make old Ode PInvoke follow ms coding rules
UbitUmarov
parent
88511bfab2
commit
3d87e37d99
File diff suppressed because it is too large
Load Diff
|
|
@ -68,7 +68,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
|
||||
|
||||
private Vector3 _position;
|
||||
private d.Vector3 _zeroPosition;
|
||||
private SafeNativeMethods.Vector3 _zeroPosition;
|
||||
private bool _zeroFlag = false;
|
||||
private bool m_lastUpdateSent = false;
|
||||
private Vector3 _velocity;
|
||||
|
|
@ -151,7 +151,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
internal IntPtr Shell { get; private set; }
|
||||
|
||||
private IntPtr Amotor = IntPtr.Zero;
|
||||
private d.Mass ShellMass;
|
||||
private SafeNativeMethods.Mass ShellMass;
|
||||
|
||||
private int m_eventsubscription = 0;
|
||||
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
|
||||
|
|
@ -569,12 +569,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
|
||||
|
||||
//m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
|
@ -805,11 +805,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_pidControllerActive == false)
|
||||
{
|
||||
_zeroPosition = d.BodyGetPosition(Body);
|
||||
_zeroPosition = SafeNativeMethods.BodyGetPosition(Body);
|
||||
}
|
||||
//PidStatus = true;
|
||||
|
||||
d.Vector3 localpos = d.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Vector3 localpos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
|
||||
|
||||
if (!localPos.IsFinite())
|
||||
|
|
@ -824,7 +824,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
|
||||
Vector3 vec = Vector3.Zero;
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
|
||||
// m_log.DebugFormat(
|
||||
// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
|
||||
|
|
@ -848,7 +848,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (!_zeroFlag)
|
||||
{
|
||||
_zeroFlag = true;
|
||||
_zeroPosition = d.BodyGetPosition(Body);
|
||||
_zeroPosition = SafeNativeMethods.BodyGetPosition(Body);
|
||||
}
|
||||
|
||||
if (m_pidControllerActive)
|
||||
|
|
@ -858,7 +858,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// Avatar to Avatar collisions
|
||||
// Prim to avatar collisions
|
||||
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
|
||||
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
|
||||
if (flying)
|
||||
|
|
@ -906,7 +906,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
// We're colliding with something and we're not flying but we're moving
|
||||
// This means we're walking or running.
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
||||
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
||||
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
||||
|
|
@ -940,7 +940,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (vec.IsFinite())
|
||||
{
|
||||
// Apply the total force acting on this avatar
|
||||
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
|
||||
SafeNativeMethods.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
|
||||
|
||||
if (!_zeroFlag)
|
||||
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
|
||||
|
|
@ -956,7 +956,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
return;
|
||||
}
|
||||
|
||||
d.Vector3 newVel = d.BodyGetLinearVel(Body);
|
||||
SafeNativeMethods.Vector3 newVel = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
|
||||
{
|
||||
// m_log.DebugFormat(
|
||||
|
|
@ -972,7 +972,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
else
|
||||
newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
|
||||
|
||||
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -985,16 +985,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
|
||||
{
|
||||
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
||||
d.Vector3 newPos;
|
||||
SafeNativeMethods.Vector3 newPos;
|
||||
try
|
||||
{
|
||||
newPos = d.BodyGetPosition(Body);
|
||||
newPos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
}
|
||||
catch (NullReferenceException)
|
||||
{
|
||||
bad = true;
|
||||
defects.Add(this);
|
||||
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
|
||||
newPos = new SafeNativeMethods.Vector3(_position.X, _position.Y, _position.Z);
|
||||
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
|
||||
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
|
||||
|
||||
|
|
@ -1031,11 +1031,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
else
|
||||
{
|
||||
m_lastUpdateSent = false;
|
||||
d.Vector3 newVelocity;
|
||||
SafeNativeMethods.Vector3 newVelocity;
|
||||
|
||||
try
|
||||
{
|
||||
newVelocity = d.BodyGetLinearVel(Body);
|
||||
newVelocity = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
}
|
||||
catch (NullReferenceException)
|
||||
{
|
||||
|
|
@ -1102,14 +1102,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
|
||||
// lock (OdeScene.UniversalColliderSyncObject)
|
||||
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
Shell = SafeNativeMethods.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
|
||||
d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
|
||||
|
||||
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
|
||||
SafeNativeMethods.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
|
||||
SafeNativeMethods.BodySetPosition(Body, npositionX, npositionY, npositionZ);
|
||||
|
||||
_position.X = npositionX;
|
||||
_position.Y = npositionY;
|
||||
|
|
@ -1117,45 +1117,45 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
m_taintPosition = _position;
|
||||
|
||||
d.BodySetMass(Body, ref ShellMass);
|
||||
d.Matrix3 m_caprot;
|
||||
SafeNativeMethods.BodySetMass(Body, ref ShellMass);
|
||||
SafeNativeMethods.Matrix3 m_caprot;
|
||||
// 90 Stand up on the cap of the capped cyllinder
|
||||
if (_parent_scene.IsAvCapsuleTilted)
|
||||
{
|
||||
d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
|
||||
SafeNativeMethods.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
|
||||
}
|
||||
else
|
||||
{
|
||||
d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
|
||||
SafeNativeMethods.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
|
||||
}
|
||||
|
||||
d.GeomSetRotation(Shell, ref m_caprot);
|
||||
d.BodySetRotation(Body, ref m_caprot);
|
||||
SafeNativeMethods.GeomSetRotation(Shell, ref m_caprot);
|
||||
SafeNativeMethods.BodySetRotation(Body, ref m_caprot);
|
||||
|
||||
d.GeomSetBody(Shell, Body);
|
||||
SafeNativeMethods.GeomSetBody(Shell, Body);
|
||||
|
||||
// The purpose of the AMotor here is to keep the avatar's physical
|
||||
// surrogate from rotating while moving
|
||||
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
||||
d.JointAttach(Amotor, Body, IntPtr.Zero);
|
||||
d.JointSetAMotorMode(Amotor, dAMotorEuler);
|
||||
d.JointSetAMotorNumAxes(Amotor, 3);
|
||||
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
|
||||
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
|
||||
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
|
||||
d.JointSetAMotorAngle(Amotor, 0, 0);
|
||||
d.JointSetAMotorAngle(Amotor, 1, 0);
|
||||
d.JointSetAMotorAngle(Amotor, 2, 0);
|
||||
Amotor = SafeNativeMethods.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
||||
SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
|
||||
SafeNativeMethods.JointSetAMotorMode(Amotor, dAMotorEuler);
|
||||
SafeNativeMethods.JointSetAMotorNumAxes(Amotor, 3);
|
||||
SafeNativeMethods.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
|
||||
SafeNativeMethods.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
|
||||
SafeNativeMethods.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
|
||||
SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
|
||||
SafeNativeMethods.JointSetAMotorAngle(Amotor, 1, 0);
|
||||
SafeNativeMethods.JointSetAMotorAngle(Amotor, 2, 0);
|
||||
|
||||
// These lowstops and high stops are effectively (no wiggle room)
|
||||
if (_parent_scene.IsAvCapsuleTilted)
|
||||
{
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -1167,18 +1167,18 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// to be comprehended in their entirety.
|
||||
#endregion
|
||||
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
|
||||
}
|
||||
|
||||
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
|
||||
// capped cyllinder will fall over
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
|
||||
|
||||
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
|
||||
//d.QfromR(
|
||||
|
|
@ -1217,7 +1217,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (Amotor != IntPtr.Zero)
|
||||
{
|
||||
// Kill the Amotor
|
||||
d.JointDestroy(Amotor);
|
||||
SafeNativeMethods.JointDestroy(Amotor);
|
||||
Amotor = IntPtr.Zero;
|
||||
}
|
||||
|
||||
|
|
@ -1227,14 +1227,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
//kill the body
|
||||
d.BodyDestroy(Body);
|
||||
SafeNativeMethods.BodyDestroy(Body);
|
||||
Body = IntPtr.Zero;
|
||||
}
|
||||
|
||||
if (Shell != IntPtr.Zero)
|
||||
{
|
||||
// lock (OdeScene.UniversalColliderSyncObject)
|
||||
d.GeomDestroy(Shell);
|
||||
SafeNativeMethods.GeomDestroy(Shell);
|
||||
|
||||
_parent_scene.geom_name_map.Remove(Shell);
|
||||
_parent_scene.actor_name_map.Remove(Shell);
|
||||
|
|
@ -1325,7 +1325,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
|
||||
_position = m_taintPosition;
|
||||
}
|
||||
}
|
||||
|
|
@ -1337,7 +1337,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// FIXME: This is not a good solution since it's subject to a race condition if a force is another
|
||||
// thread sets a new force while we're in this loop (since it could be obliterated by
|
||||
// m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
|
||||
d.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
|
||||
SafeNativeMethods.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
|
||||
}
|
||||
|
||||
m_taintForce = Vector3.Zero;
|
||||
|
|
|
|||
|
|
@ -93,7 +93,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
private float m_linearMotorDecayTimescale = 0;
|
||||
private float m_linearMotorTimescale = 0;
|
||||
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
|
||||
private d.Vector3 m_lastPositionVector = new d.Vector3();
|
||||
private SafeNativeMethods.Vector3 m_lastPositionVector = new SafeNativeMethods.Vector3();
|
||||
// private bool m_LinearMotorSetLastFrame = false;
|
||||
// private Vector3 m_linearMotorOffset = Vector3.Zero;
|
||||
|
||||
|
|
@ -611,7 +611,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
m_lastLinearVelocityVector = Vector3.Zero;
|
||||
m_lastAngularVelocity = Vector3.Zero;
|
||||
m_lastPositionVector = d.BodyGetPosition(Body);
|
||||
m_lastPositionVector = SafeNativeMethods.BodyGetPosition(Body);
|
||||
}
|
||||
|
||||
internal void Step(float pTimestep, OdeScene pParentScene)
|
||||
|
|
@ -631,8 +631,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
|
||||
{
|
||||
if (!d.BodyIsEnabled(Body))
|
||||
d.BodyEnable(Body);
|
||||
if (!SafeNativeMethods.BodyIsEnabled(Body))
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
|
||||
// add drive to body
|
||||
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
|
||||
|
|
@ -662,7 +662,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
// convert requested object velocity to world-referenced vector
|
||||
m_dir = m_lastLinearVelocityVector;
|
||||
d.Quaternion rot = d.BodyGetQuaternion(Body);
|
||||
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
|
||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
|
||||
m_dir *= rotq; // apply obj rotation to velocity vector
|
||||
|
||||
|
|
@ -673,15 +673,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
Vector3 grav = Vector3.Zero;
|
||||
// There is some gravity, make a gravity force vector
|
||||
// that is applied after object velocity.
