239 | // this time, send up one last empty event so OpenSim can sense collision end. | ||
| 240 | if (CollisionCollection.Count == 0) | ||
| 241 | { | ||
| 242 | // If I have no collisions this time, remove me from the list of objects with collisions. | ||
| 243 | ret = false; | ||
| 244 | } | ||
| 245 | |||
| 246 | // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); | ||
| 247 | base.SendCollisionUpdate(CollisionCollection); | ||
| 248 | |||
| 249 | // The CollisionCollection instance is passed around in the simulator. | ||
| 250 | // Make sure we don't have a handle to that one and that a new one is used for next time. | ||
| 251 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, | ||
| 252 | // a race condition is created for the other users of this instance. | ||
| 253 | CollisionCollection = new CollisionEventUpdate(); | ||
| 254 | } | ||
| 255 | return ret; | ||
| 256 | } | ||
| 257 | |||
| 258 | // Subscribe for collision events. | ||
| 259 | // Parameter is the millisecond rate the caller wishes collision events to occur. | ||
| 260 | public override void SubscribeEvents(int ms) { | ||
| 261 | // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); | ||
| 262 | SubscribedEventsMs = ms; | ||
| 263 | if (ms > 0) | ||
| 264 | { | ||
| 265 | // make sure first collision happens | ||
| 266 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); | ||
| 267 | |||
| 268 | PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() | ||
| 269 | { | ||
| 270 | if (PhysBody.HasPhysicalBody) | ||
| 271 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
| 272 | }); | ||
| 273 | } | ||
| 274 | else | ||
| 275 | { | ||
| 276 | // Subscribing for zero or less is the same as unsubscribing | ||
| 277 | UnSubscribeEvents(); | ||
| 278 | } | ||
| 279 | } | ||
| 280 | public override void UnSubscribeEvents() { | ||
| 281 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); | ||
| 282 | SubscribedEventsMs = 0; | ||
| 283 | PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() | ||
| 284 | { | ||
| 285 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. | ||
| 286 | if (PhysBody.HasPhysicalBody) | ||
| 287 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
| 288 | }); | ||
| 289 | } | ||
| 290 | // Return 'true' if the simulator wants collision events | ||
| 291 | public override bool SubscribedEvents() { | ||
| 292 | return (SubscribedEventsMs > 0); | ||
| 293 | } | ||
| 294 | |||
| 295 | #endregion // Collisions | ||
| 296 | |||
| 297 | #region Per Simulation Step actions | ||
| 298 | // There are some actions that must be performed for a physical object before each simulation step. | ||
| 299 | // These actions are optional so, rather than scanning all the physical objects and asking them | ||
| 300 | // if they have anything to do, a physical object registers for an event call before the step is performed. | ||
| 301 | // This bookkeeping makes it easy to add, remove and clean up after all these registrations. | ||
| 302 | private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>(); | ||
| 303 | protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) | ||
| 304 | { | ||
| 305 | string identifier = op + "-" + id.ToString(); | ||
| 306 | RegisteredActions[identifier] = actn; | ||
| 307 | PhysicsScene.BeforeStep += actn; | ||
| 308 | DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); | ||
| 309 | } | ||
| 310 | |||
| 311 | // Unregister a pre step action. Safe to call if the action has not been registered. | ||
| 312 | protected void UnRegisterPreStepAction(string op, uint id) | ||
| 313 | { | ||
| 314 | string identifier = op + "-" + id.ToString(); | ||
| 315 | bool removed = false; | ||
| 316 | if (RegisteredActions.ContainsKey(identifier)) | ||
| 317 | { | ||
| 318 | PhysicsScene.BeforeStep -= RegisteredActions[identifier]; | ||
| 319 | RegisteredActions.Remove(identifier); | ||
| 320 | removed = true; | ||
| 321 | } | ||
| 322 | DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
| 323 | } | ||
| 324 | |||
| 325 | protected void UnRegisterAllPreStepActions() | ||
| 326 | { | ||
| 327 | foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions) | ||
| 328 | { | ||
| 329 | PhysicsScene.BeforeStep -= kvp.Value; | ||
| 330 | } | ||
| 331 | RegisteredActions.Clear(); | ||
| 332 | DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); | ||
| 333 | } | ||
| 334 | |||
| 335 | |||
| 336 | #endregion // Per Simulation Step actions | ||
| 337 | |||
| 338 | // High performance detailed logging routine used by the physical objects. | ||
| 339 | protected void DetailLog(string msg, params Object[] args) | ||
| 340 | { | ||
| 341 | if (PhysicsScene.PhysicsLogging.Enabled) | ||
| 342 | PhysicsScene.DetailLog(msg, args); | ||
| 343 | } | ||
| 344 | |||
| 345 | } | ||
| 346 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs deleted file mode 100644 index 75963ee..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs +++ /dev/null | |||
| @@ -1,81 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using OpenSim.Framework; | ||
| 30 | using OpenSim.Region.Physics.Manager; | ||
| 31 | using OpenMetaverse; | ||
| 32 | |||
| 33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 34 | { | ||
| 35 | /// <summary> | ||
| 36 | /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. | ||
| 37 | /// This module interfaces to an unmanaged C++ library which makes the | ||
| 38 | /// actual calls into the Bullet physics engine. | ||
| 39 | /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. | ||
| 40 | /// The unmanaged library is compiled and linked statically with Bullet | ||
| 41 | /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit). | ||
| 42 | /// </summary> | ||
| 43 | public class BSPlugin : IPhysicsPlugin | ||
| 44 | { | ||
| 45 | //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | ||
| 46 | |||
| 47 | private BSScene _mScene; | ||
| 48 | |||
| 49 | public BSPlugin() | ||
| 50 | { | ||
| 51 | } | ||
| 52 | |||
| 53 | public bool Init() | ||
| 54 | { | ||
| 55 | return true; | ||
| 56 | } | ||
| 57 | |||
| 58 | public PhysicsScene GetScene(String sceneIdentifier) | ||
| 59 | { | ||
| 60 | if (_mScene == null) | ||
| 61 | { | ||
| 62 | |||
| 63 | // If not Windows, loading is performed by the | ||
| 64 | // Mono loader as specified in | ||
| 65 | // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config". | ||
| 66 | |||
| 67 | _mScene = new BSScene(sceneIdentifier); | ||
| 68 | } | ||
| 69 | return (_mScene); | ||
| 70 | } | ||
| 71 | |||
| 72 | public string GetName() | ||
| 73 | { | ||
| 74 | return ("BulletSimN"); | ||
| 75 | } | ||
| 76 | |||
| 77 | public void Dispose() | ||
| 78 | { | ||
| 79 | } | ||
| 80 | } | ||
| 81 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs deleted file mode 100644 index aadb5b2..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs +++ /dev/null | |||
| @@ -1,1494 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | |||
| 28 | using System; | ||
| 29 | using System.Reflection; | ||
| 30 | using System.Collections.Generic; | ||
| 31 | using System.Xml; | ||
| 32 | using log4net; | ||
| 33 | using OMV = OpenMetaverse; | ||
| 34 | using OpenSim.Framework; | ||
| 35 | using OpenSim.Region.Physics.Manager; | ||
| 36 | using OpenSim.Region.Physics.ConvexDecompositionDotNet; | ||
| 37 | |||
| 38 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 39 | { | ||
| 40 | |||
| 41 | [Serializable] | ||
| 42 | public sealed class BSPrim : BSPhysObject | ||
| 43 | { | ||
| 44 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
| 45 | private static readonly string LogHeader = "[BULLETS PRIM]"; | ||
| 46 | |||
| 47 | // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. | ||
| 48 | private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user | ||
| 49 | |||
| 50 | private bool _grabbed; | ||
| 51 | private bool _isSelected; | ||
| 52 | private bool _isVolumeDetect; | ||
| 53 | private OMV.Vector3 _position; | ||
| 54 | private float _mass; // the mass of this object | ||
| 55 | private float _density; | ||
| 56 | private OMV.Vector3 _force; | ||
| 57 | private OMV.Vector3 _velocity; | ||
| 58 | private OMV.Vector3 _torque; | ||
| 59 | private float _collisionScore; | ||
| 60 | private OMV.Vector3 _acceleration; | ||
| 61 | private OMV.Quaternion _orientation; | ||
| 62 | private int _physicsActorType; | ||
| 63 | private bool _isPhysical; | ||
| 64 | private bool _flying; | ||
| 65 | private float _friction; | ||
| 66 | private float _restitution; | ||
| 67 | private bool _setAlwaysRun; | ||
| 68 | private bool _throttleUpdates; | ||
| 69 | private bool _isColliding; | ||
| 70 | private bool _collidingGround; | ||
| 71 | private bool _collidingObj; | ||
| 72 | private bool _floatOnWater; | ||
| 73 | private OMV.Vector3 _rotationalVelocity; | ||
| 74 | private bool _kinematic; | ||
| 75 | private float _buoyancy; | ||
| 76 | |||
| 77 | private BSDynamics _vehicle; | ||
| 78 | |||
| 79 | private OMV.Vector3 _PIDTarget; | ||
| 80 | private bool _usePID; | ||
| 81 | private float _PIDTau; | ||
| 82 | private bool _useHoverPID; | ||
| 83 | private float _PIDHoverHeight; | ||
| 84 | private PIDHoverType _PIDHoverType; | ||
| 85 | private float _PIDHoverTao; | ||
| 86 | |||
| 87 | public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, | ||
| 88 | OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) | ||
| 89 | : base(parent_scene, localID, primName, "BSPrim") | ||
| 90 | { | ||
| 91 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); | ||
| 92 | _physicsActorType = (int)ActorTypes.Prim; | ||
| 93 | _position = pos; | ||
| 94 | _size = size; | ||
| 95 | Scale = size; // prims are the size the user wants them to be (different for BSCharactes). | ||
| 96 | _orientation = rotation; | ||
| 97 | _buoyancy = 1f; | ||
| 98 | _velocity = OMV.Vector3.Zero; | ||
| 99 | _rotationalVelocity = OMV.Vector3.Zero; | ||
| 100 | BaseShape = pbs; | ||
| 101 | _isPhysical = pisPhysical; | ||
| 102 | _isVolumeDetect = false; | ||
| 103 | |||
| 104 | // Someday set default attributes based on the material but, for now, we don't know the prim material yet. | ||
| 105 | // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical); | ||
| 106 | _density = PhysicsScene.Params.defaultDensity; | ||
| 107 | _friction = PhysicsScene.Params.defaultFriction; | ||
| 108 | _restitution = PhysicsScene.Params.defaultRestitution; | ||
| 109 | |||
| 110 | _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness | ||
| 111 | |||
| 112 | _mass = CalculateMass(); | ||
| 113 | |||
| 114 | Linkset.Refresh(this); | ||
| 115 | |||
| 116 | DetailLog("{0},BSPrim.constructor,call", LocalID); | ||
| 117 | // do the actual object creation at taint time | ||
| 118 | PhysicsScene.TaintedObject("BSPrim.create", delegate() | ||
| 119 | { | ||
| 120 | CreateGeomAndObject(true); | ||
| 121 | |||
| 122 | CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); | ||
| 123 | }); | ||
| 124 | } | ||
| 125 | |||
| 126 | // called when this prim is being destroyed and we should free all the resources | ||
| 127 | public override void Destroy() | ||
| 128 | { | ||
| 129 | // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); | ||
| 130 | base.Destroy(); | ||
| 131 | |||
| 132 | // Undo any links between me and any other object | ||
| 133 | BSPhysObject parentBefore = Linkset.LinksetRoot; | ||
| 134 | int childrenBefore = Linkset.NumberOfChildren; | ||
| 135 | |||
| 136 | Linkset = Linkset.RemoveMeFromLinkset(this); | ||
| 137 | |||
| 138 | DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", | ||
| 139 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); | ||
| 140 | |||
| 141 | // Undo any vehicle properties | ||
| 142 | this.VehicleType = (int)Vehicle.TYPE_NONE; | ||
| 143 | |||
| 144 | PhysicsScene.TaintedObject("BSPrim.destroy", delegate() | ||
| 145 | { | ||
| 146 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); | ||
| 147 | // If there are physical body and shape, release my use of same. | ||
| 148 | PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); | ||
| 149 | PhysBody.Clear(); | ||
| 150 | PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); | ||
| 151 | PhysShape.Clear(); | ||
| 152 | }); | ||
| 153 | } | ||
| 154 | |||
| 155 | // No one uses this property. | ||
| 156 | public override bool Stopped { | ||
| 157 | get { return false; } | ||
| 158 | } | ||
| 159 | public override OMV.Vector3 Size { | ||
| 160 | get { return _size; } | ||
| 161 | set { | ||
| 162 | // We presume the scale and size are the same. If scale must be changed for | ||
| 163 | // the physical shape, that is done when the geometry is built. | ||
| 164 | _size = value; | ||
| 165 | Scale = _size; | ||
| 166 | ForceBodyShapeRebuild(false); | ||
| 167 | } | ||
| 168 | } | ||
| 169 | |||
| 170 | public override PrimitiveBaseShape Shape { | ||
| 171 | set { | ||
| 172 | BaseShape = value; | ||
| 173 | ForceBodyShapeRebuild(false); | ||
| 174 | } | ||
| 175 | } | ||
| 176 | // Whatever the linkset wants is what I want. | ||
| 177 | public override BSPhysicsShapeType PreferredPhysicalShape | ||
| 178 | { get { return Linkset.PreferredPhysicalShape(this); } } | ||
| 179 | |||
| 180 | public override bool ForceBodyShapeRebuild(bool inTaintTime) | ||
| 181 | { | ||
| 182 | LastAssetBuildFailed = false; | ||
| 183 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() | ||
| 184 | { | ||
| 185 | _mass = CalculateMass(); // changing the shape changes the mass | ||
| 186 | CreateGeomAndObject(true); | ||
| 187 | }); | ||
| 188 | return true; | ||
| 189 | } | ||
| 190 | public override bool Grabbed { | ||
| 191 | set { _grabbed = value; | ||
| 192 | } | ||
| 193 | } | ||
| 194 | public override bool Selected { | ||
| 195 | set | ||
| 196 | { | ||
| 197 | if (value != _isSelected) | ||
| 198 | { | ||
| 199 | _isSelected = value; | ||
| 200 | PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() | ||
| 201 | { | ||
| 202 | DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); | ||
| 203 | SetObjectDynamic(false); | ||
| 204 | }); | ||
| 205 | } | ||
| 206 | } | ||
| 207 | } | ||
| 208 | public override void CrossingFailure() { return; } | ||
| 209 | |||
| 210 | // link me to the specified parent | ||
| 211 | public override void link(PhysicsActor obj) { | ||
| 212 | BSPrim parent = obj as BSPrim; | ||
| 213 | if (parent != null) | ||
| 214 | { | ||
| 215 | BSPhysObject parentBefore = Linkset.LinksetRoot; | ||
| 216 | int childrenBefore = Linkset.NumberOfChildren; | ||
| 217 | |||
| 218 | Linkset = parent.Linkset.AddMeToLinkset(this); | ||
| 219 | |||
| 220 | DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", | ||
| 221 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); | ||
| 222 | } | ||
| 223 | return; | ||
| 224 | } | ||
| 225 | |||
| 226 | // delink me from my linkset | ||
| 227 | public override void delink() { | ||
| 228 | // TODO: decide if this parent checking needs to happen at taint time | ||
| 229 | // Race condition here: if link() and delink() in same simulation tick, the delink will not happen | ||
| 230 | |||
| 231 | BSPhysObject parentBefore = Linkset.LinksetRoot; | ||
| 232 | int childrenBefore = Linkset.NumberOfChildren; | ||
| 233 | |||
| 234 | Linkset = Linkset.RemoveMeFromLinkset(this); | ||
| 235 | |||
| 236 | DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", | ||
| 237 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); | ||
| 238 | return; | ||
| 239 | } | ||
| 240 | |||
| 241 | // Set motion values to zero. | ||
| 242 | // Do it to the properties so the values get set in the physics engine. | ||
| 243 | // Push the setting of the values to the viewer. | ||
| 244 | // Called at taint time! | ||
| 245 | public override void ZeroMotion(bool inTaintTime) | ||
| 246 | { | ||
| 247 | _velocity = OMV.Vector3.Zero; | ||
| 248 | _acceleration = OMV.Vector3.Zero; | ||
| 249 | _rotationalVelocity = OMV.Vector3.Zero; | ||
| 250 | |||
| 251 | // Zero some other properties in the physics engine | ||
| 252 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() | ||
| 253 | { | ||
| 254 | if (PhysBody.HasPhysicalBody) | ||
| 255 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | ||
| 256 | }); | ||
| 257 | } | ||
| 258 | public override void ZeroAngularMotion(bool inTaintTime) | ||
| 259 | { | ||
| 260 | _rotationalVelocity = OMV.Vector3.Zero; | ||
| 261 | // Zero some other properties in the physics engine | ||
| 262 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() | ||
| 263 | { | ||
| 264 | // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); | ||
| 265 | if (PhysBody.HasPhysicalBody) | ||
| 266 | { | ||
| 267 | BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | ||
| 268 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | ||
| 269 | } | ||
| 270 | }); | ||
| 271 | } | ||
| 272 | |||
| 273 | public override void LockAngularMotion(OMV.Vector3 axis) | ||
| 274 | { | ||
| 275 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); | ||
| 276 | return; | ||
| 277 | } | ||
| 278 | |||
| 279 | public override OMV.Vector3 RawPosition | ||
| 280 | { | ||
| 281 | get { return _position; } | ||
| 282 | set { _position = value; } | ||
| 283 | } | ||
| 284 | public override OMV.Vector3 Position { | ||
| 285 | get { | ||
| 286 | /* NOTE: this refetch is not necessary. The simulator knows about linkset children | ||
| 287 | * and does not fetch this position info for children. Thus this is commented out. | ||
| 288 | // child prims move around based on their parent. Need to get the latest location | ||
| 289 | if (!Linkset.IsRoot(this)) | ||
| 290 | _position = Linkset.PositionGet(this); | ||
| 291 | */ | ||
| 292 | |||
| 293 | // don't do the GetObjectPosition for root elements because this function is called a zillion times. | ||
| 294 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); | ||
| 295 | return _position; | ||
| 296 | } | ||
| 297 | set { | ||
| 298 | // If the position must be forced into the physics engine, use ForcePosition. | ||
| 299 | // All positions are given in world positions. | ||
| 300 | if (_position == value) | ||
| 301 | { | ||
| 302 | DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); | ||
| 303 | return; | ||
| 304 | } | ||
| 305 | _position = value; | ||
| 306 | PositionSanityCheck(false); | ||
| 307 | |||
| 308 | // A linkset might need to know if a component information changed. | ||
| 309 | Linkset.UpdateProperties(this, false); | ||
| 310 | |||
| 311 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() | ||
| 312 | { | ||
| 313 | DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
| 314 | ForcePosition = _position; | ||
| 315 | }); | ||
| 316 | } | ||
| 317 | } | ||
| 318 | public override OMV.Vector3 ForcePosition { | ||
| 319 | get { | ||
| 320 | _position = BulletSimAPI.GetPosition2(PhysBody.ptr); | ||
| 321 | return _position; | ||
| 322 | } | ||
| 323 | set { | ||
| 324 | _position = value; | ||
| 325 | if (PhysBody.HasPhysicalBody) | ||
| 326 | { | ||
| 327 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 328 | ActivateIfPhysical(false); | ||
| 329 | } | ||
| 330 | } | ||
| 331 | } | ||
| 332 | |||
| 333 | // Check that the current position is sane and, if not, modify the position to make it so. | ||
| 334 | // Check for being below terrain and being out of bounds. | ||
| 335 | // Returns 'true' of the position was made sane by some action. | ||
| 336 | private bool PositionSanityCheck(bool inTaintTime) | ||
| 337 | { | ||
| 338 | bool ret = false; | ||
| 339 | |||
| 340 | if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) | ||
| 341 | { | ||
| 342 | // The physical object is out of the known/simulated area. | ||
| 343 | // Upper levels of code will handle the transition to other areas so, for | ||
| 344 | // the time, we just ignore the position. | ||
| 345 | return ret; | ||
| 346 | } | ||
| 347 | |||
| 348 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | ||
| 349 | OMV.Vector3 upForce = OMV.Vector3.Zero; | ||
| 350 | if (RawPosition.Z < terrainHeight) | ||
| 351 | { | ||
| 352 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | ||
| 353 | float targetHeight = terrainHeight + (Size.Z / 2f); | ||
| 354 | // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. | ||
| 355 | upForce.Z = (terrainHeight - RawPosition.Z) * 1f; | ||
| 356 | ret = true; | ||
| 357 | } | ||
| 358 | |||
| 359 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) | ||
| 360 | { | ||
| 361 | float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); | ||
| 362 | // TODO: a floating motor so object will bob in the water | ||
| 363 | if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) | ||
| 364 | { | ||
| 365 | // Upforce proportional to the distance away from the water. Correct the error in 1 sec. | ||
| 366 | upForce.Z = (waterHeight - RawPosition.Z) * 1f; | ||
| 367 | ret = true; | ||
| 368 | } | ||
| 369 | } | ||
| 370 | |||
| 371 | // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. | ||
| 372 | // TODO: This should be intergrated with a geneal physics action mechanism. | ||
| 373 | // TODO: This should be moderated with PID'ness. | ||
| 374 | if (ret) | ||
| 375 | { | ||
| 376 | // Apply upforce and overcome gravity. | ||
| 377 | OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; | ||
| 378 | DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); | ||
| 379 | AddForce(correctionForce, false, inTaintTime); | ||
| 380 | } | ||
| 381 | return ret; | ||
| 382 | } | ||
| 383 | |||
| 384 | // Return the effective mass of the object. | ||
| 385 | // The definition of this call is to return the mass of the prim. | ||
| 386 | // If the simulator cares about the mass of the linkset, it will sum it itself. | ||
| 387 | public override float Mass | ||
| 388 | { | ||
| 389 | get | ||
| 390 | { | ||
| 391 | return _mass; | ||
| 392 | } | ||
| 393 | } | ||
| 394 | |||
| 395 | // used when we only want this prim's mass and not the linkset thing | ||
| 396 | public override float RawMass { | ||
| 397 | get { return _mass; } | ||
| 398 | } | ||
| 399 | // Set the physical mass to the passed mass. | ||
| 400 | // Note that this does not change _mass! | ||
| 401 | public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) | ||
| 402 | { | ||
| 403 | if (PhysBody.HasPhysicalBody) | ||
| 404 | { | ||
| 405 | if (IsStatic) | ||
| 406 | { | ||
| 407 | Inertia = OMV.Vector3.Zero; | ||
| 408 | BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); | ||
| 409 | BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); | ||
| 410 | } | ||
| 411 | else | ||
| 412 | { | ||
| 413 | if (inWorld) | ||
| 414 | { | ||
| 415 | // Changing interesting properties doesn't change proxy and collision cache | ||
| 416 | // information. The Bullet solution is to re-add the object to the world | ||
| 417 | // after parameters are changed. | ||
| 418 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); | ||
| 419 | } | ||
| 420 | |||
| 421 | Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); | ||
| 422 | BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); | ||
| 423 | BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); | ||
| 424 | |||
| 425 | // center of mass is at the zero of the object | ||
| 426 | // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); | ||
| 427 | DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); | ||
| 428 | |||
| 429 | if (inWorld) | ||
| 430 | { | ||
| 431 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation); | ||
| 432 | } | ||
| 433 | |||
| 434 | // Must set gravity after it has been added to the world because, for unknown reasons, | ||
| 435 | // adding the object resets the object's gravity to world gravity | ||
| 436 | OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy); | ||
| 437 | BulletSimAPI.SetGravity2(PhysBody.ptr, grav); | ||
| 438 | |||
| 439 | } | ||
| 440 | } | ||
| 441 | } | ||
| 442 | |||
| 443 | // Is this used? | ||
| 444 | public override OMV.Vector3 CenterOfMass | ||
| 445 | { | ||
| 446 | get { return Linkset.CenterOfMass; } | ||
| 447 | } | ||
| 448 | |||
| 449 | // Is this used? | ||
| 450 | public override OMV.Vector3 GeometricCenter | ||
| 451 | { | ||
| 452 | get { return Linkset.GeometricCenter; } | ||
| 453 | } | ||
| 454 | |||
| 455 | public override OMV.Vector3 Force { | ||
| 456 | get { return _force; } | ||
| 457 | set { | ||
| 458 | _force = value; | ||
| 459 | if (_force != OMV.Vector3.Zero) | ||
| 460 | { | ||
| 461 | // If the force is non-zero, it must be reapplied each tick because | ||
| 462 | // Bullet clears the forces applied last frame. | ||
| 463 | RegisterPreStepAction("BSPrim.setForce", LocalID, | ||
| 464 | delegate(float timeStep) | ||
| 465 | { | ||
| 466 | DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); | ||
| 467 | if (PhysBody.HasPhysicalBody) | ||
| 468 | { | ||
| 469 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); | ||
| 470 | ActivateIfPhysical(false); | ||
| 471 | } | ||
| 472 | } | ||
| 473 | ); | ||
| 474 | } | ||
| 475 | else | ||
| 476 | { | ||
| 477 | UnRegisterPreStepAction("BSPrim.setForce", LocalID); | ||
| 478 | } | ||
| 479 | } | ||
| 480 | } | ||
| 481 | |||
| 482 | public override int VehicleType { | ||
| 483 | get { | ||
| 484 | return (int)_vehicle.Type; // if we are a vehicle, return that type | ||
| 485 | } | ||
| 486 | set { | ||
| 487 | Vehicle type = (Vehicle)value; | ||
| 488 | |||
| 489 | PhysicsScene.TaintedObject("setVehicleType", delegate() | ||
| 490 | { | ||
| 491 | // Done at taint time so we're sure the physics engine is not using the variables | ||
| 492 | // Vehicle code changes the parameters for this vehicle type. | ||
| 493 | _vehicle.ProcessTypeChange(type); | ||
| 494 | ActivateIfPhysical(false); | ||
| 495 | |||
| 496 | // If an active vehicle, register the vehicle code to be called before each step | ||
| 497 | if (_vehicle.Type == Vehicle.TYPE_NONE) | ||
| 498 | UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); | ||
| 499 | else | ||
| 500 | RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); | ||
| 501 | }); | ||
| 502 | } | ||
| 503 | } | ||
| 504 | public override void VehicleFloatParam(int param, float value) | ||
| 505 | { | ||
| 506 | PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() | ||
| 507 | { | ||
| 508 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); | ||
| 509 | ActivateIfPhysical(false); | ||
| 510 | }); | ||
| 511 | } | ||
| 512 | public override void VehicleVectorParam(int param, OMV.Vector3 value) | ||
| 513 | { | ||
| 514 | PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() | ||
| 515 | { | ||
| 516 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); | ||
| 517 | ActivateIfPhysical(false); | ||
| 518 | }); | ||
| 519 | } | ||
| 520 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) | ||
| 521 | { | ||
| 522 | PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() | ||
| 523 | { | ||
| 524 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); | ||
| 525 | ActivateIfPhysical(false); | ||
| 526 | }); | ||
| 527 | } | ||
| 528 | public override void VehicleFlags(int param, bool remove) | ||
| 529 | { | ||
| 530 | PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() | ||
| 531 | { | ||
| 532 | _vehicle.ProcessVehicleFlags(param, remove); | ||
| 533 | }); | ||
| 534 | } | ||
| 535 | |||
| 536 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more | ||
| 537 | public override void SetVolumeDetect(int param) { | ||
| 538 | bool newValue = (param != 0); | ||
| 539 | if (_isVolumeDetect != newValue) | ||
| 540 | { | ||
| 541 | _isVolumeDetect = newValue; | ||
| 542 | PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() | ||
| 543 | { | ||
| 544 | // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); | ||
| 545 | SetObjectDynamic(true); | ||
| 546 | }); | ||
| 547 | } | ||
| 548 | return; | ||
| 549 | } | ||
| 550 | public override OMV.Vector3 Velocity { | ||
| 551 | get { return _velocity; } | ||
| 552 | set { | ||
| 553 | _velocity = value; | ||
| 554 | PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() | ||
| 555 | { | ||
| 556 | // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); | ||
| 557 | ForceVelocity = _velocity; | ||
| 558 | }); | ||
| 559 | } | ||
| 560 | } | ||
| 561 | public override OMV.Vector3 ForceVelocity { | ||
| 562 | get { return _velocity; } | ||
| 563 | set { | ||
| 564 | PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); | ||
| 565 | |||
| 566 | _velocity = value; | ||
| 567 | if (PhysBody.HasPhysicalBody) | ||
| 568 | { | ||
| 569 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | ||
| 570 | ActivateIfPhysical(false); | ||
| 571 | } | ||
| 572 | } | ||
| 573 | } | ||
| 574 | public override OMV.Vector3 Torque { | ||
| 575 | get { return _torque; } | ||
| 576 | set { | ||
| 577 | _torque = value; | ||
| 578 | if (_torque != OMV.Vector3.Zero) | ||
| 579 | { | ||
| 580 | // If the torque is non-zero, it must be reapplied each tick because | ||
| 581 | // Bullet clears the forces applied last frame. | ||
| 582 | RegisterPreStepAction("BSPrim.setTorque", LocalID, | ||
| 583 | delegate(float timeStep) | ||
| 584 | { | ||
| 585 | if (PhysBody.HasPhysicalBody) | ||
| 586 | AddAngularForce(_torque, false, true); | ||
| 587 | } | ||
| 588 | ); | ||
| 589 | } | ||
| 590 | else | ||
| 591 | { | ||
| 592 | UnRegisterPreStepAction("BSPrim.setTorque", LocalID); | ||
| 593 | } | ||
| 594 | // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); | ||
| 595 | } | ||
| 596 | } | ||
| 597 | public override float CollisionScore { | ||
| 598 | get { return _collisionScore; } | ||
| 599 | set { _collisionScore = value; | ||
| 600 | } | ||
| 601 | } | ||
| 602 | public override OMV.Vector3 Acceleration { | ||
| 603 | get { return _acceleration; } | ||
| 604 | set { _acceleration = value; } | ||
| 605 | } | ||
| 606 | public override OMV.Quaternion RawOrientation | ||
| 607 | { | ||
| 608 | get { return _orientation; } | ||
| 609 | set { _orientation = value; } | ||
| 610 | } | ||
| 611 | public override OMV.Quaternion Orientation { | ||
| 612 | get { | ||
| 613 | /* NOTE: this refetch is not necessary. The simulator knows about linkset children | ||
| 614 | * and does not fetch this position info for children. Thus this is commented out. | ||
| 615 | // Children move around because tied to parent. Get a fresh value. | ||
| 616 | if (!Linkset.IsRoot(this)) | ||
| 617 | { | ||
| 618 | _orientation = Linkset.OrientationGet(this); | ||
| 619 | } | ||
| 620 | */ | ||
| 621 | return _orientation; | ||
| 622 | } | ||
| 623 | set { | ||
| 624 | if (_orientation == value) | ||
| 625 | return; | ||
| 626 | _orientation = value; | ||
| 627 | |||
| 628 | // A linkset might need to know if a component information changed. | ||
| 629 | Linkset.UpdateProperties(this, false); | ||
| 630 | |||
| 631 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() | ||
| 632 | { | ||
| 633 | if (PhysBody.HasPhysicalBody) | ||
| 634 | { | ||
| 635 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); | ||
| 636 | // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
| 637 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 638 | } | ||
| 639 | }); | ||
| 640 | } | ||
| 641 | } | ||
| 642 | // Go directly to Bullet to get/set the value. | ||
| 643 | public override OMV.Quaternion ForceOrientation | ||
| 644 | { | ||
| 645 | get | ||
| 646 | { | ||
| 647 | _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); | ||
| 648 | return _orientation; | ||
| 649 | } | ||
| 650 | set | ||
| 651 | { | ||
| 652 | _orientation = value; | ||
| 653 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 654 | } | ||
| 655 | } | ||
| 656 | public override int PhysicsActorType { | ||
| 657 | get { return _physicsActorType; } | ||
| 658 | set { _physicsActorType = value; } | ||
| 659 | } | ||
| 660 | public override bool IsPhysical { | ||
| 661 | get { return _isPhysical; } | ||
| 662 | set { | ||
| 663 | if (_isPhysical != value) | ||
| 664 | { | ||
| 665 | _isPhysical = value; | ||
| 666 | PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() | ||
| 667 | { | ||
| 668 | // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); | ||
| 669 | SetObjectDynamic(true); | ||
| 670 | // whether phys-to-static or static-to-phys, the object is not moving. | ||
| 671 | ZeroMotion(true); | ||
| 672 | }); | ||
| 673 | } | ||
| 674 | } | ||
| 675 | } | ||
| 676 | |||
| 677 | // An object is static (does not move) if selected or not physical | ||
| 678 | public override bool IsStatic | ||
| 679 | { | ||
| 680 | get { return _isSelected || !IsPhysical; } | ||
| 681 | } | ||
| 682 | |||
| 683 | // An object is solid if it's not phantom and if it's not doing VolumeDetect | ||
| 684 | public override bool IsSolid | ||
| 685 | { | ||
| 686 | get { return !IsPhantom && !_isVolumeDetect; } | ||
| 687 | } | ||
| 688 | |||
| 689 | // Make gravity work if the object is physical and not selected | ||
| 690 | // Called at taint-time!! | ||
| 691 | private void SetObjectDynamic(bool forceRebuild) | ||
| 692 | { | ||
| 693 | // Recreate the physical object if necessary | ||
| 694 | CreateGeomAndObject(forceRebuild); | ||
| 695 | } | ||
| 696 | |||
| 697 | // Convert the simulator's physical properties into settings on BulletSim objects. | ||
| 698 | // There are four flags we're interested in: | ||
| 699 | // IsStatic: Object does not move, otherwise the object has mass and moves | ||
| 700 | // isSolid: other objects bounce off of this object | ||
| 701 | // isVolumeDetect: other objects pass through but can generate collisions | ||
| 702 | // collisionEvents: whether this object returns collision events | ||
| 703 | private void UpdatePhysicalParameters() | ||
| 704 | { | ||
| 705 | // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); | ||
| 706 | |||
| 707 | // Mangling all the physical properties requires the object not be in the physical world. | ||
| 708 | // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). | ||
| 709 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); | ||
| 710 | |||
| 711 | // Set up the object physicalness (does gravity and collisions move this object) | ||
| 712 | MakeDynamic(IsStatic); | ||
| 713 | |||
| 714 | // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) | ||
| 715 | _vehicle.Refresh(); | ||
| 716 | |||
| 717 | // Arrange for collision events if the simulator wants them | ||
| 718 | EnableCollisions(SubscribedEvents()); | ||
| 719 | |||
| 720 | // Make solid or not (do things bounce off or pass through this object). | ||
| 721 | MakeSolid(IsSolid); | ||
| 722 | |||
| 723 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation); | ||
| 724 | |||
| 725 | // Rebuild its shape | ||
| 726 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); | ||
| 727 | |||
| 728 | // Collision filter can be set only when the object is in the world | ||
| 729 | PhysBody.ApplyCollisionMask(); | ||
| 730 | |||
| 731 | // Recompute any linkset parameters. | ||
| 732 | // When going from non-physical to physical, this re-enables the constraints that | ||
| 733 | // had been automatically disabled when the mass was set to zero. | ||
| 734 | // For compound based linksets, this enables and disables interactions of the children. | ||
| 735 | Linkset.Refresh(this); | ||
| 736 | |||
| 737 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", | ||
| 738 | LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); | ||
| 739 | } | ||
| 740 | |||
| 741 | // "Making dynamic" means changing to and from static. | ||
| 742 | // When static, gravity does not effect the object and it is fixed in space. | ||
| 743 | // When dynamic, the object can fall and be pushed by others. | ||
| 744 | // This is independent of its 'solidness' which controls what passes through | ||
| 745 | // this object and what interacts with it. | ||
| 746 | private void MakeDynamic(bool makeStatic) | ||
| 747 | { | ||
| 748 | if (makeStatic) | ||
| 749 | { | ||
| 750 | // Become a Bullet 'static' object type | ||
| 751 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
| 752 | // Stop all movement | ||
| 753 | ZeroMotion(true); | ||
| 754 | |||
| 755 | // Set various physical properties so other object interact properly | ||
| 756 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); | ||
| 757 | BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); | ||
| 758 | BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); | ||
| 759 | |||
| 760 | // Mass is zero which disables a bunch of physics stuff in Bullet | ||
| 761 | UpdatePhysicalMassProperties(0f, false); | ||
| 762 | // Set collision detection parameters | ||
| 763 | if (BSParam.CcdMotionThreshold > 0f) | ||
| 764 | { | ||
| 765 | BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); | ||
| 766 | BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); | ||
| 767 | } | ||
| 768 | |||
| 769 | // The activation state is 'disabled' so Bullet will not try to act on it. | ||
| 770 | // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
| 771 | // Start it out sleeping and physical actions could wake it up. | ||
| 772 | BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); | ||
| 773 | |||
| 774 | // This collides like a static object | ||
| 775 | PhysBody.collisionType = CollisionType.Static; | ||
| 776 | |||
| 777 | // There can be special things needed for implementing linksets | ||
| 778 | Linkset.MakeStatic(this); | ||
| 779 | } | ||
| 780 | else | ||
| 781 | { | ||
| 782 | // Not a Bullet static object | ||
| 783 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
| 784 | |||
| 785 | // Set various physical properties so other object interact properly | ||
| 786 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); | ||
| 787 | BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); | ||
| 788 | BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); | ||
| 789 | |||
| 790 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 | ||
| 791 | // Since this can be called multiple times, only zero forces when becoming physical | ||
| 792 | // BulletSimAPI.ClearAllForces2(BSBody.ptr); | ||
| 793 | |||
| 794 | // For good measure, make sure the transform is set through to the motion state | ||
| 795 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
| 796 | |||
| 797 | // Center of mass is at the center of the object | ||
| 798 | // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); | ||
| 799 | |||
| 800 | // A dynamic object has mass | ||
| 801 | UpdatePhysicalMassProperties(RawMass, false); | ||
| 802 | |||
| 803 | // Set collision detection parameters | ||
| 804 | if (BSParam.CcdMotionThreshold > 0f) | ||
| 805 | { | ||
| 806 | BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); | ||
| 807 | BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); | ||
| 808 | } | ||
| 809 | |||
| 810 | // Various values for simulation limits | ||
| 811 | BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); | ||
| 812 | BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); | ||
| 813 | BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); | ||
| 814 | BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); | ||
| 815 | |||
| 816 | // This collides like an object. | ||
| 817 | PhysBody.collisionType = CollisionType.Dynamic; | ||
| 818 | |||
| 819 | // Force activation of the object so Bullet will act on it. | ||
| 820 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. | ||
| 821 | BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); | ||
| 822 | |||
| 823 | // There might be special things needed for implementing linksets. | ||
| 824 | Linkset.MakeDynamic(this); | ||
| 825 | } | ||
| 826 | } | ||
| 827 | |||
| 828 | // "Making solid" means that other object will not pass through this object. | ||
| 829 | // To make transparent, we create a Bullet ghost object. | ||
| 830 | // Note: This expects to be called from the UpdatePhysicalParameters() routine as | ||
| 831 | // the functions after this one set up the state of a possibly newly created collision body. | ||
| 832 | private void MakeSolid(bool makeSolid) | ||
| 833 | { | ||
| 834 | CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); | ||
| 835 | if (makeSolid) | ||
| 836 | { | ||
| 837 | // Verify the previous code created the correct shape for this type of thing. | ||
| 838 | if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) | ||
| 839 | { | ||
| 840 | m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); | ||
| 841 | } | ||
| 842 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | ||
| 843 | } | ||
| 844 | else | ||
| 845 | { | ||
| 846 | if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) | ||
| 847 | { | ||
| 848 | m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); | ||
| 849 | } | ||
| 850 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | ||
| 851 | |||
| 852 | // Change collision info from a static object to a ghosty collision object | ||
| 853 | PhysBody.collisionType = CollisionType.VolumeDetect; | ||
| 854 | } | ||
| 855 | } | ||
| 856 | |||
| 857 | // Enable physical actions. Bullet will keep sleeping non-moving physical objects so | ||
| 858 | // they need waking up when parameters are changed. | ||
| 859 | // Called in taint-time!! | ||
| 860 | private void ActivateIfPhysical(bool forceIt) | ||
| 861 | { | ||
| 862 | if (IsPhysical && PhysBody.HasPhysicalBody) | ||
| 863 | BulletSimAPI.Activate2(PhysBody.ptr, forceIt); | ||
| 864 | } | ||
| 865 | |||
| 866 | // Turn on or off the flag controlling whether collision events are returned to the simulator. | ||
| 867 | private void EnableCollisions(bool wantsCollisionEvents) | ||
| 868 | { | ||
| 869 | if (wantsCollisionEvents) | ||
| 870 | { | ||
| 871 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
| 872 | } | ||
| 873 | else | ||
| 874 | { | ||
| 875 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
| 876 | } | ||
| 877 | } | ||
| 878 | |||
| 879 | // prims don't fly | ||
| 880 | public override bool Flying { | ||
| 881 | get { return _flying; } | ||
| 882 | set { | ||
| 883 | _flying = value; | ||
| 884 | } | ||
| 885 | } | ||
| 886 | public override bool SetAlwaysRun { | ||
| 887 | get { return _setAlwaysRun; } | ||
| 888 | set { _setAlwaysRun = value; } | ||
| 889 | } | ||
| 890 | public override bool ThrottleUpdates { | ||
| 891 | get { return _throttleUpdates; } | ||
| 892 | set { _throttleUpdates = value; } | ||
| 893 | } | ||
| 894 | public override bool IsColliding { | ||
| 895 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | ||
| 896 | set { _isColliding = value; } | ||
| 897 | } | ||
| 898 | public override bool CollidingGround { | ||
| 899 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } | ||
| 900 | set { _collidingGround = value; } | ||
| 901 | } | ||
| 902 | public override bool CollidingObj { | ||
| 903 | get { return _collidingObj; } | ||
| 904 | set { _collidingObj = value; } | ||
| 905 | } | ||
| 906 | public bool IsPhantom { | ||
| 907 | get { | ||
| 908 | // SceneObjectPart removes phantom objects from the physics scene | ||
| 909 | // so, although we could implement touching and such, we never | ||
| 910 | // are invoked as a phantom object | ||
| 911 | return false; | ||
| 912 | } | ||
| 913 | } | ||
| 914 | public override bool FloatOnWater { | ||
| 915 | set { | ||
| 916 | _floatOnWater = value; | ||
| 917 | PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() | ||
| 918 | { | ||
| 919 | if (_floatOnWater) | ||
| 920 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
| 921 | else | ||
| 922 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
| 923 | }); | ||
| 924 | } | ||
| 925 | } | ||
| 926 | public override OMV.Vector3 RotationalVelocity { | ||
| 927 | get { | ||
| 928 | return _rotationalVelocity; | ||
| 929 | } | ||
| 930 | set { | ||
| 931 | _rotationalVelocity = value; | ||
| 932 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); | ||
| 933 | PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() | ||
| 934 | { | ||
| 935 | DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | ||
| 936 | ForceRotationalVelocity = _rotationalVelocity; | ||
| 937 | }); | ||
| 938 | } | ||
| 939 | } | ||
| 940 | public override OMV.Vector3 ForceRotationalVelocity { | ||
| 941 | get { | ||
| 942 | return _rotationalVelocity; | ||
| 943 | } | ||
| 944 | set { | ||
| 945 | _rotationalVelocity = value; | ||
| 946 | if (PhysBody.HasPhysicalBody) | ||
| 947 | { | ||
| 948 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | ||
| 949 | ActivateIfPhysical(false); | ||
| 950 | } | ||
| 951 | } | ||
| 952 | } | ||
| 953 | public override bool Kinematic { | ||
| 954 | get { return _kinematic; } | ||
| 955 | set { _kinematic = value; | ||
| 956 | // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); | ||
| 957 | } | ||
| 958 | } | ||
| 959 | public override float Buoyancy { | ||
| 960 | get { return _buoyancy; } | ||
| 961 | set { | ||
| 962 | _buoyancy = value; | ||
| 963 | PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() | ||
| 964 | { | ||
| 965 | ForceBuoyancy = _buoyancy; | ||
| 966 | }); | ||
| 967 | } | ||
| 968 | } | ||
| 969 | public override float ForceBuoyancy { | ||
| 970 | get { return _buoyancy; } | ||
| 971 | set { | ||
| 972 | _buoyancy = value; | ||
| 973 | // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | ||
| 974 | // Force the recalculation of the various inertia,etc variables in the object | ||
| 975 | UpdatePhysicalMassProperties(_mass, true); | ||
| 976 | ActivateIfPhysical(false); | ||
| 977 | } | ||
| 978 | } | ||
| 979 | |||
| 980 | // Used for MoveTo | ||
| 981 | public override OMV.Vector3 PIDTarget { | ||
| 982 | set { _PIDTarget = value; } | ||
| 983 | } | ||
| 984 | public override bool PIDActive { | ||
| 985 | set { _usePID = value; } | ||
| 986 | } | ||
| 987 | public override float PIDTau { | ||
| 988 | set { _PIDTau = value; } | ||
| 989 | } | ||
| 990 | |||
| 991 | // Used for llSetHoverHeight and maybe vehicle height | ||
| 992 | // Hover Height will override MoveTo target's Z | ||
| 993 | public override bool PIDHoverActive { | ||
| 994 | set { _useHoverPID = value; } | ||
| 995 | } | ||
| 996 | public override float PIDHoverHeight { | ||
| 997 | set { _PIDHoverHeight = value; } | ||
| 998 | } | ||
| 999 | public override PIDHoverType PIDHoverType { | ||
| 1000 | set { _PIDHoverType = value; } | ||
| 1001 | } | ||
| 1002 | public override float PIDHoverTau { | ||
| 1003 | set { _PIDHoverTao = value; } | ||
| 1004 | } | ||
| 1005 | |||
| 1006 | // For RotLookAt | ||
| 1007 | public override OMV.Quaternion APIDTarget { set { return; } } | ||
| 1008 | public override bool APIDActive { set { return; } } | ||
| 1009 | public override float APIDStrength { set { return; } } | ||
| 1010 | public override float APIDDamping { set { return; } } | ||
| 1011 | |||
| 1012 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | ||
| 1013 | // Since this force is being applied in only one step, make this a force per second. | ||
| 1014 | OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; | ||
| 1015 | AddForce(addForce, pushforce, false); | ||
| 1016 | } | ||
| 1017 | // Applying a force just adds this to the total force on the object. | ||
| 1018 | // This added force will only last the next simulation tick. | ||
| 1019 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { | ||
| 1020 | // for an object, doesn't matter if force is a pushforce or not | ||
| 1021 | if (force.IsFinite()) | ||
| 1022 | { | ||
| 1023 | float magnitude = force.Length(); | ||
| 1024 | if (magnitude > 20000f) | ||
| 1025 | { | ||
| 1026 | // Force has a limit | ||
| 1027 | force = force / magnitude * 20000f; | ||
| 1028 | } | ||
| 1029 | |||
| 1030 | OMV.Vector3 addForce = force; | ||
| 1031 | DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); | ||
| 1032 | |||
| 1033 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() | ||
| 1034 | { | ||
| 1035 | // Bullet adds this central force to the total force for this tick | ||
| 1036 | DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); | ||
| 1037 | if (PhysBody.HasPhysicalBody) | ||
| 1038 | { | ||
| 1039 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); | ||
| 1040 | ActivateIfPhysical(false); | ||
| 1041 | } | ||
| 1042 | }); | ||
| 1043 | } | ||
| 1044 | else | ||
| 1045 | { | ||
| 1046 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); | ||
| 1047 | return; | ||
| 1048 | } | ||
| 1049 | } | ||
| 1050 | |||
| 1051 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | ||
| 1052 | AddAngularForce(force, pushforce, false); | ||
| 1053 | } | ||
| 1054 | public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) | ||
| 1055 | { | ||
| 1056 | if (force.IsFinite()) | ||
| 1057 | { | ||
| 1058 | OMV.Vector3 angForce = force; | ||
| 1059 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() | ||
| 1060 | { | ||
| 1061 | if (PhysBody.HasPhysicalBody) | ||
| 1062 | { | ||
| 1063 | BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); | ||
| 1064 | ActivateIfPhysical(false); | ||
| 1065 | } | ||
| 1066 | }); | ||
| 1067 | } | ||
| 1068 | else | ||
| 1069 | { | ||
| 1070 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); | ||
| 1071 | return; | ||
| 1072 | } | ||
| 1073 | } | ||
| 1074 | |||
| 1075 | // A torque impulse. | ||
| 1076 | // ApplyTorqueImpulse adds torque directly to the angularVelocity. | ||
| 1077 | // AddAngularForce accumulates the force and applied it to the angular velocity all at once. | ||
| 1078 | // Computed as: angularVelocity += impulse * inertia; | ||
| 1079 | public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) | ||
| 1080 | { | ||
| 1081 | OMV.Vector3 applyImpulse = impulse; | ||
| 1082 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() | ||
| 1083 | { | ||
| 1084 | if (PhysBody.HasPhysicalBody) | ||
| 1085 | { | ||
| 1086 | BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); | ||
| 1087 | ActivateIfPhysical(false); | ||
| 1088 | } | ||
| 1089 | }); | ||
| 1090 | } | ||
| 1091 | |||
| 1092 | public override void SetMomentum(OMV.Vector3 momentum) { | ||
| 1093 | // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); | ||
| 1094 | } | ||
| 1095 | #region Mass Calculation | ||
| 1096 | |||
| 1097 | private float CalculateMass() | ||
| 1098 | { | ||
| 1099 | float volume = _size.X * _size.Y * _size.Z; // default | ||
| 1100 | float tmp; | ||
| 1101 | |||
| 1102 | float returnMass = 0; | ||
| 1103 | float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f; | ||
| 1104 | float hollowVolume = hollowAmount * hollowAmount; | ||
| 1105 | |||
| 1106 | switch (BaseShape.ProfileShape) | ||
| 1107 | { | ||
| 1108 | case ProfileShape.Square: | ||
| 1109 | // default box | ||
| 1110 | |||
| 1111 | if (BaseShape.PathCurve == (byte)Extrusion.Straight) | ||
| 1112 | { | ||
| 1113 | if (hollowAmount > 0.0) | ||
| 1114 | { | ||
| 1115 | switch (BaseShape.HollowShape) | ||
| 1116 | { | ||
| 1117 | case HollowShape.Square: | ||
| 1118 | case HollowShape.Same: | ||
| 1119 | break; | ||
| 1120 | |||
| 1121 | case HollowShape.Circle: | ||
| 1122 | |||
| 1123 | hollowVolume *= 0.78539816339f; | ||
| 1124 | break; | ||
| 1125 | |||
| 1126 | case HollowShape.Triangle: | ||
| 1127 | |||
| 1128 | hollowVolume *= (0.5f * .5f); | ||
| 1129 | break; | ||
| 1130 | |||
| 1131 | default: | ||
| 1132 | hollowVolume = 0; | ||
| 1133 | break; | ||
| 1134 | } | ||
| 1135 | volume *= (1.0f - hollowVolume); | ||
| 1136 | } | ||
| 1137 | } | ||
| 1138 | |||
| 1139 | else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) | ||
| 1140 | { | ||
| 1141 | //a tube | ||
| 1142 | |||
| 1143 | volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX); | ||
| 1144 | tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY); | ||
| 1145 | volume -= volume*tmp*tmp; | ||
| 1146 | |||
| 1147 | if (hollowAmount > 0.0) | ||
| 1148 | { | ||
| 1149 | hollowVolume *= hollowAmount; | ||
| 1150 | |||
| 1151 | switch (BaseShape.HollowShape) | ||
| 1152 | { | ||
| 1153 | case HollowShape.Square: | ||
| 1154 | case HollowShape.Same: | ||
| 1155 | break; | ||
| 1156 | |||
| 1157 | case HollowShape.Circle: | ||
| 1158 | hollowVolume *= 0.78539816339f;; | ||
| 1159 | break; | ||
| 1160 | |||
| 1161 | case HollowShape.Triangle: | ||
| 1162 | hollowVolume *= 0.5f * 0.5f; | ||
| 1163 | break; | ||
| 1164 | default: | ||
| 1165 | hollowVolume = 0; | ||
| 1166 | break; | ||
| 1167 | } | ||
| 1168 | volume *= (1.0f - hollowVolume); | ||
| 1169 | } | ||
| 1170 | } | ||
| 1171 | |||
| 1172 | break; | ||
| 1173 | |||
| 1174 | case ProfileShape.Circle: | ||
| 1175 | |||
| 1176 | if (BaseShape.PathCurve == (byte)Extrusion.Straight) | ||
| 1177 | { | ||
| 1178 | volume *= 0.78539816339f; // elipse base | ||
| 1179 | |||
| 1180 | if (hollowAmount > 0.0) | ||
| 1181 | { | ||
| 1182 | switch (BaseShape.HollowShape) | ||
| 1183 | { | ||
| 1184 | case HollowShape.Same: | ||
| 1185 | case HollowShape.Circle: | ||
| 1186 | break; | ||
| 1187 | |||
| 1188 | case HollowShape.Square: | ||
| 1189 | hollowVolume *= 0.5f * 2.5984480504799f; | ||
| 1190 | break; | ||
| 1191 | |||
| 1192 | case HollowShape.Triangle: | ||
| 1193 | hollowVolume *= .5f * 1.27323954473516f; | ||
| 1194 | break; | ||
| 1195 | |||
| 1196 | default: | ||
| 1197 | hollowVolume = 0; | ||
| 1198 | break; | ||
| 1199 | } | ||
| 1200 | volume *= (1.0f - hollowVolume); | ||
| 1201 | } | ||
| 1202 | } | ||
| 1203 | |||
| 1204 | else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) | ||
| 1205 | { | ||
| 1206 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX); | ||
| 1207 | tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); | ||
| 1208 | volume *= (1.0f - tmp * tmp); | ||
| 1209 | |||
| 1210 | if (hollowAmount > 0.0) | ||
| 1211 | { | ||
| 1212 | |||
| 1213 | // calculate the hollow volume by it's shape compared to the prim shape | ||
| 1214 | hollowVolume *= hollowAmount; | ||
| 1215 | |||
| 1216 | switch (BaseShape.HollowShape) | ||
| 1217 | { | ||
| 1218 | case HollowShape.Same: | ||
| 1219 | case HollowShape.Circle: | ||
| 1220 | break; | ||
| 1221 | |||
| 1222 | case HollowShape.Square: | ||
| 1223 | hollowVolume *= 0.5f * 2.5984480504799f; | ||
| 1224 | break; | ||
| 1225 | |||
| 1226 | case HollowShape.Triangle: | ||
| 1227 | hollowVolume *= .5f * 1.27323954473516f; | ||
| 1228 | break; | ||
| 1229 | |||
| 1230 | default: | ||
| 1231 | hollowVolume = 0; | ||
| 1232 | break; | ||
| 1233 | } | ||
| 1234 | volume *= (1.0f - hollowVolume); | ||
| 1235 | } | ||
| 1236 | } | ||
| 1237 | break; | ||
| 1238 | |||
| 1239 | case ProfileShape.HalfCircle: | ||
| 1240 | if (BaseShape.PathCurve == (byte)Extrusion.Curve1) | ||
| 1241 | { | ||
| 1242 | volume *= 0.52359877559829887307710723054658f; | ||
| 1243 | } | ||
| 1244 | break; | ||
| 1245 | |||
| 1246 | case ProfileShape.EquilateralTriangle: | ||
| 1247 | |||
| 1248 | if (BaseShape.PathCurve == (byte)Extrusion.Straight) | ||
| 1249 | { | ||
| 1250 | volume *= 0.32475953f; | ||
| 1251 | |||
| 1252 | if (hollowAmount > 0.0) | ||
| 1253 | { | ||
| 1254 | |||
| 1255 | // calculate the hollow volume by it's shape compared to the prim shape | ||
| 1256 | switch (BaseShape.HollowShape) | ||
| 1257 | { | ||
| 1258 | case HollowShape.Same: | ||
| 1259 | case HollowShape.Triangle: | ||
| 1260 | hollowVolume *= .25f; | ||
| 1261 | break; | ||
| 1262 | |||
| 1263 | case HollowShape.Square: | ||
| 1264 | hollowVolume *= 0.499849f * 3.07920140172638f; | ||
| 1265 | break; | ||
| 1266 | |||
| 1267 | case HollowShape.Circle: | ||
| 1268 | // Hollow shape is a perfect cyllinder in respect to the cube's scale | ||
| 1269 | // Cyllinder hollow volume calculation | ||
| 1270 | |||
| 1271 | hollowVolume *= 0.1963495f * 3.07920140172638f; | ||
| 1272 | break; | ||
| 1273 | |||
| 1274 | default: | ||
| 1275 | hollowVolume = 0; | ||
| 1276 | break; | ||
| 1277 | } | ||
| 1278 | volume *= (1.0f - hollowVolume); | ||
| 1279 | } | ||
| 1280 | } | ||
| 1281 | else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) | ||
| 1282 | { | ||
| 1283 | volume *= 0.32475953f; | ||
| 1284 | volume *= 0.01f * (float)(200 - BaseShape.PathScaleX); | ||
| 1285 | tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); | ||
| 1286 | volume *= (1.0f - tmp * tmp); | ||
| 1287 | |||
| 1288 | if (hollowAmount > 0.0) | ||
| 1289 | { | ||
| 1290 | |||
| 1291 | hollowVolume *= hollowAmount; | ||
| 1292 | |||
| 1293 | switch (BaseShape.HollowShape) | ||
| 1294 | { | ||
| 1295 | case HollowShape.Same: | ||
| 1296 | case HollowShape.Triangle: | ||
| 1297 | hollowVolume *= .25f; | ||
| 1298 | break; | ||
| 1299 | |||
| 1300 | case HollowShape.Square: | ||
| 1301 | hollowVolume *= 0.499849f * 3.07920140172638f; | ||
| 1302 | break; | ||
| 1303 | |||
| 1304 | case HollowShape.Circle: | ||
| 1305 | |||
| 1306 | hollowVolume *= 0.1963495f * 3.07920140172638f; | ||
| 1307 | break; | ||
| 1308 | |||
| 1309 | default: | ||
| 1310 | hollowVolume = 0; | ||
| 1311 | break; | ||
| 1312 | } | ||
| 1313 | volume *= (1.0f - hollowVolume); | ||
| 1314 | } | ||
| 1315 | } | ||
| 1316 | break; | ||
| 1317 | |||
| 1318 | default: | ||
| 1319 | break; | ||
| 1320 | } | ||
| 1321 | |||
| 1322 | |||
| 1323 | |||
| 1324 | float taperX1; | ||
| 1325 | float taperY1; | ||
| 1326 | float taperX; | ||
| 1327 | float taperY; | ||
| 1328 | float pathBegin; | ||
| 1329 | float pathEnd; | ||
| 1330 | float profileBegin; | ||
| 1331 | float profileEnd; | ||
| 1332 | |||
| 1333 | if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible) | ||
| 1334 | { | ||
| 1335 | taperX1 = BaseShape.PathScaleX * 0.01f; | ||
| 1336 | if (taperX1 > 1.0f) | ||
| 1337 | taperX1 = 2.0f - taperX1; | ||
| 1338 | taperX = 1.0f - taperX1; | ||
| 1339 | |||
| 1340 | taperY1 = BaseShape.PathScaleY * 0.01f; | ||
| 1341 | if (taperY1 > 1.0f) | ||
