diff --git a/OpenSim/Data/MySQL/MySQLSimulationData.cs b/OpenSim/Data/MySQL/MySQLSimulationData.cs index 8278c0ec20..97a433fabe 100644 --- a/OpenSim/Data/MySQL/MySQLSimulationData.cs +++ b/OpenSim/Data/MySQL/MySQLSimulationData.cs @@ -187,7 +187,7 @@ namespace OpenSim.Data.MySQL "LinkNumber, MediaURL, KeyframeMotion, AttachedPosX, " + "AttachedPosY, AttachedPosZ, " + "PhysicsShapeType, Density, GravityModifier, " + - "Friction, Restitution, Vehicle, DynAttrs, " + + "Friction, Restitution, Vehicle, PhysInertia, DynAttrs, " + "RotationAxisLocks" + ") values (" + "?UUID, " + "?CreationDate, ?Name, ?Text, " + @@ -224,7 +224,7 @@ namespace OpenSim.Data.MySQL "?LinkNumber, ?MediaURL, ?KeyframeMotion, ?AttachedPosX, " + "?AttachedPosY, ?AttachedPosZ, " + "?PhysicsShapeType, ?Density, ?GravityModifier, " + - "?Friction, ?Restitution, ?Vehicle, ?DynAttrs," + + "?Friction, ?Restitution, ?Vehicle, ?PhysInertia, ?DynAttrs," + "?RotationAxisLocks)"; FillPrimCommand(cmd, prim, obj.UUID, regionUUID); @@ -1452,6 +1452,14 @@ namespace OpenSim.Data.MySQL prim.VehicleParams = vehicle; } + PhysicsInertiaData pdata; + if (row["PhysInertia"].ToString() != String.Empty) + { + pdata = PhysicsInertiaData.FromXml2(row["PhysInertia"].ToString()); + if (pdata != null) + prim.PhysicsInertia = pdata; + } + return prim; } @@ -1810,6 +1818,11 @@ namespace OpenSim.Data.MySQL else cmd.Parameters.AddWithValue("KeyframeMotion", new Byte[0]); + if (prim.PhysicsInertia != null) + cmd.Parameters.AddWithValue("PhysInertia", prim.PhysicsInertia.ToXml2()); + else + cmd.Parameters.AddWithValue("PhysInertia", String.Empty); + if (prim.VehicleParams != null) cmd.Parameters.AddWithValue("Vehicle", prim.VehicleParams.ToXml2()); else diff --git a/OpenSim/Data/MySQL/Resources/RegionStore.migrations b/OpenSim/Data/MySQL/Resources/RegionStore.migrations index c63cc95d22..0577392184 100644 --- a/OpenSim/Data/MySQL/Resources/RegionStore.migrations +++ b/OpenSim/Data/MySQL/Resources/RegionStore.migrations @@ -461,3 +461,9 @@ BEGIN; ALTER TABLE `prims` ADD COLUMN `RezzerID` char(36) DEFAULT NULL; COMMIT; + +:VERSION 57 #----- Add physics inertia data + +BEGIN; +ALTER TABLE `prims` ADD COLUMN `PhysInertia` TEXT default NULL; +COMMIT; diff --git a/OpenSim/Framework/PhysicsInertia.cs b/OpenSim/Framework/PhysicsInertia.cs new file mode 100644 index 0000000000..af70634b7e --- /dev/null +++ b/OpenSim/Framework/PhysicsInertia.cs @@ -0,0 +1,262 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using OpenMetaverse; +using System.Text; +using System.IO; +using System.Xml; + +namespace OpenSim.Framework +{ + public class PhysicsInertiaData + { + public float TotalMass; // the total mass of a linkset + public Vector3 CenterOfMass; // the center of mass position relative to root part position + public Vector3 Inertia; // (Ixx, Iyy, Izz) moment of inertia relative to center of mass and principal axis in local coords + public Vector4 InertiaRotation; // if principal axis don't match local axis, the principal axis rotation + // or the upper triangle of the inertia tensor + // Ixy (= Iyx), Ixz (= Izx), Iyz (= Izy)) + + public PhysicsInertiaData() + { + } + + public PhysicsInertiaData(PhysicsInertiaData source) + { + TotalMass = source.TotalMass; + CenterOfMass = source.CenterOfMass; + Inertia = source.Inertia; + InertiaRotation = source.InertiaRotation; + } + + private XmlTextWriter writer; + + private void XWint(string name, int i) + { + writer.WriteElementString(name, i.ToString()); + } + + private void XWfloat(string name, float f) + { + writer.WriteElementString(name, f.ToString(Utils.EnUsCulture)); + } + + private void XWVector(string name, Vector3 vec) + { + writer.WriteStartElement(name); + writer.WriteElementString("X", vec.X.ToString(Utils.EnUsCulture)); + writer.WriteElementString("Y", vec.Y.ToString(Utils.EnUsCulture)); + writer.WriteElementString("Z", vec.Z.ToString(Utils.EnUsCulture)); + writer.WriteEndElement(); + } + + private void XWVector4(string name, Vector4 quat) + { + writer.WriteStartElement(name); + writer.WriteElementString("X", quat.X.ToString(Utils.EnUsCulture)); + writer.WriteElementString("Y", quat.Y.ToString(Utils.EnUsCulture)); + writer.WriteElementString("Z", quat.Z.ToString(Utils.EnUsCulture)); + writer.WriteElementString("W", quat.W.ToString(Utils.EnUsCulture)); + writer.WriteEndElement(); + } + + public