|
||||
d.Mass objMass;
|
||||
d.BodyGetMass(Body, out objMass);
|
||||
SafeNativeMethods.Mass objMass;
|
||||
SafeNativeMethods.BodyGetMass(Body, out objMass);
|
||||
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
|
||||
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
|
||||
// Preserve the current Z velocity
|
||||
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
|
||||
SafeNativeMethods.Vector3 vel_now = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
|
||||
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
|
||||
Vector3 posChange = new Vector3();
|
||||
posChange.X = pos.X - m_lastPositionVector.X;
|
||||
|
|
@ -693,33 +693,33 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (pos.X >= (m_BlockingEndPoint.X - (float)1))
|
||||
{
|
||||
pos.X -= posChange.X + 1;
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
}
|
||||
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
|
||||
{
|
||||
pos.Y -= posChange.Y + 1;
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
}
|
||||
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
|
||||
{
|
||||
pos.Z -= posChange.Z + 1;
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
}
|
||||
if (pos.X <= 0)
|
||||
{
|
||||
pos.X += posChange.X + 1;
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
}
|
||||
if (pos.Y <= 0)
|
||||
{
|
||||
pos.Y += posChange.Y + 1;
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
}
|
||||
}
|
||||
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
|
||||
{
|
||||
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
}
|
||||
|
||||
// Check if hovering
|
||||
|
|
@ -748,7 +748,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
|
||||
{
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
|
||||
}
|
||||
}
|
||||
else
|
||||
|
|
@ -815,12 +815,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
m_dir.Z = 0;
|
||||
}
|
||||
|
||||
m_lastPositionVector = d.BodyGetPosition(Body);
|
||||
m_lastPositionVector = SafeNativeMethods.BodyGetPosition(Body);
|
||||
|
||||
// Apply velocity
|
||||
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
|
||||
// apply gravity force
|
||||
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
|
||||
SafeNativeMethods.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
|
||||
|
||||
|
||||
// apply friction
|
||||
|
|
@ -841,7 +841,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
*/
|
||||
|
||||
// Get what the body is doing, this includes 'external' influences
|
||||
d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
|
||||
SafeNativeMethods.Vector3 angularVelocity = SafeNativeMethods.BodyGetAngularVel(Body);
|
||||
// Vector3 angularVelocity = Vector3.Zero;
|
||||
|
||||
if (m_angularMotorApply > 0)
|
||||
|
|
@ -874,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
|
||||
// get present body rotation
|
||||
d.Quaternion rot = d.BodyGetQuaternion(Body);
|
||||
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
|
||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
|
||||
// make a vector pointing up
|
||||
Vector3 verterr = Vector3.Zero;
|
||||
|
|
@ -923,7 +923,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
|
||||
{
|
||||
if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
|
||||
if (!SafeNativeMethods.BodyIsEnabled (Body)) SafeNativeMethods.BodyEnable (Body);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -935,14 +935,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
|
||||
|
||||
// Apply to the body
|
||||
d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
|
||||
SafeNativeMethods.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
|
||||
|
||||
} //end MoveAngular
|
||||
internal void LimitRotation(float timestep)
|
||||
{
|
||||
d.Quaternion rot = d.BodyGetQuaternion(Body);
|
||||
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
|
||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
|
||||
d.Quaternion m_rot = new d.Quaternion();
|
||||
SafeNativeMethods.Quaternion m_rot = new SafeNativeMethods.Quaternion();
|
||||
bool changed = false;
|
||||
m_rot.X = rotq.X;
|
||||
m_rot.Y = rotq.Y;
|
||||
|
|
@ -975,7 +975,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
changed = true;
|
||||
}
|
||||
if (changed)
|
||||
d.BodySetQuaternion(Body, ref m_rot);
|
||||
SafeNativeMethods.BodySetQuaternion(Body, ref m_rot);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
// Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
|
||||
// http://opensimulator.org/mantis/view.php?id=2750).
|
||||
d.InitODE();
|
||||
SafeNativeMethods.InitODE();
|
||||
|
||||
m_scene = new OdeScene(scene, m_config, Name, Version);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -212,7 +212,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
public IntPtr Body = IntPtr.Zero;
|
||||
private Vector3 _target_velocity;
|
||||
private d.Mass pMass;
|
||||
private SafeNativeMethods.Mass pMass;
|
||||
|
||||
private int m_eventsubscription;
|
||||
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
|
||||
|
|
@ -356,13 +356,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
|
||||
_parent_scene.geom_name_map[prim_geom] = Name;
|
||||
|
|
@ -386,7 +386,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
if (IsPhysical && Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodyEnable(Body);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
if (m_vehicle.Type != Vehicle.TYPE_NONE)
|
||||
m_vehicle.Enable(Body, _parent_scene);
|
||||
}
|
||||
|
|
@ -401,7 +401,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (IsPhysical && Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodyDisable(Body);
|
||||
SafeNativeMethods.BodyDisable(Body);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -415,22 +415,22 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (!childPrim)
|
||||
{
|
||||
// Sets the geom to a body
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
|
||||
|
||||
setMass();
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
|
||||
myrot.X = _orientation.X;
|
||||
myrot.Y = _orientation.Y;
|
||||
myrot.Z = _orientation.Z;
|
||||
myrot.W = _orientation.W;
|
||||
d.BodySetQuaternion(Body, ref myrot);
|
||||
d.GeomSetBody(prim_geom, Body);
|
||||
SafeNativeMethods.BodySetQuaternion(Body, ref myrot);
|
||||
SafeNativeMethods.GeomSetBody(prim_geom, Body);
|
||||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -438,14 +438,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
|
||||
}
|
||||
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
|
||||
d.BodySetAutoDisableFlag(Body, true);
|
||||
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
|
||||
SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
|
||||
SafeNativeMethods.BodySetAutoDisableSteps(Body, body_autodisable_frames);
|
||||
|
||||
// disconnect from world gravity so we can apply buoyancy
|
||||
d.BodySetGravityMode (Body, false);
|
||||
SafeNativeMethods.BodySetGravityMode (Body, false);
|
||||
|
||||
m_interpenetrationcount = 0;
|
||||
m_collisionscore = 0;
|
||||
|
|
@ -787,8 +787,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
//m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
|
||||
|
||||
d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
|
||||
d.BodySetMass(Body, ref pMass);
|
||||
SafeNativeMethods.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
|
||||
SafeNativeMethods.BodySetMass(Body, ref pMass);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -796,7 +796,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
d.BodySetAngularVel(Body, x, y, z);
|
||||
SafeNativeMethods.BodySetAngularVel(Body, x, y, z);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -818,16 +818,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
|
||||
d.BodyDestroy(Body);
|
||||
SafeNativeMethods.BodyDestroy(Body);
|
||||
lock (childrenPrim)
|
||||
{
|
||||
if (childrenPrim.Count > 0)
|
||||
|
|
@ -851,14 +851,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
|
||||
Body = IntPtr.Zero;
|
||||
|
|
@ -915,10 +915,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
else
|
||||
{
|
||||
_triMeshData = d.GeomTriMeshDataCreate();
|
||||
_triMeshData = SafeNativeMethods.GeomTriMeshDataCreate();
|
||||
|
||||
d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