| 1342 | taperY1 = 2.0f - taperY1; | ||
| 1343 | taperY = 1.0f - taperY1; | ||
| 1344 | } | ||
| 1345 | else | ||
| 1346 | { | ||
| 1347 | taperX = BaseShape.PathTaperX * 0.01f; | ||
| 1348 | if (taperX < 0.0f) | ||
| 1349 | taperX = -taperX; | ||
| 1350 | taperX1 = 1.0f - taperX; | ||
| 1351 | |||
| 1352 | taperY = BaseShape.PathTaperY * 0.01f; | ||
| 1353 | if (taperY < 0.0f) | ||
| 1354 | taperY = -taperY; | ||
| 1355 | taperY1 = 1.0f - taperY; | ||
| 1356 | |||
| 1357 | } | ||
| 1358 | |||
| 1359 | |||
| 1360 | volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); | ||
| 1361 | |||
| 1362 | pathBegin = (float)BaseShape.PathBegin * 2.0e-5f; | ||
| 1363 | pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f; | ||
| 1364 | volume *= (pathEnd - pathBegin); | ||
| 1365 | |||
| 1366 | // this is crude aproximation | ||
| 1367 | profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f; | ||
| 1368 | profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; | ||
| 1369 | volume *= (profileEnd - profileBegin); | ||
| 1370 | |||
| 1371 | returnMass = _density * volume; | ||
| 1372 | |||
| 1373 | /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. | ||
| 1374 | if (IsRootOfLinkset) | ||
| 1375 | { | ||
| 1376 | foreach (BSPrim prim in _childrenPrims) | ||
| 1377 | { | ||
| 1378 | returnMass += prim.CalculateMass(); | ||
| 1379 | } | ||
| 1380 | } | ||
| 1381 | */ | ||
| 1382 | |||
| 1383 | returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); | ||
| 1384 | |||
| 1385 | return returnMass; | ||
| 1386 | }// end CalculateMass | ||
| 1387 | #endregion Mass Calculation | ||
| 1388 | |||
| 1389 | // Rebuild the geometry and object. | ||
| 1390 | // This is called when the shape changes so we need to recreate the mesh/hull. | ||
| 1391 | // Called at taint-time!!! | ||
| 1392 | public void CreateGeomAndObject(bool forceRebuild) | ||
| 1393 | { | ||
| 1394 | // If this prim is part of a linkset, we must remove and restore the physical | ||
| 1395 | // links if the body is rebuilt. | ||
| 1396 | bool needToRestoreLinkset = false; | ||
| 1397 | bool needToRestoreVehicle = false; | ||
| 1398 | |||
| 1399 | // Create the correct physical representation for this type of object. | ||
| 1400 | // Updates PhysBody and PhysShape with the new information. | ||
| 1401 | // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. | ||
| 1402 | PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) | ||
| 1403 | { | ||
| 1404 | // Called if the current prim body is about to be destroyed. | ||
| 1405 | // Remove all the physical dependencies on the old body. | ||
| 1406 | // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) | ||
| 1407 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); | ||
| 1408 | needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); | ||
| 1409 | }); | ||
| 1410 | |||
| 1411 | if (needToRestoreLinkset) | ||
| 1412 | { | ||
| 1413 | // If physical body dependencies were removed, restore them | ||
| 1414 | Linkset.RestoreBodyDependencies(this); | ||
| 1415 | } | ||
| 1416 | if (needToRestoreVehicle) | ||
| 1417 | { | ||
| 1418 | // If physical body dependencies were removed, restore them | ||
| 1419 | _vehicle.RestoreBodyDependencies(this); | ||
| 1420 | } | ||
| 1421 | |||
| 1422 | // Make sure the properties are set on the new object | ||
| 1423 | UpdatePhysicalParameters(); | ||
| 1424 | return; | ||
| 1425 | } | ||
| 1426 | |||
| 1427 | // The physics engine says that properties have updated. Update same and inform | ||
| 1428 | // the world that things have changed. | ||
| 1429 | // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() | ||
| 1430 | enum UpdatedProperties { | ||
| 1431 | Position = 1 << 0, | ||
| 1432 | Rotation = 1 << 1, | ||
| 1433 | Velocity = 1 << 2, | ||
| 1434 | Acceleration = 1 << 3, | ||
| 1435 | RotationalVel = 1 << 4 | ||
| 1436 | } | ||
| 1437 | |||
| 1438 | const float ROTATION_TOLERANCE = 0.01f; | ||
| 1439 | const float VELOCITY_TOLERANCE = 0.001f; | ||
| 1440 | const float POSITION_TOLERANCE = 0.05f; | ||
| 1441 | const float ACCELERATION_TOLERANCE = 0.01f; | ||
| 1442 | const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; | ||
| 1443 | |||
| 1444 | public override void UpdateProperties(EntityProperties entprop) | ||
| 1445 | { | ||
| 1446 | // Updates only for individual prims and for the root object of a linkset. | ||
| 1447 | if (Linkset.IsRoot(this)) | ||
| 1448 | { | ||
| 1449 | // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet | ||
| 1450 | // TODO: handle physics introduced by Bullet with computed vehicle physics. | ||
| 1451 | if (_vehicle.IsActive) | ||
| 1452 | { | ||
| 1453 | entprop.RotationalVelocity = OMV.Vector3.Zero; | ||
| 1454 | } | ||
| 1455 | |||
| 1456 | // Assign directly to the local variables so the normal set action does not happen | ||
| 1457 | _position = entprop.Position; | ||
| 1458 | _orientation = entprop.Rotation; | ||
| 1459 | _velocity = entprop.Velocity; | ||
| 1460 | _acceleration = entprop.Acceleration; | ||
| 1461 | _rotationalVelocity = entprop.RotationalVelocity; | ||
| 1462 | |||
| 1463 | // The sanity check can change the velocity and/or position. | ||
| 1464 | if (IsPhysical && PositionSanityCheck(true)) | ||
| 1465 | { | ||
| 1466 | entprop.Position = _position; | ||
| 1467 | entprop.Velocity = _velocity; | ||
| 1468 | } | ||
| 1469 | |||
| 1470 | OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG | ||
| 1471 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", | ||
| 1472 | LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); | ||
| 1473 | |||
| 1474 | // remember the current and last set values | ||
| 1475 | LastEntityProperties = CurrentEntityProperties; | ||
| 1476 | CurrentEntityProperties = entprop; | ||
| 1477 | |||
| 1478 | base.RequestPhysicsterseUpdate(); | ||
| 1479 | } | ||
| 1480 | /* | ||
| 1481 | else | ||
| 1482 | { | ||
| 1483 | // For debugging, report the movement of children | ||
| 1484 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | ||
| 1485 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | ||
| 1486 | entprop.Acceleration, entprop.RotationalVelocity); | ||
| 1487 | } | ||
| 1488 | */ | ||
| 1489 | |||
| 1490 | // The linkset implimentation might want to know about this. | ||
| 1491 | Linkset.UpdateProperties(this, true); | ||
| 1492 | } | ||
| 1493 | } | ||
| 1494 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs deleted file mode 100644 index 1a7c34b..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs +++ /dev/null | |||
| @@ -1,957 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Runtime.InteropServices; | ||
| 30 | using System.Text; | ||
| 31 | using System.Threading; | ||
| 32 | using OpenSim.Framework; | ||
| 33 | using OpenSim.Region.Framework; | ||
| 34 | using OpenSim.Region.CoreModules; | ||
| 35 | using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; | ||
| 36 | using OpenSim.Region.Physics.Manager; | ||
| 37 | using Nini.Config; | ||
| 38 | using log4net; | ||
| 39 | using OpenMetaverse; | ||
| 40 | |||
| 41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) | ||
| 42 | // Based on material, set density and friction | ||
| 43 | // More efficient memory usage when passing hull information from BSPrim to BulletSim | ||
| 44 | // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect | ||
| 45 | // Implement LockAngularMotion | ||
| 46 | // Add PID movement operations. What does ScenePresence.MoveToTarget do? | ||
| 47 | // Check terrain size. 128 or 127? | ||
| 48 | // Raycast | ||
| 49 | // | ||
| 50 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 51 | { | ||
| 52 | public sealed class BSScene : PhysicsScene, IPhysicsParameters | ||
| 53 | { | ||
| 54 | private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | ||
| 55 | private static readonly string LogHeader = "[BULLETS SCENE]"; | ||
| 56 | |||
| 57 | // The name of the region we're working for. | ||
| 58 | public string RegionName { get; private set; } | ||
| 59 | |||
| 60 | public string BulletSimVersion = "?"; | ||
| 61 | |||
| 62 | public Dictionary<uint, BSPhysObject> PhysObjects; | ||
| 63 | public BSShapeCollection Shapes; | ||
| 64 | |||
| 65 | // Keeping track of the objects with collisions so we can report begin and end of a collision | ||
| 66 | public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>(); | ||
| 67 | public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>(); | ||
| 68 | // Keep track of all the avatars so we can send them a collision event | ||
| 69 | // every tick so OpenSim will update its animation. | ||
| 70 | private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>(); | ||
| 71 | |||
| 72 | // let my minuions use my logger | ||
| 73 | public ILog Logger { get { return m_log; } } | ||
| 74 | |||
| 75 | public IMesher mesher; | ||
| 76 | public uint WorldID { get; private set; } | ||
| 77 | public BulletWorld World { get; private set; } | ||
| 78 | |||
| 79 | // All the constraints that have been allocated in this instance. | ||
| 80 | public BSConstraintCollection Constraints { get; private set; } | ||
| 81 | |||
| 82 | // Simulation parameters | ||
| 83 | internal int m_maxSubSteps; | ||
| 84 | internal float m_fixedTimeStep; | ||
| 85 | internal long m_simulationStep = 0; | ||
| 86 | public long SimulationStep { get { return m_simulationStep; } } | ||
| 87 | internal int m_taintsToProcessPerStep; | ||
| 88 | internal float LastTimeStep { get; private set; } | ||
| 89 | |||
| 90 | // Physical objects can register for prestep or poststep events | ||
| 91 | public delegate void PreStepAction(float timeStep); | ||
| 92 | public delegate void PostStepAction(float timeStep); | ||
| 93 | public event PreStepAction BeforeStep; | ||
| 94 | public event PreStepAction AfterStep; | ||
| 95 | |||
| 96 | // A value of the time now so all the collision and update routines do not have to get their own | ||
| 97 | // Set to 'now' just before all the prims and actors are called for collisions and updates | ||
| 98 | public int SimulationNowTime { get; private set; } | ||
| 99 | |||
| 100 | // True if initialized and ready to do simulation steps | ||
| 101 | private bool m_initialized = false; | ||
| 102 | |||
| 103 | // Flag which is true when processing taints. | ||
| 104 | // Not guaranteed to be correct all the time (don't depend on this) but good for debugging. | ||
| 105 | public bool InTaintTime { get; private set; } | ||
| 106 | |||
| 107 | // Pinned memory used to pass step information between managed and unmanaged | ||
| 108 | internal int m_maxCollisionsPerFrame; | ||
| 109 | private List<BulletXNA.CollisionDesc> m_collisionArray; | ||
| 110 | //private GCHandle m_collisionArrayPinnedHandle; | ||
| 111 | |||
| 112 | internal int m_maxUpdatesPerFrame; | ||
| 113 | private List<BulletXNA.EntityProperties> m_updateArray; | ||
| 114 | //private GCHandle m_updateArrayPinnedHandle; | ||
| 115 | |||
| 116 | |||
| 117 | public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero | ||
| 118 | public const uint GROUNDPLANE_ID = 1; | ||
| 119 | public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here | ||
| 120 | |||
| 121 | public float SimpleWaterLevel { get; set; } | ||
| 122 | public BSTerrainManager TerrainManager { get; private set; } | ||
| 123 | |||
| 124 | public ConfigurationParameters Params | ||
| 125 | { | ||
| 126 | get { return UnmanagedParams[0]; } | ||
| 127 | } | ||
| 128 | public Vector3 DefaultGravity | ||
| 129 | { | ||
| 130 | get { return new Vector3(0f, 0f, Params.gravity); } | ||
| 131 | } | ||
| 132 | // Just the Z value of the gravity | ||
| 133 | public float DefaultGravityZ | ||
| 134 | { | ||
| 135 | get { return Params.gravity; } | ||
| 136 | } | ||
| 137 | |||
| 138 | // When functions in the unmanaged code must be called, it is only | ||
| 139 | // done at a known time just before the simulation step. The taint | ||
| 140 | // system saves all these function calls and executes them in | ||
| 141 | // order before the simulation. | ||
| 142 | public delegate void TaintCallback(); | ||
| 143 | private struct TaintCallbackEntry | ||
| 144 | { | ||
| 145 | public String ident; | ||
| 146 | public TaintCallback callback; | ||
| 147 | public TaintCallbackEntry(string i, TaintCallback c) | ||
| 148 | { | ||
| 149 | ident = i; | ||
| 150 | callback = c; | ||
| 151 | } | ||
| 152 | } | ||
| 153 | private Object _taintLock = new Object(); // lock for using the next object | ||
| 154 | private List<TaintCallbackEntry> _taintOperations; | ||
| 155 | private Dictionary<string, TaintCallbackEntry> _postTaintOperations; | ||
| 156 | private List<TaintCallbackEntry> _postStepOperations; | ||
| 157 | |||
| 158 | // A pointer to an instance if this structure is passed to the C++ code | ||
| 159 | // Used to pass basic configuration values to the unmanaged code. | ||
| 160 | internal ConfigurationParameters[] UnmanagedParams; | ||
| 161 | //GCHandle m_paramsHandle; | ||
| 162 | |||
| 163 | // Handle to the callback used by the unmanaged code to call into the managed code. | ||
| 164 | // Used for debug logging. | ||
| 165 | // Need to store the handle in a persistant variable so it won't be freed. | ||
| 166 | private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; | ||
| 167 | |||
| 168 | // Sometimes you just have to log everything. | ||
| 169 | public Logging.LogWriter PhysicsLogging; | ||
| 170 | private bool m_physicsLoggingEnabled; | ||
| 171 | private string m_physicsLoggingDir; | ||
| 172 | private string m_physicsLoggingPrefix; | ||
| 173 | private int m_physicsLoggingFileMinutes; | ||
| 174 | private bool m_physicsLoggingDoFlush; | ||
| 175 | // 'true' of the vehicle code is to log lots of details | ||
| 176 | public bool VehicleLoggingEnabled { get; private set; } | ||
| 177 | public bool VehiclePhysicalLoggingEnabled { get; private set; } | ||
| 178 | |||
| 179 | #region Construction and Initialization | ||
| 180 | public BSScene(string identifier) | ||
| 181 | { | ||
| 182 | m_initialized = false; | ||
| 183 | // we are passed the name of the region we're working for. | ||
| 184 | RegionName = identifier; | ||
| 185 | } | ||
| 186 | |||
| 187 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | ||
| 188 | { | ||
| 189 | mesher = meshmerizer; | ||
| 190 | _taintOperations = new List<TaintCallbackEntry>(); | ||
| 191 | _postTaintOperations = new Dictionary<string, TaintCallbackEntry>(); | ||
| 192 | _postStepOperations = new List<TaintCallbackEntry>(); | ||
| 193 | PhysObjects = new Dictionary<uint, BSPhysObject>(); | ||
| 194 | Shapes = new BSShapeCollection(this); | ||
| 195 | |||
| 196 | // Allocate pinned memory to pass parameters. | ||
| 197 | UnmanagedParams = new ConfigurationParameters[1]; | ||
| 198 | //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); | ||
| 199 | |||
| 200 | // Set default values for physics parameters plus any overrides from the ini file | ||
| 201 | GetInitialParameterValues(config); | ||
| 202 | |||
| 203 | // allocate more pinned memory close to the above in an attempt to get the memory all together | ||
| 204 | m_collisionArray = new List<BulletXNA.CollisionDesc>(); | ||
| 205 | //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); | ||
| 206 | m_updateArray = new List<BulletXNA.EntityProperties>(); | ||
| 207 | //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); | ||
| 208 | |||
| 209 | // Enable very detailed logging. | ||
| 210 | // By creating an empty logger when not logging, the log message invocation code | ||
| 211 | // can be left in and every call doesn't have to check for null. | ||
| 212 | if (m_physicsLoggingEnabled) | ||
| 213 | { | ||
| 214 | PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); | ||
| 215 | PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages. | ||
| 216 | } | ||
| 217 | else | ||
| 218 | { | ||
| 219 | PhysicsLogging = new Logging.LogWriter(); | ||
| 220 | } | ||
| 221 | |||
| 222 | // If Debug logging level, enable logging from the unmanaged code | ||
| 223 | m_DebugLogCallbackHandle = null; | ||
| 224 | if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) | ||
| 225 | { | ||
| 226 | m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); | ||
| 227 | if (PhysicsLogging.Enabled) | ||
| 228 | // The handle is saved in a variable to make sure it doesn't get freed after this call | ||
| 229 | m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); | ||
| 230 | else | ||
| 231 | m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); | ||
| 232 | } | ||
| 233 | |||
| 234 | // Get the version of the DLL | ||
| 235 | // TODO: this doesn't work yet. Something wrong with marshaling the returned string. | ||
| 236 | // BulletSimVersion = BulletSimAPI.GetVersion(); | ||
| 237 | // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); | ||
| 238 | |||
| 239 | // The bounding box for the simulated world. The origin is 0,0,0 unless we're | ||
| 240 | // a child in a mega-region. | ||
| 241 | // Bullet actually doesn't care about the extents of the simulated | ||
| 242 | // area. It tracks active objects no matter where they are. | ||
| 243 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); | ||
| 244 | |||
| 245 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); | ||
| 246 | |||
| 247 | World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams, | ||
| 248 | m_maxCollisionsPerFrame, ref m_collisionArray, | ||
| 249 | m_maxUpdatesPerFrame,ref m_updateArray, | ||
| 250 | m_DebugLogCallbackHandle)); | ||
| 251 | |||
| 252 | Constraints = new BSConstraintCollection(World); | ||
| 253 | |||
| 254 | TerrainManager = new BSTerrainManager(this); | ||
| 255 | TerrainManager.CreateInitialGroundPlaneAndTerrain(); | ||
| 256 | |||
| 257 | m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); | ||
| 258 | |||
| 259 | InTaintTime = false; | ||
| 260 | m_initialized = true; | ||
| 261 | } | ||
| 262 | |||
| 263 | // All default parameter values are set here. There should be no values set in the | ||
| 264 | // variable definitions. | ||
| 265 | private void GetInitialParameterValues(IConfigSource config) | ||
| 266 | { | ||
| 267 | ConfigurationParameters parms = new ConfigurationParameters(); | ||
| 268 | UnmanagedParams[0] = parms; | ||
| 269 | |||
| 270 | BSParam.SetParameterDefaultValues(this); | ||
| 271 | |||
| 272 | if (config != null) | ||
| 273 | { | ||
| 274 | // If there are specifications in the ini file, use those values | ||
| 275 | IConfig pConfig = config.Configs["BulletSim"]; | ||
| 276 | if (pConfig != null) | ||
| 277 | { | ||
| 278 | BSParam.SetParameterConfigurationValues(this, pConfig); | ||
| 279 | |||
| 280 | // Very detailed logging for physics debugging | ||
| 281 | m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); | ||
| 282 | m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); | ||
| 283 | m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); | ||
| 284 | m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); | ||
| 285 | m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); | ||
| 286 | // Very detailed logging for vehicle debugging | ||
| 287 | VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); | ||
| 288 | VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); | ||
| 289 | |||
| 290 | // Do any replacements in the parameters | ||
| 291 | m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); | ||
| 292 | } | ||
| 293 | |||
| 294 | // The material characteristics. | ||
| 295 | BSMaterials.InitializeFromDefaults(Params); | ||
| 296 | if (pConfig != null) | ||
| 297 | { | ||
| 298 | // Let the user add new and interesting material property values. | ||
| 299 | BSMaterials.InitializefromParameters(pConfig); | ||
| 300 | } | ||
| 301 | } | ||
| 302 | } | ||
| 303 | |||
| 304 | // A helper function that handles a true/false parameter and returns the proper float number encoding | ||
| 305 | float ParamBoolean(IConfig config, string parmName, float deflt) | ||
| 306 | { | ||
| 307 | float ret = deflt; | ||
| 308 | if (config.Contains(parmName)) | ||
| 309 | { | ||
| 310 | ret = ConfigurationParameters.numericFalse; | ||
| 311 | if (config.GetBoolean(parmName, false)) | ||
| 312 | { | ||
| 313 | ret = ConfigurationParameters.numericTrue; | ||
| 314 | } | ||
| 315 | } | ||
| 316 | return ret; | ||
| 317 | } | ||
| 318 | |||
| 319 | // Called directly from unmanaged code so don't do much | ||
| 320 | private void BulletLogger(string msg) | ||
| 321 | { | ||
| 322 | m_log.Debug("[BULLETS UNMANAGED]:" + msg); | ||
| 323 | } | ||
| 324 | |||
| 325 | // Called directly from unmanaged code so don't do much | ||
| 326 | private void BulletLoggerPhysLog(string msg) | ||
| 327 | { | ||
| 328 | DetailLog("[BULLETS UNMANAGED]:" + msg); | ||
| 329 | } | ||
| 330 | |||
| 331 | public override void Dispose() | ||
| 332 | { | ||
| 333 | // m_log.DebugFormat("{0}: Dispose()", LogHeader); | ||
| 334 | |||
| 335 | // make sure no stepping happens while we're deleting stuff | ||
| 336 | m_initialized = false; | ||
| 337 | |||
| 338 | foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects) | ||
| 339 | { | ||
| 340 | kvp.Value.Destroy(); | ||
| 341 | } | ||
| 342 | PhysObjects.Clear(); | ||
| 343 | |||
| 344 | // Now that the prims are all cleaned up, there should be no constraints left | ||
| 345 | if (Constraints != null) | ||
| 346 | { | ||
| 347 | Constraints.Dispose(); | ||
| 348 | Constraints = null; | ||
| 349 | } | ||
| 350 | |||
| 351 | if (Shapes != null) | ||
| 352 | { | ||
| 353 | Shapes.Dispose(); | ||
| 354 | Shapes = null; | ||
| 355 | } | ||
| 356 | |||
| 357 | if (TerrainManager != null) | ||
| 358 | { | ||
| 359 | TerrainManager.ReleaseGroundPlaneAndTerrain(); | ||
| 360 | TerrainManager.Dispose(); | ||
| 361 | TerrainManager = null; | ||
| 362 | } | ||
| 363 | |||
| 364 | // Anything left in the unmanaged code should be cleaned out | ||
| 365 | BulletSimAPI.Shutdown2(World.ptr); | ||
| 366 | |||
| 367 | // Not logging any more | ||
| 368 | PhysicsLogging.Close(); | ||
| 369 | } | ||
| 370 | #endregion // Construction and Initialization | ||
| 371 | |||
| 372 | #region Prim and Avatar addition and removal | ||
| 373 | |||
| 374 | public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) | ||
| 375 | { | ||
| 376 | m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); | ||
| 377 | return null; | ||
| 378 | } | ||
| 379 | |||
| 380 | public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) | ||
| 381 | { | ||
| 382 | // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); | ||
| 383 | |||
| 384 | if (!m_initialized) return null; | ||
| 385 | |||
| 386 | BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); | ||
| 387 | lock (PhysObjects) PhysObjects.Add(localID, actor); | ||
| 388 | |||
| 389 | // TODO: Remove kludge someday. | ||
| 390 | // We must generate a collision for avatars whether they collide or not. | ||
| 391 | // This is required by OpenSim to update avatar animations, etc. | ||
| 392 | lock (m_avatars) m_avatars.Add(actor); | ||
| 393 | |||
| 394 | return actor; | ||
| 395 | } | ||
| 396 | |||
| 397 | public override void RemoveAvatar(PhysicsActor actor) | ||
| 398 | { | ||
| 399 | // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); | ||
| 400 | |||
| 401 | if (!m_initialized) return; | ||
| 402 | |||
| 403 | BSCharacter bsactor = actor as BSCharacter; | ||
| 404 | if (bsactor != null) | ||
| 405 | { | ||
| 406 | try | ||
| 407 | { | ||
| 408 | lock (PhysObjects) PhysObjects.Remove(actor.LocalID); | ||
| 409 | // Remove kludge someday | ||
| 410 | lock (m_avatars) m_avatars.Remove(bsactor); | ||
| 411 | } | ||
| 412 | catch (Exception e) | ||
| 413 | { | ||
| 414 | m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); | ||
| 415 | } | ||
| 416 | bsactor.Destroy(); | ||
| 417 | // bsactor.dispose(); | ||
| 418 | } | ||
| 419 | } | ||
| 420 | |||
| 421 | public override void RemovePrim(PhysicsActor prim) | ||
| 422 | { | ||
| 423 | if (!m_initialized) return; | ||
| 424 | |||
| 425 | BSPrim bsprim = prim as BSPrim; | ||
| 426 | if (bsprim != null) | ||
| 427 | { | ||
| 428 | DetailLog("{0},RemovePrim,call", bsprim.LocalID); | ||
| 429 | // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); | ||
| 430 | try | ||
| 431 | { | ||
| 432 | lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID); | ||
| 433 | } | ||
| 434 | catch (Exception e) | ||
| 435 | { | ||
| 436 | m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); | ||
| 437 | } | ||
| 438 | bsprim.Destroy(); | ||
| 439 | // bsprim.dispose(); | ||
| 440 | } | ||
| 441 | else | ||
| 442 | { | ||
| 443 | m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader); | ||
| 444 | } | ||
| 445 | } | ||
| 446 | |||
| 447 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
| 448 | Vector3 size, Quaternion rotation, bool isPhysical, uint localID) | ||
| 449 | { | ||
| 450 | // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); | ||
| 451 | |||
| 452 | if (!m_initialized) return null; | ||
| 453 | |||
| 454 | DetailLog("{0},AddPrimShape,call", localID); | ||
| 455 | |||
| 456 | BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); | ||
| 457 | lock (PhysObjects) PhysObjects.Add(localID, prim); | ||
| 458 | return prim; | ||
| 459 | } | ||
| 460 | |||
| 461 | // This is a call from the simulator saying that some physical property has been updated. | ||
| 462 | // The BulletSim driver senses the changing of relevant properties so this taint | ||
| 463 | // information call is not needed. | ||
| 464 | public override void AddPhysicsActorTaint(PhysicsActor prim) { } | ||
| 465 | |||
| 466 | #endregion // Prim and Avatar addition and removal | ||
| 467 | |||
| 468 | #region Simulation | ||
| 469 | // Simulate one timestep | ||
| 470 | public override float Simulate(float timeStep) | ||
| 471 | { | ||
| 472 | // prevent simulation until we've been initialized | ||
| 473 | if (!m_initialized) return 5.0f; | ||
| 474 | |||
| 475 | LastTimeStep = timeStep; | ||
| 476 | |||
| 477 | int updatedEntityCount = 0; | ||
| 478 | //Object updatedEntitiesPtr; | ||
| 479 | int collidersCount = 0; | ||
| 480 | //Object collidersPtr; | ||
| 481 | |||
| 482 | int beforeTime = 0; | ||
| 483 | int simTime = 0; | ||
| 484 | |||
| 485 | // update the prim states while we know the physics engine is not busy | ||
| 486 | int numTaints = _taintOperations.Count; | ||
| 487 | |||
| 488 | InTaintTime = true; // Only used for debugging so locking is not necessary. | ||
| 489 | |||
| 490 | ProcessTaints(); | ||
| 491 | |||
| 492 | // Some of the physical objects requre individual, pre-step calls | ||
| 493 | TriggerPreStepEvent(timeStep); | ||
| 494 | |||
| 495 | // the prestep actions might have added taints | ||
| 496 | ProcessTaints(); | ||
| 497 | |||
| 498 | InTaintTime = false; // Only used for debugging so locking is not necessary. | ||
| 499 | |||
| 500 | // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. | ||
| 501 | // Only enable this in a limited test world with few objects. | ||
| 502 | // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG | ||
| 503 | |||
| 504 | // step the physical world one interval | ||
| 505 | m_simulationStep++; | ||
| 506 | int numSubSteps = 0; | ||
| 507 | |||
| 508 | try | ||
| 509 | { | ||
| 510 | if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); | ||
| 511 | |||
| 512 | numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, | ||
| 513 | out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray); | ||
| 514 | |||
| 515 | if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); | ||
| 516 | DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", | ||
| 517 | DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, | ||
| 518 | updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); | ||
| 519 | } | ||
| 520 | catch (Exception e) | ||
| 521 | { | ||
| 522 | m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", | ||
| 523 | LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); | ||
| 524 | DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", | ||
| 525 | DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); | ||
| 526 | updatedEntityCount = 0; | ||
| 527 | collidersCount = 0; | ||
| 528 | } | ||
| 529 | |||
| 530 | // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in. | ||
| 531 | |||
| 532 | // Get a value for 'now' so all the collision and update routines don't have to get their own. | ||
| 533 | SimulationNowTime = Util.EnvironmentTickCount(); | ||
| 534 | |||
| 535 | // If there were collisions, process them by sending the event to the prim. | ||
| 536 | // Collisions must be processed before updates. | ||
| 537 | if (collidersCount > 0) | ||
| 538 | { | ||
| 539 | for (int ii = 0; ii < collidersCount; ii++) | ||
| 540 | { | ||
| 541 | uint cA = m_collisionArray[ii].aID; | ||
| 542 | uint cB = m_collisionArray[ii].bID; | ||
| 543 | Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y, | ||
| 544 | m_collisionArray[ii].point.Z); | ||
| 545 | Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y, | ||
| 546 | m_collisionArray[ii].normal.Z); | ||
| 547 | SendCollision(cA, cB, point, normal, 0.01f); | ||
| 548 | SendCollision(cB, cA, point, -normal, 0.01f); | ||
| 549 | } | ||
| 550 | } | ||
| 551 | |||
| 552 | // The above SendCollision's batch up the collisions on the objects. | ||
| 553 | // Now push the collisions into the simulator. | ||
| 554 | if (ObjectsWithCollisions.Count > 0) | ||
| 555 | { | ||
| 556 | foreach (BSPhysObject bsp in ObjectsWithCollisions) | ||
| 557 | if (!bsp.SendCollisions()) | ||
| 558 | { | ||
| 559 | // If the object is done colliding, see that it's removed from the colliding list | ||
| 560 | ObjectsWithNoMoreCollisions.Add(bsp); | ||
| 561 | } | ||
| 562 | } | ||
| 563 | |||
| 564 | // This is a kludge to get avatar movement updates. | ||
| 565 | // The simulator expects collisions for avatars even if there are have been no collisions. | ||
| 566 | // The event updates avatar animations and stuff. | ||
| 567 | // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. | ||
| 568 | foreach (BSPhysObject bsp in m_avatars) | ||
| 569 | if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice | ||
| 570 | bsp.SendCollisions(); | ||
| 571 | |||
| 572 | // Objects that are done colliding are removed from the ObjectsWithCollisions list. | ||
| 573 | // Not done above because it is inside an iteration of ObjectWithCollisions. | ||
| 574 | // This complex collision processing is required to create an empty collision | ||
| 575 | // event call after all collisions have happened on an object. This enables | ||
| 576 | // the simulator to generate the 'collision end' event. | ||
| 577 | if (ObjectsWithNoMoreCollisions.Count > 0) | ||
| 578 | { | ||
| 579 | foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) | ||
| 580 | ObjectsWithCollisions.Remove(po); | ||
| 581 | ObjectsWithNoMoreCollisions.Clear(); | ||
| 582 | } | ||
| 583 | // Done with collisions. | ||
| 584 | |||
| 585 | // If any of the objects had updated properties, tell the object it has been changed by the physics engine | ||
| 586 | if (updatedEntityCount > 0) | ||
| 587 | { | ||
| 588 | for (int ii = 0; ii < updatedEntityCount; ii++) | ||
| 589 | { | ||
| 590 | |||
| 591 | BulletXNA.EntityProperties entprop = m_updateArray[ii]; | ||
| 592 | BSPhysObject pobj; | ||
| 593 | if (PhysObjects.TryGetValue(entprop.ID, out pobj)) | ||
| 594 | { | ||
| 595 | EntityProperties prop = new EntityProperties() | ||
| 596 | { | ||
| 597 | Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z), | ||
| 598 | ID = entprop.ID, | ||
| 599 | Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z), | ||
| 600 | Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W), | ||
| 601 | RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z), | ||
| 602 | Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z) | ||
| 603 | }; | ||
| 604 | //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n"); | ||
| 605 | pobj.UpdateProperties(prop); | ||
| 606 | } | ||
| 607 | } | ||
| 608 | } | ||
| 609 | |||
| 610 | TriggerPostStepEvent(timeStep); | ||
| 611 | |||
| 612 | // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. | ||
| 613 | // Only enable this in a limited test world with few objects. | ||
| 614 | // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG | ||
| 615 | |||
| 616 | // The physics engine returns the number of milliseconds it simulated this call. | ||
| 617 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. | ||
| 618 | // Multiply by 55 to give a nominal frame rate of 55. | ||
| 619 | return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f; | ||
| 620 | } | ||
| 621 | |||
| 622 | // Something has collided | ||
| 623 | private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) | ||
| 624 | { | ||
| 625 | if (localID <= TerrainManager.HighestTerrainID) | ||
| 626 | { | ||
| 627 | return; // don't send collisions to the terrain | ||
| 628 | } | ||
| 629 | |||
| 630 | BSPhysObject collider; | ||
| 631 | if (!PhysObjects.TryGetValue(localID, out collider)) | ||
| 632 | { | ||
| 633 | // If the object that is colliding cannot be found, just ignore the collision. | ||
| 634 | DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith); | ||
| 635 | return; | ||
| 636 | } | ||
| 637 | |||
| 638 | // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called. | ||
| 639 | BSPhysObject collidee = null; | ||
| 640 | PhysObjects.TryGetValue(collidingWith, out collidee); | ||
| 641 | |||
| 642 | // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); | ||
| 643 | |||
| 644 | if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) | ||
| 645 | { | ||
| 646 | // If a collision was posted, remember to send it to the simulator | ||
| 647 | ObjectsWithCollisions.Add(collider); | ||
| 648 | } | ||
| 649 | |||
| 650 | return; | ||
| 651 | } | ||
| 652 | |||
| 653 | #endregion // Simulation | ||
| 654 | |||
| 655 | public override void GetResults() { } | ||
| 656 | |||
| 657 | #region Terrain | ||
| 658 | |||
| 659 | public override void SetTerrain(float[] heightMap) { | ||
| 660 | TerrainManager.SetTerrain(heightMap); | ||
| 661 | } | ||
| 662 | |||
| 663 | public override void SetWaterLevel(float baseheight) | ||
| 664 | { | ||
| 665 | SimpleWaterLevel = baseheight; | ||
| 666 | } | ||
| 667 | |||
| 668 | public override void DeleteTerrain() | ||
| 669 | { | ||
| 670 | // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); | ||
| 671 | } | ||
| 672 | |||
| 673 | // Although no one seems to check this, I do support combining. | ||
| 674 | public override bool SupportsCombining() | ||
| 675 | { | ||
| 676 | return TerrainManager.SupportsCombining(); | ||
| 677 | } | ||
| 678 | // This call says I am a child to region zero in a mega-region. 'pScene' is that | ||
| 679 | // of region zero, 'offset' is my offset from regions zero's origin, and | ||
| 680 | // 'extents' is the largest XY that is handled in my region. | ||
| 681 | public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) | ||
| 682 | { | ||
| 683 | TerrainManager.Combine(pScene, offset, extents); | ||
| 684 | } | ||
| 685 | |||
| 686 | // Unhook all the combining that I know about. | ||
| 687 | public override void UnCombine(PhysicsScene pScene) | ||
| 688 | { | ||
| 689 | TerrainManager.UnCombine(pScene); | ||
| 690 | } | ||
| 691 | |||
| 692 | #endregion // Terrain | ||
| 693 | |||
| 694 | public override Dictionary<uint, float> GetTopColliders() | ||
| 695 | { | ||
| 696 | return new Dictionary<uint, float>(); | ||
| 697 | } | ||
| 698 | |||
| 699 | public override bool IsThreaded { get { return false; } } | ||
| 700 | |||
| 701 | #region Taints | ||
| 702 | // The simulation execution order is: | ||
| 703 | // Simulate() | ||
| 704 | // DoOneTimeTaints | ||
| 705 | // TriggerPreStepEvent | ||
| 706 | // DoOneTimeTaints | ||
| 707 | // Step() | ||
| 708 | // ProcessAndForwardCollisions | ||
| 709 | // ProcessAndForwardPropertyUpdates | ||
| 710 | // TriggerPostStepEvent | ||
| 711 | |||
| 712 | // Calls to the PhysicsActors can't directly call into the physics engine | ||
| 713 | // because it might be busy. We delay changes to a known time. | ||
| 714 | // We rely on C#'s closure to save and restore the context for the delegate. | ||
| 715 | public void TaintedObject(String ident, TaintCallback callback) | ||
| 716 | { | ||
| 717 | if (!m_initialized) return; | ||
| 718 | |||
| 719 | lock (_taintLock) | ||
| 720 | { | ||
| 721 | _taintOperations.Add(new TaintCallbackEntry(ident, callback)); | ||
| 722 | } | ||
| 723 | |||
| 724 | return; | ||
| 725 | } | ||
| 726 | |||
| 727 | // Sometimes a potentially tainted operation can be used in and out of taint time. | ||
| 728 | // This routine executes the command immediately if in taint-time otherwise it is queued. | ||
| 729 | public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback) | ||
| 730 | { | ||
| 731 | if (inTaintTime) | ||
| 732 | callback(); | ||
| 733 | else | ||
| 734 | TaintedObject(ident, callback); | ||
| 735 | } | ||
| 736 | |||
| 737 | private void TriggerPreStepEvent(float timeStep) | ||
| 738 | { | ||
| 739 | PreStepAction actions = BeforeStep; | ||
| 740 | if (actions != null) | ||
| 741 | actions(timeStep); | ||
| 742 | |||
| 743 | } | ||
| 744 | |||
| 745 | private void TriggerPostStepEvent(float timeStep) | ||
| 746 | { | ||
| 747 | PreStepAction actions = AfterStep; | ||
| 748 | if (actions != null) | ||
| 749 | actions(timeStep); | ||
| 750 | |||
| 751 | } | ||
| 752 | |||
| 753 | // When someone tries to change a property on a BSPrim or BSCharacter, the object queues | ||
| 754 | // a callback into itself to do the actual property change. That callback is called | ||
| 755 | // here just before the physics engine is called to step the simulation. | ||
| 756 | public void ProcessTaints() | ||
| 757 | { | ||
| 758 | ProcessRegularTaints(); | ||
| 759 | ProcessPostTaintTaints(); | ||
| 760 | } | ||
| 761 | |||
| 762 | private void ProcessRegularTaints() | ||
| 763 | { | ||
| 764 | if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process | ||
| 765 | { | ||
| 766 | // swizzle a new list into the list location so we can process what's there | ||
| 767 | List<TaintCallbackEntry> oldList; | ||
| 768 | lock (_taintLock) | ||
| 769 | { | ||
| 770 | oldList = _taintOperations; | ||
| 771 | _taintOperations = new List<TaintCallbackEntry>(); | ||
| 772 | } | ||
| 773 | |||
| 774 | foreach (TaintCallbackEntry tcbe in oldList) | ||
| 775 | { | ||
| 776 | try | ||
| 777 | { | ||
| 778 | DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG | ||
| 779 | tcbe.callback(); | ||
| 780 | } | ||
| 781 | catch (Exception e) | ||
| 782 | { | ||
| 783 | m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); | ||
| 784 | } | ||
| 785 | } | ||
| 786 | oldList.Clear(); | ||
| 787 | } | ||
| 788 | } | ||
| 789 | |||
| 790 | // Schedule an update to happen after all the regular taints are processed. | ||
| 791 | // Note that new requests for the same operation ("ident") for the same object ("ID") | ||
| 792 | // will replace any previous operation by the same object. | ||
| 793 | public void PostTaintObject(String ident, uint ID, TaintCallback callback) | ||
| 794 | { | ||
| 795 | string uniqueIdent = ident + "-" + ID.ToString(); | ||
| 796 | lock (_taintLock) | ||
| 797 | { | ||
| 798 | _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback); | ||
| 799 | } | ||
| 800 | |||
| 801 | return; | ||
| 802 | } | ||
| 803 | |||
| 804 | // Taints that happen after the normal taint processing but before the simulation step. | ||
| 805 | private void ProcessPostTaintTaints() | ||
| 806 | { | ||
| 807 | if (_postTaintOperations.Count > 0) | ||
| 808 | { | ||
| 809 | Dictionary<string, TaintCallbackEntry> oldList; | ||
| 810 | lock (_taintLock) | ||
| 811 | { | ||
| 812 | oldList = _postTaintOperations; | ||
| 813 | _postTaintOperations = new Dictionary<string, TaintCallbackEntry>(); | ||
| 814 | } | ||
| 815 | |||
| 816 | foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList) | ||
| 817 | { | ||
| 818 | try | ||
| 819 | { | ||
| 820 | DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG | ||
| 821 | kvp.Value.callback(); | ||
| 822 | } | ||
| 823 | catch (Exception e) | ||
| 824 | { | ||
| 825 | m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e); | ||
| 826 | } | ||
| 827 | } | ||
| 828 | oldList.Clear(); | ||
| 829 | } | ||
| 830 | } | ||
| 831 | |||
| 832 | // Only used for debugging. Does not change state of anything so locking is not necessary. | ||
| 833 | public bool AssertInTaintTime(string whereFrom) | ||
| 834 | { | ||
| 835 | if (!InTaintTime) | ||
| 836 | { | ||
| 837 | DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); | ||
| 838 | m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); | ||
| 839 | Util.PrintCallStack(DetailLog); | ||
| 840 | } | ||
| 841 | return InTaintTime; | ||
| 842 | } | ||
| 843 | |||
| 844 | #endregion // Taints | ||
| 845 | |||
| 846 | #region INI and command line parameter processing | ||
| 847 | |||
| 848 | #region IPhysicsParameters | ||
| 849 | // Get the list of parameters this physics engine supports | ||
| 850 | public PhysParameterEntry[] GetParameterList() | ||
| 851 | { | ||
| 852 | BSParam.BuildParameterTable(); | ||
| 853 | return BSParam.SettableParameters; | ||
| 854 | } | ||
| 855 | |||
| 856 | // Set parameter on a specific or all instances. | ||
| 857 | // Return 'false' if not able to set the parameter. | ||
| 858 | // Setting the value in the m_params block will change the value the physics engine | ||
| 859 | // will use the next time since it's pinned and shared memory. | ||
| 860 | // Some of the values require calling into the physics engine to get the new | ||
| 861 | // value activated ('terrainFriction' for instance). | ||
| 862 | public bool SetPhysicsParameter(string parm, float val, uint localID) | ||
| 863 | { | ||
| 864 | bool ret = false; | ||
| 865 | BSParam.ParameterDefn theParam; | ||
| 866 | if (BSParam.TryGetParameter(parm, out theParam)) | ||
| 867 | { | ||
| 868 | theParam.setter(this, parm, localID, val); | ||
| 869 | ret = true; | ||
| 870 | } | ||
| 871 | return ret; | ||
| 872 | } | ||
| 873 | |||
| 874 | // update all the localIDs specified | ||
| 875 | // If the local ID is APPLY_TO_NONE, just change the default value | ||
| 876 | // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs | ||
| 877 | // If the localID is a specific object, apply the parameter change to only that object | ||
| 878 | internal delegate void AssignVal(float x); | ||
| 879 | internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val) | ||
| 880 | { | ||
| 881 | List<uint> objectIDs = new List<uint>(); | ||
| 882 | switch (localID) | ||
| 883 | { | ||
| 884 | case PhysParameterEntry.APPLY_TO_NONE: | ||
| 885 | setDefault(val); // setting only the default value | ||
| 886 | // This will cause a call into the physical world if some operation is specified (SetOnObject). | ||
| 887 | objectIDs.Add(TERRAIN_ID); | ||
| 888 | TaintedUpdateParameter(parm, objectIDs, val); | ||
| 889 | break; | ||
| 890 | case PhysParameterEntry.APPLY_TO_ALL: | ||
| 891 | setDefault(val); // setting ALL also sets the default value | ||
| 892 | lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys); | ||
| 893 | TaintedUpdateParameter(parm, objectIDs, val); | ||
| 894 | break; | ||
| 895 | default: | ||
| 896 | // setting only one localID | ||
| 897 | objectIDs.Add(localID); | ||
| 898 | TaintedUpdateParameter(parm, objectIDs, val); | ||
| 899 | break; | ||
| 900 | } | ||
| 901 | } | ||
| 902 | |||
| 903 | // schedule the actual updating of the paramter to when the phys engine is not busy | ||
| 904 | private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val) | ||
| 905 | { | ||
| 906 | float xval = val; | ||
| 907 | List<uint> xlIDs = lIDs; | ||
| 908 | string xparm = parm; | ||
| 909 | TaintedObject("BSScene.UpdateParameterSet", delegate() { | ||
| 910 | BSParam.ParameterDefn thisParam; | ||
| 911 | if (BSParam.TryGetParameter(xparm, out thisParam)) | ||
| 912 | { | ||
| 913 | if (thisParam.onObject != null) | ||
| 914 | { | ||
| 915 | foreach (uint lID in xlIDs) | ||
| 916 | { | ||
| 917 | BSPhysObject theObject = null; | ||
| 918 | PhysObjects.TryGetValue(lID, out theObject); | ||
| 919 | thisParam.onObject(this, theObject, xval); | ||
| 920 | } | ||
| 921 | } | ||
| 922 | } | ||
| 923 | }); | ||
| 924 | } | ||
| 925 | |||
| 926 | // Get parameter. | ||
| 927 | // Return 'false' if not able to get the parameter. | ||
| 928 | public bool GetPhysicsParameter(string parm, out float value) | ||
| 929 | { | ||
| 930 | float val = 0f; | ||
| 931 | bool ret = false; | ||
| 932 | BSParam.ParameterDefn theParam; | ||
| 933 | if (BSParam.TryGetParameter(parm, out theParam)) | ||
| 934 | { | ||
| 935 | val = theParam.getter(this); | ||
| 936 | ret = true; | ||
| 937 | } | ||
| 938 | value = val; | ||
| 939 | return ret; | ||
| 940 | } | ||
| 941 | |||
| 942 | #endregion IPhysicsParameters | ||
| 943 | |||
| 944 | #endregion Runtime settable parameters | ||
| 945 | |||
| 946 | // Invoke the detailed logger and output something if it's enabled. | ||
| 947 | public void DetailLog(string msg, params Object[] args) | ||
| 948 | { | ||
| 949 | PhysicsLogging.Write(msg, args); | ||
| 950 | // Add the Flush() if debugging crashes. Gets all the messages written out. | ||
| 951 | if (m_physicsLoggingDoFlush) PhysicsLogging.Flush(); | ||
| 952 | } | ||
| 953 | // Used to fill in the LocalID when there isn't one. It's the correct number of characters. | ||
| 954 | public const string DetailLogZero = "0000000000"; | ||
| 955 | |||
| 956 | } | ||
| 957 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs deleted file mode 100644 index 47fb768..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs +++ /dev/null | |||
| @@ -1,1015 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using OMV = OpenMetaverse; | ||
| 31 | using OpenSim.Framework; | ||
| 32 | using OpenSim.Region.Physics.Manager; | ||
| 33 | using OpenSim.Region.Physics.ConvexDecompositionDotNet; | ||
| 34 | |||
| 35 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 36 | { | ||
| 37 | public sealed class BSShapeCollection : IDisposable | ||
| 38 | { | ||
| 39 | private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; | ||
| 40 | |||
| 41 | private BSScene PhysicsScene { get; set; } | ||
| 42 | |||
| 43 | private Object m_collectionActivityLock = new Object(); | ||
| 44 | |||
| 45 | // Description of a Mesh | ||
| 46 | private struct MeshDesc | ||
| 47 | { | ||
| 48 | public Object ptr; | ||
| 49 | public int referenceCount; | ||
| 50 | public DateTime lastReferenced; | ||
| 51 | public UInt64 shapeKey; | ||
| 52 | } | ||
| 53 | |||
| 54 | // Description of a hull. | ||
| 55 | // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. | ||
| 56 | private struct HullDesc | ||
| 57 | { | ||
| 58 | public Object ptr; | ||
| 59 | public int referenceCount; | ||
| 60 | public DateTime lastReferenced; | ||
| 61 | public UInt64 shapeKey; | ||
| 62 | } | ||
| 63 | |||
| 64 | // The sharable set of meshes and hulls. Indexed by their shape hash. | ||
| 65 | private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>(); | ||
| 66 | private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>(); | ||
| 67 | |||
| 68 | private bool DDetail = false; | ||
| 69 | |||
| 70 | public BSShapeCollection(BSScene physScene) | ||
| 71 | { | ||
| 72 | PhysicsScene = physScene; | ||
| 73 | // Set the next to 'true' for very detailed shape update detailed logging (detailed details?) | ||
| 74 | // While detailed debugging is still active, this is better than commenting out all the | ||
| 75 | // DetailLog statements. When debugging slows down, this and the protected logging | ||
| 76 | // statements can be commented/removed. | ||
| 77 | DDetail = true; | ||
| 78 | } | ||
| 79 | |||
| 80 | public void Dispose() | ||
| 81 | { | ||
| 82 | // TODO!!!!!!!!! | ||
| 83 | } | ||
| 84 | |||
| 85 | // Callbacks called just before either the body or shape is destroyed. | ||
| 86 | // Mostly used for changing bodies out from under Linksets. | ||
| 87 | // Useful for other cases where parameters need saving. | ||
| 88 | // Passing 'null' says no callback. | ||
| 89 | public delegate void ShapeDestructionCallback(BulletShape shape); | ||
| 90 | public delegate void BodyDestructionCallback(BulletBody body); | ||
| 91 | |||
| 92 | // Called to update/change the body and shape for an object. | ||
| 93 | // First checks the shape and updates that if necessary then makes | ||
| 94 | // sure the body is of the right type. | ||
| 95 | // Return 'true' if either the body or the shape changed. | ||
| 96 | // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before | ||
| 97 | // the current shape or body is destroyed. This allows the caller to remove any | ||
| 98 | // higher level dependencies on the shape or body. Mostly used for LinkSets to | ||
| 99 | // remove the physical constraints before the body is destroyed. | ||
| 100 | // Called at taint-time!! | ||
| 101 | public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, | ||
| 102 | ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) | ||
| 103 | { | ||
| 104 | PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); | ||
| 105 | |||
| 106 | bool ret = false; | ||
| 107 | |||
| 108 | // This lock could probably be pushed down lower but building shouldn't take long | ||
| 109 | lock (m_collectionActivityLock) | ||
| 110 | { | ||
| 111 | // Do we have the correct geometry for this type of object? | ||
| 112 | // Updates prim.BSShape with information/pointers to shape. | ||
| 113 | // Returns 'true' of BSShape is changed to a new shape. | ||
| 114 | bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); | ||
| 115 | // If we had to select a new shape geometry for the object, | ||
| 116 | // rebuild the body around it. | ||
| 117 | // Updates prim.BSBody with information/pointers to requested body | ||
| 118 | // Returns 'true' if BSBody was changed. | ||
| 119 | bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, | ||
| 120 | prim.PhysShape, bodyCallback); | ||
| 121 | ret = newGeom || newBody; | ||
| 122 | } | ||
| 123 | DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", | ||
| 124 | prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape); | ||
| 125 | |||
| 126 | return ret; | ||
| 127 | } | ||
| 128 | |||
| 129 | public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) | ||
| 130 | { | ||
| 131 | return GetBodyAndShape(forceRebuild, sim, prim, null, null); | ||
| 132 | } | ||
| 133 | |||
| 134 | // Track another user of a body. | ||
| 135 | // We presume the caller has allocated the body. | ||
| 136 | // Bodies only have one user so the body is just put into the world if not already there. | ||
| 137 | public void ReferenceBody(BulletBody body, bool inTaintTime) | ||
| 138 | { | ||
| 139 | lock (m_collectionActivityLock) | ||
| 140 | { | ||
| 141 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); | ||
| 142 | PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() | ||
| 143 | { | ||
| 144 | if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr)) | ||
| 145 | { | ||
| 146 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); | ||
| 147 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); | ||
| 148 | } | ||
| 149 | }); | ||
| 150 | } | ||
| 151 | } | ||
| 152 | |||
| 153 | // Release the usage of a body. | ||
| 154 | // Called when releasing use of a BSBody. BSShape is handled separately. | ||
| 155 | public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) | ||
| 156 | { | ||
| 157 | if (!body.HasPhysicalBody) | ||
| 158 | return; | ||
| 159 | |||
| 160 | lock (m_collectionActivityLock) | ||
| 161 | { | ||
| 162 | PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() | ||
| 163 | { | ||
| 164 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", | ||
| 165 | body.ID, body, inTaintTime); | ||
| 166 | // If the caller needs to know the old body is going away, pass the event up. | ||
| 167 | if (bodyCallback != null) bodyCallback(body); | ||
| 168 | |||
| 169 | if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr)) | ||
| 170 | { | ||
| 171 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); | ||
| 172 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); | ||
| 173 | } | ||
| 174 | |||
| 175 | // Zero any reference to the shape so it is not freed when the body is deleted. | ||
| 176 | BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null); | ||
| 177 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); | ||
| 178 | }); | ||
| 179 | } | ||
| 180 | } | ||
| 181 | |||
| 182 | // Track the datastructures and use count for a shape. | ||
| 183 | // When creating a hull, this is called first to reference the mesh | ||
| 184 | // and then again to reference the hull. | ||
| 185 | // Meshes and hulls for the same shape have the same hash key. | ||
| 186 | // NOTE that native shapes are not added to the mesh list or removed. | ||
| 187 | // Returns 'true' if this is the initial reference to the shape. Otherwise reused. | ||
| 188 | public bool ReferenceShape(BulletShape shape) | ||
| 189 | { | ||
| 190 | bool ret = false; | ||
| 191 | switch (shape.type) | ||
| 192 | { | ||
| 193 | case BSPhysicsShapeType.SHAPE_MESH: | ||
| 194 | MeshDesc meshDesc; | ||
| 195 | if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) | ||
| 196 | { | ||
| 197 | // There is an existing instance of this mesh. | ||
| 198 | meshDesc.referenceCount++; | ||
| 199 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", | ||
| 200 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | ||
| 201 | } | ||
| 202 | else | ||
| 203 | { | ||
| 204 | // This is a new reference to a mesh | ||
| 205 | meshDesc.ptr = shape.ptr; | ||
| 206 | meshDesc.shapeKey = shape.shapeKey; | ||
| 207 | // We keep a reference to the underlying IMesh data so a hull can be built | ||
| 208 | meshDesc.referenceCount = 1; | ||
| 209 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", | ||
| 210 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | ||
| 211 | ret = true; | ||
| 212 | } | ||
| 213 | meshDesc.lastReferenced = System.DateTime.Now; | ||
| 214 | Meshes[shape.shapeKey] = meshDesc; | ||
| 215 | break; | ||
| 216 | case BSPhysicsShapeType.SHAPE_HULL: | ||
| 217 | HullDesc hullDesc; | ||
| 218 | if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) | ||
| 219 | { | ||
| 220 | // There is an existing instance of this hull. | ||
| 221 | hullDesc.referenceCount++; | ||
| 222 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", | ||
| 223 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | ||
| 224 | } | ||
| 225 | else | ||
| 226 | { | ||
| 227 | // This is a new reference to a hull | ||
| 228 | hullDesc.ptr = shape.ptr; | ||
| 229 | hullDesc.shapeKey = shape.shapeKey; | ||
| 230 | hullDesc.referenceCount = 1; | ||
| 231 | if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", | ||
| 232 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | ||
| 233 | ret = true; | ||
| 234 | |||
| 235 | } | ||
| 236 | hullDesc.lastReferenced = System.DateTime.Now; | ||
| 237 | Hulls[shape.shapeKey] = hullDesc; | ||
| 238 | break; | ||
| 239 | case BSPhysicsShapeType.SHAPE_UNKNOWN: | ||
| 240 | break; | ||
| 241 | default: | ||
| 242 | // Native shapes are not tracked and they don't go into any list | ||
| 243 | break; | ||
| 244 | } | ||
| 245 | return ret; | ||
| 246 | } | ||
| 247 | |||
| 248 | // Release the usage of a shape. | ||
| 249 | public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) | ||
| 250 | { | ||
| 251 | if (!shape.HasPhysicalShape) | ||
| 252 | return; | ||
| 253 | |||
| 254 | PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() | ||
| 255 | { | ||
| 256 | if (shape.HasPhysicalShape) | ||
| 257 | { | ||
| 258 | if (shape.isNativeShape) | ||
| 259 | { | ||
| 260 | // Native shapes are not tracked and are released immediately | ||
| 261 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", | ||
| 262 | BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime); | ||
| 263 | if (shapeCallback != null) shapeCallback(shape); | ||
| 264 | BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); | ||
| 265 | } | ||
| 266 | else | ||
| 267 | { | ||
| 268 | switch (shape.type) | ||
| 269 | { | ||
| 270 | case BSPhysicsShapeType.SHAPE_HULL: | ||
| 271 | DereferenceHull(shape, shapeCallback); | ||
| 272 | break; | ||
| 273 | case BSPhysicsShapeType.SHAPE_MESH: | ||
| 274 | DereferenceMesh(shape, shapeCallback); | ||
| 275 | break; | ||
| 276 | case BSPhysicsShapeType.SHAPE_COMPOUND: | ||
| 277 | DereferenceCompound(shape, shapeCallback); | ||
| 278 | break; | ||
| 279 | case BSPhysicsShapeType.SHAPE_UNKNOWN: | ||
| 280 | break; | ||
| 281 | default: | ||
| 282 | break; | ||
| 283 | } | ||
| 284 | } | ||
| 285 | } | ||
| 286 | }); | ||
| 287 | } | ||
| 288 | |||
| 289 | // Count down the reference count for a mesh shape | ||
| 290 | // Called at taint-time. | ||
| 291 | private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) | ||
| 292 | { | ||
| 293 | MeshDesc meshDesc; | ||
| 294 | if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) | ||
| 295 | { | ||
| 296 | meshDesc.referenceCount--; | ||
| 297 | // TODO: release the Bullet storage | ||
| 298 | if (shapeCallback != null) shapeCallback(shape); | ||
| 299 | meshDesc.lastReferenced = System.DateTime.Now; | ||
| 300 | Meshes[shape.shapeKey] = meshDesc; | ||
| 301 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", | ||
| 302 | BSScene.DetailLogZero, shape, meshDesc.referenceCount); | ||
| 303 | |||
| 304 | } | ||
| 305 | } | ||
| 306 | |||
