From e2e13a9756e1de21e1b11a9dba7105f831b0df30 Mon Sep 17 00:00:00 2001 From: MW Date: Tue, 11 Sep 2007 07:04:05 +0000 Subject: [PATCH] Added part 3 of Darok's BulletX patch. The bulletX plugin is now a project in the opensim build/solution. To use change the physics setting in opensim.ini to "modified_BulletX". At the moment I have been unable to test this as when using the bulletX plugin for me opensim is using 100% of processor. --- .../Physics/BulletXPlugin/BulletXPlugin.cs | 575 +++++++++++++++--- prebuild.xml | 25 + 2 files changed, 510 insertions(+), 90 deletions(-) diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs index 45723e3ee2..6d8e1a8e63 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs @@ -1,11 +1,10 @@ #region Copyright /* -* Copyright (c) Contributors, http://opensimulator.org/ +* Copyright (c) Contributors, http://www.openmetaverse.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * * Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are -met: +* modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright @@ -13,23 +12,19 @@ met: * documentation and/or other materials provided with the distribution. * * Neither the name of the OpenSim Project nor the * names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written -permission. +* derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -AND +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF -THIS +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* +* */ #endregion #region References @@ -47,9 +42,10 @@ using XnaDevRu.BulletX.Dynamics; namespace OpenSim.Region.Physics.BulletXPlugin { /// - /// This Class converts objects and types for BulletX + /// BulletXConversions are called now BulletXMaths + /// This Class converts objects and types for BulletX and give some operations /// - public class BulletXConversions + public class BulletXMaths { //Vector3 public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) @@ -69,6 +65,114 @@ namespace OpenSim.Region.Physics.BulletXPlugin { return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z); } + + //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license): + //- SetRotation (class MatrixOperations) + //- GetRotation (class MatrixOperations) + //- GetElement (class MathHelper) + //- SetElement (class MathHelper) + internal static void SetRotation(ref Matrix m, MonoXnaCompactMaths.Quaternion q) + { + float d = q.LengthSquared(); + float s = 2f / d; + float xs = q.X * s, ys = q.Y * s, zs = q.Z * s; + float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs; + float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs; + float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs; + m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0, + xy + wz, 1 - (xx + zz), yz - wx, 0, + xz - wy, yz + wx, 1 - (xx + yy), 0, + m.M41, m.M42, m.M43, 1); + } + internal static MonoXnaCompactMaths.Quaternion GetRotation(Matrix m) + { + MonoXnaCompactMaths.Quaternion q = new MonoXnaCompactMaths.Quaternion(); + + float trace = m.M11 + m.M22 + m.M33; + + if (trace > 0) + { + float s = (float)Math.Sqrt(trace + 1); + q.W = s * 0.5f; + s = 0.5f / s; + + q.X = (m.M32 - m.M23) * s; + q.Y = (m.M13 - m.M31) * s; + q.Z = (m.M21 - m.M12) * s; + } + else + { + int i = m.M11 < m.M22 ? + (m.M22 < m.M33 ? 2 : 1) : + (m.M11 < m.M33 ? 2 : 0); + int j = (i + 1) % 3; + int k = (i + 2) % 3; + + float s = (float)Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1); + SetElement(ref q, i, s * 0.5f); + s = 0.5f / s; + + q.W = (GetElement(m, k, j) - GetElement(m, j, k)) * s; + SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j)) * s); + SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k)) * s); + } + + return q; + } + internal static float SetElement(ref MonoXnaCompactMaths.Quaternion q, int index, float value) + { + switch (index) + { + case 0: + q.X = value; break; + case 1: + q.Y = value; break; + case 2: + q.Z = value; break; + case 3: + q.W = value; break; + } + + return 0; + } + internal static float GetElement(Matrix mat, int row, int col) + { + switch (row) + { + case 0: + switch (col) + { + case 0: + return mat.M11; + case 1: + return mat.M12; + case 2: + return mat.M13; + } break; + case 1: + switch (col) + { + case 0: + return mat.M21; + case 1: + return mat.M22; + case 2: + return mat.M23; + } break; + case 2: + switch (col) + { + case 0: + return mat.M31; + case 1: + return mat.M32; + case 2: + return mat.M33; + } break; + } + + return 0; + } } /// /// PhysicsPlugin Class for BulletX @@ -94,7 +198,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin } public string GetName() { - return ("BulletXEngine"); + return ("modified_BulletX");//Changed!! "BulletXEngine" To "modified_BulletX" } public void Dispose() { @@ -105,10 +209,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin /// public class BulletXScene : PhysicsScene { + #region BulletXScene Fields public DiscreteDynamicsWorld ddWorld; - private CollisionDispatcher cDispatcher; - private OverlappingPairCache opCache; - private SequentialImpulseConstraintSolver sicSolver; + private CollisionDispatcher cDispatcher; + private OverlappingPairCache opCache; + private SequentialImpulseConstraintSolver sicSolver; + public static Object BulletXLock = new Object(); private const int minXY = 0; private const int minZ = 0; @@ -128,6 +234,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin public static float HeightLevel0 { get { return heightLevel0; } } public static float HeightLevel1 { get { return heightLevel1; } } public static float LowGravityFactor { get { return lowGravityFactor; } } + #endregion public BulletXScene() { @@ -137,8 +244,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); sicSolver = new SequentialImpulseConstraintSolver(); - ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); - ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); + lock (BulletXLock) + { + ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); + ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); + } this._heightmap = new float[65536]; } @@ -148,47 +258,110 @@ namespace OpenSim.Region.Physics.BulletXPlugin pos.X = position.X; pos.Y = position.Y; pos.Z = position.Z + 20; - BulletXCharacter newAv = new BulletXCharacter(this, pos); - _characters.Add(newAv); + BulletXCharacter newAv = null; + lock (BulletXLock) + { + newAv = new BulletXCharacter(this, pos); + _characters.Add(newAv); + } return newAv; } public override void RemoveAvatar(PhysicsActor actor) { if (actor is BulletXCharacter) { - _characters.Remove((BulletXCharacter)actor); + lock (BulletXLock) + { + _characters.Remove((BulletXCharacter)actor); + } } } public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation) { - return new BulletXPrim(this, position, size, rotation); + BulletXPrim newPrim = null; + lock (BulletXLock) + { + newPrim = new BulletXPrim(this, position, size, rotation); + _prims.Add(newPrim); + } + return newPrim; } public override void RemovePrim(PhysicsActor prim) { if (prim is BulletXPrim) { - _prims.Remove((BulletXPrim)prim); + lock (BulletXLock) + { + _prims.Remove((BulletXPrim)prim); + } } } public override void Simulate(float timeStep) + { + lock (BulletXLock) + { + BXSMove(timeStep); + ddWorld.StepSimulation(timeStep, 0, timeStep); + //Heightmap Validation: + BXSValidateHeight(); + //End heightmap validation. + BXSUpdateKinetics(); + } + } + private void BXSMove(float timeStep) { foreach (BulletXCharacter actor in _characters) { actor.Move(timeStep); - } - ddWorld.StepSimulation(timeStep, 0, timeStep); + foreach (BulletXPrim prim in _prims) + { + } + } + private void BXSValidateHeight() + { + float _height; foreach (BulletXCharacter actor in _characters) { - actor.ValidateHeight(this._heightmap[ + if ((actor.RigidBodyHorizontalPosition.x < 0) || (actor.RigidBodyHorizontalPosition.y < 0)) + { + _height = 0; + } + else + { + _height = this._heightmap[ (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 - + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]); + + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]; + } + actor.ValidateHeight(_height); } + foreach (BulletXPrim prim in _prims) + { + if ((prim.RigidBodyHorizontalPosition.x < 0) || (prim.RigidBodyHorizontalPosition.y < 0)) + { + _height = 0; + } + else + { + _height = this._heightmap[ + (int)Math.Round(prim.RigidBodyHorizontalPosition.x) * 256 + + (int)Math.Round(prim.RigidBodyHorizontalPosition.y)]; + } + prim.ValidateHeight(_height); + } + } + private void BXSUpdateKinetics() + { + //UpdatePosition > UpdateKinetics. + //Not only position will be updated, also velocity cause acceleration. foreach (BulletXCharacter actor in _characters) { - actor.UpdatePosition(); + actor.UpdateKinetics(); + } + foreach (BulletXPrim prim in _prims) + { + prim.UpdateKinetics(); } - } public override void GetResults() { @@ -212,6 +385,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin int y = i >> 8; this._heightmap[i] = heightMap[x * 256 + y]; } + lock (BulletXLock) + { + //Updating BulletX HeightMap??? + } } public override void DeleteTerrain() { @@ -230,6 +407,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin private AxiomQuaternion _orientation; private bool flying; private RigidBody rigidBody; + public Axiom.Math.Vector2 RigidBodyHorizontalPosition { get @@ -245,31 +423,46 @@ namespace OpenSim.Region.Physics.BulletXPlugin public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation) { + //This fields will be removed. They're temporal + float _sizeX = 0.5f; + float _sizeY = 0.5f; + float _sizeZ = 1.6f; + //. _position = pos; _velocity = velocity; _size = size; + //--- + _size.X = _sizeX; + _size.Y = _sizeY; + _size.Z = _sizeZ; + //. _acceleration = acceleration; _orientation = orientation; float _mass = 50.0f; //This depends of avatar's dimensions - Matrix _startTransform = Matrix.Identity; - _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); - Matrix _centerOfMassOffset = Matrix.Identity; - CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f)); - DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); - MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); - _collisionShape.CalculateLocalInertia(_mass, out _localInertia); -//Always when mass > 0 - - //The next values might change + //For RigidBody Constructor. The next values might change float _linearDamping = 0.0f; float _angularDamping = 0.0f; float _friction = 0.5f; float _restitution = 0.0f; - - rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); - rigidBody.ActivationState = ActivationState.DisableDeactivation; - - parent_scene.ddWorld.AddRigidBody(rigidBody); + Matrix _startTransform = Matrix.Identity; + Matrix _centerOfMassOffset = Matrix.Identity; + lock (BulletXScene.BulletXLock) + { + _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos); + //CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f)); + //For now, like ODE, collisionShape = sphere of radious = 1.0 + CollisionShape _collisionShape = new SphereShape(1.0f); + DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); + MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); + _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 + rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); + rigidBody.ActivationState = ActivationState.DisableDeactivation; + //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition + MonoXnaCompactMaths.Vector3 _vDebugTranslation; + _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; + rigidBody.Translate(_vDebugTranslation); + parent_scene.ddWorld.AddRigidBody(rigidBody); + } } public override PhysicsVector Position { @@ -279,7 +472,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _position = value; + lock (BulletXScene.BulletXLock) + { + _position = value; + Translate(); + } } } public override PhysicsVector Velocity @@ -290,7 +487,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _velocity = value; + lock (BulletXScene.BulletXLock) + { + _velocity = value; + Speed(); + } } } public override PhysicsVector Size @@ -301,7 +502,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _size = value; + lock (BulletXScene.BulletXLock) + { + _size = value; + } } } public override PhysicsVector Acceleration @@ -319,7 +523,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _orientation = value; + lock (BulletXScene.BulletXLock) + { + _orientation = value; + } } } public override bool Flying @@ -335,7 +542,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin } public void SetAcceleration(PhysicsVector accel) { - _acceleration = accel; + lock (BulletXScene.BulletXLock) + { + _acceleration = accel; + } } public override bool Kinematic { @@ -356,70 +566,96 @@ namespace OpenSim.Region.Physics.BulletXPlugin { } - public void Move(float timeStep) + internal void Move(float timeStep) { MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); - //if (this._velocity.X == 0.0f) - // vec.X = this.rigidBody.LinearVelocity.X; //current velocity - //else - vec.X = this._velocity.X; //overrides current velocity - - //if (this._velocity.Y == 0.0f) - // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity - //else - vec.Y = this._velocity.Y; //overrides current velocity - - float nextZVelocity; - //if (this._velocity.Z == 0.0f) - // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity - //else - nextZVelocity = this._velocity.Z; //overrides current velocity + //At this point it's supossed that: + //_velocity == rigidBody.LinearVelocity + vec.X = this._velocity.X; + vec.Y = this._velocity.Y; + vec.Z = this._velocity.Z; if (flying) { //Antigravity with movement if (this._position.Z <= BulletXScene.HeightLevel0) { - vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep; + vec.Z += BulletXScene.Gravity * timeStep; } //Lowgravity with movement - else if((this._position.Z > BulletXScene.HeightLevel0) + else if ((this._position.Z > BulletXScene.HeightLevel0) && (this._position.Z <= BulletXScene.HeightLevel1)) { - vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); + vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); } //Lowgravity with... else if (this._position.Z > BulletXScene.HeightLevel1) { - if(nextZVelocity > 0) //no movement + if (vec.Z > 0) //no movement vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); else - vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); + vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); } } - else - { - vec.Z = nextZVelocity; - } rigidBody.LinearVelocity = vec; } - public void UpdatePosition() - { - this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); - } //This validation is very basic internal void ValidateHeight(float heighmapPositionValue) { - if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue) + if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f) { Matrix m = rigidBody.WorldTransform; MonoXnaCompactMaths.Vector3 v3 = m.Translation; - v3.Z = heighmapPositionValue; + v3.Z = heighmapPositionValue + _size.Z / 2.0f; m.Translation = v3; rigidBody.WorldTransform = m; + //When an Avie touch the ground it's vertical velocity it's reduced to ZERO + Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f)); } } + internal void UpdateKinetics() + { + this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); + this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); + //Orientation it seems that it will be the default. + ReOrient(); + } + + #region Methods for updating values of RigidBody + private void Translate() + { + Translate(this._position); + } + private void Translate(PhysicsVector _newPos) + { + MonoXnaCompactMaths.Vector3 _translation; + _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; + rigidBody.Translate(_translation); + } + private void Speed() + { + Speed(this._velocity); + } + private void Speed(PhysicsVector _newSpeed) + { + MonoXnaCompactMaths.Vector3 _speed; + _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); + rigidBody.LinearVelocity = _speed; + } + private void ReOrient() + { + ReOrient(this._orientation); + } + private void ReOrient(AxiomQuaternion _newOrient) + { + MonoXnaCompactMaths.Quaternion _newOrientation; + _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); + Matrix _comTransform = rigidBody.CenterOfMassTransform; + BulletXMaths.SetRotation(ref _comTransform, _newOrientation); + rigidBody.CenterOfMassTransform = _comTransform; + } + #endregion } /// /// PhysicsActor Prim Class for BulletX @@ -431,7 +667,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin private PhysicsVector _size; private PhysicsVector _acceleration; private AxiomQuaternion _orientation; + //Density it will depends of material. + //For now all prims have the same density, all prims are made of water. Be water my friend! :D + private const float _density = 1000.0f; + private RigidBody rigidBody; + //_physical value will be linked with the prim object value + private Boolean _physical = false; + public Axiom.Math.Vector2 RigidBodyHorizontalPosition + { + get + { + return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y); + } + } public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation) : this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation) { @@ -442,19 +691,51 @@ namespace OpenSim.Region.Physics.BulletXPlugin _position = pos; _velocity = velocity; _size = size; + if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0"); + _acceleration = aceleration; - _orientation = rotation; + //Because a bug, orientation will be fixed to AxiomQuaternion.Identity + _orientation = AxiomQuaternion.Identity; + //_orientation = rotation; + //--- + //For RigidBody Constructor. The next values might change + float _linearDamping = 0.0f; + float _angularDamping = 0.0f; + float _friction = 0.5f; + float _restitution = 0.0f; + Matrix _startTransform = Matrix.Identity; + Matrix _centerOfMassOffset = Matrix.Identity; + lock (BulletXScene.BulletXLock) + { + _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos); + //For now all prims are boxes + CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f); + DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); + MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); + _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0 + rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); + rigidBody.ActivationState = ActivationState.DisableDeactivation; + //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition + MonoXnaCompactMaths.Vector3 _vDebugTranslation; + _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition; + rigidBody.Translate(_vDebugTranslation); + //--- + parent_scene.ddWorld.AddRigidBody(rigidBody); + } } public override PhysicsVector Position { get { return _position; - } set { - _position = value; + lock (BulletXScene.BulletXLock) + { + _position = value; + Translate(); + } } } public override PhysicsVector Velocity @@ -465,7 +746,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _velocity = value; + lock (BulletXScene.BulletXLock) + { + _velocity = value; + Speed(); + } } } public override PhysicsVector Size @@ -476,7 +761,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _size = value; + lock (BulletXScene.BulletXLock) + { + _size = value; + ReSize(); + } } } public override PhysicsVector Acceleration @@ -494,7 +783,19 @@ namespace OpenSim.Region.Physics.BulletXPlugin } set { - _orientation = value; + lock (BulletXScene.BulletXLock) + { + _orientation = value; + ReOrient(); + } + } + } + public float Mass + { + get + { + //For now all prims are boxes + return _density * _size.X * _size.Y * _size.Z; } } public override bool Flying @@ -508,9 +809,23 @@ namespace OpenSim.Region.Physics.BulletXPlugin } } + public Boolean Physical + { + get + { + return _physical; + } + set + { + _physical = value; + } + } public void SetAcceleration(PhysicsVector accel) { - _acceleration = accel; + lock (BulletXScene.BulletXLock) + { + _acceleration = accel; + } } public override bool Kinematic { @@ -532,6 +847,86 @@ namespace OpenSim.Region.Physics.BulletXPlugin { } + internal void ValidateHeight(float heighmapPositionValue) + { + if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f) + { + Matrix m = rigidBody.WorldTransform; + MonoXnaCompactMaths.Vector3 v3 = m.Translation; + v3.Z = heighmapPositionValue + _size.Z / 2.0f; + m.Translation = v3; + rigidBody.WorldTransform = m; + //When a Prim touch the ground it's vertical velocity it's reduced to ZERO + Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f)); + } + } + internal void UpdateKinetics() + { + if (_physical) //Updates properties. Prim updates its properties physically + { + this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); + this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity); + //Orientation is not implemented yet in MonoXnaCompactMaths + //this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); < Good + //ReOrient(); + //--- + ReOrient(); + } + else //Doesn't updates properties. That's a cancel + { + Translate(); + Speed(); + //Orientation is not implemented yet in MonoXnaCompactMaths + //ReOrient(); + ReOrient(); + } + } + + #region Methods for updating values of RigidBody + private void Translate() + { + Translate(this._position); + } + private void Translate(PhysicsVector _newPos) + { + MonoXnaCompactMaths.Vector3 _translation; + _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition; + rigidBody.Translate(_translation); + } + private void Speed() + { + Speed(this._velocity); + } + private void Speed(PhysicsVector _newSpeed) + { + MonoXnaCompactMaths.Vector3 _speed; + _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed); + rigidBody.LinearVelocity = _speed; + } + private void ReSize() + { + ReSize(this._size); + } + private void ReSize(PhysicsVector _newSize) + { + MonoXnaCompactMaths.Vector3 _newsize; + _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize); + //For now all prims are Boxes + rigidBody.CollisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f); + } + private void ReOrient() + { + ReOrient(this._orientation); + } + private void ReOrient(AxiomQuaternion _newOrient) + { + MonoXnaCompactMaths.Quaternion _newOrientation; + _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient); + Matrix _comTransform = rigidBody.CenterOfMassTransform; + BulletXMaths.SetRotation(ref _comTransform, _newOrientation); + rigidBody.CenterOfMassTransform = _comTransform; + } + #endregion + } } - diff --git a/prebuild.xml b/prebuild.xml index c79f963898..db80a16ad3 100644 --- a/prebuild.xml +++ b/prebuild.xml @@ -276,6 +276,30 @@ + + + + ../../../../bin/Physics/ + + + + + ../../../../bin/Physics/ + + + + ../../../../bin/ + + + + + + + + + + + @@ -800,6 +824,7 @@ +