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* Adds Physical/Active Linkset support to BulletDotNETPlugin

0.6.5-rc1
Teravus Ovares 2009-04-10 23:26:42 +00:00
parent 3307f21706
commit 474b982eba
1 changed files with 272 additions and 112 deletions
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384
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
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@ -35,6 +35,7 @@ using OpenMetaverse;
using BulletDotNET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.Meshing;
namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
@ -325,12 +326,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
public override void link(PhysicsActor obj)
{
//TODO:
m_taintparent = obj;
}
public override void delink()
{
//TODO:
m_taintparent = null;
}
public override void LockAngularMotion(PhysicsVector axis)
@ -729,6 +730,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
changeadd(timestep);
}
if (prim_geom == null)
{
CreateGeom(IntPtr.Zero, primMesh);
if (IsPhysical)
SetBody(Mass);
else
SetBody(0);
m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
}
if (prim_geom.Handle == IntPtr.Zero)
{
CreateGeom(IntPtr.Zero, primMesh);
@ -953,24 +965,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: dispose parts that make up body
}
m_log.Debug("[PHYSICS]: _________ChangePhysics");
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
ProcessGeomCreation();
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
SetCollisionShape(prim_geom);
if (m_isphysical)
SetBody(Mass);
else
@ -981,6 +978,71 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_taintPhysics = m_isphysical;
}
internal void ProcessGeomCreation()
{
if (_parent_scene.needsMeshing(_pbs))
{
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero,Quaternion.Identity);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, _mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
SetCollisionShape(prim_geom);
}
internal bool NeedsMeshing()
{
return _parent_scene.needsMeshing(_pbs);
}
internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation)
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
if (!positionOffset.IsIdentical(PhysicsVector.Zero,0.001f) || orientation != Quaternion.Identity)
{
if (mesh is Mesh)
{
float[] xyz = new float[3];
xyz[0] = positionOffset.X;
xyz[1] = positionOffset.Y;
xyz[2] = positionOffset.Z;
Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
float[,] matrix = new float[3,3];
matrix[0, 0] = m4.M11;
matrix[0, 1] = m4.M12;
matrix[0, 2] = m4.M13;
matrix[1, 0] = m4.M21;
matrix[1, 1] = m4.M22;
matrix[1, 2] = m4.M23;
matrix[2, 0] = m4.M31;
matrix[2, 1] = m4.M32;
matrix[2, 2] = m4.M33;
Mesh mesh2 = (Mesh) mesh;
mesh2.TransformLinear(matrix, xyz);
mesh = (IMesh)mesh2;
}
}
_mesh = mesh;
}
private void changesize(float timestep)
{
if (Body != null)
@ -997,23 +1059,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_log.Debug("[PHYSICS]: _________ChangeSize");
SetCollisionShape(null);
// Construction of new prim
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
ProcessGeomCreation();
if (IsPhysical)
SetBody(Mass);
@ -1068,23 +1114,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (_size.Z <= 0) _size.Z = 0.01f;
// Construction of new prim
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
ProcessGeomCreation();
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
tempPosition1.setValue(_position.X, _position.Y, _position.Z);
if (tempOrientation1.Handle != IntPtr.Zero)
tempOrientation1.Dispose();
@ -1262,7 +1293,52 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changelink(float timestep)
{
// TODO: throw new NotImplementedException();
if (IsPhysical)
{
// Construction of new prim
if (Body != null)
{
if (Body.Handle != IntPtr.Zero)
{
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
if (_parent == null && m_taintparent != null)
{
if (m_taintparent is BulletDotNETPrim)
{
BulletDotNETPrim obj = (BulletDotNETPrim)m_taintparent;
obj.ParentPrim(this);
childPrim = true;
}
}
else if (_parent != null && m_taintparent == null)
{
if (_parent is BulletDotNETPrim)
{
BulletDotNETPrim obj = (BulletDotNETPrim)_parent;
obj.ChildDelink(obj);
childPrim = false;
}
}
if (m_taintparent != null)
{
m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f;
_parent_scene.AddPhysicsActorTaint(m_taintparent);
}
}
_parent = m_taintparent;
m_taintPhysics = m_isphysical;
}
private void changefloatonwater(float timestep)
@ -1854,7 +1930,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_log.Debug("[PHYSICS]: _________CreateGeom");
if (p_mesh != null)
{
_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
//_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
_mesh = p_mesh;
setMesh(_parent_scene, _mesh);
}
@ -1867,12 +1944,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (((_size.X / 2f) > 0f))
{
//SetGeom to a Regular Sphere
tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0);