| 307 | // Count down the reference count for a hull shape | ||
| 308 | // Called at taint-time. | ||
| 309 | private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) | ||
| 310 | { | ||
| 311 | HullDesc hullDesc; | ||
| 312 | if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) | ||
| 313 | { | ||
| 314 | hullDesc.referenceCount--; | ||
| 315 | // TODO: release the Bullet storage (aging old entries?) | ||
| 316 | |||
| 317 | // Tell upper layers that, if they have dependencies on this shape, this link is going away | ||
| 318 | if (shapeCallback != null) shapeCallback(shape); | ||
| 319 | |||
| 320 | hullDesc.lastReferenced = System.DateTime.Now; | ||
| 321 | Hulls[shape.shapeKey] = hullDesc; | ||
| 322 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", | ||
| 323 | BSScene.DetailLogZero, shape, hullDesc.referenceCount); | ||
| 324 | } | ||
| 325 | } | ||
| 326 | |||
| 327 | // Remove a reference to a compound shape. | ||
| 328 | // Taking a compound shape apart is a little tricky because if you just delete the | ||
| 329 | // physical shape, it will free all the underlying children. We can't do that because | ||
| 330 | // they could be shared. So, this removes each of the children from the compound and | ||
| 331 | // dereferences them separately before destroying the compound collision object itself. | ||
| 332 | // Called at taint-time. | ||
| 333 | private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) | ||
| 334 | { | ||
| 335 | if (!BulletSimAPI.IsCompound2(shape.ptr)) | ||
| 336 | { | ||
| 337 | // Failed the sanity check!! | ||
| 338 | PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", | ||
| 339 | LogHeader, shape.type, shape.ptr.ToString()); | ||
| 340 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", | ||
| 341 | BSScene.DetailLogZero, shape.type, shape.ptr.ToString()); | ||
| 342 | return; | ||
| 343 | } | ||
| 344 | |||
| 345 | int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); | ||
| 346 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); | ||
| 347 | |||
| 348 | for (int ii = numChildren - 1; ii >= 0; ii--) | ||
| 349 | { | ||
| 350 | Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); | ||
| 351 | DereferenceAnonCollisionShape(childShape); | ||
| 352 | } | ||
| 353 | BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); | ||
| 354 | } | ||
| 355 | |||
| 356 | // Sometimes we have a pointer to a collision shape but don't know what type it is. | ||
| 357 | // Figure out type and call the correct dereference routine. | ||
| 358 | // Called at taint-time. | ||
| 359 | private void DereferenceAnonCollisionShape(Object cShape) | ||
| 360 | { | ||
| 361 | MeshDesc meshDesc; | ||
| 362 | HullDesc hullDesc; | ||
| 363 | |||
| 364 | BulletShape shapeInfo = new BulletShape(cShape); | ||
| 365 | if (TryGetMeshByPtr(cShape, out meshDesc)) | ||
| 366 | { | ||
| 367 | shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; | ||
| 368 | shapeInfo.shapeKey = meshDesc.shapeKey; | ||
| 369 | } | ||
| 370 | else | ||
| 371 | { | ||
| 372 | if (TryGetHullByPtr(cShape, out hullDesc)) | ||
| 373 | { | ||
| 374 | shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; | ||
| 375 | shapeInfo.shapeKey = hullDesc.shapeKey; | ||
| 376 | } | ||
| 377 | else | ||
| 378 | { | ||
| 379 | if (BulletSimAPI.IsCompound2(cShape)) | ||
| 380 | { | ||
| 381 | shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; | ||
| 382 | } | ||
| 383 | else | ||
| 384 | { | ||
| 385 | if (BulletSimAPI.IsNativeShape2(cShape)) | ||
| 386 | { | ||
| 387 | shapeInfo.isNativeShape = true; | ||
| 388 | shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) | ||
| 389 | } | ||
| 390 | } | ||
| 391 | } | ||
| 392 | } | ||
| 393 | |||
| 394 | if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); | ||
| 395 | |||
| 396 | if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) | ||
| 397 | { | ||
| 398 | DereferenceShape(shapeInfo, true, null); | ||
| 399 | } | ||
| 400 | else | ||
| 401 | { | ||
| 402 | PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", | ||
| 403 | LogHeader, PhysicsScene.RegionName, cShape.ToString()); | ||
| 404 | } | ||
| 405 | } | ||
| 406 | |||
| 407 | // Create the geometry information in Bullet for later use. | ||
| 408 | // The objects needs a hull if it's physical otherwise a mesh is enough. | ||
| 409 | // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls, | ||
| 410 | // shared geometries will be used. If the parameters of the existing shape are the same | ||
| 411 | // as this request, the shape is not rebuilt. | ||
| 412 | // Info in prim.BSShape is updated to the new shape. | ||
| 413 | // Returns 'true' if the geometry was rebuilt. | ||
| 414 | // Called at taint-time! | ||
| 415 | private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) | ||
| 416 | { | ||
| 417 | bool ret = false; | ||
| 418 | bool haveShape = false; | ||
| 419 | |||
| 420 | if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) | ||
| 421 | { | ||
| 422 | // an avatar capsule is close to a native shape (it is not shared) | ||
| 423 | GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, | ||
| 424 | FixedShapeKey.KEY_CAPSULE, shapeCallback); | ||
| 425 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); | ||
| 426 | ret = true; | ||
| 427 | haveShape = true; | ||
| 428 | } | ||
| 429 | |||
| 430 | // Compound shapes are handled special as they are rebuilt from scratch. | ||
| 431 | // This isn't too great a hardship since most of the child shapes will have already been created. | ||
| 432 | if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) | ||
| 433 | { | ||
| 434 | ret = GetReferenceToCompoundShape(prim, shapeCallback); | ||
| 435 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); | ||
| 436 | haveShape = true; | ||
| 437 | } | ||
| 438 | |||
| 439 | if (!haveShape) | ||
| 440 | { | ||
| 441 | ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); | ||
| 442 | } | ||
| 443 | |||
| 444 | return ret; | ||
| 445 | } | ||
| 446 | |||
| 447 | // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. | ||
| 448 | public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) | ||
| 449 | { | ||
| 450 | bool ret = false; | ||
| 451 | bool haveShape = false; | ||
| 452 | bool nativeShapePossible = true; | ||
| 453 | PrimitiveBaseShape pbs = prim.BaseShape; | ||
| 454 | |||
| 455 | // If the prim attributes are simple, this could be a simple Bullet native shape | ||
| 456 | if (!haveShape | ||
| 457 | && pbs != null | ||
| 458 | && nativeShapePossible | ||
| 459 | && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) | ||
| 460 | || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 | ||
| 461 | && pbs.ProfileHollow == 0 | ||
| 462 | && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 | ||
| 463 | && pbs.PathBegin == 0 && pbs.PathEnd == 0 | ||
| 464 | && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 | ||
| 465 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 | ||
| 466 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) | ||
| 467 | { | ||
| 468 | // Get the scale of any existing shape so we can see if the new shape is same native type and same size. | ||
| 469 | OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; | ||
| 470 | if (prim.PhysShape.HasPhysicalShape) | ||
| 471 | scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); | ||
| 472 | |||
| 473 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", | ||
| 474 | prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); | ||
| 475 | |||
| 476 | // It doesn't look like Bullet scales spheres so make sure the scales are all equal | ||
| 477 | if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) | ||
| 478 | && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) | ||
| 479 | { | ||
| 480 | haveShape = true; | ||
| 481 | if (forceRebuild | ||
| 482 | || prim.Scale != scaleOfExistingShape | ||
| 483 | || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE | ||
| 484 | ) | ||
| 485 | { | ||
| 486 | ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, | ||
| 487 | FixedShapeKey.KEY_SPHERE, shapeCallback); | ||
| 488 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", | ||
| 489 | prim.LocalID, forceRebuild, prim.PhysShape); | ||
| 490 | } | ||
| 491 | } | ||
| 492 | if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) | ||
| 493 | { | ||
| 494 | haveShape = true; | ||
| 495 | if (forceRebuild | ||
| 496 | || prim.Scale != scaleOfExistingShape | ||
| 497 | || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX | ||
| 498 | ) | ||
| 499 | { | ||
| 500 | ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, | ||
| 501 | FixedShapeKey.KEY_BOX, shapeCallback); | ||
| 502 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", | ||
| 503 | prim.LocalID, forceRebuild, prim.PhysShape); | ||
| 504 | } | ||
| 505 | } | ||
| 506 | } | ||
| 507 | |||
| 508 | // If a simple shape is not happening, create a mesh and possibly a hull. | ||
| 509 | if (!haveShape && pbs != null) | ||
| 510 | { | ||
| 511 | ret = CreateGeomMeshOrHull(prim, shapeCallback); | ||
| 512 | } | ||
| 513 | |||
| 514 | return ret; | ||
| 515 | } | ||
| 516 | |||
| 517 | public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) | ||
| 518 | { | ||
| 519 | |||
| 520 | bool ret = false; | ||
| 521 | // Note that if it's a native shape, the check for physical/non-physical is not | ||
| 522 | // made. Native shapes work in either case. | ||
| 523 | if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) | ||
| 524 | { | ||
| 525 | // Update prim.BSShape to reference a hull of this shape. | ||
| 526 | ret = GetReferenceToHull(prim,shapeCallback); | ||
| 527 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", | ||
| 528 | prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); | ||
| 529 | } | ||
| 530 | else | ||
| 531 | { | ||
| 532 | ret = GetReferenceToMesh(prim, shapeCallback); | ||
| 533 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", | ||
| 534 | prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); | ||
| 535 | } | ||
| 536 | return ret; | ||
| 537 | } | ||
| 538 | |||
| 539 | // Creates a native shape and assignes it to prim.BSShape. | ||
| 540 | // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape(). | ||
| 541 | private bool GetReferenceToNativeShape(BSPhysObject prim, | ||
| 542 | BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, | ||
| 543 | ShapeDestructionCallback shapeCallback) | ||
| 544 | { | ||
| 545 | // release any previous shape | ||
| 546 | DereferenceShape(prim.PhysShape, true, shapeCallback); | ||
| 547 | |||
| 548 | BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); | ||
| 549 | |||
| 550 | // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. | ||
| 551 | if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", | ||
| 552 | prim.LocalID, newShape, prim.Scale); | ||
| 553 | |||
| 554 | // native shapes are scaled by Bullet | ||
| 555 | prim.PhysShape = newShape; | ||
| 556 | return true; | ||
| 557 | } | ||
| 558 | |||
| 559 | private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, | ||
| 560 | FixedShapeKey shapeKey) | ||
| 561 | { | ||
| 562 | BulletShape newShape; | ||
| 563 | // Need to make sure the passed shape information is for the native type. | ||
| 564 | ShapeData nativeShapeData = new ShapeData(); | ||
| 565 | nativeShapeData.Type = shapeType; | ||
| 566 | nativeShapeData.ID = prim.LocalID; | ||
| 567 | nativeShapeData.Scale = prim.Scale; | ||
| 568 | nativeShapeData.Size = prim.Scale; // unneeded, I think. | ||
| 569 | nativeShapeData.MeshKey = (ulong)shapeKey; | ||
| 570 | nativeShapeData.HullKey = (ulong)shapeKey; | ||
| 571 | |||
| 572 | if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) | ||
| 573 | { | ||
| 574 | // The proper scale has been calculated in the prim. | ||
| 575 | newShape = new BulletShape( | ||
| 576 | BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) | ||
| 577 | , shapeType); | ||
| 578 | if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); | ||
| 579 | } | ||
| 580 | else | ||
| 581 | { | ||
| 582 | // Native shapes are scaled in Bullet so set the scaling to the size | ||
| 583 | newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); | ||
| 584 | } | ||
| 585 | if (!newShape.HasPhysicalShape) | ||
| 586 | { | ||
| 587 | PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", | ||
| 588 | LogHeader, prim.LocalID, shapeType); | ||
| 589 | } | ||
| 590 | newShape.shapeKey = (System.UInt64)shapeKey; | ||
| 591 | newShape.isNativeShape = true; | ||
| 592 | |||
| 593 | return newShape; | ||
| 594 | } | ||
| 595 | |||
| 596 | // Builds a mesh shape in the physical world and updates prim.BSShape. | ||
| 597 | // Dereferences previous shape in BSShape and adds a reference for this new shape. | ||
| 598 | // Returns 'true' of a mesh was actually built. Otherwise . | ||
| 599 | // Called at taint-time! | ||
| 600 | private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) | ||
| 601 | { | ||
| 602 | BulletShape newShape = new BulletShape(); | ||
| 603 | |||
| 604 | float lod; | ||
| 605 | System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); | ||
| 606 | |||
| 607 | // if this new shape is the same as last time, don't recreate the mesh | ||
| 608 | if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) | ||
| 609 | return false; | ||
| 610 | |||
| 611 | if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", | ||
| 612 | prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); | ||
| 613 | |||
| 614 | // Since we're recreating new, get rid of the reference to the previous shape | ||
| 615 | DereferenceShape(prim.PhysShape, true, shapeCallback); | ||
| 616 | |||
| 617 | newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); | ||
| 618 | // Take evasive action if the mesh was not constructed. | ||
| 619 | newShape = VerifyMeshCreated(newShape, prim); | ||
| 620 | |||
| 621 | ReferenceShape(newShape); | ||
| 622 | |||
| 623 | prim.PhysShape = newShape; | ||
| 624 | |||
| 625 | return true; // 'true' means a new shape has been added to this prim | ||
| 626 | } | ||
| 627 | |||
| 628 | private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) | ||
| 629 | { | ||
| 630 | IMesh meshData = null; | ||
| 631 | Object meshPtr = null; | ||
| 632 | MeshDesc meshDesc; | ||
| 633 | if (Meshes.TryGetValue(newMeshKey, out meshDesc)) | ||
| 634 | { | ||
| 635 | // If the mesh has already been built just use it. | ||
| 636 | meshPtr = meshDesc.ptr; | ||
| 637 | } | ||
| 638 | else | ||
| 639 | { | ||
| 640 | meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); | ||
| 641 | |||
| 642 | if (meshData != null) | ||
| 643 | { | ||
| 644 | int[] indices = meshData.getIndexListAsInt(); | ||
| 645 | List<OMV.Vector3> vertices = meshData.getVertexList(); | ||
| 646 | |||
| 647 | float[] verticesAsFloats = new float[vertices.Count * 3]; | ||
| 648 | int vi = 0; | ||
| 649 | foreach (OMV.Vector3 vv in vertices) | ||
| 650 | { | ||
| 651 | verticesAsFloats[vi++] = vv.X; | ||
| 652 | verticesAsFloats[vi++] = vv.Y; | ||
| 653 | verticesAsFloats[vi++] = vv.Z; | ||
| 654 | } | ||
| 655 | |||
| 656 | // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", | ||
| 657 | // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); | ||
| 658 | |||
| 659 | meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, | ||
| 660 | indices.GetLength(0), indices, vertices.Count, verticesAsFloats); | ||
| 661 | } | ||
| 662 | } | ||
| 663 | BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH); | ||
| 664 | newShape.shapeKey = newMeshKey; | ||
| 665 | |||
| 666 | return newShape; | ||
| 667 | } | ||
| 668 | |||
| 669 | // See that hull shape exists in the physical world and update prim.BSShape. | ||
| 670 | // We could be creating the hull because scale changed or whatever. | ||
| 671 | private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) | ||
| 672 | { | ||
| 673 | BulletShape newShape; | ||
| 674 | |||
| 675 | float lod; | ||
| 676 | System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); | ||
| 677 | |||
| 678 | // if the hull hasn't changed, don't rebuild it | ||
| 679 | if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) | ||
| 680 | return false; | ||
| 681 | |||
| 682 | if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", | ||
| 683 | prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); | ||
| 684 | |||
| 685 | // Remove usage of the previous shape. | ||
| 686 | DereferenceShape(prim.PhysShape, true, shapeCallback); | ||
| 687 | |||
| 688 | newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); | ||
| 689 | newShape = VerifyMeshCreated(newShape, prim); | ||
| 690 | |||
| 691 | ReferenceShape(newShape); | ||
| 692 | |||
| 693 | prim.PhysShape = newShape; | ||
| 694 | return true; // 'true' means a new shape has been added to this prim | ||
| 695 | } | ||
| 696 | |||
| 697 | List<ConvexResult> m_hulls; | ||
| 698 | private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) | ||
| 699 | { | ||
| 700 | |||
| 701 | Object hullPtr = null; | ||
| 702 | HullDesc hullDesc; | ||
| 703 | if (Hulls.TryGetValue(newHullKey, out hullDesc)) | ||
| 704 | { | ||
| 705 | // If the hull shape already is created, just use it. | ||
| 706 | hullPtr = hullDesc.ptr; | ||
| 707 | } | ||
| 708 | else | ||
| 709 | { | ||
| 710 | // Build a new hull in the physical world | ||
| 711 | // Pass true for physicalness as this creates some sort of bounding box which we don't need | ||
| 712 | IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); | ||
| 713 | if (meshData != null) | ||
| 714 | { | ||
| 715 | |||
| 716 | int[] indices = meshData.getIndexListAsInt(); | ||
| 717 | List<OMV.Vector3> vertices = meshData.getVertexList(); | ||
| 718 | |||
| 719 | //format conversion from IMesh format to DecompDesc format | ||
| 720 | List<int> convIndices = new List<int>(); | ||
| 721 | List<float3> convVertices = new List<float3>(); | ||
| 722 | for (int ii = 0; ii < indices.GetLength(0); ii++) | ||
| 723 | { | ||
| 724 | convIndices.Add(indices[ii]); | ||
| 725 | } | ||
| 726 | foreach (OMV.Vector3 vv in vertices) | ||
| 727 | { | ||
| 728 | convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); | ||
| 729 | } | ||
| 730 | |||
| 731 | // setup and do convex hull conversion | ||
| 732 | m_hulls = new List<ConvexResult>(); | ||
| 733 | DecompDesc dcomp = new DecompDesc(); | ||
| 734 | dcomp.mIndices = convIndices; | ||
| 735 | dcomp.mVertices = convVertices; | ||
| 736 | ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); | ||
| 737 | // create the hull into the _hulls variable | ||
| 738 | convexBuilder.process(dcomp); | ||
| 739 | |||
| 740 | // Convert the vertices and indices for passing to unmanaged. | ||
| 741 | // The hull information is passed as a large floating point array. | ||
| 742 | // The format is: | ||
| 743 | // convHulls[0] = number of hulls | ||
| 744 | // convHulls[1] = number of vertices in first hull | ||
| 745 | // convHulls[2] = hull centroid X coordinate | ||
| 746 | // convHulls[3] = hull centroid Y coordinate | ||
| 747 | // convHulls[4] = hull centroid Z coordinate | ||
| 748 | // convHulls[5] = first hull vertex X | ||
| 749 | // convHulls[6] = first hull vertex Y | ||
| 750 | // convHulls[7] = first hull vertex Z | ||
| 751 | // convHulls[8] = second hull vertex X | ||
| 752 | // ... | ||
| 753 | // convHulls[n] = number of vertices in second hull | ||
| 754 | // convHulls[n+1] = second hull centroid X coordinate | ||
| 755 | // ... | ||
| 756 | // | ||
| 757 | // TODO: is is very inefficient. Someday change the convex hull generator to return | ||
| 758 | // data structures that do not need to be converted in order to pass to Bullet. | ||
| 759 | // And maybe put the values directly into pinned memory rather than marshaling. | ||
| 760 | int hullCount = m_hulls.Count; | ||
| 761 | int totalVertices = 1; // include one for the count of the hulls | ||
| 762 | foreach (ConvexResult cr in m_hulls) | ||
| 763 | { | ||
| 764 | totalVertices += 4; // add four for the vertex count and centroid | ||
| 765 | totalVertices += cr.HullIndices.Count * 3; // we pass just triangles | ||
| 766 | } | ||
| 767 | float[] convHulls = new float[totalVertices]; | ||
| 768 | |||
| 769 | convHulls[0] = (float)hullCount; | ||
| 770 | int jj = 1; | ||
| 771 | foreach (ConvexResult cr in m_hulls) | ||
| 772 | { | ||
| 773 | // copy vertices for index access | ||
| 774 | float3[] verts = new float3[cr.HullVertices.Count]; | ||
| 775 | int kk = 0; | ||
| 776 | foreach (float3 ff in cr.HullVertices) | ||
| 777 | { | ||
| 778 | verts[kk++] = ff; | ||
| 779 | } | ||
| 780 | |||
| 781 | // add to the array one hull's worth of data | ||
| 782 | convHulls[jj++] = cr.HullIndices.Count; | ||
| 783 | convHulls[jj++] = 0f; // centroid x,y,z | ||
| 784 | convHulls[jj++] = 0f; | ||
| 785 | convHulls[jj++] = 0f; | ||
| 786 | foreach (int ind in cr.HullIndices) | ||
| 787 | { | ||
| 788 | convHulls[jj++] = verts[ind].x; | ||
| 789 | convHulls[jj++] = verts[ind].y; | ||
| 790 | convHulls[jj++] = verts[ind].z; | ||
| 791 | } | ||
| 792 | } | ||
| 793 | // create the hull data structure in Bullet | ||
| 794 | hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); | ||
| 795 | } | ||
| 796 | } | ||
| 797 | |||
| 798 | BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); | ||
| 799 | newShape.shapeKey = newHullKey; | ||
| 800 | |||
| 801 | return newShape; | ||
| 802 | } | ||
| 803 | |||
| 804 | // Callback from convex hull creater with a newly created hull. | ||
| 805 | // Just add it to our collection of hulls for this shape. | ||
| 806 | private void HullReturn(ConvexResult result) | ||
| 807 | { | ||
| 808 | m_hulls.Add(result); | ||
| 809 | return; | ||
| 810 | } | ||
| 811 | |||
| 812 | // Compound shapes are always built from scratch. | ||
| 813 | // This shouldn't be to bad since most of the parts will be meshes that had been built previously. | ||
| 814 | private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback) | ||
| 815 | { | ||
| 816 | // Remove reference to the old shape | ||
| 817 | // Don't need to do this as the shape is freed when the new root shape is created below. | ||
| 818 | // DereferenceShape(prim.PhysShape, true, shapeCallback); | ||
| 819 | |||
| 820 | BulletShape cShape = new BulletShape( | ||
| 821 | BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); | ||
| 822 | |||
| 823 | // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. | ||
| 824 | CreateGeomMeshOrHull(prim, shapeCallback); | ||
| 825 | BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); | ||
| 826 | if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", | ||
| 827 | prim.LocalID, cShape, prim.PhysShape); | ||
| 828 | |||
| 829 | prim.PhysShape = cShape; | ||
| 830 | |||
| 831 | return true; | ||
| 832 | } | ||
| 833 | |||
| 834 | // Create a hash of all the shape parameters to be used as a key | ||
| 835 | // for this particular shape. | ||
| 836 | private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) | ||
| 837 | { | ||
| 838 | // level of detail based on size and type of the object | ||
| 839 | float lod = BSParam.MeshLOD; | ||
| 840 | if (pbs.SculptEntry) | ||
| 841 | lod = BSParam.SculptLOD; | ||
| 842 | |||
| 843 | // Mega prims usually get more detail because one can interact with shape approximations at this size. | ||
| 844 | float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); | ||
| 845 | if (maxAxis > BSParam.MeshMegaPrimThreshold) | ||
| 846 | lod = BSParam.MeshMegaPrimLOD; | ||
| 847 | |||
| 848 | retLod = lod; | ||
| 849 | return pbs.GetMeshKey(size, lod); | ||
| 850 | } | ||
| 851 | // For those who don't want the LOD | ||
| 852 | private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) | ||
| 853 | { | ||
| 854 | float lod; | ||
| 855 | return ComputeShapeKey(size, pbs, out lod); | ||
| 856 | } | ||
| 857 | |||
| 858 | // The creation of a mesh or hull can fail if an underlying asset is not available. | ||
| 859 | // There are two cases: 1) the asset is not in the cache and it needs to be fetched; | ||
| 860 | // and 2) the asset cannot be converted (like failed decompression of JPEG2000s). | ||
| 861 | // The first case causes the asset to be fetched. The second case requires | ||
| 862 | // us to not loop forever. | ||
| 863 | // Called after creating a physical mesh or hull. If the physical shape was created, | ||
| 864 | // just return. | ||
| 865 | private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) | ||
| 866 | { | ||
| 867 | // If the shape was successfully created, nothing more to do | ||
| 868 | if (newShape.HasPhysicalShape) | ||
| 869 | return newShape; | ||
| 870 | |||
| 871 | // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset | ||
| 872 | if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) | ||
| 873 | { | ||
| 874 | prim.LastAssetBuildFailed = true; | ||
| 875 | BSPhysObject xprim = prim; | ||
| 876 | DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", | ||
| 877 | LogHeader, prim.LocalID, prim.LastAssetBuildFailed); | ||
| 878 | Util.FireAndForget(delegate | ||
| 879 | { | ||
| 880 | RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; | ||
| 881 | if (assetProvider != null) | ||
| 882 | { | ||
| 883 | BSPhysObject yprim = xprim; // probably not necessary, but, just in case. | ||
| 884 | assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) | ||
| 885 | { | ||
| 886 | if (!yprim.BaseShape.SculptEntry) | ||
| 887 | return; | ||
| 888 | if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) | ||
| 889 | return; | ||
| 890 | |||
| 891 | yprim.BaseShape.SculptData = asset.Data; | ||
| 892 | // This will cause the prim to see that the filler shape is not the right | ||
| 893 | // one and try again to build the object. | ||
| 894 | // No race condition with the normal shape setting since the rebuild is at taint time. | ||
| 895 | yprim.ForceBodyShapeRebuild(false); | ||
| 896 | |||
| 897 | }); | ||
| 898 | } | ||
| 899 | }); | ||
| 900 | } | ||
| 901 | else | ||
| 902 | { | ||
| 903 | if (prim.LastAssetBuildFailed) | ||
| 904 | { | ||
| 905 | PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", | ||
| 906 | LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); | ||
| 907 | } | ||
| 908 | } | ||
| 909 | |||
| 910 | // While we figure out the real problem, stick a simple native shape on the object. | ||
| 911 | BulletShape fillinShape = | ||
| 912 | BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); | ||
| 913 | |||
| 914 | return fillinShape; | ||
| 915 | } | ||
| 916 | |||
| 917 | // Create a body object in Bullet. | ||
| 918 | // Updates prim.BSBody with the information about the new body if one is created. | ||
| 919 | // Returns 'true' if an object was actually created. | ||
| 920 | // Called at taint-time. | ||
| 921 | private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape, | ||
| 922 | BodyDestructionCallback bodyCallback) | ||
| 923 | { | ||
| 924 | bool ret = false; | ||
| 925 | |||
| 926 | // the mesh, hull or native shape must have already been created in Bullet | ||
| 927 | bool mustRebuild = !prim.PhysBody.HasPhysicalBody; | ||
| 928 | |||
| 929 | // If there is an existing body, verify it's of an acceptable type. | ||
| 930 | // If not a solid object, body is a GhostObject. Otherwise a RigidBody. | ||
| 931 | if (!mustRebuild) | ||
| 932 | { | ||
| 933 | CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); | ||
| 934 | if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY | ||
| 935 | || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) | ||
| 936 | { | ||
| 937 | // If the collisionObject is not the correct type for solidness, rebuild what's there | ||
| 938 | mustRebuild = true; | ||
| 939 | } | ||
| 940 | } | ||
| 941 | |||
| 942 | if (mustRebuild || forceRebuild) | ||
| 943 | { | ||
| 944 | // Free any old body | ||
| 945 | DereferenceBody(prim.PhysBody, true, bodyCallback); | ||
| 946 | |||
| 947 | BulletBody aBody; | ||
| 948 | Object bodyPtr = null; | ||
| 949 | if (prim.IsSolid) | ||
| 950 | { | ||
| 951 | bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, | ||
| 952 | prim.LocalID, prim.RawPosition, prim.RawOrientation); | ||
| 953 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString()); | ||
| 954 | } | ||
| 955 | else | ||
| 956 | { | ||
| 957 | bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, | ||
| 958 | prim.LocalID, prim.RawPosition, prim.RawOrientation); | ||
| 959 | if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString()); | ||
| 960 | } | ||
| 961 | aBody = new BulletBody(prim.LocalID, bodyPtr); | ||
| 962 | |||
| 963 | ReferenceBody(aBody, true); | ||
| 964 | |||
| 965 | prim.PhysBody = aBody; | ||
| 966 | |||
| 967 | ret = true; | ||
| 968 | } | ||
| 969 | |||
| 970 | return ret; | ||
| 971 | } | ||
| 972 | |||
| 973 | private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc) | ||
| 974 | { | ||
| 975 | bool ret = false; | ||
| 976 | MeshDesc foundDesc = new MeshDesc(); | ||
| 977 | foreach (MeshDesc md in Meshes.Values) | ||
| 978 | { | ||
| 979 | if (md.ptr == addr) | ||
| 980 | { | ||
| 981 | foundDesc = md; | ||
| 982 | ret = true; | ||
| 983 | break; | ||
| 984 | } | ||
| 985 | |||
| 986 | } | ||
| 987 | outDesc = foundDesc; | ||
| 988 | return ret; | ||
| 989 | } | ||
| 990 | |||
| 991 | private bool TryGetHullByPtr(Object addr, out HullDesc outDesc) | ||
| 992 | { | ||
| 993 | bool ret = false; | ||
| 994 | HullDesc foundDesc = new HullDesc(); | ||
| 995 | foreach (HullDesc hd in Hulls.Values) | ||
| 996 | { | ||
| 997 | if (hd.ptr == addr) | ||
| 998 | { | ||
| 999 | foundDesc = hd; | ||
| 1000 | ret = true; | ||
| 1001 | break; | ||
| 1002 | } | ||
| 1003 | |||
| 1004 | } | ||
| 1005 | outDesc = foundDesc; | ||
| 1006 | return ret; | ||
| 1007 | } | ||
| 1008 | |||
| 1009 | private void DetailLog(string msg, params Object[] args) | ||
| 1010 | { | ||
| 1011 | if (PhysicsScene.PhysicsLogging.Enabled) | ||
| 1012 | PhysicsScene.DetailLog(msg, args); | ||
| 1013 | } | ||
| 1014 | } | ||
| 1015 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs deleted file mode 100644 index 8ff0275..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs +++ /dev/null | |||
| @@ -1,208 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | |||
| 28 | using System; | ||
| 29 | using System.Collections.Generic; | ||
| 30 | using System.Linq; | ||
| 31 | using System.Text; | ||
| 32 | |||
| 33 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 34 | { | ||
| 35 | public abstract class BSShape | ||
| 36 | { | ||
| 37 | public Object ptr { get; set; } | ||
| 38 | public BSPhysicsShapeType type { get; set; } | ||
| 39 | public System.UInt64 key { get; set; } | ||
| 40 | public int referenceCount { get; set; } | ||
| 41 | public DateTime lastReferenced { get; set; } | ||
| 42 | |||
| 43 | public BSShape() | ||
| 44 | { | ||
| 45 | ptr = null; | ||
| 46 | type = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
| 47 | key = 0; | ||
| 48 | referenceCount = 0; | ||
| 49 | lastReferenced = DateTime.Now; | ||
| 50 | } | ||
| 51 | |||
| 52 | // Get a reference to a physical shape. Create if it doesn't exist | ||
| 53 | public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) | ||
| 54 | { | ||
| 55 | BSShape ret = null; | ||
| 56 | |||
| 57 | if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) | ||
| 58 | { | ||
| 59 | // an avatar capsule is close to a native shape (it is not shared) | ||
| 60 | ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, | ||
| 61 | FixedShapeKey.KEY_CAPSULE); | ||
| 62 | physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); | ||
| 63 | } | ||
| 64 | |||
| 65 | // Compound shapes are handled special as they are rebuilt from scratch. | ||
| 66 | // This isn't too great a hardship since most of the child shapes will already been created. | ||
| 67 | if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) | ||
| 68 | { | ||
| 69 | // Getting a reference to a compound shape gets you the compound shape with the root prim shape added | ||
| 70 | ret = BSShapeCompound.GetReference(prim); | ||
| 71 | physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); | ||
| 72 | } | ||
| 73 | |||
| 74 | if (ret == null) | ||
| 75 | ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); | ||
| 76 | |||
| 77 | return ret; | ||
| 78 | } | ||
| 79 | public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) | ||
| 80 | { | ||
| 81 | return null; | ||
| 82 | } | ||
| 83 | public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) | ||
| 84 | { | ||
| 85 | return null; | ||
| 86 | } | ||
| 87 | |||
| 88 | // Release the use of a physical shape. | ||
| 89 | public abstract void Dereference(BSScene physicsScene); | ||
| 90 | |||
| 91 | // All shapes have a static call to get a reference to the physical shape | ||
| 92 | // protected abstract static BSShape GetReference(); | ||
| 93 | |||
| 94 | public override string ToString() | ||
| 95 | { | ||
| 96 | StringBuilder buff = new StringBuilder(); | ||
| 97 | buff.Append("<p="); | ||
| 98 | buff.Append(ptr.ToString()); | ||
| 99 | buff.Append(",s="); | ||
| 100 | buff.Append(type.ToString()); | ||
| 101 | buff.Append(",k="); | ||
| 102 | buff.Append(key.ToString("X")); | ||
| 103 | buff.Append(",c="); | ||
| 104 | buff.Append(referenceCount.ToString()); | ||
| 105 | buff.Append(">"); | ||
| 106 | return buff.ToString(); | ||
| 107 | } | ||
| 108 | } | ||
| 109 | |||
| 110 | public class BSShapeNull : BSShape | ||
| 111 | { | ||
| 112 | public BSShapeNull() : base() | ||
| 113 | { | ||
| 114 | } | ||
| 115 | public static BSShape GetReference() { return new BSShapeNull(); } | ||
| 116 | public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } | ||
| 117 | } | ||
| 118 | |||
| 119 | public class BSShapeNative : BSShape | ||
| 120 | { | ||
| 121 | private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; | ||
| 122 | public BSShapeNative() : base() | ||
| 123 | { | ||
| 124 | } | ||
| 125 | public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, | ||
| 126 | BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) | ||
| 127 | { | ||
| 128 | // Native shapes are not shared and are always built anew. | ||
| 129 | return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); | ||
| 130 | } | ||
| 131 | |||
| 132 | private BSShapeNative(BSScene physicsScene, BSPhysObject prim, | ||
| 133 | BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) | ||
| 134 | { | ||
| 135 | ShapeData nativeShapeData = new ShapeData(); | ||
| 136 | nativeShapeData.Type = shapeType; | ||
| 137 | nativeShapeData.ID = prim.LocalID; | ||
| 138 | nativeShapeData.Scale = prim.Scale; | ||
| 139 | nativeShapeData.Size = prim.Scale; | ||
| 140 | nativeShapeData.MeshKey = (ulong)shapeKey; | ||
| 141 | nativeShapeData.HullKey = (ulong)shapeKey; | ||
| 142 | |||
| 143 | |||
| 144 | if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) | ||
| 145 | { | ||
| 146 | ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); | ||
| 147 | physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); | ||
| 148 | } | ||
| 149 | else | ||
| 150 | { | ||
| 151 | ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); | ||
| 152 | } | ||
| 153 | if (ptr == null) | ||
| 154 | { | ||
| 155 | physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", | ||
| 156 | LogHeader, prim.LocalID, shapeType); | ||
| 157 | } | ||
| 158 | type = shapeType; | ||
| 159 | key = (UInt64)shapeKey; | ||
| 160 | } | ||
| 161 | // Make this reference to the physical shape go away since native shapes are not shared. | ||
| 162 | public override void Dereference(BSScene physicsScene) | ||
| 163 | { | ||
| 164 | // Native shapes are not tracked and are released immediately | ||
| 165 | physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); | ||
| 166 | BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); | ||
| 167 | ptr = null; | ||
| 168 | // Garbage collection will free up this instance. | ||
| 169 | } | ||
| 170 | } | ||
| 171 | |||
| 172 | public class BSShapeMesh : BSShape | ||
| 173 | { | ||
| 174 | private static string LogHeader = "[BULLETSIM SHAPE MESH]"; | ||
| 175 | private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>(); | ||
| 176 | |||
| 177 | public BSShapeMesh() : base() | ||
| 178 | { | ||
| 179 | } | ||
| 180 | public static BSShape GetReference() { return new BSShapeNull(); } | ||
| 181 | public override void Dereference(BSScene physicsScene) { } | ||
| 182 | } | ||
| 183 | |||
| 184 | public class BSShapeHull : BSShape | ||
| 185 | { | ||
| 186 | private static string LogHeader = "[BULLETSIM SHAPE HULL]"; | ||
| 187 | private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>(); | ||
| 188 | |||
| 189 | public BSShapeHull() : base() | ||
| 190 | { | ||
| 191 | } | ||
| 192 | public static BSShape GetReference() { return new BSShapeNull(); } | ||
| 193 | public override void Dereference(BSScene physicsScene) { } | ||
| 194 | } | ||
| 195 | |||
| 196 | public class BSShapeCompound : BSShape | ||
| 197 | { | ||
| 198 | private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; | ||
| 199 | public BSShapeCompound() : base() | ||
| 200 | { | ||
| 201 | } | ||
| 202 | public static BSShape GetReference(BSPhysObject prim) | ||
| 203 | { | ||
| 204 | return new BSShapeNull(); | ||
| 205 | } | ||
| 206 | public override void Dereference(BSScene physicsScene) { } | ||
| 207 | } | ||
| 208 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs deleted file mode 100644 index ba17059..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs +++ /dev/null | |||
| @@ -1,175 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OpenSim.Framework; | ||
| 32 | using OpenSim.Region.Framework; | ||
| 33 | using OpenSim.Region.CoreModules; | ||
| 34 | using OpenSim.Region.Physics.Manager; | ||
| 35 | |||
| 36 | using Nini.Config; | ||
| 37 | using log4net; | ||
| 38 | |||
| 39 | using OpenMetaverse; | ||
| 40 | |||
| 41 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 42 | { | ||
| 43 | public sealed class BSTerrainHeightmap : BSTerrainPhys | ||
| 44 | { | ||
| 45 | static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; | ||
| 46 | |||
| 47 | BulletHeightMapInfo m_mapInfo = null; | ||
| 48 | |||
| 49 | // Constructor to build a default, flat heightmap terrain. | ||
| 50 | public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) | ||
| 51 | : base(physicsScene, regionBase, id) | ||
| 52 | { | ||
| 53 | Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); | ||
| 54 | Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); | ||
| 55 | int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; | ||
| 56 | float[] initialMap = new float[totalHeights]; | ||
| 57 | for (int ii = 0; ii < totalHeights; ii++) | ||
| 58 | { | ||
| 59 | initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; | ||
| 60 | } | ||
| 61 | m_mapInfo = new BulletHeightMapInfo(id, initialMap, null); | ||
| 62 | m_mapInfo.minCoords = minTerrainCoords; | ||
| 63 | m_mapInfo.maxCoords = maxTerrainCoords; | ||
| 64 | m_mapInfo.terrainRegionBase = TerrainBase; | ||
| 65 | // Don't have to free any previous since we just got here. | ||
| 66 | BuildHeightmapTerrain(); | ||
| 67 | } | ||
| 68 | |||
| 69 | // This minCoords and maxCoords passed in give the size of the terrain (min and max Z | ||
| 70 | // are the high and low points of the heightmap). | ||
| 71 | public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, | ||
| 72 | Vector3 minCoords, Vector3 maxCoords) | ||
| 73 | : base(physicsScene, regionBase, id) | ||
| 74 | { | ||
| 75 | m_mapInfo = new BulletHeightMapInfo(id, initialMap, null); | ||
| 76 | m_mapInfo.minCoords = minCoords; | ||
| 77 | m_mapInfo.maxCoords = maxCoords; | ||
| 78 | m_mapInfo.minZ = minCoords.Z; | ||
| 79 | m_mapInfo.maxZ = maxCoords.Z; | ||
| 80 | m_mapInfo.terrainRegionBase = TerrainBase; | ||
| 81 | |||
| 82 | // Don't have to free any previous since we just got here. | ||
| 83 | BuildHeightmapTerrain(); | ||
| 84 | } | ||
| 85 | |||
| 86 | public override void Dispose() | ||
| 87 | { | ||
| 88 | ReleaseHeightMapTerrain(); | ||
| 89 | } | ||
| 90 | |||
| 91 | // Using the information in m_mapInfo, create the physical representation of the heightmap. | ||
| 92 | private void BuildHeightmapTerrain() | ||
| 93 | { | ||
| 94 | m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, | ||
| 95 | m_mapInfo.minCoords, m_mapInfo.maxCoords, | ||
| 96 | m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); | ||
| 97 | |||
| 98 | // Create the terrain shape from the mapInfo | ||
| 99 | m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), | ||
| 100 | BSPhysicsShapeType.SHAPE_TERRAIN); | ||
| 101 | |||
| 102 | // The terrain object initial position is at the center of the object | ||
| 103 | Vector3 centerPos; | ||
| 104 | centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); | ||
| 105 | centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); | ||
| 106 | centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f); | ||
| 107 | |||
| 108 | m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, | ||
| 109 | BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, | ||
| 110 | m_mapInfo.ID, centerPos, Quaternion.Identity)); | ||
| 111 | |||
| 112 | // Set current terrain attributes | ||
| 113 | BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); | ||
| 114 | BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction); | ||
| 115 | BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution); | ||
| 116 | BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
| 117 | |||
| 118 | // Return the new terrain to the world of physical objects | ||
| 119 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity); | ||
| 120 | |||
| 121 | // redo its bounding box now that it is in the world | ||
| 122 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); | ||
| 123 | |||
| 124 | m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; | ||
| 125 | m_mapInfo.terrainBody.ApplyCollisionMask(); | ||
| 126 | |||
| 127 | // Make it so the terrain will not move or be considered for movement. | ||
| 128 | BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
| 129 | |||
| 130 | return; | ||
| 131 | } | ||
| 132 | |||
| 133 | // If there is information in m_mapInfo pointing to physical structures, release same. | ||
| 134 | private void ReleaseHeightMapTerrain() | ||
| 135 | { | ||
| 136 | if (m_mapInfo != null) | ||
| 137 | { | ||
| 138 | if (m_mapInfo.terrainBody.HasPhysicalBody) | ||
| 139 | { | ||
| 140 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); | ||
| 141 | // Frees both the body and the shape. | ||
| 142 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); | ||
| 143 | BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); | ||
| 144 | } | ||
| 145 | } | ||
| 146 | m_mapInfo = null; | ||
| 147 | } | ||
| 148 | |||
| 149 | // The passed position is relative to the base of the region. | ||
| 150 | public override float GetTerrainHeightAtXYZ(Vector3 pos) | ||
| 151 | { | ||
| 152 | float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; | ||
| 153 | |||
| 154 | int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; | ||
| 155 | try | ||
| 156 | { | ||
| 157 | ret = m_mapInfo.heightMap[mapIndex]; | ||
| 158 | } | ||
| 159 | catch | ||
| 160 | { | ||
| 161 | // Sometimes they give us wonky values of X and Y. Give a warning and return something. | ||
| 162 | PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", | ||
| 163 | LogHeader, m_mapInfo.terrainRegionBase, pos); | ||
| 164 | ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; | ||
| 165 | } | ||
| 166 | return ret; | ||
| 167 | } | ||
| 168 | |||
| 169 | // The passed position is relative to the base of the region. | ||
| 170 | public override float GetWaterLevelAtXYZ(Vector3 pos) | ||
| 171 | { | ||
| 172 | return PhysicsScene.SimpleWaterLevel; | ||
| 173 | } | ||
| 174 | } | ||
| 175 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs deleted file mode 100644 index 66d62f0..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs +++ /dev/null | |||
| @@ -1,461 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OpenSim.Framework; | ||
| 32 | using OpenSim.Region.Framework; | ||
| 33 | using OpenSim.Region.CoreModules; | ||
| 34 | using OpenSim.Region.Physics.Manager; | ||
| 35 | |||
| 36 | using Nini.Config; | ||
| 37 | using log4net; | ||
| 38 | |||
| 39 | using OpenMetaverse; | ||
| 40 | |||
| 41 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 42 | { | ||
| 43 | |||
| 44 | // The physical implementation of the terrain is wrapped in this class. | ||
| 45 | public abstract class BSTerrainPhys : IDisposable | ||
| 46 | { | ||
| 47 | public enum TerrainImplementation | ||
| 48 | { | ||
| 49 | Heightmap = 0, | ||
| 50 | Mesh = 1 | ||
| 51 | } | ||
| 52 | |||
| 53 | public BSScene PhysicsScene { get; private set; } | ||
| 54 | // Base of the region in world coordinates. Coordinates inside the region are relative to this. | ||
| 55 | public Vector3 TerrainBase { get; private set; } | ||
| 56 | public uint ID { get; private set; } | ||
| 57 | |||
| 58 | public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) | ||
| 59 | { | ||
| 60 | PhysicsScene = physicsScene; | ||
| 61 | TerrainBase = regionBase; | ||
| 62 | ID = id; | ||
| 63 | } | ||
| 64 | public abstract void Dispose(); | ||
| 65 | public abstract float GetTerrainHeightAtXYZ(Vector3 pos); | ||
| 66 | public abstract float GetWaterLevelAtXYZ(Vector3 pos); | ||
| 67 | } | ||
| 68 | |||
| 69 | // ========================================================================================== | ||
| 70 | public sealed class BSTerrainManager : IDisposable | ||
| 71 | { | ||
| 72 | static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; | ||
| 73 | |||
| 74 | // These height values are fractional so the odd values will be | ||
| 75 | // noticable when debugging. | ||
| 76 | public const float HEIGHT_INITIALIZATION = 24.987f; | ||
| 77 | public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; | ||
| 78 | public const float HEIGHT_GETHEIGHT_RET = 24.765f; | ||
| 79 | public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f; | ||
| 80 | |||
| 81 | // If the min and max height are equal, we reduce the min by this | ||
| 82 | // amount to make sure that a bounding box is built for the terrain. | ||
| 83 | public const float HEIGHT_EQUAL_FUDGE = 0.2f; | ||
| 84 | |||
| 85 | // Until the whole simulator is changed to pass us the region size, we rely on constants. | ||
| 86 | public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); | ||
| 87 | |||
| 88 | // The scene that I am part of | ||
| 89 | private BSScene PhysicsScene { get; set; } | ||
| 90 | |||
| 91 | // The ground plane created to keep thing from falling to infinity. | ||
| 92 | private BulletBody m_groundPlane; | ||
| 93 | |||
| 94 | // If doing mega-regions, if we're region zero we will be managing multiple | ||
| 95 | // region terrains since region zero does the physics for the whole mega-region. | ||
| 96 | private Dictionary<Vector3, BSTerrainPhys> m_terrains; | ||
| 97 | |||
| 98 | // Flags used to know when to recalculate the height. | ||
| 99 | private bool m_terrainModified = false; | ||
| 100 | |||
| 101 | // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. | ||
| 102 | // This is incremented before assigning to new region so it is the last ID allocated. | ||
| 103 | private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; | ||
| 104 | public uint HighestTerrainID { get {return m_terrainCount; } } | ||
| 105 | |||
| 106 | // If doing mega-regions, this holds our offset from region zero of | ||
| 107 | // the mega-regions. "parentScene" points to the PhysicsScene of region zero. | ||
| 108 | private Vector3 m_worldOffset; | ||
| 109 | // If the parent region (region 0), this is the extent of the combined regions | ||
| 110 | // relative to the origin of region zero | ||
| 111 | private Vector3 m_worldMax; | ||
| 112 | private PhysicsScene MegaRegionParentPhysicsScene { get; set; } | ||
| 113 | |||
| 114 | public BSTerrainManager(BSScene physicsScene) | ||
| 115 | { | ||
| 116 | PhysicsScene = physicsScene; | ||
| 117 | m_terrains = new Dictionary<Vector3,BSTerrainPhys>(); | ||
| 118 | |||
| 119 | // Assume one region of default size | ||
| 120 | m_worldOffset = Vector3.Zero; | ||
| 121 | m_worldMax = new Vector3(DefaultRegionSize); | ||
| 122 | MegaRegionParentPhysicsScene = null; | ||
| 123 | } | ||
| 124 | |||
| 125 | public void Dispose() | ||
| 126 | { | ||
| 127 | ReleaseGroundPlaneAndTerrain(); | ||
| 128 | } | ||
| 129 | |||
| 130 | // Create the initial instance of terrain and the underlying ground plane. | ||
| 131 | // This is called from the initialization routine so we presume it is | ||
| 132 | // safe to call Bullet in real time. We hope no one is moving prims around yet. | ||
| 133 | public void CreateInitialGroundPlaneAndTerrain() | ||
| 134 | { | ||
| 135 | // The ground plane is here to catch things that are trying to drop to negative infinity | ||
| 136 | BulletShape groundPlaneShape = new BulletShape( | ||
| 137 | BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, | ||
| 138 | BSParam.TerrainCollisionMargin), | ||
| 139 | BSPhysicsShapeType.SHAPE_GROUNDPLANE); | ||
| 140 | m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, | ||
| 141 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, | ||
| 142 | Vector3.Zero, Quaternion.Identity)); | ||
| 143 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity); | ||
| 144 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); | ||
| 145 | // Ground plane does not move | ||
| 146 | BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); | ||
| 147 | // Everything collides with the ground plane. | ||
| 148 | m_groundPlane.collisionType = CollisionType.Groundplane; | ||
| 149 | m_groundPlane.ApplyCollisionMask(); | ||
| 150 | |||
| 151 | // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. | ||
| 152 | BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); | ||
| 153 | m_terrains.Add(Vector3.Zero, initialTerrain); | ||
| 154 | } | ||
| 155 | |||
| 156 | // Release all the terrain structures we might have allocated | ||
| 157 | public void ReleaseGroundPlaneAndTerrain() | ||
| 158 | { | ||
| 159 | if (m_groundPlane.HasPhysicalBody) | ||
| 160 | { | ||
| 161 | if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) | ||
| 162 | { | ||
| 163 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); | ||
| 164 | } | ||
| 165 | m_groundPlane.Clear(); | ||
| 166 | } | ||
| 167 | |||
| 168 | ReleaseTerrain(); | ||
| 169 | } | ||
| 170 | |||
| 171 | // Release all the terrain we have allocated | ||
| 172 | public void ReleaseTerrain() | ||
| 173 | { | ||
| 174 | lock (m_terrains) | ||
| 175 | { | ||
| 176 | foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains) | ||
| 177 | { | ||
| 178 | kvp.Value.Dispose(); | ||
| 179 | } | ||
| 180 | m_terrains.Clear(); | ||
| 181 | } | ||
| 182 | } | ||
| 183 | |||
| 184 | // The simulator wants to set a new heightmap for the terrain. | ||
| 185 | public void SetTerrain(float[] heightMap) { | ||
| 186 | float[] localHeightMap = heightMap; | ||
| 187 | // If there are multiple requests for changes to the same terrain between ticks, | ||
| 188 | // only do that last one. | ||
| 189 | PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() | ||
| 190 | { | ||
| 191 | if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) | ||
| 192 | { | ||
| 193 | // If a child of a mega-region, we shouldn't have any terrain allocated for us | ||
| 194 | ReleaseGroundPlaneAndTerrain(); | ||
| 195 | // If doing the mega-prim stuff and we are the child of the zero region, | ||
| 196 | // the terrain is added to our parent | ||
| 197 | if (MegaRegionParentPhysicsScene is BSScene) | ||
| 198 | { | ||
| 199 | DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", | ||
| 200 | BSScene.DetailLogZero, m_worldOffset, m_worldMax); | ||
| 201 | ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( | ||
| 202 | BSScene.CHILDTERRAIN_ID, localHeightMap, | ||
| 203 | m_worldOffset, m_worldOffset + DefaultRegionSize, true); | ||
| 204 | } | ||
| 205 | } | ||
| 206 | else | ||
| 207 | { | ||
| 208 | // If not doing the mega-prim thing, just change the terrain | ||
| 209 | DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); | ||
| 210 | |||
| 211 | UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, | ||
| 212 | m_worldOffset, m_worldOffset + DefaultRegionSize, true); | ||
| 213 | } | ||
| 214 | }); | ||
| 215 | } | ||
| 216 | |||
| 217 | // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain | ||
| 218 | // based on the passed information. The 'id' should be either the terrain id or | ||
| 219 | // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. | ||
| 220 | // The latter feature is for creating child terrains for mega-regions. | ||
| 221 | // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new | ||
| 222 | // terrain shape is created and added to the body. | ||
| 223 | // This call is most often used to update the heightMap and parameters of the terrain. | ||
| 224 | // (The above does suggest that some simplification/refactoring is in order.) | ||
| 225 | // Called during taint-time. | ||
| 226 | private void UpdateTerrain(uint id, float[] heightMap, | ||
| 227 | Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) | ||
| 228 | { | ||
| 229 | DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}", | ||
| 230 | BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); | ||
| 231 | |||
| 232 | // Find high and low points of passed heightmap. | ||
| 233 | // The min and max passed in is usually the area objects can be in (maximum | ||
| 234 | // object height, for instance). The terrain wants the bounding box for the | ||
| 235 | // terrain so replace passed min and max Z with the actual terrain min/max Z. | ||
| 236 | float minZ = float.MaxValue; | ||
| 237 | float maxZ = float.MinValue; | ||
| 238 | foreach (float height in heightMap) | ||
| 239 | { | ||
| 240 | if (height < minZ) minZ = height; | ||
| 241 | if (height > maxZ) maxZ = height; | ||
| 242 | } | ||
| 243 | if (minZ == maxZ) | ||
| 244 | { | ||
| 245 | // If min and max are the same, reduce min a little bit so a good bounding box is created. | ||
| 246 | minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE; | ||
| 247 | } | ||
| 248 | minCoords.Z = minZ; | ||
| 249 | maxCoords.Z = maxZ; | ||
| 250 | |||
| 251 | Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); | ||
| 252 | |||
| 253 | lock (m_terrains) | ||
| 254 | { | ||
| 255 | BSTerrainPhys terrainPhys; | ||
| 256 | if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) | ||
| 257 | { | ||
| 258 | // There is already a terrain in this spot. Free the old and build the new. | ||
| 259 | DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", | ||
| 260 | BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); | ||
| 261 | |||
| 262 | // Remove old terrain from the collection | ||
| 263 | m_terrains.Remove(terrainRegionBase); | ||
| 264 | // Release any physical memory it may be using. | ||
| 265 | terrainPhys.Dispose(); | ||
| 266 | |||
| 267 | if (MegaRegionParentPhysicsScene == null) | ||
| 268 | { | ||
| 269 | BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); | ||
| 270 | m_terrains.Add(terrainRegionBase, newTerrainPhys); | ||
| 271 | |||
| 272 | m_terrainModified = true; | ||
| 273 | } | ||
| 274 | else | ||
| 275 | { | ||
| 276 | // It's possible that Combine() was called after this code was queued. | ||
| 277 | // If we are a child of combined regions, we don't create any terrain for us. | ||
| 278 | DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); | ||
| 279 | |||
| 280 | // Get rid of any terrain that may have been allocated for us. | ||
| 281 | ReleaseGroundPlaneAndTerrain(); | ||
| 282 | |||
| 283 | // I hate doing this, but just bail | ||
| 284 | return; | ||
| 285 | } | ||
| 286 | } | ||
| 287 | else | ||
| 288 | { | ||
| 289 | // We don't know about this terrain so either we are creating a new terrain or | ||
| 290 | // our mega-prim child is giving us a new terrain to add to the phys world | ||
| 291 | |||
| 292 | // if this is a child terrain, calculate a unique terrain id | ||
| 293 | uint newTerrainID = id; | ||
| 294 | if (newTerrainID >= BSScene.CHILDTERRAIN_ID) | ||
| 295 | newTerrainID = ++m_terrainCount; | ||
| 296 | |||
| 297 | DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", | ||
| 298 | BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); | ||
| 299 | BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); | ||
| 300 | m_terrains.Add(terrainRegionBase, newTerrainPhys); | ||
| 301 | |||
| 302 | m_terrainModified = true; | ||
| 303 | } | ||
| 304 | } | ||
| 305 | } | ||
| 306 | |||
| 307 | // TODO: redo terrain implementation selection to allow other base types than heightMap. | ||
| 308 | private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) | ||
| 309 | { | ||
| 310 | PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", | ||
| 311 | LogHeader, PhysicsScene.RegionName, terrainRegionBase, | ||
| 312 | (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); | ||
| 313 | BSTerrainPhys newTerrainPhys = null; | ||
| 314 | switch ((int)BSParam.TerrainImplementation) | ||
| 315 | { | ||
| 316 | case (int)BSTerrainPhys.TerrainImplementation.Heightmap: | ||
| 317 | newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, | ||
| 318 | heightMap, minCoords, maxCoords); | ||
| 319 | break; | ||
| 320 | case (int)BSTerrainPhys.TerrainImplementation.Mesh: | ||
| 321 | newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, | ||
| 322 | heightMap, minCoords, maxCoords); | ||
