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* Implements the torque/Rotational Impulse methods in the PhysicsAPI and the ODEPlugin and pipes them to their respective LSL method. 

* NBody will need to be updated, this is an API change.   Torque property and AddAngularForce
0.6.1-post-fixes
Teravus Ovares 2008-12-14 14:30:28 +00:00
parent 795cdf624b
commit 8ad6f575eb
11 changed files with 287 additions and 8 deletions
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58
OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
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@ -1466,6 +1466,64 @@ namespace OpenSim.Region.Environment.Scenes
}
}
public void applyAngularImpulse(PhysicsVector impulse)
{
// We check if rootpart is null here because scripts don't delete if you delete the host.
// This means that unfortunately, we can pass a null physics actor to Simulate!
// Make sure we don't do that!
SceneObjectPart rootpart = m_rootPart;
if (rootpart != null)
{
if (rootpart.PhysActor != null)
{
if (!IsAttachment)
{
rootpart.PhysActor.AddAngularForce(impulse, true);
m_scene.PhysicsScene.AddPhysicsActorTaint(rootpart.PhysActor);
}
}
}
}
public void setAngularImpulse(PhysicsVector impulse)
{
// We check if rootpart is null here because scripts don't delete if you delete the host.
// This means that unfortunately, we can pass a null physics actor to Simulate!
// Make sure we don't do that!
SceneObjectPart rootpart = m_rootPart;
if (rootpart != null)
{
if (rootpart.PhysActor != null)
{
if (!IsAttachment)
{
rootpart.PhysActor.Torque = impulse;
m_scene.PhysicsScene.AddPhysicsActorTaint(rootpart.PhysActor);
}
}
}
}
public Vector3 GetTorque()
{
// We check if rootpart is null here because scripts don't delete if you delete the host.
// This means that unfortunately, we can pass a null physics actor to Simulate!
// Make sure we don't do that!
SceneObjectPart rootpart = m_rootPart;
if (rootpart != null)
{
if (rootpart.PhysActor != null)
{
if (!IsAttachment)
{
PhysicsVector torque = rootpart.PhysActor.Torque;
return new Vector3(torque.X, torque.Y, torque.Z);
}
}
}
return Vector3.Zero;
}
public void moveToTarget(Vector3 target, float tau)
{
SceneObjectPart rootpart = m_rootPart;

62
OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
View File

@ -1180,6 +1180,68 @@ if (m_shape != null) {
}
}
/// <summary>
/// hook to the physics scene to apply angular impulse
/// This is sent up to the group, which then finds the root prim
/// and applies the force on the root prim of the group
/// </summary>
/// <param name="impulsei">Vector force</param>
/// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
public void ApplyAngularImpulse(Vector3 impulsei, bool localGlobalTF)
{
PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
if (localGlobalTF)
{
Quaternion grot = GetWorldRotation();
Quaternion AXgrot = grot;
Vector3 AXimpulsei = impulsei;
Vector3 newimpulse = AXimpulsei * AXgrot;
impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
}
if (m_parentGroup != null)
{
m_parentGroup.applyAngularImpulse(impulse);
}
}
/// <summary>
/// hook to the physics scene to apply angular impulse
/// This is sent up to the group, which then finds the root prim
/// and applies the force on the root prim of the group
/// </summary>
/// <param name="impulsei">Vector force</param>
/// <param name="localGlobalTF">true for the local frame, false for the global frame</param>
public void SetAngularImpulse(Vector3 impulsei, bool localGlobalTF)
{
PhysicsVector impulse = new PhysicsVector(impulsei.X, impulsei.Y, impulsei.Z);
if (localGlobalTF)
{
Quaternion grot = GetWorldRotation();
Quaternion AXgrot = grot;
Vector3 AXimpulsei = impulsei;
Vector3 newimpulse = AXimpulsei * AXgrot;
impulse = new PhysicsVector(newimpulse.X, newimpulse.Y, newimpulse.Z);
}
if (m_parentGroup != null)
{
m_parentGroup.setAngularImpulse(impulse);
}
}
public Vector3 GetTorque()
{
if (m_parentGroup != null)
{
m_parentGroup.GetTorque();
}
return Vector3.Zero;
}
/// <summary>
/// Apply physics to this part.
/// </summary>

10
OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
View File

@ -381,6 +381,12 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
set { _velocity = value; }
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
@ -426,6 +432,10 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
{
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}

8
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
View File

@ -1134,6 +1134,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public override void AddForce(PhysicsVector force, bool pushforce)
{
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override void SetMomentum(PhysicsVector momentum)
{

13
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -185,6 +185,7 @@ namespace OpenSim.Region.Physics.Manager
public abstract PhysicsVector GeometricCenter { get; }
public abstract PhysicsVector CenterOfMass { get; }
public abstract PhysicsVector Velocity { get; set; }
public abstract PhysicsVector Torque { get; set; }
public abstract float CollisionScore { get; set;}
public abstract PhysicsVector Acceleration { get; }
public abstract Quaternion Orientation { get; set; }
@ -204,6 +205,7 @@ namespace OpenSim.Region.Physics.Manager
public abstract bool PIDActive { set;}
public abstract float PIDTau { set; }
public abstract void AddForce(PhysicsVector force, bool pushforce);
public abstract void AddAngularForce(PhysicsVector force, bool pushforce);
public abstract void SetMomentum(PhysicsVector momentum);
public abstract void SubscribeEvents(int ms);
public abstract void UnSubscribeEvents();
@ -331,6 +333,12 @@ namespace OpenSim.Region.Physics.Manager
set { return; }
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
@ -404,6 +412,11 @@ namespace OpenSim.Region.Physics.Manager
{
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override PhysicsVector RotationalVelocity
{
get { return PhysicsVector.Zero; }