tempSize1.setValue(_size.X * 0.5f,_size.Y * 0.5f, _size.Z * 0.5f);
SetCollisionShape(new btSphereShape(_size.X*0.5f));
}
else
{
// uses halfextents
if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0);
tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f);
SetCollisionShape(new btBoxShape(tempSize1));
}
@ -1880,6 +1961,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
else
{
// uses halfextents
if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0);
tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
SetCollisionShape(new btBoxShape(tempSize1));
}
@ -1887,6 +1970,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
else
{
if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0);
// uses halfextents
tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
SetCollisionShape(new btBoxShape(tempSize1));
@ -1975,72 +2060,134 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public void SetBody(float mass)
{
//m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass);
/*
if (Body != null && Body.Handle != IntPtr.Zero)
if (!IsPhysical || childrenPrim.Count == 0)
{
DisposeOfBody();
}
*/
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
tempTransform2.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
tempTransform2.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
tempPosition2.Dispose();
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
tempPosition2.Dispose();
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z);
tempTransform2 = new btTransform(tempOrientation2, tempPosition2);
tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero);
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
tempInertia1.Dispose();
tempInertia1 = new btVector3(0, 0, 0);
/*
if (prim_geom.Handle == IntPtr.Zero)
{
m_log.Warn("[PHYSICS]:PrimGeom is Disposed!");
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z);
tempTransform2 = new btTransform(tempOrientation2, tempPosition2);
tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero);
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
tempInertia1.Dispose();
tempInertia1 = new btVector3(0, 0, 0);
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
prim_geom.calculateLocalInertia(mass, tempInertia1);
if (mass != 0)
_parent_scene.addActivePrim(this);
else
_parent_scene.remActivePrim(this);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (prim_geom is btGImpactMeshShape)
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape) prim_geom).updateBound();
}
_parent_scene.AddPrimToScene(this);
}
else
{
bool hasTrimesh = false;
lock (childrenPrim)
{
foreach (BulletDotNETPrim chld in childrenPrim)
{
if (chld == null)
continue;
if (chld.NeedsMeshing())
hasTrimesh = true;
}
}
//if (hasTrimesh)
//{
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
// createmesh returns null when it doesn't mesh.
if (_mesh is Mesh)
{
}
else
{
m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
return;
}
Mesh pMesh = (Mesh) _mesh;
foreach (BulletDotNETPrim chld in childrenPrim)
{
if (chld == null)
continue;
PhysicsVector offset = chld.Position - Position;
Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
pos *= Quaternion.Inverse(Orientation);
//pos *= Orientation;
offset.setValues(pos.X, pos.Y, pos.Z);
chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
if (chld._mesh is Mesh)
{
pMesh.Append((Mesh)chld._mesh);
}
}
setMesh(_parent_scene, pMesh);
//}
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
tempTransform2.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
tempPosition2.Dispose();
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z);
tempTransform2 = new btTransform(tempOrientation2, tempPosition2);
tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero);
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
tempInertia1.Dispose();
tempInertia1 = new btVector3(0, 0, 0);
prim_geom.calculateLocalInertia(mass, tempInertia1);
if (mass != 0)
_parent_scene.addActivePrim(this);
else
_parent_scene.remActivePrim(this);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (prim_geom is btGImpactMeshShape)
{
((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape)prim_geom).updateBound();
}
_parent_scene.AddPrimToScene(this);
}
*/
prim_geom.calculateLocalInertia(mass, tempInertia1);
if (mass != 0)
_parent_scene.addActivePrim(this);
else
_parent_scene.remActivePrim(this);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (prim_geom is btGImpactMeshShape)
{
((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape) prim_geom).updateBound();
}
_parent_scene.AddPrimToScene(this);
}
private void DisposeOfBody()
@ -2096,9 +2243,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
private void ParentPrim(BulletDotNETPrim prm)
internal void ParentPrim(BulletDotNETPrim prm)
{
// TODO: Parent Linking algorithm. Use btComplexObject
if (prm == null)
return;
lock (childrenPrim)
{
if (!childrenPrim.Contains(prm))
{
childrenPrim.Add(prm);
}
}
}
public void disableBody()