| 323 | break; | ||
| 324 | default: | ||
| 325 | PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", | ||
| 326 | LogHeader, | ||
| 327 | (int)BSParam.TerrainImplementation, | ||
| 328 | BSParam.TerrainImplementation, | ||
| 329 | PhysicsScene.RegionName, terrainRegionBase); | ||
| 330 | break; | ||
| 331 | } | ||
| 332 | return newTerrainPhys; | ||
| 333 | } | ||
| 334 | |||
| 335 | // Return 'true' of this position is somewhere in known physical terrain space | ||
| 336 | public bool IsWithinKnownTerrain(Vector3 pos) | ||
| 337 | { | ||
| 338 | Vector3 terrainBaseXYZ; | ||
| 339 | BSTerrainPhys physTerrain; | ||
| 340 | return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ); | ||
| 341 | } | ||
| 342 | |||
| 343 | // Given an X and Y, find the height of the terrain. | ||
| 344 | // Since we could be handling multiple terrains for a mega-region, | ||
| 345 | // the base of the region is calcuated assuming all regions are | ||
| 346 | // the same size and that is the default. | ||
| 347 | // Once the heightMapInfo is found, we have all the information to | ||
| 348 | // compute the offset into the array. | ||
| 349 | private float lastHeightTX = 999999f; | ||
| 350 | private float lastHeightTY = 999999f; | ||
| 351 | private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; | ||
| 352 | public float GetTerrainHeightAtXYZ(Vector3 pos) | ||
| 353 | { | ||
| 354 | float tX = pos.X; | ||
| 355 | float tY = pos.Y; | ||
| 356 | // You'd be surprized at the number of times this routine is called | ||
| 357 | // with the same parameters as last time. | ||
| 358 | if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY)) | ||
| 359 | return lastHeight; | ||
| 360 | m_terrainModified = false; | ||
| 361 | |||
| 362 | lastHeightTX = tX; | ||
| 363 | lastHeightTY = tY; | ||
| 364 | float ret = HEIGHT_GETHEIGHT_RET; | ||
| 365 | |||
| 366 | Vector3 terrainBaseXYZ; | ||
| 367 | BSTerrainPhys physTerrain; | ||
| 368 | if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) | ||
| 369 | { | ||
| 370 | ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ); | ||
| 371 | } | ||
| 372 | else | ||
| 373 | { | ||
| 374 | PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", | ||
| 375 | LogHeader, PhysicsScene.RegionName, tX, tY); | ||
| 376 | DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", | ||
| 377 | BSScene.DetailLogZero, pos, terrainBaseXYZ); | ||
| 378 | } | ||
| 379 | |||
| 380 | lastHeight = ret; | ||
| 381 | return ret; | ||
| 382 | } | ||
| 383 | |||
| 384 | public float GetWaterLevelAtXYZ(Vector3 pos) | ||
| 385 | { | ||
| 386 | float ret = WATER_HEIGHT_GETHEIGHT_RET; | ||
| 387 | |||
| 388 | Vector3 terrainBaseXYZ; | ||
| 389 | BSTerrainPhys physTerrain; | ||
| 390 | if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) | ||
| 391 | { | ||
| 392 | ret = physTerrain.GetWaterLevelAtXYZ(pos); | ||
| 393 | } | ||
| 394 | else | ||
| 395 | { | ||
| 396 | PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", | ||
| 397 | LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret); | ||
| 398 | } | ||
| 399 | return ret; | ||
| 400 | } | ||
| 401 | |||
| 402 | // Given an address, return 'true' of there is a description of that terrain and output | ||
| 403 | // the descriptor class and the 'base' fo the addresses therein. | ||
| 404 | private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase) | ||
| 405 | { | ||
| 406 | int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; | ||
| 407 | int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; | ||
| 408 | Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); | ||
| 409 | |||
| 410 | BSTerrainPhys physTerrain = null; | ||
| 411 | lock (m_terrains) | ||
| 412 | { | ||
| 413 | m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); | ||
| 414 | } | ||
| 415 | outTerrainBase = terrainBaseXYZ; | ||
| 416 | outPhysTerrain = physTerrain; | ||
| 417 | return (physTerrain != null); | ||
| 418 | } | ||
| 419 | |||
| 420 | // Although no one seems to check this, I do support combining. | ||
| 421 | public bool SupportsCombining() | ||
| 422 | { | ||
| 423 | return true; | ||
| 424 | } | ||
| 425 | |||
| 426 | // This routine is called two ways: | ||
| 427 | // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum | ||
| 428 | // extent of the combined regions. This is to inform the parent of the size | ||
| 429 | // of the combined regions. | ||
| 430 | // and one with 'offset' as the offset of the child region to the base region, | ||
| 431 | // 'pScene' pointing to the parent and 'extents' of zero. This informs the | ||
| 432 | // child of its relative base and new parent. | ||
| 433 | public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) | ||
| 434 | { | ||
| 435 | m_worldOffset = offset; | ||
| 436 | m_worldMax = extents; | ||
| 437 | MegaRegionParentPhysicsScene = pScene; | ||
| 438 | if (pScene != null) | ||
| 439 | { | ||
| 440 | // We are a child. | ||
| 441 | // We want m_worldMax to be the highest coordinate of our piece of terrain. | ||
| 442 | m_worldMax = offset + DefaultRegionSize; | ||
| 443 | } | ||
| 444 | DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", | ||
| 445 | BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); | ||
| 446 | } | ||
| 447 | |||
| 448 | // Unhook all the combining that I know about. | ||
| 449 | public void UnCombine(PhysicsScene pScene) | ||
| 450 | { | ||
| 451 | // Just like ODE, we don't do anything yet. | ||
| 452 | DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); | ||
| 453 | } | ||
| 454 | |||
| 455 | |||
| 456 | private void DetailLog(string msg, params Object[] args) | ||
| 457 | { | ||
| 458 | PhysicsScene.PhysicsLogging.Write(msg, args); | ||
| 459 | } | ||
| 460 | } | ||
| 461 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs deleted file mode 100644 index 6083dd4..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs +++ /dev/null | |||
| @@ -1,267 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | |||
| 31 | using OpenSim.Framework; | ||
| 32 | using OpenSim.Region.Framework; | ||
| 33 | using OpenSim.Region.CoreModules; | ||
| 34 | using OpenSim.Region.Physics.Manager; | ||
| 35 | |||
| 36 | using Nini.Config; | ||
| 37 | using log4net; | ||
| 38 | |||
| 39 | using OpenMetaverse; | ||
| 40 | |||
| 41 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 42 | { | ||
| 43 | public sealed class BSTerrainMesh : BSTerrainPhys | ||
| 44 | { | ||
| 45 | static string LogHeader = "[BULLETSIM TERRAIN MESH]"; | ||
| 46 | |||
| 47 | private float[] m_savedHeightMap; | ||
| 48 | int m_sizeX; | ||
| 49 | int m_sizeY; | ||
| 50 | |||
| 51 | BulletShape m_terrainShape; | ||
| 52 | BulletBody m_terrainBody; | ||
| 53 | |||
| 54 | public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) | ||
| 55 | : base(physicsScene, regionBase, id) | ||
| 56 | { | ||
| 57 | } | ||
| 58 | |||
| 59 | public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) | ||
| 60 | : base(physicsScene, regionBase, id) | ||
| 61 | { | ||
| 62 | } | ||
| 63 | |||
| 64 | // Create terrain mesh from a heightmap. | ||
| 65 | public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, | ||
| 66 | Vector3 minCoords, Vector3 maxCoords) | ||
| 67 | : base(physicsScene, regionBase, id) | ||
| 68 | { | ||
| 69 | int indicesCount; | ||
| 70 | int[] indices; | ||
| 71 | int verticesCount; | ||
| 72 | float[] vertices; | ||
| 73 | |||
| 74 | m_savedHeightMap = initialMap; | ||
| 75 | |||
| 76 | m_sizeX = (int)(maxCoords.X - minCoords.X); | ||
| 77 | m_sizeY = (int)(maxCoords.Y - minCoords.Y); | ||
| 78 | |||
| 79 | if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, | ||
| 80 | m_sizeX, m_sizeY, | ||
| 81 | (float)m_sizeX, (float)m_sizeY, | ||
| 82 | Vector3.Zero, 1.0f, | ||
| 83 | out indicesCount, out indices, out verticesCount, out vertices)) | ||
| 84 | { | ||
| 85 | // DISASTER!! | ||
| 86 | PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); | ||
| 87 | PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); | ||
| 88 | // Something is very messed up and a crash is in our future. | ||
| 89 | return; | ||
| 90 | } | ||
| 91 | PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", | ||
| 92 | ID, indicesCount, indices.Length, verticesCount, vertices.Length); | ||
| 93 | |||
| 94 | m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, | ||
| 95 | indicesCount, indices, verticesCount, vertices), | ||
| 96 | BSPhysicsShapeType.SHAPE_MESH); | ||
| 97 | if (!m_terrainShape.HasPhysicalShape) | ||
| 98 | { | ||
| 99 | // DISASTER!! | ||
| 100 | PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); | ||
| 101 | physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); | ||
| 102 | // Something is very messed up and a crash is in our future. | ||
| 103 | return; | ||
| 104 | } | ||
| 105 | |||
| 106 | Vector3 pos = regionBase; | ||
| 107 | Quaternion rot = Quaternion.Identity; | ||
| 108 | |||
| 109 | m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); | ||
| 110 | if (!m_terrainBody.HasPhysicalBody) | ||
| 111 | { | ||
| 112 | // DISASTER!! | ||
| 113 | physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); | ||
| 114 | // Something is very messed up and a crash is in our future. | ||
| 115 | return; | ||
| 116 | } | ||
| 117 | |||
| 118 | // Set current terrain attributes | ||
| 119 | BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction); | ||
| 120 | BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction); | ||
| 121 | BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution); | ||
| 122 | BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
| 123 | |||
| 124 | // Static objects are not very massive. | ||
| 125 | BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); | ||
| 126 | |||
| 127 | // Put the new terrain to the world of physical objects | ||
| 128 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot); | ||
| 129 | |||
| 130 | // Redo its bounding box now that it is in the world | ||
| 131 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
| 132 | |||
| 133 | m_terrainBody.collisionType = CollisionType.Terrain; | ||
| 134 | m_terrainBody.ApplyCollisionMask(); | ||
| 135 | |||
| 136 | // Make it so the terrain will not move or be considered for movement. | ||
| 137 | BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
| 138 | } | ||
| 139 | |||
| 140 | public override void Dispose() | ||
| 141 | { | ||
| 142 | if (m_terrainBody.HasPhysicalBody) | ||
| 143 | { | ||
| 144 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
| 145 | // Frees both the body and the shape. | ||
| 146 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
| 147 | } | ||
| 148 | } | ||
| 149 | |||
| 150 | public override float GetTerrainHeightAtXYZ(Vector3 pos) | ||
| 151 | { | ||
| 152 | // For the moment use the saved heightmap to get the terrain height. | ||
| 153 | // TODO: raycast downward to find the true terrain below the position. | ||
| 154 | float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; | ||
| 155 | |||
| 156 | int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; | ||
| 157 | try | ||
| 158 | { | ||
| 159 | ret = m_savedHeightMap[mapIndex]; | ||
| 160 | } | ||
| 161 | catch | ||
| 162 | { | ||
| 163 | // Sometimes they give us wonky values of X and Y. Give a warning and return something. | ||
| 164 | PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", | ||
| 165 | LogHeader, TerrainBase, pos); | ||
| 166 | ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; | ||
| 167 | } | ||
| 168 | return ret; | ||
| 169 | } | ||
| 170 | |||
| 171 | // The passed position is relative to the base of the region. | ||
| 172 | public override float GetWaterLevelAtXYZ(Vector3 pos) | ||
| 173 | { | ||
| 174 | return PhysicsScene.SimpleWaterLevel; | ||
| 175 | } | ||
| 176 | |||
| 177 | // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). | ||
| 178 | // Return 'true' if successfully created. | ||
| 179 | public static bool ConvertHeightmapToMesh( | ||
| 180 | BSScene physicsScene, | ||
| 181 | float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap | ||
| 182 | float extentX, float extentY, // zero based range for output vertices | ||
| 183 | Vector3 extentBase, // base to be added to all vertices | ||
| 184 | float magnification, // number of vertices to create between heightMap coords | ||
| 185 | out int indicesCountO, out int[] indicesO, | ||
| 186 | out int verticesCountO, out float[] verticesO) | ||
| 187 | { | ||
| 188 | bool ret = false; | ||
| 189 | |||
| 190 | int indicesCount = 0; | ||
| 191 | int verticesCount = 0; | ||
| 192 | int[] indices = new int[0]; | ||
| 193 | float[] vertices = new float[0]; | ||
| 194 | |||
| 195 | // Simple mesh creation which assumes magnification == 1. | ||
| 196 | // TODO: do a more general solution that scales, adds new vertices and smoothes the result. | ||
| 197 | |||
| 198 | // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop | ||
| 199 | // from zero to <= sizeX). The triangle indices are then generated as two triangles | ||
| 200 | // per heightmap point. There are sizeX by sizeY of these squares. The extra row and | ||
| 201 | // column of vertices are used to complete the triangles of the last row and column | ||
| 202 | // of the heightmap. | ||
| 203 | try | ||
| 204 | { | ||
| 205 | // One vertice per heightmap value plus the vertices off the top and bottom edge. | ||
| 206 | int totalVertices = (sizeX + 1) * (sizeY + 1); | ||
| 207 | vertices = new float[totalVertices * 3]; | ||
| 208 | int totalIndices = sizeX * sizeY * 6; | ||
| 209 | indices = new int[totalIndices]; | ||
| 210 | |||
| 211 | float magX = (float)sizeX / extentX; | ||
| 212 | float magY = (float)sizeY / extentY; | ||
| 213 | physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", | ||
| 214 | BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); | ||
| 215 | float minHeight = float.MaxValue; | ||
| 216 | // Note that sizeX+1 vertices are created since there is land between this and the next region. | ||
| 217 | for (int yy = 0; yy <= sizeY; yy++) | ||
| 218 | { | ||
| 219 | for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times | ||
| 220 | { | ||
| 221 | int offset = yy * sizeX + xx; | ||
| 222 | // Extend the height with the height from the last row or column | ||
| 223 | if (yy == sizeY) offset -= sizeX; | ||
| 224 | if (xx == sizeX) offset -= 1; | ||
| 225 | float height = heightMap[offset]; | ||
| 226 | minHeight = Math.Min(minHeight, height); | ||
| 227 | vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; | ||
| 228 | vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; | ||
| 229 | vertices[verticesCount + 2] = height + extentBase.Z; | ||
| 230 | verticesCount += 3; | ||
| 231 | } | ||
| 232 | } | ||
| 233 | verticesCount = verticesCount / 3; | ||
| 234 | |||
| 235 | for (int yy = 0; yy < sizeY; yy++) | ||
| 236 | { | ||
| 237 | for (int xx = 0; xx < sizeX; xx++) | ||
| 238 | { | ||
| 239 | int offset = yy * (sizeX + 1) + xx; | ||
| 240 | // Each vertices is presumed to be the upper left corner of a box of two triangles | ||
| 241 | indices[indicesCount + 0] = offset; | ||
| 242 | indices[indicesCount + 1] = offset + 1; | ||
| 243 | indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column | ||
| 244 | indices[indicesCount + 3] = offset + 1; | ||
| 245 | indices[indicesCount + 4] = offset + sizeX + 2; | ||
| 246 | indices[indicesCount + 5] = offset + sizeX + 1; | ||
| 247 | indicesCount += 6; | ||
| 248 | } | ||
| 249 | } | ||
| 250 | |||
| 251 | ret = true; | ||
| 252 | } | ||
| 253 | catch (Exception e) | ||
| 254 | { | ||
| 255 | physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", | ||
| 256 | LogHeader, physicsScene.RegionName, extentBase, e); | ||
| 257 | } | ||
| 258 | |||
| 259 | indicesCountO = indicesCount; | ||
| 260 | indicesO = indices; | ||
| 261 | verticesCountO = verticesCount; | ||
| 262 | verticesO = vertices; | ||
| 263 | |||
| 264 | return ret; | ||
| 265 | } | ||
| 266 | } | ||
| 267 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs deleted file mode 100644 index 93643c9..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs +++ /dev/null | |||
| @@ -1,1603 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.IO; | ||
| 30 | using System.Runtime.InteropServices; | ||
| 31 | using System.Security; | ||
| 32 | using System.Text; | ||
| 33 | using BulletXNA; | ||
| 34 | using OpenMetaverse; | ||
| 35 | using BulletXNA.LinearMath; | ||
| 36 | using BulletXNA.BulletCollision; | ||
| 37 | using BulletXNA.BulletDynamics; | ||
| 38 | using BulletXNA.BulletCollision.CollisionDispatch; | ||
| 39 | using OpenSim.Framework; | ||
| 40 | |||
| 41 | namespace OpenSim.Region.Physics.BulletSNPlugin { | ||
| 42 | |||
| 43 | // Classes to allow some type checking for the API | ||
| 44 | // These hold pointers to allocated objects in the unmanaged space. | ||
| 45 | |||
| 46 | |||
| 47 | |||
| 48 | // Constraint type values as defined by Bullet | ||
| 49 | public enum ConstraintType : int | ||
| 50 | { | ||
| 51 | POINT2POINT_CONSTRAINT_TYPE = 3, | ||
| 52 | HINGE_CONSTRAINT_TYPE, | ||
| 53 | CONETWIST_CONSTRAINT_TYPE, | ||
| 54 | D6_CONSTRAINT_TYPE, | ||
| 55 | SLIDER_CONSTRAINT_TYPE, | ||
| 56 | CONTACT_CONSTRAINT_TYPE, | ||
| 57 | D6_SPRING_CONSTRAINT_TYPE, | ||
| 58 | MAX_CONSTRAINT_TYPE | ||
| 59 | } | ||
| 60 | |||
| 61 | // =============================================================================== | ||
| 62 | [StructLayout(LayoutKind.Sequential)] | ||
| 63 | public struct ConvexHull | ||
| 64 | { | ||
| 65 | Vector3 Offset; | ||
| 66 | int VertexCount; | ||
| 67 | Vector3[] Vertices; | ||
| 68 | } | ||
| 69 | public enum BSPhysicsShapeType | ||
| 70 | { | ||
| 71 | SHAPE_UNKNOWN = 0, | ||
| 72 | SHAPE_CAPSULE = 1, | ||
| 73 | SHAPE_BOX = 2, | ||
| 74 | SHAPE_CONE = 3, | ||
| 75 | SHAPE_CYLINDER = 4, | ||
| 76 | SHAPE_SPHERE = 5, | ||
| 77 | SHAPE_MESH = 6, | ||
| 78 | SHAPE_HULL = 7, | ||
| 79 | // following defined by BulletSim | ||
| 80 | SHAPE_GROUNDPLANE = 20, | ||
| 81 | SHAPE_TERRAIN = 21, | ||
| 82 | SHAPE_COMPOUND = 22, | ||
| 83 | SHAPE_HEIGHTMAP = 23, | ||
| 84 | }; | ||
| 85 | |||
| 86 | // The native shapes have predefined shape hash keys | ||
| 87 | public enum FixedShapeKey : ulong | ||
| 88 | { | ||
| 89 | KEY_NONE = 0, | ||
| 90 | KEY_BOX = 1, | ||
| 91 | KEY_SPHERE = 2, | ||
| 92 | KEY_CONE = 3, | ||
| 93 | KEY_CYLINDER = 4, | ||
| 94 | KEY_CAPSULE = 5, | ||
| 95 | } | ||
| 96 | |||
| 97 | [StructLayout(LayoutKind.Sequential)] | ||
| 98 | public struct ShapeData | ||
| 99 | { | ||
| 100 | public uint ID; | ||
| 101 | public BSPhysicsShapeType Type; | ||
| 102 | public Vector3 Position; | ||
| 103 | public Quaternion Rotation; | ||
| 104 | public Vector3 Velocity; | ||
| 105 | public Vector3 Scale; | ||
| 106 | public float Mass; | ||
| 107 | public float Buoyancy; | ||
| 108 | public System.UInt64 HullKey; | ||
| 109 | public System.UInt64 MeshKey; | ||
| 110 | public float Friction; | ||
| 111 | public float Restitution; | ||
| 112 | public float Collidable; // true of things bump into this | ||
| 113 | public float Static; // true if a static object. Otherwise gravity, etc. | ||
| 114 | public float Solid; // true if object cannot be passed through | ||
| 115 | public Vector3 Size; | ||
| 116 | |||
| 117 | // note that bools are passed as floats since bool size changes by language and architecture | ||
| 118 | public const float numericTrue = 1f; | ||
| 119 | public const float numericFalse = 0f; | ||
| 120 | } | ||
| 121 | [StructLayout(LayoutKind.Sequential)] | ||
| 122 | public struct SweepHit | ||
| 123 | { | ||
| 124 | public uint ID; | ||
| 125 | public float Fraction; | ||
| 126 | public Vector3 Normal; | ||
| 127 | public Vector3 Point; | ||
| 128 | } | ||
| 129 | [StructLayout(LayoutKind.Sequential)] | ||
| 130 | public struct RaycastHit | ||
| 131 | { | ||
| 132 | public uint ID; | ||
| 133 | public float Fraction; | ||
| 134 | public Vector3 Normal; | ||
| 135 | } | ||
| 136 | [StructLayout(LayoutKind.Sequential)] | ||
| 137 | public struct CollisionDesc | ||
| 138 | { | ||
| 139 | public uint aID; | ||
| 140 | public uint bID; | ||
| 141 | public Vector3 point; | ||
| 142 | public Vector3 normal; | ||
| 143 | } | ||
| 144 | [StructLayout(LayoutKind.Sequential)] | ||
| 145 | public struct EntityProperties | ||
| 146 | { | ||
| 147 | public uint ID; | ||
| 148 | public Vector3 Position; | ||
| 149 | public Quaternion Rotation; | ||
| 150 | public Vector3 Velocity; | ||
| 151 | public Vector3 Acceleration; | ||
| 152 | public Vector3 RotationalVelocity; | ||
| 153 | public override string ToString() | ||
| 154 | { | ||
| 155 | return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>", | ||
| 156 | ID.ToString(), | ||
| 157 | Position.X,Position.Y,Position.Z, | ||
| 158 | Rotation.X,Rotation.Y,Rotation.Z,Rotation.W, | ||
| 159 | Velocity.X,Velocity.Y,Velocity.Z, | ||
| 160 | RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z | ||
| 161 | ); | ||
| 162 | } | ||
| 163 | } | ||
| 164 | |||
| 165 | // Format of this structure must match the definition in the C++ code | ||
| 166 | // NOTE: adding the X causes compile breaks if used. These are unused symbols | ||
| 167 | // that can be removed from both here and the unmanaged definition of this structure. | ||
| 168 | [StructLayout(LayoutKind.Sequential)] | ||
| 169 | public struct ConfigurationParameters | ||
| 170 | { | ||
| 171 | public float defaultFriction; | ||
| 172 | public float defaultDensity; | ||
| 173 | public float defaultRestitution; | ||
| 174 | public float collisionMargin; | ||
| 175 | public float gravity; | ||
| 176 | |||
| 177 | public float XlinearDamping; | ||
| 178 | public float XangularDamping; | ||
| 179 | public float XdeactivationTime; | ||
| 180 | public float XlinearSleepingThreshold; | ||
| 181 | public float XangularSleepingThreshold; | ||
| 182 | public float XccdMotionThreshold; | ||
| 183 | public float XccdSweptSphereRadius; | ||
| 184 | public float XcontactProcessingThreshold; | ||
| 185 | |||
| 186 | public float XterrainImplementation; | ||
| 187 | public float XterrainFriction; | ||
| 188 | public float XterrainHitFraction; | ||
| 189 | public float XterrainRestitution; | ||
| 190 | public float XterrainCollisionMargin; | ||
| 191 | |||
| 192 | public float XavatarFriction; | ||
| 193 | public float XavatarStandingFriction; | ||
| 194 | public float XavatarDensity; | ||
| 195 | public float XavatarRestitution; | ||
| 196 | public float XavatarCapsuleWidth; | ||
| 197 | public float XavatarCapsuleDepth; | ||
| 198 | public float XavatarCapsuleHeight; | ||
| 199 | public float XavatarContactProcessingThreshold; | ||
| 200 | |||
| 201 | public float XvehicleAngularDamping; | ||
| 202 | |||
| 203 | public float maxPersistantManifoldPoolSize; | ||
| 204 | public float maxCollisionAlgorithmPoolSize; | ||
| 205 | public float shouldDisableContactPoolDynamicAllocation; | ||
| 206 | public float shouldForceUpdateAllAabbs; | ||
| 207 | public float shouldRandomizeSolverOrder; | ||
| 208 | public float shouldSplitSimulationIslands; | ||
| 209 | public float shouldEnableFrictionCaching; | ||
| 210 | public float numberOfSolverIterations; | ||
| 211 | |||
| 212 | public float XlinksetImplementation; | ||
| 213 | public float XlinkConstraintUseFrameOffset; | ||
| 214 | public float XlinkConstraintEnableTransMotor; | ||
| 215 | public float XlinkConstraintTransMotorMaxVel; | ||
| 216 | public float XlinkConstraintTransMotorMaxForce; | ||
| 217 | public float XlinkConstraintERP; | ||
| 218 | public float XlinkConstraintCFM; | ||
| 219 | public float XlinkConstraintSolverIterations; | ||
| 220 | |||
| 221 | public float physicsLoggingFrames; | ||
| 222 | |||
| 223 | public const float numericTrue = 1f; | ||
| 224 | public const float numericFalse = 0f; | ||
| 225 | } | ||
| 226 | |||
| 227 | |||
| 228 | // The states a bullet collision object can have | ||
| 229 | |||
| 230 | public enum ActivationState : uint | ||
| 231 | { | ||
| 232 | UNDEFINED = 0, | ||
| 233 | ACTIVE_TAG = 1, | ||
| 234 | ISLAND_SLEEPING = 2, | ||
| 235 | WANTS_DEACTIVATION = 3, | ||
| 236 | DISABLE_DEACTIVATION = 4, | ||
| 237 | DISABLE_SIMULATION = 5, | ||
| 238 | } | ||
| 239 | |||
| 240 | public enum CollisionObjectTypes : int | ||
| 241 | { | ||
| 242 | CO_COLLISION_OBJECT = 1 << 0, | ||
| 243 | CO_RIGID_BODY = 1 << 1, | ||
| 244 | CO_GHOST_OBJECT = 1 << 2, | ||
| 245 | CO_SOFT_BODY = 1 << 3, | ||
| 246 | CO_HF_FLUID = 1 << 4, | ||
| 247 | CO_USER_TYPE = 1 << 5, | ||
| 248 | } | ||
| 249 | |||
| 250 | // Values used by Bullet and BulletSim to control object properties. | ||
| 251 | // Bullet's "CollisionFlags" has more to do with operations on the | ||
| 252 | // object (if collisions happen, if gravity effects it, ...). | ||
| 253 | [Flags] | ||
| 254 | public enum CollisionFlags : uint | ||
| 255 | { | ||
| 256 | CF_STATIC_OBJECT = 1 << 0, | ||
| 257 | CF_KINEMATIC_OBJECT = 1 << 1, | ||
| 258 | CF_NO_CONTACT_RESPONSE = 1 << 2, | ||
| 259 | CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, | ||
| 260 | CF_CHARACTER_OBJECT = 1 << 4, | ||
| 261 | CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, | ||
| 262 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, | ||
| 263 | // Following used by BulletSim to control collisions and updates | ||
| 264 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, | ||
| 265 | BS_FLOATS_ON_WATER = 1 << 11, | ||
| 266 | BS_VEHICLE_COLLISIONS = 1 << 12, | ||
| 267 | BS_NONE = 0, | ||
| 268 | BS_ALL = 0xFFFFFFFF, | ||
| 269 | |||
| 270 | // These are the collision flags switched depending on physical state. | ||
| 271 | // The other flags are used for other things and should not be fooled with. | ||
| 272 | BS_ACTIVE = CF_STATIC_OBJECT | ||
| 273 | | CF_KINEMATIC_OBJECT | ||
| 274 | | CF_NO_CONTACT_RESPONSE | ||
| 275 | }; | ||
| 276 | |||
| 277 | // Values for collisions groups and masks | ||
| 278 | public enum CollisionFilterGroups : uint | ||
| 279 | { | ||
| 280 | // Don't use the bit definitions!! Define the use in a | ||
| 281 | // filter/mask definition below. This way collision interactions | ||
| 282 | // are more easily debugged. | ||
| 283 | BNoneGroup = 0, | ||
| 284 | BDefaultGroup = 1 << 0, | ||
| 285 | BStaticGroup = 1 << 1, | ||
| 286 | BKinematicGroup = 1 << 2, | ||
| 287 | BDebrisGroup = 1 << 3, | ||
| 288 | BSensorTrigger = 1 << 4, | ||
| 289 | BCharacterGroup = 1 << 5, | ||
| 290 | BAllGroup = 0xFFFFFFFF, | ||
| 291 | // Filter groups defined by BulletSim | ||
| 292 | BGroundPlaneGroup = 1 << 10, | ||
| 293 | BTerrainGroup = 1 << 11, | ||
| 294 | BRaycastGroup = 1 << 12, | ||
| 295 | BSolidGroup = 1 << 13, | ||
| 296 | // BLinksetGroup = xx // a linkset proper is either static or dynamic | ||
| 297 | BLinksetChildGroup = 1 << 14, | ||
| 298 | // The collsion filters and masked are defined in one place -- don't want them scattered | ||
| 299 | AvatarGroup = BCharacterGroup, | ||
| 300 | AvatarMask = BAllGroup, | ||
| 301 | ObjectGroup = BSolidGroup, | ||
| 302 | ObjectMask = BAllGroup, | ||
| 303 | StaticObjectGroup = BStaticGroup, | ||
| 304 | StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much | ||
| 305 | LinksetGroup = BLinksetChildGroup, | ||
| 306 | LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other | ||
| 307 | VolumeDetectGroup = BSensorTrigger, | ||
| 308 | VolumeDetectMask = ~BSensorTrigger, | ||
| 309 | TerrainGroup = BTerrainGroup, | ||
| 310 | TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide | ||
| 311 | GroundPlaneGroup = BGroundPlaneGroup, | ||
| 312 | GroundPlaneMask = BAllGroup | ||
| 313 | |||
| 314 | }; | ||
| 315 | |||
| 316 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 | ||
| 317 | // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. | ||
| 318 | public enum ConstraintParams : int | ||
| 319 | { | ||
| 320 | BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 | ||
| 321 | BT_CONSTRAINT_STOP_ERP, | ||
| 322 | BT_CONSTRAINT_CFM, | ||
| 323 | BT_CONSTRAINT_STOP_CFM, | ||
| 324 | }; | ||
| 325 | public enum ConstraintParamAxis : int | ||
| 326 | { | ||
| 327 | AXIS_LINEAR_X = 0, | ||
| 328 | AXIS_LINEAR_Y, | ||
| 329 | AXIS_LINEAR_Z, | ||
| 330 | AXIS_ANGULAR_X, | ||
| 331 | AXIS_ANGULAR_Y, | ||
| 332 | AXIS_ANGULAR_Z, | ||
| 333 | AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls | ||
| 334 | AXIS_ANGULAR_ALL, | ||
| 335 | AXIS_ALL | ||
| 336 | }; | ||
| 337 | |||
| 338 | // =============================================================================== | ||
| 339 | static class BulletSimAPI { | ||
| 340 | private static int m_collisionsThisFrame; | ||
| 341 | public delegate void DebugLogCallback(string msg); | ||
| 342 | /// <summary> | ||
| 343 | /// | ||
| 344 | /// </summary> | ||
| 345 | /// <param name="p"></param> | ||
| 346 | /// <param name="p_2"></param> | ||
| 347 | internal static bool RemoveObjectFromWorld2(object pWorld, object pBody) | ||
| 348 | { | ||
| 349 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 350 | RigidBody body = pBody as RigidBody; | ||
| 351 | world.RemoveRigidBody(body); | ||
| 352 | return true; | ||
| 353 | } | ||
| 354 | |||
| 355 | internal static void SetRestitution2(object pBody, float pRestitution) | ||
| 356 | { | ||
| 357 | RigidBody body = pBody as RigidBody; | ||
| 358 | body.SetRestitution(pRestitution); | ||
| 359 | } | ||
| 360 | |||
| 361 | internal static void SetMargin2(object pShape, float pMargin) | ||
| 362 | { | ||
| 363 | CollisionShape shape = pShape as CollisionShape; | ||
| 364 | shape.SetMargin(pMargin); | ||
| 365 | } | ||
| 366 | |||
| 367 | internal static void SetLocalScaling2(object pShape, Vector3 pScale) | ||
| 368 | { | ||
| 369 | CollisionShape shape = pShape as CollisionShape; | ||
| 370 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | ||
| 371 | shape.SetLocalScaling(ref vec); | ||
| 372 | |||
| 373 | } | ||
| 374 | |||
| 375 | internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) | ||
| 376 | { | ||
| 377 | RigidBody body = pBody as RigidBody; | ||
| 378 | body.SetContactProcessingThreshold(contactprocessingthreshold); | ||
| 379 | } | ||
| 380 | |||
| 381 | internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) | ||
| 382 | { | ||
| 383 | RigidBody body = pBody as RigidBody; | ||
| 384 | body.SetCcdMotionThreshold(pccdMotionThreashold); | ||
| 385 | } | ||
| 386 | |||
| 387 | internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) | ||
| 388 | { | ||
| 389 | RigidBody body = pBody as RigidBody; | ||
| 390 | body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); | ||
| 391 | } | ||
| 392 | |||
| 393 | internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) | ||
| 394 | { | ||
| 395 | RigidBody body = pBody as RigidBody; | ||
| 396 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); | ||
| 397 | } | ||
| 398 | |||
| 399 | internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) | ||
| 400 | { | ||
| 401 | CollisionObject body = pBody as CollisionObject; | ||
| 402 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | ||
| 403 | existingcollisionFlags |= pcollisionFlags; | ||
| 404 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | ||
| 405 | return (CollisionFlags) (uint) existingcollisionFlags; | ||
| 406 | } | ||
| 407 | |||
| 408 | internal static void AddObjectToWorld2(object pWorld, object pBody) | ||
| 409 | { | ||
| 410 | RigidBody body = pBody as RigidBody; | ||
| 411 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 412 | //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) | ||
| 413 | |||
| 414 | world.AddRigidBody(body); | ||
| 415 | |||
| 416 | //if (body.GetBroadphaseHandle() != null) | ||
| 417 | // world.UpdateSingleAabb(body); | ||
| 418 | } | ||
| 419 | |||
| 420 | internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) | ||
| 421 | { | ||
| 422 | RigidBody body = pBody as RigidBody; | ||
| 423 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 424 | //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) | ||
| 425 | |||
| 426 | world.AddRigidBody(body); | ||
| 427 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); | ||
| 428 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, | ||
| 429 | _orientation.W); | ||
| 430 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | ||
| 431 | mat._origin = vposition; | ||
| 432 | body.SetWorldTransform(mat); | ||
| 433 | //if (body.GetBroadphaseHandle() != null) | ||
| 434 | // world.UpdateSingleAabb(body); | ||
| 435 | } | ||
| 436 | |||
| 437 | internal static void ForceActivationState2(object pBody, ActivationState pActivationState) | ||
| 438 | { | ||
| 439 | CollisionObject body = pBody as CollisionObject; | ||
| 440 | body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); | ||
| 441 | } | ||
| 442 | |||
| 443 | internal static void UpdateSingleAabb2(object pWorld, object pBody) | ||
| 444 | { | ||
| 445 | CollisionObject body = pBody as CollisionObject; | ||
| 446 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 447 | world.UpdateSingleAabb(body); | ||
| 448 | } | ||
| 449 | |||
| 450 | internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) | ||
| 451 | { | ||
| 452 | RigidBody body = pBody as RigidBody; | ||
| 453 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
| 454 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
| 455 | if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) | ||
| 456 | return false; | ||
| 457 | return true; | ||
| 458 | } | ||
| 459 | |||
| 460 | internal static void ClearAllForces2(object pBody) | ||
| 461 | { | ||
| 462 | CollisionObject body = pBody as CollisionObject; | ||
| 463 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); | ||
| 464 | body.SetInterpolationLinearVelocity(ref zeroVector); | ||
| 465 | body.SetInterpolationAngularVelocity(ref zeroVector); | ||
| 466 | IndexedMatrix bodytransform = body.GetWorldTransform(); | ||
| 467 | |||
| 468 | body.SetInterpolationWorldTransform(ref bodytransform); | ||
| 469 | |||
| 470 | if (body is RigidBody) | ||
| 471 | { | ||
| 472 | RigidBody rigidbody = body as RigidBody; | ||
| 473 | rigidbody.SetLinearVelocity(zeroVector); | ||
| 474 | rigidbody.SetAngularVelocity(zeroVector); | ||
| 475 | rigidbody.ClearForces(); | ||
| 476 | } | ||
| 477 | } | ||
| 478 | |||
| 479 | internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) | ||
| 480 | { | ||
| 481 | RigidBody body = pBody as RigidBody; | ||
| 482 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | ||
| 483 | body.SetInterpolationAngularVelocity(ref vec); | ||
| 484 | } | ||
| 485 | |||
| 486 | internal static void SetAngularVelocity2(object pBody, Vector3 pVector3) | ||
| 487 | { | ||
| 488 | RigidBody body = pBody as RigidBody; | ||
| 489 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | ||
| 490 | body.SetAngularVelocity(ref vec); | ||
| 491 | } | ||
| 492 | |||
| 493 | internal static void ClearForces2(object pBody) | ||
| 494 | { | ||
| 495 | RigidBody body = pBody as RigidBody; | ||
| 496 | body.ClearForces(); | ||
| 497 | } | ||
| 498 | |||
| 499 | internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) | ||
| 500 | { | ||
| 501 | RigidBody body = pBody as RigidBody; | ||
| 502 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); | ||
| 503 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, | ||
| 504 | _orientation.W); | ||
| 505 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | ||
| 506 | mat._origin = vposition; | ||
| 507 | body.SetWorldTransform(mat); | ||
| 508 | |||
| 509 | } | ||
| 510 | |||
| 511 | internal static Vector3 GetPosition2(object pBody) | ||
| 512 | { | ||
| 513 | RigidBody body = pBody as RigidBody; | ||
| 514 | IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; | ||
| 515 | return new Vector3(pos.X, pos.Y, pos.Z); | ||
| 516 | } | ||
| 517 | |||
| 518 | internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass) | ||
| 519 | { | ||
| 520 | CollisionShape shape = pShape as CollisionShape; | ||
| 521 | IndexedVector3 inertia = IndexedVector3.Zero; | ||
| 522 | shape.CalculateLocalInertia(pphysMass, out inertia); | ||
| 523 | return new Vector3(inertia.X, inertia.Y, inertia.Z); | ||
| 524 | } | ||
| 525 | |||
| 526 | internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) | ||
| 527 | { | ||
| 528 | RigidBody body = pBody as RigidBody; | ||
| 529 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); | ||
| 530 | body.SetMassProps(pphysMass, inertia); | ||
| 531 | } | ||
| 532 | |||
| 533 | |||
| 534 | internal static void SetObjectForce2(object pBody, Vector3 _force) | ||
| 535 | { | ||
| 536 | RigidBody body = pBody as RigidBody; | ||
| 537 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); | ||
| 538 | body.SetTotalForce(ref force); | ||
| 539 | } | ||
| 540 | |||
| 541 | internal static void SetFriction2(object pBody, float _currentFriction) | ||
| 542 | { | ||
| 543 | RigidBody body = pBody as RigidBody; | ||
| 544 | body.SetFriction(_currentFriction); | ||
| 545 | } | ||
| 546 | |||
| 547 | internal static void SetLinearVelocity2(object pBody, Vector3 _velocity) | ||
| 548 | { | ||
| 549 | RigidBody body = pBody as RigidBody; | ||
| 550 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); | ||
| 551 | body.SetLinearVelocity(velocity); | ||
| 552 | } | ||
| 553 | |||
| 554 | internal static void Activate2(object pBody, bool pforceactivation) | ||
| 555 | { | ||
| 556 | RigidBody body = pBody as RigidBody; | ||
| 557 | body.Activate(pforceactivation); | ||
| 558 | |||
| 559 | } | ||
| 560 | |||
| 561 | internal static Quaternion GetOrientation2(object pBody) | ||
| 562 | { | ||
| 563 | RigidBody body = pBody as RigidBody; | ||
| 564 | IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); | ||
| 565 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); | ||
| 566 | } | ||
| 567 | |||
| 568 | internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) | ||
| 569 | { | ||
| 570 | RigidBody body = pBody as RigidBody; | ||
| 571 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | ||
| 572 | existingcollisionFlags &= ~pcollisionFlags; | ||
| 573 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | ||
| 574 | return (CollisionFlags)(uint)existingcollisionFlags; | ||
| 575 | } | ||
| 576 | |||
| 577 | internal static void SetGravity2(object pBody, Vector3 pGravity) | ||
| 578 | { | ||
| 579 | RigidBody body = pBody as RigidBody; | ||
| 580 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); | ||
| 581 | body.SetGravity(gravity); | ||
| 582 | } | ||
| 583 | |||
| 584 | internal static bool DestroyConstraint2(object pBody, object pConstraint) | ||
| 585 | { | ||
| 586 | RigidBody body = pBody as RigidBody; | ||
| 587 | TypedConstraint constraint = pConstraint as TypedConstraint; | ||
| 588 | body.RemoveConstraintRef(constraint); | ||
| 589 | return true; | ||
| 590 | } | ||
| 591 | |||
| 592 | internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) | ||
| 593 | { | ||
| 594 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 595 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | ||
| 596 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | ||
| 597 | constraint.SetLinearLowerLimit(lowlimit); | ||
| 598 | constraint.SetLinearUpperLimit(highlimit); | ||
| 599 | return true; | ||
| 600 | } | ||
| 601 | |||
| 602 | internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) | ||
| 603 | { | ||
| 604 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 605 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | ||
| 606 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | ||
| 607 | constraint.SetAngularLowerLimit(lowlimit); | ||
| 608 | constraint.SetAngularUpperLimit(highlimit); | ||
| 609 | return true; | ||
| 610 | } | ||
| 611 | |||
| 612 | internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt) | ||
| 613 | { | ||
| 614 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 615 | constraint.SetOverrideNumSolverIterations((int)cnt); | ||
| 616 | } | ||
| 617 | |||
| 618 | internal static void CalculateTransforms2(object pConstraint) | ||
| 619 | { | ||
| 620 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 621 | constraint.CalculateTransforms(); | ||
| 622 | } | ||
| 623 | |||
| 624 | internal static void SetConstraintEnable2(object pConstraint, float p_2) | ||
| 625 | { | ||
| 626 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 627 | constraint.SetEnabled((p_2 == 0) ? false : true); | ||
| 628 | } | ||
| 629 | |||
| 630 | |||
| 631 | //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
| 632 | internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
| 633 | |||
| 634 | { | ||
| 635 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 636 | RigidBody body1 = pBody1 as RigidBody; | ||
| 637 | RigidBody body2 = pBody2 as RigidBody; | ||
| 638 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
| 639 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
| 640 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
| 641 | frame1._origin = frame1v; | ||
| 642 | |||
| 643 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
| 644 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
| 645 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
| 646 | frame2._origin = frame1v; | ||
| 647 | |||
| 648 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, | ||
| 649 | puseLinearReferenceFrameA); | ||
| 650 | consttr.CalculateTransforms(); | ||
| 651 | world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); | ||
| 652 | |||
| 653 | return consttr; | ||
| 654 | } | ||
| 655 | |||
| 656 | |||
| 657 | /// <summary> | ||
| 658 | /// | ||
| 659 | /// </summary> | ||
| 660 | /// <param name="pWorld"></param> | ||
| 661 | /// <param name="pBody1"></param> | ||
| 662 | /// <param name="pBody2"></param> | ||
| 663 | /// <param name="pjoinPoint"></param> | ||
| 664 | /// <param name="puseLinearReferenceFrameA"></param> | ||
| 665 | /// <param name="pdisableCollisionsBetweenLinkedBodies"></param> | ||
| 666 | /// <returns></returns> | ||
| 667 | internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
| 668 | { | ||
| 669 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 670 | RigidBody body1 = pBody1 as RigidBody; | ||
| 671 | RigidBody body2 = pBody2 as RigidBody; | ||
| 672 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | ||
| 673 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | ||
| 674 | |||
| 675 | IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); | ||
| 676 | IndexedMatrix mat = IndexedMatrix.Identity; | ||
| 677 | mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); | ||
| 678 | frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; | ||
| 679 | frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; | ||
| 680 | |||
| 681 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
| 682 | consttr.CalculateTransforms(); | ||
| 683 | world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); | ||
| 684 | |||
| 685 | return consttr; | ||
| 686 | } | ||
| 687 | //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); | ||
| 688 | internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) | ||
| 689 | { | ||
| 690 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 691 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
| 692 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
| 693 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
| 694 | frame1._origin = frame1v; | ||
| 695 | |||
| 696 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
| 697 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
| 698 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
| 699 | frame2._origin = frame1v; | ||
| 700 | constraint.SetFrames(ref frame1, ref frame2); | ||
| 701 | } | ||
| 702 | |||
| 703 | |||
| 704 | |||
| 705 | |||
| 706 | internal static bool IsInWorld2(object pWorld, object pShapeObj) | ||
| 707 | { | ||
| 708 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 709 | CollisionObject shape = pShapeObj as CollisionObject; | ||
| 710 | return world.IsInWorld(shape); | ||
| 711 | } | ||
| 712 | |||
| 713 | internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) | ||
| 714 | { | ||
| 715 | RigidBody body = pBody as RigidBody; | ||
| 716 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); | ||
| 717 | body.SetInterpolationLinearVelocity(ref velocity); | ||
| 718 | } | ||
| 719 | |||
| 720 | internal static bool UseFrameOffset2(object pConstraint, float onOff) | ||
| 721 | { | ||
| 722 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 723 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); | ||
| 724 | return true; | ||
| 725 | } | ||
| 726 | //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); | ||
| 727 | internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) | ||
| 728 | { | ||
| 729 | Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; | ||
| 730 | constraint.SetBreakingImpulseThreshold(threshold); | ||
| 731 | return true; | ||
| 732 | } | ||
| 733 | //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); | ||
| 734 | internal static void SetAngularDamping2(object pBody, float angularDamping) | ||
| 735 | { | ||
| 736 | RigidBody body = pBody as RigidBody; | ||
| 737 | float lineardamping = body.GetLinearDamping(); | ||
| 738 | body.SetDamping(lineardamping, angularDamping); | ||
| 739 | |||
| 740 | } | ||
| 741 | |||
| 742 | internal static void UpdateInertiaTensor2(object pBody) | ||
| 743 | { | ||
| 744 | RigidBody body = pBody as RigidBody; | ||
| 745 | body.UpdateInertiaTensor(); | ||
| 746 | } | ||
| 747 | |||
| 748 | internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) | ||
| 749 | { | ||
| 750 | |||
| 751 | CompoundShape shape = pCompoundShape as CompoundShape; | ||
| 752 | shape.RecalculateLocalAabb(); | ||
| 753 | } | ||
| 754 | |||
| 755 | //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) | ||
| 756 | internal static CollisionFlags GetCollisionFlags2(object pBody) | ||
| 757 | { | ||
| 758 | RigidBody body = pBody as RigidBody; | ||
| 759 | uint flags = (uint)body.GetCollisionFlags(); | ||
| 760 | return (CollisionFlags) flags; | ||
| 761 | } | ||
| 762 | |||
| 763 | internal static void SetDamping2(object pBody, float pLinear, float pAngular) | ||
| 764 | { | ||
| 765 | RigidBody body = pBody as RigidBody; | ||
| 766 | body.SetDamping(pLinear, pAngular); | ||
| 767 | } | ||
| 768 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); | ||
| 769 | internal static void SetDeactivationTime2(object pBody, float pDeactivationTime) | ||
| 770 | { | ||
| 771 | RigidBody body = pBody as RigidBody; | ||
| 772 | body.SetDeactivationTime(pDeactivationTime); | ||
| 773 | } | ||
| 774 | //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | ||
| 775 | internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) | ||
| 776 | { | ||
| 777 | RigidBody body = pBody as RigidBody; | ||
| 778 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); | ||
| 779 | } | ||
| 780 | |||
| 781 | internal static CollisionObjectTypes GetBodyType2(object pBody) | ||
| 782 | { | ||
| 783 | RigidBody body = pBody as RigidBody; | ||
| 784 | return (CollisionObjectTypes)(int) body.GetInternalType(); | ||
| 785 | } | ||
| 786 | |||
| 787 | //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); | ||
| 788 | internal static void ApplyCentralForce2(object pBody, Vector3 pfSum) | ||
| 789 | { | ||
| 790 | RigidBody body = pBody as RigidBody; | ||
| 791 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
| 792 | body.ApplyCentralForce(ref fSum); | ||
| 793 | } | ||
| 794 | internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum) | ||
| 795 | { | ||
| 796 | RigidBody body = pBody as RigidBody; | ||
| 797 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
| 798 | body.ApplyCentralImpulse(ref fSum); | ||
| 799 | } | ||
| 800 | internal static void ApplyTorque2(object pBody, Vector3 pfSum) | ||
| 801 | { | ||
| 802 | RigidBody body = pBody as RigidBody; | ||
| 803 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
| 804 | body.ApplyTorque(ref fSum); | ||
| 805 | } | ||
| 806 | internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) | ||
| 807 | { | ||
| 808 | RigidBody body = pBody as RigidBody; | ||
| 809 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
| 810 | body.ApplyTorqueImpulse(ref fSum); | ||
| 811 | } | ||
| 812 | |||
| 813 | internal static void DumpRigidBody2(object p, object p_2) | ||
| 814 | { | ||
| 815 | //TODO: | ||
| 816 | } | ||
| 817 | |||
| 818 | internal static void DumpCollisionShape2(object p, object p_2) | ||
| 819 | { | ||
| 820 | //TODO: | ||
| 821 | } | ||
| 822 | |||
| 823 | internal static void DestroyObject2(object p, object p_2) | ||
| 824 | { | ||
| 825 | //TODO: | ||
| 826 | } | ||
| 827 | |||
| 828 | internal static void Shutdown2(object pWorld) | ||
| 829 | { | ||
| 830 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 831 | world.Cleanup(); | ||
| 832 | } | ||
| 833 | |||
| 834 | internal static void DeleteCollisionShape2(object p, object p_2) | ||
| 835 | { | ||
| 836 | //TODO: | ||
| 837 | } | ||
| 838 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); | ||
| 839 | |||
| 840 | internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
| 841 | { | ||
| 842 | CollisionWorld world = pWorld as CollisionWorld; | ||
| 843 | IndexedMatrix mat = | ||
| 844 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | ||
| 845 | pRawOrientation.Z, pRawOrientation.W)); | ||
| 846 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
| 847 | CollisionShape shape = pShape as CollisionShape; | ||
| 848 | //UpdateSingleAabb2(world, shape); | ||
| 849 | // TODO: Feed Update array into null | ||
| 850 | RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); | ||
| 851 | |||
| 852 | body.SetUserPointer(pLocalID); | ||
| 853 | return body; | ||
| 854 | } | ||
| 855 | |||
| 856 | |||
| 857 | internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
| 858 | { | ||
| 859 | |||
| 860 | IndexedMatrix mat = | ||
| 861 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | ||
| 862 | pRawOrientation.Z, pRawOrientation.W)); | ||
| 863 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
| 864 | |||
| 865 | CollisionShape shape = pShape as CollisionShape; | ||
| 866 | |||
| 867 | // TODO: Feed Update array into null | ||
| 868 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); | ||
| 869 | body.SetWorldTransform(mat); | ||
| 870 | body.SetUserPointer(pLocalID); | ||
| 871 | return body; | ||
| 872 | } | ||
| 873 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
| 874 | internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) | ||
| 875 | { | ||
| 876 | RigidBody body = pBody as RigidBody; | ||
| 877 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); | ||
| 878 | } | ||
| 879 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); | ||
| 880 | internal static void SetHitFraction2(object pBody, float pHitFraction) | ||
| 881 | { | ||
| 882 | RigidBody body = pBody as RigidBody; | ||
| 883 | body.SetHitFraction(pHitFraction); | ||
| 884 | } | ||
| 885 | //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); | ||
| 886 | internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) | ||
| 887 | { | ||
| 888 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 889 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | ||
| 890 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); | ||
| 891 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
| 892 | capsuleShapeZ.SetLocalScaling(ref scale); | ||
| 893 | |||
| 894 | return capsuleShapeZ; | ||
| 895 | } | ||
| 896 | |||
| 897 | public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle) | ||
| 898 | { | ||
| 899 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); | ||
| 900 | |||
| 901 | p.angularDamping = o[0].XangularDamping; | ||
| 902 | p.defaultFriction = o[0].defaultFriction; | ||
| 903 | p.defaultFriction = o[0].defaultFriction; | ||
| 904 | p.defaultDensity = o[0].defaultDensity; | ||
| 905 | p.defaultRestitution = o[0].defaultRestitution; | ||
| 906 | p.collisionMargin = o[0].collisionMargin; | ||
| 907 | p.gravity = o[0].gravity; | ||
| 908 | |||
| 909 | p.linearDamping = o[0].XlinearDamping; | ||
| 910 | p.angularDamping = o[0].XangularDamping; | ||
| 911 | p.deactivationTime = o[0].XdeactivationTime; | ||
| 912 | p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; | ||
| 913 | p.angularSleepingThreshold = o[0].XangularSleepingThreshold; | ||
| 914 | p.ccdMotionThreshold = o[0].XccdMotionThreshold; | ||
| 915 | p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; | ||
| 916 | p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; | ||
| 917 | |||
| 918 | p.terrainImplementation = o[0].XterrainImplementation; | ||
| 919 | p.terrainFriction = o[0].XterrainFriction; | ||
| 920 | |||
| 921 | p.terrainHitFraction = o[0].XterrainHitFraction; | ||
| 922 | p.terrainRestitution = o[0].XterrainRestitution; | ||
| 923 | p.terrainCollisionMargin = o[0].XterrainCollisionMargin; | ||
| 924 | |||
| 925 | p.avatarFriction = o[0].XavatarFriction; | ||
| 926 | p.avatarStandingFriction = o[0].XavatarStandingFriction; | ||
| 927 | p.avatarDensity = o[0].XavatarDensity; | ||
| 928 | p.avatarRestitution = o[0].XavatarRestitution; | ||
| 929 | p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; | ||
| 930 | p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; | ||
| 931 | p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; | ||
| 932 | p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; | ||
| 933 | |||
| 934 | p.vehicleAngularDamping = o[0].XvehicleAngularDamping; | ||
| 935 | |||
| 936 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; | ||
| 937 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; | ||
| 938 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; | ||
| 939 | p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; | ||
| 940 | p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; | ||
| 941 | p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; | ||
| 942 | p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; | ||
| 943 | p.numberOfSolverIterations = o[0].numberOfSolverIterations; | ||
| 944 | |||
| 945 | p.linksetImplementation = o[0].XlinksetImplementation; | ||
| 946 | p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; | ||
| 947 | p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; | ||
| 948 | p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; | ||
| 949 | p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; | ||
| 950 | p.linkConstraintERP = o[0].XlinkConstraintERP; | ||
| 951 | p.linkConstraintCFM = o[0].XlinkConstraintCFM; | ||
| 952 | p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; | ||
| 953 | p.physicsLoggingFrames = o[0].physicsLoggingFrames; | ||
| 954 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); | ||
| 955 | |||
| 956 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); | ||
| 957 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); | ||
| 958 | |||
| 959 | |||
| 960 | if (p.maxPersistantManifoldPoolSize > 0) | ||
| 961 | cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; | ||
| 962 | if (p.shouldDisableContactPoolDynamicAllocation !=0) | ||
| 963 | m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); | ||
| 964 | //if (p.maxCollisionAlgorithmPoolSize >0 ) | ||
| 965 | |||
| 966 | DbvtBroadphase m_broadphase = new DbvtBroadphase(); | ||
| 967 | //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); | ||
| 968 | //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); | ||
| 969 | |||
| 970 | //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); | ||
| 971 | m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); | ||
| 972 | |||
| 973 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); | ||
| 974 | |||
| 975 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); | ||
| 976 | world.UpdatedObjects = updateArray; | ||
| 977 | world.UpdatedCollisions = collisionArray; | ||
| 978 | world.WorldSettings.Params = p; | ||
| 979 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); | ||
| 980 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; | ||
| 981 | if (p.shouldRandomizeSolverOrder != 0) | ||
| 982 | world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; | ||
| 983 | |||
| 984 | world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); | ||
| 985 | //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port | ||
| 986 | |||
| 987 | if (p.shouldEnableFrictionCaching != 0) | ||
| 988 | world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; | ||
| 989 | |||
| 990 | if (p.numberOfSolverIterations > 0) | ||
| 991 | world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; | ||
| 992 | |||
| 993 | |||
| 994 | world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; | ||
| 995 | world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; | ||
| 996 | world.GetSolverInfo().m_globalCfm = 0.0f; | ||
| 997 | world.GetSolverInfo().m_tau = 0.6f; | ||
| 998 | world.GetSolverInfo().m_friction = 0.3f; | ||
| 999 | world.GetSolverInfo().m_maxErrorReduction = 20f; | ||
| 1000 | world.GetSolverInfo().m_numIterations = 10; | ||
| 1001 | world.GetSolverInfo().m_erp = 0.2f; | ||
| 1002 | world.GetSolverInfo().m_erp2 = 0.1f; | ||
| 1003 | world.GetSolverInfo().m_sor = 1.0f; | ||
| 1004 | world.GetSolverInfo().m_splitImpulse = false; | ||
| 1005 | world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; | ||
| 1006 | world.GetSolverInfo().m_linearSlop = 0.0f; | ||
| 1007 | world.GetSolverInfo().m_warmstartingFactor = 0.85f; | ||
| 1008 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; | ||
| 1009 | world.SetForceUpdateAllAabbs(true); | ||
| 1010 | |||
| 1011 | |||
| 1012 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); | ||
