From e2e13a9756e1de21e1b11a9dba7105f831b0df30 Mon Sep 17 00:00:00 2001
From: MW
Date: Tue, 11 Sep 2007 07:04:05 +0000
Subject: Added part 3 of Darok's BulletX patch. The bulletX plugin is now a
project in the opensim build/solution. To use change the physics setting in
opensim.ini to "modified_BulletX". At the moment I have been unable to test
this as when using the bulletX plugin for me opensim is using 100% of
processor.
---
.../Region/Physics/BulletXPlugin/BulletXPlugin.cs | 575 +++++++++++++++++----
1 file changed, 485 insertions(+), 90 deletions(-)
(limited to 'OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs')
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 45723e3..6d8e1a8 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -1,11 +1,10 @@
#region Copyright
/*
-* Copyright (c) Contributors, http://opensimulator.org/
+* Copyright (c) Contributors, http://www.openmetaverse.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:
+* 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
@@ -13,23 +12,19 @@ met:
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSim Project nor the
* names of its contributors may be used to endorse or promote products
-* derived from this software without specific prior written
-permission.
+* 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
+* (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
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*
+*
*/
#endregion
#region References
@@ -47,9 +42,10 @@ using XnaDevRu.BulletX.Dynamics;
namespace OpenSim.Region.Physics.BulletXPlugin
{
///
- /// This Class converts objects and types for BulletX
+ /// BulletXConversions are called now BulletXMaths
+ /// This Class converts objects and types for BulletX and give some operations
///
- public class BulletXConversions
+ public class BulletXMaths
{
//Vector3
public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
@@ -69,6 +65,114 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
}
+
+ //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license):
+ //- SetRotation (class MatrixOperations)
+ //- GetRotation (class MatrixOperations)
+ //- GetElement (class MathHelper)
+ //- SetElement (class MathHelper)
+ internal static void SetRotation(ref Matrix m, MonoXnaCompactMaths.Quaternion q)
+ {
+ float d = q.LengthSquared();
+ float s = 2f / d;
+ float xs = q.X * s, ys = q.Y * s, zs = q.Z * s;
+ float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs;
+ float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs;
+ float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs;
+ m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0,
+ xy + wz, 1 - (xx + zz), yz - wx, 0,
+ xz - wy, yz + wx, 1 - (xx + yy), 0,
+ m.M41, m.M42, m.M43, 1);
+ }
+ internal static MonoXnaCompactMaths.Quaternion GetRotation(Matrix m)
+ {
+ MonoXnaCompactMaths.Quaternion q = new MonoXnaCompactMaths.Quaternion();
+
+ float trace = m.M11 + m.M22 + m.M33;
+
+ if (trace > 0)
+ {
+ float s = (float)Math.Sqrt(trace + 1);
+ q.W = s * 0.5f;
+ s = 0.5f / s;
+
+ q.X = (m.M32 - m.M23) * s;
+ q.Y = (m.M13 - m.M31) * s;
+ q.Z = (m.M21 - m.M12) * s;
+ }
+ else
+ {
+ int i = m.M11 < m.M22 ?
