From daffb691741250dae9e3f767580f0349bd2c5c4f Mon Sep 17 00:00:00 2001
From: dahlia
Date: Thu, 24 Sep 2009 18:16:29 -0700
Subject: modify BulletDotNETPrim.cs in preparation for Mantis #4181
---
.../Physics/BulletDotNETPlugin/BulletDotNETPrim.cs | 234 +++++++++++----------
1 file changed, 122 insertions(+), 112 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index 7ab8b98..f22ea71 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -204,7 +204,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempAngularVelocity2 = new btVector3(0, 0, 0);
tempInertia1 = new btVector3(0, 0, 0);
tempInertia2 = new btVector3(0, 0, 0);
- tempOrientation1 = new btQuaternion(0,0,0,1);
+ tempOrientation1 = new btQuaternion(0, 0, 0, 1);
tempOrientation2 = new btQuaternion(0, 0, 0, 1);
_parent_scene = parent_scene;
tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
@@ -216,10 +216,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);
-
+
AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize);
- int regionsize = (int) Constants.RegionSize;
-
+ int regionsize = (int)Constants.RegionSize;
+
if (regionsize == 256)
regionsize = 512;
@@ -611,7 +611,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
DisableAxisMotor();
DisposeOfBody();
SetCollisionShape(null);
-
+
if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero)
{
tempMotionState3.Dispose();
@@ -677,8 +677,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempInertia2.Dispose();
tempInertia1 = null;
}
-
-
+
+
if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero)
{
tempAngularVelocity2.Dispose();
@@ -802,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
changesize(timestep);
}
- //
+ //
if (m_taintshape)
{
@@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
else
SetBody(0);
changeSelectedStatus(timestep);
-
+
resetCollisionAccounting();
m_taintPhysics = m_isphysical;
}
@@ -1012,7 +1012,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (_parent_scene.needsMeshing(_pbs))
{
- ProcessGeomCreationAsTriMesh(PhysicsVector.Zero,Quaternion.Identity);
+ ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, _mesh);
}
@@ -1038,32 +1038,32 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
- if (!positionOffset.IsIdentical(PhysicsVector.Zero,0.001f) || orientation != Quaternion.Identity)
+ if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity)
{
-
- float[] xyz = new float[3];
- xyz[0] = positionOffset.X;
- xyz[1] = positionOffset.Y;
- xyz[2] = positionOffset.Z;
-
- Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
-
- float[,] matrix = new float[3,3];
-
- matrix[0, 0] = m4.M11;
- matrix[0, 1] = m4.M12;
- matrix[0, 2] = m4.M13;
- matrix[1, 0] = m4.M21;
- matrix[1, 1] = m4.M22;
- matrix[1, 2] = m4.M23;
- matrix[2, 0] = m4.M31;
- matrix[2, 1] = m4.M32;
- matrix[2, 2] = m4.M33;
-
-
- mesh.TransformLinear(matrix, xyz);
-
-
+
+ float[] xyz = new float[3];
+ xyz[0] = positionOffset.X;
+ xyz[1] = positionOffset.Y;
+ xyz[2] = positionOffset.Z;
+
+ Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
+
+ float[,] matrix = new float[3, 3];
+
+ matrix[0, 0] = m4.M11;
+ matrix[0, 1] = m4.M12;
+ matrix[0, 2] = m4.M13;
+ matrix[1, 0] = m4.M21;
+ matrix[1, 1] = m4.M22;
+ matrix[1, 2] = m4.M23;
+ matrix[2, 0] = m4.M31;
+ matrix[2, 1] = m4.M32;
+ matrix[2, 2] = m4.M33;
+
+
+ mesh.TransformLinear(matrix, xyz);
+
+
}
@@ -1088,12 +1088,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetCollisionShape(null);
// Construction of new prim
ProcessGeomCreation();
-
+
if (IsPhysical)
SetBody(Mass);
else
SetBody(0);
-
+
m_taintsize = _size;
}
@@ -1136,7 +1136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//prim_geom = IntPtr.Zero;
m_log.Error("[PHYSICS]: PrimGeom dead");
}
-
+
// we don't need to do space calculation because the client sends a position update also.
if (_size.X <= 0) _size.X = 0.01f;
if (_size.Y <= 0) _size.Y = 0.01f;
@@ -1153,8 +1153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempTransform1.Dispose();
tempTransform1 = new btTransform(tempOrientation1, tempPosition1);
-
-
+
+
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
if (IsPhysical)
@@ -1162,7 +1162,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetBody(Mass);
// Re creates body on size.
// EnableBody also does setMass()
-
+
}
else
{
@@ -1179,7 +1179,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
resetCollisionAccounting();
-
+
m_taintshape = false;
}
@@ -1291,7 +1291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
disableBodySoft();
-
+
}
else
{
@@ -1299,7 +1299,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
enableBodySoft();
}
m_isSelected = m_taintselected;
-
+
}
private void changevelocity(float timestep)
@@ -1368,7 +1368,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
_parent = m_taintparent;
m_taintPhysics = m_isphysical;
-
+
}
private void changefloatonwater(float timestep)
@@ -1627,7 +1627,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (m_zeroPosition == null)
m_zeroPosition = new PhysicsVector(0, 0, 0);
- m_zeroPosition.setValues(_position.X,_position.Y,_position.Z);
+ m_zeroPosition.setValues(_position.X, _position.Y, _position.Z);
return;
}
}
@@ -1981,7 +1981,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
_mesh = p_mesh;
setMesh(_parent_scene, _mesh);
-
+
}
else
{
@@ -1994,15 +1994,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//SetGeom to a Regular Sphere
if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0);
- tempSize1.setValue(_size.X * 0.5f,_size.Y * 0.5f, _size.Z * 0.5f);
- SetCollisionShape(new btSphereShape(_size.X*0.5f));
+ tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
+ SetCollisionShape(new btSphereShape(_size.X * 0.5f));
}
else
{
// uses halfextents
if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0);
- tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f);
+ tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
SetCollisionShape(new btBoxShape(tempSize1));
}
}
@@ -2052,14 +2052,24 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
+ //IMesh oldMesh = primMesh;
+
+ //primMesh = mesh;
+
+ //float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
+ //int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
+ ////Array.Reverse(indexList);
+ //primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
+
IMesh oldMesh = primMesh;
primMesh = mesh;
-
- float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
- int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
+
+ float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
+ int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
//Array.Reverse(indexList);
- primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
+ mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
+
int VertexCount = vertexList.GetLength(0) / 3;
int IndexCount = indexList.GetLength(0);
@@ -2068,17 +2078,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
btshapeArray.Dispose();
//Array.Reverse(indexList);
btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)),
- VertexCount, vertexList, 3*sizeof (float));
+ VertexCount, vertexList, 3 * sizeof(float));
SetCollisionShape(new btGImpactMeshShape(btshapeArray));
//((btGImpactMeshShape) prim_geom).updateBound();
- ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1,1, 1));
+ ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape)prim_geom).updateBound();
_parent_scene.SetUsingGImpact();
- if (oldMesh != null)
- {
- oldMesh.releasePinned();
- oldMesh = null;
- }
+ //if (oldMesh != null)
+ //{
+ // oldMesh.releasePinned();
+ // oldMesh = null;
+ //}
}
@@ -2102,7 +2112,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
*/
prim_geom = shape;
-
+
//Body.set
}
@@ -2143,8 +2153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (prim_geom is btGImpactMeshShape)
{
- ((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1));
- ((btGImpactMeshShape) prim_geom).updateBound();
+ ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
+ ((btGImpactMeshShape)prim_geom).updateBound();
}
//Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//Body.setUserPointer((IntPtr) (int)m_localID);
@@ -2159,7 +2169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (chld == null)
continue;
-
+
// if (chld.NeedsMeshing())
// hasTrimesh = true;
}
@@ -2167,40 +2177,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//if (hasTrimesh)
//{
- ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
- // createmesh returns null when it doesn't mesh.
-
- /*
- if (_mesh is Mesh)
- {
- }
- else
- {
- m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
- return;
- }
- */
+ ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
+ // createmesh returns null when it doesn't mesh.
-
-
- foreach (BulletDotNETPrim chld in childrenPrim)
- {
- if (chld == null)
- continue;
- PhysicsVector offset = chld.Position - Position;
- Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
- pos *= Quaternion.Inverse(Orientation);
- //pos *= Orientation;
- offset.setValues(pos.X, pos.Y, pos.Z);
- chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
-
- _mesh.Append(chld._mesh);
-
+ /*
+ if (_mesh is Mesh)
+ {
+ }
+ else
+ {
+ m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
+ return;
+ }
+ */
- }
- setMesh(_parent_scene, _mesh);
-
- //}
+
+
+ foreach (BulletDotNETPrim chld in childrenPrim)
+ {
+ if (chld == null)
+ continue;
+ PhysicsVector offset = chld.Position - Position;
+ Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
+ pos *= Quaternion.Inverse(Orientation);
+ //pos *= Orientation;
+ offset.setValues(pos.X, pos.Y, pos.Z);
+ chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
+
+ _mesh.Append(chld._mesh);
+
+
+ }
+ setMesh(_parent_scene, _mesh);
+
+ //}
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
@@ -2238,7 +2248,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
((btGImpactMeshShape)prim_geom).updateBound();
}
_parent_scene.AddPrimToScene(this);
-
+
}
if (IsPhysical)
@@ -2252,7 +2262,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (Body.Handle != IntPtr.Zero)
{
DisableAxisMotor();
- _parent_scene.removeFromWorld(this,Body);
+ _parent_scene.removeFromWorld(this, Body);
Body.Dispose();
}
Body = null;
@@ -2305,7 +2315,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
return;
-
+
lock (childrenPrim)
{
if (!childrenPrim.Contains(prm))
@@ -2313,8 +2323,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
childrenPrim.Add(prm);
}
}
-
-
+
+
}
public void disableBody()
@@ -2386,7 +2396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
Body.clearForces();
Body.forceActivationState(0);
-
+
}
}
@@ -2400,7 +2410,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
Body.clearForces();
Body.forceActivationState(4);
forceenable = true;
-
+
}
m_disabled = false;
}
@@ -2415,7 +2425,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetBody(Mass);
else
SetBody(0);
-
+
// TODO: Set Collision Category Bits and Flags
// TODO: Set Auto Disable data
@@ -2587,10 +2597,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
_velocity.Y = tempLinearVelocity1.getY();
_velocity.Z = tempLinearVelocity1.getZ();
- _acceleration = ((_velocity - m_lastVelocity)/0.1f);
- _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X/0.1f,
- _velocity.Y - m_lastVelocity.Y/0.1f,
- _velocity.Z - m_lastVelocity.Z/0.1f);
+ _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
+ _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
+ _velocity.Y - m_lastVelocity.Y / 0.1f,
+ _velocity.Z - m_lastVelocity.Z / 0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
if (_velocity.IsIdentical(pv, 0.5f))
@@ -2669,7 +2679,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (AxisLockAngleHigh != null && AxisLockAngleHigh.Handle != IntPtr.Zero)
AxisLockAngleHigh.Dispose();
-
+
m_aMotor = new btGeneric6DofConstraint(Body, _parent_scene.TerrainBody, _parent_scene.TransZero,
_parent_scene.TransZero, false);
@@ -2683,7 +2693,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_aMotor.setLinearUpperLimit(AxisLockLinearHigh);
_parent_scene.getBulletWorld().addConstraint((btTypedConstraint)m_aMotor);
//m_aMotor.
-
+
}
internal void DisableAxisMotor()
@@ -2698,4 +2708,4 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
-
+
--
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