OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

* Split out the ODEPlugin Nested classes.

afrisby
Teravus Ovares 2007-12-04 02:51:09 +00:00
parent 14d0a2ac74
commit 4f05347246
3 changed files with 1166 additions and 1139 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

477
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs Normal file
View File

@ -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);
}
}
}
}

686
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs Normal file
View File

@ -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)
{
}
}
}

1142
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

File diff suppressed because it is too large Load Diff