|
||||
d.GeomTriMeshDataPreprocess(_triMeshData);
|
||||
SafeNativeMethods.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
|
||||
SafeNativeMethods.GeomTriMeshDataPreprocess(_triMeshData);
|
||||
m_MeshToTriMeshMap[mesh] = _triMeshData;
|
||||
}
|
||||
}
|
||||
|
|
@ -926,7 +926,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
|
||||
try
|
||||
{
|
||||
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
|
||||
SetGeom(SafeNativeMethods.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
|
||||
}
|
||||
catch (AccessViolationException)
|
||||
{
|
||||
|
|
@ -1032,7 +1032,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
{
|
||||
if (Amotor != IntPtr.Zero)
|
||||
{
|
||||
d.JointDestroy(Amotor);
|
||||
SafeNativeMethods.JointDestroy(Amotor);
|
||||
Amotor = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
|
@ -1107,7 +1107,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
|
||||
if (Body == IntPtr.Zero)
|
||||
{
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
|
||||
setMass();
|
||||
}
|
||||
|
||||
|
|
@ -1123,21 +1123,21 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
|
||||
foreach (OdePrim prm in childrenPrim)
|
||||
{
|
||||
d.Mass m2;
|
||||
d.MassSetZero(out m2);
|
||||
d.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
|
||||
SafeNativeMethods.Mass m2;
|
||||
SafeNativeMethods.MassSetZero(out m2);
|
||||
SafeNativeMethods.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
|
||||
|
||||
d.Quaternion quat = new d.Quaternion();
|
||||
SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
|
||||
quat.W = prm._orientation.W;
|
||||
quat.X = prm._orientation.X;
|
||||
quat.Y = prm._orientation.Y;
|
||||
quat.Z = prm._orientation.Z;
|
||||
|
||||
d.Matrix3 mat = new d.Matrix3();
|
||||
d.RfromQ(out mat, ref quat);
|
||||
d.MassRotate(ref m2, ref mat);
|
||||
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
|
||||
d.MassAdd(ref pMass, ref m2);
|
||||
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
|
||||
SafeNativeMethods.RfromQ(out mat, ref quat);
|
||||
SafeNativeMethods.MassRotate(ref m2, ref mat);
|
||||
SafeNativeMethods.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
|
||||
SafeNativeMethods.MassAdd(ref pMass, ref m2);
|
||||
}
|
||||
|
||||
foreach (OdePrim prm in childrenPrim)
|
||||
|
|
@ -1148,36 +1148,36 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
|
||||
if (prm.m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prm.prim_geom, 0);
|
||||
d.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prm.prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prm.prim_geom, (uint)prm.BadMeshAssetCollideBits);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
|
||||
d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags);
|
||||
}
|
||||
|
||||
d.Quaternion quat = new d.Quaternion();
|
||||
SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
|
||||
quat.W = prm._orientation.W;
|
||||
quat.X = prm._orientation.X;
|
||||
quat.Y = prm._orientation.Y;
|
||||
quat.Z = prm._orientation.Z;
|
||||
|
||||
d.Matrix3 mat = new d.Matrix3();
|
||||
d.RfromQ(out mat, ref quat);
|
||||
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
|
||||
SafeNativeMethods.RfromQ(out mat, ref quat);
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.GeomSetBody(prm.prim_geom, Body);
|
||||
SafeNativeMethods.GeomSetBody(prm.prim_geom, Body);
|
||||
prm.childPrim = true;
|
||||
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
|
||||
SafeNativeMethods.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
|
||||
//d.GeomSetOffsetPosition(prim.prim_geom,
|
||||
// (Position.X - prm.Position.X) - pMass.c.X,
|
||||
// (Position.Y - prm.Position.Y) - pMass.c.Y,
|
||||
// (Position.Z - prm.Position.Z) - pMass.c.Z);
|
||||
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
|
||||
SafeNativeMethods.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
|
||||
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
|
||||
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
|
||||
d.BodySetMass(Body, ref pMass);
|
||||
SafeNativeMethods.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
|
||||
SafeNativeMethods.BodySetMass(Body, ref pMass);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -1197,37 +1197,37 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
}
|
||||
else
|
||||
{
|
||||
//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
//Console.WriteLine(" Post GeomSetCategoryBits 2");
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
|
||||
d.Quaternion quat2 = new d.Quaternion();
|
||||
SafeNativeMethods.Quaternion quat2 = new SafeNativeMethods.Quaternion();
|
||||
quat2.W = _orientation.W;
|
||||
quat2.X = _orientation.X;
|
||||
quat2.Y = _orientation.Y;
|
||||
quat2.Z = _orientation.Z;
|
||||
|
||||
d.Matrix3 mat2 = new d.Matrix3();
|
||||
d.RfromQ(out mat2, ref quat2);
|
||||
d.GeomSetBody(prim_geom, Body);
|
||||
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
|
||||
SafeNativeMethods.Matrix3 mat2 = new SafeNativeMethods.Matrix3();
|
||||
SafeNativeMethods.RfromQ(out mat2, ref quat2);
|
||||
SafeNativeMethods.GeomSetBody(prim_geom, Body);
|
||||
SafeNativeMethods.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
|
||||
//d.GeomSetOffsetPosition(prim.prim_geom,
|
||||
// (Position.X - prm.Position.X) - pMass.c.X,
|
||||
// (Position.Y - prm.Position.Y) - pMass.c.Y,
|
||||
// (Position.Z - prm.Position.Z) - pMass.c.Z);
|
||||
//d.GeomSetOffsetRotation(prim_geom, ref mat2);
|
||||
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
|
||||
d.BodySetMass(Body, ref pMass);
|
||||
SafeNativeMethods.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
|
||||
SafeNativeMethods.BodySetMass(Body, ref pMass);
|
||||
|
||||
d.BodySetAutoDisableFlag(Body, true);
|
||||
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
|
||||
SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
|
||||
SafeNativeMethods.BodySetAutoDisableSteps(Body, body_autodisable_frames);
|
||||
|
||||
m_interpenetrationcount = 0;
|
||||
m_collisionscore = 0;
|
||||
|
|
@ -1240,7 +1240,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
createAMotor(m_angularlock);
|
||||
}
|
||||
|
||||
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
|
||||
|
||||
if (m_vehicle.Type != Vehicle.TYPE_NONE)
|
||||
m_vehicle.Enable(Body, _parent_scene);
|
||||
|
|
@ -1370,13 +1370,13 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
|
||||
if (IsPhysical)
|
||||
|
|
@ -1400,21 +1400,21 @@ Console.WriteLine("ZProcessTaints for " + Name);
|
|||
|
||||
if (m_assetFailed)
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, 0);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, 0);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
|
||||
if (IsPhysical)
|
||||
{
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodySetLinearVel(Body, 0f, 0f, 0f);
|
||||
d.BodySetForce(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
|
||||
SafeNativeMethods.BodySetForce(Body, 0, 0, 0);
|
||||
enableBodySoft();
|
||||
}
|
||||
}
|
||||
|
|
@ -1463,7 +1463,7 @@ Console.WriteLine("CreateGeom:");
|
|||
try
|
||||
{
|
||||
//Console.WriteLine(" CreateGeom 1");
|
||||
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
||||
SetGeom(SafeNativeMethods.CreateSphere(m_targetSpace, _size.X / 2));
|
||||
m_expectedCollisionContacts = 3;
|
||||
}
|
||||
catch (AccessViolationException)
|
||||
|
|
@ -1478,7 +1478,7 @@ Console.WriteLine("CreateGeom:");
|
|||
try
|
||||
{
|
||||
//Console.WriteLine(" CreateGeom 2");
|
||||
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
||||
SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
||||
m_expectedCollisionContacts = 4;
|
||||
}
|
||||
catch (AccessViolationException)
|
||||
|
|
@ -1494,7 +1494,7 @@ Console.WriteLine("CreateGeom:");
|
|||
try
|
||||
{
|
||||
//Console.WriteLine(" CreateGeom 3");
|
||||
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
||||
SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
||||
m_expectedCollisionContacts = 4;
|
||||
}
|
||||
catch (AccessViolationException)
|
||||
|
|
@ -1510,7 +1510,7 @@ Console.WriteLine("CreateGeom:");
|
|||
try
|
||||
{
|
||||
//Console.WriteLine(" CreateGeom 4");
|
||||
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
||||
SetGeom(SafeNativeMethods.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
||||
m_expectedCollisionContacts = 4;
|
||||
}
|
||||
catch (AccessViolationException)
|
||||
|
|
@ -1536,7 +1536,7 @@ Console.WriteLine("CreateGeom:");
|
|||
{
|
||||
_parent_scene.geom_name_map.Remove(prim_geom);
|
||||
_parent_scene.actor_name_map.Remove(prim_geom);
|
||||
d.GeomDestroy(prim_geom);
|
||||
SafeNativeMethods.GeomDestroy(prim_geom);
|
||||
m_expectedCollisionContacts = 0;
|
||||
prim_geom = IntPtr.Zero;
|
||||
}
|
||||
|
|
@ -1593,13 +1593,13 @@ Console.WriteLine("changeadd 1");
|
|||
#endif
|
||||
CreateGeom(m_targetSpace, mesh);
|
||||
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
|
||||
myrot.X = _orientation.X;
|
||||
myrot.Y = _orientation.Y;
|
||||
myrot.Z = _orientation.Z;
|
||||
myrot.W = _orientation.W;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
if (IsPhysical && Body == IntPtr.Zero)
|
||||
enableBody();
|
||||
|
|
@ -1627,14 +1627,14 @@ Console.WriteLine("changeadd 1");
|
|||
{
|
||||
if (m_linkJoint != IntPtr.Zero)
|
||||
{
|
||||
d.JointDestroy(m_linkJoint);
|
||||
SafeNativeMethods.JointDestroy(m_linkJoint);
|
||||
m_linkJoint = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
|
||||
if (_parent != null)
|
||||
{
|
||||
|
|
@ -1643,12 +1643,12 @@ Console.WriteLine("changeadd 1");
|
|||
{
|
||||
// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
|
||||
Console.WriteLine(" JointCreateFixed");
|
||||
m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
|
||||
d.JointAttach(m_linkJoint, Body, odParent.Body);
|
||||
d.JointSetFixed(m_linkJoint);
|
||||
m_linkJoint = SafeNativeMethods.JointCreateFixed(_parent_scene.world, _linkJointGroup);
|
||||
SafeNativeMethods.JointAttach(m_linkJoint, Body, odParent.Body);
|
||||
SafeNativeMethods.JointSetFixed(m_linkJoint);
|
||||
}
|
||||
}
|
||||
d.BodyEnable(Body);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
if (m_vehicle.Type != Vehicle.TYPE_NONE)
|
||||
{
|
||||
m_vehicle.Enable(Body, _parent_scene);
|
||||
|
|
@ -1674,10 +1674,10 @@ Console.WriteLine(" JointCreateFixed");
|
|||
|
||||
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
|
||||
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
|
||||
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
|
||||
d.SpaceAdd(m_targetSpace, prim_geom);
|
||||
SafeNativeMethods.SpaceAdd(m_targetSpace, prim_geom);
|
||||
|
||||
changeSelectedStatus();
|
||||
|
||||
|
|
@ -1704,7 +1704,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
else
|
||||
{
|
||||
//Console.WriteLine("Move " + Name);
|
||||
if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
|
||||
if (!SafeNativeMethods.BodyIsEnabled (Body)) SafeNativeMethods.BodyEnable (Body); // KF add 161009
|
||||
|
||||
float m_mass = CalculateMass();
|
||||
|
||||
|
|
@ -1746,9 +1746,9 @@ Console.WriteLine(" JointCreateFixed");
|
|||
//PidStatus = true;
|
||||
|
||||
// PhysicsVector vec = new PhysicsVector();
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
_target_velocity =
|
||||
new Vector3(
|
||||
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
|
||||
|
|
@ -1770,9 +1770,9 @@ Console.WriteLine(" JointCreateFixed");
|
|||
//fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
|
||||
//fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
|
||||
//fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
|
||||
d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
|
||||
d.BodySetLinearVel(Body, 0, 0, 0);
|
||||
d.BodyAddForce(Body, 0, 0, fz);
|
||||
SafeNativeMethods.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodyAddForce(Body, 0, 0, fz);
|
||||
return;
|
||||
}
|
||||
else
|
||||
|
|
@ -1813,8 +1813,8 @@ Console.WriteLine(" JointCreateFixed");
|
|||
}
|
||||
|
||||
// Where are we, and where are we headed?
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
|
||||
// Non-Vehicles have a limited set of Hover options.
|
||||
// determine what our target height really is based on HoverType
|
||||
|
|
@ -1856,9 +1856,9 @@ Console.WriteLine(" JointCreateFixed");
|
|||
// Avatar to Avatar collisions
|
||||
// Prim to avatar collisions
|
||||
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
|
||||
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
|
||||
d.BodyAddForce(Body, 0, 0, fz);
|
||||
SafeNativeMethods.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, vel.X, vel.Y, 0);
|
||||
SafeNativeMethods.BodyAddForce(Body, 0, 0, fz);
|
||||
return;
|
||||
}
|
||||
else
|
||||
|
|
@ -1884,13 +1884,13 @@ Console.WriteLine(" JointCreateFixed");
|
|||
//m_taintdisable = true;
|
||||
//base.RaiseOutOfBounds(Position);
|
||||
//d.BodySetLinearVel(Body, fx, fy, 0f);
|
||||
if (!d.BodyIsEnabled(Body))
|
||||
if (!SafeNativeMethods.BodyIsEnabled(Body))
|
||||
{
|
||||
// A physical body at rest on a surface will auto-disable after a while,
|
||||
// this appears to re-enable it incase the surface it is upon vanishes,
|
||||
// and the body should fall again.
|
||||
d.BodySetLinearVel(Body, 0f, 0f, 0f);
|
||||
d.BodySetForce(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
|
||||
SafeNativeMethods.BodySetForce(Body, 0, 0, 0);
|
||||
enableBodySoft();
|
||||
}
|
||||
|
||||
|
|
@ -1906,7 +1906,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
fy = nmax;
|
||||
if (fy < nmin)
|
||||
fy = nmin;
|
||||
d.BodyAddForce(Body, fx, fy, fz);
|
||||
SafeNativeMethods.BodyAddForce(Body, fx, fy, fz);
|
||||
//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
|
||||
}
|
||||
}
|
||||
|
|
@ -1922,7 +1922,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
|
||||
private void rotate()
|
||||
{
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
|
||||
myrot.X = _orientation.X;
|
||||
myrot.Y = _orientation.Y;
|
||||
myrot.Z = _orientation.Z;
|
||||
|
|
@ -1930,7 +1930,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
// KF: If this is a root prim do BodySet
|
||||
d.BodySetQuaternion(Body, ref myrot);
|
||||
SafeNativeMethods.BodySetQuaternion(Body, ref myrot);
|
||||
if (IsPhysical)
|
||||
{
|
||||
// create or remove locks
|
||||
|
|
@ -1940,7 +1940,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
else
|
||||
{
|
||||
// daughter prim, do Geom set
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
}
|
||||
|
||||
resetCollisionAccounting();
|
||||
|
|
@ -1962,7 +1962,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
m_disabled = true;
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodyDisable(Body);
|
||||
SafeNativeMethods.BodyDisable(Body);
|
||||
Body = IntPtr.Zero;
|
||||
}
|
||||
|
||||
|
|
@ -2051,10 +2051,10 @@ Console.WriteLine(" JointCreateFixed");
|
|||
}
|
||||
}
|
||||
|
||||
if (d.SpaceQuery(m_targetSpace, prim_geom))
|
||||
if (SafeNativeMethods.SpaceQuery(m_targetSpace, prim_geom))
|
||||
{
|
||||
// _parent_scene.waitForSpaceUnlock(m_targetSpace);
|
||||
d.SpaceRemove(m_targetSpace, prim_geom);
|
||||
SafeNativeMethods.SpaceRemove(m_targetSpace, prim_geom);
|
||||
}
|
||||
|
||||
RemoveGeom();
|
||||
|
|
@ -2084,13 +2084,13 @@ Console.WriteLine(" JointCreateFixed");
|
|||
}
|
||||
|
||||
CreateGeom(m_targetSpace, mesh);
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
|
||||
myrot.X = _orientation.X;
|
||||
myrot.Y = _orientation.Y;
|
||||
myrot.Z = _orientation.Z;
|
||||
myrot.W = _orientation.W;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
||||
if (IsPhysical && Body == IntPtr.Zero && !childPrim)
|
||||
|
|
@ -2098,7 +2098,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
// Re creates body on size.
|
||||
// EnableBody also does setMass()
|
||||
enableBody();
|
||||
d.BodyEnable(Body);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
}
|
||||
|
||||
changeSelectedStatus();
|
||||
|
|
@ -2133,10 +2133,10 @@ Console.WriteLine(" JointCreateFixed");
|
|||
}
|
||||
|
||||
if (m_assetFailed)
|
||||
d.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)BadMeshAssetCollideBits);
|
||||
else
|
||||
|
||||
d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
SafeNativeMethods.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);
|
||||
}
|
||||
/// <summary>
|
||||
/// Change prim in response to a shape taint.
|
||||
|
|
@ -2190,14 +2190,14 @@ Console.WriteLine(" JointCreateFixed");
|
|||
}
|
||||
|
||||
CreateGeom(m_targetSpace, mesh);
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
SafeNativeMethods.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
|
||||
//myrot.W = _orientation.w;
|
||||
myrot.W = _orientation.W;
|
||||
myrot.X = _orientation.X;
|
||||
myrot.Y = _orientation.Y;
|
||||
myrot.Z = _orientation.Z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
SafeNativeMethods.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
||||
if (IsPhysical && Body == IntPtr.Zero)
|
||||
|
|
@ -2207,7 +2207,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
enableBody();
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodyEnable(Body);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -2264,8 +2264,8 @@ Console.WriteLine(" JointCreateFixed");
|
|||
m_taintforce = false;
|
||||
return;
|
||||
}
|
||||
d.BodyEnable(Body);
|
||||
d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
SafeNativeMethods.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
|
||||
}
|
||||
m_forcelist.Clear();
|
||||
}
|
||||
|
|
@ -2286,7 +2286,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
{
|
||||
if (IsPhysical && Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
|
||||
SafeNativeMethods.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -2310,8 +2310,8 @@ Console.WriteLine(" JointCreateFixed");
|
|||
{
|
||||
iforce = iforce + (m_angularforcelist[i] * 100);
|
||||
}
|
||||
d.BodyEnable(Body);
|
||||
d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
SafeNativeMethods.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
|
||||
|
||||
}
|
||||
m_angularforcelist.Clear();
|
||||
|
|
@ -2339,7 +2339,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
{
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -2665,7 +2665,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
}
|
||||
*/
|
||||
|
||||
d.AllocateODEDataForThread(0U);
|
||||
SafeNativeMethods.AllocateODEDataForThread(0U);
|
||||
|
||||
_position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
|
||||
_position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
|
||||
|
|
@ -2680,8 +2680,8 @@ Console.WriteLine(" JointCreateFixed");
|
|||
|
||||
if (Body != IntPtr.Zero)
|
||||
{
|
||||
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0); // stop it
|
||||
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
}
|
||||
|
||||
if(m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
|
||||
|
|
@ -2728,11 +2728,11 @@ Console.WriteLine(" JointCreateFixed");
|
|||
float m_minvelocity = 0;
|
||||
if (Body != IntPtr.Zero) // FIXME -> or if it is a joint
|
||||
{
|
||||
d.Vector3 vec = d.BodyGetPosition(Body);
|
||||
d.Quaternion ori = d.BodyGetQuaternion(Body);
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
|
||||
d.Vector3 torque = d.BodyGetTorque(Body);
|
||||
SafeNativeMethods.Vector3 vec = SafeNativeMethods.BodyGetPosition(Body);
|
||||
SafeNativeMethods.Quaternion ori = SafeNativeMethods.BodyGetQuaternion(Body);
|
||||
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
SafeNativeMethods.Vector3 rotvel = SafeNativeMethods.BodyGetAngularVel(Body);
|
||||
SafeNativeMethods.Vector3 torque = SafeNativeMethods.BodyGetTorque(Body);
|
||||
_torque = new Vector3(torque.X, torque.Y, torque.Z);
|
||||
Vector3 l_position = Vector3.Zero;
|
||||
Quaternion l_orientation = Quaternion.Identity;
|
||||
|
|
@ -2812,11 +2812,11 @@ Console.WriteLine(" JointCreateFixed");
|
|||
else
|
||||
Util.Clamp(l_position.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
|
||||
|
||||
d.BodySetPosition(Body, l_position.X, l_position.Y, l_position.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, l_position.X, l_position.Y, l_position.Z);
|
||||
|
||||
// stop it
|
||||
d.BodySetAngularVel(Body, 0, 0, 0);
|
||||
d.BodySetLinearVel(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0);
|
||||
disableBodySoft();
|
||||
|
||||
_position = l_position;
|
||||
|
|
@ -3009,7 +3009,7 @@ Console.WriteLine(" JointCreateFixed");
|
|||
|
||||
if (Amotor != IntPtr.Zero)
|
||||
{
|
||||
d.JointDestroy(Amotor);
|
||||
SafeNativeMethods.JointDestroy(Amotor);
|
||||
Amotor = IntPtr.Zero;
|
||||
}
|
||||
|
||||
|
|
@ -3039,19 +3039,19 @@ Console.WriteLine(" JointCreateFixed");
|
|||
if(axisnum == 0)
|
||||
return;
|
||||
// stop it
|
||||
d.BodySetTorque(Body, 0, 0, 0);
|
||||
d.BodySetAngularVel(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodySetTorque(Body, 0, 0, 0);
|
||||
SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);
|
||||
|
||||
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
||||
d.JointAttach(Amotor, Body, IntPtr.Zero);
|
||||
Amotor = SafeNativeMethods.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
|
||||
SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
|
||||
|
||||
d.JointSetAMotorMode(Amotor, 0);
|
||||
SafeNativeMethods.JointSetAMotorMode(Amotor, 0);
|
||||
|
||||
d.JointSetAMotorNumAxes(Amotor, axisnum);
|
||||
SafeNativeMethods.JointSetAMotorNumAxes(Amotor, axisnum);
|
||||
|
||||
// get current orientation to lock
|
||||
|
||||
d.Quaternion dcur = d.BodyGetQuaternion(Body);
|
||||
SafeNativeMethods.Quaternion dcur = SafeNativeMethods.BodyGetQuaternion(Body);
|
||||
Quaternion curr; // crap convertion between identical things
|
||||
curr.X = dcur.X;
|
||||
curr.Y = dcur.Y;
|
||||
|
|
@ -3064,17 +3064,17 @@ Console.WriteLine(" JointCreateFixed");
|
|||
if (axisX)
|
||||
{
|
||||
ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
|
||||
d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
|
||||
d.JointSetAMotorAngle(Amotor, 0, 0);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.CFM, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
|
||||
d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
|
||||
SafeNativeMethods.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
|
||||
SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.LoStop, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.HiStop, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Vel, 0);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Bounce, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.CFM, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.FMax, 5e8f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.StopCFM, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
|
||||
i++;
|
||||
j = 256; // move to next axis set
|
||||
}
|
||||
|
|
@ -3082,17 +3082,17 @@ Console.WriteLine(" JointCreateFixed");
|
|||
if (axisY)
|
||||
{
|
||||
ax = (new Vector3(0, 1, 0)) * curr;
|
||||
d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
|
||||
d.JointSetAMotorAngle(Amotor, i, 0);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
|
||||
SafeNativeMethods.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
|
||||
SafeNativeMethods.JointSetAMotorAngle(Amotor, i, 0);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.LoStop, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.HiStop, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Vel, 0);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Bounce, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.CFM, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FMax, 5e8f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopCFM, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
|
||||
i++;
|
||||
j += 256;
|
||||
}
|
||||
|
|
@ -3100,17 +3100,17 @@ Console.WriteLine(" JointCreateFixed");
|
|||
if (axisZ)
|
||||
{
|
||||
ax = (new Vector3(0, 0, 1)) * curr;
|
||||
d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
|
||||
d.JointSetAMotorAngle(Amotor, i, 0);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
|
||||
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
|
||||
SafeNativeMethods.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
|
||||
SafeNativeMethods.JointSetAMotorAngle(Amotor, i, 0);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.LoStop, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.HiStop, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Vel, 0);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FudgeFactor, 0.0001f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.Bounce, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.CFM, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.FMax, 5e8f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopCFM, 0f);
|
||||
SafeNativeMethods.JointSetAMotorParam(Amotor, j + (int)SafeNativeMethods.JointParam.StopERP, 0.8f);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -61,12 +61,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
/// <summary>
|
||||
/// ODE contact array to be filled by the collision testing
|
||||
/// </summary>
|
||||
d.ContactGeom[] contacts = new d.ContactGeom[5];
|
||||
SafeNativeMethods.ContactGeom[] contacts = new SafeNativeMethods.ContactGeom[5];
|
||||
|
||||
/// <summary>
|
||||
/// ODE near callback delegate
|
||||
/// </summary>
|
||||
private d.NearCallback nearCallback;
|
||||
private SafeNativeMethods.NearCallback nearCallback;
|
||||
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
|
||||
private List<ContactResult> m_contactResults = new List<ContactResult>();
|
||||
|
||||
|
|
@ -179,14 +179,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
len = 100f;
|
||||
|
||||
// Create the ray
|
||||
IntPtr ray = d.CreateRay(m_scene.space, len);
|
||||
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
|
||||
IntPtr ray = SafeNativeMethods.CreateRay(m_scene.space, len);
|
||||
SafeNativeMethods.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
|
||||
|
||||
// Collide test
|
||||
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
|
||||
SafeNativeMethods.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
|
||||
|
||||
// Remove Ray
|
||||
d.GeomDestroy(ray);
|
||||
SafeNativeMethods.GeomDestroy(ray);
|
||||
|
||||
// Define default results
|
||||
bool hitYN = false;
|
||||
|
|
@ -230,14 +230,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
len = 100f;
|
||||
|
||||
// Create the ray
|
||||
IntPtr ray = d.CreateRay(m_scene.space, len);
|
||||
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
|
||||
IntPtr ray = SafeNativeMethods.CreateRay(m_scene.space, len);
|
||||
SafeNativeMethods.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
|
||||
|
||||
// Collide test
|
||||
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
|
||||
SafeNativeMethods.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
|
||||
|
||||
// Remove Ray
|
||||
d.GeomDestroy(ray);
|
||||
SafeNativeMethods.GeomDestroy(ray);
|
||||
|
||||
// Find closest contact and object.
|
||||
lock (m_contactResults)
|
||||
|
|
@ -258,7 +258,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// return;
|
||||
|
||||
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
|
||||
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
|
||||
if (SafeNativeMethods.GeomIsSpace(g1) || SafeNativeMethods.GeomIsSpace(g2))
|
||||
{
|
||||
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
|
||||
return;
|
||||
|
|
@ -269,7 +269,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// contact points in the space
|
||||
try
|
||||
{
|
||||
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
|
||||
SafeNativeMethods.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
|
||||
}
|
||||
catch (AccessViolationException)
|
||||
{
|
||||
|
|
@ -296,7 +296,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
lock (contacts)
|
||||
{
|
||||
count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.unmanagedSizeOf);
|
||||
count = SafeNativeMethods.Collide(g1, g2, contacts.GetLength(0), contacts, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
|
||||
}
|
||||
}
|
||||
catch (SEHException)
|
||||
|
|
|
|||
|
|
@ -336,9 +336,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
private bool m_filterCollisions = true;
|
||||
|
||||
private d.NearCallback nearCallback;
|
||||
public d.TriCallback triCallback;
|
||||
public d.TriArrayCallback triArrayCallback;
|
||||
private SafeNativeMethods.NearCallback nearCallback;
|
||||
|
||||
/// <summary>
|
||||
/// Avatars in the physics scene.
