From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs | 1494 ----------------------- 1 file changed, 1494 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs') 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 @@ -/* - * 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 copyrightD - * 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.Reflection; -using System.Collections.Generic; -using System.Xml; -using log4net; -using OMV = OpenMetaverse; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; -using OpenSim.Region.Physics.ConvexDecompositionDotNet; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - - [Serializable] -public sealed class BSPrim : BSPhysObject -{ - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - private static readonly string LogHeader = "[BULLETS PRIM]"; - - // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. - private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user - - private bool _grabbed; - private bool _isSelected; - private bool _isVolumeDetect; - private OMV.Vector3 _position; - private float _mass; // the mass of this object - private float _density; - private OMV.Vector3 _force; - private OMV.Vector3 _velocity; - private OMV.Vector3 _torque; - private float _collisionScore; - private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; - private int _physicsActorType; - private bool _isPhysical; - private bool _flying; - private float _friction; - private float _restitution; - private bool _setAlwaysRun; - private bool _throttleUpdates; - private bool _isColliding; - private bool _collidingGround; - private bool _collidingObj; - private bool _floatOnWater; - private OMV.Vector3 _rotationalVelocity; - private bool _kinematic; - private float _buoyancy; - - private BSDynamics _vehicle; - - private OMV.Vector3 _PIDTarget; - private bool _usePID; - private float _PIDTau; - private bool _useHoverPID; - private float _PIDHoverHeight; - private PIDHoverType _PIDHoverType; - private float _PIDHoverTao; - - public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, - OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) - : base(parent_scene, localID, primName, "BSPrim") - { - // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); - _physicsActorType = (int)ActorTypes.Prim; - _position = pos; - _size = size; - Scale = size; // prims are the size the user wants them to be (different for BSCharactes). - _orientation = rotation; - _buoyancy = 1f; - _velocity = OMV.Vector3.Zero; - _rotationalVelocity = OMV.Vector3.Zero; - BaseShape = pbs; - _isPhysical = pisPhysical; - _isVolumeDetect = false; - - // Someday set default attributes based on the material but, for now, we don't know the prim material yet. - // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical); - _density = PhysicsScene.Params.defaultDensity; - _friction = PhysicsScene.Params.defaultFriction; - _restitution = PhysicsScene.Params.defaultRestitution; - - _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness - - _mass = CalculateMass(); - - Linkset.Refresh(this); - - DetailLog("{0},BSPrim.constructor,call", LocalID); - // do the actual object creation at taint time - PhysicsScene.TaintedObject("BSPrim.create", delegate() - { - CreateGeomAndObject(true); - - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); - }); - } - - // called when this prim is being destroyed and we should free all the resources - public override void Destroy() - { - // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); - base.Destroy(); - - // Undo any links between me and any other object - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - - // Undo any vehicle properties - this.VehicleType = (int)Vehicle.TYPE_NONE; - - PhysicsScene.TaintedObject("BSPrim.destroy", delegate() - { - DetailLog("{0},BSPrim.Destroy,taint,", LocalID); - // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); - PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); - PhysShape.Clear(); - }); - } - - // No one uses this property. - public override bool Stopped { - get { return false; } - } - public override OMV.Vector3 Size { - get { return _size; } - set { - // We presume the scale and size are the same. If scale must be changed for - // the physical shape, that is done when the geometry is built. - _size = value; - Scale = _size; - ForceBodyShapeRebuild(false); - } - } - - public override PrimitiveBaseShape Shape { - set { - BaseShape = value; - ForceBodyShapeRebuild(false); - } - } - // Whatever the linkset wants is what I want. - public override BSPhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape(this); } } - - public override bool ForceBodyShapeRebuild(bool inTaintTime) - { - LastAssetBuildFailed = false; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() - { - _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(true); - }); - return true; - } - public override bool Grabbed { - set { _grabbed = value; - } - } - public override bool Selected { - set - { - if (value != _isSelected) - { - _isSelected = value; - PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() - { - DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); - SetObjectDynamic(false); - }); - } - } - } - public override void CrossingFailure() { return; } - - // link me to the specified parent - public override void link(PhysicsActor obj) { - BSPrim parent = obj as BSPrim; - if (parent != null) - { - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = parent.Linkset.AddMeToLinkset(this); - - DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - } - return; - } - - // delink me from my linkset - public override void delink() { - // TODO: decide if this parent checking needs to happen at taint time - // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - return; - } - - // Set motion values to zero. - // Do it to