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|
/*
* 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 copyrightD
* 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.
*/
using System;
using System.Reflection;
using System.Collections.Generic;
using System.Xml;
using log4net;
using OMV = OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.ConvexDecompositionDotNet;
namespace OpenSim.Region.Physics.BulletSPlugin
{
[Serializable]
public sealed class BSPrim : BSPhysObject
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS PRIM]";
// _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
private bool _grabbed;
private bool _isSelected;
private bool _isVolumeDetect;
// _position is what the simulator thinks the positions of the prim is.
private OMV.Vector3 _position;
private float _mass; // the mass of this object
private float _density;
private OMV.Vector3 _force;
private OMV.Vector3 _velocity;
private OMV.Vector3 _torque;
private float _collisionScore;
private OMV.Vector3 _acceleration;
private OMV.Quaternion _orientation;
private int _physicsActorType;
private bool _isPhysical;
private bool _flying;
private float _friction;
private float _restitution;
private bool _setAlwaysRun;
private bool _throttleUpdates;
private bool _floatOnWater;
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
private BSDynamics _vehicle;
private BSVMotor _targetMotor;
private OMV.Vector3 _PIDTarget;
private float _PIDTau;
private BSFMotor _hoverMotor;
private float _PIDHoverHeight;
private PIDHoverType _PIDHoverType;
private float _PIDHoverTau;
public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(parent_scene, localID, primName, "BSPrim")
{
// m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
_physicsActorType = (int)ActorTypes.Prim;
_position = pos;
_size = size;
Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
_orientation = rotation;
_buoyancy = 0f;
_velocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
BaseShape = pbs;
_isPhysical = pisPhysical;
_isVolumeDetect = false;
// Someday set default attributes based on the material but, for now, we don't know the prim material yet.
// MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
_density = PhysicsScene.Params.defaultDensity;
_friction = PhysicsScene.Params.defaultFriction;
_restitution = PhysicsScene.Params.defaultRestitution;
_vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness
_mass = CalculateMass();
// Cause linkset variables to be initialized (like mass)
Linkset.Refresh(this);
DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
PhysicsScene.TaintedObject("BSPrim.create", delegate()
{
CreateGeomAndObject(true);
CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
});
}
// called when this prim is being destroyed and we should free all the resources
public override void Destroy()
{
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
base.Destroy();
// Undo any links between me and any other object
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG
Linkset = Linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
// Undo any vehicle properties
this.VehicleType = (int)Vehicle.TYPE_NONE;
PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
{
DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
// If there are physical body and shape, release my use of same.
PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
PhysBody.Clear();
PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
PhysShape.Clear();
});
}
// No one uses this property.
public override bool Stopped {
get { return false; }
}
public override OMV.Vector3 Size {
get { return _size; }
set {
// We presume the scale and size are the same. If scale must be changed for
// the physical shape, that is done when the geometry is built.
_size = value;
Scale = _size;
ForceBodyShapeRebuild(false);
}
}
public override PrimitiveBaseShape Shape {
set {
BaseShape = value;
LastAssetBuildFailed = false;
ForceBodyShapeRebuild(false);
}
}
// Whatever the linkset wants is what I want.
public override BSPhysicsShapeType PreferredPhysicalShape
{ get { return Linkset.PreferredPhysicalShape(this); } }
public override bool ForceBodyShapeRebuild(bool inTaintTime)
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
{
_mass = CalculateMass(); // changing the shape changes the mass
CreateGeomAndObject(true);
});
return true;
}
public override bool Grabbed {
set { _grabbed = value;
}
}
public override bool Selected {
set
{
if (value != _isSelected)
{
_isSelected = value;
PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
{
DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
SetObjectDynamic(false);
});
}
}
}
public override bool IsSelected
{
get { return _isSelected; }
}
public override void CrossingFailure() { return; }
// link me to the specified parent
public override void link(PhysicsActor obj) {
BSPrim parent = obj as BSPrim;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = parent.Linkset.AddMeToLinkset(this);
DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
}
return;
}
// delink me from my linkset
public override void delink() {
// TODO: decide if this parent checking needs to happen at taint time
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = Linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
return;
}
// Set motion values to zero.
// Do it to the properties so the values get set in the physics engine.
// Push the setting of the values to the viewer.
