BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton of BSLinksetCompound.
Robert Adams
parent
28e2cd3fa2
commit
364a7c3088
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@ -131,45 +131,45 @@ public sealed class BSCharacter : BSPhysObject
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DetailLog("{0},BSCharacter.Destroy", LocalID);
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PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
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{
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PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
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PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
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PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
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PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
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});
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}
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private void SetPhysicalProperties()
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{
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
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ZeroMotion();
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ForcePosition = _position;
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// Set the velocity and compute the proper friction
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ForceVelocity = _velocity;
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BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
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BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin);
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BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
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BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
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BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
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BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
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BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
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BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
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if (PhysicsScene.Params.ccdMotionThreshold > 0f)
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{
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BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
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BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
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BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
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BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
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}
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UpdatePhysicalMassProperties(MassRaw);
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// Make so capsule does not fall over
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BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
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BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
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BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
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// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
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BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
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BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
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// Do this after the object has been added to the world
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BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
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BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
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(uint)CollisionFilterGroups.AvatarFilter,
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(uint)CollisionFilterGroups.AvatarMask);
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}
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@ -199,7 +199,7 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
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{
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BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
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BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
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UpdatePhysicalMassProperties(MassRaw);
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});
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@ -234,10 +234,10 @@ public sealed class BSCharacter : BSPhysObject
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_rotationalVelocity = OMV.Vector3.Zero;
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// Zero some other properties directly into the physics engine
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BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
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BulletSimAPI.ClearForces2(BSBody.ptr);
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BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetInterpolationVelocity2(PhysBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
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BulletSimAPI.ClearForces2(PhysBody.ptr);
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}
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public override void LockAngularMotion(OMV.Vector3 axis) { return; }
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@ -254,19 +254,19 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
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{
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DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
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});
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}
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}
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public override OMV.Vector3 ForcePosition {
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get {
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_position = BulletSimAPI.GetPosition2(BSBody.ptr);
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_position = BulletSimAPI.GetPosition2(PhysBody.ptr);
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return _position;
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}
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set {
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_position = value;
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PositionSanityCheck();
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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
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}
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}
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@ -313,7 +313,7 @@ public sealed class BSCharacter : BSPhysObject
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BSScene.TaintCallback sanityOperation = delegate()
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{
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DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
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};
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if (inTaintTime)
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sanityOperation();
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@ -332,8 +332,8 @@ public sealed class BSCharacter : BSPhysObject
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}
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public override void UpdatePhysicalMassProperties(float physMass)
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{
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OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
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BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
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OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
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BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
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}
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public override OMV.Vector3 Force {
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@ -344,7 +344,7 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
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{
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DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
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BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
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BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
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});
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}
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}
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@ -383,7 +383,7 @@ public sealed class BSCharacter : BSPhysObject
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if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
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{
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_currentFriction = PhysicsScene.Params.avatarStandingFriction;
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BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
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BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
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}
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}
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else
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@ -391,15 +391,15 @@ public sealed class BSCharacter : BSPhysObject
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if (_currentFriction != PhysicsScene.Params.avatarFriction)
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{
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_currentFriction = PhysicsScene.Params.avatarFriction;
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BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
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BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
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}
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}
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_velocity = value;
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// Remember the set velocity so we can suppress the reduction by friction, ...
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_appliedVelocity = value;
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BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
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BulletSimAPI.Activate2(BSBody.ptr, true);
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BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
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BulletSimAPI.Activate2(PhysBody.ptr, true);
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}
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}
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public override OMV.Vector3 Torque {
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@ -424,7 +424,7 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
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{
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// _position = BulletSimAPI.GetPosition2(BSBody.ptr);
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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
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});
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}
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}
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@ -433,13 +433,13 @@ public sealed class BSCharacter : BSPhysObject
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{
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get
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{
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_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
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_orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
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return _orientation;
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}
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set
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{
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_orientation = value;
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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
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}
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}
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public override int PhysicsActorType {
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@ -498,9 +498,9 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
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{
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if (_floatOnWater)
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CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
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CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
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else
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CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
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CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
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});
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}
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}
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@ -533,7 +533,7 @@ public sealed class BSCharacter : BSPhysObject
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DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
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// Buoyancy is faked by changing the gravity applied to the object
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float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
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BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
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BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
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}
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}
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@ -579,7 +579,7 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
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{
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DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
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BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
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BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
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});
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}
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else
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@ -647,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject
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// That's just the way they are defined.
