* Split out the ODEPlugin Nested classes.
Teravus Ovares
parent
14d0a2ac74
commit
4f05347246
|
|
@ -0,0 +1,477 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using Axiom.Math;
|
||||
using Ode.NET;
|
||||
using OpenSim.Framework;
|
||||
using OpenSim.Region.Physics.Manager;
|
||||
|
||||
namespace OpenSim.Region.Physics.OdePlugin
|
||||
{
|
||||
public class OdeCharacter : PhysicsActor
|
||||
{
|
||||
private PhysicsVector _position;
|
||||
private d.Vector3 _zeroPosition;
|
||||
private bool _zeroFlag = false;
|
||||
private bool m_lastUpdateSent = false;
|
||||
private PhysicsVector _velocity;
|
||||
private PhysicsVector _target_velocity;
|
||||
private PhysicsVector _acceleration;
|
||||
private PhysicsVector m_rotationalVelocity;
|
||||
private static float PID_D = 3020.0f;
|
||||
private static float PID_P = 7000.0f;
|
||||
private static float POSTURE_SERVO = 10000.0f;
|
||||
public static float CAPSULE_RADIUS = 0.5f;
|
||||
public float CAPSULE_LENGTH = 0.79f;
|
||||
private bool flying = false;
|
||||
private bool m_iscolliding = false;
|
||||
private bool m_iscollidingGround = false;
|
||||
private bool m_wascolliding = false;
|
||||
private bool m_wascollidingGround = false;
|
||||
private bool m_alwaysRun = false;
|
||||
private bool m_hackSentFall = false;
|
||||
private bool m_hackSentFly = false;
|
||||
private string m_name = "";
|
||||
|
||||
private bool[] m_colliderarr = new bool[11];
|
||||
private bool[] m_colliderGroundarr = new bool[11];
|
||||
|
||||
|
||||
private bool jumping = false;
|
||||
//private float gravityAccel;
|
||||
public IntPtr Body;
|
||||
private OdeScene _parent_scene;
|
||||
public IntPtr Shell;
|
||||
public d.Mass ShellMass;
|
||||
public bool collidelock = false;
|
||||
|
||||
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
|
||||
{
|
||||
_velocity = new PhysicsVector();
|
||||
_target_velocity = new PhysicsVector();
|
||||
_position = pos;
|
||||
_acceleration = new PhysicsVector();
|
||||
_parent_scene = parent_scene;
|
||||
|
||||
for (int i = 0; i < 11; i++)
|
||||
{
|
||||
m_colliderarr[i] = false;
|
||||
}
|
||||
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
|
||||
Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
|
||||
Body = d.BodyCreate(parent_scene.world);
|
||||
d.BodySetMass(Body, ref ShellMass);
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
||||
d.GeomSetBody(Shell, Body);
|
||||
}
|
||||
m_name = avName;
|
||||
parent_scene.geom_name_map[Shell] = avName;
|
||||
parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
|
||||
}
|
||||
public override int PhysicsActorType
|
||||
{
|
||||
get { return (int)ActorTypes.Agent; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool SetAlwaysRun
|
||||
{
|
||||
get { return m_alwaysRun; }
|
||||
set { m_alwaysRun = value; }
|
||||
}
|
||||
public override bool IsPhysical
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool ThrottleUpdates
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool Flying
|
||||
{
|
||||
get { return flying; }
|
||||
set { flying = value; }
|
||||
}
|
||||
public override bool IsColliding
|
||||
{
|
||||
|
||||
get { return m_iscolliding; }
|
||||
set
|
||||
{
|
||||
int i;
|
||||
int truecount = 0;
|
||||
int falsecount = 0;
|
||||
|
||||
if (m_colliderarr.Length >= 10)
|
||||
{
|
||||
for (i = 0; i < 10; i++)
|
||||
{
|
||||
m_colliderarr[i] = m_colliderarr[i + 1];
|
||||
}
|
||||
}
|
||||
m_colliderarr[10] = value;
|
||||
|
||||
for (i = 0; i < 11; i++)
|
||||
{
|
||||
if (m_colliderarr[i])
|
||||
{
|
||||
truecount++;
|
||||
}
|
||||
else
|
||||
{
|
||||
falsecount++;
|
||||
}
|
||||
}
|
||||
|
||||
// Equal truecounts and false counts means we're colliding with something.
|
||||
|
||||
if (falsecount > 1.2 * truecount)
|
||||
{
|
||||
m_iscolliding = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_iscolliding = true;
|
||||
}
|
||||
if (m_wascolliding != m_iscolliding)
|
||||
{
|
||||
base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
m_wascolliding = m_iscolliding;
|
||||
}
|
||||
}
|
||||
public override bool CollidingGround
|
||||
{
|
||||
get { return m_iscollidingGround; }
|
||||
set
|
||||
{
|
||||
int i;
|
||||
int truecount = 0;
|
||||
int falsecount = 0;
|
||||
|
||||
if (m_colliderGroundarr.Length >= 10)
|
||||
{
|
||||
for (i = 0; i < 10; i++)
|
||||
{
|
||||
m_colliderGroundarr[i] = m_colliderGroundarr[i + 1];
|
||||
}
|
||||
}
|
||||
m_colliderGroundarr[10] = value;
|
||||
|
||||
for (i = 0; i < 11; i++)
|
||||
{
|
||||
if (m_colliderGroundarr[i])
|
||||
{
|
||||
truecount++;
|
||||
}
|
||||
else
|
||||
{
|
||||
falsecount++;
|
||||
}
|
||||
}
|
||||
|
||||
// Equal truecounts and false counts means we're colliding with something.
|
||||
|
||||
if (falsecount > 1.2 * truecount)
|
||||
{
|
||||
m_iscollidingGround = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_iscollidingGround = true;
|
||||
}
|
||||
if (m_wascollidingGround != m_iscollidingGround)
|
||||
{
|
||||
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
m_wascollidingGround = m_iscollidingGround;
|
||||
}
|
||||
}
|
||||
public override bool CollidingObj
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Position
|
||||
{
|
||||
get { return _position; }
|
||||
set
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
d.BodySetPosition(Body, value.X, value.Y, value.Z);
|
||||
_position = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
public override PhysicsVector RotationalVelocity
|
||||
{
|
||||
get { return m_rotationalVelocity; }
|
||||
set { m_rotationalVelocity = value; }
|
||||
}
|
||||
public override PhysicsVector Size
|
||||
{
|
||||
get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
|
||||
set
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
PhysicsVector SetSize = value;
|
||||
float prevCapsule = CAPSULE_LENGTH;
|
||||
float capsuleradius = CAPSULE_RADIUS;
|
||||
capsuleradius = 0.2f;
|
||||
|
||||
CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * 0.43f))); // subtract 43% of the size
|
||||
d.BodyDestroy(Body);
|
||||
d.GeomDestroy(Shell);
|
||||
//OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
|
||||
Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
|
||||
d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
d.BodySetMass(Body, ref ShellMass);
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
|
||||
d.GeomSetBody(Shell, Body);
|
||||
}
|
||||
_parent_scene.geom_name_map[Shell] = m_name;
|
||||
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
|
||||
}
|
||||
}
|
||||
|
||||
public override PrimitiveBaseShape Shape
|
||||
{
|
||||
set
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
set { _target_velocity = value; }
|
||||
}
|
||||
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return false; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Quaternion Orientation
|
||||
{
|
||||
get { return Quaternion.Identity; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override PhysicsVector Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
public void SetAcceleration(PhysicsVector accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
}
|
||||
|
||||
public override void AddForce(PhysicsVector force)
|
||||
{
|
||||
|
||||
_target_velocity.X += force.X;
|
||||
_target_velocity.Y += force.Y;
|
||||
_target_velocity.Z += force.Z;
|
||||
|
||||
//m_lastUpdateSent = false;
|
||||
}
|
||||
public void doForce(PhysicsVector force)
|
||||
{
|
||||
if (!collidelock)
|
||||
{
|
||||
d.BodyAddForce(Body, force.X, force.Y, force.Z);
|
||||
|
||||
// ok -- let's stand up straight!