+ (m.M22 < m.M33 ? 2 : 1) :
+ (m.M11 < m.M33 ? 2 : 0);
+ int j = (i + 1) % 3;
+ int k = (i + 2) % 3;
+
+ float s = (float)Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1);
+ SetElement(ref q, i, s * 0.5f);
+ s = 0.5f / s;
+
+ q.W = (GetElement(m, k, j) - GetElement(m, j, k)) * s;
+ SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j)) * s);
+ SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k)) * s);
+ }
+
+ return q;
+ }
+ internal static float SetElement(ref MonoXnaCompactMaths.Quaternion q, int index, float value)
+ {
+ switch (index)
+ {
+ case 0:
+ q.X = value; break;
+ case 1:
+ q.Y = value; break;
+ case 2:
+ q.Z = value; break;
+ case 3:
+ q.W = value; break;
+ }
+
+ return 0;
+ }
+ internal static float GetElement(Matrix mat, int row, int col)
+ {
+ switch (row)
+ {
+ case 0:
+ switch (col)
+ {
+ case 0:
+ return mat.M11;
+ case 1:
+ return mat.M12;
+ case 2:
+ return mat.M13;
+ } break;
+ case 1:
+ switch (col)
+ {
+ case 0:
+ return mat.M21;
+ case 1:
+ return mat.M22;
+ case 2:
+ return mat.M23;
+ } break;
+ case 2:
+ switch (col)
+ {
+ case 0:
+ return mat.M31;
+ case 1:
+ return mat.M32;
+ case 2:
+ return mat.M33;
+ } break;
+ }
+
+ return 0;
+ }
}
///
/// PhysicsPlugin Class for BulletX
@@ -94,7 +198,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
public string GetName()
{
- return ("BulletXEngine");
+ return ("modified_BulletX");//Changed!! "BulletXEngine" To "modified_BulletX"
}
public void Dispose()
{
@@ -105,10 +209,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
///
public class BulletXScene : PhysicsScene
{
+ #region BulletXScene Fields
public DiscreteDynamicsWorld ddWorld;
- private CollisionDispatcher cDispatcher;
- private OverlappingPairCache opCache;
- private SequentialImpulseConstraintSolver sicSolver;
+ private CollisionDispatcher cDispatcher;
+ private OverlappingPairCache opCache;
+ private SequentialImpulseConstraintSolver sicSolver;
+ public static Object BulletXLock = new Object();
private const int minXY = 0;
private const int minZ = 0;
@@ -128,6 +234,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public static float HeightLevel0 { get { return heightLevel0; } }
public static float HeightLevel1 { get { return heightLevel1; } }
public static float LowGravityFactor { get { return lowGravityFactor; } }
+ #endregion
public BulletXScene()
{
@@ -137,8 +244,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
sicSolver = new SequentialImpulseConstraintSolver();
- ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
- ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
+ lock (BulletXLock)
+ {
+ ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
+ ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
+ }
this._heightmap = new float[65536];
}
@@ -148,47 +258,110 @@ namespace OpenSim.Region.Physics.BulletXPlugin
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z + 20;
- BulletXCharacter newAv = new BulletXCharacter(this, pos);
- _characters.Add(newAv);
+ BulletXCharacter newAv = null;
+ lock (BulletXLock)
+ {
+ newAv = new BulletXCharacter(this, pos);
+ _characters.Add(newAv);
+ }
return newAv;
}
public override void RemoveAvatar(PhysicsActor actor)
{
if (actor is BulletXCharacter)
{
- _characters.Remove((BulletXCharacter)actor);
+ lock (BulletXLock)
+ {
+ _characters.Remove((BulletXCharacter)actor);
+ }
}
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
{
- return new BulletXPrim(this, position, size, rotation);
+ BulletXPrim newPrim = null;
+ lock (BulletXLock)
+ {
+ newPrim = new BulletXPrim(this, position, size, rotation);
+ _prims.Add(newPrim);
+ }
+ return newPrim;
}
public override void RemovePrim(PhysicsActor prim)
{
if (prim is BulletXPrim)
{
- _prims.Remove((BulletXPrim)prim);
+ lock (BulletXLock)
+ {
+ _prims.Remove((BulletXPrim)prim);
+ }
}
}
public override void Simulate(float timeStep)
{
+ lock (BulletXLock)
+ {
+ BXSMove(timeStep);
+ ddWorld.StepSimulation(timeStep, 0, timeStep);
+ //Heightmap Validation:
+ BXSValidateHeight();
+ //End heightmap validation.
+ BXSUpdateKinetics();
+ }
+ }
+ private void BXSMove(float timeStep)
+ {
foreach (BulletXCharacter actor in _characters)
{
actor.Move(timeStep);
-
}
- ddWorld.StepSimulation(timeStep, 0, timeStep);
+ foreach (BulletXPrim prim in _prims)
+ {
+ }
+ }
+ private void BXSValidateHeight()
+ {
+ float _height;
foreach (BulletXCharacter actor in _characters)
{
- actor.ValidateHeight(this._heightmap[
+ if ((actor.RigidBodyHorizontalPosition.x < 0) || (actor.RigidBodyHorizontalPosition.y < 0))
+ {
+ _height = 0;
+ }
+ else
+ {
+ _height = this._heightmap[
(int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
- + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
+ + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)];
+ }
+ actor.ValidateHeight(_height);
}
+ foreach (BulletXPrim prim in _prims)
+ {
+ if ((prim.RigidBodyHorizontalPosition.x < 0) || (prim.RigidBodyHorizontalPosition.y < 0))
+ {
+ _height = 0;
+ }
+ else
+ {
+ _height = this._heightmap[
+ (int)Math.Round(prim.RigidBodyHorizontalPosition.x) * 256
+ + (int)Math.Round(prim.RigidBodyHorizontalPosition.y)];
+ }
+ prim.ValidateHeight(_height);
+ }
+ }
+ private void BXSUpdateKinetics()
+ {
+ //UpdatePosition > UpdateKinetics.
