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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@ -218,7 +218,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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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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@ -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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@ -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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@ -1038,30 +1038,30 @@ 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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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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Matrix4 m4 = Matrix4.CreateFromQuaternion(orientation);
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float[,] matrix = new float[3,3];
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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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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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mesh.TransformLinear(matrix, xyz);
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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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@ -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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@ -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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@ -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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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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/*
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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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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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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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_mesh.Append(chld._mesh);
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}
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setMesh(_parent_scene, _mesh);
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}
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setMesh(_parent_scene, _mesh);
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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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@ -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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@ -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,
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_velocity.Y - m_lastVelocity.Y/0.1f,
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_velocity.Z - m_lastVelocity.Z/0.1f);
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_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
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_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
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_velocity.Y - m_lastVelocity.Y / 0.1f,
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_velocity.Z - m_lastVelocity.Z / 0.1f);
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//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
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if (_velocity.IsIdentical(pv, 0.5f))
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