|
||||
|
|
@ -368,7 +366,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
/// <summary>
|
||||
/// Keep record of contacts in the physics loop so that we can remove duplicates.
|
||||
/// </summary>
|
||||
private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
|
||||
private readonly List<SafeNativeMethods.ContactGeom> _perloopContact = new List<SafeNativeMethods.ContactGeom>();
|
||||
|
||||
/// <summary>
|
||||
/// A dictionary of actors that should receive collision events.
|
||||
|
|
@ -409,7 +407,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
private bool m_NINJA_physics_joints_enabled = false;
|
||||
//private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
|
||||
private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
|
||||
private d.ContactGeom[] contacts;
|
||||
private SafeNativeMethods.ContactGeom[] contacts;
|
||||
|
||||
/// <summary>
|
||||
/// Lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
|
||||
|
|
@ -437,12 +435,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
|
||||
private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
|
||||
|
||||
private d.Contact contact;
|
||||
private d.Contact TerrainContact;
|
||||
private d.Contact AvatarMovementprimContact;
|
||||
private d.Contact AvatarMovementTerrainContact;
|
||||
private d.Contact WaterContact;
|
||||
private d.Contact[,] m_materialContacts;
|
||||
private SafeNativeMethods.Contact contact;
|
||||
private SafeNativeMethods.Contact TerrainContact;
|
||||
private SafeNativeMethods.Contact AvatarMovementprimContact;
|
||||
private SafeNativeMethods.Contact AvatarMovementTerrainContact;
|
||||
private SafeNativeMethods.Contact WaterContact;
|
||||
private SafeNativeMethods.Contact[,] m_materialContacts;
|
||||
|
||||
private int m_physicsiterations = 10;
|
||||
private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
|
||||
|
|
@ -480,8 +478,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
private bool avplanted = false;
|
||||
private bool av_av_collisions_off = false;
|
||||
|
||||
public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
|
||||
public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
|
||||
internal SafeNativeMethods.Vector3 xyz = new SafeNativeMethods.Vector3(128.1640f, 128.3079f, 25.7600f);
|
||||
internal SafeNativeMethods.Vector3 hpr = new SafeNativeMethods.Vector3(125.5000f, -17.0000f, 0.0000f);
|
||||
|
||||
private volatile int m_global_contactcount = 0;
|
||||
|
||||
|
|
@ -544,12 +542,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
m_rayCastManager = new ODERayCastRequestManager(this);
|
||||
|
||||
// Create the world and the first space
|
||||
world = d.WorldCreate();
|
||||
space = d.HashSpaceCreate(IntPtr.Zero);
|
||||
world = SafeNativeMethods.WorldCreate();
|
||||
space = SafeNativeMethods.HashSpaceCreate(IntPtr.Zero);
|
||||
contactgroup = SafeNativeMethods.JointGroupCreate(0);
|
||||
|
||||
contactgroup = d.JointGroupCreate(0);
|
||||
|
||||
d.WorldSetAutoDisableFlag(world, false);
|
||||
SafeNativeMethods.WorldSetAutoDisableFlag(world, false);
|
||||
}
|
||||
|
||||
// Initialize from configs
|
||||
|
|
@ -651,7 +648,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
}
|
||||
|
||||
contacts = new d.ContactGeom[contactsPerCollision];
|
||||
contacts = new SafeNativeMethods.ContactGeom[contactsPerCollision];
|
||||
|
||||
spacesPerMeterX = 1.0f / metersInSpace;
|
||||
spacesPerMeterY = 1.0f / metersInSpace;
|
||||
|
|
@ -680,7 +677,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// Centeral contact friction and bounce
|
||||
// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
|
||||
// an avatar falls through in Z but not in X or Y when walking on a prim.
|
||||
contact.surface.mode |= d.ContactFlags.SoftERP;
|
||||
contact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
contact.surface.mu = nmAvatarObjectContactFriction;
|
||||
contact.surface.bounce = nmAvatarObjectContactBounce;
|
||||
contact.surface.soft_cfm = 0.010f;
|
||||
|
|
@ -689,12 +686,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// Terrain contact friction and Bounce
|
||||
// This is the *non* moving version. Use this when an avatar
|
||||
// isn't moving to keep it in place better
|
||||
TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
|
||||
TerrainContact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
TerrainContact.surface.mu = nmTerrainContactFriction;
|
||||
TerrainContact.surface.bounce = nmTerrainContactBounce;
|
||||
TerrainContact.surface.soft_erp = nmTerrainContactERP;
|
||||
|
||||
WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
|
||||
WaterContact.surface.mode |= (SafeNativeMethods.ContactFlags.SoftERP | SafeNativeMethods.ContactFlags.SoftCFM);
|
||||
WaterContact.surface.mu = 0f; // No friction
|
||||
WaterContact.surface.bounce = 0.0f; // No bounce
|
||||
WaterContact.surface.soft_cfm = 0.010f;
|
||||
|
|
@ -709,7 +706,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
// Terrain contact friction bounce and various error correcting calculations
|
||||
// Use this when an avatar is in contact with the terrain and moving.
|
||||
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
|
||||
AvatarMovementTerrainContact.surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
|
||||
AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
|
||||
AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
|
||||
|
|
@ -731,38 +728,38 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
Rubber = 6
|
||||
*/
|
||||
|
||||
m_materialContacts = new d.Contact[7,2];
|
||||
m_materialContacts = new SafeNativeMethods.Contact[7,2];
|
||||
|
||||
m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Stone, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Stone, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Metal, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Metal, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Glass, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Glass, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
|
||||
m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
|
||||
m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
|
||||
|
|
@ -775,83 +772,83 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
private float mAvatarObjectContactFriction = 75f;
|
||||
private float mAvatarObjectContactBounce = 0.1f;
|
||||
*/
|
||||
m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Glass, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Wood, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Wood, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Flesh, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Flesh, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Plastic, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Plastic, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Rubber, 0] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
|
||||
|
||||
m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Rubber, 1] = new SafeNativeMethods.Contact();
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.mode |= SafeNativeMethods.ContactFlags.SoftERP;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
|
||||
|
||||
d.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
|
||||
SafeNativeMethods.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
|
||||
|
||||
// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
|
||||
|
||||
d.WorldSetGravity(world, gravityx, gravityy, gravityz);
|
||||
d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
|
||||
SafeNativeMethods.WorldSetGravity(world, gravityx, gravityy, gravityz);
|
||||
SafeNativeMethods.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
|
||||
|
||||
d.WorldSetLinearDamping(world, 256f);
|
||||
d.WorldSetAngularDamping(world, 256f);
|
||||
d.WorldSetAngularDampingThreshold(world, 256f);
|
||||
d.WorldSetLinearDampingThreshold(world, 256f);
|
||||
d.WorldSetMaxAngularSpeed(world, 256f);
|
||||
SafeNativeMethods.WorldSetLinearDamping(world, 256f);
|
||||
SafeNativeMethods.WorldSetAngularDamping(world, 256f);
|
||||
SafeNativeMethods.WorldSetAngularDampingThreshold(world, 256f);
|
||||
SafeNativeMethods.WorldSetLinearDampingThreshold(world, 256f);
|
||||
SafeNativeMethods.WorldSetMaxAngularSpeed(world, 256f);
|
||||
|
||||
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
||||
SafeNativeMethods.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
||||
//d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
|
||||
|
||||
for (int i = 0; i < staticPrimspace.GetLength(0); i++)
|
||||
|
|
@ -877,7 +874,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
/// <param name='contactsArray'></param>
|
||||
/// <param name='contactGeomSize'></param>
|
||||
private int CollideGeoms(
|
||||
IntPtr geom1, IntPtr geom2, int maxContacts, d.ContactGeom[] contactsArray, int contactGeomSize)
|
||||
IntPtr geom1, IntPtr geom2, int maxContacts, SafeNativeMethods.ContactGeom[] contactsArray, int contactGeomSize)
|
||||
{
|
||||
int count;
|
||||
|
||||
|
|
@ -887,7 +884,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (CollectStats)
|
||||
m_nativeCollisionStartTick = Util.EnvironmentTickCount();
|
||||
|
||||
count = d.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize);
|
||||
count = SafeNativeMethods.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize);
|
||||
}
|
||||
|
||||
// We do this outside the lock so that any waiting threads aren't held up, though the effect is probably
|
||||
|
|
@ -913,7 +910,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
m_nativeCollisionStartTick = Util.EnvironmentTickCount();
|
||||
}
|
||||
|
||||
d.SpaceCollide2(space1, space2, data, nearCallback);
|
||||
SafeNativeMethods.SpaceCollide2(space1, space2, data, nearCallback);
|
||||
|
||||
if (CollectStats && m_inCollisionTiming)
|
||||
{
|
||||
|
|
@ -944,7 +941,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// Test if we're colliding a geom with a space.
