From 4dd17c4117ea413fb0c4418511956cb3abfe258c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 8 Sep 2015 06:15:46 -0700 Subject: More 'everything is a module' merging. Have most of UbitOde converted. There are compile errors in OpenSimBase as the new modules stuff is not all there. Removed ChOdePlugin as it's connection to OdePlugin was tangled. --- .../Region/PhysicsModules/UbitOdePlugin/ODEPrim.cs | 3901 ++++++++++++++++++++ 1 file changed, 3901 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/UbitOdePlugin/ODEPrim.cs (limited to 'OpenSim/Region/PhysicsModules/UbitOdePlugin/ODEPrim.cs') diff --git a/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODEPrim.cs new file mode 100644 index 0000000..b52a242 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODEPrim.cs @@ -0,0 +1,3901 @@ +/* + * 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. + */ + +/* Revision 2011/12/13 by Ubit Umarov + * + * + */ + +/* + * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces + * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: + * ODEPrim.cs contains methods dealing with Prim editing, Prim + * characteristics and Kinetic motion. + * ODEDynamics.cs contains methods dealing with Prim Physical motion + * (dynamics) and the associated settings. Old Linear and angular + * motors for dynamic motion have been replace with MoveLinear() + * and MoveAngular(); 'Physical' is used only to switch ODE dynamic + * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to + * switch between 'VEHICLE' parameter use and general dynamics + * settings use. + */ + +//#define SPAM + +using System; +using System.Collections.Generic; +using System.Reflection; +using System.Runtime.InteropServices; +using System.Threading; +using log4net; +using OpenMetaverse; +using OdeAPI; +using OpenSim.Framework; +using OpenSim.Region.PhysicsModules.SharedBase; + +namespace OpenSim.Region.PhysicsModules.OdePlugin +{ + public class OdePrim : PhysicsActor + { + private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); + + private bool m_isphysical; + private bool m_fakeisphysical; + private bool m_isphantom; + private bool m_fakeisphantom; + internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively + private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively + + protected bool m_building; + protected bool m_forcePosOrRotation; + private bool m_iscolliding; + + internal bool m_isSelected; + private bool m_delaySelect; + private bool m_lastdoneSelected; + internal bool m_outbounds; + + private Quaternion m_lastorientation; + private Quaternion _orientation; + + private Vector3 _position; + private Vector3 _velocity; + private Vector3 m_torque; + private Vector3 m_lastVelocity; + private Vector3 m_lastposition; + private Vector3 m_rotationalVelocity; + private Vector3 _size; + private Vector3 _acceleration; + private Vector3 m_angularlock = Vector3.One; + private IntPtr Amotor; + + private Vector3 m_force; + private Vector3 m_forceacc; + private Vector3 m_angularForceacc; + + private float m_invTimeStep; + private float m_timeStep; + + private Vector3 m_PIDTarget; + private float m_PIDTau; + private bool m_usePID; + + private float m_PIDHoverHeight; + private float m_PIDHoverTau; + private bool m_useHoverPID; + private PIDHoverType m_PIDHoverType; + private float m_targetHoverHeight; + private float m_groundHeight; + private float m_waterHeight; + private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. + + private int body_autodisable_frames; + public int bodydisablecontrol; + private float m_gravmod = 1.0f; + + // Default we're a Geometry + private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); + // Default colide nonphysical don't try to colide with anything + private const CollisionCategories m_default_collisionFlagsNotPhysical = 0; + + private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom | + CollisionCategories.Character | + CollisionCategories.Land | + CollisionCategories.VolumeDtc); + +// private bool m_collidesLand = true; + private bool m_collidesWater; +// public bool m_returnCollisions; + + private bool m_NoColide; // for now only for internal use for bad meshs + + + // Default, Collide with Other Geometries, spaces and Bodies + private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical; + + public bool m_disabled; + + private uint m_localID; + + private IMesh m_mesh; + private object m_meshlock = new object(); + private PrimitiveBaseShape _pbs; + + private UUID? m_assetID; + private MeshState m_meshState; + + public OdeScene _parent_scene; + + /// + /// The physics space which contains prim geometry + /// + public IntPtr m_targetSpace; + + public IntPtr prim_geom; + public IntPtr _triMeshData; + + private PhysicsActor _parent; + + private List childrenPrim = new List(); + + public float m_collisionscore; + private int m_colliderfilter = 0; + + public IntPtr collide_geom; // for objects: geom if single prim space it linkset + + private float m_density; + private byte m_shapetype; + public bool _zeroFlag; + private bool m_lastUpdateSent; + + public IntPtr Body; + + private Vector3 _target_velocity; + + public Vector3 m_OBBOffset; + public Vector3 m_OBB; + public float primOOBradiusSQ; + + private bool m_hasOBB = true; + + private float m_physCost; + private float m_streamCost; + + public d.Mass primdMass; // prim inertia information on it's own referencial + float primMass; // prim own mass + float primVolume; // prim own volume; + float _mass; // object mass acording to case + + public int givefakepos; + private Vector3 fakepos; + public int givefakeori; + private Quaternion fakeori; + + private int m_eventsubscription; + private int m_cureventsubscription; + private CollisionEventUpdate CollisionEventsThisFrame = null; + private bool SentEmptyCollisionsEvent; + + public volatile bool childPrim; + + public ODEDynamics m_vehicle; + + internal int m_material = (int)Material.Wood; + private float mu; + private float bounce; + + /// + /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. + /// + public override bool IsPhysical // this is not reliable for internal use + { + get { return m_fakeisphysical; } + set + { + m_fakeisphysical = value; // we show imediatly to outside that we changed physical + // and also to stop imediatly some updates + // but real change will only happen in taintprocessing + + if (!value) // Zero the remembered last velocity + m_lastVelocity = Vector3.Zero; + AddChange(changes.Physical, value); + } + } + + public override bool IsVolumeDtc + { + get { return m_fakeisVolumeDetect; } + set + { + m_fakeisVolumeDetect = value; + AddChange(changes.VolumeDtc, value); + } + } + + public override bool Phantom // this is not reliable for internal use + { + get { return m_fakeisphantom; } + set + { + m_fakeisphantom = value; + AddChange(changes.Phantom, value); + } + } + + public override bool Building // this is not reliable for internal use + { + get { return m_building; } + set + { +// if (value) +// m_building = true; + AddChange(changes.building, value); + } + } + + public override void getContactData(ref ContactData cdata) + { + cdata.mu = mu; + cdata.bounce = bounce; + + // cdata.softcolide = m_softcolide; + cdata.softcolide = false; + + if (m_isphysical) + { + ODEDynamics veh; + if (_parent != null) + veh = ((OdePrim)_parent).m_vehicle; + else + veh = m_vehicle; + + if (veh != null && veh.Type != Vehicle.TYPE_NONE) + cdata.mu *= veh.FrictionFactor; +// cdata.mu *= 0; + } + } + + public override float PhysicsCost + { + get + { + return m_physCost; + } + } + + public override float StreamCost + { + get + { + return m_streamCost; + } + } + + public override int PhysicsActorType + { + get { return (int)ActorTypes.Prim; } + set { return; } + } + + public override bool SetAlwaysRun + { + get { return false; } + set { return; } + } + + public override uint LocalID + { + get { return m_localID; } + set { m_localID = value; } + } + + public override PhysicsActor ParentActor + { + get + { + if (childPrim) + return _parent; + else + return (PhysicsActor)this; + } + } + + public override bool Grabbed + { + set { return; } + } + + public override bool Selected + { + set + { + if (value) + m_isSelected = value; // if true set imediatly to stop moves etc + AddChange(changes.Selected, value); + } + } + + public override bool Flying + { + // no flying prims for you + get { return false; } + set { } + } + + public override bool IsColliding + { + get { return m_iscolliding; } + set + { + if (value) + { + m_colliderfilter += 2; + if (m_colliderfilter > 2) + m_colliderfilter = 2; + } + else + { + m_colliderfilter--; + if (m_colliderfilter < 0) + m_colliderfilter = 0; + } + + if (m_colliderfilter == 0) + m_iscolliding = false; + else + m_iscolliding = true; + } + } + + public override bool CollidingGround + { + get { return false; } + set { return; } + } + + public override bool CollidingObj + { + get { return false; } + set { return; } + } + + + public override bool ThrottleUpdates {get;set;} + + public override bool Stopped + { + get { return _zeroFlag; } + } + + public override Vector3 Position + { + get + { + if (givefakepos > 0) + return fakepos; + else + return _position; + } + + set + { + fakepos = value; + givefakepos++; + AddChange(changes.Position, value); + } + } + + public override Vector3 Size + { + get { return _size; } + set + { + if (value.IsFinite()) + { + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); + } + } + } + + public override float Mass + { + get { return primMass; } + } + + public override Vector3 Force + { + get { return m_force; } + set + { + if (value.IsFinite()) + { + AddChange(changes.Force, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); + } + } + } + + public override void SetVolumeDetect(int param) + { + m_fakeisVolumeDetect = (param != 0); + AddChange(changes.VolumeDtc, m_fakeisVolumeDetect); + } + + public override Vector3 GeometricCenter + { + // this is not real geometric center but a average of positions relative to root prim acording to + // http://wiki.secondlife.com/wiki/llGetGeometricCenter + // ignoring tortured prims details since sl also seems to ignore + // so no real use in doing it on physics + get + { + return Vector3.Zero; + } + } + + public override Vector3 CenterOfMass + { + get + { + lock (_parent_scene.OdeLock) + { + d.Vector3 dtmp; + if (!childPrim && Body != IntPtr.Zero) + { + dtmp = d.BodyGetPosition(Body); + return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); + } + else if (prim_geom != IntPtr.Zero) + { + d.Quaternion dq; + d.GeomCopyQuaternion(prim_geom, out dq); + Quaternion q; + q.X = dq.X; + q.Y = dq.Y; + q.Z = dq.Z; + q.W = dq.W; + + Vector3 Ptot = m_OBBOffset * q; + dtmp = d.GeomGetPosition(prim_geom); + Ptot.X += dtmp.X; + Ptot.Y += dtmp.Y; + Ptot.Z += dtmp.Z; + + // if(childPrim) we only know about physical linksets + return Ptot; +/* + float tmass = _mass; + Ptot *= tmass; + + float m; + + foreach (OdePrim prm in childrenPrim) + { + m = prm._mass; + Ptot += prm.CenterOfMass * m; + tmass += m; + } + + if (tmass == 0) + tmass = 0; + else + tmass = 1.0f / tmass; + + Ptot *= tmass; + return Ptot; +*/ + } + else + return _position; + } + } + } + + public override Vector3 OOBsize + { + get + { + return m_OBB; + } + } + + public override Vector3 OOBoffset + { + get + { + return m_OBBOffset; + } + } + + public override float OOBRadiusSQ + { + get + { + return primOOBradiusSQ; + } + } + + public override PrimitiveBaseShape Shape + { + set + { +// AddChange(changes.Shape, value); + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype); + } + } + + public override byte PhysicsShapeType + { + get + { + return m_shapetype; + } + set + { + m_shapetype = value; + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); + } + } + + public override Vector3 Velocity + { + get + { + if (_zeroFlag) + return Vector3.Zero; + return _velocity; + } + set + { + if (value.IsFinite()) + { + AddChange(changes.Velocity, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); + } + + } + } + + public override Vector3 Torque + { + get + { + if (!IsPhysical || Body == IntPtr.Zero) + return Vector3.Zero; + + return m_torque; + } + + set + { + if (value.IsFinite()) + { + AddChange(changes.Torque, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); + } + } + } + + public override float CollisionScore + { + get { return m_collisionscore; } + set { m_collisionscore = value; } + } + + public override bool Kinematic + { + get { return false; } + set { } + } + + public override Quaternion Orientation + { + get + { + if (givefakeori > 0) + return fakeori; + else + + return _orientation; + } + set + { + if (QuaternionIsFinite(value)) + { + fakeori = value; + givefakeori++; + + value.Normalize(); + + AddChange(changes.Orientation, value); + } + else + m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); + + } + } + + public override Vector3 Acceleration + { + get { return _acceleration; } + set { } + } + + public override Vector3 RotationalVelocity + { + get + { + Vector3 pv = Vector3.Zero; + if (_zeroFlag) + return pv; + + if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) + return pv; + + return m_rotationalVelocity; + } + set + { + if (value.IsFinite()) + { + AddChange(changes.AngVelocity, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); + } + } + } + + public override float Buoyancy + { + get { return m_buoyancy; } + set + { + AddChange(changes.Buoyancy,value); + } + } + + public override bool FloatOnWater + { + set + { + AddChange(changes.CollidesWater, value); + } + } + + public override Vector3 PIDTarget + { + set + { + if (value.IsFinite()) + { + AddChange(changes.PIDTarget,value); + } + else + m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); + } + } + + public override bool PIDActive + { + get + { + return m_usePID; + } + set + { + AddChange(changes.PIDActive,value); + } + } + + public override float PIDTau + { + set + { + float tmp = 0; + if (value > 0) + { + float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); + if (value < mint) + tmp = mint; + else + tmp = value; + } + AddChange(changes.PIDTau,tmp); + } + } + + public override float PIDHoverHeight + { + set + { + AddChange(changes.PIDHoverHeight,value); + } + } + public override bool PIDHoverActive + { + set + { + AddChange(changes.PIDHoverActive, value); + } + } + + public override PIDHoverType PIDHoverType + { + set + { + AddChange(changes.PIDHoverType,value); + } + } + + public override float PIDHoverTau + { + set + { + float tmp =0; + if (value > 0) + { + float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); + if (value < mint) + tmp = mint; + else + tmp = value; + } + AddChange(changes.PIDHoverTau, tmp); + } + } + + public override Quaternion APIDTarget { set { return; } } + + public override bool APIDActive { set { return; } } + + public override float APIDStrength { set { return; } } + + public override float APIDDamping { set { return; } } + + public override int VehicleType + { + // we may need to put a fake on this + get + { + if (m_vehicle == null) + return (int)Vehicle.TYPE_NONE; + else + return (int)m_vehicle.Type; + } + set + { + AddChange(changes.VehicleType, value); + } + } + + public override void VehicleFloatParam(int param, float value) + { + strVehicleFloatParam fp = new strVehicleFloatParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleFloatParam, fp); + } + + public override void VehicleVectorParam(int param, Vector3 value) + { + strVehicleVectorParam fp = new strVehicleVectorParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleVectorParam, fp); + } + + public override void VehicleRotationParam(int param, Quaternion value) + { + strVehicleQuatParam fp = new strVehicleQuatParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleRotationParam, fp); + } + + public override void VehicleFlags(int param, bool value) + { + strVehicleBoolParam bp = new strVehicleBoolParam(); + bp.param = param; + bp.value = value; + AddChange(changes.VehicleFlags, bp); + } + + public override void SetVehicle(object vdata) + { + AddChange(changes.SetVehicle, vdata); + } + public void SetAcceleration(Vector3 accel) + { + _acceleration = accel; + } + + public override void AddForce(Vector3 force, bool pushforce) + { + if (force.IsFinite()) + { + if(pushforce) + AddChange(changes.AddForce, force); + else // a impulse + AddChange(changes.AddForce, force * m_invTimeStep); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); + } + //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); + } + + public override void AddAngularForce(Vector3 force, bool pushforce) + { + if (force.IsFinite()) + { +// if(pushforce) for now applyrotationimpulse seems more happy applied as a force + AddChange(changes.AddAngForce, force); +// else // a impulse +// AddChange(changes.AddAngForce, force * m_invTimeStep); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); + } + } + + public override void CrossingFailure() + { + if (m_outbounds) + { + _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); + _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); + _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); + + m_lastposition = _position; + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; + + m_lastVelocity = _velocity; + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + m_vehicle.Stop(); + + if(Body != IntPtr.Zero) + d.BodySetLinearVel(Body, 0, 0, 0); // stop it + if (prim_geom != IntPtr.Zero) + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + + m_outbounds = false; + changeDisable(false); + base.RequestPhysicsterseUpdate(); + } + } + + public override void SetMomentum(Vector3 momentum) + { + } + + public override void SetMaterial(int pMaterial) + { + m_material = pMaterial; + mu = _parent_scene.m_materialContactsData[pMaterial].mu; + bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; + } + + public override float Density + { + get + { + return m_density * 100f; + } + set + { + m_density = value / 100f; + // for not prim mass is not updated since this implies full rebuild of body inertia TODO + } + } + public override float GravModifier + { + get + { + return m_gravmod; + } + set + { + m_gravmod = value; + if (m_vehicle != null) + m_vehicle.GravMod = m_gravmod; + } + } + public override float Friction + { + get + { + return mu; + } + set + { + mu = value; + } + } + + public override float Restitution + { + get + { + return bounce; + } + set + { + bounce = value; + } + } + + public void setPrimForRemoval() + { + AddChange(changes.Remove, null); + } + + public override void link(PhysicsActor obj) + { + AddChange(changes.Link, obj); + } + + public override void delink() + { + AddChange(changes.DeLink, null); + } + + public override void LockAngularMotion(Vector3 axis) + { + // reverse the zero/non zero values for ODE. + if (axis.IsFinite()) + { + axis.X = (axis.X > 0) ? 