* BulletDotNET Updates.
* Should react somewhat normally to editing, and setting physics now.0.6.5-rc1
Teravus Ovares
parent
39f5dd1973
commit
9459b16cc2
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@ -178,6 +178,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private btTransform tempTransform3;
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private btTransform tempTransform4;
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private btTriangleIndexVertexArray btshapeArray;
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private bool forceenable = false;
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public btRigidBody Body;
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@ -722,6 +723,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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if (m_taintadd)
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{
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m_log.Debug("[PHYSICS]: TaintAdd");
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changeadd(timestep);
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}
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@ -733,55 +735,91 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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SetBody(Mass);
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else
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SetBody(0);
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m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
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}
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if (!_position.IsIdentical(m_taintposition, 0f))
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{
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m_log.Debug("[PHYSICS]: TaintMove");
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changemove(timestep);
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}
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if (m_taintrot != _orientation)
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{
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m_log.Debug("[PHYSICS]: TaintRotate");
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rotate(timestep);
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//
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} //
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if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
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{
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m_log.Debug("[PHYSICS]: TaintPhysics");
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changePhysicsStatus(timestep);
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}
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//
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if (!_size.IsIdentical(m_taintsize, 0))
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{
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m_log.Debug("[PHYSICS]: TaintSize");
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changesize(timestep);
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}
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//
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if (m_taintshape)
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{
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m_log.Debug("[PHYSICS]: TaintShape");
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changeshape(timestep);
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//
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} //
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if (m_taintforce)
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{
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m_log.Debug("[PHYSICS]: TaintForce");
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changeAddForce(timestep);
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}
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if (m_taintaddangularforce)
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{
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m_log.Debug("[PHYSICS]: TaintAngularForce");
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changeAddAngularForce(timestep);
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}
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if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
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{
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m_log.Debug("[PHYSICS]: TaintTorque");
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changeSetTorque(timestep);
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}
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if (m_taintdisable)
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{
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m_log.Debug("[PHYSICS]: TaintDisable");
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changedisable(timestep);
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}
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if (m_taintselected != m_isSelected)
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{
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m_log.Debug("[PHYSICS]: TaintSelected");
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changeSelectedStatus(timestep);
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}
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if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
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{
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m_log.Debug("[PHYSICS]: TaintVelocity");
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changevelocity(timestep);
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}
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if (m_taintparent != _parent)
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{
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m_log.Debug("[PHYSICS]: TaintLink");
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changelink(timestep);
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}
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if (m_taintCollidesWater != m_collidesWater)
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{
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changefloatonwater(timestep);
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}
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if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
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{
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m_log.Debug("[PHYSICS]: TaintAngularLock");
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changeAngularLock(timestep);
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}
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if (m_taintremove)
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{
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DisposeOfBody();
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Dispose();
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}
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}
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@ -789,19 +827,41 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void changeadd(float timestep)
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{
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if (_mesh == null)
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//SetCollisionShape(null);
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// Construction of new prim
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if (Body != null)
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{
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if (Body.Handle != IntPtr.Zero)
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{
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_parent_scene.removeFromWorld(this, Body);
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//Body.Dispose();
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}
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//Body = null;
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// TODO: dispose parts that make up body
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}
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if (_parent_scene.needsMeshing(_pbs))
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{
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// Don't need to re-enable body.. it's done in SetMesh
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_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
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// createmesh returns null when it's a shape that isn't a cube.
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}
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}
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CreateGeom(IntPtr.Zero, primMesh);
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float meshlod = _parent_scene.meshSculptLOD;
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enableBody();
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changeSelectedStatus(timestep);
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if (IsPhysical)
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meshlod = _parent_scene.MeshSculptphysicalLOD;
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IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
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// createmesh returns null when it doesn't mesh.
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CreateGeom(IntPtr.Zero, mesh);
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}
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else
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{
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_mesh = null;
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CreateGeom(IntPtr.Zero, null);
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}
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if (IsPhysical)
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SetBody(Mass);
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else
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SetBody(0);
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//changeSelectedStatus(timestep);
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m_taintadd = false;
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}
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@ -809,7 +869,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void changemove(float timestep)
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{
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m_log.Debug("[PHYSICS]: _________ChangeMove");
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tempTransform2 = Body.getWorldTransform();
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btQuaternion quat = tempTransform2.getRotation();
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tempPosition2.setValue(_position.X, _position.Y, _position.Z);
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@ -825,7 +885,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void rotate(float timestep)
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{
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m_log.Debug("[PHYSICS]: _________ChangeRotate");
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tempTransform2 = Body.getWorldTransform();
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tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
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tempTransform2.setRotation(tempOrientation2);
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@ -837,8 +897,39 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void changePhysicsStatus(float timestep)
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{
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if (Body != null)
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{
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if (Body.Handle != IntPtr.Zero)
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{
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_parent_scene.removeFromWorld(this, Body);
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//Body.Dispose();
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}
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//Body = null;
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// TODO: dispose parts that make up body
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}
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m_log.Debug("[PHYSICS]: _________ChangePhysics");
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if (_parent_scene.needsMeshing(_pbs))
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{
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// Don't need to re-enable body.. it's done in SetMesh
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float meshlod = _parent_scene.meshSculptLOD;
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if (IsPhysical)
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meshlod = _parent_scene.MeshSculptphysicalLOD;
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IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
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// createmesh returns null when it doesn't mesh.