| 1013 | |||
| 1014 | return world; | ||
| 1015 | } | ||
| 1016 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL | ||
| 1017 | internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) | ||
| 1018 | { | ||
| 1019 | Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; | ||
| 1020 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | ||
| 1021 | { | ||
| 1022 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); | ||
| 1023 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); | ||
| 1024 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); | ||
| 1025 | } | ||
| 1026 | if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | ||
| 1027 | { | ||
| 1028 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); | ||
| 1029 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); | ||
| 1030 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); | ||
| 1031 | } | ||
| 1032 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) | ||
| 1033 | { | ||
| 1034 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); | ||
| 1035 | } | ||
| 1036 | return true; | ||
| 1037 | } | ||
| 1038 | |||
| 1039 | internal static bool PushUpdate2(object pCollisionObject) | ||
| 1040 | { | ||
| 1041 | bool ret = false; | ||
| 1042 | RigidBody rb = pCollisionObject as RigidBody; | ||
| 1043 | if (rb != null) | ||
| 1044 | { | ||
| 1045 | SimMotionState sms = rb.GetMotionState() as SimMotionState; | ||
| 1046 | if (sms != null) | ||
| 1047 | { | ||
| 1048 | IndexedMatrix wt = IndexedMatrix.Identity; | ||
| 1049 | sms.GetWorldTransform(out wt); | ||
| 1050 | sms.SetWorldTransform(ref wt, true); | ||
| 1051 | ret = true; | ||
| 1052 | } | ||
| 1053 | } | ||
| 1054 | return ret; | ||
| 1055 | |||
| 1056 | } | ||
| 1057 | |||
| 1058 | internal static bool IsCompound2(object pShape) | ||
| 1059 | { | ||
| 1060 | CollisionShape shape = pShape as CollisionShape; | ||
| 1061 | return shape.IsCompound(); | ||
| 1062 | } | ||
| 1063 | internal static bool IsPloyhedral2(object pShape) | ||
| 1064 | { | ||
| 1065 | CollisionShape shape = pShape as CollisionShape; | ||
| 1066 | return shape.IsPolyhedral(); | ||
| 1067 | } | ||
| 1068 | internal static bool IsConvex2d2(object pShape) | ||
| 1069 | { | ||
| 1070 | CollisionShape shape = pShape as CollisionShape; | ||
| 1071 | return shape.IsConvex2d(); | ||
| 1072 | } | ||
| 1073 | internal static bool IsConvex2(object pShape) | ||
| 1074 | { | ||
| 1075 | CollisionShape shape = pShape as CollisionShape; | ||
| 1076 | return shape.IsConvex(); | ||
| 1077 | } | ||
| 1078 | internal static bool IsNonMoving2(object pShape) | ||
| 1079 | { | ||
| 1080 | CollisionShape shape = pShape as CollisionShape; | ||
| 1081 | return shape.IsNonMoving(); | ||
| 1082 | } | ||
| 1083 | internal static bool IsConcave2(object pShape) | ||
| 1084 | { | ||
| 1085 | CollisionShape shape = pShape as CollisionShape; | ||
| 1086 | return shape.IsConcave(); | ||
| 1087 | } | ||
| 1088 | internal static bool IsInfinite2(object pShape) | ||
| 1089 | { | ||
| 1090 | CollisionShape shape = pShape as CollisionShape; | ||
| 1091 | return shape.IsInfinite(); | ||
| 1092 | } | ||
| 1093 | internal static bool IsNativeShape2(object pShape) | ||
| 1094 | { | ||
| 1095 | CollisionShape shape = pShape as CollisionShape; | ||
| 1096 | bool ret; | ||
| 1097 | switch (shape.GetShapeType()) | ||
| 1098 | { | ||
| 1099 | case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: | ||
| 1100 | case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: | ||
| 1101 | case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: | ||
| 1102 | case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: | ||
| 1103 | ret = true; | ||
| 1104 | break; | ||
| 1105 | default: | ||
| 1106 | ret = false; | ||
| 1107 | break; | ||
| 1108 | } | ||
| 1109 | return ret; | ||
| 1110 | } | ||
| 1111 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation | ||
| 1112 | internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
| 1113 | { | ||
| 1114 | IndexedMatrix bodyTransform = new IndexedMatrix(); | ||
| 1115 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
| 1116 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); | ||
| 1117 | GhostObject gObj = new PairCachingGhostObject(); | ||
| 1118 | gObj.SetWorldTransform(bodyTransform); | ||
| 1119 | CollisionShape shape = pShape as CollisionShape; | ||
| 1120 | gObj.SetCollisionShape(shape); | ||
| 1121 | gObj.SetUserPointer(pLocalID); | ||
| 1122 | // TODO: Add to Special CollisionObjects! | ||
| 1123 | return gObj; | ||
| 1124 | } | ||
| 1125 | |||
| 1126 | public static void SetCollisionShape2(object pWorld, object pObj, object pShape) | ||
| 1127 | { | ||
| 1128 | var world = pWorld as DiscreteDynamicsWorld; | ||
| 1129 | var obj = pObj as CollisionObject; | ||
| 1130 | var shape = pShape as CollisionShape; | ||
| 1131 | obj.SetCollisionShape(shape); | ||
| 1132 | |||
| 1133 | } | ||
| 1134 | //(PhysicsScene.World.ptr, nativeShapeData) | ||
| 1135 | internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData) | ||
| 1136 | { | ||
| 1137 | var world = pWorld as DiscreteDynamicsWorld; | ||
| 1138 | CollisionShape shape = null; | ||
| 1139 | switch (pShapeData.Type) | ||
| 1140 | { | ||
| 1141 | case BSPhysicsShapeType.SHAPE_BOX: | ||
| 1142 | shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); | ||
| 1143 | break; | ||
| 1144 | case BSPhysicsShapeType.SHAPE_CONE: | ||
| 1145 | shape = new ConeShapeZ(0.5f, 1.0f); | ||
| 1146 | break; | ||
| 1147 | case BSPhysicsShapeType.SHAPE_CYLINDER: | ||
| 1148 | shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); | ||
| 1149 | break; | ||
| 1150 | case BSPhysicsShapeType.SHAPE_SPHERE: | ||
| 1151 | shape = new SphereShape(0.5f); | ||
| 1152 | break; | ||
| 1153 | |||
| 1154 | } | ||
| 1155 | if (shape != null) | ||
| 1156 | { | ||
| 1157 | IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); | ||
| 1158 | shape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
| 1159 | shape.SetLocalScaling(ref scaling); | ||
| 1160 | |||
| 1161 | } | ||
| 1162 | return shape; | ||
| 1163 | } | ||
| 1164 | //PhysicsScene.World.ptr, false | ||
| 1165 | internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) | ||
| 1166 | { | ||
| 1167 | return new CompoundShape(enableDynamicAabbTree); | ||
| 1168 | } | ||
| 1169 | |||
| 1170 | internal static int GetNumberOfCompoundChildren2(object pCompoundShape) | ||
| 1171 | { | ||
| 1172 | var compoundshape = pCompoundShape as CompoundShape; | ||
| 1173 | return compoundshape.GetNumChildShapes(); | ||
| 1174 | } | ||
| 1175 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot | ||
| 1176 | internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) | ||
| 1177 | { | ||
| 1178 | IndexedMatrix relativeTransform = new IndexedMatrix(); | ||
| 1179 | var compoundshape = pCShape as CompoundShape; | ||
| 1180 | var addshape = paddShape as CollisionShape; | ||
| 1181 | |||
| 1182 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); | ||
| 1183 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); | ||
| 1184 | compoundshape.AddChildShape(ref relativeTransform, addshape); | ||
| 1185 | |||
| 1186 | } | ||
| 1187 | |||
| 1188 | internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) | ||
| 1189 | { | ||
| 1190 | var compoundshape = pCShape as CompoundShape; | ||
| 1191 | CollisionShape ret = null; | ||
| 1192 | ret = compoundshape.GetChildShape(pii); | ||
| 1193 | compoundshape.RemoveChildShapeByIndex(pii); | ||
| 1194 | return ret; | ||
| 1195 | } | ||
| 1196 | |||
| 1197 | internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) | ||
| 1198 | { | ||
| 1199 | StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); | ||
| 1200 | m_planeshape.SetMargin(pcollisionMargin); | ||
| 1201 | m_planeshape.SetUserPointer(pLocalId); | ||
| 1202 | return m_planeshape; | ||
| 1203 | } | ||
| 1204 | |||
| 1205 | internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
| 1206 | { | ||
| 1207 | HingeConstraint constrain = null; | ||
| 1208 | var rb1 = pBody1 as RigidBody; | ||
| 1209 | var rb2 = ppBody2 as RigidBody; | ||
| 1210 | if (rb1 != null && rb2 != null) | ||
| 1211 | { | ||
| 1212 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | ||
| 1213 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); | ||
| 1214 | IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); | ||
| 1215 | IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); | ||
| 1216 | var world = pWorld as DiscreteDynamicsWorld; | ||
| 1217 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
| 1218 | } | ||
| 1219 | return constrain; | ||
| 1220 | } | ||
| 1221 | |||
| 1222 | internal static bool ReleaseHeightMapInfo2(object pMapInfo) | ||
| 1223 | { | ||
| 1224 | if (pMapInfo != null) | ||
| 1225 | { | ||
| 1226 | BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; | ||
| 1227 | if (mapinfo.heightMap != null) | ||
| 1228 | mapinfo.heightMap = null; | ||
| 1229 | |||
| 1230 | |||
| 1231 | } | ||
| 1232 | return true; | ||
| 1233 | } | ||
| 1234 | |||
| 1235 | internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) | ||
| 1236 | { | ||
| 1237 | CompoundShape compoundshape = new CompoundShape(false); | ||
| 1238 | var world = pWorld as DiscreteDynamicsWorld; | ||
| 1239 | |||
| 1240 | |||
| 1241 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
| 1242 | int ii = 1; | ||
| 1243 | |||
| 1244 | for (int i = 0; i < pHullCount; i++) | ||
| 1245 | { | ||
| 1246 | int vertexCount = (int) pConvHulls[ii]; | ||
| 1247 | |||
| 1248 | IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); | ||
| 1249 | IndexedMatrix childTrans = IndexedMatrix.Identity; | ||
| 1250 | childTrans._origin = centroid; | ||
| 1251 | |||
| 1252 | List<IndexedVector3> virts = new List<IndexedVector3>(); | ||
| 1253 | int ender = ((ii + 4) + (vertexCount*3)); | ||
| 1254 | for (int iii = ii + 4; iii < ender; iii+=3) | ||
| 1255 | { | ||
| 1256 | |||
| 1257 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); | ||
| 1258 | } | ||
| 1259 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); | ||
| 1260 | convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
| 1261 | compoundshape.AddChildShape(ref childTrans, convexShape); | ||
| 1262 | ii += (vertexCount*3 + 4); | ||
| 1263 | } | ||
| 1264 | |||
| 1265 | |||
| 1266 | return compoundshape; | ||
| 1267 | } | ||
| 1268 | |||
| 1269 | internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | ||
| 1270 | { | ||
| 1271 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); | ||
| 1272 | |||
| 1273 | for (int iter = 0; iter < pVerticesCount; iter++) | ||
| 1274 | { | ||
| 1275 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; | ||
| 1276 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; | ||
| 1277 | } | ||
| 1278 | |||
| 1279 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); | ||
| 1280 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); | ||
| 1281 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); | ||
| 1282 | var world = pWorld as DiscreteDynamicsWorld; | ||
| 1283 | IndexedMesh mesh = new IndexedMesh(); | ||
| 1284 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
| 1285 | mesh.m_numTriangles = pIndicesCount/3; | ||
| 1286 | mesh.m_numVertices = pVerticesCount; | ||
| 1287 | mesh.m_triangleIndexBase = indicesarr; | ||
| 1288 | mesh.m_vertexBase = vertices; | ||
| 1289 | mesh.m_vertexStride = 3; | ||
| 1290 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
| 1291 | mesh.m_triangleIndexStride = 3; | ||
| 1292 | |||
| 1293 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
| 1294 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
| 1295 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); | ||
| 1296 | meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
| 1297 | // world.UpdateSingleAabb(meshShape); | ||
| 1298 | return meshShape; | ||
| 1299 | |||
| 1300 | } | ||
| 1301 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) | ||
| 1302 | { | ||
| 1303 | |||
| 1304 | String fileName = "objTest3.raw"; | ||
| 1305 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | ||
| 1306 | StreamWriter sw = new StreamWriter(completePath); | ||
| 1307 | IndexedMesh mesh = new IndexedMesh(); | ||
| 1308 | |||
| 1309 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
| 1310 | mesh.m_numTriangles = pIndicesCount / 3; | ||
| 1311 | mesh.m_numVertices = pVerticesCount; | ||
| 1312 | mesh.m_triangleIndexBase = indices; | ||
| 1313 | mesh.m_vertexBase = vertices; | ||
| 1314 | mesh.m_vertexStride = 3; | ||
| 1315 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
| 1316 | mesh.m_triangleIndexStride = 3; | ||
| 1317 | |||
| 1318 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
| 1319 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
| 1320 | |||
| 1321 | |||
| 1322 | |||
| 1323 | for (int i = 0; i < pVerticesCount; i++) | ||
| 1324 | { | ||
| 1325 | |||
| 1326 | string s = vertices[indices[i * 3]].ToString("0.0000"); | ||
| 1327 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | ||
| 1328 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | ||
| 1329 | |||
| 1330 | sw.Write(s + "\n"); | ||
| 1331 | } | ||
| 1332 | |||
| 1333 | sw.Close(); | ||
| 1334 | } | ||
| 1335 | public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) | ||
| 1336 | { | ||
| 1337 | |||
| 1338 | String fileName = "objTest6.raw"; | ||
| 1339 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | ||
| 1340 | StreamWriter sw = new StreamWriter(completePath); | ||
| 1341 | IndexedMesh mesh = new IndexedMesh(); | ||
| 1342 | |||
| 1343 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
| 1344 | mesh.m_numTriangles = pIndicesCount / 3; | ||
| 1345 | mesh.m_numVertices = pVerticesCount; | ||
| 1346 | mesh.m_triangleIndexBase = indices; | ||
| 1347 | mesh.m_vertexBase = vertices; | ||
| 1348 | mesh.m_vertexStride = 3; | ||
| 1349 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
| 1350 | mesh.m_triangleIndexStride = 3; | ||
| 1351 | |||
| 1352 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
| 1353 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
| 1354 | |||
| 1355 | |||
| 1356 | sw.WriteLine("Indices"); | ||
| 1357 | sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); | ||
| 1358 | for (int iter = 0; iter < indices.Length; iter++) | ||
| 1359 | { | ||
| 1360 | sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); | ||
| 1361 | } | ||
| 1362 | sw.WriteLine("VerticesFloats"); | ||
| 1363 | sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); | ||
| 1364 | for (int iter = 0; iter < vertices.Length; iter++) | ||
| 1365 | { | ||
| 1366 | sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); | ||
| 1367 | } | ||
| 1368 | |||
| 1369 | // for (int i = 0; i < pVerticesCount; i++) | ||
| 1370 | // { | ||
| 1371 | // | ||
| 1372 | // string s = vertices[indices[i * 3]].ToString("0.0000"); | ||
| 1373 | // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | ||
| 1374 | // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | ||
| 1375 | // | ||
| 1376 | // sw.Write(s + "\n"); | ||
| 1377 | //} | ||
| 1378 | |||
| 1379 | sw.Close(); | ||
| 1380 | } | ||
| 1381 | //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin | ||
| 1382 | internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin) | ||
| 1383 | { | ||
| 1384 | BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null); | ||
| 1385 | mapInfo.heightMap = null; | ||
| 1386 | mapInfo.minCoords = pminCoords; | ||
| 1387 | mapInfo.maxCoords = pmaxCoords; | ||
| 1388 | mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X); | ||
| 1389 | mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y); | ||
| 1390 | mapInfo.ID = pId; | ||
| 1391 | mapInfo.minZ = pminCoords.Z; | ||
| 1392 | mapInfo.maxZ = pmaxCoords.Z; | ||
| 1393 | mapInfo.collisionMargin = pCollisionMargin; | ||
| 1394 | if (mapInfo.minZ == mapInfo.maxZ) | ||
| 1395 | mapInfo.minZ -= 0.2f; | ||
| 1396 | mapInfo.heightMap = pheightMap; | ||
| 1397 | |||
| 1398 | return mapInfo; | ||
| 1399 | |||
| 1400 | } | ||
| 1401 | |||
| 1402 | internal static object CreateTerrainShape2(object pMapInfo) | ||
| 1403 | { | ||
| 1404 | BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; | ||
| 1405 | const int upAxis = 2; | ||
| 1406 | const float scaleFactor = 1.0f; | ||
| 1407 | HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, | ||
| 1408 | mapinfo.heightMap, scaleFactor, | ||
| 1409 | mapinfo.minZ, mapinfo.maxZ, upAxis, | ||
| 1410 | false); | ||
| 1411 | terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); | ||
| 1412 | terrainShape.SetUseDiamondSubdivision(true); | ||
| 1413 | terrainShape.SetUserPointer(mapinfo.ID); | ||
| 1414 | return terrainShape; | ||
| 1415 | } | ||
| 1416 | |||
| 1417 | internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) | ||
| 1418 | { | ||
| 1419 | TypedConstraint tconstrain = pConstraint as TypedConstraint; | ||
| 1420 | bool onOff = ponOff != 0; | ||
| 1421 | bool ret = false; | ||
| 1422 | |||
| 1423 | switch (tconstrain.GetConstraintType()) | ||
| 1424 | { | ||
| 1425 | case TypedConstraintType.D6_CONSTRAINT_TYPE: | ||
| 1426 | Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; | ||
| 1427 | constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; | ||
| 1428 | constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; | ||
| 1429 | constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; | ||
| 1430 | ret = true; | ||
| 1431 | break; | ||
| 1432 | } | ||
| 1433 | |||
| 1434 | |||
| 1435 | return ret; | ||
| 1436 | |||
| 1437 | } | ||
| 1438 | |||
| 1439 | internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders) | ||
| 1440 | { | ||
| 1441 | int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, | ||
| 1442 | out collidersCount, out colliders); | ||
| 1443 | return epic; | ||
| 1444 | } | ||
| 1445 | |||
| 1446 | private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders) | ||
| 1447 | { | ||
| 1448 | int numSimSteps = 0; | ||
| 1449 | |||
| 1450 | |||
| 1451 | //if (updatedEntities is null) | ||
| 1452 | // updatedEntities = new List<BulletXNA.EntityProperties>(); | ||
| 1453 | |||
| 1454 | //if (colliders is null) | ||
| 1455 | // colliders = new List<BulletXNA.CollisionDesc>(); | ||
| 1456 | |||
| 1457 | |||
| 1458 | if (pWorld is DiscreteDynamicsWorld) | ||
| 1459 | { | ||
| 1460 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 1461 | |||
| 1462 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); | ||
| 1463 | int updates = 0; | ||
| 1464 | |||
| 1465 | updatedEntityCount = world.UpdatedObjects.Count; | ||
| 1466 | updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects); | ||
| 1467 | updatedEntityCount = updatedEntities.Count; | ||
| 1468 | world.UpdatedObjects.Clear(); | ||
| 1469 | |||
| 1470 | |||
| 1471 | collidersCount = world.UpdatedCollisions.Count; | ||
| 1472 | colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions); | ||
| 1473 | |||
| 1474 | world.UpdatedCollisions.Clear(); | ||
| 1475 | m_collisionsThisFrame = 0; | ||
| 1476 | int numManifolds = world.GetDispatcher().GetNumManifolds(); | ||
| 1477 | for (int j = 0; j < numManifolds; j++) | ||
| 1478 | { | ||
| 1479 | PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); | ||
| 1480 | int numContacts = contactManifold.GetNumContacts(); | ||
| 1481 | if (numContacts == 0) | ||
| 1482 | continue; | ||
| 1483 | |||
| 1484 | CollisionObject objA = contactManifold.GetBody0() as CollisionObject; | ||
| 1485 | CollisionObject objB = contactManifold.GetBody1() as CollisionObject; | ||
| 1486 | |||
| 1487 | ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); | ||
| 1488 | IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); | ||
| 1489 | IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A | ||
| 1490 | |||
| 1491 | RecordCollision(world, objA, objB, contactPoint, contactNormal); | ||
| 1492 | m_collisionsThisFrame ++; | ||
| 1493 | if (m_collisionsThisFrame >= 9999999) | ||
| 1494 | break; | ||
| 1495 | |||
| 1496 | |||
| 1497 | } | ||
| 1498 | |||
| 1499 | |||
| 1500 | } | ||
| 1501 | else | ||
| 1502 | { | ||
| 1503 | //if (updatedEntities is null) | ||
| 1504 | updatedEntities = new List<BulletXNA.EntityProperties>(); | ||
| 1505 | updatedEntityCount = 0; | ||
| 1506 | //if (colliders is null) | ||
| 1507 | colliders = new List<BulletXNA.CollisionDesc>(); | ||
| 1508 | collidersCount = 0; | ||
| 1509 | } | ||
| 1510 | return numSimSteps; | ||
| 1511 | } | ||
| 1512 | |||
| 1513 | private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) | ||
| 1514 | { | ||
| 1515 | |||
| 1516 | IndexedVector3 contactNormal = norm; | ||
| 1517 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && | ||
| 1518 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) | ||
| 1519 | { | ||
| 1520 | return; | ||
| 1521 | } | ||
| 1522 | uint idA = (uint)objA.GetUserPointer(); | ||
| 1523 | uint idB = (uint)objB.GetUserPointer(); | ||
| 1524 | if (idA > idB) | ||
| 1525 | { | ||
| 1526 | uint temp = idA; | ||
| 1527 | idA = idB; | ||
| 1528 | idB = temp; | ||
| 1529 | contactNormal = -contactNormal; | ||
| 1530 | } | ||
| 1531 | |||
| 1532 | ulong collisionID = ((ulong) idA << 32) | idB; | ||
| 1533 | |||
| 1534 | BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() | ||
| 1535 | { | ||
| 1536 | aID = idA, | ||
| 1537 | bID = idB, | ||
| 1538 | point = contact, | ||
| 1539 | normal = contactNormal | ||
| 1540 | }; | ||
| 1541 | world.UpdatedCollisions.Add(cDesc); | ||
| 1542 | m_collisionsThisFrame++; | ||
| 1543 | |||
| 1544 | |||
| 1545 | } | ||
| 1546 | private static EntityProperties GetDebugProperties(object pWorld, object pBody) | ||
| 1547 | { | ||
| 1548 | EntityProperties ent = new EntityProperties(); | ||
| 1549 | DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; | ||
| 1550 | RigidBody body = pBody as RigidBody; | ||
| 1551 | IndexedMatrix transform = body.GetWorldTransform(); | ||
| 1552 | IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); | ||
| 1553 | IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); | ||
| 1554 | IndexedQuaternion rotation = transform.GetRotation(); | ||
| 1555 | ent.Acceleration = Vector3.Zero; | ||
| 1556 | ent.ID = (uint)body.GetUserPointer(); | ||
| 1557 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); | ||
| 1558 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); | ||
| 1559 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); | ||
| 1560 | ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); | ||
| 1561 | return ent; | ||
| 1562 | |||
| 1563 | |||
| 1564 | } | ||
| 1565 | |||
| 1566 | |||
| 1567 | internal static Vector3 GetLocalScaling2(object pBody) | ||
| 1568 | { | ||
| 1569 | CollisionShape shape = pBody as CollisionShape; | ||
| 1570 | IndexedVector3 scale = shape.GetLocalScaling(); | ||
| 1571 | return new Vector3(scale.X,scale.Y,scale.Z); | ||
| 1572 | } | ||
| 1573 | |||
| 1574 | internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) | ||
| 1575 | { | ||
| 1576 | DynamicsWorld world = pWorld as DynamicsWorld; | ||
| 1577 | if (world != null) | ||
| 1578 | { | ||
| 1579 | if (NotMe is CollisionObject || NotMe is RigidBody) | ||
| 1580 | { | ||
| 1581 | CollisionObject AvoidBody = NotMe as CollisionObject; | ||
| 1582 | |||
| 1583 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); | ||
| 1584 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); | ||
| 1585 | using ( | ||
| 1586 | ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, | ||
| 1587 | rEnd, AvoidBody) | ||
| 1588 | ) | ||
| 1589 | { | ||
| 1590 | world.RayTest(ref rOrigin, ref rEnd, rayCallback); | ||
| 1591 | if (rayCallback.HasHit()) | ||
| 1592 | { | ||
| 1593 | IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; | ||
| 1594 | |||
| 1595 | } | ||
| 1596 | return rayCallback.HasHit(); | ||
| 1597 | } | ||
| 1598 | } | ||
| 1599 | } | ||
| 1600 | return false; | ||
| 1601 | } | ||
| 1602 | } | ||
| 1603 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs deleted file mode 100644 index f509dc4..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs +++ /dev/null | |||
| @@ -1,280 +0,0 @@ | |||
| 1 | /* | ||
| 2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
| 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * * Redistributions of source code must retain the above copyright | ||
| 8 | * notice, this list of conditions and the following disclaimer. | ||
| 9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
| 10 | * notice, this list of conditions and the following disclaimer in the | ||
| 11 | * documentation and/or other materials provided with the distribution. | ||
| 12 | * * Neither the name of the OpenSimulator Project nor the | ||
| 13 | * names of its contributors may be used to endorse or promote products | ||
| 14 | * derived from this software without specific prior written permission. | ||
| 15 | * | ||
| 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
| 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
| 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| 21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| 26 | */ | ||
| 27 | using System; | ||
| 28 | using System.Collections.Generic; | ||
| 29 | using System.Text; | ||
| 30 | using OMV = OpenMetaverse; | ||
| 31 | |||
| 32 | namespace OpenSim.Region.Physics.BulletSNPlugin | ||
| 33 | { | ||
| 34 | // Classes to allow some type checking for the API | ||
| 35 | // These hold pointers to allocated objects in the unmanaged space. | ||
| 36 | |||
| 37 | // The physics engine controller class created at initialization | ||
| 38 | public struct BulletWorld | ||
| 39 | { | ||
| 40 | public BulletWorld(uint worldId, BSScene bss, object xx) | ||
| 41 | { | ||
| 42 | ptr = xx; | ||
| 43 | worldID = worldId; | ||
| 44 | physicsScene = bss; | ||
| 45 | } | ||
| 46 | public object ptr; | ||
| 47 | public uint worldID; | ||
| 48 | // The scene is only in here so very low level routines have a handle to print debug/error messages | ||
| 49 | public BSScene physicsScene; | ||
| 50 | } | ||
| 51 | |||
| 52 | // An allocated Bullet btRigidBody | ||
| 53 | public struct BulletBody | ||
| 54 | { | ||
| 55 | public BulletBody(uint id) : this(id, null) | ||
| 56 | { | ||
| 57 | } | ||
| 58 | public BulletBody(uint id, object xx) | ||
| 59 | { | ||
| 60 | ID = id; | ||
| 61 | ptr = xx; | ||
| 62 | collisionType = CollisionType.Static; | ||
| 63 | } | ||
| 64 | public object ptr; | ||
| 65 | public uint ID; | ||
| 66 | public CollisionType collisionType; | ||
| 67 | |||
| 68 | public void Clear() | ||
| 69 | { | ||
| 70 | ptr = null; | ||
| 71 | } | ||
| 72 | public bool HasPhysicalBody { get { return ptr != null; } } | ||
| 73 | |||
| 74 | // Apply the specificed collision mask into the physical world | ||
| 75 | public void ApplyCollisionMask() | ||
| 76 | { | ||
| 77 | // Should assert the body has been added to the physical world. | ||
| 78 | // (The collision masks are stored in the collision proxy cache which only exists for | ||
| 79 | // a collision body that is in the world.) | ||
| 80 | BulletSimAPI.SetCollisionGroupMask2(ptr, | ||
| 81 | BulletSimData.CollisionTypeMasks[collisionType].group, | ||
| 82 | BulletSimData.CollisionTypeMasks[collisionType].mask); | ||
| 83 | } | ||
| 84 | |||
| 85 | public override string ToString() | ||
| 86 | { | ||
| 87 | StringBuilder buff = new StringBuilder(); | ||
| 88 | buff.Append("<id="); | ||
| 89 | buff.Append(ID.ToString()); | ||
| 90 | buff.Append(",p="); | ||
| 91 | buff.Append(ptr.ToString()); | ||
| 92 | buff.Append(",c="); | ||
| 93 | buff.Append(collisionType); | ||
| 94 | buff.Append(">"); | ||
| 95 | return buff.ToString(); | ||
| 96 | } | ||
| 97 | } | ||
| 98 | |||
| 99 | public struct BulletShape | ||
| 100 | { | ||
| 101 | public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) | ||
| 102 | { | ||
| 103 | } | ||
| 104 | public BulletShape(object xx, BSPhysicsShapeType typ) | ||
| 105 | { | ||
| 106 | ptr = xx; | ||
| 107 | type = typ; | ||
| 108 | shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; | ||
| 109 | isNativeShape = false; | ||
| 110 | } | ||
| 111 | public object ptr; | ||
| 112 | public BSPhysicsShapeType type; | ||
| 113 | public System.UInt64 shapeKey; | ||
| 114 | public bool isNativeShape; | ||
| 115 | |||
| 116 | public void Clear() | ||
| 117 | { | ||
| 118 | ptr = null; | ||
| 119 | } | ||
| 120 | public bool HasPhysicalShape { get { return ptr != null; } } | ||
| 121 | |||
| 122 | public override string ToString() | ||
| 123 | { | ||
| 124 | StringBuilder buff = new StringBuilder(); | ||
| 125 | buff.Append("<p="); | ||
| 126 | buff.Append(ptr.ToString()); | ||
| 127 | buff.Append(",s="); | ||
| 128 | buff.Append(type.ToString()); | ||
| 129 | buff.Append(",k="); | ||
| 130 | buff.Append(shapeKey.ToString("X")); | ||
| 131 | buff.Append(",n="); | ||
| 132 | buff.Append(isNativeShape.ToString()); | ||
| 133 | buff.Append(">"); | ||
| 134 | return buff.ToString(); | ||
| 135 | } | ||
| 136 | } | ||
| 137 | |||
| 138 | // An allocated Bullet btConstraint | ||
| 139 | public struct BulletConstraint | ||
| 140 | { | ||
| 141 | public BulletConstraint(object xx) | ||
| 142 | { | ||
| 143 | ptr = xx; | ||
| 144 | } | ||
| 145 | public object ptr; | ||
| 146 | |||
| 147 | public void Clear() | ||
| 148 | { | ||
| 149 | ptr = null; | ||
| 150 | } | ||
| 151 | public bool HasPhysicalConstraint { get { return ptr != null; } } | ||
| 152 | } | ||
| 153 | |||
| 154 | // An allocated HeightMapThing which holds various heightmap info. | ||
| 155 | // Made a class rather than a struct so there would be only one | ||
| 156 | // instance of this and C# will pass around pointers rather | ||
| 157 | // than making copies. | ||
| 158 | public class BulletHeightMapInfo | ||
| 159 | { | ||
| 160 | public BulletHeightMapInfo(uint id, float[] hm, object xx) { | ||
| 161 | ID = id; | ||
| 162 | Ptr = xx; | ||
| 163 | heightMap = hm; | ||
| 164 | terrainRegionBase = OMV.Vector3.Zero; | ||
| 165 | minCoords = new OMV.Vector3(100f, 100f, 25f); | ||
| 166 | maxCoords = new OMV.Vector3(101f, 101f, 26f); | ||
| 167 | minZ = maxZ = 0f; | ||
| 168 | sizeX = sizeY = 256f; | ||
| 169 | } | ||
| 170 | public uint ID; | ||
| 171 | public object Ptr; | ||
| 172 | public float[] heightMap; | ||
| 173 | public OMV.Vector3 terrainRegionBase; | ||
| 174 | public OMV.Vector3 minCoords; | ||
| 175 | public OMV.Vector3 maxCoords; | ||
| 176 | public float sizeX, sizeY; | ||
| 177 | public float minZ, maxZ; | ||
| 178 | public BulletShape terrainShape; | ||
| 179 | public BulletBody terrainBody; | ||
| 180 | |||
| 181 | public float collisionMargin { get; set; } | ||
| 182 | } | ||
| 183 | |||
| 184 | // The general class of collsion object. | ||
| 185 | public enum CollisionType | ||
| 186 | { | ||
| 187 | Avatar, | ||
| 188 | Groundplane, | ||
| 189 | Terrain, | ||
| 190 | Static, | ||
| 191 | Dynamic, | ||
| 192 | VolumeDetect, | ||
| 193 | // Linkset, // A linkset should be either Static or Dynamic | ||
| 194 | LinksetChild, | ||
| 195 | Unknown | ||
| 196 | }; | ||
| 197 | |||
| 198 | // Hold specification of group and mask collision flags for a CollisionType | ||
| 199 | public struct CollisionTypeFilterGroup | ||
| 200 | { | ||
| 201 | public CollisionTypeFilterGroup(CollisionType t, uint g, uint m) | ||
| 202 | { | ||
| 203 | type = t; | ||
| 204 | group = g; | ||
| 205 | mask = m; | ||
| 206 | } | ||
| 207 | public CollisionType type; | ||
| 208 | public uint group; | ||
| 209 | public uint mask; | ||
| 210 | }; | ||
| 211 | |||
| 212 | /* NOTE: old definitions kept for reference. Delete when things are working. | ||
| 213 | // The collsion filters and masked are defined in one place -- don't want them scattered | ||
| 214 | AvatarGroup = BCharacterGroup, | ||
| 215 | AvatarMask = BAllGroup, | ||
| 216 | ObjectGroup = BSolidGroup, | ||
| 217 | ObjectMask = BAllGroup, | ||
| 218 | StaticObjectGroup = BStaticGroup, | ||
| 219 | StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much | ||
| 220 | LinksetGroup = BLinksetGroup, | ||
| 221 | LinksetMask = BAllGroup, | ||
| 222 | LinksetChildGroup = BLinksetChildGroup, | ||
| 223 | LinksetChildMask = BNoneGroup, // Linkset children disappear from the world | ||
| 224 | VolumeDetectGroup = BSensorTrigger, | ||
| 225 | VolumeDetectMask = ~BSensorTrigger, | ||
| 226 | TerrainGroup = BTerrainGroup, | ||
| 227 | TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide | ||
| 228 | GroundPlaneGroup = BGroundPlaneGroup, | ||
| 229 | GroundPlaneMask = BAllGroup | ||
| 230 | */ | ||
| 231 | |||
| 232 | public static class BulletSimData | ||
| 233 | { | ||
| 234 | |||
| 235 | // Map of collisionTypes to flags for collision groups and masks. | ||
| 236 | // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code | ||
| 237 | // but, instead, use references to this dictionary. Finding and debugging | ||
| 238 | // collision flag problems will be made easier. | ||
| 239 | public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks | ||
| 240 | = new Dictionary<CollisionType, CollisionTypeFilterGroup>() | ||
| 241 | { | ||
| 242 | { CollisionType.Avatar, | ||
| 243 | new CollisionTypeFilterGroup(CollisionType.Avatar, | ||
| 244 | (uint)CollisionFilterGroups.BCharacterGroup, | ||
| 245 | (uint)CollisionFilterGroups.BAllGroup) | ||
| 246 | }, | ||
| 247 | { CollisionType.Groundplane, | ||
| 248 | new CollisionTypeFilterGroup(CollisionType.Groundplane, | ||
| 249 | (uint)CollisionFilterGroups.BGroundPlaneGroup, | ||
| 250 | (uint)CollisionFilterGroups.BAllGroup) | ||
| 251 | }, | ||
| 252 | { CollisionType.Terrain, | ||
| 253 | new CollisionTypeFilterGroup(CollisionType.Terrain, | ||
| 254 | (uint)CollisionFilterGroups.BTerrainGroup, | ||
| 255 | (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) | ||
| 256 | }, | ||
| 257 | { CollisionType.Static, | ||
| 258 | new CollisionTypeFilterGroup(CollisionType.Static, | ||
| 259 | (uint)CollisionFilterGroups.BStaticGroup, | ||
| 260 | (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) | ||
| 261 | }, | ||
| 262 | { CollisionType.Dynamic, | ||
| 263 | new CollisionTypeFilterGroup(CollisionType.Dynamic, | ||
| 264 | (uint)CollisionFilterGroups.BSolidGroup, | ||
| 265 | (uint)(CollisionFilterGroups.BAllGroup)) | ||
| 266 | }, | ||
| 267 | { CollisionType.VolumeDetect, | ||
| 268 | new CollisionTypeFilterGroup(CollisionType.VolumeDetect, | ||
| 269 | (uint)CollisionFilterGroups.BSensorTrigger, | ||
| 270 | (uint)(~CollisionFilterGroups.BSensorTrigger)) | ||
| 271 | }, | ||
| 272 | { CollisionType.LinksetChild, | ||
| 273 | new CollisionTypeFilterGroup(CollisionType.LinksetChild, | ||
| 274 | (uint)CollisionFilterGroups.BTerrainGroup, | ||
| 275 | (uint)(CollisionFilterGroups.BNoneGroup)) | ||
| 276 | }, | ||
| 277 | }; | ||
| 278 | |||
| 279 | } | ||
| 280 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index b6ff52b..49b1730 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | |||
| @@ -129,7 +129,12 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 129 | get { return "XNAConstraint"; } | 129 | get { return "XNAConstraint"; } |
| 130 | } | 130 | } |
| 131 | } | 131 | } |
| 132 | internal int m_maxCollisions; | ||
| 133 | internal CollisionDesc[] m_collisionArray; | ||
| 132 | 134 | ||
| 135 | internal int m_maxUpdatesPerFrame; | ||
| 136 | internal EntityProperties[] m_updateArray; | ||
| 137 | |||
| 133 | private static int m_collisionsThisFrame; | 138 | private static int m_collisionsThisFrame; |
| 134 | private BSScene PhysicsScene { get; set; } | 139 | private BSScene PhysicsScene { get; set; } |
| 135 | 140 | ||
| @@ -148,92 +153,98 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 148 | /// <param name="p_2"></param> | 153 | /// <param name="p_2"></param> |
| 149 | public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) | 154 | public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) |
| 150 | { | 155 | { |
| 151 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 156 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 152 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 157 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; |
| 153 | world.RemoveRigidBody(body); | 158 | world.RemoveRigidBody(body); |
| 154 | return true; | 159 | return true; |
| 155 | } | 160 | } |
| 156 | 161 | ||
| 157 | public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) | 162 | public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) |
| 158 | { | 163 | { |
| 159 | /* TODO */ | 164 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 160 | return false; | 165 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
| 166 | world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); | ||
| 167 | |||
| 168 | return true; | ||
| 169 | |||
| 161 | } | 170 | } |
| 162 | 171 | ||
| 163 | public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) | 172 | public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint) |
| 164 | { | 173 | { |
| 165 | /* TODO */ | 174 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 166 | return false; | 175 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
| 176 | world.RemoveConstraint(constraint); | ||
| 177 | return true; | ||
| 167 | } | 178 | } |
| 168 | 179 | ||
| 169 | public override void SetRestitution(BulletBody pBody, float pRestitution) | 180 | public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) |
| 170 | { | 181 | { |
| 171 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 182 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 172 | body.SetRestitution(pRestitution); | 183 | collisionObject.SetRestitution(pRestitution); |
| 173 | } | 184 | } |
| 174 | 185 | ||
| 175 | public override int GetShapeType(BulletShape pShape) | 186 | public override int GetShapeType(BulletShape pShape) |
| 176 | { | 187 | { |
| 177 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 188 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 178 | return (int)shape.GetShapeType(); | 189 | return (int)shape.GetShapeType(); |
| 179 | } | 190 | } |
| 180 | public override void SetMargin(BulletShape pShape, float pMargin) | 191 | public override void SetMargin(BulletShape pShape, float pMargin) |
| 181 | { | 192 | { |
| 182 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 193 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 183 | shape.SetMargin(pMargin); | 194 | shape.SetMargin(pMargin); |
| 184 | } | 195 | } |
| 185 | 196 | ||
| 186 | public override float GetMargin(BulletShape pShape) | 197 | public override float GetMargin(BulletShape pShape) |
| 187 | { | 198 | { |
| 188 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 199 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 189 | return shape.GetMargin(); | 200 | return shape.GetMargin(); |
| 190 | } | 201 | } |
| 191 | 202 | ||
| 192 | public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) | 203 | public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) |
| 193 | { | 204 | { |
| 194 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 205 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 195 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | 206 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); |
| 196 | shape.SetLocalScaling(ref vec); | 207 | shape.SetLocalScaling(ref vec); |
| 197 | 208 | ||
| 198 | } | 209 | } |
| 199 | 210 | ||
| 200 | public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold) | 211 | public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold) |
| 201 | { | 212 | { |
| 202 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 213 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 203 | body.SetContactProcessingThreshold(contactprocessingthreshold); | 214 | collisionObject.SetContactProcessingThreshold(contactprocessingthreshold); |
| 204 | } | 215 | } |
| 205 | 216 | ||
| 206 | public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold) | 217 | public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) |
| 207 | { | 218 | { |
| 208 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 219 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 209 | body.SetCcdMotionThreshold(pccdMotionThreashold); | 220 | collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); |
| 210 | } | 221 | } |
| 211 | 222 | ||
| 212 | public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius) | 223 | public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) |
| 213 | { | 224 | { |
| 214 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 225 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 215 | body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); | 226 | collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); |
| 216 | } | 227 | } |
| 217 | 228 | ||
| 218 | public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) | 229 | public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) |
| 219 | { | 230 | { |
| 220 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 231 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 221 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); | 232 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); |
| 222 | } | 233 | } |
| 223 | 234 | ||
| 224 | public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) | 235 | public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) |
| 225 | { | 236 | { |
| 226 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 237 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
| 227 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | 238 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); |
| 228 | existingcollisionFlags |= pcollisionFlags; | 239 | existingcollisionFlags |= pcollisionFlags; |
| 229 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | 240 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); |
| 230 | return (CollisionFlags) (uint) existingcollisionFlags; | 241 | return (CollisionFlags) (uint) existingcollisionFlags; |
| 231 | } | 242 | } |
| 232 | 243 | ||
| 233 | public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) | 244 | public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) |
| 234 | { | 245 | { |
| 235 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 246 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 236 | CollisionObject cbody = ((BulletBodyXNA)pBody).body; | 247 | CollisionObject cbody = (pBody as BulletBodyXNA).body; |
| 237 | RigidBody rbody = cbody as RigidBody; | 248 | RigidBody rbody = cbody as RigidBody; |
| 238 | 249 | ||
| 239 | // Bullet resets several variables when an object is added to the world. In particular, | 250 | // Bullet resets several variables when an object is added to the world. In particular, |
| @@ -259,99 +270,110 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 259 | return true; | 270 | return true; |
| 260 | } | 271 | } |
| 261 | 272 | ||
| 262 | public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState) | 273 | public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState) |
| 263 | { | 274 | { |
| 264 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 275 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
| 265 | body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); | 276 | collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); |
| 266 | } | 277 | } |
| 267 | 278 | ||
| 268 | public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody) | 279 | public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject) |
| 269 | { | 280 | { |
| 270 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 281 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 271 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 282 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
| 272 | world.UpdateSingleAabb(body); | 283 | world.UpdateSingleAabb(collisionObject); |
| 273 | } | 284 | } |
| 274 | 285 | ||
| 275 | public override void UpdateAabbs(BulletWorld world) { /* TODO */ } | 286 | public override void UpdateAabbs(BulletWorld pWorld) { |
| 276 | public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; } | 287 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 277 | public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ } | 288 | world.UpdateAabbs(); |
| 289 | } | ||
| 290 | public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { | ||
| 291 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
| 292 | return world.GetForceUpdateAllAabbs(); | ||
| 293 | |||
| 294 | } | ||
| 295 | public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) | ||
| 296 | { | ||
| 297 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
| 298 | world.SetForceUpdateAllAabbs(pForce); | ||
| 299 | } | ||
| 278 | 300 | ||
| 279 | public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask) | 301 | public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) |
| 280 | { | 302 | { |
| 281 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 303 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 282 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | 304 | collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; |
| 283 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | 305 | collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; |
| 284 | if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) | 306 | if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) |
| 285 | return false; | 307 | return false; |
| 286 | return true; | 308 | return true; |
| 287 | } | 309 | } |
| 288 | 310 | ||
| 289 | public override void ClearAllForces(BulletBody pBody) | 311 | public override void ClearAllForces(BulletBody pCollisionObject) |
| 290 | { | 312 | { |
| 291 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 313 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
| 292 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); | 314 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); |
| 293 | body.SetInterpolationLinearVelocity(ref zeroVector); | 315 | collisionObject.SetInterpolationLinearVelocity(ref zeroVector); |
| 294 | body.SetInterpolationAngularVelocity(ref zeroVector); | 316 | collisionObject.SetInterpolationAngularVelocity(ref zeroVector); |
| 295 | IndexedMatrix bodytransform = body.GetWorldTransform(); | 317 | IndexedMatrix bodytransform = collisionObject.GetWorldTransform(); |
| 296 | 318 | ||
| 297 | body.SetInterpolationWorldTransform(ref bodytransform); | 319 | collisionObject.SetInterpolationWorldTransform(ref bodytransform); |
| 298 | 320 | ||
| 299 | if (body is RigidBody) | 321 | if (collisionObject is RigidBody) |
| 300 | { | 322 | { |
| 301 | RigidBody rigidbody = body as RigidBody; | 323 | RigidBody rigidbody = collisionObject as RigidBody; |
| 302 | rigidbody.SetLinearVelocity(zeroVector); | 324 | rigidbody.SetLinearVelocity(zeroVector); |
| 303 | rigidbody.SetAngularVelocity(zeroVector); | 325 | rigidbody.SetAngularVelocity(zeroVector); |
| 304 | rigidbody.ClearForces(); | 326 | rigidbody.ClearForces(); |
| 305 | } | 327 | } |
| 306 | } | 328 | } |
| 307 | 329 | ||
| 308 | public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3) | 330 | public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3) |
| 309 | { | 331 | { |
| 310 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 332 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 311 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | 333 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); |
| 312 | body.SetInterpolationAngularVelocity(ref vec); | 334 | collisionObject.SetInterpolationAngularVelocity(ref vec); |
| 313 | } | 335 | } |
| 314 | 336 | ||
| 315 | public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) | 337 | public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) |
| 316 | { | 338 | { |
| 317 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 339 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 318 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | 340 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); |
| 319 | body.SetAngularVelocity(ref vec); | 341 | body.SetAngularVelocity(ref vec); |
| 320 | } | 342 | } |
| 321 | public override Vector3 GetTotalForce(BulletBody pBody) | 343 | public override Vector3 GetTotalForce(BulletBody pBody) |
| 322 | { | 344 | { |
| 323 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 345 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 324 | IndexedVector3 iv3 = body.GetTotalForce(); | 346 | IndexedVector3 iv3 = body.GetTotalForce(); |
| 325 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 347 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 326 | } | 348 | } |
| 327 | public override Vector3 GetTotalTorque(BulletBody pBody) | 349 | public override Vector3 GetTotalTorque(BulletBody pBody) |
| 328 | { | 350 | { |
| 329 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 351 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 330 | IndexedVector3 iv3 = body.GetTotalTorque(); | 352 | IndexedVector3 iv3 = body.GetTotalTorque(); |
| 331 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 353 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 332 | } | 354 | } |
| 333 | public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) | 355 | public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) |
| 334 | { | 356 | { |
| 335 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 357 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 336 | IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); | 358 | IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); |
| 337 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 359 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 338 | } | 360 | } |
| 339 | public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) | 361 | public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) |
| 340 | { | 362 | { |
| 341 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 363 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 342 | IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); | 364 | IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); |
| 343 | body.SetInvInertiaDiagLocal(ref iv3); | 365 | body.SetInvInertiaDiagLocal(ref iv3); |
| 344 | } | 366 | } |
| 345 | public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) | 367 | public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) |
| 346 | { | 368 | { |
| 347 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 369 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 348 | IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); | 370 | IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); |
| 349 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | 371 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); |
| 350 | body.ApplyForce(ref forceiv3, ref posiv3); | 372 | body.ApplyForce(ref forceiv3, ref posiv3); |
| 351 | } | 373 | } |
| 352 | public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) | 374 | public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) |
| 353 | { | 375 | { |
| 354 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 376 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 355 | IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); | 377 | IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); |
| 356 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | 378 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); |
| 357 | body.ApplyImpulse(ref impiv3, ref posiv3); | 379 | body.ApplyImpulse(ref impiv3, ref posiv3); |
| @@ -359,32 +381,32 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 359 | 381 | ||
| 360 | public override void ClearForces(BulletBody pBody) | 382 | public override void ClearForces(BulletBody pBody) |
| 361 | { | 383 | { |
| 362 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 384 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 363 | body.ClearForces(); | 385 | body.ClearForces(); |
| 364 | } | 386 | } |
| 365 | 387 | ||
| 366 | public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation) | 388 | public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) |
| 367 | { | 389 | { |
| 368 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 390 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 369 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); | 391 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); |
| 370 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, | 392 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, |
| 371 | _orientation.W); | 393 | _orientation.W); |
| 372 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | 394 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); |
| 373 | mat._origin = vposition; | 395 | mat._origin = vposition; |
| 374 | body.SetWorldTransform(mat); | 396 | collisionObject.SetWorldTransform(mat); |
| 375 | 397 | ||
| 376 | } | 398 | } |
| 377 | 399 | ||
| 378 | public override Vector3 GetPosition(BulletBody pBody) | 400 | public override Vector3 GetPosition(BulletBody pCollisionObject) |
| 379 | { | 401 | { |
| 380 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 402 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 381 | IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; | 403 | IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin; |
| 382 | return new Vector3(pos.X, pos.Y, pos.Z); | 404 | return new Vector3(pos.X, pos.Y, pos.Z); |
| 383 | } | 405 | } |
| 384 | 406 | ||
| 385 | public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) | 407 | public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) |
| 386 | { | 408 | { |
| 387 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 409 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 388 | IndexedVector3 inertia = IndexedVector3.Zero; | 410 | IndexedVector3 inertia = IndexedVector3.Zero; |
| 389 | shape.CalculateLocalInertia(pphysMass, out inertia); | 411 | shape.CalculateLocalInertia(pphysMass, out inertia); |
| 390 | return new Vector3(inertia.X, inertia.Y, inertia.Z); | 412 | return new Vector3(inertia.X, inertia.Y, inertia.Z); |
| @@ -392,7 +414,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 392 | 414 | ||
| 393 | public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) | 415 | public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) |
| 394 | { | 416 | { |
| 395 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 417 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 396 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); | 418 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); |
| 397 | body.SetMassProps(pphysMass, inertia); | 419 | body.SetMassProps(pphysMass, inertia); |
| 398 | } | 420 | } |
| @@ -400,73 +422,90 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 400 | 422 | ||
| 401 | public override void SetObjectForce(BulletBody pBody, Vector3 _force) | 423 | public override void SetObjectForce(BulletBody pBody, Vector3 _force) |
| 402 | { | 424 | { |
| 403 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 425 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 404 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); | 426 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); |
| 405 | body.SetTotalForce(ref force); | 427 | body.SetTotalForce(ref force); |
| 406 | } | 428 | } |
| 407 | 429 | ||
| 408 | public override void SetFriction(BulletBody pBody, float _currentFriction) | 430 | public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) |
| 409 | { | 431 | { |
| 410 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 432 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 411 | body.SetFriction(_currentFriction); | 433 | collisionObject.SetFriction(_currentFriction); |
| 412 | } | 434 | } |
| 413 | 435 | ||
| 414 | public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) | 436 | public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) |
| 415 | { | 437 | { |
| 416 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 438 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 417 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); | 439 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); |
| 418 | body.SetLinearVelocity(velocity); | 440 | body.SetLinearVelocity(velocity); |
| 419 | } | 441 | } |
| 420 | 442 | ||
| 421 | public override void Activate(BulletBody pBody, bool pforceactivation) | 443 | public override void Activate(BulletBody pCollisionObject, bool pforceactivation) |
| 422 | { | 444 | { |
| 423 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 445 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 424 | body.Activate(pforceactivation); | 446 | collisionObject.Activate(pforceactivation); |
| 425 | 447 | ||
| 426 | } | 448 | } |
| 427 | 449 | ||
| 428 | public override Quaternion GetOrientation(BulletBody pBody) | 450 | public override Quaternion GetOrientation(BulletBody pCollisionObject) |
| 429 | { | 451 | { |
| 430 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 452 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 431 | IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); | 453 | IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation(); |
| 432 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); | 454 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); |
| 433 | } | 455 | } |
| 434 | 456 | ||
| 435 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) | 457 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) |
| 436 | { | 458 | { |
| 437 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 459 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 438 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | 460 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); |