|
||||
d.Vector3 feet;
|
||||
d.Vector3 head;
|
||||
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
|
||||
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
|
||||
float posture = head.Z - feet.Z;
|
||||
|
||||
// restoring force proportional to lack of posture:
|
||||
float servo = (2.5f - posture) * POSTURE_SERVO;
|
||||
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
|
||||
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
|
||||
//m_lastUpdateSent = false;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
public override void SetMomentum(PhysicsVector momentum)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public void Move(float timeStep)
|
||||
{
|
||||
// no lock; for now it's only called from within Simulate()
|
||||
PhysicsVector vec = new PhysicsVector();
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
float movementdivisor = 1f;
|
||||
|
||||
if (!m_alwaysRun)
|
||||
{
|
||||
movementdivisor = 1.3f;
|
||||
}
|
||||
else
|
||||
{
|
||||
movementdivisor = 0.8f;
|
||||
|
||||
}
|
||||
|
||||
// if velocity is zero, use position control; otherwise, velocity control
|
||||
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f && m_iscolliding)
|
||||
{
|
||||
// keep track of where we stopped. No more slippin' & slidin'
|
||||
if (!_zeroFlag)
|
||||
{
|
||||
_zeroFlag = true;
|
||||
_zeroPosition = d.BodyGetPosition(Body);
|
||||
}
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
|
||||
vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
|
||||
if (flying)
|
||||
{
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
_zeroFlag = false;
|
||||
if (m_iscolliding || flying)
|
||||
{
|
||||
|
||||
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * PID_D;
|
||||
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * PID_D;
|
||||
}
|
||||
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
|
||||
{
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
||||
if (_target_velocity.X > 0)
|
||||
{
|
||||
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
||||
}
|
||||
if (_target_velocity.Y > 0)
|
||||
{
|
||||
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
||||
}
|
||||
}
|
||||
else if (!m_iscolliding && !flying)
|
||||
{
|
||||
d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
if (_target_velocity.X > 0)
|
||||
{
|
||||
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
|
||||
}
|
||||
if (_target_velocity.Y > 0)
|
||||
{
|
||||
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (flying)
|
||||
{
|
||||
vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
|
||||
}
|
||||
}
|
||||
if (flying)
|
||||
{
|
||||
vec.Z += 10.0f;
|
||||
}
|
||||
|
||||
|
||||
doForce(vec);
|
||||
}
|
||||
|
||||
public void UpdatePositionAndVelocity()
|
||||
{
|
||||
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
||||
d.Vector3 vec = d.BodyGetPosition(Body);
|
||||
|
||||
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
||||
if (vec.X < 0.0f) vec.X = 0.0f;
|
||||
if (vec.Y < 0.0f) vec.Y = 0.0f;
|
||||
if (vec.X > 255.95f) vec.X = 255.95f;
|
||||
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
||||
|
||||
_position.X = vec.X;
|
||||
_position.Y = vec.Y;
|
||||
_position.Z = vec.Z;
|
||||
|
||||
if (_zeroFlag)
|
||||
{
|
||||
_velocity.X = 0.0f;
|
||||
_velocity.Y = 0.0f;
|
||||
_velocity.Z = 0.0f;
|
||||
if (!m_lastUpdateSent)
|
||||
{
|
||||
m_lastUpdateSent = true;
|
||||
base.RequestPhysicsterseUpdate();
|
||||
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
||||
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
||||
if (primScenAvatarIn == "0")
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
}
|
||||
else
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
m_lastUpdateSent = false;
|
||||
vec = d.BodyGetLinearVel(Body);
|
||||
_velocity.X = (vec.X);
|
||||
_velocity.Y = (vec.Y);
|
||||
|
||||
_velocity.Z = (vec.Z);
|
||||
if (_velocity.Z < -6 && !m_hackSentFall)
|
||||
{
|
||||
m_hackSentFall = true;
|
||||
base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
else if (flying && !m_hackSentFly)
|
||||
{
|
||||
//m_hackSentFly = true;
|
||||
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
}
|
||||
else
|
||||
{
|
||||
m_hackSentFly = false;
|
||||
m_hackSentFall = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Destroy()
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
d.GeomDestroy(Shell);
|
||||
_parent_scene.geom_name_map.Remove(Shell);
|
||||
