From 5e4d6cab00cb29cd088ab7b62ab13aff103b64cb Mon Sep 17 00:00:00 2001 From: onefang Date: Sun, 19 May 2019 21:24:15 +1000 Subject: Dump OpenSim 0.9.0.1 into it's own branch. --- OpenSim/Framework/PhysicsInertia.cs | 263 ++++++++++++++++++++++++++++++++++++ 1 file changed, 263 insertions(+) create mode 100644 OpenSim/Framework/PhysicsInertia.cs (limited to 'OpenSim/Framework/PhysicsInertia.cs') diff --git a/OpenSim/Framework/PhysicsInertia.cs b/OpenSim/Framework/PhysicsInertia.cs new file mode 100644 index 0000000..fa83de8 --- /dev/null +++ b/OpenSim/Framework/PhysicsInertia.cs @@ -0,0 +1,263 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using OpenMetaverse; +using System.Text; +using System.IO; +using System.Xml; + +namespace OpenSim.Framework +{ + public class PhysicsInertiaData + { + public float TotalMass; // the total mass of a linkset + public Vector3 CenterOfMass; // the center of mass position relative to root part position + public Vector3 Inertia; // (Ixx, Iyy, Izz) moment of inertia relative to center of mass and principal axis in local coords + public Vector4 InertiaRotation; // if principal axis don't match local axis, the principal axis rotation + // or the upper triangle of the inertia tensor + // Ixy (= Iyx), Ixz (= Izx), Iyz (= Izy)) + + public PhysicsInertiaData() + { + } + + public PhysicsInertiaData(PhysicsInertiaData source) + { + TotalMass = source.TotalMass; + CenterOfMass = source.CenterOfMass; + Inertia = source.Inertia; + InertiaRotation = source.InertiaRotation; + } + + private XmlTextWriter writer; + + private void XWint(string name, int i) + { + writer.WriteElementString(name, i.ToString()); + } + + private void XWfloat(string name, float f) + { + writer.WriteElementString(name, f.ToString(Culture.FormatProvider)); + } + + private void XWVector(string name, Vector3 vec) + { + writer.WriteStartElement(name); + writer.WriteElementString("X", vec.X.ToString(Culture.FormatProvider)); + writer.WriteElementString("Y", vec.Y.ToString(Culture.FormatProvider)); + writer.WriteElementString("Z", vec.Z.ToString(Culture.FormatProvider)); + writer.WriteEndElement(); + } + + private void XWVector4(string name, Vector4 quat) + { + writer.WriteStartElement(name); + writer.WriteElementString("X", quat.X.ToString(Culture.FormatProvider)); + writer.WriteElementString("Y", quat.Y.ToString(Culture.FormatProvider)); + writer.WriteElementString("Z", quat.Z.ToString(Culture.FormatProvider)); + writer.WriteElementString("W", quat.W.ToString(Culture.FormatProvider)); + writer.WriteEndElement(); + } + + public void ToXml2(XmlTextWriter twriter) + { + writer = twriter; + writer.WriteStartElement("PhysicsInertia"); + + XWfloat("MASS", TotalMass); + XWVector("CM", CenterOfMass); + XWVector("INERTIA", Inertia); + XWVector4("IROT", InertiaRotation); + + writer.WriteEndElement(); + writer = null; + } + + XmlReader reader; + + private int XRint() + { + return reader.ReadElementContentAsInt(); + } + + private float XRfloat() + { + return reader.ReadElementContentAsFloat(); + } + + public Vector3 XRvector() + { + Vector3 vec; + reader.ReadStartElement(); + vec.X = reader.ReadElementContentAsFloat(); + vec.Y = reader.ReadElementContentAsFloat(); + vec.Z = reader.ReadElementContentAsFloat(); + reader.ReadEndElement(); + return vec; + } + + public Vector4 XRVector4() + { + Vector4 q; + reader.ReadStartElement(); + q.X = reader.ReadElementContentAsFloat(); + q.Y = reader.ReadElementContentAsFloat(); + q.Z = reader.ReadElementContentAsFloat(); + q.W = reader.ReadElementContentAsFloat(); + reader.ReadEndElement(); + return q; + } + + public static bool EReadProcessors( + Dictionary processors, + XmlReader xtr) + { + bool errors = false; + + string nodeName = string.Empty; + while (xtr.NodeType != XmlNodeType.EndElement) + { + nodeName = xtr.Name; + + Action p = null; + if (processors.TryGetValue(xtr.Name, out p)) + { + try + { + p(); + } + catch + { + errors = true; + if (xtr.NodeType == XmlNodeType.EndElement) + xtr.Read(); + } + } + else + { + xtr.ReadOuterXml(); // ignore + } + } + + return errors; + } + + public string ToXml2() + { + using (StringWriter sw = new StringWriter()) + { + using (XmlTextWriter xwriter = new XmlTextWriter(sw)) + { + ToXml2(xwriter); + } + + return sw.ToString(); + } + } + + public static PhysicsInertiaData FromXml2(string text) + { + if (text == String.Empty) + return null; + + bool error; + PhysicsInertiaData v; + UTF8Encoding enc = new UTF8Encoding(); + using(MemoryStream ms = new MemoryStream(enc.GetBytes(text))) + using(XmlTextReader xreader = new XmlTextReader(ms)) + { + xreader.ProhibitDtd = true; + + v = new PhysicsInertiaData(); + v.FromXml2(xreader, out error); + } + + if (error) + return null; + + return v; + } + + public static PhysicsInertiaData FromXml2(XmlReader reader) + { + PhysicsInertiaData data = new PhysicsInertiaData(); + + bool errors = false; + + data.FromXml2(reader, out errors); + if (errors) + return null; + + return data; + } + + private void FromXml2(XmlReader _reader, out bool errors) + { + errors = false; + reader = _reader; + + Dictionary m_XmlProcessors = new Dictionary(); + + m_XmlProcessors.Add("MASS", ProcessXR_Mass); + m_XmlProcessors.Add("CM", ProcessXR_CM); + m_XmlProcessors.Add("INERTIA", ProcessXR_Inertia); + m_XmlProcessors.Add("IROT", ProcessXR_InertiaRotation); + + reader.ReadStartElement("PhysicsInertia", String.Empty); + + errors = EReadProcessors( + m_XmlProcessors, + reader); + + reader.ReadEndElement(); + reader = null; + } + + private void ProcessXR_Mass() + { + TotalMass = XRfloat(); + } + + private void ProcessXR_CM() + { + CenterOfMass = XRvector(); + } + + private void ProcessXR_Inertia() + { + Inertia = XRvector(); + } + + private void ProcessXR_InertiaRotation() + { + InertiaRotation = XRVector4(); + } + } +} -- cgit v1.1