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CreateGeom(IntPtr.Zero, mesh);
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}
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else
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{
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_mesh = null;
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CreateGeom(IntPtr.Zero, null);
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}
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SetCollisionShape(prim_geom);
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if (m_isphysical)
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SetBody(Mass);
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else
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SetBody(0);
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changeSelectedStatus(timestep);
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resetCollisionAccounting();
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@ -847,31 +938,36 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void changesize(float timestep)
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{
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if (Body != null)
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{
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if (Body.Handle != IntPtr.Zero)
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{
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_parent_scene.removeFromWorld(this, Body);
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//Body.Dispose();
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}
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//Body = null;
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// TODO: dispose parts that make up body
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}
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m_log.Debug("[PHYSICS]: _________ChangeSize");
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SetCollisionShape(null);
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// Construction of new prim
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if (_parent_scene.needsMeshing(_pbs))
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{
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// Don't need to re-enable body.. it's done in SetMesh
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float meshlod = _parent_scene.meshSculptLOD;
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if (IsPhysical)
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meshlod = _parent_scene.MeshSculptphysicalLOD;
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// Don't need to re-enable body.. it's done in SetMesh
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IMesh mesh = null;
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if (_parent_scene.needsMeshing(_pbs))
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mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
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//IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
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IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
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// createmesh returns null when it doesn't mesh.
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CreateGeom(IntPtr.Zero, mesh);
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}
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else
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{
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_mesh = null;
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CreateGeom(IntPtr.Zero, _mesh);
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CreateGeom(IntPtr.Zero, null);
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}
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if (IsPhysical)
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@ -885,6 +981,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void changeshape(float timestep)
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{
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if (Body != null)
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{
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if (Body.Handle != IntPtr.Zero)
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{
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_parent_scene.removeFromWorld(this, Body);
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//Body.Dispose();
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}
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//Body = null;
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// TODO: dispose parts that make up body
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}
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// Cleanup of old prim geometry and Bodies
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if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero)
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{
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@ -898,12 +1004,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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else
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{
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disableBody();
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//disableBody();
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}
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}
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try
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{
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SetCollisionShape(null);
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//SetCollisionShape(null);
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}
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catch (System.AccessViolationException)
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{
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@ -968,6 +1074,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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resetCollisionAccounting();
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m_taintshape = false;
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}
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@ -1004,6 +1111,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void changeSelectedStatus(float timestep)
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{
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// TODO: throw new NotImplementedException();
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if (m_taintselected)
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{
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disableBodySoft();
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}
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else
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{
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enableBodySoft();
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}
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m_isSelected = m_taintselected;
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}
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private void changevelocity(float timestep)
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@ -1584,6 +1701,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh)
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{
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m_log.Debug("[PHYSICS]: _________CreateGeom");
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if (p_mesh != null)
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{
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_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
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@ -1631,7 +1749,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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// TODO: Set Collision Body Mesh
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// This sleeper is there to moderate how long it takes between
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// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
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m_log.Debug("_________SetMesh");
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Thread.Sleep(10);
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//Kill Body so that mesh can re-make the geom
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@ -1647,7 +1765,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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else
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{
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disableBody();
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//disableBody();
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}
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}
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@ -1683,6 +1801,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private void SetCollisionShape(btCollisionShape shape)
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{
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/*
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if (shape == null)
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m_log.Debug("[PHYSICS]:SetShape!Null");
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else
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@ -1698,6 +1817,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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prim_geom.Dispose();
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prim_geom = null;
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}
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*/
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prim_geom = shape;
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//Body.set
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@ -1705,12 +1825,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public void SetBody(float mass)
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{
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m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass);
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//m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass);
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/*
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if (Body != null && Body.Handle != IntPtr.Zero)
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{
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DisposeOfBody();
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}
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*/
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if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
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tempMotionState1.Dispose();
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if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
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@ -1728,17 +1849,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
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tempInertia1.Dispose();
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tempInertia1 = new btVector3(0, 0, 0);
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/*
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if (prim_geom.Handle == IntPtr.Zero)
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{
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m_log.Warn("[PHYSICS]:PrimGeom is Disposed!");
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CreateGeom(IntPtr.Zero, primMesh);
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if (_parent_scene.needsMeshing(_pbs))
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{
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// Don't need to re-enable body.. it's done in SetMesh
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float meshlod = _parent_scene.meshSculptLOD;
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if (IsPhysical)
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meshlod = _parent_scene.MeshSculptphysicalLOD;
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IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
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// createmesh returns null when it doesn't mesh.