// Called at taint time!
public override void ZeroMotion(bool inTaintTime)
{
_velocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties in the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
if (PhysBody.HasPhysicalBody)
PhysicsScene.PE.ClearAllForces(PhysBody);
});
}
public override void ZeroAngularMotion(bool inTaintTime)
{
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties in the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
// DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
}
});
}
public override void LockAngularMotion(OMV.Vector3 axis)
{
DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
return;
}
public override OMV.Vector3 RawPosition
{
get { return _position; }
set { _position = value; }
}
public override OMV.Vector3 Position {
get {
/* NOTE: this refetch is not necessary. The simulator knows about linkset children
* and does not fetch this position info for children. Thus this is commented out.
// child prims move around based on their parent. Need to get the latest location
if (!Linkset.IsRoot(this))
_position = Linkset.PositionGet(this);
*/
// don't do the GetObjectPosition for root elements because this function is called a zillion times.
// _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
return _position;
}
set {
// If the position must be forced into the physics engine, use ForcePosition.
// All positions are given in world positions.
if (_position == value)
{
DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
return;
}
_position = value;
PositionSanityCheck(false);
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
ForcePosition = _position;
// A linkset might need to know if a component information changed.
Linkset.UpdateProperties(UpdatedProperties.Position, this);
});
}
}
public override OMV.Vector3 ForcePosition {
get {
_position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
return _position;
}
set {
_position = value;
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
ActivateIfPhysical(false);
}
}
}
// Override to have position displacement immediately update the physical position.
// A feeble attempt to keep the sim and physical positions in sync
// Must be called at taint time.
public override OMV.Vector3 PositionDisplacement
{
get
{
return base.PositionDisplacement;
}
set
{
base.PositionDisplacement = value;
PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
{
if (PhysBody.HasPhysicalBody)
PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
});
}
}
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
// Returns 'true' of the position was made sane by some action.
private bool PositionSanityCheck(bool inTaintTime)
{
bool ret = false;
if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
{
// The physical object is out of the known/simulated area.
// Upper levels of code will handle the transition to other areas so, for
// the time, we just ignore the position.
return ret;
}
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
OMV.Vector3 upForce = OMV.Vector3.Zero;
if (RawPosition.Z < terrainHeight)
{
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
float targetHeight = terrainHeight + (Size.Z / 2f);
// If the object is below ground it just has to be moved up because pushing will
// not get it through the terrain
_position.Z = targetHeight;
if (inTaintTime)
ForcePosition = _position;
ret = true;
}
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
// TODO: a floating motor so object will bob in the water
if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
{
// Upforce proportional to the distance away from the water. Correct the error in 1 sec.
upForce.Z = (waterHeight - RawPosition.Z) * 1f;
// Apply upforce and overcome gravity.
OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
AddForce(correctionForce, false, inTaintTime);
ret = true;
}
}
return ret;
}
// Return the effective mass of the object.
// The definition of this call is to return the mass of the prim.
// If the simulator cares about the mass of the linkset, it will sum it itself.
public override float Mass
{
get
{
return _mass;
}
}
// used when we only want this prim's mass and not the linkset thing
public override float RawMass {
get { return _mass; }
}
// Set the physical mass to the passed mass.
// Note that this does not change _mass!
public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
{
if (PhysBody.HasPhysicalBody)
{
if (IsStatic)
{
PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
Inertia = OMV.Vector3.Zero;
PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
}
else
{
OMV.Vector3 grav = ComputeGravity(Buoyancy);
if (inWorld)
{
// Changing interesting properties doesn't change proxy and collision cache
// information. The Bullet solution is to re-add the object to the world
// after parameters are changed.
PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
}
// The computation of mass props requires gravity to be set on the object.
PhysicsScene.PE.SetGravity(PhysBody, grav);
Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
// center of mass is at the zero of the object
// DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
if (inWorld)
{
AddObjectToPhysicalWorld();
}
// Must set gravity after it has been added to the world because, for unknown reasons,
// adding the object resets the object's gravity to world gravity
PhysicsScene.PE.SetGravity(PhysBody, grav);
}
}
}
// Return what gravity should be set to this very moment
public OMV.Vector3 ComputeGravity(float buoyancy)
{
OMV.Vector3 ret = PhysicsScene.DefaultGravity;
if (!IsStatic)
ret *= (1f - buoyancy);
return ret;
}
// Is this used?
public override OMV.Vector3 CenterOfMass
{
get { return Linkset.CenterOfMass; }
}
// Is this used?
public override OMV.Vector3 GeometricCenter
{
get { return Linkset.GeometricCenter; }
}
public override OMV.Vector3 Force {
get { return _force; }
set {
_force = value;
if (_force != OMV.Vector3.Zero)
{
// If the force is non-zero, it must be reapplied each tick because
// Bullet clears the forces applied last frame.