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OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
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_velocity = avVel;
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BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
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BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
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}
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// Tell the linkset about value changes
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@ -514,8 +514,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (IsActive)
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{
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// Friction effects are handled by this vehicle code
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BulletSimAPI.SetFriction2(Prim.BSBody.ptr, 0f);
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BulletSimAPI.SetHitFraction2(Prim.BSBody.ptr, 0f);
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BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f);
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BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
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}
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}
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@ -194,13 +194,6 @@ public abstract class BSLinkset
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// Called while LinkActivity is locked.
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protected abstract void AddChildToLinkset(BSPhysObject child);
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// Forcefully removing a child from a linkset.
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// This is not being called by the child so we have to make sure the child doesn't think
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// it's still connected to the linkset.
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// Normal OpenSimulator operation will never do this because other SceneObjectPart information
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// also has to be updated (like pointer to prim's parent).
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protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild);
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// I am the root of a linkset and one of my children is being removed.
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// Safe to call even if the child is not really in my linkset.
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protected abstract void RemoveChildFromLinkset(BSPhysObject child);
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@ -0,0 +1,173 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSLinksetCompound : BSLinkset
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{
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// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
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public BSLinksetCompound(BSScene scene, BSPhysObject parent)
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{
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base.Initialize(scene, parent);
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}
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// When physical properties are changed the linkset needs to recalculate
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// its internal properties.
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// This is queued in the 'post taint' queue so the
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// refresh will happen once after all the other taints are applied.
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public override void Refresh(BSPhysObject requestor)
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{
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// Queue to happen after all the other taint processing
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PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate()
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{
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if (HasAnyChildren && IsRoot(requestor))
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RecomputeLinksetCompound();
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});
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}
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// The object is going dynamic (physical). Do any setup necessary
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// for a dynamic linkset.
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// Only the state of the passed object can be modified. The rest of the linkset
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// has not yet been fully constructed.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public override bool MakeDynamic(BSPhysObject child)
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{
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// What is done for each object in BSPrim is what we want.
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return false;
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}
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// The object is going static (non-physical). Do any setup necessary for a static linkset.
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// Return 'true' if any properties updated on the passed object.
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// This doesn't normally happen -- OpenSim removes the objects from the physical
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// world if it is a static linkset.
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// Called at taint-time!
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public override bool MakeStatic(BSPhysObject child)
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{
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// What is done for each object in BSPrim is what we want.
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return false;
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}
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// Called at taint-time!!
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public override void UpdateProperties(BSPhysObject updated)
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{
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// Nothing to do for constraints on property updates
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}
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// Routine called when rebuilding the body of some member of the linkset.
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// Destroy all the constraints have have been made to root and set
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// up to rebuild the constraints before the next simulation step.
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// Returns 'true' of something was actually removed and would need restoring
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// Called at taint-time!!
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public override bool RemoveBodyDependencies(BSPrim child)
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{
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bool ret = false;
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DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
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// Cause the current shape to be freed and the new one to be built.
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Refresh(LinksetRoot);
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return ret;
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}
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// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
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// this routine will restore the removed constraints.
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// Called at taint-time!!
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public override void RestoreBodyDependencies(BSPrim child)
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{
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// The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
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}
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// ================================================================
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// Add a new child to the linkset.
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// Called while LinkActivity is locked.
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protected override void AddChildToLinkset(BSPhysObject child)
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{
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if (!HasChild(child))
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{
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m_children.Add(child);
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DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
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// Cause constraints and assorted properties to be recomputed before the next simulation step.
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Refresh(LinksetRoot);
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}
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return;
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}
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// Remove the specified child from the linkset.
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// Safe to call even if the child is not really in my linkset.
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protected override void RemoveChildFromLinkset(BSPhysObject child)
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{
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if (m_children.Remove(child))
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{
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DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
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child.LocalID,
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LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
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child.LocalID, child.PhysBody.ptr.ToString("X"));
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// See that the linkset parameters are recomputed at the end of the taint time.