11
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -605,6 +605,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
@ -665,6 +671,11 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_lastUpdateSent = false;
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
/// <summary>
/// After all of the forces add up with 'add force' we apply them with doForce
/// </summary>

81
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -47,6 +47,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _torque = new PhysicsVector(0,0,0);
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;
@ -56,7 +57,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private Quaternion _orientation;
private PhysicsVector m_taintposition;
private PhysicsVector m_taintsize;
private PhysicsVector m_taintVelocity = PhysicsVector.Zero;
private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
private Quaternion m_taintrot;
private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
@ -102,8 +104,10 @@ namespace OpenSim.Region.Physics.OdePlugin
private CollisionLocker ode;
private bool m_taintforce = false;
private bool m_taintaddangularforce = false;
private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
private IMesh _mesh;
private PrimitiveBaseShape _pbs;
@ -838,6 +842,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintforce)
changeAddForce(timestep);
if (m_taintaddangularforce)
changeAddAngularForce(timestep);
if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
changeSetTorque(timestep);
if (m_taintdisable)
changedisable(timestep);
@ -2058,6 +2068,49 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void changeSetTorque(float timestamp)
{
if (!m_isSelected)
{
if (IsPhysical && Body != IntPtr.Zero)
{
d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
}
}
m_taintTorque = new PhysicsVector(0, 0, 0);
}
public void changeAddAngularForce(float timestamp)
{
if (!m_isSelected)
{
lock (m_angularforcelist)
{
//m_log.Info("[PHYSICS]: dequeing forcelist");
if (IsPhysical)
{
PhysicsVector iforce = new PhysicsVector();
for (int i = 0; i < m_angularforcelist.Count; i++)
{
iforce = iforce + (m_angularforcelist[i] * 100);
}
d.BodyEnable(Body);
d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z);
}
m_angularforcelist.Clear();
}
m_collisionscore = 0;
m_interpenetrationcount = 0;
}
m_taintaddangularforce = false;
}
private void changevelocity(float timestep)
{
if (!m_isSelected)
@ -2216,6 +2269,23 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector Torque
{
get
{
if (!m_isphysical || Body == IntPtr.Zero)
return new PhysicsVector(0,0,0);
return _torque;
}
set
{
m_taintTorque = value;
_parent_scene.AddPhysicsActorTaint(this);
}
}
public override float CollisionScore
{
get { return m_collisionscore; }
@ -2252,6 +2322,12 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
m_angularforcelist.Add(force);
m_taintaddangularforce = true;
}
public override PhysicsVector RotationalVelocity
{
get
@ -2323,7 +2399,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Quaternion ori = d.BodyGetQuaternion(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
d.Vector3 torque = d.BodyGetTorque(Body);
_torque.setValues(torque.X, torque.Y, torque.Z);
PhysicsVector l_position = new PhysicsVector();
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)

10
OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
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@ -211,6 +211,12 @@ namespace OpenSim.Region.Physics.POSPlugin
set { _target_velocity = value; }
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
@ -255,6 +261,10 @@ namespace OpenSim.Region.Physics.POSPlugin
{
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}

10
OpenSim/Region/Physics/POSPlugin/POSPrim.cs
View File

@ -211,6 +211,16 @@ namespace OpenSim.Region.Physics.POSPlugin
{
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override void SetMomentum(PhysicsVector momentum)
{
}

18
OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
View File

@ -417,6 +417,14 @@ namespace OpenSim.Region.Physics.PhysXPlugin
public override void AddForce(PhysicsVector force, bool pushforce)
{
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override void link(PhysicsActor obj)
{
@ -625,6 +633,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
set { _velocity = value; }
}
public override PhysicsVector Torque
{
get { return PhysicsVector.Zero; }
set { return; }
}
public override float CollisionScore
{
get { return 0f; }
@ -666,6 +680,10 @@ namespace OpenSim.Region.Physics.PhysXPlugin
{
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}

12
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@ -1951,26 +1951,28 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
public void llApplyRotationalImpulse(LSL_Vector force, int local)
{
m_host.AddScriptLPS(1);
NotImplemented("llApplyRotationalImpulse");
m_host.ApplyAngularImpulse(new Vector3((float)force.x, (float)force.y, (float)force.z), local != 0);
}
public void llSetTorque(LSL_Vector torque, int local)
{
m_host.AddScriptLPS(1);
NotImplemented("llSetTorque");
m_host.SetAngularImpulse(new Vector3((float)torque.x, (float)torque.y, (float)torque.z), local != 0);
}
public LSL_Vector llGetTorque()
{
m_host.AddScriptLPS(1);
NotImplemented("llGetTorque");
return new LSL_Vector();
Vector3 torque = m_host.GetTorque();
return new LSL_Vector(torque.X,torque.Y,torque.Z);
}
public void llSetForceAndTorque(LSL_Vector force, LSL_Vector torque, int local)
{
m_host.AddScriptLPS(1);
NotImplemented("llSetForceAndTorque");
llSetForce(force, local);
llSetTorque(torque, local);
}
public LSL_Vector llGetVel()