the properties so the values get set in the physics engine. - // Push the setting of the values to the viewer. - // Called at taint time! - public override void ZeroMotion(bool inTaintTime) - { - _velocity = OMV.Vector3.Zero; - _acceleration = OMV.Vector3.Zero; - _rotationalVelocity = OMV.Vector3.Zero; - - // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() - { - if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); - }); - } - public override void ZeroAngularMotion(bool inTaintTime) - { - _rotationalVelocity = OMV.Vector3.Zero; - // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() - { - // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - } - }); - } - - public override void LockAngularMotion(OMV.Vector3 axis) - { - DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); - return; - } - - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } - public override OMV.Vector3 Position { - get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // child prims move around based on their parent. Need to get the latest location - if (!Linkset.IsRoot(this)) - _position = Linkset.PositionGet(this); - */ - - // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - return _position; - } - set { - // If the position must be forced into the physics engine, use ForcePosition. - // All positions are given in world positions. - if (_position == value) - { - DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); - return; - } - _position = value; - PositionSanityCheck(false); - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - - PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() - { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; - }); - } - } - public override OMV.Vector3 ForcePosition { - get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); - return _position; - } - set { - _position = value; - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - ActivateIfPhysical(false); - } - } - } - - // Check that the current position is sane and, if not, modify the position to make it so. - // Check for being below terrain and being out of bounds. - // Returns 'true' of the position was made sane by some action. - private bool PositionSanityCheck(bool inTaintTime) - { - bool ret = false; - - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) - { - // The physical object is out of the known/simulated area. - // Upper levels of code will handle the transition to other areas so, for - // the time, we just ignore the position. - return ret; - } - - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); - OMV.Vector3 upForce = OMV.Vector3.Zero; - if (RawPosition.Z < terrainHeight) - { - DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - float targetHeight = terrainHeight + (Size.Z / 2f); - // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. - upForce.Z = (terrainHeight - RawPosition.Z) * 1f; - ret = true; - } - - if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) - { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); - // TODO: a floating motor so object will bob in the water - if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) - { - // Upforce proportional to the distance away from the water. Correct the error in 1 sec. - upForce.Z = (waterHeight - RawPosition.Z) * 1f; - ret = true; - } - } - - // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. - // TODO: This should be intergrated with a geneal physics action mechanism. - // TODO: This should be moderated with PID'ness. - if (ret) - { - // Apply upforce and overcome gravity. - OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); - AddForce(correctionForce, false, inTaintTime); - } - return ret; - } - - // Return the effective mass of the object. - // The definition of this call is to return the mass of the prim. - // If the simulator cares about the mass of the linkset, it will sum it itself. - public override float Mass - { - get - { - return _mass; - } - } - - // used when we only want this prim's mass and not the linkset thing - public override float RawMass { - get { return _mass; } - } - // Set the physical mass to the passed mass. - // Note that this does not change _mass! - public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) - { - if (PhysBody.HasPhysicalBody) - { - if (IsStatic) - { - Inertia = OMV.Vector3.Zero; - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - } - else - { - if (inWorld) - { - // Changing interesting properties doesn't change proxy and collision cache - // information. The Bullet solution is to re-add the object to the world - // after parameters are changed. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - } - - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - - // center of mass is at the zero of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); - - if (inWorld) - { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation); - } - - // Must set gravity after it has been added to the world because, for unknown reasons, - // adding the object resets the object's gravity to world gravity - OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, grav); - - } - } - } - - // Is this used? - public override OMV.Vector3 CenterOfMass - { - get { return Linkset.CenterOfMass; } - } - - // Is this used? - public override OMV.Vector3 GeometricCenter - { - get { return Linkset.GeometricCenter; } - } - - public override OMV.Vector3 Force { - get { return _force; } - set { - _force = value; - if (_force != OMV.Vector3.Zero) - { - // If the force is non-zero, it must be reapplied each tick because - // Bullet clears the forces applied last frame. - RegisterPreStepAction("BSPrim.setForce", LocalID, - delegate(float timeStep) - { - DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); - ActivateIfPhysical(false); - } - } - ); - } - else - { - UnRegisterPreStepAction("BSPrim.setForce", LocalID); - } - } - } - - public override int VehicleType { - get { - return (int)_vehicle.Type; // if we are a vehicle, return that type - } - set { - Vehicle type = (Vehicle)value; - - PhysicsScene.TaintedObject("setVehicleType", delegate() - { - // Done at taint time so we're sure the physics engine is not using the variables - // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type); - ActivateIfPhysical(false); - - // If an active vehicle, register the vehicle code to be called before each step - if (_vehicle.Type == Vehicle.TYPE_NONE) - UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - else - RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); - }); - } - } - public override void VehicleFloatParam(int param, float value) - { - PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() - { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); - ActivateIfPhysical(false); - }); - } - public override void VehicleVectorParam(int param, OMV.Vector3 value) - { - PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() - { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); - ActivateIfPhysical(false); - }); - } - public override void VehicleRotationParam(int param, OMV.Quaternion rotation) - { - PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() - { - _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); - ActivateIfPhysical(false); - }); - } - public override void VehicleFlags(int param, bool remove) - { - PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() - { - _vehicle.ProcessVehicleFlags(param, remove); - }); - } - - // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more - public override void SetVolumeDetect(int param) { - bool newValue = (param != 0); - if (_isVolumeDetect != newValue) - { - _isVolumeDetect = newValue; - PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() - { - // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); - SetObjectDynamic(true); - }); - } - return; - } - public override OMV.Vector3 Velocity { - get { return _velocity; } - set { - _velocity = value; - PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() - { - // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - ForceVelocity = _velocity; - }); - } - } - public override OMV.Vector3 ForceVelocity { - get { return _velocity; } - set { - PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); - - _velocity = value; - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - ActivateIfPhysical(false); - } - } - } - public override OMV.Vector3 Torque { - get { return _torque; } - set { - _torque = value; - if (_torque != OMV.Vector3.Zero) - { - // If the torque is non-zero, it must be reapplied each tick because - // Bullet clears the forces applied last frame. - RegisterPreStepAction("BSPrim.setTorque", LocalID, - delegate(float timeStep) - { - if (PhysBody.HasPhysicalBody) - AddAngularForce(_torque, false, true); - } - ); - } - else - { - UnRegisterPreStepAction("BSPrim.setTorque", LocalID); - } - // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); - } - } - public override float CollisionScore { - get { return _collisionScore; } - set { _collisionScore = value; - } - } - public override OMV.Vector3 Acceleration { - get { return _acceleration; } - set { _acceleration = value; } - } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } - public override OMV.Quaternion Orientation { - get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // Children move around because tied to parent. Get a fresh value. - if (!Linkset.IsRoot(this)) - { - _orientation = Linkset.OrientationGet(this); - } - */ - return _orientation; - } - set { - if (_orientation == value) - return; - _orientation = value; - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - - PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() - { - if (PhysBody.HasPhysicalBody) - { - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - }); - } - } - // Go directly to Bullet to get/set the value. - public override OMV.Quaternion ForceOrientation - { - get - { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); - return _orientation; - } - set - { - _orientation = value; - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } - } - public override int PhysicsActorType { - get { return _physicsActorType; } - set { _physicsActorType = value; } - } - public override bool IsPhysical { - get { return _isPhysical; } - set { - if (_isPhysical != value) - { - _isPhysical = value; - PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() - { - // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); - SetObjectDynamic(true); - // whether phys-to-static or static-to-phys, the object is not moving. - ZeroMotion(true); - }); - } - } - } - - // An object is static (does not move) if selected or not physical - public override bool IsStatic - { - get { return _isSelected || !IsPhysical; } - } - - // An object is solid if it's not phantom and if it's not doing VolumeDetect - public override bool IsSolid - { - get { return !IsPhantom && !