| 439 | existingcollisionFlags &= ~pcollisionFlags; | 461 | existingcollisionFlags &= ~pcollisionFlags; |
| 440 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | 462 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); |
| 441 | return (CollisionFlags)(uint)existingcollisionFlags; | 463 | return (CollisionFlags)(uint)existingcollisionFlags; |
| 442 | } | 464 | } |
| 443 | 465 | ||
| 444 | public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; } | 466 | public override float GetCcdMotionThreshold(BulletBody pCollisionObject) |
| 467 | { | ||
| 468 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
| 469 | return collisionObject.GetCcdSquareMotionThreshold(); | ||
| 470 | } | ||
| 445 | 471 | ||
| 446 | public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; } | 472 | public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject) |
| 473 | { | ||
| 474 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
| 475 | return collisionObject.GetCcdSweptSphereRadius(); | ||
| 476 | |||
| 477 | } | ||
| 447 | 478 | ||
| 448 | public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; } | 479 | public override IntPtr GetUserPointer(BulletBody pCollisionObject) |
| 480 | { | ||
| 481 | CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; | ||
| 482 | return (IntPtr)shape.GetUserPointer(); | ||
| 483 | } | ||
| 449 | 484 | ||
| 450 | public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ } | 485 | public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val) |
| 486 | { | ||
| 487 | CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; | ||
| 488 | shape.SetUserPointer(val); | ||
| 489 | } | ||
| 451 | 490 | ||
| 452 | public override void SetGravity(BulletBody pBody, Vector3 pGravity) | 491 | public override void SetGravity(BulletBody pBody, Vector3 pGravity) |
| 453 | { | 492 | { |
| 454 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 493 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 455 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); | 494 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); |
| 456 | body.SetGravity(gravity); | 495 | body.SetGravity(gravity); |
| 457 | } | 496 | } |
| 458 | 497 | ||
| 459 | public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) | 498 | public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) |
| 460 | { | 499 | { |
| 461 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 500 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 462 | TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain; | 501 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
| 463 | world.RemoveConstraint(constraint); | 502 | world.RemoveConstraint(constraint); |
| 464 | return true; | 503 | return true; |
| 465 | } | 504 | } |
| 466 | 505 | ||
| 467 | public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | 506 | public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) |
| 468 | { | 507 | { |
| 469 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 508 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 470 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | 509 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); |
| 471 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | 510 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); |
| 472 | constraint.SetLinearLowerLimit(lowlimit); | 511 | constraint.SetLinearLowerLimit(lowlimit); |
| @@ -476,7 +515,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 476 | 515 | ||
| 477 | public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | 516 | public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) |
| 478 | { | 517 | { |
| 479 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 518 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 480 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | 519 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); |
| 481 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | 520 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); |
| 482 | constraint.SetAngularLowerLimit(lowlimit); | 521 | constraint.SetAngularLowerLimit(lowlimit); |
| @@ -486,20 +525,20 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 486 | 525 | ||
| 487 | public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) | 526 | public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) |
| 488 | { | 527 | { |
| 489 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 528 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 490 | constraint.SetOverrideNumSolverIterations((int)cnt); | 529 | constraint.SetOverrideNumSolverIterations((int)cnt); |
| 491 | } | 530 | } |
| 492 | 531 | ||
| 493 | public override bool CalculateTransforms(BulletConstraint pConstraint) | 532 | public override bool CalculateTransforms(BulletConstraint pConstraint) |
| 494 | { | 533 | { |
| 495 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 534 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 496 | constraint.CalculateTransforms(); | 535 | constraint.CalculateTransforms(); |
| 497 | return true; | 536 | return true; |
| 498 | } | 537 | } |
| 499 | 538 | ||
| 500 | public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) | 539 | public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) |
| 501 | { | 540 | { |
| 502 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 541 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 503 | constraint.SetEnabled((p_2 == 0) ? false : true); | 542 | constraint.SetEnabled((p_2 == 0) ? false : true); |
| 504 | } | 543 | } |
| 505 | 544 | ||
| @@ -508,9 +547,9 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 508 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 547 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) |
| 509 | 548 | ||
| 510 | { | 549 | { |
| 511 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 550 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 512 | RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; | 551 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; |
| 513 | RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; | 552 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; |
| 514 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | 553 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); |
| 515 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | 554 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); |
| 516 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | 555 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); |
| @@ -542,9 +581,9 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 542 | /// <returns></returns> | 581 | /// <returns></returns> |
| 543 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 582 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) |
| 544 | { | 583 | { |
| 545 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 584 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 546 | RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; | 585 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; |
| 547 | RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; | 586 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; |
| 548 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | 587 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); |
| 549 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | 588 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); |
| 550 | 589 | ||
| @@ -563,7 +602,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 563 | //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); | 602 | //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); |
| 564 | public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) | 603 | public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) |
| 565 | { | 604 | { |
| 566 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 605 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 567 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | 606 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); |
| 568 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | 607 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); |
| 569 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | 608 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); |
| @@ -579,109 +618,110 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 579 | 618 | ||
| 580 | public override Vector3 GetLinearVelocity(BulletBody pBody) | 619 | public override Vector3 GetLinearVelocity(BulletBody pBody) |
| 581 | { | 620 | { |
| 582 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 621 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 583 | IndexedVector3 iv3 = body.GetLinearVelocity(); | 622 | IndexedVector3 iv3 = body.GetLinearVelocity(); |
| 584 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 623 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 585 | } | 624 | } |
| 586 | public override Vector3 GetAngularVelocity(BulletBody pBody) | 625 | public override Vector3 GetAngularVelocity(BulletBody pBody) |
| 587 | { | 626 | { |
| 588 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 627 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 589 | IndexedVector3 iv3 = body.GetAngularVelocity(); | 628 | IndexedVector3 iv3 = body.GetAngularVelocity(); |
| 590 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 629 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 591 | } | 630 | } |
| 592 | public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) | 631 | public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) |
| 593 | { | 632 | { |
| 594 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 633 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 595 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | 634 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); |
| 596 | IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); | 635 | IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); |
| 597 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 636 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 598 | } | 637 | } |
| 599 | public override void Translate(BulletBody pBody, Vector3 trans) | 638 | public override void Translate(BulletBody pCollisionObject, Vector3 trans) |
| 600 | { | 639 | { |
| 601 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 640 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 641 | collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z)); | ||
| 602 | } | 642 | } |
| 603 | public override void UpdateDeactivation(BulletBody pBody, float timeStep) | 643 | public override void UpdateDeactivation(BulletBody pBody, float timeStep) |
| 604 | { | 644 | { |
| 605 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 645 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 606 | body.UpdateDeactivation(timeStep); | 646 | body.UpdateDeactivation(timeStep); |
| 607 | } | 647 | } |
| 608 | 648 | ||
| 609 | public override bool WantsSleeping(BulletBody pBody) | 649 | public override bool WantsSleeping(BulletBody pBody) |
| 610 | { | 650 | { |
| 611 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 651 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 612 | return body.WantsSleeping(); | 652 | return body.WantsSleeping(); |
| 613 | } | 653 | } |
| 614 | 654 | ||
| 615 | public override void SetAngularFactor(BulletBody pBody, float factor) | 655 | public override void SetAngularFactor(BulletBody pBody, float factor) |
| 616 | { | 656 | { |
| 617 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 657 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 618 | body.SetAngularFactor(factor); | 658 | body.SetAngularFactor(factor); |
| 619 | } | 659 | } |
| 620 | 660 | ||
| 621 | public override Vector3 GetAngularFactor(BulletBody pBody) | 661 | public override Vector3 GetAngularFactor(BulletBody pBody) |
| 622 | { | 662 | { |
| 623 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 663 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 624 | IndexedVector3 iv3 = body.GetAngularFactor(); | 664 | IndexedVector3 iv3 = body.GetAngularFactor(); |
| 625 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 665 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
| 626 | } | 666 | } |
| 627 | 667 | ||
| 628 | public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody) | 668 | public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject) |
| 629 | { | 669 | { |
| 630 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 670 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 631 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 671 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
| 632 | return world.IsInWorld(body); | 672 | return world.IsInWorld(collisionObject); |
| 633 | } | 673 | } |
| 634 | 674 | ||
| 635 | public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain) | 675 | public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint) |
| 636 | { | 676 | { |
| 637 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 677 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 638 | TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; | 678 | TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; |
| 639 | body.AddConstraintRef(constrain); | 679 | body.AddConstraintRef(constrain); |
| 640 | } | 680 | } |
| 641 | 681 | ||
| 642 | public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain) | 682 | public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint) |
| 643 | { | 683 | { |
| 644 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 684 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 645 | TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; | 685 | TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; |
| 646 | body.RemoveConstraintRef(constrain); | 686 | body.RemoveConstraintRef(constrain); |
| 647 | } | 687 | } |
| 648 | 688 | ||
| 649 | public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) | 689 | public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) |
| 650 | { | 690 | { |
| 651 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 691 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 652 | return new BulletConstraintXNA(body.GetConstraintRef(index)); | 692 | return new BulletConstraintXNA(body.GetConstraintRef(index)); |
| 653 | } | 693 | } |
| 654 | 694 | ||
| 655 | public override int GetNumConstraintRefs(BulletBody pBody) | 695 | public override int GetNumConstraintRefs(BulletBody pBody) |
| 656 | { | 696 | { |
| 657 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 697 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 658 | return body.GetNumConstraintRefs(); | 698 | return body.GetNumConstraintRefs(); |
| 659 | } | 699 | } |
| 660 | 700 | ||
| 661 | public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity) | 701 | public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity) |
| 662 | { | 702 | { |
| 663 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 703 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 664 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); | 704 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); |
| 665 | body.SetInterpolationLinearVelocity(ref velocity); | 705 | collisionObject.SetInterpolationLinearVelocity(ref velocity); |
| 666 | } | 706 | } |
| 667 | 707 | ||
| 668 | public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) | 708 | public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) |
| 669 | { | 709 | { |
| 670 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 710 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 671 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); | 711 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); |
| 672 | return true; | 712 | return true; |
| 673 | } | 713 | } |
| 674 | //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); | 714 | //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); |
| 675 | public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) | 715 | public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) |
| 676 | { | 716 | { |
| 677 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 717 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 678 | constraint.SetBreakingImpulseThreshold(threshold); | 718 | constraint.SetBreakingImpulseThreshold(threshold); |
| 679 | return true; | 719 | return true; |
| 680 | } | 720 | } |
| 681 | //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); | 721 | //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); |
| 682 | public override void SetAngularDamping(BulletBody pBody, float angularDamping) | 722 | public override void SetAngularDamping(BulletBody pBody, float angularDamping) |
| 683 | { | 723 | { |
| 684 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 724 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 685 | float lineardamping = body.GetLinearDamping(); | 725 | float lineardamping = body.GetLinearDamping(); |
| 686 | body.SetDamping(lineardamping, angularDamping); | 726 | body.SetDamping(lineardamping, angularDamping); |
| 687 | 727 | ||
| @@ -689,111 +729,183 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 689 | 729 | ||
| 690 | public override void UpdateInertiaTensor(BulletBody pBody) | 730 | public override void UpdateInertiaTensor(BulletBody pBody) |
| 691 | { | 731 | { |
| 692 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 732 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 693 | body.UpdateInertiaTensor(); | 733 | body.UpdateInertiaTensor(); |
| 694 | } | 734 | } |
| 695 | 735 | ||
| 696 | public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) | 736 | public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) |
| 697 | { | 737 | { |
| 698 | CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; | 738 | CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; |
| 699 | shape.RecalculateLocalAabb(); | 739 | shape.RecalculateLocalAabb(); |
| 700 | } | 740 | } |
| 701 | 741 | ||
| 702 | //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) | 742 | //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) |
| 703 | public override CollisionFlags GetCollisionFlags(BulletBody pBody) | 743 | public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject) |
| 704 | { | 744 | { |
| 705 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 745 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 706 | uint flags = (uint)body.GetCollisionFlags(); | 746 | uint flags = (uint)collisionObject.GetCollisionFlags(); |
| 707 | return (CollisionFlags) flags; | 747 | return (CollisionFlags) flags; |
| 708 | } | 748 | } |
| 709 | 749 | ||
| 710 | public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) | 750 | public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) |
| 711 | { | 751 | { |
| 712 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 752 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 713 | body.SetDamping(pLinear, pAngular); | 753 | body.SetDamping(pLinear, pAngular); |
| 714 | } | 754 | } |
| 715 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); | 755 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); |
| 716 | public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime) | 756 | public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime) |
| 717 | { | 757 | { |
| 718 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 758 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 719 | body.SetDeactivationTime(pDeactivationTime); | 759 | collisionObject.SetDeactivationTime(pDeactivationTime); |
| 720 | } | 760 | } |
| 721 | //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | 761 | //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); |
| 722 | public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) | 762 | public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) |
| 723 | { | 763 | { |
| 724 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 764 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 725 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); | 765 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); |
| 726 | } | 766 | } |
| 727 | 767 | ||
| 728 | public override CollisionObjectTypes GetBodyType(BulletBody pBody) | 768 | public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) |
| 729 | { | 769 | { |
| 730 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 770 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 731 | return (CollisionObjectTypes)(int) body.GetInternalType(); | 771 | return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); |
| 732 | } | 772 | } |
| 733 | 773 | ||
| 734 | public override void ApplyGravity(BulletBody obj) { /* TODO */ } | 774 | public override void ApplyGravity(BulletBody pBody) |
| 775 | { | ||
| 735 | 776 | ||
| 736 | public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; } | 777 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 778 | body.ApplyGravity(); | ||
| 779 | } | ||
| 737 | 780 | ||
| 738 | public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ } | 781 | public override Vector3 GetGravity(BulletBody pBody) |
| 782 | { | ||
| 783 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 784 | IndexedVector3 gravity = body.GetGravity(); | ||
| 785 | return new Vector3(gravity.X, gravity.Y, gravity.Z); | ||
| 786 | } | ||
| 739 | 787 | ||
| 740 | public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; } | 788 | public override void SetLinearDamping(BulletBody pBody, float lin_damping) |
| 789 | { | ||
| 790 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 791 | float angularDamping = body.GetAngularDamping(); | ||
| 792 | body.SetDamping(lin_damping, angularDamping); | ||
| 793 | } | ||
| 741 | 794 | ||
| 742 | public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; } | 795 | public override float GetLinearDamping(BulletBody pBody) |
| 796 | { | ||
| 797 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 798 | return body.GetLinearDamping(); | ||
| 799 | } | ||
| 800 | |||
| 801 | public override float GetAngularDamping(BulletBody pBody) | ||
| 802 | { | ||
| 803 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 804 | return body.GetAngularDamping(); | ||
| 805 | } | ||
| 743 | 806 | ||
| 744 | public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; } | 807 | public override float GetLinearSleepingThreshold(BulletBody pBody) |
| 808 | { | ||
| 809 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 810 | return body.GetLinearSleepingThreshold(); | ||
| 811 | } | ||
| 745 | 812 | ||
| 746 | public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ } | 813 | public override void ApplyDamping(BulletBody pBody, float timeStep) |
| 814 | { | ||
| 815 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 816 | body.ApplyDamping(timeStep); | ||
| 817 | } | ||
| 747 | 818 | ||
| 748 | public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; } | 819 | public override Vector3 GetLinearFactor(BulletBody pBody) |
| 820 | { | ||
| 821 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 822 | IndexedVector3 linearFactor = body.GetLinearFactor(); | ||
| 823 | return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z); | ||
| 824 | } | ||
| 749 | 825 | ||
| 750 | public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ } | 826 | public override void SetLinearFactor(BulletBody pBody, Vector3 factor) |
| 827 | { | ||
| 828 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 829 | body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z)); | ||
| 830 | } | ||
| 751 | 831 | ||
| 752 | public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ } | 832 | public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot) |
| 833 | { | ||
| 834 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
| 835 | IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W); | ||
| 836 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat); | ||
| 837 | mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
| 838 | body.SetCenterOfMassTransform( ref mat); | ||
| 839 | /* TODO: double check this */ | ||
| 840 | } | ||
| 753 | 841 | ||
| 754 | //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); | 842 | //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); |
| 755 | public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) | 843 | public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) |
| 756 | { | 844 | { |
| 757 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 845 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 758 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 846 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
| 759 | body.ApplyCentralForce(ref fSum); | 847 | body.ApplyCentralForce(ref fSum); |
| 760 | } | 848 | } |
| 761 | public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) | 849 | public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) |
| 762 | { | 850 | { |
| 763 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 851 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 764 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 852 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
| 765 | body.ApplyCentralImpulse(ref fSum); | 853 | body.ApplyCentralImpulse(ref fSum); |
| 766 | } | 854 | } |
| 767 | public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) | 855 | public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) |
| 768 | { | 856 | { |
| 769 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 857 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 770 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 858 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
| 771 | body.ApplyTorque(ref fSum); | 859 | body.ApplyTorque(ref fSum); |
| 772 | } | 860 | } |
| 773 | public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) | 861 | public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) |
| 774 | { | 862 | { |
| 775 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 863 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
| 776 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 864 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
| 777 | body.ApplyTorqueImpulse(ref fSum); | 865 | body.ApplyTorqueImpulse(ref fSum); |
| 778 | } | 866 | } |
| 779 | 867 | ||
| 780 | public override void DestroyObject(BulletWorld p, BulletBody p_2) | 868 | public override void DestroyObject(BulletWorld pWorld, BulletBody pBody) |
| 781 | { | 869 | { |
| 782 | //TODO: | 870 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 871 | CollisionObject co = (pBody as BulletBodyXNA).rigidBody; | ||
| 872 | RigidBody bo = co as RigidBody; | ||
| 873 | if (bo == null) | ||
| 874 | { | ||
| 875 | |||
| 876 | if (world.IsInWorld(co)) | ||
| 877 | { | ||
| 878 | world.RemoveCollisionObject(co); | ||
| 879 | } | ||
| 880 | } | ||
| 881 | else | ||
| 882 | { | ||
| 883 | |||
| 884 | if (world.IsInWorld(bo)) | ||
| 885 | { | ||
| 886 | world.RemoveRigidBody(bo); | ||
| 887 | } | ||
| 888 | } | ||
| 889 | |||
| 783 | } | 890 | } |
| 784 | 891 | ||
| 785 | public override void Shutdown(BulletWorld pWorld) | 892 | public override void Shutdown(BulletWorld pWorld) |
| 786 | { | 893 | { |
| 787 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 894 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 788 | world.Cleanup(); | 895 | world.Cleanup(); |
| 789 | } | 896 | } |
| 790 | 897 | ||
| 791 | public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) | 898 | public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id) |
| 792 | { | 899 | { |
| 793 | return null; | 900 | CollisionShape shape1 = (pShape as BulletShapeXNA).shape; |
| 901 | |||
| 902 | // TODO: Turn this from a reference copy to a Value Copy. | ||
| 903 | BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN); | ||
| 904 | |||
| 905 | return shape2; | ||
| 794 | } | 906 | } |
| 795 | 907 | ||
| 796 | public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2) | 908 | public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape) |
| 797 | { | 909 | { |
| 798 | //TODO: | 910 | //TODO: |
| 799 | return false; | 911 | return false; |
| @@ -802,17 +914,40 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 802 | 914 | ||
| 803 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 915 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
| 804 | { | 916 | { |
| 805 | CollisionWorld world = ((BulletWorldXNA)pWorld).world; | 917 | CollisionWorld world = (pWorld as BulletWorldXNA).world; |
| 806 | IndexedMatrix mat = | 918 | IndexedMatrix mat = |
| 807 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | 919 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, |
| 808 | pRawOrientation.Z, pRawOrientation.W)); | 920 | pRawOrientation.Z, pRawOrientation.W)); |
| 809 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | 921 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); |
| 810 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 922 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 811 | //UpdateSingleAabb(world, shape); | 923 | //UpdateSingleAabb(world, shape); |
| 812 | // TODO: Feed Update array into null | 924 | // TODO: Feed Update array into null |
| 813 | RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); | 925 | SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null); |
| 814 | 926 | RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero); | |
| 927 | RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero) | ||
| 928 | { | ||
| 929 | m_mass = 0 | ||
| 930 | }; | ||
| 931 | /* | ||
| 932 | m_mass = mass; | ||
| 933 | m_motionState =motionState; | ||
| 934 | m_collisionShape = collisionShape; | ||
| 935 | m_localInertia = localInertia; | ||
| 936 | m_linearDamping = 0f; | ||
| 937 | m_angularDamping = 0f; | ||
| 938 | m_friction = 0.5f; | ||
| 939 | m_restitution = 0f; | ||
| 940 | m_linearSleepingThreshold = 0.8f; | ||
| 941 | m_angularSleepingThreshold = 1f; | ||
| 942 | m_additionalDamping = false; | ||
| 943 | m_additionalDampingFactor = 0.005f; | ||
| 944 | m_additionalLinearDampingThresholdSqr = 0.01f; | ||
| 945 | m_additionalAngularDampingThresholdSqr = 0.01f; | ||
| 946 | m_additionalAngularDampingFactor = 0.01f; | ||
| 947 | m_startWorldTransform = IndexedMatrix.Identity; | ||
| 948 | */ | ||
| 815 | body.SetUserPointer(pLocalID); | 949 | body.SetUserPointer(pLocalID); |
| 950 | |||
| 816 | return new BulletBodyXNA(pLocalID, body); | 951 | return new BulletBodyXNA(pLocalID, body); |
| 817 | } | 952 | } |
| 818 | 953 | ||
| @@ -825,7 +960,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 825 | pRawOrientation.Z, pRawOrientation.W)); | 960 | pRawOrientation.Z, pRawOrientation.W)); |
| 826 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | 961 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); |
| 827 | 962 | ||
| 828 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 963 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 829 | 964 | ||
| 830 | // TODO: Feed Update array into null | 965 | // TODO: Feed Update array into null |
| 831 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); | 966 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); |
| @@ -834,21 +969,43 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 834 | return new BulletBodyXNA(pLocalID, body); | 969 | return new BulletBodyXNA(pLocalID, body); |
| 835 | } | 970 | } |
| 836 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | 971 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
| 837 | public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags) | 972 | public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags) |
| 838 | { | 973 | { |
| 839 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 974 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 840 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); | 975 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); |
| 841 | return (CollisionFlags)body.GetCollisionFlags(); | 976 | return (CollisionFlags)collisionObject.GetCollisionFlags(); |
| 842 | } | 977 | } |
| 843 | 978 | ||
| 844 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; } | 979 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) |
| 980 | { | ||
| 981 | |||
| 982 | /* TODO */ | ||
| 983 | return Vector3.Zero; | ||
| 984 | } | ||
| 845 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } | 985 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } |
| 846 | public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } | 986 | public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } |
| 847 | public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } | 987 | public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } |
| 848 | public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; } | 988 | public override bool IsStaticObject(BulletBody pCollisionObject) |
| 849 | public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; } | 989 | { |
| 850 | public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; } | 990 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 851 | public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; } | 991 | return collisionObject.IsStaticObject(); |
| 992 | |||
| 993 | } | ||
| 994 | public override bool IsKinematicObject(BulletBody pCollisionObject) | ||
| 995 | { | ||
| 996 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
| 997 | return collisionObject.IsKinematicObject(); | ||
| 998 | } | ||
| 999 | public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject) | ||
| 1000 | { | ||
| 1001 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
| 1002 | return collisionObject.IsStaticOrKinematicObject(); | ||
| 1003 | } | ||
| 1004 | public override bool HasContactResponse(BulletBody pCollisionObject) | ||
| 1005 | { | ||
| 1006 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
| 1007 | return collisionObject.HasContactResponse(); | ||
| 1008 | } | ||
| 852 | public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } | 1009 | public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } |
| 853 | public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } | 1010 | public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } |
| 854 | public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } | 1011 | public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } |
| @@ -859,15 +1016,15 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 859 | public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } | 1016 | public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } |
| 860 | 1017 | ||
| 861 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); | 1018 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); |
| 862 | public override void SetHitFraction(BulletBody pBody, float pHitFraction) | 1019 | public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction) |
| 863 | { | 1020 | { |
| 864 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 1021 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 865 | body.SetHitFraction(pHitFraction); | 1022 | collisionObject.SetHitFraction(pHitFraction); |
| 866 | } | 1023 | } |
| 867 | //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); | 1024 | //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); |
| 868 | public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) | 1025 | public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) |
| 869 | { | 1026 | { |
| 870 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1027 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 871 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | 1028 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); |
| 872 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); | 1029 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); |
| 873 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); | 1030 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); |
| @@ -881,14 +1038,24 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 881 | int maxUpdates, ref EntityProperties[] updateArray | 1038 | int maxUpdates, ref EntityProperties[] updateArray |
| 882 | ) | 1039 | ) |
| 883 | { | 1040 | { |
| 1041 | |||
| 1042 | m_updateArray = updateArray; | ||
| 1043 | m_collisionArray = collisionArray; | ||
| 884 | /* TODO */ | 1044 | /* TODO */ |
| 885 | return new BulletWorldXNA(1, null, null); | 1045 | ConfigurationParameters[] configparms = new ConfigurationParameters[1]; |
| 1046 | configparms[0] = parms; | ||
| 1047 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); | ||
| 1048 | m_maxCollisions = maxCollisions; | ||
| 1049 | m_maxUpdatesPerFrame = maxUpdates; | ||
| 1050 | |||
| 1051 | |||
| 1052 | return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); | ||
| 886 | } | 1053 | } |
| 887 | 1054 | ||
| 888 | private static object Initialize2(Vector3 worldExtent, | 1055 | private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, |
| 889 | ConfigurationParameters[] o, | 1056 | ConfigurationParameters[] o, |
| 890 | int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, | 1057 | int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, |
| 891 | int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, | 1058 | int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, |
| 892 | object mDebugLogCallbackHandle) | 1059 | object mDebugLogCallbackHandle) |
| 893 | { | 1060 | { |
| 894 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); | 1061 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); |
| @@ -968,8 +1135,13 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 968 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); | 1135 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); |
| 969 | 1136 | ||
| 970 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); | 1137 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); |
| 971 | world.UpdatedObjects = updateArray; | 1138 | |
| 972 | world.UpdatedCollisions = collisionArray; | 1139 | |
| 1140 | world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length)); | ||
| 1141 | world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length)); | ||
| 1142 | world.LastCollisionDesc = 0; | ||
| 1143 | world.LastEntityProperty = 0; | ||
| 1144 | |||
| 973 | world.WorldSettings.Params = p; | 1145 | world.WorldSettings.Params = p; |
| 974 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); | 1146 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); |
| 975 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; | 1147 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; |
| @@ -1003,7 +1175,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1003 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; | 1175 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; |
| 1004 | world.SetForceUpdateAllAabbs(true); | 1176 | world.SetForceUpdateAllAabbs(true); |
| 1005 | 1177 | ||
| 1006 | 1178 | //BSParam.TerrainImplementation = 0; | |
| 1007 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); | 1179 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); |
| 1008 | 1180 | ||
| 1009 | return world; | 1181 | return world; |
| @@ -1011,7 +1183,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1011 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL | 1183 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL |
| 1012 | public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) | 1184 | public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) |
| 1013 | { | 1185 | { |
| 1014 | Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 1186 | Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
| 1015 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | 1187 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) |
| 1016 | { | 1188 | { |
| 1017 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); | 1189 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); |
| @@ -1034,7 +1206,8 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1034 | public override bool PushUpdate(BulletBody pCollisionObject) | 1206 | public override bool PushUpdate(BulletBody pCollisionObject) |
| 1035 | { | 1207 | { |
| 1036 | bool ret = false; | 1208 | bool ret = false; |
| 1037 | RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody; | 1209 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 1210 | RigidBody rb = collisionObject as RigidBody; | ||
| 1038 | if (rb != null) | 1211 | if (rb != null) |
| 1039 | { | 1212 | { |
| 1040 | SimMotionState sms = rb.GetMotionState() as SimMotionState; | 1213 | SimMotionState sms = rb.GetMotionState() as SimMotionState; |
| @@ -1052,57 +1225,57 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1052 | 1225 | ||
| 1053 | public override float GetAngularMotionDisc(BulletShape pShape) | 1226 | public override float GetAngularMotionDisc(BulletShape pShape) |
| 1054 | { | 1227 | { |
| 1055 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1228 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1056 | return shape.GetAngularMotionDisc(); | 1229 | return shape.GetAngularMotionDisc(); |
| 1057 | } | 1230 | } |
| 1058 | public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) | 1231 | public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) |
| 1059 | { | 1232 | { |
| 1060 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1233 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1061 | return shape.GetContactBreakingThreshold(defaultFactor); | 1234 | return shape.GetContactBreakingThreshold(defaultFactor); |
| 1062 | } | 1235 | } |
| 1063 | public override bool IsCompound(BulletShape pShape) | 1236 | public override bool IsCompound(BulletShape pShape) |
| 1064 | { | 1237 | { |
| 1065 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1238 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1066 | return shape.IsCompound(); | 1239 | return shape.IsCompound(); |
| 1067 | } | 1240 | } |
| 1068 | public override bool IsSoftBody(BulletShape pShape) | 1241 | public override bool IsSoftBody(BulletShape pShape) |
| 1069 | { | 1242 | { |
| 1070 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1243 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1071 | return shape.IsSoftBody(); | 1244 | return shape.IsSoftBody(); |
| 1072 | } | 1245 | } |
| 1073 | public override bool IsPolyhedral(BulletShape pShape) | 1246 | public override bool IsPolyhedral(BulletShape pShape) |
| 1074 | { | 1247 | { |
| 1075 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1248 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1076 | return shape.IsPolyhedral(); | 1249 | return shape.IsPolyhedral(); |
| 1077 | } | 1250 | } |
| 1078 | public override bool IsConvex2d(BulletShape pShape) | 1251 | public override bool IsConvex2d(BulletShape pShape) |
| 1079 | { | 1252 | { |
| 1080 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1253 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1081 | return shape.IsConvex2d(); | 1254 | return shape.IsConvex2d(); |
| 1082 | } | 1255 | } |
| 1083 | public override bool IsConvex(BulletShape pShape) | 1256 | public override bool IsConvex(BulletShape pShape) |
| 1084 | { | 1257 | { |
| 1085 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1258 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1086 | return shape.IsConvex(); | 1259 | return shape.IsConvex(); |
| 1087 | } | 1260 | } |
| 1088 | public override bool IsNonMoving(BulletShape pShape) | 1261 | public override bool IsNonMoving(BulletShape pShape) |
| 1089 | { | 1262 | { |
| 1090 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1263 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1091 | return shape.IsNonMoving(); | 1264 | return shape.IsNonMoving(); |
| 1092 | } | 1265 | } |
| 1093 | public override bool IsConcave(BulletShape pShape) | 1266 | public override bool IsConcave(BulletShape pShape) |
| 1094 | { | 1267 | { |
| 1095 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1268 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1096 | return shape.IsConcave(); | 1269 | return shape.IsConcave(); |
| 1097 | } | 1270 | } |
| 1098 | public override bool IsInfinite(BulletShape pShape) | 1271 | public override bool IsInfinite(BulletShape pShape) |
| 1099 | { | 1272 | { |
| 1100 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1273 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1101 | return shape.IsInfinite(); | 1274 | return shape.IsInfinite(); |
| 1102 | } | 1275 | } |
| 1103 | public override bool IsNativeShape(BulletShape pShape) | 1276 | public override bool IsNativeShape(BulletShape pShape) |
| 1104 | { | 1277 | { |
| 1105 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1278 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1106 | bool ret; | 1279 | bool ret; |
| 1107 | switch (shape.GetShapeType()) | 1280 | switch (shape.GetShapeType()) |
| 1108 | { | 1281 | { |
| @@ -1119,38 +1292,53 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1119 | return ret; | 1292 | return ret; |
| 1120 | } | 1293 | } |
| 1121 | 1294 | ||
| 1122 | public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ } | 1295 | public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin) |
| 1296 | { | ||
| 1297 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
| 1298 | shape.SetMargin(pMargin); | ||
| 1299 | } | ||
| 1123 | 1300 | ||
| 1124 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation | 1301 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation |
| 1125 | public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 1302 | public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
| 1126 | { | 1303 | { |
| 1127 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1304 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1128 | IndexedMatrix bodyTransform = new IndexedMatrix(); | 1305 | IndexedMatrix bodyTransform = new IndexedMatrix(); |
| 1129 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | 1306 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); |
| 1130 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); | 1307 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); |
| 1131 | GhostObject gObj = new PairCachingGhostObject(); | 1308 | GhostObject gObj = new PairCachingGhostObject(); |
| 1132 | gObj.SetWorldTransform(bodyTransform); | 1309 | gObj.SetWorldTransform(bodyTransform); |
| 1133 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1310 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1134 | gObj.SetCollisionShape(shape); | 1311 | gObj.SetCollisionShape(shape); |
| 1135 | gObj.SetUserPointer(pLocalID); | 1312 | gObj.SetUserPointer(pLocalID); |
| 1136 | // TODO: Add to Special CollisionObjects! | 1313 | // TODO: Add to Special CollisionObjects! |
| 1137 | return new BulletBodyXNA(pLocalID, gObj); | 1314 | return new BulletBodyXNA(pLocalID, gObj); |
| 1138 | } | 1315 | } |
| 1139 | 1316 | ||
| 1140 | public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape) | 1317 | public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape) |
| 1141 | { | 1318 | { |
| 1142 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1319 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1143 | CollisionObject obj = ((BulletBodyXNA)pObj).body; | 1320 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
| 1144 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1321 | if (pShape == null) |
| 1145 | obj.SetCollisionShape(shape); | 1322 | { |
| 1146 | 1323 | collisionObject.SetCollisionShape(new EmptyShape()); | |
| 1324 | } | ||
| 1325 | else | ||
| 1326 | { | ||
| 1327 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
| 1328 | collisionObject.SetCollisionShape(shape); | ||
| 1329 | } | ||
| 1330 | } | ||
| 1331 | public override BulletShape GetCollisionShape(BulletBody pCollisionObject) | ||
| 1332 | { | ||
| 1333 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
| 1334 | CollisionShape shape = collisionObject.GetCollisionShape(); | ||
| 1335 | return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN); | ||
| 1147 | } | 1336 | } |
| 1148 | public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; } | ||
| 1149 | 1337 | ||
| 1150 | //(PhysicsScene.World.ptr, nativeShapeData) | 1338 | //(PhysicsScene.World.ptr, nativeShapeData) |
| 1151 | public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) | 1339 | public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) |
| 1152 | { | 1340 | { |
| 1153 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1341 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1154 | CollisionShape shape = null; | 1342 | CollisionShape shape = null; |
| 1155 | switch (pShapeData.Type) | 1343 | switch (pShapeData.Type) |
| 1156 | { | 1344 | { |
| @@ -1185,15 +1373,15 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1185 | 1373 | ||
| 1186 | public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) | 1374 | public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) |
| 1187 | { | 1375 | { |
| 1188 | CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; | 1376 | CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; |
| 1189 | return compoundshape.GetNumChildShapes(); | 1377 | return compoundshape.GetNumChildShapes(); |
| 1190 | } | 1378 | } |
| 1191 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot | 1379 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot |
| 1192 | public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) | 1380 | public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) |
| 1193 | { | 1381 | { |
| 1194 | IndexedMatrix relativeTransform = new IndexedMatrix(); | 1382 | IndexedMatrix relativeTransform = new IndexedMatrix(); |
| 1195 | CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; | 1383 | CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; |
| 1196 | CollisionShape addshape = ((BulletShapeXNA)paddShape).shape; | 1384 | CollisionShape addshape = (paddShape as BulletShapeXNA).shape; |
| 1197 | 1385 | ||
| 1198 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); | 1386 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); |
| 1199 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); | 1387 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); |
| @@ -1203,7 +1391,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1203 | 1391 | ||
| 1204 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) | 1392 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) |
| 1205 | { | 1393 | { |
| 1206 | CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; | 1394 | CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; |
| 1207 | CollisionShape ret = null; | 1395 | CollisionShape ret = null; |
| 1208 | ret = compoundshape.GetChildShape(pii); | 1396 | ret = compoundshape.GetChildShape(pii); |
| 1209 | compoundshape.RemoveChildShapeByIndex(pii); | 1397 | compoundshape.RemoveChildShapeByIndex(pii); |
| @@ -1222,12 +1410,12 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1222 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); | 1410 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); |
| 1223 | } | 1411 | } |
| 1224 | 1412 | ||
| 1225 | public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 1413 | public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) |
| 1226 | { | 1414 | { |
| 1227 | HingeConstraint constrain = null; | 1415 | HingeConstraint constrain = null; |
| 1228 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1416 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1229 | RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody; | 1417 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; |
| 1230 | RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody; | 1418 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; |
| 1231 | if (rb1 != null && rb2 != null) | 1419 | if (rb1 != null && rb2 != null) |
| 1232 | { | 1420 | { |
| 1233 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | 1421 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); |
| @@ -1241,7 +1429,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1241 | 1429 | ||
| 1242 | public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) | 1430 | public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) |
| 1243 | { | 1431 | { |
| 1244 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1432 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1245 | CompoundShape compoundshape = new CompoundShape(false); | 1433 | CompoundShape compoundshape = new CompoundShape(false); |
| 1246 | 1434 | ||
| 1247 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); | 1435 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); |
| @@ -1271,7 +1459,11 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1271 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); | 1459 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); |
| 1272 | } | 1460 | } |
| 1273 | 1461 | ||
| 1274 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; } | 1462 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) |
| 1463 | { | ||
| 1464 | /* TODO */ return null; | ||
| 1465 | |||
| 1466 | } | ||
| 1275 | 1467 | ||
| 1276 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | 1468 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) |
| 1277 | { | 1469 | { |
| @@ -1286,7 +1478,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1286 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); | 1478 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); |
| 1287 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); | 1479 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); |
| 1288 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); | 1480 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); |
| 1289 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1481 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1290 | IndexedMesh mesh = new IndexedMesh(); | 1482 | IndexedMesh mesh = new IndexedMesh(); |
| 1291 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | 1483 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; |
| 1292 | mesh.m_numTriangles = pIndicesCount/3; | 1484 | mesh.m_numTriangles = pIndicesCount/3; |
| @@ -1402,7 +1594,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1402 | 1594 | ||
| 1403 | public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) | 1595 | public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) |
| 1404 | { | 1596 | { |
| 1405 | TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain; | 1597 | TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain; |
| 1406 | bool onOff = ponOff != 0; | 1598 | bool onOff = ponOff != 0; |
| 1407 | bool ret = false; | 1599 | bool ret = false; |
| 1408 | 1600 | ||
| @@ -1428,47 +1620,45 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1428 | /* TODO */ | 1620 | /* TODO */ |
| 1429 | updatedEntityCount = 0; | 1621 | updatedEntityCount = 0; |
| 1430 | collidersCount = 0; | 1622 | collidersCount = 0; |
| 1431 | return 1; | 1623 | |
| 1624 | |||
| 1625 | int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); | ||
| 1626 | |||
| 1627 | return ret; | ||
| 1432 | } | 1628 | } |
| 1433 | 1629 | ||
| 1434 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, | 1630 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, |
| 1435 | out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, | 1631 | out int updatedEntityCount, out EntityProperties[] updatedEntities, |
| 1436 | out int collidersCount, out List<BulletXNA.CollisionDesc>colliders) | 1632 | out int collidersCount, out CollisionDesc[] colliders) |
| 1437 | { | 1633 | { |
| 1438 | int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, | 1634 | int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, |
| 1439 | out collidersCount, out colliders); | 1635 | out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame); |
| 1440 | return epic; | 1636 | return epic; |
| 1441 | } | 1637 | } |
| 1442 | 1638 | ||
| 1443 | private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders) | 1639 | private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, |
| 1640 | out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) | ||
| 1444 | { | 1641 | { |
| 1445 | int numSimSteps = 0; | 1642 | int numSimSteps = 0; |
| 1446 | |||
| 1447 | 1643 | ||
| 1448 | //if (updatedEntities is null) | 1644 | updatedEntityCount = 0; |
| 1449 | // updatedEntities = new List<BulletXNA.EntityProperties>(); | 1645 | collidersCount = 0; |
| 1450 | |||
| 1451 | //if (colliders is null) | ||
| 1452 | // colliders = new List<BulletXNA.CollisionDesc>(); | ||
| 1453 | 1646 | ||
| 1454 | 1647 | ||
| 1455 | if (pWorld is BulletWorldXNA) | 1648 | if (pWorld is BulletWorldXNA) |
| 1456 | { | 1649 | { |
| 1457 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1650 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1458 | 1651 | ||
| 1652 | world.LastCollisionDesc = 0; | ||
| 1653 | world.LastEntityProperty = 0; | ||
| 1654 | world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates]; | ||
| 1655 | world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions]; | ||
| 1459 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); | 1656 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); |
| 1460 | int updates = 0; | 1657 | int updates = 0; |
| 1461 | 1658 | ||
| 1462 | updatedEntityCount = world.UpdatedObjects.Count; | 1659 | |
| 1463 | updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects); | ||
| 1464 | updatedEntityCount = updatedEntities.Count; | ||
| 1465 | world.UpdatedObjects.Clear(); | ||
| 1466 | 1660 | ||
| 1467 | 1661 | ||
| 1468 | collidersCount = world.UpdatedCollisions.Count; | ||
| 1469 | colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions); | ||
| 1470 | |||
| 1471 | world.UpdatedCollisions.Clear(); | ||
| 1472 | m_collisionsThisFrame = 0; | 1662 | m_collisionsThisFrame = 0; |