void ToXml2(XmlTextWriter twriter) + { + writer = twriter; + writer.WriteStartElement("PhysicsInertia"); + + XWfloat("MASS", TotalMass); + XWVector("CM", CenterOfMass); + XWVector("INERTIA", Inertia); + XWVector4("IROT", InertiaRotation); + + writer.WriteEndElement(); + writer = null; + } + + XmlReader reader; + + private int XRint() + { + return reader.ReadElementContentAsInt(); + } + + private float XRfloat() + { + return reader.ReadElementContentAsFloat(); + } + + public Vector3 XRvector() + { + Vector3 vec; + reader.ReadStartElement(); + vec.X = reader.ReadElementContentAsFloat(); + vec.Y = reader.ReadElementContentAsFloat(); + vec.Z = reader.ReadElementContentAsFloat(); + reader.ReadEndElement(); + return vec; + } + + public Vector4 XRVector4() + { + Vector4 q; + reader.ReadStartElement(); + q.X = reader.ReadElementContentAsFloat(); + q.Y = reader.ReadElementContentAsFloat(); + q.Z = reader.ReadElementContentAsFloat(); + q.W = reader.ReadElementContentAsFloat(); + reader.ReadEndElement(); + return q; + } + + public static bool EReadProcessors( + Dictionary processors, + XmlReader xtr) + { + bool errors = false; + + string nodeName = string.Empty; + while (xtr.NodeType != XmlNodeType.EndElement) + { + nodeName = xtr.Name; + + Action p = null; + if (processors.TryGetValue(xtr.Name, out p)) + { + try + { + p(); + } + catch + { + errors = true; + if (xtr.NodeType == XmlNodeType.EndElement) + xtr.Read(); + } + } + else + { + xtr.ReadOuterXml(); // ignore + } + } + + return errors; + } + + public string ToXml2() + { + using (StringWriter sw = new StringWriter()) + { + using (XmlTextWriter xwriter = new XmlTextWriter(sw)) + { + ToXml2(xwriter); + } + + return sw.ToString(); + } + } + + public static PhysicsInertiaData FromXml2(string text) + { + if (text == String.Empty) + return null; + + UTF8Encoding enc = new UTF8Encoding(); + MemoryStream ms = new MemoryStream(enc.GetBytes(text)); + XmlTextReader xreader = new XmlTextReader(ms); + + PhysicsInertiaData v = new PhysicsInertiaData(); + bool error; + + v.FromXml2(xreader, out error); + + xreader.Close(); + + if (error) + return null; + + return v; + } + + public static PhysicsInertiaData FromXml2(XmlReader reader) + { + PhysicsInertiaData data = new PhysicsInertiaData(); + + bool errors = false; + + data.FromXml2(reader, out errors); + if (errors) + return null; + + return data; + } + + private void FromXml2(XmlReader _reader, out bool errors) + { + errors = false; + reader = _reader; + + Dictionary m_XmlProcessors = new Dictionary(); + + m_XmlProcessors.Add("MASS", ProcessXR_Mass); + m_XmlProcessors.Add("CM", ProcessXR_CM); + m_XmlProcessors.Add("INERTIA", ProcessXR_Inertia); + m_XmlProcessors.Add("IROT", ProcessXR_InertiaRotation); + + reader.ReadStartElement("PhysicsInertia", String.Empty); + + errors = EReadProcessors( + m_XmlProcessors, + reader); + + reader.ReadEndElement(); + reader = null; + } + + private void ProcessXR_Mass() + { + TotalMass = XRfloat(); + } + + private void ProcessXR_CM() + { + CenterOfMass = XRvector(); + } + + private void ProcessXR_Inertia() + { + Inertia = XRvector(); + } + + private void ProcessXR_InertiaRotation() + { + InertiaRotation = XRVector4(); + } + } +} diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs index 77658efad5..719a5dd72c 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs @@ -5037,20 +5037,22 @@ namespace OpenSim.Region.Framework.Scenes public void SetInertiaData(float TotalMass, Vector3 CenterOfMass, Vector3 Inertia, Vector4 aux ) { + PhysicsInertiaData inertia = new PhysicsInertiaData(); + inertia.TotalMass = TotalMass; + inertia.CenterOfMass = CenterOfMass; + inertia.Inertia = Inertia; + inertia.InertiaRotation = aux; + + if(TotalMass < 0) + RootPart.PhysicsInertia = null; + else + RootPart.PhysicsInertia = new PhysicsInertiaData(inertia); + PhysicsActor pa = RootPart.PhysActor; - if(pa !