_isVolumeDetect; } - } - - // Make gravity work if the object is physical and not selected - // Called at taint-time!! - private void SetObjectDynamic(bool forceRebuild) - { - // Recreate the physical object if necessary - CreateGeomAndObject(forceRebuild); - } - - // Convert the simulator's physical properties into settings on BulletSim objects. - // There are four flags we're interested in: - // IsStatic: Object does not move, otherwise the object has mass and moves - // isSolid: other objects bounce off of this object - // isVolumeDetect: other objects pass through but can generate collisions - // collisionEvents: whether this object returns collision events - private void UpdatePhysicalParameters() - { - // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); - - // Mangling all the physical properties requires the object not be in the physical world. - // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - - // Set up the object physicalness (does gravity and collisions move this object) - MakeDynamic(IsStatic); - - // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - _vehicle.Refresh(); - - // Arrange for collision events if the simulator wants them - EnableCollisions(SubscribedEvents()); - - // Make solid or not (do things bounce off or pass through this object). - MakeSolid(IsSolid); - - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation); - - // Rebuild its shape - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); - - // Collision filter can be set only when the object is in the world - PhysBody.ApplyCollisionMask(); - - // Recompute any linkset parameters. - // When going from non-physical to physical, this re-enables the constraints that - // had been automatically disabled when the mass was set to zero. - // For compound based linksets, this enables and disables interactions of the children. - Linkset.Refresh(this); - - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); - } - - // "Making dynamic" means changing to and from static. - // When static, gravity does not effect the object and it is fixed in space. - // When dynamic, the object can fall and be pushed by others. - // This is independent of its 'solidness' which controls what passes through - // this object and what interacts with it. - private void MakeDynamic(bool makeStatic) - { - if (makeStatic) - { - // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - // Stop all movement - ZeroMotion(true); - - // Set various physical properties so other object interact properly - MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); - - // Mass is zero which disables a bunch of physics stuff in Bullet - UpdatePhysicalMassProperties(0f, false); - // Set collision detection parameters - if (BSParam.CcdMotionThreshold > 0f) - { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); - } - - // The activation state is 'disabled' so Bullet will not try to act on it. - // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); - // Start it out sleeping and physical actions could wake it up. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); - - // This collides like a static object - PhysBody.collisionType = CollisionType.Static; - - // There can be special things needed for implementing linksets - Linkset.MakeStatic(this); - } - else - { - // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Set various physical properties so other object interact properly - MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); - - // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 - // Since this can be called multiple times, only zero forces when becoming physical - // BulletSimAPI.ClearAllForces2(BSBody.ptr); - - // For good measure, make sure the transform is set through to the motion state - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - - // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); - - // A dynamic object has mass - UpdatePhysicalMassProperties(RawMass, false); - - // Set collision detection parameters - if (BSParam.CcdMotionThreshold > 0f) - { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); - } - - // Various values for simulation limits - BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); - BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); - BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); - - // This collides like an object. - PhysBody.collisionType = CollisionType.Dynamic; - - // Force activation of the object so Bullet will act on it. - // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); - - // There might be special things needed for implementing linksets. - Linkset.MakeDynamic(this); - } - } - - // "Making solid" means that other object will not pass through this object. - // To make transparent, we create a Bullet ghost object. - // Note: This expects to be called from the UpdatePhysicalParameters() routine as - // the functions after this one set up the state of a possibly newly created collision body. - private void MakeSolid(bool makeSolid) - { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); - if (makeSolid) - { - // Verify the previous code created the correct shape for this type of thing. - if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) - { - m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); - } - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - } - else - { - if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) - { - m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); - } - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - - // Change collision info from a static object to a ghosty collision object - PhysBody.collisionType = CollisionType.VolumeDetect; - } - } - - // Enable physical actions. Bullet will keep sleeping non-moving physical objects so - // they need waking up when parameters are changed. - // Called in taint-time!! - private void ActivateIfPhysical(bool forceIt) - { - if (IsPhysical && PhysBody.HasPhysicalBody) - BulletSimAPI.Activate2(PhysBody.ptr, forceIt); - } - - // Turn on or off the flag controlling whether collision events are returned to the simulator. - private void EnableCollisions(bool wantsCollisionEvents) - { - if (wantsCollisionEvents) - { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - } - else - { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - } - } - - // prims don't fly - public override bool Flying { - get { return _flying; } - set { - _flying = value; - } - } - public override bool SetAlwaysRun { - get { return _setAlwaysRun; } - set { _setAlwaysRun = value; } - } - public override bool ThrottleUpdates { - get { return _throttleUpdates; } - set { _throttleUpdates = value; } - } - public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } - } - public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { _collidingGround = value; } - } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } - } - public bool IsPhantom { - get { - // SceneObjectPart removes phantom objects from the physics scene - // so, although we could implement touching and such, we never - // are invoked as a phantom object - return false; - } - } - public override bool FloatOnWater { - set { - _floatOnWater = value; - PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() - { - if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - }); - } - } - public override OMV.Vector3 RotationalVelocity { - get { - return _rotationalVelocity; - } - set { - _rotationalVelocity = value; - // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() - { - DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - ForceRotationalVelocity = _rotationalVelocity; - }); - } - } - public override OMV.Vector3 ForceRotationalVelocity { - get { - return _rotationalVelocity; - } - set { - _rotationalVelocity = value; - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - ActivateIfPhysical(false); - } - } - } - public override bool Kinematic { - get { return _kinematic; } - set { _kinematic = value; - // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); - } - } - public override float Buoyancy { - get { return _buoyancy; } - set { - _buoyancy = value; - PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() - { - ForceBuoyancy = _buoyancy; - }); - } - } - public override float ForceBuoyancy { - get { return _buoyancy; } - set { - _buoyancy = value; - // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - // Force the recalculation of the various inertia,etc variables in the object - UpdatePhysicalMassProperties(_mass, true); - ActivateIfPhysical(false); - } - } - - // Used for MoveTo - public override OMV.Vector3 PIDTarget { - set { _PIDTarget = value; } - } - public override bool PIDActive { - set { _usePID = value; } - } - public override float PIDTau { - set { _PIDTau = value; } - } - - // Used for llSetHoverHeight and maybe vehicle height - // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { - set { _useHoverPID = value; } - } - public override float PIDHoverHeight { - set { _PIDHoverHeight = value; } - } - public override PIDHoverType PIDHoverType { - set { _PIDHoverType = value; } - } - public override float PIDHoverTau { - set { _PIDHoverTao = value; } - } - - // For RotLookAt - public override OMV.Quaternion APIDTarget { set { return; } } - public override bool APIDActive { set { return; } } - public override float APIDStrength { set { return; } } - public override float APIDDamping { set { return; } } - - public override void AddForce(OMV.Vector3 force, bool pushforce) { - // Since this force is being applied in only one step, make this a force per second. - OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; - AddForce(addForce, pushforce, false); - } - // Applying a force just adds this to the total force on the object. - // This added force will only last the next simulation tick. - public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { - // for an object, doesn't matter if force is a pushforce or not - if (force.IsFinite()) - { - float magnitude = force.Length(); - if (magnitude > 20000f) - { - // Force has a limit - force = force / magnitude * 20000f; - } - - OMV.Vector3 addForce = force; - DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); - - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() - { - // Bullet adds this central force to the total force for this tick - DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); - ActivateIfPhysical(false); - } - }); - } - else - { - m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); - return; - } - } - - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - AddAngularForce(force, pushforce, false); - } - public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) - { - if (force.IsFinite()) - { - OMV.Vector3 angForce = force; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() - { - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); - ActivateIfPhysical(false); - } - }); - } - else - { - m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); - return; - } - } - - // A torque impulse. - // ApplyTorqueImpulse adds torque directly to the angularVelocity. - // AddAngularForce accumulates the force and applied it to the angular velocity all at once. - // Computed as: angularVelocity += impulse * inertia; - public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) - { - OMV.Vector3 applyImpulse = impulse; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() - { - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); - ActivateIfPhysical(false); - } - }); - } - - public override void SetMomentum(OMV.Vector3 momentum) { - // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); - } - #region Mass Calculation - - private float CalculateMass() - { - float volume = _size.X * _size.Y * _size.Z; // default - float tmp; - - float returnMass = 0; - float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f; - float hollowVolume = hollowAmount * hollowAmount; - - switch (BaseShape.ProfileShape) - { - case ProfileShape.Square: - // default box - - if (BaseShape.PathCurve == (byte)Extrusion.Straight) - { - if (hollowAmount > 0.0) - { - switch (BaseShape.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - - hollowVolume *= 0.78539816339f; - break; - - case HollowShape.Triangle: - - hollowVolume *= (0.5f * .5f); - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - //a tube - - volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX); - tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY); - volume -= volume*tmp*tmp; - - if (hollowAmount > 0.0) - { - hollowVolume *= hollowAmount; - - switch (BaseShape.