modify BulletDotNETPrim.cs in preparation for Mantis #4181
dahlia
parent
1faaa0a43a
commit
daffb69174
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@ -204,7 +204,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempAngularVelocity2 = new btVector3(0, 0, 0);
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tempInertia1 = new btVector3(0, 0, 0);
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tempInertia2 = new btVector3(0, 0, 0);
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tempOrientation1 = new btQuaternion(0,0,0,1);
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tempOrientation1 = new btQuaternion(0, 0, 0, 1);
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tempOrientation2 = new btQuaternion(0, 0, 0, 1);
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_parent_scene = parent_scene;
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tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
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@ -216,10 +216,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
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tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);
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AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize);
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int regionsize = (int) Constants.RegionSize;
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int regionsize = (int)Constants.RegionSize;
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if (regionsize == 256)
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regionsize = 512;
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@ -611,7 +611,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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DisableAxisMotor();
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DisposeOfBody();
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SetCollisionShape(null);
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if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero)
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{
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tempMotionState3.Dispose();
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@ -677,8 +677,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempInertia2.Dispose();
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tempInertia1 = null;
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}
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if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero)
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{
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tempAngularVelocity2.Dispose();
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@ -802,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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changesize(timestep);
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}
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//
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//
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if (m_taintshape)
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{
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@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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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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m_taintPhysics = m_isphysical;
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}
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@ -1012,7 +1012,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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if (_parent_scene.needsMeshing(_pbs))
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{
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ProcessGeomCreationAsTriMesh(PhysicsVector.Zero,Quaternion.Identity);
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ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
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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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@ -1038,32 +1038,32 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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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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if (!positionOffset.IsIdentical(PhysicsVector.Zero,0.001f) || orientation != Quaternion.Identity)
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if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity)
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{
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float[] xyz = new float[3];
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xyz[0] = positionOffset.X;
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xyz[1] = positionOffset.Y;
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xyz[2] = positionOffset.Z;
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Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
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float[] xyz = new float[3];
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xyz[0] = positionOffset.X;
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xyz[1] = positionOffset.Y;
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xyz[2] = positionOffset.Z;
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float[,] matrix = new float[3,3];
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Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
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float[,] matrix = new float[3, 3];
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matrix[0, 0] = m4.M11;
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matrix[0, 1] = m4.M12;
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matrix[0, 2] = m4.M13;
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matrix[1, 0] = m4.M21;
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matrix[1, 1] = m4.M22;
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matrix[1, 2] = m4.M23;
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matrix[2, 0] = m4.M31;
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matrix[2, 1] = m4.M32;
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matrix[2, 2] = m4.M33;
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mesh.TransformLinear(matrix, xyz);
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matrix[0, 0] = m4.M11;
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matrix[0, 1] = m4.M12;
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matrix[0, 2] = m4.M13;
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matrix[1, 0] = m4.M21;
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matrix[1, 1] = m4.M22;
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matrix[1, 2] = m4.M23;
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matrix[2, 0] = m4.M31;
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matrix[2, 1] = m4.M32;
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matrix[2, 2] = m4.M33;
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mesh.TransformLinear(matrix, xyz);
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}
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@ -1088,12 +1088,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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SetCollisionShape(null);
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// Construction of new prim
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ProcessGeomCreation();
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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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m_taintsize = _size;
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}
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@ -1136,7 +1136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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//prim_geom = IntPtr.Zero;
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m_log.Error("[PHYSICS]: PrimGeom dead");
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}
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// we don't need to do space calculation because the client sends a position update also.
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if (_size.X <= 0) _size.X = 0.01f;
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if (_size.Y <= 0) _size.Y = 0.01f;
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@ -1153,8 +1153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempTransform1.Dispose();
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tempTransform1 = new btTransform(tempOrientation1, tempPosition1);
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//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
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if (IsPhysical)
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@ -1162,7 +1162,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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SetBody(Mass);
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// Re creates body on size.