=null) - { - PhysicsInertiaData inertia = new PhysicsInertiaData(); - inertia.TotalMass = TotalMass; - inertia.CenterOfMass = CenterOfMass; - inertia.Inertia = Inertia; - inertia.InertiaRotation = aux; pa.SetInertiaData(inertia); - } } - /// /// Set the user group to which this scene object belongs. /// diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index bf0e31b673..46b7b8664c 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -406,6 +406,8 @@ namespace OpenSim.Region.Framework.Scenes private SOPVehicle m_vehicleParams = null; + private PhysicsInertiaData m_physicsInertia; + public KeyframeMotion KeyframeMotion { get; set; @@ -3548,6 +3550,18 @@ SendFullUpdateToClient(remoteClient, Position) ignores position parameter Force = force; } + public PhysicsInertiaData PhysicsInertia + { + get + { + return m_physicsInertia; + } + set + { + m_physicsInertia = value; + } + } + public SOPVehicle VehicleParams { get @@ -4748,8 +4762,13 @@ SendFullUpdateToClient(remoteClient, Position) ignores position parameter if (VolumeDetectActive) // change if not the default only pa.SetVolumeDetect(1); + + bool isroot = (m_localId == ParentGroup.RootPart.LocalId); - if (m_vehicleParams != null && m_localId == ParentGroup.RootPart.LocalId) + if(isroot && m_physicsInertia != null) + pa.SetInertiaData(m_physicsInertia); + + if (isroot && m_vehicleParams != null ) { m_vehicleParams.SetVehicle(pa); if(isPhysical && !isPhantom && m_vehicleParams.CameraDecoupled) diff --git a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs index a12a40126b..87d1ace1b4 100644 --- a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs +++ b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs @@ -453,9 +453,10 @@ namespace OpenSim.Region.Framework.Scenes.Serialization m_SOPXmlProcessors.Add("Torque", ProcessTorque); m_SOPXmlProcessors.Add("VolumeDetectActive", ProcessVolumeDetectActive); - m_SOPXmlProcessors.Add("Vehicle", ProcessVehicle); + m_SOPXmlProcessors.Add("PhysicsInertia", ProcessPhysicsInertia); + m_SOPXmlProcessors.Add("RotationAxisLocks", ProcessRotationAxisLocks); m_SOPXmlProcessors.Add("PhysicsShapeType", ProcessPhysicsShapeType); m_SOPXmlProcessors.Add("Density", ProcessDensity); @@ -781,6 +782,23 @@ namespace OpenSim.Region.Framework.Scenes.Serialization } } + private static void ProcessPhysicsInertia(SceneObjectPart obj, XmlReader reader) + { + PhysicsInertiaData pdata = PhysicsInertiaData.FromXml2(reader); + + if (pdata == null) + { + obj.PhysicsInertia = null; + m_log.DebugFormat( + "[SceneObjectSerializer]: Parsing PhysicsInertiaData for object part {0} {1} encountered errors. Please see earlier log entries.", + obj.Name, obj.UUID); + } + else + { + obj.PhysicsInertia = pdata; + } + } + private static void ProcessShape(SceneObjectPart obj, XmlReader reader) { List errorNodeNames; @@ -1498,6 +1516,9 @@ namespace OpenSim.Region.Framework.Scenes.Serialization if (sop.VehicleParams != null) sop.VehicleParams.ToXml2(writer); + if (sop.PhysicsInertia != null) + sop.PhysicsInertia.ToXml2(writer); + if(sop.RotationAxisLocks != 0) writer.WriteElementString("RotationAxisLocks", sop.RotationAxisLocks.ToString().ToLower()); writer.WriteElementString("PhysicsShapeType", sop.PhysicsShapeType.ToString().ToLower()); diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs index ad9b28f8f1..d23d9c10ba 100644 --- a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs +++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs @@ -55,28 +55,6 @@ namespace OpenSim.Region.PhysicsModules.SharedBase Absolute } - public class PhysicsInertiaData - { - public float TotalMass; // the total mass of a linkset - public Vector3 CenterOfMass; // the center of mass position relative to root part position - public Vector3 Inertia; // (Ixx, Iyy, Izz) moment of inertia relative to center of mass and principal axis in local coords - public Vector4 InertiaRotation; // if principal axis don't match local axis, the principal axis rotation - // or the upper triangle of the inertia tensor - // Ixy (= Iyx), Ixz (= Izx), Iyz (= Izy)) - - public PhysicsInertiaData() - { - } - - public PhysicsInertiaData(PhysicsInertiaData source) - { - TotalMass = source.TotalMass; - CenterOfMass = source.CenterOfMass; - Inertia = source.Inertia; - InertiaRotation = source.InertiaRotation; - } - } - public struct CameraData { public Quaternion CameraRotation; diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs index d560b4124b..f784990396 100644 --- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs +++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs @@ -568,9 +568,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde { get { - if(!childPrim && m_fakeInertiaOverride != null) - return m_fakeInertiaOverride.CenterOfMass; - lock (_parent_scene.OdeLock) { d.AllocateODEDataForThread(0);