using System; using System.Collections.Generic; using Axiom.Math; using Ode.NET; using OpenSim.Framework; using OpenSim.Framework.Console; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.OdePlugin { public class OdePrim : PhysicsActor { public PhysicsVector _position; private PhysicsVector _velocity; private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f); private PhysicsVector m_rotationalVelocity; private PhysicsVector _size; private PhysicsVector _acceleration; private Quaternion _orientation; private PhysicsVector m_taintposition; private PhysicsVector m_taintsize; private Quaternion m_taintrot; private bool m_taintshape = false; private bool m_taintPhysics = false; public bool m_taintremove = false; private IMesh _mesh; private PrimitiveBaseShape _pbs; private OdeScene _parent_scene; public IntPtr m_targetSpace = (IntPtr)0; public IntPtr prim_geom; public IntPtr _triMeshData; private bool iscolliding = false; private bool m_isphysical = false; private bool m_throttleUpdates = false; private int throttleCounter = 0; public bool outofBounds = false; public bool _zeroFlag = false; private bool m_lastUpdateSent = false; public IntPtr Body = (IntPtr)0; private String m_primName; private PhysicsVector _target_velocity; public d.Mass pMass; private const float MassMultiplier = 150f; // Ref: Water: 1000kg.. this iset to 500 private int debugcounter = 0; public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) { _velocity = new PhysicsVector(); _position = pos; m_taintposition = pos; if (_position.X > 257) { _position.X = 257; } if (_position.X < 0) { _position.X = 0; } if (_position.Y > 257) { _position.Y = 257; } if (_position.Y < 0) { _position.Y = 0; } _size = size; m_taintsize = _size; _acceleration = new PhysicsVector(); m_rotationalVelocity = PhysicsVector.Zero; _orientation = rotation; m_taintrot = _orientation; _mesh = mesh; _pbs = pbs; _parent_scene = parent_scene; m_targetSpace = targetSpace; if (pos.Z < 0) m_isphysical = false; else { m_isphysical = pisPhysical; // If we're physical, we need to be in the master space for now. // linksets *should* be in a space together.. but are not currently if (m_isphysical) m_targetSpace = _parent_scene.space; } m_primName = primName; lock (OdeScene.OdeLock) { if (mesh != null) { setMesh(parent_scene, mesh); } else { prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); } d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = rotation.w; myrot.X = rotation.x; myrot.Y = rotation.y; myrot.Z = rotation.z; d.GeomSetQuaternion(prim_geom, ref myrot); if (m_isphysical && Body == (IntPtr)0) { enableBody(); } parent_scene.geom_name_map[prim_geom] = primName; parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; // don't do .add() here; old geoms get recycled with the same hash } } public override int PhysicsActorType { get { return (int)ActorTypes.Prim; } set { return; } } public override bool SetAlwaysRun { get { return false; } set { return; } } public void enableBody() { // Sets the geom to a body Body = d.BodyCreate(_parent_scene.world); setMass(); d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; myrot.Y = _orientation.y; myrot.Z = _orientation.z; d.BodySetQuaternion(Body, ref myrot); d.GeomSetBody(prim_geom, Body); d.BodySetAutoDisableFlag(Body, true); d.BodySetAutoDisableSteps(Body, 20); _parent_scene.addActivePrim(this); } public void setMass() { //Sets Mass based on member MassMultiplier. if (Body != (IntPtr)0) { d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z); d.BodySetMass(Body, ref pMass); } } public void disableBody() { //this kills the body so things like 'mesh' can re-create it. if (Body != (IntPtr)0) { _parent_scene.remActivePrim(this); d.BodyDestroy(Body); Body = (IntPtr)0; } } public void setMesh(OdeScene parent_scene, IMesh mesh) { //Kill Body so that mesh can re-make the geom if (IsPhysical && Body != (IntPtr)0) { disableBody(); } float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage int VertexCount = vertexList.GetLength(0) / 3; int IndexCount = indexList.GetLength(0); _triMeshData = d.GeomTriMeshDataCreate(); d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount, 3 * sizeof(int)); d.GeomTriMeshDataPreprocess(_triMeshData); prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null); if (IsPhysical && Body == (IntPtr)0) { // Recreate the body enableBody(); } } public void ProcessTaints(float timestep) { if (m_taintposition != _position) Move(timestep); if (m_taintrot != _orientation) rotate(timestep); // if (m_taintPhysics != m_isphysical) changePhysicsStatus(timestep); // if (m_taintsize != _size) changesize(timestep); // if (m_taintshape) changeshape(timestep); // } public void Move(float timestep) { if (m_isphysical) { // This is a fallback.. May no longer be necessary. if (Body == (IntPtr)0) enableBody(); //Prim auto disable after 20 frames, ///if you move it, re-enable the prim manually. d.BodyEnable(Body); d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); } else { string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); if (primScenAvatarIn == "0") { MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in space with no prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + " . Arr:': " + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); } else { MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in Prim space with prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); } m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.SpaceAdd(m_targetSpace, prim_geom); } m_taintposition = _position; } public void rotate(float timestep) { d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; myrot.Y = _orientation.y; myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); if (m_isphysical && Body != (IntPtr)0) { d.BodySetQuaternion(Body, ref myrot); } m_taintrot = _orientation; } public void changePhysicsStatus(float timestap) { if (m_isphysical == true) { if (Body == (IntPtr)0) { enableBody(); } } else { if (Body != (IntPtr)0) { disableBody(); } } m_taintPhysics = m_isphysical; } public void changesize(float timestamp) { string oldname = _parent_scene.geom_name_map[prim_geom]; // Cleanup of old prim geometry if (_mesh != null) { // Cleanup meshing here } //kill body to rebuild if (IsPhysical && Body != (IntPtr)0) { disableBody(); } if (d.SpaceQuery(m_targetSpace, prim_geom)) { d.SpaceRemove(m_targetSpace, prim_geom); } d.GeomDestroy(prim_geom); // we don't need to do space calculation because the client sends a position update also. // Construction of new prim if (this._parent_scene.needsMeshing(_pbs)) { // Don't need to re-enable body.. it's done in SetMesh IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size); // createmesh returns null when it's a shape that isn't a cube. if (mesh != null) { setMesh(_parent_scene, mesh); } else { prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; myrot.Y = _orientation.y; myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); } } else { prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; myrot.Y = _orientation.y; myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); if (IsPhysical && Body == (IntPtr)0) { // Re creates body on size. // EnableBody also does setMass() enableBody(); d.BodyEnable(Body); } } _parent_scene.geom_name_map[prim_geom] = oldname; m_taintsize = _size; } public void changeshape(float timestamp) { string oldname = _parent_scene.geom_name_map[prim_geom]; // Cleanup of old prim geometry and Bodies if (IsPhysical && Body != (IntPtr)0) { disableBody(); } d.GeomDestroy(prim_geom); if (_mesh != null) { d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); } // Construction of new prim if (this._parent_scene.needsMeshing(_pbs)) { IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size); if (mesh != null) { setMesh(_parent_scene, mesh); } else { prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); } } else { prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); } if (IsPhysical && Body == (IntPtr)0) { //re-create new body enableBody(); } else { d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; myrot.Y = _orientation.y; myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); } _parent_scene.geom_name_map[prim_geom] = oldname; m_taintshape = false; } public override bool IsPhysical { get { return m_isphysical; } set { m_isphysical = value; } } public void setPrimForRemoval() { m_taintremove = true; } public override bool Flying { get { return false; //no flying prims for you } set { } } public override bool IsColliding { get { return iscolliding; } set { iscolliding = value; } } public override bool CollidingGround { get { return false; } set { return; } } public override bool CollidingObj { get { return false; } set { return; } } public override bool ThrottleUpdates { get { return m_throttleUpdates; } set { m_throttleUpdates = value; } } public override PhysicsVector Position { get { return _position; } set { _position = value; } } public override PhysicsVector Size { get { return _size; } set { _size = value; } } public override PrimitiveBaseShape Shape { set { _pbs = value; } } public override PhysicsVector Velocity { get { // Averate previous velocity with the new one so // client object interpolation works a 'little' better PhysicsVector returnVelocity = new PhysicsVector(); returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2; returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2; returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2; return returnVelocity; } set { _velocity = value; } } public override bool Kinematic { get { return false; } set { } } public override Quaternion Orientation { get { return _orientation; } set { _orientation = value; } } public override PhysicsVector Acceleration { get { return _acceleration; } } public void SetAcceleration(PhysicsVector accel) { _acceleration = accel; } public override void AddForce(PhysicsVector force) { } public override PhysicsVector RotationalVelocity { get { return m_rotationalVelocity; } set { m_rotationalVelocity = value; } } public void UpdatePositionAndVelocity() { // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! if (Body != (IntPtr)0) { d.Vector3 vec = d.BodyGetPosition(Body); d.Quaternion ori = d.BodyGetQuaternion(Body); d.Vector3 vel = d.BodyGetLinearVel(Body); d.Vector3 rotvel = d.BodyGetAngularVel(Body); PhysicsVector l_position = new PhysicsVector(); // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) if (vec.X < 0.0f) vec.X = 0.0f; if (vec.Y < 0.0f) vec.Y = 0.0f; if (vec.X > 255.95f) vec.X = 255.95f; if (vec.Y > 255.95f) vec.Y = 255.95f; m_lastposition = _position; l_position.X = vec.X; l_position.Y = vec.Y; l_position.Z = vec.Z; if (l_position.Z < 0) { // This is so prim that get lost underground don't fall forever and suck up // // Sim resources and memory. // Disables the prim's movement physics.... // It's a hack and will generate a console message if it fails. //IsPhysical = false; base.RaiseOutOfBounds(_position); _velocity.X = 0; _velocity.Y = 0; _velocity.Z = 0; m_rotationalVelocity.X = 0; m_rotationalVelocity.Y = 0; m_rotationalVelocity.Z = 0; base.RequestPhysicsterseUpdate(); m_throttleUpdates = false; throttleCounter = 0; _zeroFlag = true; //outofBounds = true; } if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)) { _zeroFlag = true; } else { //System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString()); _zeroFlag = false; } if (_zeroFlag) { // Supposedly this is supposed to tell SceneObjectGroup that // no more updates need to be sent.. // but it seems broken. _velocity.X = 0.0f; _velocity.Y = 0.0f; _velocity.Z = 0.0f; //_orientation.w = 0f; //_orientation.x = 0f; //_orientation.y = 0f; //_orientation.z = 0f; m_rotationalVelocity.X = 0; m_rotationalVelocity.Y = 0; m_rotationalVelocity.Z = 0; if (!m_lastUpdateSent) { m_throttleUpdates = false; throttleCounter = 0; base.RequestPhysicsterseUpdate(); m_lastUpdateSent = true; } } else { m_lastVelocity = _velocity; _position = l_position; _velocity.X = vel.X; _velocity.Y = vel.Y; _velocity.Z = vel.Z; m_rotationalVelocity.X = rotvel.X; m_rotationalVelocity.Y = rotvel.Y; m_rotationalVelocity.Z = rotvel.Z; //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString()); _orientation.w = ori.W; _orientation.x = ori.X; _orientation.y = ori.Y; _orientation.z = ori.Z; m_lastUpdateSent = false; if (!m_throttleUpdates || throttleCounter > 15) { base.RequestPhysicsterseUpdate(); } else { throttleCounter++; } } m_lastposition = l_position; } else { // Not a body.. so Make sure the client isn't interpolating _velocity.X = 0; _velocity.Y = 0; _velocity.Z = 0; m_rotationalVelocity.X = 0; m_rotationalVelocity.Y = 0; m_rotationalVelocity.Z = 0; _zeroFlag = true; } } public override void SetMomentum(PhysicsVector momentum) { } } }