RegisterPreStepAction("BSPrim.setForce", LocalID,
delegate(float timeStep)
{
if (!IsPhysicallyActive)
{
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
return;
}
DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
ActivateIfPhysical(false);
}
}
);
}
else
{
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
}
}
}
public override int VehicleType {
get {
return (int)_vehicle.Type; // if we are a vehicle, return that type
}
set {
Vehicle type = (Vehicle)value;
PhysicsScene.TaintedObject("setVehicleType", delegate()
{
// Done at taint time so we're sure the physics engine is not using the variables
// Vehicle code changes the parameters for this vehicle type.
_vehicle.ProcessTypeChange(type);
ActivateIfPhysical(false);
// If an active vehicle, register the vehicle code to be called before each step
if (_vehicle.Type == Vehicle.TYPE_NONE)
UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
else
RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
});
}
}
public override void VehicleFloatParam(int param, float value)
{
PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
{
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
ActivateIfPhysical(false);
});
}
public override void VehicleVectorParam(int param, OMV.Vector3 value)
{
PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
{
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
ActivateIfPhysical(false);
});
}
public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
{
PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
{
_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
ActivateIfPhysical(false);
});
}
public override void VehicleFlags(int param, bool remove)
{
PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
{
_vehicle.ProcessVehicleFlags(param, remove);
});
}
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
public override void SetVolumeDetect(int param) {
bool newValue = (param != 0);
if (_isVolumeDetect != newValue)
{
_isVolumeDetect = newValue;
PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
{
// DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
SetObjectDynamic(true);
});
}
return;
}
public override OMV.Vector3 RawVelocity
{
get { return _velocity; }
set { _velocity = value; }
}
public override OMV.Vector3 Velocity {
get { return _velocity; }
set {
_velocity = value;
PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
{
// DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
ForceVelocity = _velocity;
});
}
}
public override OMV.Vector3 ForceVelocity {
get { return _velocity; }
set {
PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
_velocity = value;
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
ActivateIfPhysical(false);
}
}
}
public override OMV.Vector3 Torque {
get { return _torque; }
set {
_torque = value;
if (_torque != OMV.Vector3.Zero)
{
// If the torque is non-zero, it must be reapplied each tick because
// Bullet clears the forces applied last frame.
RegisterPreStepAction("BSPrim.setTorque", LocalID,
delegate(float timeStep)
{
if (!IsPhysicallyActive)
{
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
return;
}
if (PhysBody.HasPhysicalBody)
AddAngularForce(_torque, false, true);
}
);
}
else
{
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
}
// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
}
}
public override float CollisionScore {
get { return _collisionScore; }
set { _collisionScore = value;
}
}
public override OMV.Vector3 Acceleration {
get { return _acceleration; }
set { _acceleration = value; }
}
public override OMV.Quaternion RawOrientation
{
get { return _orientation; }
set { _orientation = value; }
}
public override OMV.Quaternion Orientation {
get {
/* NOTE: this refetch is not necessary. The simulator knows about linkset children
* and does not fetch this position info for children. Thus this is commented out.
// Children move around because tied to parent. Get a fresh value.
if (!Linkset.IsRoot(this))
{
_orientation = Linkset.OrientationGet(this);
}
*/
return _orientation;
}
set {
if (_orientation == value)
return;
_orientation = value;
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
{
ForceOrientation = _orientation;
// A linkset might need to know if a component information changed.
Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
});
}
}
// Go directly to Bullet to get/set the value.
public override OMV.Quaternion ForceOrientation
{
get
{
_orientation = PhysicsScene.PE.GetOrientation(PhysBody);
return _orientation;
}
set
{
_orientation = value;
if (PhysBody.HasPhysicalBody)
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
}
}
public override int PhysicsActorType {
get { return _physicsActorType; }
set { _physicsActorType = value; }
}
public override bool IsPhysical {
get { return _isPhysical; }
set {
if (_isPhysical != value)
{
_isPhysical = value;
PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
{
DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
SetObjectDynamic(true);
// whether phys-to-static or static-to-phys, the object is not moving.