d.BodyDestroy(Body);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,686 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using Axiom.Math;
|
||||
using Ode.NET;
|
||||
using OpenSim.Framework;
|
||||
using OpenSim.Region.Physics.Manager;
|
||||
|
||||
namespace OpenSim.Region.Physics.OdePlugin
|
||||
{
|
||||
|
||||
public class OdePrim : PhysicsActor
|
||||
{
|
||||
public PhysicsVector _position;
|
||||
private PhysicsVector _velocity;
|
||||
private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
|
||||
private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
|
||||
private PhysicsVector m_rotationalVelocity;
|
||||
private PhysicsVector _size;
|
||||
private PhysicsVector _acceleration;
|
||||
private Quaternion _orientation;
|
||||
private PhysicsVector m_taintposition;
|
||||
private PhysicsVector m_taintsize;
|
||||
private Quaternion m_taintrot;
|
||||
private bool m_taintshape = false;
|
||||
private bool m_taintPhysics = false;
|
||||
public bool m_taintremove = false;
|
||||
|
||||
private IMesh _mesh;
|
||||
private PrimitiveBaseShape _pbs;
|
||||
private OdeScene _parent_scene;
|
||||
public IntPtr m_targetSpace = (IntPtr)0;
|
||||
public IntPtr prim_geom;
|
||||
public IntPtr _triMeshData;
|
||||
private bool iscolliding = false;
|
||||
private bool m_isphysical = false;
|
||||
private bool m_throttleUpdates = false;
|
||||
private int throttleCounter = 0;
|
||||
public bool outofBounds = false;
|
||||
|
||||
public bool _zeroFlag = false;
|
||||
private bool m_lastUpdateSent = false;
|
||||
|
||||
public IntPtr Body = (IntPtr)0;
|
||||
private String m_primName;
|
||||
private PhysicsVector _target_velocity;
|
||||
public d.Mass pMass;
|
||||
private const float MassMultiplier = 150f; // Ref: Water: 1000kg.. this iset to 500
|
||||
private int debugcounter = 0;
|
||||
|
||||
|
||||
public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
|
||||
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
|
||||
{
|
||||
|
||||
|
||||
_velocity = new PhysicsVector();
|
||||
_position = pos;
|
||||
m_taintposition = pos;
|
||||
if (_position.X > 257)
|
||||
{
|
||||
_position.X = 257;
|
||||
}
|
||||
if (_position.X < 0)
|
||||
{
|
||||
_position.X = 0;
|
||||
}
|
||||
if (_position.Y > 257)
|
||||
{
|
||||
_position.Y = 257;
|
||||
}
|
||||
if (_position.Y < 0)
|
||||
{
|
||||
_position.Y = 0;
|
||||
}
|
||||
|
||||
_size = size;
|
||||
m_taintsize = _size;
|
||||
_acceleration = new PhysicsVector();
|
||||
m_rotationalVelocity = PhysicsVector.Zero;
|
||||
_orientation = rotation;
|
||||
m_taintrot = _orientation;
|
||||
_mesh = mesh;
|
||||
_pbs = pbs;
|
||||
|
||||
_parent_scene = parent_scene;
|
||||
m_targetSpace = targetSpace;
|
||||
|
||||
if (pos.Z < 0)
|
||||
m_isphysical = false;
|
||||
else
|
||||
{
|
||||
m_isphysical = pisPhysical;
|
||||
// If we're physical, we need to be in the master space for now.
|
||||
// linksets *should* be in a space together.. but are not currently
|
||||
if (m_isphysical)
|
||||
m_targetSpace = _parent_scene.space;
|
||||
|
||||
}
|
||||
m_primName = primName;
|
||||
|
||||
|
||||
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
if (mesh != null)
|
||||
{
|
||||
setMesh(parent_scene, mesh);
|
||||
}
|
||||
else
|
||||
{
|
||||
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
||||
}
|
||||
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = rotation.w;
|
||||
myrot.X = rotation.x;
|
||||
myrot.Y = rotation.y;
|
||||
myrot.Z = rotation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
|
||||
if (m_isphysical && Body == (IntPtr)0)
|
||||
{
|
||||
enableBody();
|
||||
}
|
||||
parent_scene.geom_name_map[prim_geom] = primName;
|
||||
parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
|
||||
// don't do .add() here; old geoms get recycled with the same hash
|
||||
}
|
||||
}
|
||||
public override int PhysicsActorType
|
||||
{
|
||||
get { return (int)ActorTypes.Prim; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool SetAlwaysRun
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public void enableBody()
|
||||
{
|
||||
// Sets the geom to a body
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
|
||||
setMass();
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.BodySetQuaternion(Body, ref myrot);
|
||||
d.GeomSetBody(prim_geom, Body);
|
||||
d.BodySetAutoDisableFlag(Body, true);
|
||||
d.BodySetAutoDisableSteps(Body, 20);
|
||||
|
||||
_parent_scene.addActivePrim(this);
|
||||
}
|
||||
public void setMass()
|
||||
{
|
||||
//Sets Mass based on member MassMultiplier.