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// EnableBody also does setMass()
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}
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else
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{
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@ -1179,7 +1179,7 @@ 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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@ -1291,7 +1291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
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disableBodySoft();
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}
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else
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{
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@ -1299,7 +1299,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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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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@ -1368,7 +1368,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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_parent = m_taintparent;
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m_taintPhysics = m_isphysical;
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}
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private void changefloatonwater(float timestep)
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@ -1627,7 +1627,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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if (m_zeroPosition == null)
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m_zeroPosition = new PhysicsVector(0, 0, 0);
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m_zeroPosition.setValues(_position.X,_position.Y,_position.Z);
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m_zeroPosition.setValues(_position.X, _position.Y, _position.Z);
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return;
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}
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}
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@ -1981,7 +1981,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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//_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
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_mesh = p_mesh;
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setMesh(_parent_scene, _mesh);
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}
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else
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{
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@ -1994,15 +1994,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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//SetGeom to a Regular Sphere
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if (tempSize1 == null)
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tempSize1 = new btVector3(0, 0, 0);
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tempSize1.setValue(_size.X * 0.5f,_size.Y * 0.5f, _size.Z * 0.5f);
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SetCollisionShape(new btSphereShape(_size.X*0.5f));
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tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
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SetCollisionShape(new btSphereShape(_size.X * 0.5f));
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}
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else
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{
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// uses halfextents
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if (tempSize1 == null)
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tempSize1 = new btVector3(0, 0, 0);
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tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f);
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tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f);
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SetCollisionShape(new btBoxShape(tempSize1));
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}
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}
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@ -2052,14 +2052,24 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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//IMesh oldMesh = primMesh;
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//primMesh = mesh;
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//float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
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//int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
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////Array.Reverse(indexList);
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//primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
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IMesh oldMesh = primMesh;
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primMesh = mesh;
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float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
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int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
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float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
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int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
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//Array.Reverse(indexList);
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primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
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mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
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int VertexCount = vertexList.GetLength(0) / 3;
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int IndexCount = indexList.GetLength(0);
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@ -2068,17 +2078,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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btshapeArray.Dispose();
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//Array.Reverse(indexList);
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btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)),
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VertexCount, vertexList, 3*sizeof (float));
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VertexCount, vertexList, 3 * sizeof(float));
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SetCollisionShape(new btGImpactMeshShape(btshapeArray));
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//((btGImpactMeshShape) prim_geom).updateBound();
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((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1,1, 1));
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((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
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((btGImpactMeshShape)prim_geom).updateBound();
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_parent_scene.SetUsingGImpact();
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if (oldMesh != null)
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{
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oldMesh.releasePinned();
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oldMesh = null;
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}
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//if (oldMesh != null)
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//{
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// oldMesh.releasePinned();
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// oldMesh = null;
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//}
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}
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@ -2102,7 +2112,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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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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}
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@ -2143,8 +2153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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if (prim_geom is btGImpactMeshShape)
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{
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((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1));
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((btGImpactMeshShape) prim_geom).updateBound();
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((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
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((btGImpactMeshShape)prim_geom).updateBound();
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}
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//Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
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//Body.setUserPointer((IntPtr) (int)m_localID);
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@ -2159,7 +2169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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if (chld == null)
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continue;
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// if (chld.NeedsMeshing())
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// hasTrimesh = true;
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}
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@ -2167,40 +2177,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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//if (hasTrimesh)
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//{
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ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
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// createmesh returns null when it doesn't mesh.
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/*
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if (_mesh is Mesh)
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{
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}
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else
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{
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m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
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return;
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}
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*/
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ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
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// createmesh returns null when it doesn't mesh.
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foreach (BulletDotNETPrim chld in childrenPrim)
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{
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if (chld == null)
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continue;
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PhysicsVector offset = chld.Position - Position;
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Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
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pos *= Quaternion.Inverse(Orientation);
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//pos *= Orientation;
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offset.setValues(pos.X, pos.Y, pos.Z);
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chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
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_mesh.Append(chld._mesh);
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/*
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if (_mesh is Mesh)
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{
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}
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else
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{
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m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
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return;
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}
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*/
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}
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setMesh(_parent_scene, _mesh);
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//}
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foreach (BulletDotNETPrim chld in childrenPrim)
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{
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if (chld == null)
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continue;
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PhysicsVector offset = chld.Position - Position;
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Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
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pos *= Quaternion.Inverse(Orientation);
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//pos *= Orientation;
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offset.setValues(pos.X, pos.Y, pos.Z);
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chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
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_mesh.Append(chld._mesh);
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}
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setMesh(_parent_scene, _mesh);
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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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@ -2238,7 +2248,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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((btGImpactMeshShape)prim_geom).updateBound();
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}
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_parent_scene.AddPrimToScene(this);
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}
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if (IsPhysical)
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@ -2252,7 +2262,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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if (Body.Handle != IntPtr.Zero)
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{
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DisableAxisMotor();
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_parent_scene.removeFromWorld(this,Body);
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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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@ -2305,7 +2315,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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return;
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lock (childrenPrim)
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{
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if (!childrenPrim.Contains(prm))
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@ -2313,8 +2323,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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childrenPrim.Add(prm);
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}
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}
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}
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public void disableBody()
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@ -2386,7 +2396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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Body.clearForces();
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Body.forceActivationState(0);
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}
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}
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@ -2400,7 +2410,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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Body.clearForces();
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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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@ -2415,7 +2425,7 @@ 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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// TODO: Set Collision Category Bits and Flags
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// TODO: Set Auto Disable data
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@ -2587,10 +2597,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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_velocity.Y = tempLinearVelocity1.getY();
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_velocity.Z = tempLinearVelocity1.getZ();
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_acceleration = ((_velocity - m_lastVelocity)/0.1f);
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_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X/0.1f,
|
||||
_velocity.Y - m_lastVelocity.Y/0.1f,
|
||||
_velocity.Z - m_lastVelocity.Z/0.1f);
|
||||
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
|
||||
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
|
||||
_velocity.Y - m_lastVelocity.Y / 0.1f,
|
||||
_velocity.Z - m_lastVelocity.Z / 0.1f);
|
||||
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
|
||||
|
||||
if (_velocity.IsIdentical(pv, 0.5f))
|
||||
|
|
@ -2669,7 +2679,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
if (AxisLockAngleHigh != null && AxisLockAngleHigh.Handle != IntPtr.Zero)
|
||||
AxisLockAngleHigh.Dispose();
|
||||
|
||||
|
||||
|
||||
|
||||
m_aMotor = new btGeneric6DofConstraint(Body, _parent_scene.TerrainBody, _parent_scene.TransZero,
|
||||
_parent_scene.TransZero, false);
|
||||
|
|
@ -2683,7 +2693,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
m_aMotor.setLinearUpperLimit(AxisLockLinearHigh);
|
||||
_parent_scene.getBulletWorld().addConstraint((btTypedConstraint)m_aMotor);
|
||||
//m_aMotor.
|
||||
|
||||
|
||||
|
||||
}
|
||||
internal void DisableAxisMotor()
|
||||
|
|
@ -2698,4 +2708,4 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
|||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue