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
172
173
174
175
176
177
178
179
180
181
|
/*
* 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.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.PhysicsModules.SharedBase;
using OMV = OpenMetaverse;
namespace OpenSim.Region.PhysicsModule.BulletS
{
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 ForcePosition 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.
// PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass.
public virtual OMV.Vector3 PositionDisplacement { 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();
}
// Clears any center-of-mass displacement introduced by linksets, etc.
// Does not clear the displacement set by the user.
public void ClearDisplacement()
{
if (UserSetCenterOfMassDisplacement.HasValue)
PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement;
else
PositionDisplacement = OMV.Vector3.Zero;
}
// 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).
// Returns the relative offset from the root position to the center-of-mass.
// Called at taint time.
public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
{
Vector3 comDisp;
if (UserSetCenterOfMassDisplacement.HasValue)
comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
else
comDisp = centerOfMassDisplacement;
// Eliminate any jitter caused be very slight differences in masses and positions
if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
comDisp = Vector3.Zero;
DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) )
{
// Displacement setting is changing.
// The relationship between the physical object and simulated object must be aligned.
PositionDisplacement = comDisp;
this.ForcePosition = RawPosition;
}
return PositionDisplacement;
}
// 'ForcePosition' is the one way to set the physical position of the body in the physics engine.
// Displace the simulator idea of position (center of root prim) to the physical position.
public override Vector3 ForcePosition
{
get {
OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody);
if (PositionDisplacement != OMV.Vector3.Zero)
{
// If there is some displacement, return the physical position (center-of-mass)
// location minus the displacement to give the center of the root prim.
OMV.Vector3 displacement = PositionDisplacement * ForceOrientation;
DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}",
LocalID, physPosition, displacement, physPosition - displacement);
physPosition -= displacement;
}
RawPosition = physPosition;
return physPosition;
}
set
{
if (PositionDisplacement != OMV.Vector3.Zero)
{
// This value is the simulator's idea of where the prim is: the center of the root prim
RawPosition = value;
// Move the passed root prim postion to the center-of-mass position and set in the physics engine.
OMV.Vector3 displacement = PositionDisplacement * RawOrientation;
OMV.Vector3 displacedPos = RawPosition + displacement;
DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}",
LocalID, RawPosition, displacement, displacedPos);
if (PhysBody.HasPhysicalBody)
{
PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation);
ActivateIfPhysical(false);
}
}
else
{
base.ForcePosition = value;
}
}
}
// These are also overridden by BSPrimLinkable if the prim can be part of a linkset
public override OMV.Vector3 CenterOfMass
{
get { return RawPosition; }
}
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)
{
// The origional shape was offset from 'zero' by PositionDisplacement.
// These physical location must be back converted to be centered around the displaced
// root shape.
// Move the returned center-of-mass location to the root prim location.
OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
OMV.Vector3 displacedPos = entprop.Position - displacement;
DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
LocalID, entprop.Position, displacement, displacedPos);
entprop.Position = displacedPos;
}
base.UpdateProperties(entprop);
}
}
}
|
