From daffb691741250dae9e3f767580f0349bd2c5c4f Mon Sep 17 00:00:00 2001 From: dahlia Date: Thu, 24 Sep 2009 18:16:29 -0700 Subject: [PATCH] modify BulletDotNETPrim.cs in preparation for Mantis #4181 --- .../BulletDotNETPlugin/BulletDotNETPrim.cs | 226 +++++++++--------- 1 file changed, 118 insertions(+), 108 deletions(-) diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs index 7ab8b98765..f22ea71d0e 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs @@ -204,7 +204,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin tempAngularVelocity2 = new btVector3(0, 0, 0); tempInertia1 = new btVector3(0, 0, 0); tempInertia2 = new btVector3(0, 0, 0); - tempOrientation1 = new btQuaternion(0,0,0,1); + tempOrientation1 = new btQuaternion(0, 0, 0, 1); tempOrientation2 = new btQuaternion(0, 0, 0, 1); _parent_scene = parent_scene; tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); @@ -216,10 +216,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero); tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero); - + AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize); - int regionsize = (int) Constants.RegionSize; - + int regionsize = (int)Constants.RegionSize; + if (regionsize == 256) regionsize = 512; @@ -611,7 +611,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin DisableAxisMotor(); DisposeOfBody(); SetCollisionShape(null); - + if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero) { tempMotionState3.Dispose(); @@ -677,8 +677,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin tempInertia2.Dispose(); tempInertia1 = null; } - - + + if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero) { tempAngularVelocity2.Dispose(); @@ -802,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin changesize(timestep); } - // + // if (m_taintshape) { @@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin else SetBody(0); changeSelectedStatus(timestep); - + resetCollisionAccounting(); m_taintPhysics = m_isphysical; } @@ -1012,7 +1012,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (_parent_scene.needsMeshing(_pbs)) { - ProcessGeomCreationAsTriMesh(PhysicsVector.Zero,Quaternion.Identity); + ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); // createmesh returns null when it doesn't mesh. CreateGeom(IntPtr.Zero, _mesh); } @@ -1038,32 +1038,32 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin meshlod = _parent_scene.MeshSculptphysicalLOD; IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); - if (!positionOffset.IsIdentical(PhysicsVector.Zero,0.001f) || orientation != Quaternion.Identity) + if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity) { - - float[] xyz = new float[3]; - xyz[0] = positionOffset.X; - xyz[1] = positionOffset.Y; - xyz[2] = positionOffset.Z; - Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation); + float[] xyz = new float[3]; + xyz[0] = positionOffset.X; + xyz[1] = positionOffset.Y; + xyz[2] = positionOffset.Z; - float[,] matrix = new float[3,3]; + Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation); + + float[,] matrix = new float[3, 3]; + + matrix[0, 0] = m4.M11; + matrix[0, 1] = m4.M12; + matrix[0, 2] = m4.M13; + matrix[1, 0] = m4.M21; + matrix[1, 1] = m4.M22; + matrix[1, 2] = m4.M23; + matrix[2, 0] = m4.M31; + matrix[2, 1] = m4.M32; + matrix[2, 2] = m4.M33; + + + mesh.TransformLinear(matrix, xyz); - matrix[0, 0] = m4.M11; - matrix[0, 1] = m4.M12; - matrix[0, 2] = m4.M13; - matrix[1, 0] = m4.M21; - matrix[1, 1] = m4.M22; - matrix[1, 2] = m4.M23; - matrix[2, 0] = m4.M31; - matrix[2, 1] = m4.M32; - matrix[2, 2] = m4.M33; - - mesh.TransformLinear(matrix, xyz); - - } @@ -1088,12 +1088,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin SetCollisionShape(null); // Construction of new prim ProcessGeomCreation(); - + if (IsPhysical) SetBody(Mass); else SetBody(0); - + m_taintsize = _size; } @@ -1136,7 +1136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin //prim_geom = IntPtr.Zero; m_log.Error("[PHYSICS]: PrimGeom dead"); } - + // we don't need to do space calculation because the client sends a position update also. if (_size.X <= 0) _size.X = 0.01f; if (_size.Y <= 0) _size.Y = 0.01f; @@ -1153,8 +1153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin tempTransform1.Dispose(); tempTransform1 = new btTransform(tempOrientation1, tempPosition1); - - + + //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); if (IsPhysical) @@ -1162,7 +1162,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin SetBody(Mass); // Re creates body on size. // EnableBody also does setMass() - + } else { @@ -1179,7 +1179,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } } resetCollisionAccounting(); - + m_taintshape = false; } @@ -1291,7 +1291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE); disableBodySoft(); - + } else { @@ -1299,7 +1299,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin enableBodySoft(); } m_isSelected = m_taintselected; - + } private void changevelocity(float timestep) @@ -1368,7 +1368,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin _parent = m_taintparent; m_taintPhysics = m_isphysical; - + } private void changefloatonwater(float timestep) @@ -1627,7 +1627,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (m_zeroPosition == null) m_zeroPosition = new PhysicsVector(0, 0, 0); - m_zeroPosition.setValues(_position.X,_position.Y,_position.Z); + m_zeroPosition.setValues(_position.X, _position.Y, _position.Z); return; } } @@ -1981,7 +1981,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin //_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); _mesh = p_mesh; setMesh(_parent_scene, _mesh); - + } else { @@ -1994,15 +1994,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin //SetGeom to a Regular Sphere if (tempSize1 == null) tempSize1 = new btVector3(0, 0, 0); - tempSize1.setValue(_size.X * 0.5f,_size.Y * 0.5f, _size.Z * 0.5f); - SetCollisionShape(new btSphereShape(_size.X*0.5f)); + tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); + SetCollisionShape(new btSphereShape(_size.X * 0.5f)); } else { // uses halfextents if (tempSize1 == null) tempSize1 = new btVector3(0, 0, 0); - tempSize1.setValue(_size.X*0.5f, _size.Y*0.5f, _size.Z*0.5f); + tempSize1.setValue(_size.X * 0.5f, _size.Y * 0.5f, _size.Z * 0.5f); SetCollisionShape(new btBoxShape(tempSize1)); } } @@ -2052,14 +2052,24 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } } + //IMesh oldMesh = primMesh; + + //primMesh = mesh; + + //float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory + //int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage + ////Array.Reverse(indexList); + //primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory + IMesh oldMesh = primMesh; primMesh = mesh; - - float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory - int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage + + float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory + int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage //Array.Reverse(indexList); - primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory + mesh.releaseSourceMeshData(); // free up the original mesh data to save memory + int VertexCount = vertexList.GetLength(0) / 3; int IndexCount = indexList.GetLength(0); @@ -2068,17 +2078,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin btshapeArray.Dispose(); //Array.Reverse(indexList); btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)), - VertexCount, vertexList, 3*sizeof (float)); + VertexCount, vertexList, 3 * sizeof(float)); SetCollisionShape(new btGImpactMeshShape(btshapeArray)); //((btGImpactMeshShape) prim_geom).updateBound(); - ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1,1, 1)); + ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1)); ((btGImpactMeshShape)prim_geom).updateBound(); _parent_scene.SetUsingGImpact(); - if (oldMesh != null) - { - oldMesh.releasePinned(); - oldMesh = null; - } + //if (oldMesh != null) + //{ + // oldMesh.releasePinned(); + // oldMesh = null; + //} } @@ -2102,7 +2112,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } */ prim_geom = shape; - + //Body.set } @@ -2143,8 +2153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin if (prim_geom is btGImpactMeshShape) { - ((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1)); - ((btGImpactMeshShape) prim_geom).updateBound(); + ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1)); + ((btGImpactMeshShape)prim_geom).updateBound(); } //Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK); //Body.setUserPointer((IntPtr) (int)m_localID); @@ -2159,7 +2169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (chld == null) continue; - + // if (chld.NeedsMeshing()) // hasTrimesh = true; } @@ -2167,40 +2177,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin //if (hasTrimesh) //{ - ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); - // createmesh returns null when it doesn't mesh. - - /* - if (_mesh is Mesh) - { - } - else - { - m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object"); - return; - } - */ + ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); + // createmesh returns null when it doesn't mesh. - - - foreach (BulletDotNETPrim chld in childrenPrim) - { - if (chld == null) - continue; - PhysicsVector offset = chld.Position - Position; - Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z); - pos *= Quaternion.Inverse(Orientation); - //pos *= Orientation; - offset.setValues(pos.X, pos.Y, pos.Z); - chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation); - - _mesh.Append(chld._mesh); - + /* + if (_mesh is Mesh) + { + } + else + { + m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object"); + return; + } + */ - } - setMesh(_parent_scene, _mesh); - - //} + + + foreach (BulletDotNETPrim chld in childrenPrim) + { + if (chld == null) + continue; + PhysicsVector offset = chld.Position - Position; + Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z); + pos *= Quaternion.Inverse(Orientation); + //pos *= Orientation; + offset.setValues(pos.X, pos.Y, pos.Z); + chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation); + + _mesh.Append(chld._mesh); + + + } + setMesh(_parent_scene, _mesh); + + //} if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) tempMotionState1.Dispose(); @@ -2238,7 +2248,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin ((btGImpactMeshShape)prim_geom).updateBound(); } _parent_scene.AddPrimToScene(this); - + } if (IsPhysical) @@ -2252,7 +2262,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin if (Body.Handle != IntPtr.Zero) { DisableAxisMotor(); - _parent_scene.removeFromWorld(this,Body); + _parent_scene.removeFromWorld(this, Body); Body.Dispose(); } Body = null; @@ -2305,7 +2315,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin return; - + lock (childrenPrim) { if (!childrenPrim.Contains(prm)) @@ -2313,8 +2323,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin childrenPrim.Add(prm); } } - - + + } public void disableBody() @@ -2386,7 +2396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { Body.clearForces(); Body.forceActivationState(0); - + } } @@ -2400,7 +2410,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin Body.clearForces(); Body.forceActivationState(4); forceenable = true; - + } m_disabled = false; } @@ -2415,7 +2425,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin SetBody(Mass); else SetBody(0); - + // TODO: Set Collision Category Bits and Flags // TODO: Set Auto Disable data @@ -2587,10 +2597,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin _velocity.Y = tempLinearVelocity1.getY(); _velocity.Z = tempLinearVelocity1.getZ(); - _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); + _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 } } - +