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);
|
||||
d.BodySetMass(Body, ref pMass);
|
||||
}
|
||||
}
|
||||
public void disableBody()
|
||||
{
|
||||
//this kills the body so things like 'mesh' can re-create it.
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
_parent_scene.remActivePrim(this);
|
||||
d.BodyDestroy(Body);
|
||||
Body = (IntPtr)0;
|
||||
}
|
||||
}
|
||||
public void setMesh(OdeScene parent_scene, IMesh mesh)
|
||||
{
|
||||
//Kill Body so that mesh can re-make the geom
|
||||
if (IsPhysical && Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
|
||||
int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
|
||||
int VertexCount = vertexList.GetLength(0) / 3;
|
||||
int IndexCount = indexList.GetLength(0);
|
||||
|
||||
_triMeshData = d.GeomTriMeshDataCreate();
|
||||
|
||||
d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount,
|
||||
3 * sizeof(int));
|
||||
d.GeomTriMeshDataPreprocess(_triMeshData);
|
||||
|
||||
prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);
|
||||
|
||||
if (IsPhysical && Body == (IntPtr)0)
|
||||
{
|
||||
// Recreate the body
|
||||
enableBody();
|
||||
}
|
||||
}
|
||||
public void ProcessTaints(float timestep)
|
||||
{
|
||||
if (m_taintposition != _position)
|
||||
Move(timestep);
|
||||
|
||||
if (m_taintrot != _orientation)
|
||||
rotate(timestep);
|
||||
//
|
||||
|
||||
if (m_taintPhysics != m_isphysical)
|
||||
changePhysicsStatus(timestep);
|
||||
//
|
||||
|
||||
if (m_taintsize != _size)
|
||||
changesize(timestep);
|
||||
//
|
||||
|
||||
if (m_taintshape)
|
||||
changeshape(timestep);
|
||||
//
|
||||
|
||||
}
|
||||
public void Move(float timestep)
|
||||
{
|
||||
if (m_isphysical)
|
||||
{
|
||||
// This is a fallback.. May no longer be necessary.
|
||||
if (Body == (IntPtr)0)
|
||||
enableBody();
|
||||
//Prim auto disable after 20 frames,
|
||||
///if you move it, re-enable the prim manually.
|
||||
d.BodyEnable(Body);
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
}
|
||||
else
|
||||
{
|
||||
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
||||
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
||||
if (primScenAvatarIn == "0")
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in space with no prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + " . Arr:': " + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
}
|
||||
else
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in Prim space with prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
}
|
||||
m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.SpaceAdd(m_targetSpace, prim_geom);
|
||||
}
|
||||
|
||||
m_taintposition = _position;
|
||||
}
|
||||
public void rotate(float timestep)
|
||||
{
|
||||
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
if (m_isphysical && Body != (IntPtr)0)
|
||||
{
|
||||
d.BodySetQuaternion(Body, ref myrot);
|
||||
}
|
||||
|
||||
m_taintrot = _orientation;
|
||||
}
|
||||
public void changePhysicsStatus(float timestap)
|
||||
{
|
||||
if (m_isphysical == true)
|
||||
{
|
||||
if (Body == (IntPtr)0)
|
||||
{
|
||||
enableBody();
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
m_taintPhysics = m_isphysical;
|
||||
}
|
||||
public void changesize(float timestamp)
|
||||
{
|
||||
string oldname = _parent_scene.geom_name_map[prim_geom];
|
||||
|
||||
// Cleanup of old prim geometry
|
||||
if (_mesh != null)
|
||||
{
|
||||
// Cleanup meshing here
|
||||
}
|
||||
//kill body to rebuild
|
||||
if (IsPhysical && Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
if (d.SpaceQuery(m_targetSpace, prim_geom))
|
||||
{
|
||||
d.SpaceRemove(m_targetSpace, prim_geom);
|
||||
}
|
||||
d.GeomDestroy(prim_geom);
|
||||
|
||||
// we don't need to do space calculation because the client sends a position update also.