+ //Not only position will be updated, also velocity cause acceleration.
foreach (BulletXCharacter actor in _characters)
{
- actor.UpdatePosition();
+ actor.UpdateKinetics();
+ }
+ foreach (BulletXPrim prim in _prims)
+ {
+ prim.UpdateKinetics();
}
-
}
public override void GetResults()
{
@@ -212,6 +385,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
int y = i >> 8;
this._heightmap[i] = heightMap[x * 256 + y];
}
+ lock (BulletXLock)
+ {
+ //Updating BulletX HeightMap???
+ }
}
public override void DeleteTerrain()
{
@@ -230,6 +407,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private AxiomQuaternion _orientation;
private bool flying;
private RigidBody rigidBody;
+
public Axiom.Math.Vector2 RigidBodyHorizontalPosition
{
get
@@ -245,31 +423,46 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
{
+ //This fields will be removed. They're temporal
+ float _sizeX = 0.5f;
+ float _sizeY = 0.5f;
+ float _sizeZ = 1.6f;
+ //.
_position = pos;
_velocity = velocity;
_size = size;
+ //---
+ _size.X = _sizeX;
+ _size.Y = _sizeY;
+ _size.Z = _sizeZ;
+ //.
_acceleration = acceleration;
_orientation = orientation;
float _mass = 50.0f; //This depends of avatar's dimensions
- Matrix _startTransform = Matrix.Identity;
- _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
- Matrix _centerOfMassOffset = Matrix.Identity;
- CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
- DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
- MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
- _collisionShape.CalculateLocalInertia(_mass, out _localInertia);
-//Always when mass > 0
-
- //The next values might change
+ //For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
-
- rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
- rigidBody.ActivationState = ActivationState.DisableDeactivation;
-
- parent_scene.ddWorld.AddRigidBody(rigidBody);
+ Matrix _startTransform = Matrix.Identity;
+ Matrix _centerOfMassOffset = Matrix.Identity;
+ lock (BulletXScene.BulletXLock)
+ {
+ _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
+ //CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f));
+ //For now, like ODE, collisionShape = sphere of radious = 1.0
+ CollisionShape _collisionShape = new SphereShape(1.0f);
+ DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
+ MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+ _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
+ rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+ rigidBody.ActivationState = ActivationState.DisableDeactivation;
+ //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
+ MonoXnaCompactMaths.Vector3 _vDebugTranslation;
+ _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
+ rigidBody.Translate(_vDebugTranslation);
+ parent_scene.ddWorld.AddRigidBody(rigidBody);
+ }
}
public override PhysicsVector Position
{
@@ -279,7 +472,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _position = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _position = value;
+ Translate();
+ }
}
}
public override PhysicsVector Velocity
@@ -290,7 +487,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _velocity = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _velocity = value;
+ Speed();
+ }
}
}
public override PhysicsVector Size
@@ -301,7 +502,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _size = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _size = value;
+ }
}
}
public override PhysicsVector Acceleration
@@ -319,7 +523,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _orientation = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _orientation = value;
+ }
}
}
public override bool Flying
@@ -335,7 +542,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
public void SetAcceleration(PhysicsVector accel)
{
- _acceleration = accel;
+ lock (BulletXScene.BulletXLock)
+ {
+ _acceleration = accel;
+ }
}
public override bool Kinematic
{
@@ -356,70 +566,96 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
}
- public void Move(float timeStep)
+ internal void Move(float timeStep)
{
MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
- //if (this._velocity.X == 0.0f)
- // vec.X = this.rigidBody.LinearVelocity.X; //current velocity
- //else
- vec.X = this._velocity.X; //overrides current velocity
-
- //if (this._velocity.Y == 0.0f)
- // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
- //else
- vec.Y = this._velocity.Y; //overrides current velocity
-
- float nextZVelocity;
- //if (this._velocity.Z == 0.0f)
- // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
- //else
- nextZVelocity = this._velocity.Z; //overrides current velocity
+ //At this point it's supossed that:
+ //_velocity == rigidBody.LinearVelocity
+ vec.X = this._velocity.X;
+ vec.Y = this._velocity.Y;
+ vec.Z = this._velocity.Z;
if (flying)
{
//Antigravity with movement
if (this._position.Z <= BulletXScene.HeightLevel0)
{
- vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
+ vec.Z += BulletXScene.Gravity * timeStep;
}
//Lowgravity with movement
- else if((this._position.Z > BulletXScene.HeightLevel0)
+ else if ((this._position.Z > BulletXScene.HeightLevel0)
&& (this._position.Z <= BulletXScene.HeightLevel1))
{
- vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+ vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
}
//Lowgravity with...