|
||||
// If so we have to drill down into the space recursively
|
||||
|
||||
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
|
||||
if (SafeNativeMethods.GeomIsSpace(g1) || SafeNativeMethods.GeomIsSpace(g2))
|
||||
{
|
||||
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
|
||||
return;
|
||||
|
|
@ -973,8 +970,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
|
||||
return;
|
||||
|
||||
IntPtr b1 = d.GeomGetBody(g1);
|
||||
IntPtr b2 = d.GeomGetBody(g2);
|
||||
IntPtr b1 = SafeNativeMethods.GeomGetBody(g1);
|
||||
IntPtr b2 = SafeNativeMethods.GeomGetBody(g2);
|
||||
|
||||
// d.GeomClassID id = d.GeomGetClass(g1);
|
||||
|
||||
|
|
@ -1001,10 +998,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (g1 == g2)
|
||||
return; // Can't collide with yourself
|
||||
|
||||
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
|
||||
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && SafeNativeMethods.AreConnectedExcluding(b1, b2, SafeNativeMethods.JointType.Contact))
|
||||
return;
|
||||
|
||||
count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.unmanagedSizeOf);
|
||||
count = CollideGeoms(g1, g2, contacts.Length, contacts, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
|
||||
|
||||
// All code after this is only relevant if we have any collisions
|
||||
if (count <= 0)
|
||||
|
|
@ -1052,7 +1049,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
for (int i = 0; i < count; i++)
|
||||
{
|
||||
d.ContactGeom curContact = contacts[i];
|
||||
SafeNativeMethods.ContactGeom curContact = contacts[i];
|
||||
|
||||
if (curContact.depth > maxDepthContact.PenetrationDepth)
|
||||
{
|
||||
|
|
@ -1129,7 +1126,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
curContact.depth = 0.00000003f;
|
||||
p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
|
||||
curContact.pos =
|
||||
new d.Vector3(curContact.pos.X + (p1.Size.X/2),
|
||||
new SafeNativeMethods.Vector3(curContact.pos.X + (p1.Size.X/2),
|
||||
curContact.pos.Y + (p1.Size.Y/2),
|
||||
curContact.pos.Z + (p1.Size.Z/2));
|
||||
character.SetPidStatus(true);
|
||||
|
|
@ -1146,7 +1143,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
curContact.depth = 0.00000003f;
|
||||
p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
|
||||
curContact.pos =
|
||||
new d.Vector3(curContact.pos.X + (p1.Size.X/2),
|
||||
new SafeNativeMethods.Vector3(curContact.pos.X + (p1.Size.X/2),
|
||||
curContact.pos.Y + (p1.Size.Y/2),
|
||||
curContact.pos.Z + (p1.Size.Z/2));
|
||||
character.SetPidStatus(true);
|
||||
|
|
@ -1198,7 +1195,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1212,7 +1209,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref TerrainContact);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1247,7 +1244,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1273,7 +1270,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1307,7 +1304,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref WaterContact);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
//m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
|
||||
|
|
@ -1324,7 +1321,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1335,7 +1332,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref contact);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref contact);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1356,7 +1353,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
|
||||
joint = SafeNativeMethods.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1364,7 +1361,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
|
||||
{
|
||||
d.JointAttach(joint, b1, b2);
|
||||
SafeNativeMethods.JointAttach(joint, b1, b2);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
}
|
||||
|
|
@ -1384,7 +1381,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
}
|
||||
|
||||
private bool checkDupe(d.ContactGeom contactGeom, int atype)
|
||||
private bool checkDupe(SafeNativeMethods.ContactGeom contactGeom, int atype)
|
||||
{
|
||||
if (!m_filterCollisions)
|
||||
return false;
|
||||
|
|
@ -1393,7 +1390,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
ActorTypes at = (ActorTypes)atype;
|
||||
|
||||
foreach (d.ContactGeom contact in _perloopContact)
|
||||
foreach (SafeNativeMethods.ContactGeom contact in _perloopContact)
|
||||
{
|
||||
//if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
|
||||
//{
|
||||
|
|
@ -1580,7 +1577,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
List<OdePrim> removeprims = null;
|
||||
foreach (OdePrim chr in _activeprims)
|
||||
{
|
||||
if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
|
||||
if (chr.Body != IntPtr.Zero && SafeNativeMethods.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
|
||||
{
|
||||
try
|
||||
{
|
||||
|
|
@ -1706,7 +1703,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
|
||||
{
|
||||
d.AllocateODEDataForThread(0);
|
||||
SafeNativeMethods.AllocateODEDataForThread(0);
|
||||
|
||||
OdeCharacter newAv
|
||||
= new OdeCharacter(
|
||||
|
|
@ -1729,7 +1726,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
lock (OdeLock)
|
||||
{
|
||||
d.AllocateODEDataForThread(0);
|
||||
SafeNativeMethods.AllocateODEDataForThread(0);
|
||||
|
||||
((OdeCharacter) actor).Destroy();
|
||||
}
|
||||
|
|
@ -1786,7 +1783,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
OdePrim newPrim;
|
||||
lock (OdeLock)
|
||||
{
|
||||
d.AllocateODEDataForThread(0);
|
||||
SafeNativeMethods.AllocateODEDataForThread(0);
|
||||
newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical);
|
||||
|
||||
lock (_prims)
|
||||
|
|
@ -1950,7 +1947,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
DoJointDeactivated(joint);
|
||||
if (joint.jointID != IntPtr.Zero)
|
||||
{
|
||||
d.JointDestroy(joint.jointID);
|
||||
SafeNativeMethods.JointDestroy(joint.jointID);
|
||||
joint.jointID = IntPtr.Zero;
|
||||
//DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
|
||||
}
|
||||
|
|
@ -2115,7 +2112,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
public override Vector3 GetJointAnchor(PhysicsJoint joint)
|
||||
{
|
||||
Debug.Assert(joint.IsInPhysicsEngine);
|
||||
d.Vector3 pos = new d.Vector3();
|
||||
SafeNativeMethods.Vector3 pos = new SafeNativeMethods.Vector3();
|
||||
|
||||
if (!(joint is OdePhysicsJoint))
|
||||
{
|
||||
|
|
@ -2127,10 +2124,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
switch (odeJoint.Type)
|
||||
{
|
||||
case PhysicsJointType.Ball:
|
||||
d.JointGetBallAnchor(odeJoint.jointID, out pos);
|
||||
SafeNativeMethods.JointGetBallAnchor(odeJoint.jointID, out pos);
|
||||
break;
|
||||
case PhysicsJointType.Hinge:
|
||||
d.JointGetHingeAnchor(odeJoint.jointID, out pos);
|
||||
SafeNativeMethods.JointGetHingeAnchor(odeJoint.jointID, out pos);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -2151,7 +2148,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
public override Vector3 GetJointAxis(PhysicsJoint joint)
|
||||
{
|
||||
Debug.Assert(joint.IsInPhysicsEngine);
|
||||
d.Vector3 axis = new d.Vector3();
|
||||
SafeNativeMethods.Vector3 axis = new SafeNativeMethods.Vector3();
|
||||
|
||||
if (!(joint is OdePhysicsJoint))
|
||||
{
|
||||
|
|
@ -2166,7 +2163,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
|
||||
break;
|
||||
case PhysicsJointType.Hinge:
|
||||
d.JointGetHingeAxis(odeJoint.jointID, out axis);
|
||||
SafeNativeMethods.JointGetHingeAxis(odeJoint.jointID, out axis);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -2299,12 +2296,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
//{
|
||||
//int adfadf = 0;
|
||||
//}
|
||||
if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
|
||||
if (SafeNativeMethods.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
|
||||
{
|
||||
if (d.GeomIsSpace(currentspace))
|
||||
if (SafeNativeMethods.GeomIsSpace(currentspace))
|
||||
{
|
||||
// waitForSpaceUnlock(currentspace);
|
||||
d.SpaceRemove(currentspace, geom);
|
||||
SafeNativeMethods.SpaceRemove(currentspace, geom);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -2314,13 +2311,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
else
|
||||
{
|
||||
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
|
||||
IntPtr sGeomIsIn = SafeNativeMethods.GeomGetSpace(geom);
|
||||
if (sGeomIsIn != IntPtr.Zero)
|
||||
{
|
||||
if (d.GeomIsSpace(currentspace))
|
||||
if (SafeNativeMethods.GeomIsSpace(currentspace))
|
||||
{
|
||||
// waitForSpaceUnlock(sGeomIsIn);
|
||||
d.SpaceRemove(sGeomIsIn, geom);
|
||||
SafeNativeMethods.SpaceRemove(sGeomIsIn, geom);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -2331,13 +2328,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
|
||||
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
|
||||
if (d.SpaceGetNumGeoms(currentspace) == 0)
|
||||
if (SafeNativeMethods.SpaceGetNumGeoms(currentspace) == 0)
|
||||
{
|
||||
if (currentspace != IntPtr.Zero)
|
||||
{
|
||||
if (d.GeomIsSpace(currentspace))
|
||||
if (SafeNativeMethods.GeomIsSpace(currentspace))
|
||||
{
|
||||
d.SpaceRemove(space, currentspace);
|
||||
SafeNativeMethods.SpaceRemove(space, currentspace);
|
||||
// free up memory used by the space.