|
||||
|
||||
// Construction of new prim
|
||||
if (this._parent_scene.needsMeshing(_pbs))
|
||||
{
|
||||
|
||||
|
||||
// Don't need to re-enable body.. it's done in SetMesh
|
||||
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
||||
// createmesh returns null when it's a shape that isn't a cube.
|
||||
if (mesh != null)
|
||||
{
|
||||
setMesh(_parent_scene, mesh);
|
||||
}
|
||||
else
|
||||
{
|
||||
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
|
||||
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
||||
if (IsPhysical && Body == (IntPtr)0)
|
||||
{
|
||||
// Re creates body on size.
|
||||
// EnableBody also does setMass()
|
||||
enableBody();
|
||||
d.BodyEnable(Body);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
_parent_scene.geom_name_map[prim_geom] = oldname;
|
||||
|
||||
|
||||
m_taintsize = _size;
|
||||
}
|
||||
public void changeshape(float timestamp)
|
||||
{
|
||||
string oldname = _parent_scene.geom_name_map[prim_geom];
|
||||
|
||||
// Cleanup of old prim geometry and Bodies
|
||||
if (IsPhysical && Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
d.GeomDestroy(prim_geom);
|
||||
if (_mesh != null)
|
||||
{
|
||||
|
||||
d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
||||
|
||||
}
|
||||
|
||||
// Construction of new prim
|
||||
if (this._parent_scene.needsMeshing(_pbs))
|
||||
{
|
||||
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
||||
if (mesh != null)
|
||||
{
|
||||
setMesh(_parent_scene, mesh);
|
||||
}
|
||||
else
|
||||
{
|
||||
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
||||
}
|
||||
if (IsPhysical && Body == (IntPtr)0)
|
||||
{
|
||||
//re-create new body
|
||||
enableBody();
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
}
|
||||
_parent_scene.geom_name_map[prim_geom] = oldname;
|
||||
|
||||
|
||||
|
||||
|
||||
m_taintshape = false;
|
||||
}
|
||||
public override bool IsPhysical
|
||||
{
|
||||
get { return m_isphysical; }
|
||||
set { m_isphysical = value; }
|
||||
}
|
||||
public void setPrimForRemoval()
|
||||
{
|
||||
m_taintremove = true;
|
||||
}
|
||||
|
||||
public override bool Flying
|
||||
{
|
||||
get
|
||||
{
|
||||
return false; //no flying prims for you
|
||||
}
|
||||
set { }
|
||||
}
|
||||
|
||||
public override bool IsColliding
|
||||
{
|
||||
get { return iscolliding; }
|
||||
set { iscolliding = value; }
|
||||
}
|
||||
public override bool CollidingGround
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool CollidingObj
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
public override bool ThrottleUpdates
|
||||
{
|
||||
get { return m_throttleUpdates; }
|
||||
set { m_throttleUpdates = value; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Position
|
||||
{
|
||||
get { return _position; }
|
||||
|
||||
|
||||
set
|
||||
{
|
||||
_position = value;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector Size
|
||||
{
|
||||
get { return _size; }
|
||||
set
|
||||
{
|
||||
_size = value;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public override PrimitiveBaseShape Shape
|
||||
{
|
||||
set
|
||||
{
|
||||
_pbs = value;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector Velocity
|
||||
{
|
||||
get
|
||||
{
|
||||
// Averate previous velocity with the new one so
|
||||
// client object interpolation works a 'little' better
|
||||
PhysicsVector returnVelocity = new PhysicsVector();
|
||||
returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
|
||||
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
|
||||
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
|
||||
return returnVelocity;
|
||||
}
|
||||
set { _velocity = value; }
|
||||
}
|
||||
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return false; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override Quaternion Orientation
|
||||
{
|
||||
get { return _orientation; }
|
||||
set
|
||||
{
|
||||
_orientation = value;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
|
||||
public void SetAcceleration(PhysicsVector accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
}
|
||||
|
||||
public override void AddForce(PhysicsVector force)
|
||||
{
|
||||
}
|
||||
|
||||
public override PhysicsVector RotationalVelocity
|
||||
{
|
||||
get { return m_rotationalVelocity; }
|
||||
set { m_rotationalVelocity = value; }
|
||||
}
|
||||
|
||||
public void UpdatePositionAndVelocity()
|
||||
{
|
||||
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
||||
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
d.Vector3 vec = d.BodyGetPosition(Body);
|
||||
d.Quaternion ori = d.BodyGetQuaternion(Body);
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
|
||||
|
||||
PhysicsVector l_position = new PhysicsVector();
|
||||
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
||||
if (vec.X < 0.0f) vec.X = 0.0f;
|
||||
if (vec.Y < 0.0f) vec.Y = 0.0f;
|
||||
if (vec.X > 255.95f) vec.X = 255.95f;
|
||||
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
||||
m_lastposition = _position;
|
||||
|
||||
l_position.X = vec.X;
|
||||
l_position.Y = vec.Y;
|
||||
l_position.Z = vec.Z;
|
||||
if (l_position.Z < 0)
|
||||
{
|
||||
// This is so prim that get lost underground don't fall forever and suck up
|
||||
//
|
||||
// Sim resources and memory.