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Refresh(LinksetRoot);
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}
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||||
else
|
||||
{
|
||||
// Non-fatal occurance.
|
||||
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
// Call each of the constraints that make up this linkset and recompute the
|
||||
// various transforms and variables. Create constraints of not created yet.
|
||||
// Called before the simulation step to make sure the constraint based linkset
|
||||
// is all initialized.
|
||||
// Called at taint time!!
|
||||
private void RecomputeLinksetCompound()
|
||||
{
|
||||
float linksetMass = LinksetMass;
|
||||
LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
|
||||
|
||||
// DEBUG: see of inter-linkset collisions are causing problems
|
||||
// BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
|
||||
// (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
|
||||
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}",
|
||||
LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -94,7 +94,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
bool ret = false;
|
||||
|
||||
DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
|
||||
child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
|
||||
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
|
||||
|
||||
lock (m_linksetActivityLock)
|
||||
{
|
||||
|
|
@ -124,9 +124,6 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
{
|
||||
m_children.Add(child);
|
||||
|
||||
BSPhysObject rootx = LinksetRoot; // capture the root as of now
|
||||
BSPhysObject childx = child;
|
||||
|
||||
DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
|
||||
|
||||
// Cause constraints and assorted properties to be recomputed before the next simulation step.
|
||||
|
|
@ -135,17 +132,6 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
return;
|
||||
}
|
||||
|
||||
// Forcefully removing a child from a linkset.
|
||||
// This is not being called by the child so we have to make sure the child doesn't think
|
||||
// it's still connected to the linkset.
|
||||
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
|
||||
// also has to be updated (like pointer to prim's parent).
|
||||
protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild)
|
||||
{
|
||||
pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild);
|
||||
RemoveChildFromLinkset(pchild);
|
||||
}
|
||||
|
||||
// Remove the specified child from the linkset.
|
||||
// Safe to call even if the child is not really in my linkset.
|
||||
protected override void RemoveChildFromLinkset(BSPhysObject child)
|
||||
|
|
@ -157,8 +143,8 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
|
||||
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
|
||||
childx.LocalID,
|
||||
rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
|
||||
childx.LocalID, childx.BSBody.ptr.ToString("X"));
|
||||
rootx.LocalID, rootx.PhysBody.ptr.ToString("X"),
|
||||
childx.LocalID, childx.PhysBody.ptr.ToString("X"));
|
||||
|
||||
PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
|
||||
{
|
||||
|
|
@ -197,15 +183,15 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
|
||||
DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
|
||||
rootPrim.LocalID,
|
||||
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
|
||||
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
|
||||
rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
|
||||
childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"),
|
||||
rootPrim.Position, childPrim.Position, midPoint);
|
||||
|
||||
// create a constraint that allows no freedom of movement between the two objects
|
||||
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
|
||||
|
||||
BSConstraint6Dof constrain = new BSConstraint6Dof(
|
||||
PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
|
||||
PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
|
||||
// PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
|
||||
|
||||
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
|
||||
|
|
@ -262,14 +248,14 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
bool ret = false;
|
||||
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
|
||||
rootPrim.LocalID,
|
||||
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
|
||||
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
|
||||
rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
|
||||
childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"));
|
||||
|
||||
// Find the constraint for this link and get rid of it from the overall collection and from my list
|
||||
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
|
||||
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
|
||||
{
|
||||
// Make the child refresh its location
|
||||
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
|
||||
BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
|
||||
ret = true;
|
||||
}
|
||||
|
||||
|
|
@ -283,7 +269,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
{
|
||||
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
|
||||
|
||||
return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
|
||||
return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
|
||||
}
|
||||
|
||||
// Call each of the constraints that make up this linkset and recompute the
|
||||
|
|
@ -300,7 +286,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
// BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
|
||||
// (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
|
||||
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
|
||||
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
|
||||
LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
|
||||
|
||||
foreach (BSPhysObject child in m_children)
|
||||
{
|
||||
|
|
@ -310,7 +296,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
child.UpdatePhysicalMassProperties(linksetMass);
|
||||
|
||||
BSConstraint constrain;
|
||||
if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
|
||||
if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
|
||||
{
|
||||
// If constraint doesn't exist yet, create it.
|
||||
constrain = BuildConstraint(LinksetRoot, child);
|
||||
|
|
|
|||
|
|
@ -68,9 +68,9 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
public abstract void UpdatePhysicalMassProperties(float mass);
|
||||
|
||||
// Reference to the physical body (btCollisionObject) of this object
|
||||
public BulletBody BSBody;
|
||||
public BulletBody PhysBody;
|
||||
// Reference to the physical shape (btCollisionShape) of this object
|
||||
public BulletShape BSShape;
|
||||
public BulletShape PhysShape;
|
||||
|
||||
// 'true' if the mesh's underlying asset failed to build.