|
||||
|
||||
resetSpaceArrayItemToZero(currentspace);
|
||||
|
|
@ -2355,12 +2352,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
// this is a physical object that got disabled. ;.;
|
||||
if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
|
||||
{
|
||||
if (d.SpaceQuery(currentspace, geom))
|
||||
if (SafeNativeMethods.SpaceQuery(currentspace, geom))
|
||||
{
|
||||
if (d.GeomIsSpace(currentspace))
|
||||
if (SafeNativeMethods.GeomIsSpace(currentspace))
|
||||
{
|
||||
// waitForSpaceUnlock(currentspace);
|
||||
d.SpaceRemove(currentspace, geom);
|
||||
SafeNativeMethods.SpaceRemove(currentspace, geom);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -2370,13 +2367,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
else
|
||||
{
|
||||
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
|
||||
IntPtr sGeomIsIn = SafeNativeMethods.GeomGetSpace(geom);
|
||||
if (sGeomIsIn != IntPtr.Zero)
|
||||
{
|
||||
if (d.GeomIsSpace(sGeomIsIn))
|
||||
if (SafeNativeMethods.GeomIsSpace(sGeomIsIn))
|
||||
{
|
||||
// waitForSpaceUnlock(sGeomIsIn);
|
||||
d.SpaceRemove(sGeomIsIn, geom);
|
||||
SafeNativeMethods.SpaceRemove(sGeomIsIn, geom);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -2397,7 +2394,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
if (newspace == IntPtr.Zero)
|
||||
{
|
||||
newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
|
||||
d.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh);
|
||||
SafeNativeMethods.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh);
|
||||
}
|
||||
|
||||
return newspace;
|
||||
|
|
@ -2412,11 +2409,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
internal IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
|
||||
{
|
||||
// creating a new space for prim and inserting it into main space.
|
||||
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
|
||||
d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
|
||||
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = SafeNativeMethods.HashSpaceCreate(IntPtr.Zero);
|
||||
SafeNativeMethods.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
|
||||
// waitForSpaceUnlock(space);
|
||||
d.SpaceSetSublevel(space, 1);
|
||||
d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
|
||||
SafeNativeMethods.SpaceSetSublevel(space, 1);
|
||||
SafeNativeMethods.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
|
||||
|
||||
return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
|
||||
}
|
||||
|
|
@ -2636,7 +2633,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
m_log.InfoFormat("[Ode] start processing pending actor operations");
|
||||
int tstart = Util.EnvironmentTickCount();
|
||||
|
||||
d.AllocateODEDataForThread(0);
|
||||
SafeNativeMethods.AllocateODEDataForThread(0);
|
||||
|
||||
lock (_taintedPrims)
|
||||
{
|
||||
|
|
@ -2719,7 +2716,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
lock (OdeLock)
|
||||
{
|
||||
d.AllocateODEDataForThread(~0U);
|
||||
SafeNativeMethods.AllocateODEDataForThread(~0U);
|
||||
|
||||
while (step_time > HalfOdeStep)
|
||||
{
|
||||
|
|
@ -2871,12 +2868,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
|
||||
lock(SimulationLock)
|
||||
d.WorldQuickStep(world, ODE_STEPSIZE);
|
||||
SafeNativeMethods.WorldQuickStep(world, ODE_STEPSIZE);
|
||||
|
||||
if (CollectStats)
|
||||
m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick);
|
||||
|
||||
d.JointGroupEmpty(contactgroup);
|
||||
SafeNativeMethods.JointGroupEmpty(contactgroup);
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
|
|
@ -2924,7 +2921,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
foreach (OdePrim prim in _activeprims)
|
||||
{
|
||||
if (prim.IsPhysical && (d.BodyIsEnabled(prim.Body) || !prim._zeroFlag))
|
||||
if (prim.IsPhysical && (SafeNativeMethods.BodyIsEnabled(prim.Body) || !prim._zeroFlag))
|
||||
{
|
||||
prim.UpdatePositionAndVelocity();
|
||||
|
||||
|
|
@ -2954,7 +2951,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
fwriter.Close();
|
||||
}
|
||||
|
||||
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
|
||||
SafeNativeMethods.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
|
||||
}
|
||||
|
||||
latertickcount = Util.EnvironmentTickCountSubtract(tickCountFrameRun);
|
||||
|
|
@ -3069,11 +3066,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
IntPtr odeJoint;
|
||||
//DoJointErrorMessage(joint, "ODE creating ball joint ");
|
||||
odeJoint = d.JointCreateBall(world, IntPtr.Zero);
|
||||
odeJoint = SafeNativeMethods.JointCreateBall(world, IntPtr.Zero);
|
||||
//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
|
||||
d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
|
||||
SafeNativeMethods.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
|
||||
//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
|
||||
d.JointSetBallAnchor(odeJoint,
|
||||
SafeNativeMethods.JointSetBallAnchor(odeJoint,
|
||||
joint.Position.X,
|
||||
joint.Position.Y,
|
||||
joint.Position.Z);
|
||||
|
|
@ -3097,11 +3094,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
IntPtr odeJoint;
|
||||
//DoJointErrorMessage(joint, "ODE creating hinge joint ");
|
||||
odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
|
||||
odeJoint = SafeNativeMethods.JointCreateHinge(world, IntPtr.Zero);
|
||||
//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
|
||||
d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
|
||||
SafeNativeMethods.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
|
||||
//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
|
||||
d.JointSetHingeAnchor(odeJoint,
|
||||
SafeNativeMethods.JointSetHingeAnchor(odeJoint,
|
||||
joint.Position.X,
|
||||
joint.Position.Y,
|
||||
joint.Position.Z);
|
||||
|
|
@ -3137,7 +3134,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
|
||||
//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
|
||||
//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
|
||||
d.JointSetHingeAxis(odeJoint,
|
||||
SafeNativeMethods.JointSetHingeAxis(odeJoint,
|
||||
jointAxis.X,
|
||||
jointAxis.Y,
|
||||
jointAxis.Z);
|
||||
|
|
@ -3299,7 +3296,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
lock (OdeLock)
|
||||
{
|
||||
d.AllocateODEDataForThread(~0U);
|
||||
SafeNativeMethods.AllocateODEDataForThread(~0U);
|
||||
|
||||
IntPtr GroundGeom = IntPtr.Zero;
|
||||
if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
|
||||
|
|
@ -3311,29 +3308,29 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
TerrainHeightFieldHeights.Remove(GroundGeom);
|
||||
}
|
||||
d.SpaceRemove(space, GroundGeom);
|
||||
d.GeomDestroy(GroundGeom);
|
||||
SafeNativeMethods.SpaceRemove(space, GroundGeom);
|
||||
SafeNativeMethods.GeomDestroy(GroundGeom);
|
||||
}
|
||||
|
||||
}
|
||||
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
||||
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
|
||||
IntPtr HeightmapData = SafeNativeMethods.GeomHeightfieldDataCreate();
|
||||
SafeNativeMethods.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
|
||||
heightmapWidth, heightmapHeight,
|
||||
(int)heightmapWidthSamples,
|
||||
(int)heightmapHeightSamples,
|
||||
scale, offset, thickness, wrap);
|
||||
|
||||
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
|
||||
GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
||||
SafeNativeMethods.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
|
||||
GroundGeom = SafeNativeMethods.CreateHeightfield(space, HeightmapData, 1);
|
||||
if (GroundGeom != IntPtr.Zero)
|
||||
{
|
||||
d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
|
||||
d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
|
||||
SafeNativeMethods.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
|
||||
SafeNativeMethods.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
|
||||
|
||||
}
|
||||
geom_name_map[GroundGeom] = "Terrain";
|
||||
|
||||
d.Matrix3 R = new d.Matrix3();
|
||||
SafeNativeMethods.Matrix3 R = new SafeNativeMethods.Matrix3();
|
||||
|
||||
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
|
||||
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
|
||||
|
|
@ -3343,9 +3340,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
float angle;
|
||||
q1.GetAxisAngle(out v3, out angle);
|
||||
|
||||
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
|
||||
d.GeomSetRotation(GroundGeom, ref R);
|
||||
d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f);
|
||||
SafeNativeMethods.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
|
||||
SafeNativeMethods.GeomSetRotation(GroundGeom, ref R);
|
||||
SafeNativeMethods.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f);
|
||||
IntPtr testGround = IntPtr.Zero;
|
||||
if (RegionTerrain.TryGetValue(pOffset, out testGround))
|
||||
{
|
||||
|
|
@ -3384,7 +3381,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
_worldInitialized = false;
|
||||
|
||||
d.AllocateODEDataForThread(~0U);
|
||||
SafeNativeMethods.AllocateODEDataForThread(~0U);
|
||||
|
||||
if (m_rayCastManager != null)
|
||||
{
|
||||
|
|
@ -3412,13 +3409,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
{
|
||||
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
|
||||
TerrainHeightFieldHeights.Remove(GroundGeom);
|
||||
d.GeomDestroy(GroundGeom);
|
||||
SafeNativeMethods.GeomDestroy(GroundGeom);
|
||||
}
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
d.WorldDestroy(world);
|
||||
SafeNativeMethods.WorldDestroy(world);
|
||||
world = IntPtr.Zero;
|
||||
}
|
||||
catch (AccessViolationException e)
|
||||
|
|
|
|||
Loading…
Reference in New Issue