ZeroMotion(true);
});
}
}
}
// An object is static (does not move) if selected or not physical
public override bool IsStatic
{
get { return _isSelected || !IsPhysical; }
}
// An object is solid if it's not phantom and if it's not doing VolumeDetect
public override bool IsSolid
{
get { return !IsPhantom && !_isVolumeDetect; }
}
// The object is moving and is actively being dynamic in the physical world
public override bool IsPhysicallyActive
{
get { return !_isSelected && IsPhysical; }
}
// Make gravity work if the object is physical and not selected
// Called at taint-time!!
private void SetObjectDynamic(bool forceRebuild)
{
// Recreate the physical object if necessary
CreateGeomAndObject(forceRebuild);
}
// Convert the simulator's physical properties into settings on BulletSim objects.
// There are four flags we're interested in:
// IsStatic: Object does not move, otherwise the object has mass and moves
// isSolid: other objects bounce off of this object
// isVolumeDetect: other objects pass through but can generate collisions
// collisionEvents: whether this object returns collision events
private void UpdatePhysicalParameters()
{
// DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
// Mangling all the physical properties requires the object not be in the physical world.
// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
// Set up the object physicalness (does gravity and collisions move this object)
MakeDynamic(IsStatic);
// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
_vehicle.Refresh();
// Arrange for collision events if the simulator wants them
EnableCollisions(SubscribedEvents());
// Make solid or not (do things bounce off or pass through this object).
MakeSolid(IsSolid);
AddObjectToPhysicalWorld();
// Rebuild its shape
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
// Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero.
// For compound based linksets, this enables and disables interactions of the children.
Linkset.Refresh(this);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
}
// "Making dynamic" means changing to and from static.
// When static, gravity does not effect the object and it is fixed in space.
// When dynamic, the object can fall and be pushed by others.
// This is independent of its 'solidness' which controls what passes through
// this object and what interacts with it.
private void MakeDynamic(bool makeStatic)
{
if (makeStatic)
{
// Become a Bullet 'static' object type
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
// Stop all movement
ZeroMotion(true);
// Set various physical properties so other object interact properly
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
// Mass is zero which disables a bunch of physics stuff in Bullet
UpdatePhysicalMassProperties(0f, false);
// Set collision detection parameters
if (BSParam.CcdMotionThreshold > 0f)
{
PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
}
// The activation state is 'disabled' so Bullet will not try to act on it.
// PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
// Start it out sleeping and physical actions could wake it up.
PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
// This collides like a static object
PhysBody.collisionType = CollisionType.Static;
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
}
else
{
// Not a Bullet static object
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
// Set various physical properties so other object interact properly
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
// Since this can be called multiple times, only zero forces when becoming physical
// PhysicsScene.PE.ClearAllForces(BSBody);
// For good measure, make sure the transform is set through to the motion state
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
// Center of mass is at the center of the object
// DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
// A dynamic object has mass
UpdatePhysicalMassProperties(RawMass, false);
// Set collision detection parameters
if (BSParam.CcdMotionThreshold > 0f)
{
PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
}
// Various values for simulation limits
PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
// This collides like an object.
PhysBody.collisionType = CollisionType.Dynamic;
// Force activation of the object so Bullet will act on it.
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
// There might be special things needed for implementing linksets.
Linkset.MakeDynamic(this);
}
}
// "Making solid" means that other object will not pass through this object.
// To make transparent, we create a Bullet ghost object.
// Note: This expects to be called from the UpdatePhysicalParameters() routine as
// the functions after this one set up the state of a possibly newly created collision body.
private void MakeSolid(bool makeSolid)
{
CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
if (makeSolid)
{
// Verify the previous code created the correct shape for this type of thing.
if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
{
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
}
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
}
else
{
if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
{
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
}
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
// Change collision info from a static object to a ghosty collision object
PhysBody.collisionType = CollisionType.VolumeDetect;
}
}
// Enable physical actions. Bullet will keep sleeping non-moving physical objects so
// they need waking up when parameters are changed.