| 1473 | int numManifolds = world.GetDispatcher().GetNumManifolds(); | 1663 | int numManifolds = world.GetDispatcher().GetNumManifolds(); |
| 1474 | for (int j = 0; j < numManifolds; j++) | 1664 | for (int j = 0; j < numManifolds; j++) |
| @@ -1493,16 +1683,31 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1493 | 1683 | ||
| 1494 | } | 1684 | } |
| 1495 | 1685 | ||
| 1686 | updatedEntityCount = world.LastEntityProperty; | ||
| 1687 | updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty)); | ||
| 1688 | |||
| 1689 | |||
| 1690 | |||
| 1691 | |||
| 1692 | collidersCount = world.LastCollisionDesc; | ||
| 1693 | colliders = | ||
| 1694 | GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions); | ||
| 1496 | 1695 | ||
| 1497 | } | 1696 | } |
| 1498 | else | 1697 | else |
| 1499 | { | 1698 | { |
| 1500 | //if (updatedEntities is null) | 1699 | //if (updatedEntities is null) |
| 1501 | updatedEntities = new List<BulletXNA.EntityProperties>(); | 1700 | //updatedEntities = new List<BulletXNA.EntityProperties>(); |
| 1502 | updatedEntityCount = 0; | 1701 | //updatedEntityCount = 0; |
| 1503 | //if (colliders is null) | 1702 | //if (colliders is null) |
| 1504 | colliders = new List<BulletXNA.CollisionDesc>(); | 1703 | //colliders = new List<BulletXNA.CollisionDesc>(); |
| 1505 | collidersCount = 0; | 1704 | //collidersCount = 0; |
| 1705 | |||
| 1706 | updatedEntities = new EntityProperties[0]; | ||
| 1707 | |||
| 1708 | |||
| 1709 | colliders = new CollisionDesc[0]; | ||
| 1710 | |||
| 1506 | } | 1711 | } |
| 1507 | return numSimSteps; | 1712 | return numSimSteps; |
| 1508 | } | 1713 | } |
| @@ -1535,22 +1740,23 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1535 | point = contact, | 1740 | point = contact, |
| 1536 | normal = contactNormal | 1741 | normal = contactNormal |
| 1537 | }; | 1742 | }; |
| 1538 | world.UpdatedCollisions.Add(cDesc); | 1743 | if (world.LastCollisionDesc < world.UpdatedCollisions.Length) |
| 1744 | world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); | ||
| 1539 | m_collisionsThisFrame++; | 1745 | m_collisionsThisFrame++; |
| 1540 | 1746 | ||
| 1541 | 1747 | ||
| 1542 | } | 1748 | } |
| 1543 | private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody) | 1749 | private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject) |
| 1544 | { | 1750 | { |
| 1545 | EntityProperties ent = new EntityProperties(); | 1751 | EntityProperties ent = new EntityProperties(); |
| 1546 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1752 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1547 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 1753 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
| 1548 | IndexedMatrix transform = body.GetWorldTransform(); | 1754 | IndexedMatrix transform = collisionObject.GetWorldTransform(); |
| 1549 | IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); | 1755 | IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity(); |
| 1550 | IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); | 1756 | IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity(); |
| 1551 | IndexedQuaternion rotation = transform.GetRotation(); | 1757 | IndexedQuaternion rotation = transform.GetRotation(); |
| 1552 | ent.Acceleration = Vector3.Zero; | 1758 | ent.Acceleration = Vector3.Zero; |
| 1553 | ent.ID = (uint)body.GetUserPointer(); | 1759 | ent.ID = (uint)collisionObject.GetUserPointer(); |
| 1554 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); | 1760 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); |
| 1555 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); | 1761 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); |
| 1556 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); | 1762 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); |
| @@ -1562,19 +1768,19 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1562 | 1768 | ||
| 1563 | public override Vector3 GetLocalScaling(BulletShape pShape) | 1769 | public override Vector3 GetLocalScaling(BulletShape pShape) |
| 1564 | { | 1770 | { |
| 1565 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1771 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
| 1566 | IndexedVector3 scale = shape.GetLocalScaling(); | 1772 | IndexedVector3 scale = shape.GetLocalScaling(); |
| 1567 | return new Vector3(scale.X,scale.Y,scale.Z); | 1773 | return new Vector3(scale.X,scale.Y,scale.Z); |
| 1568 | } | 1774 | } |
| 1569 | 1775 | ||
| 1570 | public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) | 1776 | public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) |
| 1571 | { | 1777 | { |
| 1572 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1778 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
| 1573 | if (world != null) | 1779 | if (world != null) |
| 1574 | { | 1780 | { |
| 1575 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) | 1781 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) |
| 1576 | { | 1782 | { |
| 1577 | CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body; | 1783 | CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; |
| 1578 | 1784 | ||
| 1579 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); | 1785 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); |
| 1580 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); | 1786 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); |
| @@ -1594,5 +1800,160 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
| 1594 | } | 1800 | } |
| 1595 | return false; | 1801 | return false; |
| 1596 | } | 1802 | } |
| 1803 | |||
| 1804 | public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer) | ||
| 1805 | { | ||
| 1806 | int count = buffer.Length/sizeof (BulletXNA.CollisionDesc); | ||
| 1807 | BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count]; | ||
| 1808 | BulletXNA.CollisionDesc* ptr; | ||
| 1809 | fixed (byte* localBytes = new byte[buffer.Length]) | ||
| 1810 | { | ||
| 1811 | for (int i = 0; i < buffer.Length; i++) | ||
| 1812 | { | ||
| 1813 | localBytes[i] = buffer[i]; | ||
| 1814 | } | ||
| 1815 | for (int i=0;i<count;i++) | ||
| 1816 | { | ||
| 1817 | ptr = (BulletXNA.CollisionDesc*) (localBytes + sizeof (BulletXNA.CollisionDesc)*i); | ||
| 1818 | result[i] = new BulletXNA.CollisionDesc(); | ||
| 1819 | result[i] = *ptr; | ||
| 1820 | } | ||
| 1821 | } | ||
| 1822 | return result; | ||
| 1823 | } | ||
| 1824 | |||
| 1825 | public static unsafe CollisionDesc[] GetBulletSimCollisionStruct(byte[] buffer) | ||
| 1826 | { | ||
| 1827 | int count = buffer.Length / sizeof(CollisionDesc); | ||
| 1828 | CollisionDesc[] result = new CollisionDesc[count]; | ||
| 1829 | CollisionDesc* ptr; | ||
| 1830 | fixed (byte* localBytes = new byte[buffer.Length]) | ||
| 1831 | { | ||
| 1832 | for (int i = 0; i < buffer.Length; i++) | ||
| 1833 | { | ||
| 1834 | localBytes[i] = buffer[i]; | ||
| 1835 | } | ||
| 1836 | for (int i = 0; i < count; i++) | ||
| 1837 | { | ||
| 1838 | ptr = (CollisionDesc*)(localBytes + sizeof(CollisionDesc) * i); | ||
| 1839 | result[i] = new CollisionDesc(); | ||
| 1840 | result[i] = *ptr; | ||
| 1841 | } | ||
| 1842 | } | ||
| 1843 | return result; | ||
| 1844 | } | ||
| 1845 | public static unsafe byte[] BulletSimCollisionStructToByteArray(CollisionDesc[] CollisionDescArray, int count) | ||
| 1846 | { | ||
| 1847 | int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; | ||
| 1848 | byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength]; | ||
| 1849 | fixed (CollisionDesc* floatPointer = CollisionDescArray) | ||
| 1850 | { | ||
| 1851 | fixed (byte* bytePointer = byteArray) | ||
| 1852 | { | ||
| 1853 | CollisionDesc* read = floatPointer; | ||
| 1854 | CollisionDesc* write = (CollisionDesc*)bytePointer; | ||
| 1855 | for (int i = 0; i < arrayLength; i++) | ||
| 1856 | { | ||
| 1857 | *write++ = *read++; | ||
| 1858 | } | ||
| 1859 | } | ||
| 1860 | } | ||
| 1861 | return byteArray; | ||
| 1862 | } | ||
| 1863 | public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count) | ||
| 1864 | { | ||
| 1865 | int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; | ||
| 1866 | byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength]; | ||
| 1867 | fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray) | ||
| 1868 | { | ||
| 1869 | fixed (byte* bytePointer = byteArray) | ||
| 1870 | { | ||
| 1871 | BulletXNA.CollisionDesc* read = floatPointer; | ||
| 1872 | BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer; | ||
| 1873 | for (int i = 0; i < arrayLength; i++) | ||
| 1874 | { | ||
| 1875 | *write++ = *read++; | ||
| 1876 | } | ||
| 1877 | } | ||
| 1878 | } | ||
| 1879 | return byteArray; | ||
| 1880 | } | ||
| 1881 | public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer) | ||
| 1882 | { | ||
| 1883 | int count = buffer.Length / sizeof(BulletXNA.EntityProperties); | ||
| 1884 | BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count]; | ||
| 1885 | BulletXNA.EntityProperties* ptr; | ||
| 1886 | fixed (byte* localBytes = new byte[buffer.Length]) | ||
| 1887 | { | ||
| 1888 | for (int i = 0; i < buffer.Length; i++) | ||
| 1889 | { | ||
| 1890 | localBytes[i] = buffer[i]; | ||
| 1891 | } | ||
| 1892 | for (int i = 0; i < count; i++) | ||
| 1893 | { | ||
| 1894 | ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i); | ||
| 1895 | result[i] = new BulletXNA.EntityProperties(); | ||
| 1896 | result[i] = *ptr; | ||
| 1897 | } | ||
| 1898 | } | ||
| 1899 | return result; | ||
| 1900 | } | ||
| 1901 | |||
| 1902 | public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer) | ||
| 1903 | { | ||
| 1904 | int count = buffer.Length / sizeof(EntityProperties); | ||
| 1905 | EntityProperties[] result = new EntityProperties[count]; | ||
| 1906 | EntityProperties* ptr; | ||
| 1907 | fixed (byte* localBytes = new byte[buffer.Length]) | ||
| 1908 | { | ||
| 1909 | for (int i = 0; i < buffer.Length; i++) | ||
| 1910 | { | ||
| 1911 | localBytes[i] = buffer[i]; | ||
| 1912 | } | ||
| 1913 | for (int i = 0; i < count; i++) | ||
| 1914 | { | ||
| 1915 | ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i); | ||
| 1916 | result[i] = new EntityProperties(); | ||
| 1917 | result[i] = *ptr; | ||
| 1918 | } | ||
| 1919 | } | ||
| 1920 | return result; | ||
| 1921 | } | ||
| 1922 | public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count) | ||
| 1923 | { | ||
| 1924 | int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; | ||
| 1925 | byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength]; | ||
| 1926 | fixed (EntityProperties* floatPointer = CollisionDescArray) | ||
| 1927 | { | ||
| 1928 | fixed (byte* bytePointer = byteArray) | ||
| 1929 | { | ||
| 1930 | EntityProperties* read = floatPointer; | ||
| 1931 | EntityProperties* write = (EntityProperties*)bytePointer; | ||
| 1932 | for (int i = 0; i < arrayLength; i++) | ||
| 1933 | { | ||
| 1934 | *write++ = *read++; | ||
| 1935 | } | ||
| 1936 | } | ||
| 1937 | } | ||
| 1938 | return byteArray; | ||
| 1939 | } | ||
| 1940 | public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count) | ||
| 1941 | { | ||
| 1942 | int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; | ||
| 1943 | byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength]; | ||
| 1944 | fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray) | ||
| 1945 | { | ||
| 1946 | fixed (byte* bytePointer = byteArray) | ||
| 1947 | { | ||
| 1948 | BulletXNA.EntityProperties* read = floatPointer; | ||
| 1949 | BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer; | ||
| 1950 | for (int i = 0; i < arrayLength; i++) | ||
| 1951 | { | ||
| 1952 | *write++ = *read++; | ||
| 1953 | } | ||
| 1954 | } | ||
| 1955 | } | ||
| 1956 | return byteArray; | ||
| 1957 | } | ||
| 1597 | } | 1958 | } |
| 1598 | } | 1959 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index bc163eb..2828cab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | |||
| @@ -140,6 +140,25 @@ public struct EntityProperties | |||
| 140 | public Vector3 Velocity; | 140 | public Vector3 Velocity; |
| 141 | public Vector3 Acceleration; | 141 | public Vector3 Acceleration; |
| 142 | public Vector3 RotationalVelocity; | 142 | public Vector3 RotationalVelocity; |
| 143 | |||
| 144 | public override string ToString() | ||
| 145 | { | ||
| 146 | StringBuilder buff = new StringBuilder(); | ||
| 147 | buff.Append("<i="); | ||
| 148 | buff.Append(ID.ToString()); | ||
| 149 | buff.Append(",p="); | ||
| 150 | buff.Append(Position.ToString()); | ||
| 151 | buff.Append(",r="); | ||
| 152 | buff.Append(Rotation.ToString()); | ||
| 153 | buff.Append(",v="); | ||
| 154 | buff.Append(Velocity.ToString()); | ||
| 155 | buff.Append(",a="); | ||
| 156 | buff.Append(Acceleration.ToString()); | ||
| 157 | buff.Append(",rv="); | ||
| 158 | buff.Append(RotationalVelocity.ToString()); | ||
| 159 | buff.Append(">"); | ||
| 160 | return buff.ToString(); | ||
| 161 | } | ||
| 143 | } | 162 | } |
| 144 | 163 | ||
| 145 | // Format of this structure must match the definition in the C++ code | 164 | // Format of this structure must match the definition in the C++ code |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 478aeab..7603254 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
| @@ -56,6 +56,7 @@ public sealed class BSCharacter : BSPhysObject | |||
| 56 | private int _physicsActorType; | 56 | private int _physicsActorType; |
| 57 | private bool _isPhysical; | 57 | private bool _isPhysical; |
| 58 | private bool _flying; | 58 | private bool _flying; |
| 59 | private bool _wasWalking; // 'true' if the avatar was walking/moving last frame | ||
| 59 | private bool _setAlwaysRun; | 60 | private bool _setAlwaysRun; |
| 60 | private bool _throttleUpdates; | 61 | private bool _throttleUpdates; |
| 61 | private bool _floatOnWater; | 62 | private bool _floatOnWater; |
| @@ -83,6 +84,7 @@ public sealed class BSCharacter : BSPhysObject | |||
| 83 | _position = pos; | 84 | _position = pos; |
| 84 | 85 | ||
| 85 | _flying = isFlying; | 86 | _flying = isFlying; |
| 87 | _wasWalking = true; // causes first step to initialize standing | ||
| 86 | _orientation = OMV.Quaternion.Identity; | 88 | _orientation = OMV.Quaternion.Identity; |
| 87 | _velocity = OMV.Vector3.Zero; | 89 | _velocity = OMV.Vector3.Zero; |
| 88 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); | 90 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); |
| @@ -198,25 +200,68 @@ public sealed class BSCharacter : BSPhysObject | |||
| 198 | // TODO: Decide if the step parameters should be changed depending on the avatar's | 200 | // TODO: Decide if the step parameters should be changed depending on the avatar's |
| 199 | // state (flying, colliding, ...). There is code in ODE to do this. | 201 | // state (flying, colliding, ...). There is code in ODE to do this. |
| 200 | 202 | ||
| 201 | OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); | 203 | // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity |
| 202 | 204 | // specified for the avatar is the one that should be used. For falling, if the avatar | |
| 203 | // If falling, we keep the world's downward vector no matter what the other axis specify. | 205 | // is not flying and is not colliding then it is presumed to be falling and the Z |
| 204 | if (!Flying && !IsColliding) | 206 | // component is not fooled with (thus allowing gravity to do its thing). |
| 207 | // When the avatar is standing, though, the user has specified a velocity of zero and | ||
| 208 | // the avatar should be standing. But if the avatar is pushed by something in the world | ||
| 209 | // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to | ||
| 210 | // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity | ||
| 211 | // errors can creap in and the avatar will slowly float off in some direction. | ||
| 212 | // So, the problem is that, when an avatar is standing, we cannot tell creaping error | ||
| 213 | // from real pushing.OMV.Vector3.Zero; | ||
| 214 | // The code below keeps setting the velocity to zero hoping the world will keep pushing. | ||
| 215 | |||
| 216 | _velocityMotor.Step(timeStep); | ||
| 217 | |||
| 218 | // If we're not supposed to be moving, make sure things are zero. | ||
| 219 | if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding) | ||
| 205 | { | 220 | { |
| 206 | stepVelocity.Z = _velocity.Z; | 221 | // The avatar shouldn't be moving |
| 207 | // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); | 222 | _velocityMotor.Zero(); |
| 223 | ZeroMotion(true /* inTaintTime */); | ||
| 224 | |||
| 225 | // Standing has more friction on the ground | ||
| 226 | if (_currentFriction != BSParam.AvatarStandingFriction) | ||
| 227 | { | ||
| 228 | _currentFriction = BSParam.AvatarStandingFriction; | ||
| 229 | PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); | ||
| 230 | } | ||
| 231 | DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); | ||
| 232 | |||
| 233 | _wasWalking = false; | ||
| 208 | } | 234 | } |
| 235 | else | ||
| 236 | { | ||
| 237 | OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; | ||
| 238 | |||
| 239 | if (_currentFriction != BSParam.AvatarFriction) | ||
| 240 | { | ||
| 241 | // Probably starting up walking. Set friction to moving friction. | ||
| 242 | _currentFriction = BSParam.AvatarFriction; | ||
| 243 | PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); | ||
| 244 | } | ||
| 245 | |||
| 246 | // If falling, we keep the world's downward vector no matter what the other axis specify. | ||
| 247 | if (!Flying && !IsColliding) | ||
| 248 | { | ||
| 249 | stepVelocity.Z = _velocity.Z; | ||
| 250 | // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); | ||
| 251 | } | ||
| 209 | 252 | ||
| 210 | // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. | 253 | // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. |
| 211 | OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; | 254 | OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; |
| 212 | 255 | ||
| 213 | // Should we check for move force being small and forcing velocity to zero? | 256 | // Should we check for move force being small and forcing velocity to zero? |
| 214 | 257 | ||
| 215 | // Add special movement force to allow avatars to walk up stepped surfaces. | 258 | // Add special movement force to allow avatars to walk up stepped surfaces. |
| 216 | moveForce += WalkUpStairs(); | 259 | moveForce += WalkUpStairs(); |
| 217 | 260 | ||
| 218 | // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); | 261 | DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); |
| 219 | PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); | 262 | PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); |
| 263 | _wasWalking = true; | ||
| 264 | } | ||
| 220 | }); | 265 | }); |
| 221 | } | 266 | } |
| 222 | 267 | ||
| @@ -559,27 +604,6 @@ public sealed class BSCharacter : BSPhysObject | |||
| 559 | PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); | 604 | PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); |
| 560 | 605 | ||
| 561 | _velocity = value; | 606 | _velocity = value; |
| 562 | // Depending on whether the avatar is moving or not, change the friction | ||
| 563 | // to keep the avatar from slipping around | ||
| 564 | if (_velocity.Length() == 0) | ||
| 565 | { | ||
| 566 | if (_currentFriction != BSParam.AvatarStandingFriction) | ||
| 567 | { | ||
| 568 | _currentFriction = BSParam.AvatarStandingFriction; | ||
| 569 | if (PhysBody.HasPhysicalBody) | ||
| 570 | PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); | ||
| 571 | } | ||
| 572 | } | ||
| 573 | else | ||
| 574 | { | ||
| 575 | if (_currentFriction != BSParam.AvatarFriction) | ||
| 576 | { | ||
| 577 | _currentFriction = BSParam.AvatarFriction; | ||
| 578 | if (PhysBody.HasPhysicalBody) | ||
| 579 | PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); | ||
| 580 | } | ||
| 581 | } | ||
| 582 | |||
| 583 | PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); | 607 | PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); |
| 584 | PhysicsScene.PE.Activate(PhysBody, true); | 608 | PhysicsScene.PE.Activate(PhysBody, true); |
| 585 | } | 609 | } |
| @@ -854,7 +878,7 @@ public sealed class BSCharacter : BSPhysObject | |||
| 854 | _position = entprop.Position; | 878 | _position = entprop.Position; |
| 855 | _orientation = entprop.Rotation; | 879 | _orientation = entprop.Rotation; |
| 856 | 880 | ||
| 857 | // Smooth velocity. OpenSimulator is very sensitive to changes in velocity of the avatar | 881 | // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar |
| 858 | // and will send agent updates to the clients if velocity changes by more than | 882 | // and will send agent updates to the clients if velocity changes by more than |
| 859 | // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many | 883 | // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many |
| 860 | // extra updates. | 884 | // extra updates. |
| @@ -875,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject | |||
| 875 | CurrentEntityProperties = entprop; | 899 | CurrentEntityProperties = entprop; |
| 876 | 900 | ||
| 877 | // Tell the linkset about value changes | 901 | // Tell the linkset about value changes |
| 878 | Linkset.UpdateProperties(this, true); | 902 | Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); |
| 879 | 903 | ||
| 880 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. | 904 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
| 881 | // base.RequestPhysicsterseUpdate(); | 905 | // base.RequestPhysicsterseUpdate(); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f2c7cec..fe7891e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
| @@ -231,6 +231,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 231 | break; | 231 | break; |
| 232 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 232 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
| 233 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | 233 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); |
| 234 | m_angularMotor.Zero(); | ||
| 234 | m_angularMotor.SetTarget(m_angularMotorDirection); | 235 | m_angularMotor.SetTarget(m_angularMotorDirection); |
| 235 | break; | 236 | break; |
| 236 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 237 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
| @@ -264,6 +265,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 264 | pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); | 265 | pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); |
| 265 | pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); | 266 | pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); |
| 266 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | 267 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
| 268 | m_angularMotor.Zero(); | ||
| 267 | m_angularMotor.SetTarget(m_angularMotorDirection); | 269 | m_angularMotor.SetTarget(m_angularMotorDirection); |
| 268 | break; | 270 | break; |
| 269 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 271 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
| @@ -688,7 +690,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 688 | // Bullet does a bunch of smoothing for changing parameters. | 690 | // Bullet does a bunch of smoothing for changing parameters. |
| 689 | // Since the vehicle is demanding this setting, we override Bullet's smoothing | 691 | // Since the vehicle is demanding this setting, we override Bullet's smoothing |
| 690 | // by telling Bullet the value was the same last time. | 692 | // by telling Bullet the value was the same last time. |
| 691 | PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity); | 693 | // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity); |
| 692 | } | 694 | } |
| 693 | 695 | ||
| 694 | if ((m_knownChanged & m_knownChangedForce) != 0) | 696 | if ((m_knownChanged & m_knownChangedForce) != 0) |
| @@ -700,7 +702,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 700 | if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) | 702 | if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) |
| 701 | { | 703 | { |
| 702 | Prim.ForceRotationalVelocity = m_knownRotationalVelocity; | 704 | Prim.ForceRotationalVelocity = m_knownRotationalVelocity; |
| 703 | PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); | 705 | // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); |
| 704 | } | 706 | } |
| 705 | 707 | ||
| 706 | if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) | 708 | if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) |
| @@ -720,10 +722,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 720 | 722 | ||
| 721 | // Since the computation of terrain height can be a little involved, this routine | 723 | // Since the computation of terrain height can be a little involved, this routine |
| 722 | // is used to fetch the height only once for each vehicle simulation step. | 724 | // is used to fetch the height only once for each vehicle simulation step. |
| 725 | Vector3 lastRememberedHeightPos; | ||
| 723 | private float GetTerrainHeight(Vector3 pos) | 726 | private float GetTerrainHeight(Vector3 pos) |
| 724 | { | 727 | { |
| 725 | if ((m_knownHas & m_knownChangedTerrainHeight) == 0) | 728 | if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) |
| 726 | { | 729 | { |
| 730 | lastRememberedHeightPos = pos; | ||
| 727 | m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); | 731 | m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); |
| 728 | m_knownHas |= m_knownChangedTerrainHeight; | 732 | m_knownHas |= m_knownChangedTerrainHeight; |
| 729 | } | 733 | } |
| @@ -943,10 +947,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 943 | // ================================================================== | 947 | // ================================================================== |
| 944 | // Clamp high or low velocities | 948 | // Clamp high or low velocities |
| 945 | float newVelocityLengthSq = VehicleVelocity.LengthSquared(); | 949 | float newVelocityLengthSq = VehicleVelocity.LengthSquared(); |
| 946 | if (newVelocityLengthSq > 1000f) | 950 | if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity) |
| 947 | { | 951 | { |
| 948 | VehicleVelocity /= VehicleVelocity.Length(); | 952 | VehicleVelocity /= VehicleVelocity.Length(); |
| 949 | VehicleVelocity *= 1000f; | 953 | VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; |
| 950 | } | 954 | } |
| 951 | else if (newVelocityLengthSq < 0.001f) | 955 | else if (newVelocityLengthSq < 0.001f) |
| 952 | VehicleVelocity = Vector3.Zero; | 956 | VehicleVelocity = Vector3.Zero; |
| @@ -957,39 +961,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 957 | 961 | ||
| 958 | public void ComputeLinearVelocity(float pTimestep) | 962 | public void ComputeLinearVelocity(float pTimestep) |
| 959 | { | 963 | { |
| 960 | Vector3 linearMotorStep = m_linearMotor.Step(pTimestep); | 964 | // Step the motor from the current value. Get the correction needed this step. |
| 965 | Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); | ||
| 966 | Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel); | ||
| 961 | 967 | ||
| 962 | // The movement computed in the linear motor is relative to the vehicle | 968 | // Motor is vehicle coordinates. Rotate it to world coordinates |
| 963 | // coordinates. Rotate the movement to world coordinates. | 969 | Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; |
| 964 | Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation; | ||
| 965 | 970 | ||
| 966 | // If we're a ground vehicle, don't loose any Z action (like gravity acceleration). | 971 | // If we're a ground vehicle, don't add any upward Z movement |
| 967 | float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z | ||
| 968 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) | 972 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) |
| 969 | { | 973 | { |
| 970 | if (!Prim.IsColliding) | 974 | if (linearMotorVelocityW.Z > 0f) |
| 971 | { | 975 | linearMotorVelocityW.Z = 0f; |
| 972 | // If a ground vehicle and not on the ground, I want gravity effect | ||
| 973 | mixFactor = 0.2f; | ||
| 974 | } | ||
| 975 | } | ||
| 976 | else | ||
| 977 | { | ||
| 978 | // I'm not a ground vehicle but don't totally loose the effect of the environment | ||
| 979 | mixFactor = 0.8f; | ||
| 980 | } | 976 | } |
| 981 | linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z; | ||
| 982 | |||
| 983 | // What we want to contribute to the vehicle's existing velocity | ||
| 984 | Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity; | ||
| 985 | |||
| 986 | // Act against the inertia of the vehicle | ||
| 987 | linearMotorForce *= m_vehicleMass; | ||
| 988 | 977 | ||
| 989 | VehicleAddForceImpulse(linearMotorForce * pTimestep); | 978 | // Add this correction to the velocity to make it faster/slower. |
| 979 | VehicleVelocity += linearMotorVelocityW; | ||
| 990 | 980 | ||
| 991 | VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}", | 981 | VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}", |
| 992 | Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce); | 982 | Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW); |
| 993 | } | 983 | } |
| 994 | 984 | ||
| 995 | public void ComputeLinearTerrainHeightCorrection(float pTimestep) | 985 | public void ComputeLinearTerrainHeightCorrection(float pTimestep) |
| @@ -1133,8 +1123,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1133 | // a downward raycast to find what is below. | 1123 | // a downward raycast to find what is below. |
| 1134 | public void ComputeLinearMotorUp(float pTimestep) | 1124 | public void ComputeLinearMotorUp(float pTimestep) |
| 1135 | { | 1125 | { |
| 1136 | Vector3 ret = Vector3.Zero; | ||
| 1137 | |||
| 1138 | if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) | 1126 | if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) |
| 1139 | { | 1127 | { |
| 1140 | // This code tries to decide if the object is not on the ground and then pushing down | 1128 | // This code tries to decide if the object is not on the ground and then pushing down |
| @@ -1202,62 +1190,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1202 | // set directly on the vehicle. | 1190 | // set directly on the vehicle. |
| 1203 | private void MoveAngular(float pTimestep) | 1191 | private void MoveAngular(float pTimestep) |
| 1204 | { | 1192 | { |
| 1205 | // The user wants this many radians per second angular change? | 1193 | // VehicleRotationalVelocity = Vector3.Zero; |
| 1206 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); | ||
| 1207 | 1194 | ||
| 1208 | // ================================================================== | 1195 | ComputeAngularTurning(pTimestep); |
| 1209 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : | ||
| 1210 | // This flag prevents linear deflection parallel to world z-axis. This is useful | ||
| 1211 | // for preventing ground vehicles with large linear deflection, like bumper cars, | ||
| 1212 | // from climbing their linear deflection into the sky. | ||
| 1213 | // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement | ||
| 1214 | // TODO: This is here because this is where ODE put it but documentation says it | ||
| 1215 | // is a linear effect. Where should this check go? | ||
| 1216 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) | ||
| 1217 | { | ||
| 1218 | angularMotorContribution.X = 0f; | ||
| 1219 | angularMotorContribution.Y = 0f; | ||
| 1220 | VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); | ||
| 1221 | } | ||
| 1222 | |||
| 1223 | Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); | ||
| 1224 | 1196 | ||
| 1225 | Vector3 deflectionContribution = ComputeAngularDeflection(); | 1197 | ComputeAngularVerticalAttraction(); |
| 1226 | 1198 | ||
| 1227 | Vector3 bankingContribution = ComputeAngularBanking(); | 1199 | ComputeAngularDeflection(); |
| 1228 | 1200 | ||
| 1229 | // ================================================================== | 1201 | ComputeAngularBanking(); |
| 1230 | m_lastVertAttractor = verticalAttractionContribution; | ||
| 1231 | |||
| 1232 | m_lastAngularVelocity = angularMotorContribution | ||
| 1233 | + verticalAttractionContribution | ||
| 1234 | + deflectionContribution | ||
| 1235 | + bankingContribution; | ||
| 1236 | |||
| 1237 | // Add of the above computation are made relative to vehicle coordinates. | ||
| 1238 | // Convert to world coordinates. | ||
| 1239 | m_lastAngularVelocity *= VehicleOrientation; | ||
| 1240 | 1202 | ||
| 1241 | // ================================================================== | 1203 | // ================================================================== |
| 1242 | // Apply the correction velocity. | 1204 | if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
| 1243 | // TODO: Should this be applied as an angular force (torque)? | ||
| 1244 | if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | ||
| 1245 | { | ||
| 1246 | VehicleRotationalVelocity = m_lastAngularVelocity; | ||
| 1247 | |||
| 1248 | VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", | ||
| 1249 | Prim.LocalID, | ||
| 1250 | angularMotorContribution, verticalAttractionContribution, | ||
| 1251 | bankingContribution, deflectionContribution, | ||
| 1252 | m_lastAngularVelocity | ||
| 1253 | ); | ||
| 1254 | } | ||
| 1255 | else | ||
| 1256 | { | 1205 | { |
| 1257 | // The vehicle is not adding anything angular wise. | 1206 | // The vehicle is not adding anything angular wise. |
| 1258 | VehicleRotationalVelocity = Vector3.Zero; | 1207 | VehicleRotationalVelocity = Vector3.Zero; |
| 1259 | VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); | 1208 | VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); |
| 1260 | } | 1209 | } |
| 1210 | else | ||
| 1211 | { | ||
| 1212 | VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity); | ||
| 1213 | } | ||
| 1261 | 1214 | ||
| 1262 | // ================================================================== | 1215 | // ================================================================== |
| 1263 | //Offset section | 1216 | //Offset section |
| @@ -1291,6 +1244,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1291 | } | 1244 | } |
| 1292 | 1245 | ||
| 1293 | } | 1246 | } |
| 1247 | |||
| 1248 | private void ComputeAngularTurning(float pTimestep) | ||
| 1249 | { | ||
| 1250 | // The user wants this many radians per second angular change? | ||
| 1251 | Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); | ||
| 1252 | Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); | ||
| 1253 | |||
| 1254 | // ================================================================== | ||
| 1255 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : | ||
| 1256 | // This flag prevents linear deflection parallel to world z-axis. This is useful | ||
| 1257 | // for preventing ground vehicles with large linear deflection, like bumper cars, | ||
| 1258 | // from climbing their linear deflection into the sky. | ||
| 1259 | // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement | ||
| 1260 | // TODO: This is here because this is where ODE put it but documentation says it | ||
| 1261 | // is a linear effect. Where should this check go? | ||
| 1262 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) | ||
| 1263 | { | ||
| 1264 | angularMotorContributionV.X = 0f; | ||
| 1265 | angularMotorContributionV.Y = 0f; | ||
| 1266 | } | ||
| 1267 | |||
| 1268 | VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; | ||
| 1269 | VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); | ||
| 1270 | } | ||
| 1271 | |||
| 1294 | // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: | 1272 | // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: |
| 1295 | // Some vehicles, like boats, should always keep their up-side up. This can be done by | 1273 | // Some vehicles, like boats, should always keep their up-side up. This can be done by |
| 1296 | // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to | 1274 | // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to |
| @@ -1299,13 +1277,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1299 | // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An | 1277 | // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An |
| 1300 | // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an | 1278 | // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an |
| 1301 | // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. | 1279 | // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. |
| 1302 | public Vector3 ComputeAngularVerticalAttraction() | 1280 | public void ComputeAngularVerticalAttraction() |
| 1303 | { | 1281 | { |
| 1304 | Vector3 ret = Vector3.Zero; | ||
| 1305 | |||
| 1306 | // If vertical attaction timescale is reasonable | 1282 | // If vertical attaction timescale is reasonable |
| 1307 | if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) | 1283 | if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) |
| 1308 | { | 1284 | { |
| 1285 | Vector3 vertContributionV = Vector3.Zero; | ||
| 1286 | |||
| 1309 | // Take a vector pointing up and convert it from world to vehicle relative coords. | 1287 | // Take a vector pointing up and convert it from world to vehicle relative coords. |
| 1310 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | 1288 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; |
| 1311 | 1289 | ||
| @@ -1319,37 +1297,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1319 | 1297 | ||
| 1320 | // Y error means needed rotation around X axis and visa versa. | 1298 | // Y error means needed rotation around X axis and visa versa. |
| 1321 | // Since the error goes from zero to one, the asin is the corresponding angle. | 1299 | // Since the error goes from zero to one, the asin is the corresponding angle. |
| 1322 | ret.X = (float)Math.Asin(verticalError.Y); | 1300 | vertContributionV.X = (float)Math.Asin(verticalError.Y); |
| 1323 | // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) | 1301 | // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) |
| 1324 | ret.Y = -(float)Math.Asin(verticalError.X); | 1302 | vertContributionV.Y = -(float)Math.Asin(verticalError.X); |
| 1325 | 1303 | ||
| 1326 | // If verticalError.Z is negative, the vehicle is upside down. Add additional push. | 1304 | // If verticalError.Z is negative, the vehicle is upside down. Add additional push. |
| 1327 | if (verticalError.Z < 0f) | 1305 | if (verticalError.Z < 0f) |
| 1328 | { | 1306 | { |
| 1329 | ret.X += PIOverFour; | 1307 | vertContributionV.X += PIOverFour; |
| 1330 | ret.Y += PIOverFour; | 1308 | // vertContribution.Y -= PIOverFour; |
| 1331 | } | 1309 | } |
| 1332 | 1310 | ||
| 1333 | // 'ret' is now the necessary velocity to correct tilt in one second. | 1311 | // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. |
| 1334 | // Correction happens over a number of seconds. | 1312 | // Correction happens over a number of seconds. |
| 1335 | Vector3 unscaledContrib = ret; | 1313 | Vector3 unscaledContrib = vertContributionV; // DEBUG DEBUG |
| 1336 | ret /= m_verticalAttractionTimescale; | 1314 | vertContributionV /= m_verticalAttractionTimescale; |
| 1315 | |||
| 1316 | VehicleRotationalVelocity += vertContributionV * VehicleOrientation; | ||
| 1337 | 1317 | ||
| 1338 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", | 1318 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", |
| 1339 | Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret); | 1319 | Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); |
| 1340 | } | 1320 | } |
| 1341 | return ret; | ||
| 1342 | } | 1321 | } |
| 1343 | 1322 | ||
| 1344 | // Return the angular correction to correct the direction the vehicle is pointing to be | 1323 | // Angular correction to correct the direction the vehicle is pointing to be |
| 1345 | // the direction is should want to be pointing. | 1324 | // the direction is should want to be pointing. |
| 1346 | // The vehicle is moving in some direction and correct its orientation to it is pointing | 1325 | // The vehicle is moving in some direction and correct its orientation to it is pointing |
| 1347 | // in that direction. | 1326 | // in that direction. |
| 1348 | // TODO: implement reference frame. | 1327 | // TODO: implement reference frame. |
| 1349 | public Vector3 ComputeAngularDeflection() | 1328 | public void ComputeAngularDeflection() |
| 1350 | { | 1329 | { |
| 1351 | Vector3 ret = Vector3.Zero; | ||
| 1352 | |||
| 1353 | // Since angularMotorUp and angularDeflection are computed independently, they will calculate | 1330 | // Since angularMotorUp and angularDeflection are computed independently, they will calculate |
| 1354 | // approximately the same X or Y correction. When added together (when contributions are combined) | 1331 | // approximately the same X or Y correction. When added together (when contributions are combined) |
| 1355 | // this creates an over-correction and then wabbling as the target is overshot. | 1332 | // this creates an over-correction and then wabbling as the target is overshot. |
| @@ -1357,6 +1334,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1357 | 1334 | ||
| 1358 | if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) | 1335 | if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) |
| 1359 | { | 1336 | { |
| 1337 | Vector3 deflectContributionV = Vector3.Zero; | ||
| 1338 | |||
| 1360 | // The direction the vehicle is moving | 1339 | // The direction the vehicle is moving |
| 1361 | Vector3 movingDirection = VehicleVelocity; | 1340 | Vector3 movingDirection = VehicleVelocity; |
| 1362 | movingDirection.Normalize(); | 1341 | movingDirection.Normalize(); |
| @@ -1382,18 +1361,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1382 | // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); | 1361 | // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); |
| 1383 | 1362 | ||
| 1384 | // Scale the correction by recovery timescale and efficiency | 1363 | // Scale the correction by recovery timescale and efficiency |
| 1385 | ret = (-deflectionError) * m_angularDeflectionEfficiency; | 1364 | deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; |
| 1386 | ret /= m_angularDeflectionTimescale; | 1365 | deflectContributionV /= m_angularDeflectionTimescale; |
| 1366 | |||
| 1367 | VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; | ||
| 1387 | 1368 | ||
| 1388 | VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", | 1369 | VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", |
| 1389 | Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); | 1370 | Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); |
| 1390 | VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", | 1371 | VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", |
| 1391 | Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); | 1372 | Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); |
| 1392 | } | 1373 | } |
| 1393 | return ret; | ||
| 1394 | } | 1374 | } |
| 1395 | 1375 | ||
| 1396 | // Return an angular change to rotate the vehicle around the Z axis when the vehicle | 1376 | // Angular change to rotate the vehicle around the Z axis when the vehicle |
| 1397 | // is tipped around the X axis. | 1377 | // is tipped around the X axis. |
| 1398 | // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: | 1378 | // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: |
| 1399 | // The vertical attractor feature must be enabled in order for the banking behavior to | 1379 | // The vertical attractor feature must be enabled in order for the banking behavior to |
| @@ -1424,12 +1404,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1424 | // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to | 1404 | // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to |
| 1425 | // bank quickly then give it a banking timescale of about a second or less, otherwise you can | 1405 | // bank quickly then give it a banking timescale of about a second or less, otherwise you can |
| 1426 | // make a sluggish vehicle by giving it a timescale of several seconds. | 1406 | // make a sluggish vehicle by giving it a timescale of several seconds. |
| 1427 | public Vector3 ComputeAngularBanking() | 1407 | public void ComputeAngularBanking() |
| 1428 | { | 1408 | { |
| 1429 | Vector3 ret = Vector3.Zero; | ||
| 1430 | |||
| 1431 | if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) | 1409 | if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) |
| 1432 | { | 1410 | { |
| 1411 | Vector3 bankingContributionV = Vector3.Zero; | ||
| 1412 | |||
| 1433 | // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. | 1413 | // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. |
| 1434 | // As the vehicle rolls to the right or left, the Y value will increase from | 1414 | // As the vehicle rolls to the right or left, the Y value will increase from |
| 1435 | // zero (straight up) to 1 or -1 (full tilt right or left) | 1415 | // zero (straight up) to 1 or -1 (full tilt right or left) |
| @@ -1446,15 +1426,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 1446 | mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); | 1426 | mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); |
| 1447 | 1427 | ||
| 1448 | // Build the force vector to change rotation from what it is to what it should be | 1428 | // Build the force vector to change rotation from what it is to what it should be |
| 1449 | ret.Z = -mixedYawAngle; | 1429 | bankingContributionV.Z = -mixedYawAngle; |
| 1450 | 1430 | ||
| 1451 | // Don't do it all at once. | 1431 | // Don't do it all at once. |
| 1452 | ret /= m_bankingTimescale; | 1432 | bankingContributionV /= m_bankingTimescale; |
| 1433 | |||
| 1434 | VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; | ||
| 1453 | 1435 | ||
| 1454 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", | 1436 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", |
| 1455 | Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret); | 1437 | Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); |
| 1456 | } | 1438 | } |
| 1457 | return ret; | ||
| 1458 | } | 1439 | } |
| 1459 | 1440 | ||
| 1460 | // This is from previous instantiations of XXXDynamics.cs. | 1441 | // This is from previous instantiations of XXXDynamics.cs. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index cbd160f..1e3e5d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
| @@ -252,7 +252,7 @@ public abstract class BSLinkset | |||
| 252 | // of the linkset is received. | 252 | // of the linkset is received. |
| 253 | // Passed flag is update came from physics engine (true) or the user (false). | 253 | // Passed flag is update came from physics engine (true) or the user (false). |
| 254 | // Called at taint-time!! | 254 | // Called at taint-time!! |
| 255 | public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate); | 255 | public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject); |
| 256 | 256 | ||
| 257 | // Routine used when rebuilding the body of the root of the linkset | 257 | // Routine used when rebuilding the body of the root of the linkset |
| 258 | // Destroy all the constraints have have been made to root. | 258 | // Destroy all the constraints have have been made to root. |
| @@ -261,11 +261,6 @@ public abstract class BSLinkset | |||
| 261 | // Called at taint-time!! | 261 | // Called at taint-time!! |
| 262 | public abstract bool RemoveBodyDependencies(BSPrim child); | 262 | public abstract bool RemoveBodyDependencies(BSPrim child); |
| 263 | 263 | ||
| 264 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
| 265 | // this routine will restore the removed constraints. | ||
| 266 | // Called at taint-time!! | ||
| 267 | public abstract void RestoreBodyDependencies(BSPrim child); | ||
| 268 | |||
| 269 | // ================================================================ | 264 | // ================================================================ |
| 270 | protected virtual float ComputeLinksetMass() | 265 | protected virtual float ComputeLinksetMass() |
| 271 | { | 266 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 8c9a774..2c8dd23 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
| @@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo | |||
| 51 | OffsetFromCenterOfMass = p; | 51 | OffsetFromCenterOfMass = p; |
| 52 | OffsetRot = r; | 52 | OffsetRot = r; |
| 53 | } | 53 | } |
| 54 | // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) | ||
| 55 | public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement) | ||
| 56 | { | ||
| 57 | // Each child position and rotation is given relative to the center-of-mass. | ||
| 58 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); | ||
| 59 | OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; | ||
| 60 | OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; | ||
| 61 | OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; | ||
| 62 | |||
| 63 | // Save relative position for recomputing child's world position after moving linkset. | ||
| 64 | Index = indx; | ||
| 65 | OffsetFromRoot = displacementFromRoot; | ||
| 66 | OffsetFromCenterOfMass = displacementFromCOM; | ||
| 67 | OffsetRot = displacementRot; | ||
| 68 | } | ||
| 54 | public override void Clear() | 69 | public override void Clear() |
| 55 | { | 70 | { |
| 56 | Index = 0; | 71 | Index = 0; |
| @@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset | |||
| 182 | 197 | ||
| 183 | // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. | 198 | // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. |
| 184 | // Called at taint-time. | 199 | // Called at taint-time. |
| 185 | public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) | 200 | public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated) |
| 186 | { | 201 | { |
| 187 | // The user moving a child around requires the rebuilding of the linkset compound shape | 202 | // The user moving a child around requires the rebuilding of the linkset compound shape |
| 188 | // One problem is this happens when a border is crossed -- the simulator implementation | 203 | // One problem is this happens when a border is crossed -- the simulator implementation |
| 189 | // is to store the position into the group which causes the move of the object | 204 | // stores the position into the group which causes the move of the object |
| 190 | // but it also means all the child positions get updated. | 205 | // but it also means all the child positions get updated. |
| 191 | // What would cause an unnecessary rebuild so we make sure the linkset is in a | 206 | // What would cause an unnecessary rebuild so we make sure the linkset is in a |
| 192 | // region before bothering to do a rebuild. | 207 | // region before bothering to do a rebuild. |
| 193 | if (!IsRoot(updated) | 208 | if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) |
| 194 | && !physicalUpdate | ||
| 195 | && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) | ||
| 196 | { | 209 | { |
| 197 | // TODO: replace this with are calculation of the child prim's orientation and pos. | 210 | // If a child of the linkset is updating only the position or rotation, that can be done |
| 198 | // TODO: for the moment, don't rebuild the compound shape. | 211 | // without rebuilding the linkset. |
| 199 | // This is often just the car turning its wheels. When we can just reorient the one | 212 | // If a handle for the child can be fetch, we update the child here. If a rebuild was |
| 200 | // member shape of the compound shape, the overhead of rebuilding won't be a problem. | 213 | // scheduled by someone else, the rebuild will just replace this setting. |
| 201 | // updated.LinksetInfo = null; | 214 | |
| 202 | // ScheduleRebuild(updated); | 215 | bool updatedChild = false; |
| 216 | // Anything other than updating position or orientation usually means a physical update | ||
| 217 | // and that is caused by us updating the object. | ||
| 218 | if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) | ||
| 219 | { | ||
| 220 | // Gather the child info. It might not be there if the linkset is in transition. | ||
| 221 | BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; | ||
| 222 | if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null) | ||
| 223 | { | ||
| 224 | if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) | ||
| 225 | { | ||
| 226 | BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); | ||
| 227 | if (linksetChildShape.HasPhysicalShape) | ||
| 228 | { | ||
| 229 | // Compute the offset from the center-of-gravity | ||
| 230 | BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); | ||
| 231 | PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, | ||
| 232 | newLsi.OffsetFromCenterOfMass, | ||
| 233 | newLsi.OffsetRot, | ||
| 234 | true /* shouldRecalculateLocalAabb */); | ||
| 235 | DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}", | ||
| 236 | updated.LocalID, whichUpdated, newLsi); | ||
| 237 | updated.LinksetInfo = newLsi; | ||
| 238 | updatedChild = true; | ||
| 239 | } | ||
| 240 | else // DEBUG DEBUG | ||
| 241 | { // DEBUG DEBUG | ||
| 242 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", | ||
| 243 | updated.LocalID, linksetChildShape); | ||
| 244 | } // DEBUG DEBUG | ||
| 245 | } | ||
| 246 | else // DEBUG DEBUG | ||
| 247 | { // DEBUG DEBUG | ||
| 248 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID); | ||
| 249 | } // DEBUG DEBUG | ||
| 250 | } | ||
| 251 | else // DEBUG DEBUG | ||
| 252 | { // DEBUG DEBUG | ||
| 253 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}", | ||
| 254 | updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString()); | ||
| 255 | } // DEBUG DEBUG | ||
| 256 | if (!updatedChild) | ||
| 257 | { | ||
| 258 | // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. | ||
| 259 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", | ||
| 260 | updated.LocalID, whichUpdated); | ||
| 261 | updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed. | ||
| 262 | ScheduleRebuild(updated); | ||
| 263 | } | ||
| 264 | } | ||
| 203 | } | 265 | } |
| 204 | } | 266 | } |
| 205 | 267 | ||
| @@ -228,13 +290,6 @@ public sealed class BSLinksetCompound : BSLinkset | |||
| 228 | return ret; | 290 | return ret; |
| 229 | } | 291 | } |
| 230 | 292 | ||
| 231 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
| 232 | // this routine will restore the removed constraints. | ||
| 233 | // Called at taint-time!! | ||
| 234 | public override void RestoreBodyDependencies(BSPrim child) | ||
| 235 | { | ||
| 236 | } | ||
| 237 | |||
| 238 | // When the linkset is built, the child shape is added to the compound shape relative to the | 293 | // When the linkset is built, the child shape is added to the compound shape relative to the |
| 239 | // root shape. The linkset then moves around but this does not move the actual child | 294 | // root shape. The linkset then moves around but this does not move the actual child |
| 240 | // prim. The child prim's location must be recomputed based on the location of the root shape. | 295 | // prim. The child prim's location must be recomputed based on the location of the root shape. |
| @@ -322,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
| 322 | // Constraint linksets are rebuilt every time. | 377 | // Constraint linksets are rebuilt every time. |
| 323 | // Note that this works for rebuilding just the root after a linkset is taken apart. | 378 | // Note that this works for rebuilding just the root after a linkset is taken apart. |
| 324 | // Called at taint time!! | 379 | // Called at taint time!! |
| 325 | private bool disableCOM = true; // disable until we get this debugged | 380 | private bool disableCOM = false; // disable until we get this debugged |
| 326 | private void RecomputeLinksetCompound() | 381 | private void RecomputeLinksetCompound() |
| 327 | { | 382 | { |
| 328 | try | 383 | try |
| @@ -345,12 +400,16 @@ public sealed class BSLinksetCompound : BSLinkset | |||
| 345 | } // DEBUG DEBUG | 400 | } // DEBUG DEBUG |
| 346 | else | 401 | else |
| 347 | { | 402 | { |
| 348 | centerOfMass = ComputeLinksetGeometricCenter(); | 403 | centerOfMass = ComputeLinksetCenterOfMass(); |
| 349 | centerDisplacement = centerOfMass - LinksetRoot.RawPosition; | 404 | // 'centerDisplacement' is the value to *add* to all the shape offsets |
| 405 | centerDisplacement = LinksetRoot.RawPosition - centerOfMass; | ||
| 350 | 406 | ||
| 351 | // Since we're displacing the center of the shape, we need to move the body in the world | 407 | // Since we're displacing the center of the shape, we need to move the body in the world |
| 352 | LinksetRoot.PositionDisplacement = centerDisplacement; | 408 | LinksetRoot.PositionDisplacement = centerDisplacement; |
| 353 | 409 | ||
| 410 | // This causes the root prim position to be set properly based on the new PositionDisplacement | ||
| 411 | LinksetRoot.ForcePosition = LinksetRoot.RawPosition; | ||
| 412 | // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM | ||
| 354 | PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); | 413 | PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); |
| 355 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", | 414 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", |
| 356 | LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); | 415 | LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); |
| @@ -372,15 +431,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
| 372 | BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; | 431 | BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; |