|
||||
// This will keep us from looping after the first time the build failed.
|
||||
|
|
@ -206,7 +206,7 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
|
||||
PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
|
||||
{
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
});
|
||||
}
|
||||
else
|
||||
|
|
@ -220,7 +220,7 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
SubscribedEventsMs = 0;
|
||||
PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
|
||||
{
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
});
|
||||
}
|
||||
// Return 'true' if the simulator wants collision events
|
||||
|
|
|
|||
|
|
@ -111,8 +111,8 @@ public sealed class BSPrim : BSPhysObject
|
|||
_mass = CalculateMass();
|
||||
|
||||
// No body or shape yet
|
||||
BSBody = new BulletBody(LocalID, IntPtr.Zero);
|
||||
BSShape = new BulletShape(IntPtr.Zero);
|
||||
PhysBody = new BulletBody(LocalID, IntPtr.Zero);
|
||||
PhysShape = new BulletShape(IntPtr.Zero);
|
||||
|
||||
DetailLog("{0},BSPrim.constructor,call", LocalID);
|
||||
// do the actual object creation at taint time
|
||||
|
|
@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
CreateGeomAndObject(true);
|
||||
|
||||
CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
|
||||
CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
|
||||
});
|
||||
}
|
||||
|
||||
|
|
@ -145,8 +145,8 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
|
||||
// If there are physical body and shape, release my use of same.
|
||||
PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
|
||||
PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
|
||||
PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
|
||||
PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
|
||||
});
|
||||
}
|
||||
|
||||
|
|
@ -243,7 +243,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
_rotationalVelocity = OMV.Vector3.Zero;
|
||||
|
||||
// Zero some other properties in the physics engine
|
||||
BulletSimAPI.ClearAllForces2(BSBody.ptr);
|
||||
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
|
||||
}
|
||||
|
||||
public override void LockAngularMotion(OMV.Vector3 axis)
|
||||
|
|
@ -256,7 +256,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
get {
|
||||
if (!Linkset.IsRoot(this))
|
||||
// child prims move around based on their parent. Need to get the latest location
|
||||
_position = BulletSimAPI.GetPosition2(BSBody.ptr);
|
||||
_position = BulletSimAPI.GetPosition2(PhysBody.ptr);
|
||||
|
||||
// don't do the GetObjectPosition for root elements because this function is called a zillion times
|
||||
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
|
||||
|
|
@ -274,20 +274,20 @@ public sealed class BSPrim : BSPhysObject
|
|||
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
|
||||
{
|
||||
// DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
|
||||
ActivateIfPhysical(false);
|
||||
});
|
||||
}
|
||||
}
|
||||
public override OMV.Vector3 ForcePosition {
|
||||
get {
|
||||
_position = BulletSimAPI.GetPosition2(BSBody.ptr);
|
||||
_position = BulletSimAPI.GetPosition2(PhysBody.ptr);
|
||||
return _position;
|
||||
}
|
||||
set {
|
||||
_position = value;
|
||||
PositionSanityCheck();
|
||||
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
|
||||
ActivateIfPhysical(false);
|
||||
}
|
||||
}
|
||||
|
|
@ -371,15 +371,15 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
if (IsStatic)
|
||||
{
|
||||
BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
|
||||
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
|
||||
BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero);
|
||||
BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
|
||||
}
|
||||
else
|
||||
{
|
||||
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
|
||||
BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
|
||||
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
|
||||
BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
|
||||
// center of mass is at the zero of the object
|
||||
BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
|
||||
BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
|
||||
// BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
|
||||
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
|
||||
}
|
||||
|
|
@ -404,7 +404,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
|
||||
{
|
||||
// DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
|
||||
BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
|
||||
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -498,7 +498,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
|
||||
{
|
||||
// DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
|
||||
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
|
||||
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -506,7 +506,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
get { return _velocity; }
|
||||
set {
|
||||
_velocity = value;
|
||||
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
|
||||
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
|
||||
}
|
||||
}
|
||||
public override OMV.Vector3 Torque {
|
||||
|
|
@ -531,7 +531,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
if (!Linkset.IsRoot(this))
|
||||
{
|
||||
// Children move around because tied to parent. Get a fresh value.