|
||||
// Disables the prim's movement physics....
|
||||
// It's a hack and will generate a console message if it fails.
|
||||
|
||||
|
||||
|
||||
|
||||
//IsPhysical = false;
|
||||
base.RaiseOutOfBounds(_position);
|
||||
_velocity.X = 0;
|
||||
_velocity.Y = 0;
|
||||
_velocity.Z = 0;
|
||||
m_rotationalVelocity.X = 0;
|
||||
m_rotationalVelocity.Y = 0;
|
||||
m_rotationalVelocity.Z = 0;
|
||||
base.RequestPhysicsterseUpdate();
|
||||
m_throttleUpdates = false;
|
||||
throttleCounter = 0;
|
||||
_zeroFlag = true;
|
||||
//outofBounds = true;
|
||||
}
|
||||
|
||||
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
|
||||
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
|
||||
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02))
|
||||
{
|
||||
|
||||
_zeroFlag = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
//System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString());
|
||||
_zeroFlag = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (_zeroFlag)
|
||||
{
|
||||
// Supposedly this is supposed to tell SceneObjectGroup that
|
||||
// no more updates need to be sent..
|
||||
// but it seems broken.
|
||||
_velocity.X = 0.0f;
|
||||
_velocity.Y = 0.0f;
|
||||
_velocity.Z = 0.0f;
|
||||
//_orientation.w = 0f;
|
||||
//_orientation.x = 0f;
|
||||
//_orientation.y = 0f;
|
||||
//_orientation.z = 0f;
|
||||
m_rotationalVelocity.X = 0;
|
||||
m_rotationalVelocity.Y = 0;
|
||||
m_rotationalVelocity.Z = 0;
|
||||
if (!m_lastUpdateSent)
|
||||
{
|
||||
m_throttleUpdates = false;
|
||||
throttleCounter = 0;
|
||||
base.RequestPhysicsterseUpdate();
|
||||
m_lastUpdateSent = true;
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
m_lastVelocity = _velocity;
|
||||
|
||||
_position = l_position;
|
||||
|
||||
_velocity.X = vel.X;
|
||||
_velocity.Y = vel.Y;
|
||||
_velocity.Z = vel.Z;
|
||||
|
||||
m_rotationalVelocity.X = rotvel.X;
|
||||
m_rotationalVelocity.Y = rotvel.Y;
|
||||
m_rotationalVelocity.Z = rotvel.Z;
|
||||
//System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
|
||||
_orientation.w = ori.W;
|
||||
_orientation.x = ori.X;
|
||||
_orientation.y = ori.Y;
|
||||
_orientation.z = ori.Z;
|
||||
m_lastUpdateSent = false;
|
||||
if (!m_throttleUpdates || throttleCounter > 15)
|
||||
{
|
||||
base.RequestPhysicsterseUpdate();
|
||||
}
|
||||
else
|
||||
{
|
||||
throttleCounter++;
|
||||
}
|
||||
}
|
||||
m_lastposition = l_position;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Not a body.. so Make sure the client isn't interpolating
|
||||
_velocity.X = 0;
|
||||
_velocity.Y = 0;
|
||||
_velocity.Z = 0;
|
||||
m_rotationalVelocity.X = 0;
|
||||
m_rotationalVelocity.Y = 0;
|
||||
m_rotationalVelocity.Z = 0;
|
||||
_zeroFlag = true;
|
||||
}
|
||||
|
||||
}
|
||||
public override void SetMomentum(PhysicsVector momentum)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue