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

modify BulletDotNETPrim.cs in preparation for Mantis #4181

remotes/origin/0.6.7-post-fixes
dahlia 2009-09-24 18:16:29 -07:00
parent 1faaa0a43a
commit daffb69174
1 changed files with 118 additions and 108 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

146
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
View File

@ -204,7 +204,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempAngularVelocity2 = new btVector3(0, 0, 0); tempAngularVelocity2 = new btVector3(0, 0, 0);
tempInertia1 = new btVector3(0, 0, 0); tempInertia1 = new btVector3(0, 0, 0);
tempInertia2 = 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); tempOrientation2 = new btQuaternion(0, 0, 0, 1);
_parent_scene = parent_scene; _parent_scene = parent_scene;
tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
@ -218,7 +218,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize); 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) if (regionsize == 256)
regionsize = 512; regionsize = 512;
@ -802,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
changesize(timestep); changesize(timestep);
} }
// //
if (m_taintshape) if (m_taintshape)
{ {
@ -1012,7 +1012,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{ {
if (_parent_scene.needsMeshing(_pbs)) if (_parent_scene.needsMeshing(_pbs))
{ {
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero,Quaternion.Identity); ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
// createmesh returns null when it doesn't mesh. // createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, _mesh); CreateGeom(IntPtr.Zero, _mesh);
} }
@ -1038,30 +1038,30 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
meshlod = _parent_scene.MeshSculptphysicalLOD; meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); 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]; float[] xyz = new float[3];
xyz[0] = positionOffset.X; xyz[0] = positionOffset.X;
xyz[1] = positionOffset.Y; xyz[1] = positionOffset.Y;
xyz[2] = positionOffset.Z; xyz[2] = positionOffset.Z;
Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation); Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
float[,] matrix = new float[3,3]; float[,] matrix = new float[3, 3];
matrix[0, 0] = m4.M11; matrix[0, 0] = m4.M11;
matrix[0, 1] = m4.M12; matrix[0, 1] = m4.M12;
matrix[0, 2] = m4.M13; matrix[0, 2] = m4.M13;
matrix[1, 0] = m4.M21; matrix[1, 0] = m4.M21;
matrix[1, 1] = m4.M22; matrix[1, 1] = m4.M22;
matrix[1, 2] = m4.M23; matrix[1, 2] = m4.M23;
matrix[2, 0] = m4.M31; matrix[2, 0] = m4.M31;
matrix[2, 1] = m4.M32; matrix[2, 1] = m4.M32;
matrix[2, 2] = m4.M33; matrix[2, 2] = m4.M33;
mesh.TransformLinear(matrix, xyz); mesh.TransformLinear(matrix, xyz);
@ -1627,7 +1627,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{ {
if (m_zeroPosition == null) if (m_zeroPosition == null)
m_zeroPosition = new PhysicsVector(0, 0, 0); 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; return;
} }
} }
@ -1994,15 +1994,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//SetGeom to a Regular Sphere //SetGeom to a Regular Sphere
if (tempSize1 == null) if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0); 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 btSphereShape(_size.X*0.5f)); SetCollisionShape(new btSphereShape(_size.X * 0.5f));
} }
else else
{ {
// uses halfextents // uses halfextents
if (tempSize1 == null) if (tempSize1 == null)
tempSize1 = new btVector3(0, 0, 0); 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)); 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; IMesh oldMesh = primMesh;
primMesh = mesh; primMesh = mesh;
float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
//Array.Reverse(indexList); //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 VertexCount = vertexList.GetLength(0) / 3;
int IndexCount = indexList.GetLength(0); int IndexCount = indexList.GetLength(0);
@ -2068,17 +2078,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
btshapeArray.Dispose(); btshapeArray.Dispose();
//Array.Reverse(indexList); //Array.Reverse(indexList);
btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)), btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)),
VertexCount, vertexList, 3*sizeof (float)); VertexCount, vertexList, 3 * sizeof(float));
SetCollisionShape(new btGImpactMeshShape(btshapeArray)); SetCollisionShape(new btGImpactMeshShape(btshapeArray));
//((btGImpactMeshShape) prim_geom).updateBound(); //((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(); ((btGImpactMeshShape)prim_geom).updateBound();
_parent_scene.SetUsingGImpact(); _parent_scene.SetUsingGImpact();
if (oldMesh != null) //if (oldMesh != null)
{ //{
oldMesh.releasePinned(); // oldMesh.releasePinned();
oldMesh = null; // oldMesh = null;
} //}
} }
@ -2143,8 +2153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (prim_geom is btGImpactMeshShape) if (prim_geom is btGImpactMeshShape)
{ {
((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1)); ((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape) prim_geom).updateBound(); ((btGImpactMeshShape)prim_geom).updateBound();
} }
//Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK); //Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//Body.setUserPointer((IntPtr) (int)m_localID); //Body.setUserPointer((IntPtr) (int)m_localID);
@ -2167,40 +2177,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//if (hasTrimesh) //if (hasTrimesh)
//{ //{
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity); ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
// createmesh returns null when it doesn't mesh. // createmesh returns null when it doesn't mesh.
/* /*
if (_mesh is Mesh) if (_mesh is Mesh)
{ {
} }
else else
{ {
m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object"); m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
return; return;
} }
*/ */
foreach (BulletDotNETPrim chld in childrenPrim) foreach (BulletDotNETPrim chld in childrenPrim)
{ {
if (chld == null) if (chld == null)
continue; continue;
PhysicsVector offset = chld.Position - Position; PhysicsVector offset = chld.Position - Position;
Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z); Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
pos *= Quaternion.Inverse(Orientation); pos *= Quaternion.Inverse(Orientation);
//pos *= Orientation; //pos *= Orientation;
offset.setValues(pos.X, pos.Y, pos.Z); offset.setValues(pos.X, pos.Y, pos.Z);
chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation); chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
_mesh.Append(chld._mesh); _mesh.Append(chld._mesh);
} }
setMesh(_parent_scene, _mesh); setMesh(_parent_scene, _mesh);
//} //}
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero) if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose(); tempMotionState1.Dispose();
@ -2252,7 +2262,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (Body.Handle != IntPtr.Zero) if (Body.Handle != IntPtr.Zero)
{ {
DisableAxisMotor(); DisableAxisMotor();
_parent_scene.removeFromWorld(this,Body); _parent_scene.removeFromWorld(this, Body);
Body.Dispose(); Body.Dispose();
} }
Body = null; Body = null;
@ -2587,10 +2597,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
_velocity.Y = tempLinearVelocity1.getY(); _velocity.Y = tempLinearVelocity1.getY();
_velocity.Z = tempLinearVelocity1.getZ(); _velocity.Z = tempLinearVelocity1.getZ();
_acceleration = ((_velocity - m_lastVelocity)/0.1f); _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X/0.1f, _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
_velocity.Y - m_lastVelocity.Y/0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f,
_velocity.Z - m_lastVelocity.Z/0.1f); _velocity.Z - m_lastVelocity.Z / 0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
if (_velocity.IsIdentical(pv, 0.5f)) if (_velocity.IsIdentical(pv, 0.5f))