From 2fd184e350874d3751a30e368d5f7ee0f41d4b85 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 21:54:48 -0800
Subject: BulletSim: reclass BSPrim into layers so linkset and physical world
 displacement is implemented as overlay classes rather than if statements
 scattered about.

---
 .../Physics/BulletSPlugin/BSPrimDisplaced.cs       | 118 +++++++++++++++++++++
 1 file changed, 118 insertions(+)
 create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
new file mode 100755
index 0000000..6401308
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -0,0 +1,118 @@
+/*
+ * 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.
+ *
+ * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
+ * are Copyright (c) 2009 Linden Research, Inc and are used under their license
+ * of Creative Commons Attribution-Share Alike 3.0
+ * (http://creativecommons.org/licenses/by-sa/3.0/).
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSPrimDisplaced : BSPrim
+{
+    // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
+    // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
+    //     sometimes it is necessary to displace the position the physics engine thinks
+    //     the position is. PositionDisplacement must be added and removed from the
+    //     position as the simulator position is stored and fetched from the physics
+    //     engine. Similar to OrientationDisplacement.
+    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
+    public virtual OMV.Vector3 CenterOfMassLocation { get; set; }
+    public virtual OMV.Vector3 GeometricCenterLocation { get; set; }
+
+    public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+        : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
+    {
+        CenterOfMassLocation = RawPosition;
+        GeometricCenterLocation = RawPosition;
+    }
+
+    public override Vector3 ForcePosition
+    {
+        get
+        {
+            return base.ForcePosition;
+        }
+        set
+        {
+            base.ForcePosition = value;
+            CenterOfMassLocation = RawPosition;
+            GeometricCenterLocation = RawPosition;
+        }
+    }
+
+    public override Quaternion ForceOrientation
+    {
+        get
+        {
+            return base.ForceOrientation;
+        }
+        set
+        {
+            base.ForceOrientation = value;
+        }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 CenterOfMass
+    {
+        get { return CenterOfMassLocation; }
+    }
+
+    // Is this used?
+    public override OMV.Vector3 GeometricCenter
+    {
+        get { return GeometricCenterLocation; }
+    }
+
+
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        // Undo any center-of-mass displacement that might have been done.
+        if (PositionDisplacement != OMV.Vector3.Zero)
+        {
+            // Correct for any rotation around the center-of-mass
+            // TODO!!!
+            entprop.Position -= PositionDisplacement;
+        }
+
+        base.UpdateProperties(entprop);
+    }
+}
+}
-- 
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