| 373 | if (lci == null) | 432 | if (lci == null) |
| 374 | { | 433 | { |
| 375 | // Each child position and rotation is given relative to the center-of-mass. | 434 | lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement); |
| 376 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); | ||
| 377 | OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; | ||
| 378 | OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; | ||
| 379 | OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; | ||
| 380 | |||
| 381 | // Save relative position for recomputing child's world position after moving linkset. | ||
| 382 | lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot); | ||
| 383 | lci.OffsetFromRoot = displacementFromRoot; | ||
| 384 | cPrim.LinksetInfo = lci; | 435 | cPrim.LinksetInfo = lci; |
| 385 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); | 436 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); |
| 386 | } | 437 | } |
| @@ -390,7 +441,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
| 390 | 441 | ||
| 391 | if (cPrim.PhysShape.isNativeShape) | 442 | if (cPrim.PhysShape.isNativeShape) |
| 392 | { | 443 | { |
| 393 | // A native shape is turning into a hull collision shape because native | 444 | // A native shape is turned into a hull collision shape because native |
| 394 | // shapes are not shared so we have to hullify it so it will be tracked | 445 | // shapes are not shared so we have to hullify it so it will be tracked |
| 395 | // and freed at the correct time. This also solves the scaling problem | 446 | // and freed at the correct time. This also solves the scaling problem |
| 396 | // (native shapes scaled but hull/meshes are assumed to not be). | 447 | // (native shapes scaled but hull/meshes are assumed to not be). |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d0b2a56..3011465 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |||
| @@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
| 83 | } | 83 | } |
| 84 | 84 | ||
| 85 | // Called at taint-time!! | 85 | // Called at taint-time!! |
| 86 | public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) | 86 | public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj) |
| 87 | { | 87 | { |
| 88 | // Nothing to do for constraints on property updates | 88 | // Nothing to do for constraints on property updates |
| 89 | } | 89 | } |
| @@ -110,14 +110,6 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
| 110 | return ret; | 110 | return ret; |
| 111 | } | 111 | } |
| 112 | 112 | ||
| 113 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
| 114 | // this routine will restore the removed constraints. | ||
| 115 | // Called at taint-time!! | ||
| 116 | public override void RestoreBodyDependencies(BSPrim child) | ||
| 117 | { | ||
| 118 | // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. | ||
| 119 | } | ||
| 120 | |||
| 121 | // ================================================================ | 113 | // ================================================================ |
| 122 | 114 | ||
| 123 | // Add a new child to the linkset. | 115 | // Add a new child to the linkset. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 6d0db2e..9501e2d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | |||
| @@ -138,7 +138,8 @@ public class BSVMotor : BSMotor | |||
| 138 | CurrentValue = TargetValue = Vector3.Zero; | 138 | CurrentValue = TargetValue = Vector3.Zero; |
| 139 | } | 139 | } |
| 140 | 140 | ||
| 141 | // Compute the next step and return the new current value | 141 | // Compute the next step and return the new current value. |
| 142 | // Returns the correction needed to move 'current' to 'target'. | ||
| 142 | public virtual Vector3 Step(float timeStep) | 143 | public virtual Vector3 Step(float timeStep) |
| 143 | { | 144 | { |
| 144 | if (!Enabled) return TargetValue; | 145 | if (!Enabled) return TargetValue; |
| @@ -148,9 +149,10 @@ public class BSVMotor : BSMotor | |||
| 148 | 149 | ||
| 149 | Vector3 correction = Vector3.Zero; | 150 | Vector3 correction = Vector3.Zero; |
| 150 | Vector3 error = TargetValue - CurrentValue; | 151 | Vector3 error = TargetValue - CurrentValue; |
| 152 | LastError = error; | ||
| 151 | if (!ErrorIsZero(error)) | 153 | if (!ErrorIsZero(error)) |
| 152 | { | 154 | { |
| 153 | correction = Step(timeStep, error); | 155 | correction = StepError(timeStep, error); |
| 154 | 156 | ||
| 155 | CurrentValue += correction; | 157 | CurrentValue += correction; |
| 156 | 158 | ||
| @@ -187,20 +189,31 @@ public class BSVMotor : BSMotor | |||
| 187 | else | 189 | else |
| 188 | { | 190 | { |
| 189 | // Difference between what we have and target is small. Motor is done. | 191 | // Difference between what we have and target is small. Motor is done. |
| 192 | if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) | ||
| 193 | { | ||
| 194 | // The target can step down to nearly zero but not get there. If close to zero | ||
| 195 | // it is really zero. | ||
| 196 | TargetValue = Vector3.Zero; | ||
| 197 | } | ||
| 190 | CurrentValue = TargetValue; | 198 | CurrentValue = TargetValue; |
| 191 | MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", | 199 | MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}", |
| 192 | BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); | 200 | BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue); |
| 193 | } | 201 | } |
| 194 | 202 | ||
| 195 | return CurrentValue; | 203 | return correction; |
| 204 | } | ||
| 205 | // version of step that sets the current value before doing the step | ||
| 206 | public virtual Vector3 Step(float timeStep, Vector3 current) | ||
| 207 | { | ||
| 208 | CurrentValue = current; | ||
| 209 | return Step(timeStep); | ||
| 196 | } | 210 | } |
| 197 | public virtual Vector3 Step(float timeStep, Vector3 error) | 211 | public virtual Vector3 StepError(float timeStep, Vector3 error) |
| 198 | { | 212 | { |
| 199 | if (!Enabled) return Vector3.Zero; | 213 | if (!Enabled) return Vector3.Zero; |
| 200 | 214 | ||
| 201 | LastError = error; | ||
| 202 | Vector3 returnCorrection = Vector3.Zero; | 215 | Vector3 returnCorrection = Vector3.Zero; |
| 203 | if (!ErrorIsZero()) | 216 | if (!ErrorIsZero(error)) |
| 204 | { | 217 | { |
| 205 | // correction = error / secondsItShouldTakeToCorrect | 218 | // correction = error / secondsItShouldTakeToCorrect |
| 206 | Vector3 correctionAmount; | 219 | Vector3 correctionAmount; |
| @@ -302,9 +315,10 @@ public class BSFMotor : BSMotor | |||
| 302 | 315 | ||
| 303 | float correction = 0f; | 316 | float correction = 0f; |
| 304 | float error = TargetValue - CurrentValue; | 317 | float error = TargetValue - CurrentValue; |
| 318 | LastError = error; | ||
| 305 | if (!ErrorIsZero(error)) | 319 | if (!ErrorIsZero(error)) |
| 306 | { | 320 | { |
| 307 | correction = Step(timeStep, error); | 321 | correction = StepError(timeStep, error); |
| 308 | 322 | ||
| 309 | CurrentValue += correction; | 323 | CurrentValue += correction; |
| 310 | 324 | ||
| @@ -339,6 +353,12 @@ public class BSFMotor : BSMotor | |||
| 339 | else | 353 | else |
| 340 | { | 354 | { |
| 341 | // Difference between what we have and target is small. Motor is done. | 355 | // Difference between what we have and target is small. Motor is done. |
| 356 | if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold)) | ||
| 357 | { | ||
| 358 | // The target can step down to nearly zero but not get there. If close to zero | ||
| 359 | // it is really zero. | ||
| 360 | TargetValue = 0f; | ||
| 361 | } | ||
| 342 | CurrentValue = TargetValue; | 362 | CurrentValue = TargetValue; |
| 343 | MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", | 363 | MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", |
| 344 | BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); | 364 | BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); |
| @@ -347,13 +367,12 @@ public class BSFMotor : BSMotor | |||
| 347 | return CurrentValue; | 367 | return CurrentValue; |
| 348 | } | 368 | } |
| 349 | 369 | ||
| 350 | public virtual float Step(float timeStep, float error) | 370 | public virtual float StepError(float timeStep, float error) |
| 351 | { | 371 | { |
| 352 | if (!Enabled) return 0f; | 372 | if (!Enabled) return 0f; |
| 353 | 373 | ||
| 354 | LastError = error; | ||
| 355 | float returnCorrection = 0f; | 374 | float returnCorrection = 0f; |
| 356 | if (!ErrorIsZero()) | 375 | if (!ErrorIsZero(error)) |
| 357 | { | 376 | { |
| 358 | // correction = error / secondsItShouldTakeToCorrect | 377 | // correction = error / secondsItShouldTakeToCorrect |
| 359 | float correctionAmount; | 378 | float correctionAmount; |
| @@ -440,8 +459,8 @@ public class BSPIDVMotor : BSVMotor | |||
| 440 | } | 459 | } |
| 441 | } | 460 | } |
| 442 | 461 | ||
| 443 | // Ignore Current and Target Values and just advance the PID computation on this error. | 462 | // Advance the PID computation on this error. |
| 444 | public override Vector3 Step(float timeStep, Vector3 error) | 463 | public override Vector3 StepError(float timeStep, Vector3 error) |
| 445 | { | 464 | { |
| 446 | if (!Enabled) return Vector3.Zero; | 465 | if (!Enabled) return Vector3.Zero; |
| 447 | 466 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 3e80aa4..9460daf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | |||
| @@ -45,6 +45,9 @@ public static class BSParam | |||
| 45 | 45 | ||
| 46 | public static float MinimumObjectMass { get; private set; } | 46 | public static float MinimumObjectMass { get; private set; } |
| 47 | public static float MaximumObjectMass { get; private set; } | 47 | public static float MaximumObjectMass { get; private set; } |
| 48 | public static float MaxLinearVelocity { get; private set; } | ||
| 49 | public static float MaxAngularVelocity { get; private set; } | ||
| 50 | public static float MaxAddForceMagnitude { get; private set; } | ||
| 48 | 51 | ||
| 49 | public static float LinearDamping { get; private set; } | 52 | public static float LinearDamping { get; private set; } |
| 50 | public static float AngularDamping { get; private set; } | 53 | public static float AngularDamping { get; private set; } |
| @@ -79,6 +82,8 @@ public static class BSParam | |||
| 79 | public static float AvatarStepApproachFactor { get; private set; } | 82 | public static float AvatarStepApproachFactor { get; private set; } |
| 80 | public static float AvatarStepForceFactor { get; private set; } | 83 | public static float AvatarStepForceFactor { get; private set; } |
| 81 | 84 | ||
| 85 | public static float VehicleMaxLinearVelocity { get; private set; } | ||
| 86 | public static float VehicleMaxAngularVelocity { get; private set; } | ||
| 82 | public static float VehicleAngularDamping { get; private set; } | 87 | public static float VehicleAngularDamping { get; private set; } |
| 83 | public static float VehicleDebuggingEnabled { get; private set; } | 88 | public static float VehicleDebuggingEnabled { get; private set; } |
| 84 | 89 | ||
| @@ -103,7 +108,6 @@ public static class BSParam | |||
| 103 | public const float MaxDensity = 22587f; | 108 | public const float MaxDensity = 22587f; |
| 104 | public const float MinRestitution = 0f; | 109 | public const float MinRestitution = 0f; |
| 105 | public const float MaxRestitution = 1f; | 110 | public const float MaxRestitution = 1f; |
| 106 | public const float MaxAddForceMagnitude = 20f; | ||
| 107 | 111 | ||
| 108 | // =========================================================================== | 112 | // =========================================================================== |
| 109 | public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); | 113 | public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); |
| @@ -232,11 +236,7 @@ public static class BSParam | |||
| 232 | (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, | 236 | (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, |
| 233 | (s) => { return (float)s.m_maxUpdatesPerFrame; }, | 237 | (s) => { return (float)s.m_maxUpdatesPerFrame; }, |
| 234 | (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), | 238 | (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), |
| 235 | new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", | 239 | |
| 236 | 500f, | ||
| 237 | (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, | ||
| 238 | (s) => { return (float)s.m_taintsToProcessPerStep; }, | ||
| 239 | (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), | ||
| 240 | new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", | 240 | new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", |
| 241 | 0.0001f, | 241 | 0.0001f, |
| 242 | (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, | 242 | (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, |
| @@ -247,6 +247,22 @@ public static class BSParam | |||
| 247 | (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, | 247 | (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, |
| 248 | (s) => { return (float)MaximumObjectMass; }, | 248 | (s) => { return (float)MaximumObjectMass; }, |
| 249 | (s,p,l,v) => { MaximumObjectMass = v; } ), | 249 | (s,p,l,v) => { MaximumObjectMass = v; } ), |
| 250 | new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", | ||
| 251 | 1000.0f, | ||
| 252 | (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); }, | ||
| 253 | (s) => { return (float)MaxLinearVelocity; }, | ||
| 254 | (s,p,l,v) => { MaxLinearVelocity = v; } ), | ||
| 255 | new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", | ||
| 256 | 1000.0f, | ||
| 257 | (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, | ||
| 258 | (s) => { return (float)MaxAngularVelocity; }, | ||
| 259 | (s,p,l,v) => { MaxAngularVelocity = v; } ), | ||
| 260 | // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject | ||
| 261 | new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", | ||
| 262 | 20000.0f, | ||
| 263 | (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, | ||
| 264 | (s) => { return (float)MaxAddForceMagnitude; }, | ||
| 265 | (s,p,l,v) => { MaxAddForceMagnitude = v; } ), | ||
| 250 | 266 | ||
| 251 | new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", | 267 | new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", |
| 252 | 2200f, | 268 | 2200f, |
| @@ -423,8 +439,18 @@ public static class BSParam | |||
| 423 | (s) => { return AvatarStepForceFactor; }, | 439 | (s) => { return AvatarStepForceFactor; }, |
| 424 | (s,p,l,v) => { AvatarStepForceFactor = v; } ), | 440 | (s,p,l,v) => { AvatarStepForceFactor = v; } ), |
| 425 | 441 | ||
| 442 | new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", | ||
| 443 | 1000.0f, | ||
| 444 | (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); }, | ||
| 445 | (s) => { return (float)VehicleMaxLinearVelocity; }, | ||
| 446 | (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ), | ||
| 447 | new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", | ||
| 448 | 12.0f, | ||
| 449 | (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); }, | ||
| 450 | (s) => { return (float)VehicleMaxAngularVelocity; }, | ||
| 451 | (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), | ||
| 426 | new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", | 452 | new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", |
| 427 | 0.95f, | 453 | 0.0f, |
| 428 | (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, | 454 | (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, |
| 429 | (s) => { return VehicleAngularDamping; }, | 455 | (s) => { return VehicleAngularDamping; }, |
| 430 | (s,p,l,v) => { VehicleAngularDamping = v; } ), | 456 | (s,p,l,v) => { VehicleAngularDamping = v; } ), |
| @@ -619,11 +645,8 @@ public static class BSParam | |||
| 619 | entries.Add(new PhysParameterEntry(pd.name, pd.desc)); | 645 | entries.Add(new PhysParameterEntry(pd.name, pd.desc)); |
| 620 | } | 646 | } |
| 621 | 647 | ||
| 622 | // make the list in alphabetical order for estetic reasons | 648 | // make the list alphabetical for estetic reasons |
| 623 | entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) | 649 | entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); }); |
| 624 | { | ||
| 625 | return ppe1.name.CompareTo(ppe2.name); | ||
| 626 | }); | ||
| 627 | 650 | ||
| 628 | SettableParameters = entries.ToArray(); | 651 | SettableParameters = entries.ToArray(); |
| 629 | } | 652 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 5353c75..027c786 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
| @@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
| 55 | * BS.ApplyCentralForce BS.ApplyTorque | 55 | * BS.ApplyCentralForce BS.ApplyTorque |
| 56 | */ | 56 | */ |
| 57 | 57 | ||
| 58 | // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. | ||
| 59 | public enum UpdatedProperties : uint | ||
| 60 | { | ||
| 61 | Position = 1 << 0, | ||
| 62 | Orientation = 1 << 1, | ||
| 63 | Velocity = 1 << 2, | ||
| 64 | Acceleration = 1 << 3, | ||
| 65 | RotationalVelocity = 1 << 4, | ||
| 66 | EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity, | ||
| 67 | } | ||
| 58 | public abstract class BSPhysObject : PhysicsActor | 68 | public abstract class BSPhysObject : PhysicsActor |
| 59 | { | 69 | { |
| 60 | protected BSPhysObject() | 70 | protected BSPhysObject() |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index aaa6fe5..f80084a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
| @@ -311,16 +311,18 @@ public sealed class BSPrim : BSPhysObject | |||
| 311 | _position = value; | 311 | _position = value; |
| 312 | PositionSanityCheck(false); | 312 | PositionSanityCheck(false); |
| 313 | 313 | ||
| 314 | // A linkset might need to know if a component information changed. | ||
| 315 | Linkset.UpdateProperties(this, false); | ||
| 316 | |||
| 317 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() | 314 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() |
| 318 | { | 315 | { |
| 319 | DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 316 | DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
| 320 | ForcePosition = _position; | 317 | ForcePosition = _position; |
| 318 | |||
| 319 | // A linkset might need to know if a component information changed. | ||
| 320 | Linkset.UpdateProperties(UpdatedProperties.Position, this); | ||
| 321 | |||
| 321 | }); | 322 | }); |
| 322 | } | 323 | } |
| 323 | } | 324 | } |
| 325 | |||
| 324 | public override OMV.Vector3 ForcePosition { | 326 | public override OMV.Vector3 ForcePosition { |
| 325 | get { | 327 | get { |
| 326 | _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; | 328 | _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; |
| @@ -335,25 +337,6 @@ public sealed class BSPrim : BSPhysObject | |||
| 335 | } | 337 | } |
| 336 | } | 338 | } |
| 337 | } | 339 | } |
| 338 | // Override to have position displacement immediately update the physical position. | ||
| 339 | // A feeble attempt to keep the sim and physical positions in sync | ||
| 340 | // Must be called at taint time. | ||
| 341 | public override OMV.Vector3 PositionDisplacement | ||
| 342 | { | ||
| 343 | get | ||
| 344 | { | ||
| 345 | return base.PositionDisplacement; | ||
| 346 | } | ||
| 347 | set | ||
| 348 | { | ||
| 349 | base.PositionDisplacement = value; | ||
| 350 | PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate() | ||
| 351 | { | ||
| 352 | if (PhysBody.HasPhysicalBody) | ||
| 353 | PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation); | ||
| 354 | }); | ||
| 355 | } | ||
| 356 | } | ||
| 357 | 340 | ||
| 358 | // Check that the current position is sane and, if not, modify the position to make it so. | 341 | // Check that the current position is sane and, if not, modify the position to make it so. |
| 359 | // Check for being below terrain and being out of bounds. | 342 | // Check for being below terrain and being out of bounds. |
| @@ -370,11 +353,11 @@ public sealed class BSPrim : BSPhysObject | |||
| 370 | return ret; | 353 | return ret; |
| 371 | } | 354 | } |
| 372 | 355 | ||
| 373 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | 356 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); |
| 374 | OMV.Vector3 upForce = OMV.Vector3.Zero; | 357 | OMV.Vector3 upForce = OMV.Vector3.Zero; |
| 375 | if (RawPosition.Z < terrainHeight) | 358 | if (RawPosition.Z < terrainHeight) |
| 376 | { | 359 | { |
| 377 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | 360 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); |
| 378 | float targetHeight = terrainHeight + (Size.Z / 2f); | 361 | float targetHeight = terrainHeight + (Size.Z / 2f); |
| 379 | // If the object is below ground it just has to be moved up because pushing will | 362 | // If the object is below ground it just has to be moved up because pushing will |
| 380 | // not get it through the terrain | 363 | // not get it through the terrain |
| @@ -682,12 +665,13 @@ public sealed class BSPrim : BSPhysObject | |||
| 682 | return; | 665 | return; |
| 683 | _orientation = value; | 666 | _orientation = value; |
| 684 | 667 | ||
| 685 | // A linkset might need to know if a component information changed. | ||
| 686 | Linkset.UpdateProperties(this, false); | ||
| 687 | |||
| 688 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() | 668 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() |
| 689 | { | 669 | { |
| 690 | ForceOrientation = _orientation; | 670 | ForceOrientation = _orientation; |
| 671 | |||
| 672 | // A linkset might need to know if a component information changed. | ||
| 673 | Linkset.UpdateProperties(UpdatedProperties.Orientation, this); | ||
| 674 | |||
| 691 | }); | 675 | }); |
| 692 | } | 676 | } |
| 693 | } | 677 | } |
| @@ -989,10 +973,10 @@ public sealed class BSPrim : BSPhysObject | |||
| 989 | } | 973 | } |
| 990 | set { | 974 | set { |
| 991 | _rotationalVelocity = value; | 975 | _rotationalVelocity = value; |
| 976 | Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); | ||
| 992 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); | 977 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); |
| 993 | PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() | 978 | PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() |
| 994 | { | 979 | { |
| 995 | DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | ||
| 996 | ForceRotationalVelocity = _rotationalVelocity; | 980 | ForceRotationalVelocity = _rotationalVelocity; |
| 997 | }); | 981 | }); |
| 998 | } | 982 | } |
| @@ -1005,7 +989,9 @@ public sealed class BSPrim : BSPhysObject | |||
| 1005 | _rotationalVelocity = value; | 989 | _rotationalVelocity = value; |
| 1006 | if (PhysBody.HasPhysicalBody) | 990 | if (PhysBody.HasPhysicalBody) |
| 1007 | { | 991 | { |
| 992 | DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | ||
| 1008 | PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); | 993 | PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); |
| 994 | // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); | ||
| 1009 | ActivateIfPhysical(false); | 995 | ActivateIfPhysical(false); |
| 1010 | } | 996 | } |
| 1011 | } | 997 | } |
| @@ -1082,7 +1068,7 @@ public sealed class BSPrim : BSPhysObject | |||
| 1082 | OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) | 1068 | OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) |
| 1083 | 1069 | ||
| 1084 | // 'movePosition' is where we'd like the prim to be at this moment. | 1070 | // 'movePosition' is where we'd like the prim to be at this moment. |
| 1085 | OMV.Vector3 movePosition = _targetMotor.Step(timeStep); | 1071 | OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep); |
| 1086 | 1072 | ||
| 1087 | // If we are very close to our target, turn off the movement motor. | 1073 | // If we are very close to our target, turn off the movement motor. |
| 1088 | if (_targetMotor.ErrorIsZero()) | 1074 | if (_targetMotor.ErrorIsZero()) |
| @@ -1193,10 +1179,14 @@ public sealed class BSPrim : BSPhysObject | |||
| 1193 | public override float APIDDamping { set { return; } } | 1179 | public override float APIDDamping { set { return; } } |
| 1194 | 1180 | ||
| 1195 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | 1181 | public override void AddForce(OMV.Vector3 force, bool pushforce) { |
| 1182 | // Per documentation, max force is limited. | ||
| 1183 | OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); | ||
| 1184 | |||
| 1196 | // Since this force is being applied in only one step, make this a force per second. | 1185 | // Since this force is being applied in only one step, make this a force per second. |
| 1197 | OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; | 1186 | addForce /= PhysicsScene.LastTimeStep; |
| 1198 | AddForce(addForce, pushforce, false); | 1187 | AddForce(addForce, pushforce, false /* inTaintTime */); |
| 1199 | } | 1188 | } |
| 1189 | |||
| 1200 | // Applying a force just adds this to the total force on the object. | 1190 | // Applying a force just adds this to the total force on the object. |
| 1201 | // This added force will only last the next simulation tick. | 1191 | // This added force will only last the next simulation tick. |
| 1202 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { | 1192 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { |
| @@ -1205,9 +1195,9 @@ public sealed class BSPrim : BSPhysObject | |||
| 1205 | { | 1195 | { |
| 1206 | if (force.IsFinite()) | 1196 | if (force.IsFinite()) |
| 1207 | { | 1197 | { |
| 1208 | OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); | ||
| 1209 | // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); | 1198 | // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); |
| 1210 | 1199 | ||
| 1200 | OMV.Vector3 addForce = force; | ||
| 1211 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() | 1201 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() |
| 1212 | { | 1202 | { |
| 1213 | // Bullet adds this central force to the total force for this tick | 1203 | // Bullet adds this central force to the total force for this tick |
| @@ -1598,11 +1588,6 @@ public sealed class BSPrim : BSPhysObject | |||
| 1598 | // Called at taint-time!!! | 1588 | // Called at taint-time!!! |
| 1599 | public void CreateGeomAndObject(bool forceRebuild) | 1589 | public void CreateGeomAndObject(bool forceRebuild) |
| 1600 | { | 1590 | { |
| 1601 | // If this prim is part of a linkset, we must remove and restore the physical | ||
| 1602 | // links if the body is rebuilt. | ||
| 1603 | bool needToRestoreLinkset = false; | ||
| 1604 | bool needToRestoreVehicle = false; | ||
| 1605 | |||
| 1606 | // Create the correct physical representation for this type of object. | 1591 | // Create the correct physical representation for this type of object. |
| 1607 | // Updates PhysBody and PhysShape with the new information. | 1592 | // Updates PhysBody and PhysShape with the new information. |
| 1608 | // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. | 1593 | // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. |
| @@ -1611,21 +1596,10 @@ public sealed class BSPrim : BSPhysObject | |||
| 1611 | // Called if the current prim body is about to be destroyed. | 1596 | // Called if the current prim body is about to be destroyed. |
| 1612 | // Remove all the physical dependencies on the old body. | 1597 | // Remove all the physical dependencies on the old body. |
| 1613 | // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) | 1598 | // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) |
| 1614 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); | 1599 | Linkset.RemoveBodyDependencies(this); |
| 1615 | needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); | 1600 | _vehicle.RemoveBodyDependencies(this); |
| 1616 | }); | 1601 | }); |
| 1617 | 1602 | ||
| 1618 | if (needToRestoreLinkset) | ||
| 1619 | { | ||
| 1620 | // If physical body dependencies were removed, restore them | ||
| 1621 | Linkset.RestoreBodyDependencies(this); | ||
| 1622 | } | ||
| 1623 | if (needToRestoreVehicle) | ||
| 1624 | { | ||
| 1625 | // If physical body dependencies were removed, restore them | ||
| 1626 | _vehicle.RestoreBodyDependencies(this); | ||
| 1627 | } | ||
| 1628 | |||
| 1629 | // Make sure the properties are set on the new object | 1603 | // Make sure the properties are set on the new object |
| 1630 | UpdatePhysicalParameters(); | 1604 | UpdatePhysicalParameters(); |
| 1631 | return; | 1605 | return; |
| @@ -1642,17 +1616,28 @@ public sealed class BSPrim : BSPhysObject | |||
| 1642 | // TODO: handle physics introduced by Bullet with computed vehicle physics. | 1616 | // TODO: handle physics introduced by Bullet with computed vehicle physics. |
| 1643 | if (_vehicle.IsActive) | 1617 | if (_vehicle.IsActive) |
| 1644 | { | 1618 | { |
| 1645 | entprop.RotationalVelocity = OMV.Vector3.Zero; | 1619 | // entprop.RotationalVelocity = OMV.Vector3.Zero; |
| 1620 | } | ||
| 1621 | |||
| 1622 | // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG | ||
| 1623 | |||
| 1624 | // Undo any center-of-mass displacement that might have been done. | ||
| 1625 | if (PositionDisplacement != OMV.Vector3.Zero) | ||
| 1626 | { | ||
| 1627 | // Correct for any rotation around the center-of-mass | ||
| 1628 | // TODO!!! | ||
| 1629 | entprop.Position -= PositionDisplacement; | ||
| 1646 | } | 1630 | } |
| 1647 | 1631 | ||
| 1648 | // Assign directly to the local variables so the normal set actions do not happen | 1632 | // Assign directly to the local variables so the normal set actions do not happen |
| 1649 | entprop.Position -= PositionDisplacement; | ||
| 1650 | _position = entprop.Position; | 1633 | _position = entprop.Position; |
| 1651 | _orientation = entprop.Rotation; | 1634 | _orientation = entprop.Rotation; |
| 1652 | _velocity = entprop.Velocity; | 1635 | _velocity = entprop.Velocity; |
| 1653 | _acceleration = entprop.Acceleration; | 1636 | _acceleration = entprop.Acceleration; |
| 1654 | _rotationalVelocity = entprop.RotationalVelocity; | 1637 | _rotationalVelocity = entprop.RotationalVelocity; |
| 1655 | 1638 | ||
| 1639 | // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG | ||
| 1640 | |||
| 1656 | // The sanity check can change the velocity and/or position. | 1641 | // The sanity check can change the velocity and/or position. |
| 1657 | if (IsPhysical && PositionSanityCheck(true)) | 1642 | if (IsPhysical && PositionSanityCheck(true)) |
| 1658 | { | 1643 | { |
| @@ -1661,8 +1646,7 @@ public sealed class BSPrim : BSPhysObject | |||
| 1661 | } | 1646 | } |
| 1662 | 1647 | ||
| 1663 | OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG | 1648 | OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG |
| 1664 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", | 1649 | DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); |
| 1665 | LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); | ||
| 1666 | 1650 | ||
| 1667 | // remember the current and last set values | 1651 | // remember the current and last set values |
| 1668 | LastEntityProperties = CurrentEntityProperties; | 1652 | LastEntityProperties = CurrentEntityProperties; |
| @@ -1681,7 +1665,7 @@ public sealed class BSPrim : BSPhysObject | |||
| 1681 | */ | 1665 | */ |
| 1682 | 1666 | ||
| 1683 | // The linkset implimentation might want to know about this. | 1667 | // The linkset implimentation might want to know about this. |
| 1684 | Linkset.UpdateProperties(this, true); | 1668 | Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); |
| 1685 | } | 1669 | } |
| 1686 | } | 1670 | } |
| 1687 | } | 1671 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e0b4992..34fd2a0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
| @@ -81,7 +81,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
| 81 | internal long m_simulationStep = 0; | 81 | internal long m_simulationStep = 0; |
| 82 | internal float NominalFrameRate { get; set; } | 82 | internal float NominalFrameRate { get; set; } |
| 83 | public long SimulationStep { get { return m_simulationStep; } } | 83 | public long SimulationStep { get { return m_simulationStep; } } |
| 84 | internal int m_taintsToProcessPerStep; | ||
| 85 | internal float LastTimeStep { get; private set; } | 84 | internal float LastTimeStep { get; private set; } |
| 86 | 85 | ||
| 87 | // Physical objects can register for prestep or poststep events | 86 | // Physical objects can register for prestep or poststep events |
| @@ -709,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
| 709 | // TriggerPreStepEvent | 708 | // TriggerPreStepEvent |
| 710 | // DoOneTimeTaints | 709 | // DoOneTimeTaints |
| 711 | // Step() | 710 | // Step() |
| 712 | // ProcessAndForwardCollisions | 711 | // ProcessAndSendToSimulatorCollisions |
| 713 | // ProcessAndForwardPropertyUpdates | 712 | // ProcessAndSendToSimulatorPropertyUpdates |
| 714 | // TriggerPostStepEvent | 713 | // TriggerPostStepEvent |
| 715 | 714 | ||
| 716 | // Calls to the PhysicsActors can't directly call into the physics engine | 715 | // Calls to the PhysicsActors can't directly call into the physics engine |
| @@ -847,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
| 847 | 846 | ||
| 848 | #endregion // Taints | 847 | #endregion // Taints |
| 849 | 848 | ||
| 850 | #region INI and command line parameter processing | ||
| 851 | |||
| 852 | #region IPhysicsParameters | 849 | #region IPhysicsParameters |
| 853 | // Get the list of parameters this physics engine supports | 850 | // Get the list of parameters this physics engine supports |
| 854 | public PhysParameterEntry[] GetParameterList() | 851 | public PhysParameterEntry[] GetParameterList() |
| @@ -945,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
| 945 | 942 | ||
| 946 | #endregion IPhysicsParameters | 943 | #endregion IPhysicsParameters |
| 947 | 944 | ||
| 948 | #endregion Runtime settable parameters | ||
| 949 | |||
| 950 | // Invoke the detailed logger and output something if it's enabled. | 945 | // Invoke the detailed logger and output something if it's enabled. |
| 951 | public void DetailLog(string msg, params Object[] args) | 946 | public void DetailLog(string msg, params Object[] args) |
| 952 | { | 947 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 9bfec19..801f690 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | |||
| @@ -1,23 +1,22 @@ | |||
| 1 | CURRENT PRIORITIES | 1 | CURRENT PRIORITIES |
| 2 | ================================================= | 2 | ================================================= |
| 3 | Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 | 3 | Deleting a linkset while standing on the root will leave the physical shape of the root behind. |
| 4 | Msg Kayaker on OSGrid when working | 4 | Not sure if it is because standing on it. Done with large prim linksets. |
| 5 | Child movement in linkset (don't rebuild linkset) | ||
| 6 | Vehicle angular vertical attraction | ||
| 7 | vehicle angular banking | ||
| 8 | Center-of-gravity | ||
| 9 | Vehicle angular deflection | ||
| 10 | Preferred orientation angular correction fix | ||
| 11 | when should angular and linear motor targets be zeroed? when selected? | ||
| 12 | Need a vehicle.clear()? Or an 'else' in prestep if not physical. | ||
| 5 | Teravus llMoveToTarget script debug | 13 | Teravus llMoveToTarget script debug |
| 6 | Mixing of hover, buoyancy/gravity, moveToTarget, into one force | 14 | Mixing of hover, buoyancy/gravity, moveToTarget, into one force |
| 7 | Boats floating at proper level | ||
| 8 | Nebadon vehicles turning funny in arena | 15 | Nebadon vehicles turning funny in arena |
| 9 | limitMotorUp calibration (more down?) | 16 | limitMotorUp calibration (more down?) |
| 10 | llRotLookAt | 17 | llRotLookAt |
| 11 | llLookAt | 18 | llLookAt |
| 12 | Vehicle angular vertical attraction | ||
| 13 | Vehicle angular deflection | ||
| 14 | Preferred orientation angular correction fix | ||
| 15 | vehicle angular banking | ||
| 16 | Avatars walking up stairs (HALF DONE) | 19 | Avatars walking up stairs (HALF DONE) |
| 17 | Radius of the capsule affects ability to climb edges. | ||
| 18 | Vehicle movement on terrain smoothness | ||
| 19 | When is force introduced by SetForce removed? The prestep action could go forever. | ||
| 20 | Boats float low in the water (DONE) | ||
| 21 | Avatar movement | 20 | Avatar movement |
| 22 | flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) | 21 | flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) |
| 23 | walking up stairs is not calibrated correctly (stairs out of Kepler cabin) | 22 | walking up stairs is not calibrated correctly (stairs out of Kepler cabin) |
| @@ -73,8 +72,12 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl | |||
| 73 | 72 | ||
| 74 | GENERAL TODO LIST: | 73 | GENERAL TODO LIST: |
| 75 | ================================================= | 74 | ================================================= |
| 75 | llMoveToTarget objects are not effected by gravity until target is removed. | ||
| 76 | Implement llSetPhysicalMaterial. | 76 | Implement llSetPhysicalMaterial. |
| 77 | extend it with Center-of-mass, rolling friction, density | ||
| 77 | Implement llSetForceAndTorque. | 78 | Implement llSetForceAndTorque. |
| 79 | Change BSPrim.moveToTarget to used forces rather than changing position | ||
| 80 | Changing position allows one to move through walls | ||
| 78 | Implement an avatar mesh shape. The Bullet capsule is way too limited. | 81 | Implement an avatar mesh shape. The Bullet capsule is way too limited. |
| 79 | Consider just hand creating a vertex/index array in a new BSShapeAvatar. | 82 | Consider just hand creating a vertex/index array in a new BSShapeAvatar. |
| 80 | Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain. | 83 | Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain. |
| @@ -310,4 +313,12 @@ Remove HeightmapInfo from terrain specification (DONE) | |||
| 310 | Since C++ code does not need terrain height, this structure et al are not needed. | 313 | Since C++ code does not need terrain height, this structure et al are not needed. |
| 311 | Surfboard go wonky when turning (DONE) | 314 | Surfboard go wonky when turning (DONE) |
| 312 | Angular motor direction is global coordinates rather than local coordinates? | 315 | Angular motor direction is global coordinates rather than local coordinates? |
| 313 | (Resolution: made angular motor direction correct coordinate system) \ No newline at end of file | 316 | (Resolution: made angular motor direction correct coordinate system) |
| 317 | Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE) | ||
| 318 | Msg Kayaker on OSGrid when working | ||
| 319 | (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the | ||
| 320 | same in SL as in OS/BulletSim) | ||
| 321 | Boats float low in the water (DONE) | ||
| 322 | Boats floating at proper level (DONE) | ||
| 323 | When is force introduced by SetForce removed? The prestep action could go forever. (DONE) | ||
| 324 | (Resolution: setForce registers a prestep action which keeps applying the force) \ No newline at end of file | ||
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 201007b..96a9ff7 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs | |||
| @@ -43,6 +43,35 @@ namespace OpenSim.Region.Physics.Manager | |||
| 43 | public delegate void JointDeactivated(PhysicsJoint joint); | 43 | public delegate void JointDeactivated(PhysicsJoint joint); |
| 44 | public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation" | 44 | public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation" |
| 45 | 45 | ||
| 46 | public enum RayFilterFlags:ushort | ||
| 47 | { | ||
| 48 | // the flags | ||
| 49 | water = 0x01, | ||
| 50 | land = 0x02, | ||
| 51 | agent = 0x04, | ||
| 52 | nonphysical = 0x08, | ||
| 53 | physical = 0x10, | ||
| 54 | phantom = 0x20, | ||
| 55 | volumedtc = 0x40, | ||
| 56 | |||
| 57 | // ray cast colision control (may only work for meshs) | ||
| 58 | ContactsUnImportant = 0x2000, | ||
| 59 | BackFaceCull = 0x4000, | ||
| 60 | ClosestHit = 0x8000, | ||
| 61 | |||
| 62 | // some combinations | ||
| 63 | LSLPhanton = phantom | volumedtc, | ||
| 64 | PrimsNonPhantom = nonphysical | physical, | ||
| 65 | PrimsNonPhantomAgents = nonphysical | physical | agent, | ||
| 66 | |||
| 67 | AllPrims = nonphysical | phantom | volumedtc | physical, | ||
| 68 | AllButLand = agent | nonphysical | physical | phantom | volumedtc, | ||
| 69 | |||
| 70 | ClosestAndBackCull = ClosestHit | BackFaceCull, | ||
| 71 | |||
| 72 | All = 0x3f | ||
| 73 | } | ||
| 74 | |||
| 46 | public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback); | 75 | public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback); |
| 47 | public delegate void AssetReceivedDelegate(AssetBase asset); | 76 | public delegate void AssetReceivedDelegate(AssetBase asset); |
| 48 | 77 | ||
| @@ -286,5 +315,15 @@ namespace OpenSim.Region.Physics.Manager | |||
| 286 | { | 315 | { |
| 287 | return new List<ContactResult>(); | 316 | return new List<ContactResult>(); |
| 288 | } | 317 | } |
| 318 | |||
| 319 | public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) | ||
| 320 | { | ||
| 321 | return null; | ||
| 322 | } | ||
| 323 | |||
| 324 | public virtual bool SupportsRaycastWorldFiltered() | ||
| 325 | { | ||
| 326 | return false; | ||
| 327 | } | ||
| 289 | } | 328 | } |
| 290 | } | 329 | } |
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs index db5add1..3a7e1c7 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs | |||
| @@ -2738,42 +2738,40 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 2738 | return src.ToLower(); | 2738 | return src.ToLower(); |
| 2739 | } | 2739 | } |
| 2740 | 2740 | ||
| 2741 | public LSL_Integer llGiveMoney(string destination, int amount) | 2741 | public void llGiveMoney(string destination, int amount) |
| 2742 | { | 2742 | { |
| 2743 | m_host.AddScriptLPS(1); | 2743 | Util.FireAndForget(x => |
| 2744 | |||
| 2745 | if (m_item.PermsGranter == UUID.Zero) | ||
| 2746 | return 0; | ||
| 2747 | |||
| 2748 | if ((m_item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0) | ||
| 2749 | { | 2744 | { |
| 2750 | LSLError("No permissions to give money"); | 2745 | m_host.AddScriptLPS(1); |
| 2751 | return 0; | ||
| 2752 | } | ||
| 2753 | 2746 | ||
| 2754 | UUID toID = new UUID(); | 2747 | if (m_item.PermsGranter == UUID.Zero) |
| 2748 | return; | ||
| 2755 | 2749 | ||
| 2756 | if (!UUID.TryParse(destination, out toID)) | 2750 | if ((m_item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0) |
| 2757 | { | 2751 | { |
| 2758 | LSLError("Bad key in llGiveMoney"); | 2752 | LSLError("No permissions to give money"); |
| 2759 | return 0; | 2753 | return; |
| 2760 | } | 2754 | } |
| 2761 | 2755 | ||
| 2762 | IMoneyModule money = World.RequestModuleInterface<IMoneyModule>(); | 2756 | UUID toID = new UUID(); |
| 2763 | 2757 | ||
| 2764 | if (money == null) | 2758 | if (!UUID.TryParse(destination, out toID)) |
| 2765 | { | 2759 | { |
| 2766 | NotImplemented("llGiveMoney"); | 2760 | LSLError("Bad key in llGiveMoney"); |
| 2767 | return 0; | 2761 | return; |
| 2768 | } | 2762 | } |
| 2769 | 2763 | ||
| 2770 | bool result = money.ObjectGiveMoney( | 2764 | IMoneyModule money = World.RequestModuleInterface<IMoneyModule>(); |
| 2771 | m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount); | ||
| 2772 | 2765 | ||
| 2773 | if (result) | 2766 | if (money == null) |
| 2774 | return 1; | 2767 | { |
| 2768 | NotImplemented("llGiveMoney"); | ||
| 2769 | return; | ||
| 2770 | } | ||
| 2775 | 2771 | ||
| 2776 | return 0; | 2772 | money.ObjectGiveMoney( |
| 2773 | m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount); | ||
| 2774 | }); | ||
| 2777 | } | 2775 | } |
| 2778 | 2776 | ||
| 2779 | public void llMakeExplosion(int particles, double scale, double vel, double lifetime, double arc, string texture, LSL_Vector offset) | 2777 | public void llMakeExplosion(int particles, double scale, double vel, double lifetime, double arc, string texture, LSL_Vector offset) |
| @@ -4923,7 +4921,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 4923 | public LSL_Vector llGetCenterOfMass() | 4921 | public LSL_Vector llGetCenterOfMass() |
| 4924 | { | 4922 | { |
| 4925 | m_host.AddScriptLPS(1); | 4923 | m_host.AddScriptLPS(1); |
| 4926 | Vector3 center = m_host.GetGeometricCenter(); | 4924 | Vector3 center = m_host.GetCenterOfMass(); |
| 4927 | return new LSL_Vector(center.X,center.Y,center.Z); | 4925 | return new LSL_Vector(center.X,center.Y,center.Z); |
| 4928 | } | 4926 | } |
| 4929 | 4927 | ||
| @@ -6839,7 +6837,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 6839 | { | 6837 | { |
| 6840 | m_host.AddScriptLPS(1); | 6838 | m_host.AddScriptLPS(1); |
| 6841 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); | 6839 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); |
| 6842 | if (xmlrpcMod.IsEnabled()) | 6840 | if (xmlrpcMod != null && xmlrpcMod.IsEnabled()) |
| 6843 | { | 6841 | { |
| 6844 | UUID channelID = xmlrpcMod.OpenXMLRPCChannel(m_host.LocalId, m_item.ItemID, UUID.Zero); | 6842 | UUID channelID = xmlrpcMod.OpenXMLRPCChannel(m_host.LocalId, m_item.ItemID, UUID.Zero); |
| 6845 | IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>(); | 6843 | IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>(); |
| @@ -6871,6 +6869,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 6871 | m_host.AddScriptLPS(1); | 6869 | m_host.AddScriptLPS(1); |
| 6872 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); | 6870 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); |
| 6873 | ScriptSleep(3000); | 6871 | ScriptSleep(3000); |
| 6872 | if (xmlrpcMod == null) | ||
| 6873 | return ""; | ||
| 6874 | return (xmlrpcMod.SendRemoteData(m_host.LocalId, m_item.ItemID, channel, dest, idata, sdata)).ToString(); | 6874 | return (xmlrpcMod.SendRemoteData(m_host.LocalId, m_item.ItemID, channel, dest, idata, sdata)).ToString(); |
| 6875 | } | 6875 | } |
| 6876 | 6876 | ||
| @@ -6878,7 +6878,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 6878 | { | 6878 | { |
| 6879 | m_host.AddScriptLPS(1); | 6879 | m_host.AddScriptLPS(1); |
| 6880 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); | 6880 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); |
| 6881 | xmlrpcMod.RemoteDataReply(channel, message_id, sdata, idata); | 6881 | if (xmlrpcMod != null) |
| 6882 | xmlrpcMod.RemoteDataReply(channel, message_id, sdata, idata); | ||
| 6882 | ScriptSleep(3000); | 6883 | ScriptSleep(3000); |
| 6883 | } | 6884 | } |
| 6884 | 6885 | ||
| @@ -6893,7 +6894,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 6893 | } | 6894 | } |
| 6894 | 6895 | ||
| 6895 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); | 6896 | IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>(); |
| 6896 | xmlrpcMod.CloseXMLRPCChannel((UUID)channel); | 6897 | if (xmlrpcMod != null) |
| 6898 | xmlrpcMod.CloseXMLRPCChannel((UUID)channel); | ||
| 6897 | ScriptSleep(1000); | 6899 | ScriptSleep(1000); |
| 6898 | } | 6900 | } |
| 6899 | 6901 | ||
| @@ -11338,25 +11340,89 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 11338 | bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL); | 11340 | bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL); |
| 11339 | 11341 | ||
| 11340 | 11342 | ||
| 11341 | if (checkTerrain) | 11343 | if (World.SupportsRayCastFiltered()) |
| 11342 | { | 11344 | { |
| 11343 | ContactResult? groundContact = GroundIntersection(rayStart, rayEnd); | 11345 | if (dist == 0) |
| 11344 | if (groundContact != null) | 11346 | return list; |
| 11345 | results.Add((ContactResult)groundContact); | 11347 | |
| 11346 | } | 11348 | RayFilterFlags rayfilter = RayFilterFlags.ClosestAndBackCull; |
| 11349 | if (checkTerrain) | ||
| 11350 | rayfilter |= RayFilterFlags.land; | ||
| 11351 | // if (checkAgents) | ||
| 11352 | // rayfilter |= RayFilterFlags.agent; | ||
| 11353 | if (checkPhysical) | ||
| 11354 | rayfilter |= RayFilterFlags.physical; | ||
| 11355 | if (checkNonPhysical) | ||
| 11356 | rayfilter |= RayFilterFlags.nonphysical; | ||
| 11357 | if (detectPhantom) | ||
| 11358 | rayfilter |= RayFilterFlags.LSLPhanton; | ||
| 11359 | |||
| 11360 | Vector3 direction = dir * ( 1/dist); | ||
| 11361 | |||
| 11362 | if(rayfilter == 0) | ||
| 11363 | { | ||
| 11364 | list.Add(new LSL_Integer(0)); | ||
| 11365 | return list; | ||
| 11366 | } | ||
| 11367 | |||
| 11368 | // get some more contacts to sort ??? | ||
| 11369 | int physcount = 4 * count; | ||
| 11370 | if (physcount > 20) | ||
| 11371 | physcount = 20; | ||
| 11372 | |||
| 11373 | object physresults; | ||
| 11374 | physresults = World.RayCastFiltered(rayStart, direction, dist, physcount, rayfilter); | ||
| 11375 | |||
| 11376 | if (physresults == null) | ||
| 11377 | { | ||
| 11378 | list.Add(new LSL_Integer(-3)); // timeout error | ||
| 11379 | return list; | ||
| 11380 | } | ||
| 11381 | |||
| 11382 | results = (List<ContactResult>)physresults; | ||
| 11347 | 11383 | ||
| 11348 | if (checkAgents) | 11384 | // for now physics doesn't detect sitted avatars so do it outside physics |
| 11385 | if (checkAgents) | ||
| 11386 | { | ||
| 11387 | ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd); | ||
| 11388 | foreach (ContactResult r in agentHits) | ||
| 11389 | results.Add(r); | ||
| 11390 | } | ||
| 11391 | |||
| 11392 | // TODO: Replace this with a better solution. ObjectIntersection can only | ||
| 11393 | // detect nonphysical phantoms. They are detected by virtue of being | ||
| 11394 | // nonphysical (e.g. no PhysActor) so will not conflict with detecting | ||
| 11395 | // physicsl phantoms as done by the physics scene | ||
| 11396 | // We don't want anything else but phantoms here. | ||
| 11397 | if (detectPhantom) | ||
| 11398 | { | ||
| 11399 | ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, false, false, true); | ||
| 11400 | foreach (ContactResult r in objectHits) | ||
| 11401 | results.Add(r); | ||
| 11402 | } | ||
| 11403 | } | ||
| 11404 | else | ||
| 11349 | { | 11405 | { |
| 11350 | ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd); | 11406 | if (checkAgents) |
| 11351 | foreach (ContactResult r in agentHits) | 11407 | { |
| 11352 | results.Add(r); | 11408 | ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd); |
| 11409 | foreach (ContactResult r in agentHits) | ||
| 11410 | results.Add(r); | ||
| 11411 | } | ||
| 11412 | |||
| 11413 | if (checkPhysical || checkNonPhysical || detectPhantom) | ||
| 11414 | { | ||
| 11415 | ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom); | ||
| 11416 | foreach (ContactResult r in objectHits) | ||
| 11417 | results.Add(r); | ||
| 11418 | } | ||
| 11353 | } | 11419 | } |
| 11354 | 11420 | ||
| 11355 | if (checkPhysical || checkNonPhysical || detectPhantom) | 11421 | if (checkTerrain) |
| 11356 | { | 11422 | { |
| 11357 | ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom); | 11423 | ContactResult? groundContact = GroundIntersection(rayStart, rayEnd); |
| 11358 | foreach (ContactResult r in objectHits) | 11424 | if (groundContact != null) |
| 11359 | results.Add(r); | 11425 | results.Add((ContactResult)groundContact); |
| 11360 | } | 11426 | } |
| 11361 | 11427 | ||
| 11362 | results.Sort(delegate(ContactResult a, ContactResult b) | 11428 | results.Sort(delegate(ContactResult a, ContactResult b) |
| @@ -11554,6 +11620,79 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
| 11554 | NotImplemented("llGodLikeRezObject"); | 11620 | NotImplemented("llGodLikeRezObject"); |
| 11555 | } | 11621 | } |
| 11556 | 11622 | ||
| 11623 | public LSL_String llTransferLindenDollars(string destination, int amount) | ||
| 11624 | { | ||
| 11625 | UUID txn = UUID.Random(); | ||
| 11626 | |||
| 11627 | Util.FireAndForget(delegate(object x) | ||
| 11628 | { | ||
| 11629 | int replycode = 0; | ||
| 11630 | string replydata = destination + "," + amount.ToString(); | ||
| 11631 | |||
| 11632 | try | ||
| 11633 | { | ||
| 11634 | TaskInventoryItem item = m_item; | ||
| 11635 | if (item == null) | ||
| 11636 | { | ||
| 11637 | replydata = "SERVICE_ERROR"; | ||
| 11638 | return; | ||
| 11639 | } | ||
| 11640 | |||
| 11641 | m_host.AddScriptLPS(1); | ||
| 11642 | |||
| 11643 | if (item.PermsGranter == UUID.Zero) | ||
| 11644 | { | ||
| 11645 | replydata = "MISSING_PERMISSION_DEBIT"; | ||
| 11646 | return; | ||
| 11647 | } | ||
| 11648 | |||
| 11649 | if ((item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0) | ||
| 11650 | { | ||
| 11651 | replydata = "MISSING_PERMISSION_DEBIT"; | ||
| 11652 | return; | ||
| 11653 | } | ||
| 11654 | |||
| 11655 | UUID toID = new UUID(); | ||
| 11656 | |||
| 11657 | if (!UUID.TryParse(destination, out toID)) | ||
| 11658 | { | ||
| 11659 | replydata = "INVALID_AGENT"; | ||
| 11660 | return; | ||
| 11661 | } | ||
| 11662 | |||
| 11663 | IMoneyModule money = World.RequestModuleInterface<IMoneyModule>(); | ||
| 11664 | |||
| 11665 | if (money == null) | ||
| 11666 | { | ||
| 11667 | replydata = "TRANSFERS_DISABLED"; | ||
| 11668 | return; | ||
| 11669 | } | ||
| 11670 | |||
| 11671 | bool result = money.ObjectGiveMoney( | ||
| 11672 | m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount); | ||
| 11673 | |||
| 11674 | if (result) | ||
| 11675 | { | ||
| 11676 | replycode = 1; | ||
| 11677 | return; | ||
| 11678 | } | ||
| 11679 | |||
| 11680 | replydata = "LINDENDOLLAR_INSUFFICIENTFUNDS"; | ||
| 11681 | } | ||
| 11682 | finally | ||
| 11683 | { | ||
| 11684 | m_ScriptEngine.PostScriptEvent(m_item.ItemID, new EventParams( | ||
| 11685 | "transaction_result", new Object[] { | ||
| 11686 | new LSL_String(txn.ToString()), | ||
| 11687 | new LSL_Integer(replycode), | ||
| 11688 | new LSL_String(replydata) }, | ||
| 11689 | new DetectParams[0])); | ||
| 11690 | } | ||
| 11691 | }); | ||
| 11692 | |||
| 11693 | return txn.ToString(); | ||
| 11694 | } | ||
| 11695 | |||
| 11557 | #endregion | 11696 | #endregion |
| 11558 | } | 11697 | } |
| 11559 | 11698 | ||
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs index 98f8be7..4ac179a 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs | |||
| @@ -207,7 +207,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces | |||
| 207 | LSL_Float llGetWallclock(); | 207 | LSL_Float llGetWallclock(); |
| 208 | void llGiveInventory(string destination, string inventory); | 208 | void llGiveInventory(string destination, string inventory); |
| 209 | void llGiveInventoryList(string destination, string category, LSL_List inventory); | 209 | void llGiveInventoryList(string destination, string category, LSL_List inventory); |
| 210 | LSL_Integer llGiveMoney(string destination, int amount); | 210 | void llGiveMoney(string destination, int amount); |
| 211 | LSL_String llTransferLindenDollars(string destination, int amount); | ||
| 211 | void llGodLikeRezObject(string inventory, LSL_Vector pos); | 212 | void llGodLikeRezObject(string inventory, LSL_Vector pos); |
| 212 | LSL_Float llGround(LSL_Vector offset); | 213 | LSL_Float llGround(LSL_Vector offset); |
| 213 | LSL_Vector llGroundContour(LSL_Vector offset); | 214 | LSL_Vector llGroundContour(LSL_Vector offset); |
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs index 36803a4..c7a7cf6 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs | |||
| @@ -869,9 +869,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase | |||
| 869 | m_LSL_Functions.llGiveInventoryList(destination, category, inventory); | 869 | m_LSL_Functions.llGiveInventoryList(destination, category, inventory); |
| 870 | } | 870 | } |
| 871 | 871 | ||
| 872 | public LSL_Integer llGiveMoney(string destination, int amount) | 872 | public void llGiveMoney(string destination, int amount) |
| 873 | { | 873 | { |
| 874 | return m_LSL_Functions.llGiveMoney(destination, amount); | 874 | m_LSL_Functions.llGiveMoney(destination, amount); |
| 875 | } | ||
| 876 | |||
| 877 | public LSL_String llTransferLindenDollars(string destination, int amount) | ||
| 878 | { | ||
| 879 | return m_LSL_Functions.llTransferLindenDollars(destination, amount); | ||
| 875 | } | 880 | } |
| 876 | 881 | ||
| 877 | public void llGodLikeRezObject(string inventory, LSL_Vector pos) | 882 | public void llGodLikeRezObject(string inventory, LSL_Vector pos) |
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs index a17a018..72646f6 100644 --- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs +++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs | |||
| @@ -1486,7 +1486,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine | |||
| 1486 | m_MaxScriptQueue = maxScriptQueue; | 1486 | m_MaxScriptQueue = maxScriptQueue; |
| 1487 | 1487 | ||
| 1488 | STPStartInfo startInfo = new STPStartInfo(); | 1488 | STPStartInfo startInfo = new STPStartInfo(); |
| 1489 | startInfo.IdleTimeout = idleTimeout*1000; // convert to seconds as stated in .ini | 1489 | startInfo.ThreadPoolName = "XEngine"; |
| 1490 | startInfo.IdleTimeout = idleTimeout * 1000; // convert to seconds as stated in .ini | ||
| 1490 | startInfo.MaxWorkerThreads = maxThreads; | 1491 | startInfo.MaxWorkerThreads = maxThreads; |
| 1491 | startInfo.MinWorkerThreads = minThreads; | 1492 | startInfo.MinWorkerThreads = minThreads; |
| 1492 | startInfo.ThreadPriority = threadPriority;; | 1493 | startInfo.ThreadPriority = threadPriority;; |
| @@ -1494,7 +1495,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine | |||
| 1494 | startInfo.StartSuspended = true; | 1495 | startInfo.StartSuspended = true; |
| 1495 | 1496 | ||
| 1496 | m_ThreadPool = new SmartThreadPool(startInfo); | 1497 | m_ThreadPool = new SmartThreadPool(startInfo); |
| 1497 | m_ThreadPool.Name = "XEngine"; | ||
| 1498 | } | 1498 | } |
| 1499 | 1499 | ||
| 1500 | // | 1500 | // |