1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
|
/*
* 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.
*
* The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
* are Copyright (c) 2009 Linden Research, Inc and are used under their license
* of Creative Commons Attribution-Share Alike 3.0
* (http://creativecommons.org/licenses/by-sa/3.0/).
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSPrimDisplaced : BSPrim
{
// The purpose of this subclass is to do any mapping between what the simulator thinks
// the prim position and orientation is and what the physical position/orientation.
// This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
// of the prim/linkset. The simulator, on the other hand, tracks the location of
// the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere
// but the origin of the root prim, the physical origin is displaced from the simulator origin.
//
// This routine works by capturing the Force* setting of position/orientation/... and
// adjusting the simulator values (being set) into the physical values.
// The conversion is also done in the opposite direction (physical origin -> simulator origin).
//
// The updateParameter call is also captured and the values from the physics engine
// are converted into simulator origin values before being passed to the base
// class.
public virtual OMV.Vector3 PositionDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; }
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
ClearDisplacement();
}
public void ClearDisplacement()
{
PositionDisplacement = OMV.Vector3.Zero;
OrientationDisplacement = OMV.Quaternion.Identity;
}
// Set this sets and computes the displacement from the passed prim to the center-of-mass.
// A user set value for center-of-mass overrides whatever might be passed in here.
// The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
{
Vector3 comDisp;
if (UserSetCenterOfMassDisplacement.HasValue)
comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
else
comDisp = centerOfMassDisplacement;
DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
if (comDisp == Vector3.Zero)
{
// If there is no diplacement. Things get reset.
PositionDisplacement = OMV.Vector3.Zero;
OrientationDisplacement = OMV.Quaternion.Identity;
}
else
{
// Remember the displacement from root as well as the origional rotation of the
// new center-of-mass.
PositionDisplacement = comDisp;
OrientationDisplacement = Quaternion.Normalize(RawOrientation);
OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement);
}
}
public override Vector3 ForcePosition
{
get { return base.ForcePosition; }
set
{
if (PositionDisplacement != OMV.Vector3.Zero)
{
OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation));
DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
base.ForcePosition = displacedPos;
}
else
{
base.ForcePosition = value;
}
}
}
public override Quaternion ForceOrientation
{
get { return base.ForceOrientation; }
set
{
// Changing orientation also changes the position of the center-of-mass since
// the orientation passed is for a rotation around the root prim's center.
base.ForceOrientation = value;
}
}
// TODO: decide if this is the right place for these variables.
// Somehow incorporate the optional settability by the user.
// Is this used?
public override OMV.Vector3 CenterOfMass
{
get { return RawPosition; }
}
// Is this used?
public override OMV.Vector3 GeometricCenter
{
get { return RawPosition; }
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
{
// The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement.
// These physical locations and rotation must be back converted to be centered around the displaced
// root shape.
// The root position is the reported position displaced by the rotated displacement.
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * (entprop.Rotation * OrientationDisplacementOrigInv));
DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
entprop.Position = displacedPos;
// entprop.Rotation = something;
}
base.UpdateProperties(entprop);
}
}
}
|
