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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.

afrisby
MW 2007-09-11 07:04:05 +00:00
parent 207bf2e4cf
commit e2e13a9756
2 changed files with 510 additions and 90 deletions
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573
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@ -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
@ -13,21 +12,17 @@ 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.
*
*/
@ -47,9 +42,10 @@ using XnaDevRu.BulletX.Dynamics;
namespace OpenSim.Region.Physics.BulletXPlugin
{
/// <summary>
/// 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
/// </summary>
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;
}
}
/// <summary>
/// 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
/// </summary>
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
}
/// <summary>
/// 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
}
}

25
prebuild.xml
View File

@ -276,6 +276,30 @@
</Files>
</Project>
<Project name="OpenSim.Region.Physics.BulletXPlugin" path="OpenSim/Region/Physics/BulletXPlugin" type="Library">
<Configuration name="Debug">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
</Options>
</Configuration>
<Configuration name="Release">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
</Options>
</Configuration>
<ReferencePath>../../../../bin/</ReferencePath>
<Reference name="System" localCopy="false"/>
<Reference name="Axiom.MathLib.dll" localCopy="false"/>
<Reference name="OpenSim.Region.Physics.Manager" localCopy="false"/>
<Reference name="Modified.XnaDevRu.BulletX.dll" localCopy="false" />
<Reference name="MonoXnaCompactMaths.dll" localCopy="false" />
<Files>
<Match pattern="*.cs" recurse="true"/>
</Files>
</Project>
<!-- Terrain engine -->
<Project name="OpenSim.Region.Terrain.BasicTerrain" path="OpenSim/Region/Terrain.BasicTerrain" type="Library">
@ -800,6 +824,7 @@
<Reference name="OpenSim.Framework.Console"/>
<Reference name="OpenSim.Framework.Servers"/>
<Reference name="OpenSim.Framework.Data"/>
<Reference name="OpenSim.Grid.Framework.Manager"/>
<Reference name="libsecondlife.dll"/>
<Reference name="Db4objects.Db4o.dll"/>
<Reference name="XMLRPC.dll"/>