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CreateGeom(IntPtr.Zero, mesh);
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}
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else
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{
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_mesh = null;
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CreateGeom(IntPtr.Zero, null);
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}
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}
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*/
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prim_geom.calculateLocalInertia(mass, tempInertia1);
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if (mass == 0)
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Body = new btRigidBody(mass, tempMotionState1, prim_geom);
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if (mass != 0)
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_parent_scene.addActivePrim(this);
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else
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_parent_scene.remActivePrim(this);
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// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
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//else
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Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
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if (prim_geom is btGImpactMeshShape)
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@ -1810,6 +1954,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public void disableBody()
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{
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//this kills the body so things like 'mesh' can re-create it.
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/*
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lock (this)
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{
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if (!childPrim)
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@ -1861,6 +2006,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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*/
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m_disabled = true;
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m_collisionscore = 0;
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}
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@ -1885,7 +2031,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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if (m_isphysical && Body.Handle != IntPtr.Zero)
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{
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Body.clearForces();
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Body.forceActivationState(1);
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Body.forceActivationState(4);
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forceenable = true;
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}
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m_disabled = false;
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}
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@ -1922,8 +2070,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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PhysicsVector pv = new PhysicsVector(0, 0, 0);
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bool lastZeroFlag = _zeroFlag;
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if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
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tempPosition2.Dispose();
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if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
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tempPosition3.Dispose();
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if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
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tempTransform3.Dispose();
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@ -1939,7 +2087,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempTransform3 = Body.getInterpolationWorldTransform();
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tempPosition2 = tempTransform3.getOrigin(); // vec
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tempPosition3 = tempTransform3.getOrigin(); // vec
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tempOrientation2 = tempTransform3.getRotation(); // ori
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tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
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tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
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@ -1950,9 +2098,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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m_lastposition = _position;
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m_lastorientation = _orientation;
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l_position.X = tempPosition2.getX();
|
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l_position.Y = tempPosition2.getY();
|
||||
l_position.Z = tempPosition2.getZ();
|
||||
l_position.X = tempPosition3.getX();
|
||||
l_position.Y = tempPosition3.getY();
|
||||
l_position.Z = tempPosition3.getZ();
|
||||
l_orientation.X = tempOrientation2.getX();
|
||||
l_orientation.Y = tempOrientation2.getY();
|
||||
l_orientation.Z = tempOrientation2.getZ();
|
||||
|
|
@ -2103,6 +2251,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
|
||||
}
|
||||
m_lastposition = l_position;
|
||||
if (forceenable)
|
||||
{
|
||||
Body.forceActivationState(1);
|
||||
forceenable = false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
|
|||
|
|
@ -187,8 +187,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
|
||||
newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical);
|
||||
|
||||
lock (m_prims)
|
||||
m_prims.Add(newPrim);
|
||||
//lock (m_prims)
|
||||
// m_prims.Add(newPrim);
|
||||
|
||||
|
||||
return newPrim;
|
||||
|
|
@ -267,6 +267,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
{
|
||||
foreach (BulletDotNETPrim prim in m_prims)
|
||||
{
|
||||
if (prim != null)
|
||||
prim.Move(timeStep);
|
||||
}
|
||||
}
|
||||
|
|
@ -279,6 +280,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
|
||||
foreach (BulletDotNETPrim prm in m_activePrims)
|
||||
{
|
||||
/*
|
||||
if (prm != null)
|
||||
if (prm.Body != null)
|
||||
*/
|
||||
prm.UpdatePositionAndVelocity();
|
||||
}
|
||||
|
||||
|
|
@ -487,6 +492,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
{
|
||||
m_world.removeRigidBody(body);
|
||||
}
|
||||
remActivePrim(prm);
|
||||
m_prims.Remove(prm);
|
||||
}
|
||||
|
||||
|
|
@ -662,6 +668,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
{
|
||||
m_prims.Add(pPrim);
|
||||
m_world.addRigidBody(pPrim.Body);
|
||||
m_log.Debug("ADDED");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
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Reference in New Issue