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - hollowVolume *= 0.78539816339f;; - break; - - case HollowShape.Triangle: - hollowVolume *= 0.5f * 0.5f; - break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - break; - - case ProfileShape.Circle: - - if (BaseShape.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.78539816339f; // elipse base - - if (hollowAmount > 0.0) - { - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - hollowVolume *= hollowAmount; - - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - case ProfileShape.HalfCircle: - if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.52359877559829887307710723054658f; - } - break; - - case ProfileShape.EquilateralTriangle: - - if (BaseShape.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.32475953f; - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - // Hollow shape is a perfect cyllinder in respect to the cube's scale - // Cyllinder hollow volume calculation - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - BaseShape.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - hollowVolume *= hollowAmount; - - switch (BaseShape.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - default: - break; - } - - - - float taperX1; - float taperY1; - float taperX; - float taperY; - float pathBegin; - float pathEnd; - float profileBegin; - float profileEnd; - - if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible) - { - taperX1 = BaseShape.PathScaleX * 0.01f; - if (taperX1 > 1.0f) - taperX1 = 2.0f - taperX1; - taperX = 1.0f - taperX1; - - taperY1 = BaseShape.PathScaleY * 0.01f; - if (taperY1 > 1.0f) - taperY1 = 2.0f - taperY1; - taperY = 1.0f - taperY1; - } - else - { - taperX = BaseShape.PathTaperX * 0.01f; - if (taperX < 0.0f) - taperX = -taperX; - taperX1 = 1.0f - taperX; - - taperY = BaseShape.PathTaperY * 0.01f; - if (taperY < 0.0f) - taperY = -taperY; - taperY1 = 1.0f - taperY; - - } - - - volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - - pathBegin = (float)BaseShape.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f; - volume *= (pathEnd - pathBegin); - - // this is crude aproximation - profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; - volume *= (profileEnd - profileBegin); - - returnMass = _density * volume; - - /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. - if (IsRootOfLinkset) - { - foreach (BSPrim prim in _childrenPrims) - { - returnMass += prim.CalculateMass(); - } - } - */ - - returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); - - return returnMass; - }// end CalculateMass - #endregion Mass Calculation - - // Rebuild the geometry and object. - // This is called when the shape changes so we need to recreate the mesh/hull. - // Called at taint-time!!! - public void CreateGeomAndObject(bool forceRebuild) - { - // If this prim is part of a linkset, we must remove and restore the physical - // links if the body is rebuilt. - bool needToRestoreLinkset = false; - bool needToRestoreVehicle = false; - - // Create the correct physical representation for this type of object. - // Updates PhysBody and PhysShape with the new information. - // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) - { - // Called if the current prim body is about to be destroyed. - // Remove all the physical dependencies on the old body. - // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) - needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); - needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); - }); - - if (needToRestoreLinkset) - { - // If physical body dependencies were removed, restore them - Linkset.RestoreBodyDependencies(this); - } - if (needToRestoreVehicle) - { - // If physical body dependencies were removed, restore them - _vehicle.RestoreBodyDependencies(this); - } - - // Make sure the properties are set on the new object - UpdatePhysicalParameters(); - return; - } - - // The physics engine says that properties have updated. Update same and inform - // the world that things have changed. - // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() - enum UpdatedProperties { - Position = 1 << 0, - Rotation = 1 << 1, - Velocity = 1 << 2, - Acceleration = 1 << 3, - RotationalVel = 1 << 4 - } - - const float ROTATION_TOLERANCE = 0.01f; - const float VELOCITY_TOLERANCE = 0.001f; - const float POSITION_TOLERANCE = 0.05f; - const float ACCELERATION_TOLERANCE = 0.01f; - const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - - public override void UpdateProperties(EntityProperties entprop) - { - // Updates only for individual prims and for the root object of a linkset. - if (Linkset.IsRoot(this)) - { - // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet - // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (_vehicle.IsActive) - { - entprop.RotationalVelocity = OMV.Vector3.Zero; - } - - // Assign directly to the local variables so the normal set action does not happen - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; - - // The sanity check can change the velocity and/or position. - if (IsPhysical && PositionSanityCheck(true)) - { - entprop.Position = _position; - entprop.Velocity = _velocity; - } - - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", - LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); - - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; - CurrentEntityProperties = entprop; - - base.RequestPhysicsterseUpdate(); - } - /* - else - { - // For debugging, report the movement of children - DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, - entprop.Acceleration, entprop.RotationalVelocity); - } - */ - - // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(this, true); - } -} -} -- cgit v1.1