|
||||
_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
|
||||
_orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
|
||||
}
|
||||
return _orientation;
|
||||
}
|
||||
|
|
@ -544,7 +544,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
|
||||
// DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -553,13 +553,13 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
get
|
||||
{
|
||||
_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
|
||||
_orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
|
||||
return _orientation;
|
||||
}
|
||||
set
|
||||
{
|
||||
_orientation = value;
|
||||
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
|
||||
}
|
||||
}
|
||||
public override int PhysicsActorType {
|
||||
|
|
@ -615,7 +615,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
|
||||
// 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).
|
||||
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
|
||||
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
|
||||
|
||||
// Set up the object physicalness (does gravity and collisions move this object)
|
||||
MakeDynamic(IsStatic);
|
||||
|
|
@ -629,15 +629,15 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Make solid or not (do things bounce off or pass through this object).
|
||||
MakeSolid(IsSolid);
|
||||
|
||||
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
|
||||
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
|
||||
|
||||
// Rebuild its shape
|
||||
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
|
||||
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
|
||||
|
||||
// Collision filter can be set only when the object is in the world
|
||||
if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
|
||||
if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
|
||||
{
|
||||
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
|
||||
BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
|
||||
}
|
||||
|
||||
// Recompute any linkset parameters.
|
||||
|
|
@ -646,7 +646,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
Linkset.Refresh(this);
|
||||
|
||||
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
|
||||
LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
|
||||
LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
|
||||
}
|
||||
|
||||
// "Making dynamic" means changing to and from static.
|
||||
|
|
@ -659,44 +659,44 @@ public sealed class BSPrim : BSPhysObject
|
|||
if (makeStatic)
|
||||
{
|
||||
// Become a Bullet 'static' object type
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
// Stop all movement
|
||||
ZeroMotion();
|
||||
// Center of mass is at the center of the object
|
||||
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
|
||||
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
|
||||
// Mass is zero which disables a bunch of physics stuff in Bullet
|
||||
UpdatePhysicalMassProperties(0f);
|
||||
// Set collision detection parameters
|
||||
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
|
||||
{
|
||||
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
|
||||
BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
|
||||
BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
|
||||
BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
|
||||
}
|
||||
// There can be special things needed for implementing linksets
|
||||
Linkset.MakeStatic(this);
|
||||
// The activation state is 'disabled' so Bullet will not try to act on it.
|
||||
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
// Start it out sleeping and physical actions could wake it up.
|
||||
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
|
||||
|
||||
BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
|
||||
BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
|
||||
PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
|
||||
PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Not a Bullet static object
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
|
||||
// Set various physical properties so internal dynamic properties will get computed correctly as they are set
|
||||
BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
|
||||
BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
|
||||
BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
|
||||
BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
|
||||
|
||||
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
|
||||
// Since this can be called multiple times, only zero forces when becoming physical
|
||||
// BulletSimAPI.ClearAllForces2(BSBody.ptr);
|
||||
|
||||
// For good measure, make sure the transform is set through to the motion state
|
||||
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
||||
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
|
||||
|
||||
// A dynamic object has mass
|
||||
UpdatePhysicalMassProperties(MassRaw);
|
||||
|
|
@ -704,26 +704,26 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Set collision detection parameters
|
||||
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
|
||||
{
|
||||
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
|
||||
BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
|
||||
BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
|
||||
BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
|
||||
}
|
||||
|
||||
// Various values for simulation limits
|
||||
BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
|
||||
BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
|
||||
BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
|
||||
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
|
||||
BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
|
||||
BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
|
||||
BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
|
||||
BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
|
||||
|
||||
// There might be special things needed for implementing linksets.
|
||||
Linkset.MakeDynamic(this);
|
||||
|
||||
// Force activation of the object so Bullet will act on it.
|
||||
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
|
||||
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
|
||||
BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
|
||||
// BulletSimAPI.Activate2(BSBody.ptr, true);
|
||||
|
||||
BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
|
||||
BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
|
||||
PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
|
||||
PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -733,7 +733,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
// the functions after this one set up the state of a possibly newly created collision body.
|
||||
private void MakeSolid(bool makeSolid)
|
||||
{
|
||||
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
|
||||
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
|
||||
if (makeSolid)
|
||||
{
|
||||
// Verify the previous code created the correct shape for this type of thing.