1f : 0f; + axis.Y = (axis.Y > 0) ? 1f : 0f; + axis.Z = (axis.Z > 0) ? 1f : 0f; +// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); + AddChange(changes.AngLock, axis); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); + } + } + + public override void SubscribeEvents(int ms) + { + m_eventsubscription = ms; + m_cureventsubscription = 0; + if (CollisionEventsThisFrame == null) + CollisionEventsThisFrame = new CollisionEventUpdate(); + SentEmptyCollisionsEvent = false; + } + + public override void UnSubscribeEvents() + { + if (CollisionEventsThisFrame != null) + { + CollisionEventsThisFrame.Clear(); + CollisionEventsThisFrame = null; + } + m_eventsubscription = 0; + _parent_scene.RemoveCollisionEventReporting(this); + } + + public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) + { + if (CollisionEventsThisFrame == null) + CollisionEventsThisFrame = new CollisionEventUpdate(); +// if(CollisionEventsThisFrame.Count < 32) + CollisionEventsThisFrame.AddCollider(CollidedWith, contact); + } + + public void SendCollisions() + { + if (CollisionEventsThisFrame == null) + return; + + if (m_cureventsubscription < m_eventsubscription) + return; + + m_cureventsubscription = 0; + + int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; + + if (!SentEmptyCollisionsEvent || ncolisions > 0) + { + base.SendCollisionUpdate(CollisionEventsThisFrame); + + if (ncolisions == 0) + { + SentEmptyCollisionsEvent = true; + _parent_scene.RemoveCollisionEventReporting(this); + } + else + { + SentEmptyCollisionsEvent = false; + CollisionEventsThisFrame.Clear(); + } + } + } + + internal void AddCollisionFrameTime(int t) + { + if (m_cureventsubscription < 50000) + m_cureventsubscription += t; + } + + public override bool SubscribedEvents() + { + if (m_eventsubscription > 0) + return true; + return false; + } + + public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, + Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) + { + Name = primName; + LocalID = plocalID; + + m_vehicle = null; + + if (!pos.IsFinite()) + { + pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), + parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); + } + _position = pos; + givefakepos = 0; + + m_timeStep = parent_scene.ODE_STEPSIZE; + m_invTimeStep = 1f / m_timeStep; + + m_density = parent_scene.geomDefaultDensity; + body_autodisable_frames = parent_scene.bodyFramesAutoDisable; + + prim_geom = IntPtr.Zero; + collide_geom = IntPtr.Zero; + Body = IntPtr.Zero; + + if (!size.IsFinite()) + { + size = new Vector3(0.5f, 0.5f, 0.5f); + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); + } + + if (size.X <= 0) size.X = 0.01f; + if (size.Y <= 0) size.Y = 0.01f; + if (size.Z <= 0) size.Z = 0.01f; + + _size = size; + + if (!QuaternionIsFinite(rotation)) + { + rotation = Quaternion.Identity; + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); + } + + _orientation = rotation; + givefakeori = 0; + + _pbs = pbs; + + _parent_scene = parent_scene; + m_targetSpace = IntPtr.Zero; + + if (pos.Z < 0) + { + m_isphysical = false; + } + else + { + m_isphysical = pisPhysical; + } + m_fakeisphysical = m_isphysical; + + m_isVolumeDetect = false; + m_fakeisVolumeDetect = false; + + m_force = Vector3.Zero; + + m_iscolliding = false; + m_colliderfilter = 0; + m_NoColide = false; + + _triMeshData = IntPtr.Zero; + + m_shapetype = _shapeType; + + m_lastdoneSelected = false; + m_isSelected = false; + m_delaySelect = false; + + m_isphantom = pisPhantom; + m_fakeisphantom = pisPhantom; + + mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; + bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; + + m_building = true; // control must set this to false when done + + // get basic mass parameters + ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); + + primVolume = repData.volume; + m_OBB = repData.OBB; + m_OBBOffset = repData.OBBOffset; + + UpdatePrimBodyData(); + } + + private void resetCollisionAccounting() + { + m_collisionscore = 0; + } + + private void UpdateCollisionCatFlags() + { + if(m_isphysical && m_disabled) + { + m_collisionCategories = 0; + m_collisionFlags = 0; + } + + else if (m_isSelected) + { + m_collisionCategories = CollisionCategories.Selected; + m_collisionFlags = 0; + } + + else if (m_isVolumeDetect) + { + m_collisionCategories = CollisionCategories.VolumeDtc; + if (m_isphysical) + m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; + else + m_collisionFlags = 0; + } + else if (m_isphantom) + { + m_collisionCategories = CollisionCategories.Phantom; + if (m_isphysical) + m_collisionFlags = CollisionCategories.Land; + else + m_collisionFlags = 0; + } + else + { + m_collisionCategories = CollisionCategories.Geom; + if (m_isphysical) + m_collisionFlags = m_default_collisionFlagsPhysical; + else + m_collisionFlags = m_default_collisionFlagsNotPhysical; + } + } + + private void ApplyCollisionCatFlags() + { + if (prim_geom != IntPtr.Zero) + { + if (!childPrim && childrenPrim.Count > 0) + { + foreach (OdePrim prm in childrenPrim) + { + if (m_isphysical && m_disabled) + { + prm.m_collisionCategories = 0; + prm.m_collisionFlags = 0; + } + else + { + // preserve some + if (prm.m_isSelected) + { + prm.m_collisionCategories = CollisionCategories.Selected; + prm.m_collisionFlags = 0; + } + else if (prm.m_isVolumeDetect) + { + prm.m_collisionCategories = CollisionCategories.VolumeDtc; + if (m_isphysical) + prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; + else + prm.m_collisionFlags = 0; + } + else if (prm.m_isphantom) + { + prm.m_collisionCategories = CollisionCategories.Phantom; + if (m_isphysical) + prm.m_collisionFlags = CollisionCategories.Land; + else + prm.m_collisionFlags = 0; + } + else + { + prm.m_collisionCategories = m_collisionCategories; + prm.m_collisionFlags = m_collisionFlags; + } + } + + if (prm.prim_geom != IntPtr.Zero) + { + if (prm.m_NoColide) + { + d.GeomSetCategoryBits(prm.prim_geom, 0); + if (m_isphysical) + d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); + else + d.GeomSetCollideBits(prm.prim_geom, 0); + } + else + { + d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); + } + } + } + } + + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, 0); + d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); + } + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); + } + } + } + } + + private void createAMotor(Vector3 axis) + { + if (Body == IntPtr.Zero) + return; + + if (Amotor != IntPtr.Zero) + { + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } + + int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); + + if (axisnum <= 0) + return; + + // stop it + d.BodySetTorque(Body, 0, 0, 0); + d.BodySetAngularVel(Body, 0, 0, 0); + + Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); + d.JointAttach(Amotor, Body, IntPtr.Zero); + + d.JointSetAMotorMode(Amotor, 0); + + d.JointSetAMotorNumAxes(Amotor, axisnum); + + // get current orientation to lock + + d.Quaternion dcur = d.BodyGetQuaternion(Body); + Quaternion curr; // crap convertion between identical things + curr.X = dcur.X; + curr.Y = dcur.Y; + curr.Z = dcur.Z; + curr.W = dcur.W; + Vector3 ax; + + int i = 0; + int j = 0; + if (axis.X == 0) + { + ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X + // ODE should do this with axis relative to body 1 but seems to fail + d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); + d.JointSetAMotorAngle(Amotor, 0, 0); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); + i++; + j = 256; // move to next axis set + } + + if (axis.Y == 0) + { + ax = (new Vector3(0, 1, 0)) * curr; + d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); + d.JointSetAMotorAngle(Amotor, i, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); + i++; + j += 256; + } + + if (axis.Z == 0) + { + ax = (new Vector3(0, 0, 1)) * curr; + d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); + d.JointSetAMotorAngle(Amotor, i, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); + } + } + + + private void SetGeom(IntPtr geom) + { + prim_geom = geom; + //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); + if (prim_geom != IntPtr.Zero) + { + + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + if (m_isphysical) + { + d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); + } + else + { + d.GeomSetCollideBits(prim_geom, 0); + d.GeomDisable(prim_geom); + } + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + } + + UpdatePrimBodyData(); + _parent_scene.actor_name_map[prim_geom] = this; + +/* +// debug + d.AABB aabb; + d.GeomGetAABB(prim_geom, out aabb); + float x = aabb.MaxX - aabb.MinX; + float y = aabb.MaxY - aabb.MinY; + float z = aabb.MaxZ - aabb.MinZ; + if( x > 60.0f || y > 60.0f || z > 60.0f) + m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", + Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); + else if (x < 0.001f || y < 0.001f || z < 0.001f) + m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", + Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); + +// +*/ + + } + else + m_log.Warn("Setting bad Geom"); + } + + private bool GetMeshGeom() + { + IntPtr vertices, indices; + int vertexCount, indexCount; + int vertexStride, triStride; + + IMesh mesh = m_mesh; + + if (mesh == null) + return false; + + mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); + mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); + + if (vertexCount == 0 || indexCount == 0) + { + m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1} at {2}", + Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh",_position.ToString()); + + m_hasOBB = false; + m_OBBOffset = Vector3.Zero; + m_OBB = _size * 0.5f; + + m_physCost = 0.1f; + m_streamCost = 1.0f; + + _parent_scene.mesher.ReleaseMesh(mesh); + m_meshState = MeshState.MeshFailed; + m_mesh = null; + return false; + } + + IntPtr geo = IntPtr.Zero; + + try + { + _triMeshData = d.GeomTriMeshDataCreate(); + + d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); + d.GeomTriMeshDataPreprocess(_triMeshData); + + geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); + } + + catch (Exception e) + { + m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); + if (_triMeshData != IntPtr.Zero) + { + try + { + d.GeomTriMeshDataDestroy(_triMeshData); + } + catch + { + } + } + _triMeshData = IntPtr.Zero; + + m_hasOBB = false; + m_OBBOffset = Vector3.Zero; + m_OBB = _size * 0.5f; + m_physCost = 0.1f; + m_streamCost = 1.0f; + + _parent_scene.mesher.ReleaseMesh(mesh); + m_meshState = MeshState.MeshFailed; + m_mesh = null; + return false; + } + + m_physCost = 0.0013f * (float)indexCount; + // todo + m_streamCost = 1.0f; + + SetGeom(geo); + + return true; + } + + private void CreateGeom() + { + bool hasMesh = false; + + m_NoColide = false; + + if ((m_meshState & MeshState.MeshNoColide) != 0) + m_NoColide = true; + + else if(m_mesh != null) + { + if (GetMeshGeom()) + hasMesh = true; + else + m_NoColide = true; + } + + + if (!hasMesh) + { + IntPtr geo = IntPtr.Zero; + + if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 + && _size.X == _size.Y && _size.Y == _size.Z) + { // it's a sphere + try + { + geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); + } + catch (Exception e) + { + m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); + return; + } + } + else + {// do it as a box + try + { + geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + } + catch (Exception e) + { + m_log.Warn("[PHYSICS]: Create box failed: {0}", e); + return; + } + } + m_physCost = 0.1f; + m_streamCost = 1.0f; + SetGeom(geo); + } + } + + private void RemoveGeom() + { + if (prim_geom != IntPtr.Zero) + { + _parent_scene.actor_name_map.Remove(prim_geom); + + try + { + d.GeomDestroy(prim_geom); + if (_triMeshData != IntPtr.Zero) + { + d.GeomTriMeshDataDestroy(_triMeshData); + _triMeshData = IntPtr.Zero; + } + } + catch (Exception e) + { + m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); + } + + prim_geom = IntPtr.Zero; + collide_geom = IntPtr.Zero; + m_targetSpace = IntPtr.Zero; + } + else + { + m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); + } + + lock (m_meshlock) + { + if (m_mesh != null) + { + _parent_scene.mesher.ReleaseMesh(m_mesh); + m_mesh = null; + } + } + + Body = IntPtr.Zero; + m_hasOBB = false; + } + + //sets non physical prim m_targetSpace to right space in spaces grid for static prims + // should only be called for non physical prims unless they are becoming non physical + private void SetInStaticSpace(OdePrim prim) + { + IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); + prim.m_targetSpace = targetSpace; + collide_geom = IntPtr.Zero; + } + + public void enableBodySoft() + { + m_disabled = false; + if (!childPrim && !m_isSelected) + { + if (m_isphysical && Body != IntPtr.Zero) + { + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + + d.BodyEnable(Body); + } + } + resetCollisionAccounting(); + } + + private void disableBodySoft() + { + m_disabled = true; + if (!childPrim) + { + if (m_isphysical && Body != IntPtr.Zero) + { + if (m_isSelected) + m_collisionFlags = CollisionCategories.Selected; + else + m_collisionCategories = 0; + m_collisionFlags = 0; + ApplyCollisionCatFlags(); + d.BodyDisable(Body); + } + } + } + + private void MakeBody() + { + if (!m_isphysical) // only physical get bodies + return; + + if (childPrim) // child prims don't get bodies; + return; + + if (m_building) + return; + + if (prim_geom == IntPtr.Zero) + { + m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); + return; + } + + if (Body != IntPtr.Zero) + { + DestroyBody(); + m_log.Warn("[PHYSICS]: MakeBody called having a body"); + } + + if (d.GeomGetBody(prim_geom) != IntPtr.Zero) + { + d.GeomSetBody(prim_geom, IntPtr.Zero); + m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); + } + + d.Matrix3 mymat = new d.Matrix3(); + d.Quaternion myrot = new d.Quaternion(); + d.Mass objdmass = new d.Mass { }; + + Body = d.BodyCreate(_parent_scene.world); + + objdmass = primdMass; + + // rotate inertia + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + + d.RfromQ(out mymat, ref myrot); + d.MassRotate(ref objdmass, ref mymat); + + // set the body rotation + d.BodySetRotation(Body, ref mymat); + + // recompute full object inertia if needed + if (childrenPrim.Count > 0) + { + d.Matrix3 mat = new d.Matrix3(); + d.Quaternion quat = new d.Quaternion(); + d.Mass tmpdmass = new d.Mass { }; + Vector3 rcm; + + rcm.X = _position.X; + rcm.Y = _position.Y; + rcm.Z = _position.Z; + + lock (childrenPrim) + { + foreach (OdePrim prm in childrenPrim) + { + if (prm.prim_geom == IntPtr.Zero) + { + m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); + continue; + } + + tmpdmass = prm.primdMass; + + // apply prim current rotation to inertia + quat.X = prm._orientation.X; + quat.Y = prm._orientation.Y; + quat.Z = prm._orientation.Z; + quat.W = prm._orientation.W; + d.RfromQ(out mat, ref quat); + d.MassRotate(ref tmpdmass, ref mat); + + Vector3 ppos = prm._position; + ppos.X -= rcm.X; + ppos.Y -= rcm.Y; + ppos.Z -= rcm.Z; + // refer inertia to root prim center of mass position + d.MassTranslate(ref tmpdmass, + ppos.X, + ppos.Y, + ppos.Z); + + d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia + // fix prim colision cats + + if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) + { + d.GeomSetBody(prm.prim_geom, IntPtr.Zero); + m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); + } + + d.GeomClearOffset(prm.prim_geom); + d.GeomSetBody(prm.prim_geom, Body); + prm.Body = Body; + d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation + } + } + } + + d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset + // associate root geom with body + d.GeomSetBody(prim_geom, Body); + + d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); + d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); + + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + myrot.X = -myrot.X; + myrot.Y = -myrot.Y; + myrot.Z = -myrot.Z; + + d.RfromQ(out mymat, ref myrot); + d.MassRotate(ref objdmass, ref mymat); + + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + + // disconnect from world gravity so we can apply buoyancy + d.BodySetGravityMode(Body, false); + + d.BodySetAutoDisableFlag(Body, true); + d.BodySetAutoDisableSteps(Body, body_autodisable_frames); + d.BodySetAutoDisableAngularThreshold(Body, 0.01f); + d.BodySetAutoDisableLinearThreshold(Body, 0.01f); + d.BodySetDamping(Body, .005f, .001f); + + if (m_targetSpace != IntPtr.Zero) + { + _parent_scene.waitForSpaceUnlock(m_targetSpace); + if (d.SpaceQuery(m_targetSpace, prim_geom)) + d.SpaceRemove(m_targetSpace, prim_geom); + } + + if (childrenPrim.Count == 0) + { + collide_geom = prim_geom; + m_targetSpace = _parent_scene.ActiveSpace; + } + else + { + m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); + d.HashSpaceSetLevels(m_targetSpace, -2, 8); + d.SpaceSetSublevel(m_targetSpace, 3); + d.SpaceSetCleanup(m_targetSpace, false); + + d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | + CollisionCategories.Geom | + CollisionCategories.Phantom | + CollisionCategories.VolumeDtc + )); + d.GeomSetCollideBits(m_targetSpace, 0); + collide_geom = m_targetSpace; + } + + d.SpaceAdd(m_targetSpace, prim_geom); + + if (m_delaySelect) + { + m_isSelected = true; + m_delaySelect = false; + } + + m_collisionscore = 0; + + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + + _parent_scene.addActivePrim(this); + + lock (childrenPrim) + { + foreach (OdePrim prm in childrenPrim) + { + if (prm.prim_geom == IntPtr.Zero) + continue; + + Vector3 ppos = prm._position; + d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position + + if (prm.m_targetSpace != m_targetSpace) + { + if (prm.m_targetSpace != IntPtr.Zero) + { + _parent_scene.waitForSpaceUnlock(prm.m_targetSpace); + if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) + d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); + } + prm.m_targetSpace = m_targetSpace; + d.SpaceAdd(m_targetSpace, prm.prim_geom); + } + + prm.m_collisionscore = 0; + + if(!m_disabled) + prm.m_disabled = false; + + _parent_scene.addActivePrim(prm); + } + } + + // The body doesn't already have a finite rotation mode set here + if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) + { + createAMotor(m_angularlock); + } + + + if (m_isSelected || m_disabled) + { + d.BodyDisable(Body); + } + else + { + d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); + d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); + } + _parent_scene.addActiveGroups(this); + } + + private void DestroyBody() + { + if (Body != IntPtr.Zero) + { + _parent_scene.remActivePrim(this); + + collide_geom = IntPtr.Zero; + + if (m_disabled) + m_collisionCategories = 0; + else if (m_isSelected) + m_collisionCategories = CollisionCategories.Selected; + else if (m_isVolumeDetect) + m_collisionCategories = CollisionCategories.VolumeDtc; + else if (m_isphantom) + m_collisionCategories = CollisionCategories.Phantom; + else + m_collisionCategories = CollisionCategories.Geom; + + m_collisionFlags = 0; + + if (prim_geom != IntPtr.Zero) + { + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + d.GeomSetCollideBits(prim_geom, 0); + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + } + UpdateDataFromGeom(); + d.GeomSetBody(prim_geom, IntPtr.Zero); + SetInStaticSpace(this); + } + + if (!childPrim) + { + lock (childrenPrim) + { + foreach (OdePrim prm in childrenPrim) + { + _parent_scene.remActivePrim(prm); + + if (prm.m_isSelected) + prm.m_collisionCategories = CollisionCategories.Selected; + else if (prm.m_isVolumeDetect) + prm.m_collisionCategories = CollisionCategories.VolumeDtc; + else if (prm.m_isphantom) + prm.m_collisionCategories = CollisionCategories.Phantom; + else + prm.m_collisionCategories = CollisionCategories.Geom; + + prm.m_collisionFlags = 0; + + if (prm.prim_geom != IntPtr.Zero) + { + if (prm.m_NoColide) + { + d.GeomSetCategoryBits(prm.prim_geom, 0); + d.GeomSetCollideBits(prm.prim_geom, 0); + } + else + { + d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); + } + prm.UpdateDataFromGeom(); + SetInStaticSpace(prm); + } + prm.Body = IntPtr.Zero; + prm._mass = prm.primMass; + prm.m_collisionscore = 0; + } + } + if (Amotor != IntPtr.Zero) + { + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } + _parent_scene.remActiveGroup(this); + d.BodyDestroy(Body); + } + Body = IntPtr.Zero; + } + _mass = primMass; + m_collisionscore = 0; + } + + private void FixInertia(Vector3 NewPos,Quaternion newrot) + { + d.Matrix3 mat = new d.Matrix3(); + d.Quaternion quat = new d.Quaternion(); + + d.Mass tmpdmass = new d.Mass { }; + d.Mass objdmass = new d.Mass { }; + + d.BodyGetMass(Body, out tmpdmass); + objdmass = tmpdmass; + + d.Vector3 dobjpos; + d.Vector3 thispos; + + // get current object position and rotation + dobjpos = d.BodyGetPosition(Body); + + // get prim own inertia in its local frame + tmpdmass = primdMass; + + // transform to object frame + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); + + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); + + // subtract current prim inertia from object + DMassSubPartFromObj(ref tmpdmass, ref objdmass); + + // back prim own inertia + tmpdmass = primdMass; + + // update to new position and orientation + _position = NewPos; + d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); + _orientation = newrot; + quat.X = newrot.X; + quat.Y = newrot.Y; + quat.Z = newrot.Z; + quat.W = newrot.W; + d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); + + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); + + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); + + d.MassAdd(ref objdmass, ref tmpdmass); + + // fix all positions + IntPtr g = d.BodyGetFirstGeom(Body); + while (g != IntPtr.Zero) + { + thispos = d.GeomGetOffsetPosition(g); + thispos.X -= objdmass.c.X; + thispos.Y -= objdmass.c.Y; + thispos.Z -= objdmass.c.Z; + d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); + g = d.dBodyGetNextGeom(g); + } + d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); + + d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + } + + + + private void FixInertia(Vector3 NewPos) + { + d.Matrix3 primmat = new d.Matrix3(); + d.Mass tmpdmass = new d.Mass { }; + d.Mass objdmass = new d.Mass { }; + d.Mass primmass = new d.Mass { }; + + d.Vector3 dobjpos; + d.Vector3 thispos; + + d.BodyGetMass(Body, out objdmass); + + // get prim own inertia in its local frame + primmass = primdMass; + // transform to object frame + primmat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref primmass, ref primmat); + + tmpdmass = primmass; + + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); + + // subtract current prim inertia from object + DMassSubPartFromObj(ref tmpdmass, ref objdmass); + + // update to new position + _position = NewPos; + d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); + + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref primmass, + thispos.X, + thispos.Y, + thispos.Z); + + d.MassAdd(ref objdmass, ref primmass); + + // fix all positions + IntPtr g = d.BodyGetFirstGeom(Body); + while (g != IntPtr.Zero) + { + thispos = d.GeomGetOffsetPosition(g); + thispos.X -= objdmass.c.X; + thispos.Y -= objdmass.c.Y; + thispos.Z -= objdmass.c.Z; + d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); + g = d.dBodyGetNextGeom(g); + } + + d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); + + // get current object position and rotation + dobjpos = d.BodyGetPosition(Body); + + d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + } + + private void FixInertia(Quaternion newrot) + { + d.Matrix3 mat = new d.Matrix3(); + d.Quaternion quat = new d.Quaternion(); + + d.Mass tmpdmass = new d.Mass { }; + d.Mass objdmass = new d.Mass { }; + d.Vector3 dobjpos; + d.Vector3 thispos; + + d.BodyGetMass(Body, out objdmass); + + // get prim own inertia in its local frame + tmpdmass = primdMass; + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); + // transform to object frame + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); + + // subtract current prim inertia from object + DMassSubPartFromObj(ref tmpdmass, ref objdmass); + + // update to new orientation + _orientation = newrot; + quat.X = newrot.X; + quat.Y = newrot.Y; + quat.Z = newrot.Z; + quat.W = newrot.W; + d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); + + tmpdmass = primdMass; + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); + + d.MassAdd(ref objdmass, ref tmpdmass); + + // fix all positions + IntPtr g = d.BodyGetFirstGeom(Body); + while (g != IntPtr.Zero) + { + thispos = d.GeomGetOffsetPosition(g); + thispos.X -= objdmass.c.X; + thispos.Y -= objdmass.c.Y; + thispos.Z -= objdmass.c.Z; + d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); + g = d.dBodyGetNextGeom(g); + } + + d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); + // get current object position and rotation + dobjpos = d.BodyGetPosition(Body); + + d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + } + + + #region Mass Calculation + + private void UpdatePrimBodyData() + { + primMass = m_density * primVolume; + + if (primMass <= 0) + primMass = 0.0001f;//ckrinke: Mass must be greater then zero. + if (primMass > _parent_scene.maximumMassObject) + primMass = _parent_scene.maximumMassObject; + + _mass = primMass; // just in case + + d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z); + + d.MassTranslate(ref primdMass, + m_OBBOffset.X, + m_OBBOffset.Y, + m_OBBOffset.Z); + + primOOBradiusSQ = m_OBB.LengthSquared(); + + if (_triMeshData != IntPtr.Zero) + { + float pc = m_physCost; + float psf = primOOBradiusSQ; + psf *= 1.33f * .2f; + pc *= psf; + if (pc < 0.1f) + pc = 0.1f; + + m_physCost = pc; + } + else + m_physCost = 0.1f; + + m_streamCost = 1.0f; + } + + #endregion + + + /// + /// Add a child prim to this parent prim. + /// + /// Child prim + // I'm the parent + // prim is the child + public void ParentPrim(OdePrim prim) + { + //Console.WriteLine("ParentPrim " + m_primName); + if (this.m_localID != prim.m_localID) + { + DestroyBody(); // for now we need to rebuil entire object on link change + + lock (childrenPrim) + { + // adopt the prim + if (!childrenPrim.Contains(prim)) + childrenPrim.Add(prim); + + // see if this prim has kids and adopt them also + // should not happen for now + foreach (OdePrim prm in prim.childrenPrim) + { + if (!childrenPrim.Contains(prm)) + { + if (prm.Body != IntPtr.Zero) + { + if (prm.prim_geom != IntPtr.Zero) + d.GeomSetBody(prm.prim_geom, IntPtr.Zero); + if (prm.Body != prim.Body) + prm.DestroyBody(); // don't loose bodies around + prm.Body = IntPtr.Zero; + } + + childrenPrim.Add(prm); + prm._parent = this; + } + } + } + //Remove old children from the prim + prim.childrenPrim.Clear(); + + if (prim.Body != IntPtr.Zero) + { + if (prim.prim_geom != IntPtr.Zero) + d.GeomSetBody(prim.prim_geom, IntPtr.Zero); + prim.DestroyBody(); // don't loose bodies around + prim.Body = IntPtr.Zero; + } + + prim.childPrim = true; + prim._parent = this; + + MakeBody(); // full nasty reconstruction + } + } + + private void UpdateChildsfromgeom() + { + if (childrenPrim.Count > 0) + { + foreach (OdePrim prm in childrenPrim) + prm.UpdateDataFromGeom(); + } + } + + private void UpdateDataFromGeom() + { + if (prim_geom != IntPtr.Zero) + { + d.Quaternion qtmp; + d.GeomCopyQuaternion(prim_geom, out qtmp); + _orientation.X = qtmp.X; + _orientation.Y = qtmp.Y; + _orientation.Z = qtmp.Z; + _orientation.W = qtmp.W; +/* +// Debug + float qlen = _orientation.Length(); + if (qlen > 1.01f || qlen < 0.99) + m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); +// +*/ + _orientation.Normalize(); + + d.Vector3 lpos = d.GeomGetPosition(prim_geom); + _position.X = lpos.X; + _position.Y = lpos.Y; + _position.Z = lpos.Z; + } + } + + private void ChildDelink(OdePrim odePrim, bool remakebodies) + { + // Okay, we have a delinked child.. destroy all body and remake + if (odePrim != this && !childrenPrim.Contains(odePrim)) + return; + + DestroyBody(); + + if (odePrim == this) // delinking the root prim + { + OdePrim newroot = null; + lock (childrenPrim) + { + if (childrenPrim.Count > 0) + { + newroot = childrenPrim[0]; + childrenPrim.RemoveAt(0); + foreach (OdePrim prm in childrenPrim) + { + newroot.childrenPrim.Add(prm); + } + childrenPrim.Clear(); + } + if (newroot != null) + { + newroot.childPrim = false; + newroot._parent = null; + if (remakebodies) + newroot.MakeBody(); + } + } + } + + else + { + lock (childrenPrim) + { + childrenPrim.Remove(odePrim); + odePrim.childPrim = false; + odePrim._parent = null; + // odePrim.UpdateDataFromGeom(); + if (remakebodies) + odePrim.MakeBody(); + } + } + if (remakebodies) + MakeBody(); + } + + protected void ChildRemove(OdePrim odePrim, bool reMakeBody) + { + // Okay, we have a delinked child.. destroy all body and remake + if (odePrim != this && !childrenPrim.Contains(odePrim)) + return; + + DestroyBody(); + + if (odePrim == this) + { + OdePrim newroot = null; + lock (childrenPrim) + { + if (childrenPrim.Count > 0) + { + newroot = childrenPrim[0]; + childrenPrim.RemoveAt(0); + foreach (OdePrim prm in childrenPrim) + { + newroot.childrenPrim.Add(prm); + } + childrenPrim.Clear(); + } + if (newroot != null) + { + newroot.childPrim = false; + newroot._parent = null; + newroot.MakeBody(); + } + } + if (reMakeBody) + MakeBody(); + return; + } + else + { + lock (childrenPrim) + { + childrenPrim.Remove(odePrim); + odePrim.childPrim = false; + odePrim._parent = null; + if (reMakeBody) + odePrim.MakeBody(); + } + } + MakeBody(); + } + + + #region changes + + private void changeadd() + { + } + + private void changeAngularLock(Vector3 newLock) + { + // do we have a Physical object? + if (Body != IntPtr.Zero) + { + //Check that we have a Parent + //If we have a parent then we're not authorative here + if (_parent == null) + { + if (!newLock.ApproxEquals(Vector3.One, 0f)) + { + createAMotor(newLock); + } + else + { + if (Amotor != IntPtr.Zero) + { + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } + } + } + } + // Store this for later in case we get turned into a separate body + m_angularlock = newLock; + } + + private void changeLink(OdePrim NewParent) + { + if (_parent == null && NewParent != null) + { + NewParent.ParentPrim(this); + } + else if (_parent != null) + { + if (_parent is OdePrim) + { + if (NewParent != _parent) + { + (_parent as OdePrim).ChildDelink(this, false); // for now... + childPrim = false; + + if (NewParent != null) + { + NewParent.ParentPrim(this); + } + } + } + } + _parent = NewParent; + } + + + private void Stop() + { + if (!childPrim) + { +// m_force = Vector3.Zero; + m_forceacc = Vector3.Zero; + m_angularForceacc = Vector3.Zero; +// m_torque = Vector3.Zero; + _velocity = Vector3.Zero; + _acceleration = Vector3.Zero; + m_rotationalVelocity = Vector3.Zero; + _target_velocity = Vector3.Zero; + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + m_vehicle.Stop(); + + _zeroFlag = false; + base.RequestPhysicsterseUpdate(); + } + + if (Body != IntPtr.Zero) + { + d.BodySetForce(Body, 0f, 0f, 0f); + d.BodySetTorque(Body, 0f, 0f, 0f); + d.BodySetLinearVel(Body, 0f, 0f, 0f); + d.BodySetAngularVel(Body, 0f, 0f, 0f); + } + } + + private void changePhantomStatus(bool newval) + { + m_isphantom = newval; + + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + +/* not in use + internal void ChildSelectedChange(bool childSelect) + { + if(childPrim) + return; + + if (childSelect == m_isSelected) + return; + + if (childSelect) + { + DoSelectedStatus(true); + } + + else + { + foreach (OdePrim prm in childrenPrim) + { + if (prm.m_isSelected) + return; + } + DoSelectedStatus(false); + } + } +*/ + private void changeSelectedStatus(bool newval) + { + if (m_lastdoneSelected == newval) + return; + + m_lastdoneSelected = newval; + DoSelectedStatus(newval); + } + + private void CheckDelaySelect() + { + if (m_delaySelect) + { + DoSelectedStatus(m_isSelected); + } + } + + private void DoSelectedStatus(bool newval) + { + m_isSelected = newval; + Stop(); + + if (newval) + { + if (!childPrim && Body != IntPtr.Zero) + d.BodyDisable(Body); + + if (m_delaySelect || m_isphysical) + { + m_collisionCategories = CollisionCategories.Selected; + m_collisionFlags = 0; + + if (!childPrim) + { + foreach (OdePrim prm in childrenPrim) + { + prm.m_collisionCategories = m_collisionCategories; + prm.m_collisionFlags = m_collisionFlags; + + if (prm.prim_geom != IntPtr.Zero) + { + + if (prm.m_NoColide) + { + d.GeomSetCategoryBits(prm.prim_geom, 0); + d.GeomSetCollideBits(prm.prim_geom, 0); + } + else + { + d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); + } + } + prm.m_delaySelect = false; + } + } +// else if (_parent != null) +// ((OdePrim)_parent).ChildSelectedChange(true); + + + if (prim_geom != IntPtr.Zero) + { + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + d.GeomSetCollideBits(prim_geom, 0); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, 0); + d.GeomSetCollideBits(collide_geom, 0); + } + + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); + } + } + } + + m_delaySelect = false; + } + else if(!m_isphysical) + { + m_delaySelect = true; + } + } + else + { + if (!childPrim) + { + if (Body != IntPtr.Zero && !m_disabled) + d.BodyEnable(Body); + } +// else if (_parent != null) +// ((OdePrim)_parent).ChildSelectedChange(false); + + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + + m_delaySelect = false; + } + + resetCollisionAccounting(); + } + + private void changePosition(Vector3 newPos) + { + CheckDelaySelect(); + if (m_isphysical) + { + if (childPrim) // inertia is messed, must rebuild + { + if (m_building) + { + _position = newPos; + } + + else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) + { + FixInertia(newPos); + if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + else + { + if (_position != newPos) + { + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; + } + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + else + { + if (prim_geom != IntPtr.Zero) + { + if (newPos != _position) + { + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; + + m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); + } + } + } + givefakepos--; + if (givefakepos < 0) + givefakepos = 0; +// changeSelectedStatus(); + resetCollisionAccounting(); + } + + private void changeOrientation(Quaternion newOri) + { + CheckDelaySelect(); + if (m_isphysical) + { + if (childPrim) // inertia is messed, must rebuild + { + if (m_building) + { + _orientation = newOri; + } +/* + else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) + { + FixInertia(_position, newOri); + if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } +*/ + } + else + { + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) + createAMotor(m_angularlock); + } + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + else + { + if (prim_geom != IntPtr.Zero) + { + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + } + } + } + givefakeori--; + if (givefakeori < 0) + givefakeori = 0; + resetCollisionAccounting(); + } + + private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) + { + CheckDelaySelect(); + if (m_isphysical) + { + if (childPrim && m_building) // inertia is messed, must rebuild + { + _position = newPos; + _orientation = newOri; + } + else + { + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) + createAMotor(m_angularlock); + } + if (_position != newPos) + { + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; + } + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + else + { + // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); + // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); + + if (prim_geom != IntPtr.Zero) + { + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + } + + if (newPos != _position) + { + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; + + m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); + } + } + } + givefakepos--; + if (givefakepos < 0) + givefakepos = 0; + givefakeori--; + if (givefakeori < 0) + givefakeori = 0; + resetCollisionAccounting(); + } + + private void changeDisable(bool disable) + { + if (disable) + { + if (!m_disabled) + disableBodySoft(); + } + else + { + if (m_disabled) + enableBodySoft(); + } + } + + private void changePhysicsStatus(bool NewStatus) + { + CheckDelaySelect(); + + m_isphysical = NewStatus; + + if (!childPrim) + { + if (NewStatus) + { + if (Body == IntPtr.Zero) + MakeBody(); + } + else + { + if (Body != IntPtr.Zero) + { + DestroyBody(); + } + Stop(); + } + } + + resetCollisionAccounting(); + } + + private void changeSize(Vector3 newSize) + { + } + + private void changeShape(PrimitiveBaseShape newShape) + { + } + + private void changeAddPhysRep(ODEPhysRepData repData) + { + _size = repData.size; //?? + _pbs = repData.pbs; + m_shapetype = repData.shapetype; + + m_mesh = repData.mesh; + + m_assetID = repData.assetID; + m_meshState = repData.meshState; + + m_hasOBB = repData.hasOBB; + m_OBBOffset = repData.OBBOffset; + m_OBB = repData.OBB; + + primVolume = repData.volume; + + CreateGeom(); + + if (prim_geom != IntPtr.Zero) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + } + + if (!m_isphysical) + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + else + MakeBody(); + + if ((m_meshState & MeshState.NeedMask) != 0) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMesh(repData); + } + } + + private void changePhysRepData(ODEPhysRepData repData) + { + CheckDelaySelect(); + + OdePrim parent = (OdePrim)_parent; + + bool chp = childPrim; + + if (chp) + { + if (parent != null) + { + parent.DestroyBody(); + } + } + else + { + DestroyBody(); + } + + RemoveGeom(); + + _size = repData.size; + _pbs = repData.pbs; + m_shapetype = repData.shapetype; + + m_mesh = repData.mesh; + + m_assetID = repData.assetID; + m_meshState = repData.meshState; + + m_hasOBB = repData.hasOBB; + m_OBBOffset = repData.OBBOffset; + m_OBB = repData.OBB; + + primVolume = repData.volume; + + CreateGeom(); + + if (prim_geom != IntPtr.Zero) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + } + + if (m_isphysical) + { + if (chp) + { + if (parent != null) + { + parent.MakeBody(); + } + } + else + MakeBody(); + } + else + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + + resetCollisionAccounting(); + + if ((m_meshState & MeshState.NeedMask) != 0) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMesh(repData); + } + } + + private void changeFloatOnWater(bool newval) + { + m_collidesWater = newval; + + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + + private void changeSetTorque(Vector3 newtorque) + { + if (!m_isSelected) + { + if (m_isphysical && Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + + } + m_torque = newtorque; + } + } + + private void changeForce(Vector3 force) + { + m_force = force; + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + + private void changeAddForce(Vector3 theforce) + { + m_forceacc += theforce; + if (!m_isSelected) + { + lock (this) + { + //m_log.Info("[PHYSICS]: dequeing forcelist"); + if (m_isphysical && Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + m_collisionscore = 0; + } + } + + // actually angular impulse + private void changeAddAngularImpulse(Vector3 aimpulse) + { + m_angularForceacc += aimpulse * m_invTimeStep; + if (!m_isSelected) + { + lock (this) + { + if (m_isphysical && Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + m_collisionscore = 0; + } + } + + private void changevelocity(Vector3 newVel) + { + float len = newVel.LengthSquared(); + if (len > 100000.0f) // limit to 100m/s + { + len = 100.0f / (float)Math.Sqrt(len); + newVel *= len; + } + + if (!m_isSelected) + { + if (Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + + d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); + } + //resetCollisionAccounting(); + } + _velocity = newVel; + } + + private void changeangvelocity(Vector3 newAngVel) + { + float len = newAngVel.LengthSquared(); + if (len > 144.0f) // limit to 12rad/s + { + len = 12.0f / (float)Math.Sqrt(len); + newAngVel *= len; + } + + if (!m_isSelected) + { + if (Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + + + d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); + } + //resetCollisionAccounting(); + } + m_rotationalVelocity = newAngVel; + } + + private void changeVolumedetetion(bool newVolDtc) + { + m_isVolumeDetect = newVolDtc; + m_fakeisVolumeDetect = newVolDtc; + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + + protected void changeBuilding(bool newbuilding) + { + // Check if we need to do anything + if (newbuilding == m_building) + return; + + if ((bool)newbuilding) + { + m_building = true; + if (!childPrim) + DestroyBody(); + } + else + { + m_building = false; + CheckDelaySelect(); + if (!childPrim) + MakeBody(); + } + if (!childPrim && childrenPrim.Count > 0) + { + foreach (OdePrim prm in childrenPrim) + prm.changeBuilding(m_building); // call directly + } + } + + public void changeSetVehicle(VehicleData vdata) + { + if (m_vehicle == null) + m_vehicle = new ODEDynamics(this); + m_vehicle.DoSetVehicle(vdata); + } + + private void changeVehicleType(int value) + { + if (value == (int)Vehicle.TYPE_NONE) + { + if (m_vehicle != null) + m_vehicle = null; + } + else + { + if (m_vehicle == null) + m_vehicle = new ODEDynamics(this); + + m_vehicle.ProcessTypeChange((Vehicle)value); + } + } + + private void changeVehicleFloatParam(strVehicleFloatParam fp) + { + if (m_vehicle == null) + return; + + m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); + } + + private void changeVehicleVectorParam(strVehicleVectorParam vp) + { + if (m_vehicle == null) + return; + m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); + } + + private void changeVehicleRotationParam(strVehicleQuatParam qp) + { + if (m_vehicle == null) + return; + m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); + } + + private void changeVehicleFlags(strVehicleBoolParam bp) + { + if (m_vehicle == null) + return; + m_vehicle.ProcessVehicleFlags(bp.param, bp.value); + } + + private void changeBuoyancy(float b) + { + m_buoyancy = b; + } + + private void changePIDTarget(Vector3 trg) + { + m_PIDTarget = trg; + } + + private void changePIDTau(float tau) + { + m_PIDTau = tau; + } + + private void changePIDActive(bool val) + { + m_usePID = val; + } + + private void changePIDHoverHeight(float val) + { + m_PIDHoverHeight = val; + if (val == 0) + m_useHoverPID = false; + } + + private void changePIDHoverType(PIDHoverType type) + { + m_PIDHoverType = type; + } + + private void changePIDHoverTau(float tau) + { + m_PIDHoverTau = tau; + } + + private void changePIDHoverActive(bool active) + { + m_useHoverPID = active; + } + + #endregion + + public void Move() + { + if (!childPrim && m_isphysical && Body != IntPtr.Zero && + !m_disabled && !m_isSelected && !m_building && !m_outbounds) + { + if (!d.BodyIsEnabled(Body)) + { + // let vehicles sleep + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + return; + + if (++bodydisablecontrol < 20) + return; + + d.BodyEnable(Body); + } + + bodydisablecontrol = 0; + + d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator + + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + { + // 'VEHICLES' are dealt with in ODEDynamics.cs + m_vehicle.Step(); + return; + } + + float fx = 0; + float fy = 0; + float fz = 0; + + float m_mass = _mass; + + if (m_usePID && m_PIDTau > 0) + { + // for now position error + _target_velocity = + new Vector3( + (m_PIDTarget.X - lpos.X), + (m_PIDTarget.Y - lpos.Y), + (m_PIDTarget.Z - lpos.Z) + ); + + if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) + { + d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); + d.BodySetLinearVel(Body, 0, 0, 0); + return; + } + else + { + _zeroFlag = false; + + float tmp = 1 / m_PIDTau; + _target_velocity *= tmp; + + // apply limits + tmp = _target_velocity.Length(); + if (tmp > 50.0f) + { + tmp = 50 / tmp; + _target_velocity *= tmp; + } + else if (tmp < 0.05f) + { + tmp = 0.05f / tmp; + _target_velocity *= tmp; + } + + d.Vector3 vel = d.BodyGetLinearVel(Body); + fx = (_target_velocity.X - vel.X) * m_invTimeStep; + fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; + fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; +// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); + } + } // end if (m_usePID) + + // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller + else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) + { + + // Non-Vehicles have a limited set of Hover options. + // determine what our target height really is based on HoverType + + m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); + + switch (m_PIDHoverType) + { + case PIDHoverType.Ground: + m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + break; + + case PIDHoverType.GroundAndWater: + m_waterHeight = _parent_scene.GetWaterLevel(); + if (m_groundHeight > m_waterHeight) + m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + else + m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; + break; + } // end switch (m_PIDHoverType) + + // don't go underground unless volumedetector + + if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) + { + d.Vector3 vel = d.BodyGetLinearVel(Body); + + fz = (m_targetHoverHeight - lpos.Z); + + // if error is zero, use position control; otherwise, velocity control + if (Math.Abs(fz) < 0.01f) + { + d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); + d.BodySetLinearVel(Body, vel.X, vel.Y, 0); + } + else + { + _zeroFlag = false; + fz /= m_PIDHoverTau; + + float tmp = Math.Abs(fz); + if (tmp > 50) + fz = 50 * Math.Sign(fz); + else if (tmp < 0.1) + fz = 0.1f * Math.Sign(fz); + + fz = ((fz - vel.Z) * m_invTimeStep); + } + } + } + else + { + float b = (1.0f - m_buoyancy) * m_gravmod; + fx = _parent_scene.gravityx * b; + fy = _parent_scene.gravityy * b; + fz = _parent_scene.gravityz * b; + } + + fx *= m_mass; + fy *= m_mass; + fz *= m_mass; + + // constant force + fx += m_force.X; + fy += m_force.Y; + fz += m_force.Z; + + fx += m_forceacc.X; + fy += m_forceacc.Y; + fz += m_forceacc.Z; + + m_forceacc = Vector3.Zero; + + //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); + if (fx != 0 || fy != 0 || fz != 0) + { + d.BodyAddForce(Body, fx, fy, fz); + //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); + } + + Vector3 trq; + + trq = m_torque; + trq += m_angularForceacc; + m_angularForceacc = Vector3.Zero; + if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) + { + d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); + } + } + else + { // is not physical, or is not a body or is selected + // _zeroPosition = d.BodyGetPosition(Body); + return; + //Console.WriteLine("Nothing " + Name); + + } + } + + public void UpdatePositionAndVelocity(int frame) + { + if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) + { + bool bodyenabled = d.BodyIsEnabled(Body); + if (bodyenabled || !