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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
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226
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
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@ -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);
@ -216,10 +216,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero); tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState3 = 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); 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;
@ -611,7 +611,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
DisableAxisMotor(); DisableAxisMotor();
DisposeOfBody(); DisposeOfBody();
SetCollisionShape(null); SetCollisionShape(null);
if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero) if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero)
{ {
tempMotionState3.Dispose(); tempMotionState3.Dispose();
@ -677,8 +677,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempInertia2.Dispose(); tempInertia2.Dispose();
tempInertia1 = null; tempInertia1 = null;
} }
if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero) if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero)
{ {
tempAngularVelocity2.Dispose(); tempAngularVelocity2.Dispose();
@ -802,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
changesize(timestep); changesize(timestep);
} }
// //
if (m_taintshape) if (m_taintshape)
{ {
@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
else else
SetBody(0); SetBody(0);
changeSelectedStatus(timestep); changeSelectedStatus(timestep);
resetCollisionAccounting(); resetCollisionAccounting();
m_taintPhysics = m_isphysical; m_taintPhysics = m_isphysical;
} }
@ -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);
} }
@ -1038,32 +1038,32 @@ 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];
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); SetCollisionShape(null);
// Construction of new prim // Construction of new prim
ProcessGeomCreation(); ProcessGeomCreation();
if (IsPhysical) if (IsPhysical)
SetBody(Mass); SetBody(Mass);
else else
SetBody(0); SetBody(0);
m_taintsize = _size; m_taintsize = _size;
} }
@ -1136,7 +1136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//prim_geom = IntPtr.Zero; //prim_geom = IntPtr.Zero;
m_log.Error("[PHYSICS]: PrimGeom dead"); m_log.Error("[PHYSICS]: PrimGeom dead");
} }
// we don't need to do space calculation because the client sends a position update also. // 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.X <= 0) _size.X = 0.01f;
if (_size.Y <= 0) _size.Y = 0.01f; if (_size.Y <= 0) _size.Y = 0.01f;
@ -1153,8 +1153,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempTransform1.Dispose(); tempTransform1.Dispose();
tempTransform1 = new btTransform(tempOrientation1, tempPosition1); tempTransform1 = new btTransform(tempOrientation1, tempPosition1);
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
if (IsPhysical) if (IsPhysical)
@ -1162,7 +1162,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetBody(Mass); SetBody(Mass);
// Re creates body on size. // Re creates body on size.
// EnableBody also does setMass() // EnableBody also does setMass()
} }
else else
{ {
@ -1179,7 +1179,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
} }
} }
resetCollisionAccounting(); resetCollisionAccounting();
m_taintshape = false; m_taintshape = false;
} }
@ -1291,7 +1291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{ {
Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE); Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
disableBodySoft(); disableBodySoft();
} }
else else
{ {
@ -1299,7 +1299,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
enableBodySoft(); enableBodySoft();
} }
m_isSelected = m_taintselected; m_isSelected = m_taintselected;
} }
private void changevelocity(float timestep) private void changevelocity(float timestep)
@ -1368,7 +1368,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
_parent = m_taintparent; _parent = m_taintparent;
m_taintPhysics = m_isphysical; m_taintPhysics = m_isphysical;
} }
private void changefloatonwater(float timestep) private void changefloatonwater(float timestep)
@ -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;
} }
} }
@ -1981,7 +1981,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); //_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
_mesh = p_mesh; _mesh = p_mesh;
setMesh(_parent_scene, _mesh); setMesh(_parent_scene, _mesh);
} }
else else
{ {
@ -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;
} //}
} }
@ -2102,7 +2112,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
} }
*/ */
prim_geom = shape; prim_geom = shape;
//Body.set //Body.set
} }
@ -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);
@ -2159,7 +2169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{ {
if (chld == null) if (chld == null)
continue; continue;
// if (chld.NeedsMeshing()) // if (chld.NeedsMeshing())
// hasTrimesh = true; // hasTrimesh = true;
} }
@ -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)
{
}
else
{
m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
return;
}
*/
/*
if (_mesh is Mesh)
foreach (BulletDotNETPrim chld in childrenPrim) {
{ }
if (chld == null) else
continue; {
PhysicsVector offset = chld.Position - Position; m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z); return;
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);
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) if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose(); tempMotionState1.Dispose();
@ -2238,7 +2248,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
((btGImpactMeshShape)prim_geom).updateBound(); ((btGImpactMeshShape)prim_geom).updateBound();
} }
_parent_scene.AddPrimToScene(this); _parent_scene.AddPrimToScene(this);
} }
if (IsPhysical) if (IsPhysical)
@ -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;
@ -2305,7 +2315,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
return; return;
lock (childrenPrim) lock (childrenPrim)
{ {
if (!childrenPrim.Contains(prm)) if (!childrenPrim.Contains(prm))
@ -2313,8 +2323,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
childrenPrim.Add(prm); childrenPrim.Add(prm);
} }
} }
} }
public void disableBody() public void disableBody()
@ -2386,7 +2396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{ {
Body.clearForces(); Body.clearForces();
Body.forceActivationState(0); Body.forceActivationState(0);
} }
} }
@ -2400,7 +2410,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
Body.clearForces(); Body.clearForces();
Body.forceActivationState(4); Body.forceActivationState(4);
forceenable = true; forceenable = true;
} }
m_disabled = false; m_disabled = false;
} }
@ -2415,7 +2425,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetBody(Mass); SetBody(Mass);
else else
SetBody(0); SetBody(0);
// TODO: Set Collision Category Bits and Flags // TODO: Set Collision Category Bits and Flags
// TODO: Set Auto Disable data // TODO: Set Auto Disable data
@ -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))
@ -2669,7 +2679,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (AxisLockAngleHigh != null && AxisLockAngleHigh.Handle != IntPtr.Zero) if (AxisLockAngleHigh != null && AxisLockAngleHigh.Handle != IntPtr.Zero)
AxisLockAngleHigh.Dispose(); AxisLockAngleHigh.Dispose();
m_aMotor = new btGeneric6DofConstraint(Body, _parent_scene.TerrainBody, _parent_scene.TransZero, m_aMotor = new btGeneric6DofConstraint(Body, _parent_scene.TerrainBody, _parent_scene.TransZero,
_parent_scene.TransZero, false); _parent_scene.TransZero, false);
@ -2683,7 +2693,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_aMotor.setLinearUpperLimit(AxisLockLinearHigh); m_aMotor.setLinearUpperLimit(AxisLockLinearHigh);
_parent_scene.getBulletWorld().addConstraint((btTypedConstraint)m_aMotor); _parent_scene.getBulletWorld().addConstraint((btTypedConstraint)m_aMotor);
//m_aMotor. //m_aMotor.
} }
internal void DisableAxisMotor() internal void DisableAxisMotor()
@ -2698,4 +2708,4 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
} }
} }