else if (this._position.Z > BulletXScene.HeightLevel1)
{
- if(nextZVelocity > 0) //no movement
+ if (vec.Z > 0) //no movement
vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
else
- vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
+ vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
}
}
- else
- {
- vec.Z = nextZVelocity;
- }
rigidBody.LinearVelocity = vec;
}
- public void UpdatePosition()
- {
- this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
- }
//This validation is very basic
internal void ValidateHeight(float heighmapPositionValue)
{
- if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
+ if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f)
{
Matrix m = rigidBody.WorldTransform;
MonoXnaCompactMaths.Vector3 v3 = m.Translation;
- v3.Z = heighmapPositionValue;
+ v3.Z = heighmapPositionValue + _size.Z / 2.0f;
m.Translation = v3;
rigidBody.WorldTransform = m;
+ //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
+ Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
}
}
+ internal void UpdateKinetics()
+ {
+ this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
+ this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
+ //Orientation it seems that it will be the default.
+ ReOrient();
+ }
+
+ #region Methods for updating values of RigidBody
+ private void Translate()
+ {
+ Translate(this._position);
+ }
+ private void Translate(PhysicsVector _newPos)
+ {
+ MonoXnaCompactMaths.Vector3 _translation;
+ _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
+ rigidBody.Translate(_translation);
+ }
+ private void Speed()
+ {
+ Speed(this._velocity);
+ }
+ private void Speed(PhysicsVector _newSpeed)
+ {
+ MonoXnaCompactMaths.Vector3 _speed;
+ _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
+ rigidBody.LinearVelocity = _speed;
+ }
+ private void ReOrient()
+ {
+ ReOrient(this._orientation);
+ }
+ private void ReOrient(AxiomQuaternion _newOrient)
+ {
+ MonoXnaCompactMaths.Quaternion _newOrientation;
+ _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
+ Matrix _comTransform = rigidBody.CenterOfMassTransform;
+ BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
+ rigidBody.CenterOfMassTransform = _comTransform;
+ }
+ #endregion
}
///
/// PhysicsActor Prim Class for BulletX
@@ -431,7 +667,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private PhysicsVector _size;
private PhysicsVector _acceleration;
private AxiomQuaternion _orientation;
+ //Density it will depends of material.
+ //For now all prims have the same density, all prims are made of water. Be water my friend! :D
+ private const float _density = 1000.0f;
+ private RigidBody rigidBody;
+ //_physical value will be linked with the prim object value
+ private Boolean _physical = false;
+ public Axiom.Math.Vector2 RigidBodyHorizontalPosition
+ {
+ get
+ {
+ return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
+ }
+ }
public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
: this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation)
{
@@ -442,19 +691,51 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_position = pos;
_velocity = velocity;
_size = size;
+ if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");
+
_acceleration = aceleration;
- _orientation = rotation;
+ //Because a bug, orientation will be fixed to AxiomQuaternion.Identity
+ _orientation = AxiomQuaternion.Identity;
+ //_orientation = rotation;
+ //---
+ //For RigidBody Constructor. The next values might change
+ float _linearDamping = 0.0f;
+ float _angularDamping = 0.0f;
+ float _friction = 0.5f;
+ float _restitution = 0.0f;
+ Matrix _startTransform = Matrix.Identity;
+ Matrix _centerOfMassOffset = Matrix.Identity;
+ lock (BulletXScene.BulletXLock)
+ {
+ _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
+ //For now all prims are boxes
+ CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f);
+ DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
+ MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
+ _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
+ rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
+ rigidBody.ActivationState = ActivationState.DisableDeactivation;
+ //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
+ MonoXnaCompactMaths.Vector3 _vDebugTranslation;
+ _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
+ rigidBody.Translate(_vDebugTranslation);
+ //---
+ parent_scene.ddWorld.AddRigidBody(rigidBody);
+ }
}
public override PhysicsVector Position
{
get
{
return _position;
-
}
set
{
- _position = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _position = value;
+ Translate();
+ }
}
}
public override PhysicsVector Velocity
@@ -465,7 +746,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _velocity = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _velocity = value;
+ Speed();
+ }
}
}
public override PhysicsVector Size
@@ -476,7 +761,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _size = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _size = value;
+ ReSize();
+ }
}
}
public override PhysicsVector Acceleration
@@ -494,7 +783,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
set
{
- _orientation = value;
+ lock (BulletXScene.BulletXLock)
+ {
+ _orientation = value;
+ ReOrient();
+ }
+ }
+ }
+ public float Mass
+ {
+ get
+ {
+ //For now all prims are boxes
+ return _density * _size.X * _size.Y * _size.Z;
}
}
public override bool Flying
@@ -508,9 +809,23 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
+ public Boolean Physical
+ {
+ get
+ {
+ return _physical;
+ }
+ set
+ {
+ _physical = value;
+ }
+ }
public void SetAcceleration(PhysicsVector accel)
{
- _acceleration = accel;
+ lock (BulletXScene.BulletXLock)
+ {
+ _acceleration = accel;
+ }
}
public override bool Kinematic
{
@@ -532,6 +847,86 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
}
+ internal void ValidateHeight(float heighmapPositionValue)
+ {
+ if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f)
+ {
+ Matrix m = rigidBody.WorldTransform;
+ MonoXnaCompactMaths.Vector3 v3 = m.Translation;
+ v3.Z = heighmapPositionValue + _size.Z / 2.0f;
+ m.Translation = v3;
+ rigidBody.WorldTransform = m;
+ //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
+ Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
+ }
+ }
+ internal void UpdateKinetics()
+ {
+ if (_physical) //Updates properties. Prim updates its properties physically
+ {
+ this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
+ this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
+ //Orientation is not implemented yet in MonoXnaCompactMaths
+ //this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); < Good
+ //ReOrient();
+ //---
+ ReOrient();
+ }
+ else //Doesn't updates properties. That's a cancel
+ {
+ Translate();
+ Speed();
+ //Orientation is not implemented yet in MonoXnaCompactMaths
+ //ReOrient();
+ ReOrient();
+ }
+ }
+
+ #region Methods for updating values of RigidBody
+ private void Translate()
+ {
+ Translate(this._position);
+ }
+ private void Translate(PhysicsVector _newPos)
+ {
+ MonoXnaCompactMaths.Vector3 _translation;
+ _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
+ rigidBody.Translate(_translation);
+ }
+ private void Speed()
+ {
+ Speed(this._velocity);
+ }
+ private void Speed(PhysicsVector _newSpeed)
+ {
+ MonoXnaCompactMaths.Vector3 _speed;
+ _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
+ rigidBody.LinearVelocity = _speed;
+ }
+ private void ReSize()
+ {
+ ReSize(this._size);
+ }
+ private void ReSize(PhysicsVector _newSize)
+ {
+ MonoXnaCompactMaths.Vector3 _newsize;
+ _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize);
+ //For now all prims are Boxes
+ rigidBody.CollisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f);
+ }
+ private void ReOrient()
+ {
+ ReOrient(this._orientation);
+ }
+ private void ReOrient(AxiomQuaternion _newOrient)
+ {
+ MonoXnaCompactMaths.Quaternion _newOrientation;
+ _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
+ Matrix _comTransform = rigidBody.CenterOfMassTransform;
+ BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
+ rigidBody.CenterOfMassTransform = _comTransform;
+ }
+ #endregion
+
}
}
-
--
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