_zeroFlag) + { + bool lastZeroFlag = _zeroFlag; + + d.Vector3 lpos = d.GeomGetPosition(prim_geom); + + // check outside region + if (lpos.Z < -100 || lpos.Z > 100000f) + { + m_outbounds = true; + + lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; + + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; + + d.BodySetLinearVel(Body, 0, 0, 0); // stop it + d.BodySetAngularVel(Body, 0, 0, 0); // stop it + d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere + m_lastposition = _position; + m_lastorientation = _orientation; + + base.RequestPhysicsterseUpdate(); + +// throttleCounter = 0; + _zeroFlag = true; + + disableBodySoft(); // disable it and colisions + base.RaiseOutOfBounds(_position); + return; + } + + if (lpos.X < 0f) + { + _position.X = Util.Clip(lpos.X, -2f, -0.1f); + m_outbounds = true; + } + else if (lpos.X > _parent_scene.WorldExtents.X) + { + _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f); + m_outbounds = true; + } + if (lpos.Y < 0f) + { + _position.Y = Util.Clip(lpos.Y, -2f, -0.1f); + m_outbounds = true; + } + else if (lpos.Y > _parent_scene.WorldExtents.Y) + { + _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f); + m_outbounds = true; + } + + if (m_outbounds) + { + m_lastposition = _position; + m_lastorientation = _orientation; + + d.Vector3 dtmp = d.BodyGetAngularVel(Body); + m_rotationalVelocity.X = dtmp.X; + m_rotationalVelocity.Y = dtmp.Y; + m_rotationalVelocity.Z = dtmp.Z; + + dtmp = d.BodyGetLinearVel(Body); + _velocity.X = dtmp.X; + _velocity.Y = dtmp.Y; + _velocity.Z = dtmp.Z; + + d.BodySetLinearVel(Body, 0, 0, 0); // stop it + d.BodySetAngularVel(Body, 0, 0, 0); + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + disableBodySoft(); // stop collisions + UnSubscribeEvents(); + + base.RequestPhysicsterseUpdate(); + return; + } + + d.Quaternion ori; + d.GeomCopyQuaternion(prim_geom, out ori); + + // decide if moving + // use positions since this are integrated quantities + // tolerance values depende a lot on simulation noise... + // use simple math.abs since we dont need to be exact + + if (!bodyenabled || + (Math.Abs(_position.X - lpos.X) < 0.005f) + && (Math.Abs(_position.Y - lpos.Y) < 0.005f) + && (Math.Abs(_position.Z - lpos.Z) < 0.005f) + && (Math.Abs(_orientation.X - ori.X) < 0.0005f) + && (Math.Abs(_orientation.Y - ori.Y) < 0.0005f) + && (Math.Abs(_orientation.Z - ori.Z) < 0.0005f) // ignore W + ) + { + _zeroFlag = true; + } + else + _zeroFlag = false; + + // update velocities and aceleration + if (!(_zeroFlag && lastZeroFlag)) + { + d.Vector3 vel = d.BodyGetLinearVel(Body); + + _acceleration = _velocity; + + if ((Math.Abs(vel.X) < 0.005f) && + (Math.Abs(vel.Y) < 0.005f) && + (Math.Abs(vel.Z) < 0.005f)) + { + _velocity = Vector3.Zero; + float t = -m_invTimeStep; + _acceleration = _acceleration * t; + } + else + { + _velocity.X = vel.X; + _velocity.Y = vel.Y; + _velocity.Z = vel.Z; + _acceleration = (_velocity - _acceleration) * m_invTimeStep; + } + + if ((Math.Abs(_acceleration.X) < 0.01f) && + (Math.Abs(_acceleration.Y) < 0.01f) && + (Math.Abs(_acceleration.Z) < 0.01f)) + { + _acceleration = Vector3.Zero; + } + + if ((Math.Abs(_orientation.X - ori.X) < 0.0001) && + (Math.Abs(_orientation.Y - ori.Y) < 0.0001) && + (Math.Abs(_orientation.Z - ori.Z) < 0.0001) + ) + { + m_rotationalVelocity = Vector3.Zero; + } + else + { + vel = d.BodyGetAngularVel(Body); + m_rotationalVelocity.X = vel.X; + m_rotationalVelocity.Y = vel.Y; + m_rotationalVelocity.Z = vel.Z; + } + // } + + _position.X = lpos.X; + _position.Y = lpos.Y; + _position.Z = lpos.Z; + + _orientation.X = ori.X; + _orientation.Y = ori.Y; + _orientation.Z = ori.Z; + _orientation.W = ori.W; + } + if (_zeroFlag) + { + if (lastZeroFlag) + { + _velocity = Vector3.Zero; + _acceleration = Vector3.Zero; + m_rotationalVelocity = Vector3.Zero; + } + + if (!m_lastUpdateSent) + { + base.RequestPhysicsterseUpdate(); + if (lastZeroFlag) + m_lastUpdateSent = true; + } + return; + } + + base.RequestPhysicsterseUpdate(); + m_lastUpdateSent = false; + } + } + } + + internal static bool QuaternionIsFinite(Quaternion q) + { + if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) + return false; + if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) + return false; + if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) + return false; + if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) + return false; + return true; + } + + internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) + { + // assumes object center of mass is zero + float smass = part.mass; + theobj.mass -= smass; + + smass *= 1.0f / (theobj.mass); ; + + theobj.c.X -= part.c.X * smass; + theobj.c.Y -= part.c.Y * smass; + theobj.c.Z -= part.c.Z * smass; + + theobj.I.M00 -= part.I.M00; + theobj.I.M01 -= part.I.M01; + theobj.I.M02 -= part.I.M02; + theobj.I.M10 -= part.I.M10; + theobj.I.M11 -= part.I.M11; + theobj.I.M12 -= part.I.M12; + theobj.I.M20 -= part.I.M20; + theobj.I.M21 -= part.I.M21; + theobj.I.M22 -= part.I.M22; + } + + private void donullchange() + { + } + + public bool DoAChange(changes what, object arg) + { + if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) + { + return false; + } + + // nasty switch + switch (what) + { + case changes.Add: + changeadd(); + break; + + case changes.AddPhysRep: + changeAddPhysRep((ODEPhysRepData)arg); + break; + + case changes.Remove: + //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... + //When we return true, it destroys all of the prims in the linkset anyway + if (_parent != null) + { + OdePrim parent = (OdePrim)_parent; + parent.ChildRemove(this, false); + } + else + ChildRemove(this, false); + + m_vehicle = null; + RemoveGeom(); + m_targetSpace = IntPtr.Zero; + UnSubscribeEvents(); + return true; + + case changes.Link: + OdePrim tmp = (OdePrim)arg; + changeLink(tmp); + break; + + case changes.DeLink: + changeLink(null); + break; + + case changes.Position: + changePosition((Vector3)arg); + break; + + case changes.Orientation: + changeOrientation((Quaternion)arg); + break; + + case changes.PosOffset: + donullchange(); + break; + + case changes.OriOffset: + donullchange(); + break; + + case changes.Velocity: + changevelocity((Vector3)arg); + break; + +// case changes.Acceleration: +// changeacceleration((Vector3)arg); +// break; + + case changes.AngVelocity: + changeangvelocity((Vector3)arg); + break; + + case changes.Force: + changeForce((Vector3)arg); + break; + + case changes.Torque: + changeSetTorque((Vector3)arg); + break; + + case changes.AddForce: + changeAddForce((Vector3)arg); + break; + + case changes.AddAngForce: + changeAddAngularImpulse((Vector3)arg); + break; + + case changes.AngLock: + changeAngularLock((Vector3)arg); + break; + + case changes.Size: + changeSize((Vector3)arg); + break; + + case changes.Shape: + changeShape((PrimitiveBaseShape)arg); + break; + + case changes.PhysRepData: + changePhysRepData((ODEPhysRepData) arg); + break; + + case changes.CollidesWater: + changeFloatOnWater((bool)arg); + break; + + case changes.VolumeDtc: + changeVolumedetetion((bool)arg); + break; + + case changes.Phantom: + changePhantomStatus((bool)arg); + break; + + case changes.Physical: + changePhysicsStatus((bool)arg); + break; + + case changes.Selected: + changeSelectedStatus((bool)arg); + break; + + case changes.disabled: + changeDisable((bool)arg); + break; + + case changes.building: + changeBuilding((bool)arg); + break; + + case changes.VehicleType: + changeVehicleType((int)arg); + break; + + case changes.VehicleFlags: + changeVehicleFlags((strVehicleBoolParam) arg); + break; + + case changes.VehicleFloatParam: + changeVehicleFloatParam((strVehicleFloatParam) arg); + break; + + case changes.VehicleVectorParam: + changeVehicleVectorParam((strVehicleVectorParam) arg); + break; + + case changes.VehicleRotationParam: + changeVehicleRotationParam((strVehicleQuatParam) arg); + break; + + case changes.SetVehicle: + changeSetVehicle((VehicleData) arg); + break; + + case changes.Buoyancy: + changeBuoyancy((float)arg); + break; + + case changes.PIDTarget: + changePIDTarget((Vector3)arg); + break; + + case changes.PIDTau: + changePIDTau((float)arg); + break; + + case changes.PIDActive: + changePIDActive((bool)arg); + break; + + case changes.PIDHoverHeight: + changePIDHoverHeight((float)arg); + break; + + case changes.PIDHoverType: + changePIDHoverType((PIDHoverType)arg); + break; + + case changes.PIDHoverTau: + changePIDHoverTau((float)arg); + break; + + case changes.PIDHoverActive: + changePIDHoverActive((bool)arg); + break; + + case changes.Null: + donullchange(); + break; + + + + default: + donullchange(); + break; + } + return false; + } + + public void AddChange(changes what, object arg) + { + _parent_scene.AddChange((PhysicsActor) this, what, arg); + } + + + private struct strVehicleBoolParam + { + public int param; + public bool value; + } + + private struct strVehicleFloatParam + { + public int param; + public float value; + } + + private struct strVehicleQuatParam + { + public int param; + public Quaternion value; + } + + private struct strVehicleVectorParam + { + public int param; + public Vector3 value; + } + } +} -- cgit v1.1