// Called in taint-time!!
private void ActivateIfPhysical(bool forceIt)
{
if (IsPhysical && PhysBody.HasPhysicalBody)
PhysicsScene.PE.Activate(PhysBody, forceIt);
}
// Turn on or off the flag controlling whether collision events are returned to the simulator.
private void EnableCollisions(bool wantsCollisionEvents)
{
if (wantsCollisionEvents)
{
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
else
{
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
}
// Add me to the physical world.
// Object MUST NOT already be in the world.
// This routine exists because some assorted properties get mangled by adding to the world.
internal void AddObjectToPhysicalWorld()
{
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
}
else
{
m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
}
}
// prims don't fly
public override bool Flying {
get { return _flying; }
set {
_flying = value;
}
}
public override bool SetAlwaysRun {
get { return _setAlwaysRun; }
set { _setAlwaysRun = value; }
}
public override bool ThrottleUpdates {
get { return _throttleUpdates; }
set { _throttleUpdates = value; }
}
public bool IsPhantom {
get {
// SceneObjectPart removes phantom objects from the physics scene
// so, although we could implement touching and such, we never
// are invoked as a phantom object
return false;
}
}
public override bool FloatOnWater {
set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
{
if (_floatOnWater)
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
});
}
}
public override OMV.Vector3 RotationalVelocity {
get {
return _rotationalVelocity;
}
set {
_rotationalVelocity = value;
Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
ForceRotationalVelocity = _rotationalVelocity;
});
}
}
public override OMV.Vector3 ForceRotationalVelocity {
get {
return _rotationalVelocity;
}
set {
_rotationalVelocity = value;
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
// PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
ActivateIfPhysical(false);
}
}
}
public override bool Kinematic {
get { return _kinematic; }
set { _kinematic = value;
// m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
}
}
public override float Buoyancy {
get { return _buoyancy; }
set {
_buoyancy = value;
PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
{
ForceBuoyancy = _buoyancy;
});
}
}
public override float ForceBuoyancy {
get { return _buoyancy; }
set {
_buoyancy = value;
// DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Force the recalculation of the various inertia,etc variables in the object
DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
UpdatePhysicalMassProperties(_mass, true);
ActivateIfPhysical(false);
}
}
// Used for MoveTo
public override OMV.Vector3 PIDTarget {
set { _PIDTarget = value; }
}
public override float PIDTau {
set { _PIDTau = value; }
}
public override bool PIDActive {
set {
if (value)
{
// We're taking over after this.
ZeroMotion(true);
_targetMotor = new BSVMotor("BSPrim.PIDTarget",
_PIDTau, // timeScale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
1f // efficiency
);
_targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
_targetMotor.SetTarget(_PIDTarget);
_targetMotor.SetCurrent(RawPosition);
/*
_targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
_targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
_targetMotor.SetTarget(_PIDTarget);
_targetMotor.SetCurrent(RawPosition);
_targetMotor.TimeScale = _PIDTau;
_targetMotor.Efficiency = 1f;
*/
RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
{
if (!IsPhysicallyActive)
{
UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
return;
}
OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
// 'movePosition' is where we'd like the prim to be at this moment.
OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
// If we are very close to our target, turn off the movement motor.
if (_targetMotor.ErrorIsZero())
{
DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
LocalID, movePosition, RawPosition, Mass);
ForcePosition = _targetMotor.TargetValue;
_targetMotor.Enabled = false;
}
else
{
ForcePosition = movePosition;
}
DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
});
}
else
{
// Stop any targetting
UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
}
}
}
// Used for llSetHoverHeight and maybe vehicle height
// Hover Height will override MoveTo target's Z
public override bool PIDHoverActive {
set {
if (value)
{
// Turning the target on
_hoverMotor = new BSFMotor("BSPrim.Hover",
_PIDHoverTau, // timeScale
BSMotor.Infinite, // decay time scale
BSMotor.Infinite, // friction timescale
1f // efficiency
);
_hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
_hoverMotor.SetCurrent(RawPosition.Z);
_hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
{
if (!IsPhysicallyActive)
return;
_hoverMotor.SetCurrent(RawPosition.Z);
_hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
float targetHeight = _hoverMotor.Step(timeStep);
// 'targetHeight' is where we'd like the Z of the prim to be at this moment.
// Compute the amount of force to push us there.
float moveForce = (targetHeight - RawPosition.Z) * Mass;
// Undo anything the object thinks it's doing at the moment
moveForce = -RawVelocity.Z * Mass;
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
});
}
else
{
UnRegisterPreStepAction("BSPrim.Hover", LocalID);
}
}
}
public override float PIDHoverHeight {
set { _PIDHoverHeight = value; }
}
public override PIDHoverType PIDHoverType {
set { _PIDHoverType = value; }
}
public override float PIDHoverTau {
set { _PIDHoverTau = value; }
}
// Based on current position, determine what we should be hovering at now.
// Must recompute often. What if we walked offa cliff>
private float ComputeCurrentPIDHoverHeight()
{
float ret = _PIDHoverHeight;
float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
switch (_PIDHoverType)
{
case PIDHoverType.Ground:
ret = groundHeight + _PIDHoverHeight;
break;
case PIDHoverType.GroundAndWater:
float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
if (groundHeight > waterHeight)
{
ret = groundHeight + _PIDHoverHeight;
}
else
{
ret = waterHeight + _PIDHoverHeight;
}
break;
}
return ret;
}
// For RotLookAt
public override OMV.Quaternion APIDTarget { set { return; } }
public override bool APIDActive { set { return; } }
public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } }
public override void AddForce(OMV.Vector3 force, bool pushforce) {
// Per documentation, max force is limited.
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
// Since this force is being applied in only one step, make this a force per second.
addForce /= PhysicsScene.LastTimeStep;
AddForce(addForce, pushforce, false /* inTaintTime */);
}
// Applying a force just adds this to the total force on the object.
// This added force will only last the next simulation tick.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
if (IsPhysicallyActive)
{
if (force.IsFinite())
{
// DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
OMV.Vector3 addForce = force;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
ActivateIfPhysical(false);
}
});
}
else
{
m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
return;
}
}
}
public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
if (!IsPhysicallyActive)
{
if (impulse.IsFinite())
{
OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
// DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
{
// Bullet adds this impulse immediately to the velocity
DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
ActivateIfPhysical(false);
}
});
}
else
{
m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
return;
}
}
}
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
AddAngularForce(force, pushforce, false);
}
public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
{
if (force.IsFinite())
{
OMV.Vector3 angForce = force;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
{
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
ActivateIfPhysical(false);
}
});
}
else
{
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
return;
}
}
// A torque impulse.
// ApplyTorqueImpulse adds torque directly to the angularVelocity.
// AddAngularForce accumulates the force and applied it to the angular velocity all at once.
// Computed as: angularVelocity += impulse * inertia;
public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
{
OMV.Vector3 applyImpulse = impulse;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
{
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
ActivateIfPhysical(false);
}
});
}
public override void SetMomentum(OMV.Vector3 momentum) {
// DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
}
#region Mass Calculation
private float CalculateMass()
{
float volume = _size.X * _size.Y * _size.Z; // default
float tmp;
float returnMass = 0;
float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
float hollowVolume = hollowAmount * hollowAmount;
switch (BaseShape.ProfileShape)
{
case ProfileShape.Square:
// default box
if (BaseShape.PathCurve == (byte)Extrusion.Straight)
{
if (hollowAmount > 0.0)
{
switch (BaseShape.HollowShape)
{
case HollowShape.Square:
case HollowShape.Same:
break;
case HollowShape.Circle:
hollowVolume *= 0.78539816339f;
break;
case HollowShape.Triangle:
hollowVolume *= (0.5f * .5f);
break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
}
else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{
//a tube
volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
volume -= volume*tmp*tmp;
if (hollowAmount > 0.0)
{
hollowVolume *= hollowAmount;
switch (BaseShape.HollowShape)
{
case HollowShape.Square:
case HollowShape.Same:
break;
case HollowShape.Circle:
hollowVolume *= 0.78539816339f;;
break;
case HollowShape.Triangle:
hollowVolume *= 0.5f * 0.5f;
break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
}
break;
case ProfileShape.Circle:
if (BaseShape.PathCurve == (byte)Extrusion.Straight)
{
volume *= 0.78539816339f; // elipse base
if (hollowAmount > 0.0)
{
switch (BaseShape.HollowShape)
{
case HollowShape.Same:
case HollowShape.Circle:
break;
case HollowShape.Square:
hollowVolume *= 0.5f * 2.5984480504799f;
break;
case HollowShape.Triangle:
hollowVolume *= .5f * 1.27323954473516f;
break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
}
else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{
volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
volume *= (1.0f - tmp * tmp);
if (hollowAmount > 0.0)
{
// calculate the hollow volume by it's shape compared to the prim shape
hollowVolume *= hollowAmount;
switch (BaseShape.HollowShape)
{
case HollowShape.Same:
case HollowShape.Circle:
break;
case HollowShape.Square:
hollowVolume *= 0.5f * 2.5984480504799f;
break;
case HollowShape.Triangle:
hollowVolume *= .5f * 1.27323954473516f;
break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
}
break;
case ProfileShape.HalfCircle:
if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{
volume *= 0.52359877559829887307710723054658f;
}
break;
case ProfileShape.EquilateralTriangle:
if (BaseShape.PathCurve == (byte)Extrusion.Straight)
{
volume *= 0.32475953f;
if (hollowAmount > 0.0)
{
// calculate the hollow volume by it's shape compared to the prim shape
switch (BaseShape.HollowShape)
{
case HollowShape.Same:
case HollowShape.Triangle:
hollowVolume *= .25f;
break;
case HollowShape.Square:
hollowVolume *= 0.499849f * 3.07920140172638f;
break;
case HollowShape.Circle:
// Hollow shape is a perfect cyllinder in respect to the cube's scale
// Cyllinder hollow volume calculation
hollowVolume *= 0.1963495f * 3.07920140172638f;
break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
}
else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{
volume *= 0.32475953f;
volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
volume *= (1.0f - tmp * tmp);
if (hollowAmount > 0.0)
{
hollowVolume *= hollowAmount;
switch (BaseShape.HollowShape)
{
case HollowShape.Same:
case HollowShape.Triangle:
hollowVolume *= .25f;
break;
case HollowShape.Square:
hollowVolume *= 0.499849f * 3.07920140172638f;
break;
case HollowShape.Circle:
hollowVolume *= 0.1963495f * 3.07920140172638f;
break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
}
break;
default:
break;
}
float taperX1;
float taperY1;
float taperX;
float taperY;
float pathBegin;
float pathEnd;
float profileBegin;
float profileEnd;
if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
{
taperX1 = BaseShape.PathScaleX * 0.01f;
if (taperX1 > 1.0f)
taperX1 = 2.0f - taperX1;
taperX = 1.0f - taperX1;
taperY1 = BaseShape.PathScaleY * 0.01f;
if (taperY1 > 1.0f)
taperY1 = 2.0f - taperY1;
taperY = 1.0f - taperY1;
}
else
{
taperX = BaseShape.PathTaperX * 0.01f;
if (taperX < 0.0f)
taperX = -taperX;
taperX1 = 1.0f - taperX;
taperY = BaseShape.PathTaperY * 0.01f;
if (taperY < 0.0f)
taperY = -taperY;
taperY1 = 1.0f - taperY;
}
volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
volume *= (pathEnd - pathBegin);
// this is crude aproximation
profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
volume *= (profileEnd - profileBegin);
returnMass = _density * volume;
/* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
if (IsRootOfLinkset)
{
foreach (BSPrim prim in _childrenPrims)
{
returnMass += prim.CalculateMass();
}
}
*/
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
return returnMass;
}// end CalculateMass
#endregion Mass Calculation
// Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull.
// Called at taint-time!!!
public void CreateGeomAndObject(bool forceRebuild)
{
// Create the correct physical representation for this type of object.
// Updates PhysBody and PhysShape with the new information.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
{
// Called if the current prim body is about to be destroyed.
// Remove all the physical dependencies on the old body.
// (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
Linkset.RemoveBodyDependencies(this);
_vehicle.RemoveBodyDependencies(this);
});
// Make sure the properties are set on the new object
UpdatePhysicalParameters();
return;
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Updates only for individual prims and for the root object of a linkset.
if (Linkset.IsRoot(this))
{
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (_vehicle.IsActive)
{
// entprop.RotationalVelocity = OMV.Vector3.Zero;
}
// Assign directly to the local variables so the normal set actions do not happen
entprop.Position -= PositionDisplacement;
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// The sanity check can change the velocity and/or position.
if (IsPhysical && PositionSanityCheck(true))
{
entprop.Position = _position;
entprop.Velocity = _velocity;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
base.RequestPhysicsterseUpdate();
}
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset implimentation might want to know about this.
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
}
}
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