|
||||
|
|
@ -741,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
|
||||
}
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -749,9 +749,9 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
|
||||
}
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
||||
BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
|
||||
BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
||||
PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
|
||||
PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -761,7 +761,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
private void ActivateIfPhysical(bool forceIt)
|
||||
{
|
||||
if (IsPhysical)
|
||||
BulletSimAPI.Activate2(BSBody.ptr, forceIt);
|
||||
BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
|
||||
}
|
||||
|
||||
// Turn on or off the flag controlling whether collision events are returned to the simulator.
|
||||
|
|
@ -769,11 +769,11 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
if (wantsCollisionEvents)
|
||||
{
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
}
|
||||
else
|
||||
{
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -818,9 +818,9 @@ public sealed class BSPrim : BSPhysObject
|
|||
PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
|
||||
{
|
||||
if (_floatOnWater)
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
|
||||
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
|
||||
else
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
|
||||
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -843,7 +843,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
|
||||
{
|
||||
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
|
||||
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
|
||||
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
}
|
||||
set {
|
||||
_rotationalVelocity = value;
|
||||
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
|
||||
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
|
||||
}
|
||||
}
|
||||
public override bool Kinematic {
|
||||
|
|
@ -879,7 +879,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
// DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
|
||||
// Buoyancy is faked by changing the gravity applied to the object
|
||||
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
|
||||
BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
|
||||
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -946,7 +946,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
}
|
||||
DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
|
||||
if (fSum != OMV.Vector3.Zero)
|
||||
BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
|
||||
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
|
||||
};
|
||||
if (inTaintTime)
|
||||
addForceOperation();
|
||||
|
|
@ -986,7 +986,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
|
||||
if (fSum != OMV.Vector3.Zero)
|
||||
{
|
||||
BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
|
||||
BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
|
||||
_torque = fSum;
|
||||
}
|
||||
};
|
||||
|
|
@ -1002,7 +1002,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
|
||||
{
|
||||
DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
|
||||
BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse);
|
||||
BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
|
||||
};
|
||||
if (inTaintTime)
|
||||
applyTorqueImpulseOperation();
|
||||
|
|
|
|||
|
|
@ -1067,49 +1067,49 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
|||
(s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linearDamping; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ),
|
||||
new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].angularDamping; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ),
|
||||
new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
|
||||
0.2f,
|
||||
(s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].deactivationTime; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
|
||||
new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
|
||||
0.8f,
|
||||
(s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linearSleepingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
|
||||
new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
|
||||
1.0f,
|
||||
(s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].angularSleepingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
|
||||
new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
|
||||
0f, // set to zero to disable
|
||||
(s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].ccdMotionThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
|
||||
new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].ccdSweptSphereRadius; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
|
||||
new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
|
||||
0.1f,
|
||||
(s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].contactProcessingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
|
||||
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
|
||||
|
||||
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
|
||||
0.5f,
|
||||
|
|
@ -1428,8 +1428,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
|||
{
|
||||
foreach (BSPrim prim in m_vehicles)
|
||||
{
|
||||
BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr);
|
||||
BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr);
|
||||
BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr);
|
||||
BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -106,11 +106,11 @@ public sealed class BSShapeCollection : IDisposable
|
|||
// rebuild the body around it.
|
||||
// Updates prim.BSBody with information/pointers to requested body
|
||||
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
|
||||
prim.BSShape, shapeData, bodyCallback);
|
||||
prim.PhysShape, shapeData, bodyCallback);
|
||||
ret = newGeom || newBody;
|
||||
}
|
||||
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
|
||||
prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
|
||||
prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -337,7 +337,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
// an avatar capsule is close to a native shape (it is not shared)
|
||||
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
|
||||
ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
|
||||
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
|
||||
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
|
||||
ret = true;
|
||||
haveShape = true;
|
||||
}
|
||||
|
|
@ -360,13 +360,13 @@ public sealed class BSShapeCollection : IDisposable
|
|||
haveShape = true;
|
||||
if (forceRebuild
|
||||
|| prim.Scale != shapeData.Size
|
||||
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
|
||||
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
|
||||
)
|
||||
{
|
||||
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
|
||||
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
|
||||
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
|
||||
prim.LocalID, forceRebuild, prim.BSShape);
|
||||
prim.LocalID, forceRebuild, prim.PhysShape);
|
||||
}
|
||||
}
|
||||
if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
|
||||
|
|
@ -374,13 +374,13 @@ public sealed class BSShapeCollection : IDisposable
|
|||
haveShape = true;
|
||||
if (forceRebuild
|
||||
|| prim.Scale != shapeData.Size
|
||||
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
|
||||
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
|
||||
)
|
||||
{
|
||||
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
|
||||
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
|
||||
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
|
||||
prim.LocalID, forceRebuild, prim.BSShape);
|
||||
prim.LocalID, forceRebuild, prim.PhysShape);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -394,13 +394,13 @@ public sealed class BSShapeCollection : IDisposable
|
|||
// Update prim.BSShape to reference a hull of this shape.
|
||||
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
|
||||
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
|
||||
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
|
||||
shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
|
||||
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
|
||||
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
|
||||
shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
|
|
@ -413,7 +413,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
ShapeDestructionCallback shapeCallback)
|
||||
{
|
||||
// release any previous shape
|
||||
DereferenceShape(prim.BSShape, true, shapeCallback);
|
||||
DereferenceShape(prim.PhysShape, true, shapeCallback);
|
||||
|
||||
shapeData.Type = shapeType;
|
||||
// Bullet native objects are scaled by the Bullet engine so pass the size in
|
||||
|
|
@ -426,7 +426,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
|
||||
shapeData.ID, newShape, shapeData.Scale);
|
||||
|
||||
prim.BSShape = newShape;
|
||||
prim.PhysShape = newShape;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -475,14 +475,14 @@ public sealed class BSShapeCollection : IDisposable
|
|||
System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
|
||||
|
||||
// if this new shape is the same as last time, don't recreate the mesh
|
||||
if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
|
||||
if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
|
||||
return false;
|
||||
|
||||
DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
|
||||
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
|
||||
prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
|
||||
|
||||
// Since we're recreating new, get rid of the reference to the previous shape
|
||||
DereferenceShape(prim.BSShape, true, shapeCallback);
|
||||
DereferenceShape(prim.PhysShape, true, shapeCallback);
|
||||
|
||||
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
|
||||
// Take evasive action if the mesh was not constructed.
|
||||
|
|
@ -492,7 +492,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
|
||||
// meshes are already scaled by the meshmerizer
|
||||
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
||||
prim.BSShape = newShape;
|
||||
prim.PhysShape = newShape;
|
||||
|
||||
return true; // 'true' means a new shape has been added to this prim
|
||||
}
|
||||
|
|
@ -550,14 +550,14 @@ public sealed class BSShapeCollection : IDisposable
|
|||
System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
|
||||
|
||||
// if the hull hasn't changed, don't rebuild it
|
||||
if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
|
||||
if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
|
||||
return false;
|
||||
|
||||
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
|
||||
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
|
||||
prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
|
||||
|
||||
// Remove usage of the previous shape.
|
||||
DereferenceShape(prim.BSShape, true, shapeCallback);
|
||||
DereferenceShape(prim.PhysShape, true, shapeCallback);
|
||||
|
||||
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
|
||||
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
|
||||
|
|
@ -566,7 +566,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
|
||||
// hulls are already scaled by the meshmerizer
|
||||
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
||||
prim.BSShape = newShape;
|
||||
prim.PhysShape = newShape;
|
||||
return true; // 'true' means a new shape has been added to this prim
|
||||
}
|
||||
|
||||
|
|
@ -778,13 +778,13 @@ public sealed class BSShapeCollection : IDisposable
|
|||
bool ret = false;
|
||||
|
||||
// the mesh, hull or native shape must have already been created in Bullet
|
||||
bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
|
||||
bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero);
|
||||
|
||||
// If there is an existing body, verify it's of an acceptable type.
|
||||
// If not a solid object, body is a GhostObject. Otherwise a RigidBody.
|
||||
if (!mustRebuild)
|
||||
{
|
||||
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
|
||||
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
|
||||
if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
|
||||
|| !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
|
||||
{
|
||||
|
|
@ -796,7 +796,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
if (mustRebuild || forceRebuild)
|
||||
{
|
||||
// Free any old body
|
||||
DereferenceBody(prim.BSBody, true, bodyCallback);
|
||||
DereferenceBody(prim.PhysBody, true, bodyCallback);
|
||||
|
||||
BulletBody aBody;
|
||||
IntPtr bodyPtr = IntPtr.Zero;
|
||||
|
|
@ -816,7 +816,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
|
||||
ReferenceBody(aBody, true);
|
||||
|
||||
prim.BSBody = aBody;
|
||||
prim.PhysBody = aBody;
|
||||
|
||||
ret = true;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue