1791 lines
63 KiB
C#
1791 lines
63 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSim Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using Axiom.Math;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using System.Collections.Generic; // rex
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using System.Runtime.InteropServices; // rex
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using RexDotMeshLoader; // rex
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using OpenSim.Framework.Console; // rex
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using libsecondlife; // rex
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namespace OpenSim.Region.Physics.OdePlugin
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{
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// rex, new class
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public class OdeCollisionMesh : IMesh
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{
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public float[] vertexListOrig;
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public int[] indexListOrig;
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public float[] vertexList;
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public int[] indexList;
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public GCHandle gchVertexList;
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public GCHandle gchIndexList;
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public LLVector3 BoundsMin = new LLVector3();
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public LLVector3 BoundsMax = new LLVector3();
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public bool m_BoundsScaling;
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public OdeCollisionMesh(int vVertexCount, int vIndexCount)
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{
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vertexList = new float[vVertexCount];
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gchVertexList = GCHandle.Alloc(vertexList, GCHandleType.Pinned);
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vertexListOrig = new float[vVertexCount];
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indexList = new int[vIndexCount];
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gchIndexList = GCHandle.Alloc(indexList, GCHandleType.Pinned);
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indexListOrig = new int[vIndexCount];
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}
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public void FreeLists()
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{
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gchVertexList.Free();
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gchIndexList.Free();
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}
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public List<PhysicsVector> getVertexList()
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{
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return null;
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}
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public int[] getIndexListAsInt()
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{
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return indexList;
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}
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public int[] getIndexListAsIntLocked()
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{
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return indexList;
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}
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public float[] getVertexListAsFloatLocked()
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{
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return vertexList;
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}
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}
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public class OdePrim : PhysicsActor
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{
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private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
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public PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private PhysicsVector m_rotationalVelocity;
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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private Quaternion _orientation;
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private PhysicsVector m_taintposition;
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private PhysicsVector m_taintsize;
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private PhysicsVector m_taintVelocity = PhysicsVector.Zero;
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private Quaternion m_taintrot;
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private bool m_taintshape = false;
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private bool m_taintPhysics = false;
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public bool m_taintremove = false;
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public bool m_taintdisable = false;
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public bool m_disabled = false;
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public bool m_taintadd = false;
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public GCHandle gc;
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private CollisionLocker ode;
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private bool m_taintforce = false;
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private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
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private IMesh _mesh;
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private PrimitiveBaseShape _pbs;
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private OdeScene _parent_scene;
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public IntPtr m_targetSpace = (IntPtr) 0;
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public IntPtr prim_geom;
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public IntPtr prev_geom;
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public IntPtr _triMeshData;
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private bool iscolliding = false;
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private bool m_isphysical = false;
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private bool m_throttleUpdates = false;
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private int throttleCounter = 0;
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public int m_interpenetrationcount = 0;
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public int m_collisionscore = 0;
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public int m_roundsUnderMotionThreshold = 0;
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private int m_crossingfailures = 0;
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public bool outofBounds = false;
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private float m_density = 10.000006836f; // Aluminum g/cm3;
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public bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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public IntPtr Body = (IntPtr) 0;
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private String m_primName;
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private PhysicsVector _target_velocity;
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public d.Mass pMass;
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private int debugcounter = 0;
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private bool m_DotMeshCollision = false; // rex
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public bool m_BoundsScalingUpdate = false; // rex
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private bool m_PrimVolume = false; // rex
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public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
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Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
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{
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m_localID = localID; // rex
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gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
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ode = dode;
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_velocity = new PhysicsVector();
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_position = pos;
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m_taintposition = pos;
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if (_position.X > 257)
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{
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_position.X = 257;
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}
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if (_position.X < 0)
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{
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_position.X = 0;
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}
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if (_position.Y > 257)
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{
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_position.Y = 257;
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}
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if (_position.Y < 0)
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{
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_position.Y = 0;
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}
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prim_geom = (IntPtr)0;
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prev_geom = (IntPtr)0;
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_size = size;
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m_taintsize = _size;
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_acceleration = new PhysicsVector();
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m_rotationalVelocity = PhysicsVector.Zero;
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_orientation = rotation;
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m_taintrot = _orientation;
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_mesh = mesh;
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_pbs = pbs;
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_parent_scene = parent_scene;
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m_targetSpace = (IntPtr)0;
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if (pos.Z < 0)
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m_isphysical = false;
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else
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{
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m_isphysical = pisPhysical;
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// If we're physical, we need to be in the master space for now.
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// linksets *should* be in a space together.. but are not currently
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if (m_isphysical)
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m_targetSpace = _parent_scene.space;
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}
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m_primName = primName;
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m_taintadd = true;
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_parent_scene.AddPhysicsActorTaint(this);
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// don't do .add() here; old geoms get recycled with the same hash
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}
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/// <summary>
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/// Nasty, however without this you get
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/// 'invalid operation for locked space' when things are really loaded down
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/// </summary>
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/// <param name="space"></param>
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public override int PhysicsActorType
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{
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get
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{
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if (m_PrimVolume)
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return (int)ActorTypes.PrimVolume;
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else
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return (int)ActorTypes.Prim;
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}
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set
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{
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if (value == (int)ActorTypes.PrimVolume)
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m_PrimVolume = true;
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else
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m_PrimVolume = false;
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}
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}
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public override bool SetAlwaysRun
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{
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get { return false; }
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set { return; }
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}
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public override bool Grabbed
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{
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set { return; }
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}
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public override bool Selected
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{
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set { return; }
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}
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public void SetGeom(IntPtr geom)
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{
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prev_geom = prim_geom;
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prim_geom = geom;
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//m_log.Warn("Setting Geom to: " + prim_geom);
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}
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public void enableBody()
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{
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// Sets the geom to a body
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Body = d.BodyCreate(_parent_scene.world);
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setMass();
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
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d.Quaternion myrot = new d.Quaternion();
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myrot.W = _orientation.w;
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myrot.X = _orientation.x;
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myrot.Y = _orientation.y;
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myrot.Z = _orientation.z;
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d.BodySetQuaternion(Body, ref myrot);
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d.GeomSetBody(prim_geom, Body);
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d.BodySetAutoDisableFlag(Body, true);
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d.BodySetAutoDisableSteps(Body, 20);
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m_interpenetrationcount = 0;
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m_collisionscore = 0;
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m_disabled = false;
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_parent_scene.addActivePrim(this);
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}
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private float CalculateMass()
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{
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float volume = 0;
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// No material is passed to the physics engines yet.. soo..
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// we're using the m_density constant in the class definition
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float returnMass = 0;
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switch (_pbs.ProfileShape)
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{
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case ProfileShape.Square:
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// Profile Volume
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volume = _size.X*_size.Y*_size.Z;
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// If the user has 'hollowed out'
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// ProfileHollow is one of those 0 to 50000 values :P
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// we like percentages better.. so turning into a percentage
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if (((float) _pbs.ProfileHollow/50000f) > 0.0)
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{
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float hollowAmount = (float) _pbs.ProfileHollow/50000f;
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// calculate the hollow volume by it's shape compared to the prim shape
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float hollowVolume = 0;
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switch (_pbs.HollowShape)
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{
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case HollowShape.Square:
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case HollowShape.Same:
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// Cube Hollow volume calculation
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float hollowsizex = _size.X*hollowAmount;
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float hollowsizey = _size.Y*hollowAmount;
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float hollowsizez = _size.Z*hollowAmount;
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hollowVolume = hollowsizex*hollowsizey*hollowsizez;
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break;
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case HollowShape.Circle:
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// Hollow shape is a perfect cyllinder in respect to the cube's scale
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// Cyllinder hollow volume calculation
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float hRadius = _size.X/2;
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float hLength = _size.Z;
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// pi * r2 * h
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hollowVolume = ((float) (Math.PI*Math.Pow(hRadius, 2)*hLength)*hollowAmount);
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break;
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case HollowShape.Triangle:
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// Equilateral Triangular Prism volume hollow calculation
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// Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
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float aLength = _size.Y;
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// 1/2 abh
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hollowVolume = (float) ((0.5*aLength*_size.X*_size.Z)*hollowAmount);
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break;
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default:
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hollowVolume = 0;
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break;
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}
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volume = volume - hollowVolume;
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}
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break;
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default:
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// we don't have all of the volume formulas yet so
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// use the common volume formula for all
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volume = _size.X*_size.Y*_size.Z;
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break;
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}
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// Calculate Path cut effect on volume
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// Not exact, in the triangle hollow example
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// They should never be zero or less then zero..
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// we'll ignore it if it's less then zero
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// ProfileEnd and ProfileBegin are values
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// from 0 to 50000
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// Turning them back into percentages so that I can cut that percentage off the volume
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float PathCutEndAmount = _pbs.ProfileEnd;
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float PathCutStartAmount = _pbs.ProfileBegin;
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if (((PathCutStartAmount + PathCutEndAmount)/50000f) > 0.0f)
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{
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float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount)/50000f);
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// Check the return amount for sanity
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if (pathCutAmount >= 0.99f)
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pathCutAmount = 0.99f;
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volume = volume - (volume*pathCutAmount);
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}
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// Mass = density * volume
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returnMass = m_density*volume;
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return returnMass;
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}
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public void setMass()
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{
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if (Body != (IntPtr) 0)
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{
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d.MassSetBoxTotal(out pMass, CalculateMass(), _size.X, _size.Y, _size.Z);
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d.BodySetMass(Body, ref pMass);
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}
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}
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public void disableBody()
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{
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//this kills the body so things like 'mesh' can re-create it.
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if (Body != (IntPtr) 0)
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{
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_parent_scene.remActivePrim(this);
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d.BodyDestroy(Body);
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Body = (IntPtr) 0;
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}
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m_disabled = true;
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m_collisionscore = 0;
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}
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public void setMesh(OdeScene parent_scene, IMesh mesh)
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{
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// This sleeper is there to moderate how long it takes between
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// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
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System.Threading.Thread.Sleep(10);
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//Kill Body so that mesh can re-make the geom
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if (IsPhysical && Body != (IntPtr) 0)
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{
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disableBody();
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}
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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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int VertexCount = vertexList.GetLength(0)/3;
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int IndexCount = indexList.GetLength(0);
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// rex, del old trimeshdata
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if (_triMeshData != (IntPtr)0)
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d.GeomTriMeshDataDestroy(_triMeshData);
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_mesh = mesh; // rex, end
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_triMeshData = d.GeomTriMeshDataCreate();
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d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount,
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3*sizeof (int));
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d.GeomTriMeshDataPreprocess(_triMeshData);
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_parent_scene.waitForSpaceUnlock(m_targetSpace);
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try
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{
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if (prim_geom == (IntPtr)0)
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{
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SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
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}
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}
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catch (System.AccessViolationException)
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{
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m_log.Error("[PHYSICS]: MESH LOCKED");
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return;
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}
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if (IsPhysical && Body == (IntPtr) 0)
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{
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// Recreate the body
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m_interpenetrationcount = 0;
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m_collisionscore = 0;
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enableBody();
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}
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}
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public void ProcessTaints(float timestep)
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{
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if (m_taintadd)
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{
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changeadd(timestep);
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}
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if (m_taintposition != _position)
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Move(timestep);
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if (m_taintrot != _orientation)
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rotate(timestep);
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//
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if (m_taintPhysics != m_isphysical)
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changePhysicsStatus(timestep);
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//
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if (m_taintsize != _size)
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changesize(timestep);
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if (m_BoundsScalingUpdate) // rex
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changesize(timestep);
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//
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if (m_taintshape)
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changeshape(timestep);
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//
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if (m_taintforce)
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changeAddForce(timestep);
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if (m_taintdisable)
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changedisable(timestep);
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if (m_taintVelocity != PhysicsVector.Zero)
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changevelocity(timestep);
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}
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public void ResetTaints()
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{
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m_taintposition = _position;
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m_taintrot = _orientation;
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m_taintPhysics = m_isphysical;
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m_taintsize = _size;
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m_taintshape = false;
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m_taintforce = false;
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m_taintdisable = false;
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m_taintVelocity = PhysicsVector.Zero;
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}
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public void changeadd(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
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IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
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if (targetspace == IntPtr.Zero)
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targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
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m_targetSpace = targetspace;
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if (_mesh != null)
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{
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}
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else
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{
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if (_parent_scene.needsMeshing(_pbs))
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{
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// Don't need to re-enable body.. it's done in SetMesh
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_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size);
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// createmesh returns null when it's a shape that isn't a cube.
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}
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}
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lock (OdeScene.OdeLock)
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{
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if (_mesh != null)
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{
|
|
setMesh(_parent_scene, _mesh);
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
if (((_size.X / 2f) > 0f))
|
|
{
|
|
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
//else if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
if (prim_geom != (IntPtr) 0)
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
|
|
|
|
if (m_isphysical && Body == (IntPtr)0)
|
|
{
|
|
enableBody();
|
|
}
|
|
|
|
|
|
}
|
|
ode.dunlock(_parent_scene.world);
|
|
_parent_scene.geom_name_map[prim_geom] = this.m_primName;
|
|
_parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
|
|
m_taintadd = false;
|
|
|
|
|
|
}
|
|
public void Move(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
|
|
if (m_isphysical)
|
|
{
|
|
// This is a fallback.. May no longer be necessary.
|
|
if (Body == (IntPtr) 0)
|
|
enableBody();
|
|
//Prim auto disable after 20 frames,
|
|
//if you move it, re-enable the prim manually.
|
|
|
|
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
|
d.BodyEnable(Body);
|
|
|
|
}
|
|
else
|
|
{
|
|
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
|
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
|
|
IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
|
|
m_targetSpace = tempspace;
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
if (prim_geom != (IntPtr) 0)
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
d.SpaceAdd(m_targetSpace, prim_geom);
|
|
}
|
|
}
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintposition = _position;
|
|
}
|
|
|
|
// rex, function changed
|
|
public void rotate(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
|
|
if (m_DotMeshCollision && _mesh != null) // rex, setting rot for collision 3d model
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
|
|
Quaternion meshRotA = Quaternion.FromAngleAxis((float)(Math.PI * 0.5), new Vector3(1, 0, 0));
|
|
Quaternion meshRotB = Quaternion.FromAngleAxis((float)(Math.PI), new Vector3(0, 1, 0));
|
|
Quaternion mytemprot = _orientation * meshRotA * meshRotB;
|
|
|
|
myrot.W = mytemprot.w;
|
|
myrot.X = mytemprot.x;
|
|
myrot.Y = mytemprot.y;
|
|
myrot.Z = mytemprot.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
else
|
|
{
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
|
|
if (m_isphysical && Body != (IntPtr) 0)
|
|
{
|
|
d.BodySetQuaternion(Body, ref myrot);
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintrot = _orientation;
|
|
}
|
|
|
|
private void resetCollisionAccounting()
|
|
{
|
|
m_collisionscore = 0;
|
|
m_interpenetrationcount = 0;
|
|
m_disabled = false;
|
|
}
|
|
|
|
public void changedisable(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
m_disabled = true;
|
|
if (Body != (IntPtr)0)
|
|
{
|
|
d.BodyDisable(Body);
|
|
Body = (IntPtr)0;
|
|
}
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
m_taintdisable = false;
|
|
}
|
|
|
|
public void changePhysicsStatus(float timestap)
|
|
{
|
|
lock (ode)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
if (m_isphysical == true)
|
|
{
|
|
if (Body == (IntPtr)0)
|
|
{
|
|
enableBody();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (Body != (IntPtr)0)
|
|
{
|
|
disableBody();
|
|
}
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
}
|
|
|
|
resetCollisionAccounting();
|
|
m_taintPhysics = m_isphysical;
|
|
}
|
|
|
|
// rex, function changed
|
|
public void changesize(float timestamp)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
//if (!_parent_scene.geom_name_map.ContainsKey(prim_geom))
|
|
//{
|
|
// m_taintsize = _size;
|
|
//return;
|
|
//}
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
|
|
|
|
// Cleanup of old prim geometry
|
|
if (_mesh != null)
|
|
{
|
|
// Cleanup meshing here
|
|
}
|
|
//kill body to rebuild
|
|
if (IsPhysical && Body != (IntPtr) 0)
|
|
{
|
|
disableBody();
|
|
}
|
|
if (d.SpaceQuery(m_targetSpace, prim_geom))
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
d.SpaceRemove(m_targetSpace, prim_geom);
|
|
}
|
|
d.GeomDestroy(prim_geom);
|
|
prim_geom = (IntPtr)0;
|
|
// we don't need to do space calculation because the client sends a position update also.
|
|
|
|
if (m_DotMeshCollision && _mesh != null) // rex, scaling dotmesh models
|
|
{
|
|
float[] scalefactor = new float[3];
|
|
int vertindex = 0;
|
|
OdeCollisionMesh mesh = _mesh as OdeCollisionMesh;
|
|
|
|
LLVector3 scalingvector = new LLVector3(_size.X, _size.Y, _size.Z);
|
|
if (mesh.m_BoundsScaling)
|
|
{
|
|
LLVector3 boundssize = mesh.BoundsMax - mesh.BoundsMin;
|
|
if (boundssize.X != 0)
|
|
scalingvector.X /= boundssize.X;
|
|
if (boundssize.Y != 0)
|
|
scalingvector.Z /= boundssize.Y;
|
|
if (boundssize.Z != 0)
|
|
scalingvector.Y /= boundssize.Z;
|
|
}
|
|
scalefactor[0] = scalingvector.X;
|
|
scalefactor[1] = scalingvector.Z;
|
|
scalefactor[2] = scalingvector.Y;
|
|
|
|
for (int i = 0; i < mesh.vertexList.GetLength(0); i++)
|
|
{
|
|
mesh.vertexList[i] = mesh.vertexListOrig[i] * scalefactor[vertindex];
|
|
vertindex++;
|
|
if (vertindex > 2)
|
|
vertindex = 0;
|
|
}
|
|
|
|
for (int i = 0; i < mesh.indexList.GetLength(0); i++)
|
|
mesh.indexList[i] = mesh.indexListOrig[i];
|
|
|
|
setMesh(_parent_scene, mesh);
|
|
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
|
|
Quaternion meshRotA = Quaternion.FromAngleAxis((float)(Math.PI * 0.5), new Vector3(1, 0, 0));
|
|
Quaternion meshRotB = Quaternion.FromAngleAxis((float)(Math.PI), new Vector3(0, 1, 0));
|
|
Quaternion mytemprot = _orientation * meshRotA * meshRotB;
|
|
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = mytemprot.w;
|
|
myrot.X = mytemprot.x;
|
|
myrot.Y = mytemprot.y;
|
|
myrot.Z = mytemprot.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
} // rex, end scaling
|
|
// Construction of new prim
|
|
else if (_parent_scene.needsMeshing(_pbs))
|
|
{
|
|
// Don't need to re-enable body.. it's done in SetMesh
|
|
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
|
// createmesh returns null when it's a shape that isn't a cube.
|
|
if (mesh != null)
|
|
{
|
|
setMesh(_parent_scene, mesh);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
if (((_size.X / 2f) > 0f) && ((_size.X / 2f) < 1000))
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[PHYSICS]: Failed to load a sphere bad size");
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
// prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr) 0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintsize = _size;
|
|
m_BoundsScalingUpdate = false; // rex
|
|
}
|
|
|
|
public void changeshape(float timestamp)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
|
|
// Cleanup of old prim geometry and Bodies
|
|
if (IsPhysical && Body != (IntPtr) 0)
|
|
{
|
|
disableBody();
|
|
}
|
|
d.GeomDestroy(prim_geom);
|
|
prim_geom = (IntPtr) 0;
|
|
// we don't need to do space calculation because the client sends a position update also.
|
|
|
|
// Construction of new prim
|
|
if (_parent_scene.needsMeshing(_pbs))
|
|
{
|
|
// Don't need to re-enable body.. it's done in SetMesh
|
|
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
|
// createmesh returns null when it's a shape that isn't a cube.
|
|
if (mesh != null)
|
|
{
|
|
setMesh(_parent_scene, mesh);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
if (((_size.X / 2f) > 0f) && ((_size.X / 2f) < 1000))
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[PHYSICS]: Failed to load a sphere bad size");
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
// prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintshape = false;
|
|
}
|
|
|
|
public void changeAddForce(float timestamp)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
|
|
lock (m_forcelist)
|
|
{
|
|
//m_log.Info("[PHYSICS]: dequeing forcelist");
|
|
if (IsPhysical)
|
|
{
|
|
PhysicsVector iforce = new PhysicsVector();
|
|
for (int i = 0; i < m_forcelist.Count; i++)
|
|
{
|
|
iforce = iforce + (m_forcelist[i]*100);
|
|
}
|
|
d.BodyEnable(Body);
|
|
d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
|
|
}
|
|
m_forcelist.Clear();
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
m_collisionscore = 0;
|
|
m_interpenetrationcount = 0;
|
|
m_taintforce = false;
|
|
|
|
}
|
|
private void changevelocity(float timestep)
|
|
{
|
|
lock (ode)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
System.Threading.Thread.Sleep(20);
|
|
if (IsPhysical)
|
|
{
|
|
if (Body != (IntPtr)0)
|
|
{
|
|
d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
|
|
}
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
}
|
|
//resetCollisionAccounting();
|
|
m_taintVelocity = PhysicsVector.Zero;
|
|
}
|
|
public override bool IsPhysical
|
|
{
|
|
get { return m_isphysical; }
|
|
set { m_isphysical = value; }
|
|
}
|
|
|
|
public void setPrimForRemoval()
|
|
{
|
|
m_taintremove = true;
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get { return false; //no flying prims for you
|
|
}
|
|
set { }
|
|
}
|
|
|
|
public override bool IsColliding
|
|
{
|
|
get { return iscolliding; }
|
|
set { iscolliding = value; }
|
|
}
|
|
|
|
public override bool CollidingGround
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool CollidingObj
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool ThrottleUpdates
|
|
{
|
|
get { return m_throttleUpdates; }
|
|
set { m_throttleUpdates = value; }
|
|
}
|
|
|
|
public override bool Stopped
|
|
{
|
|
get { return _zeroFlag; }
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get { return _position; }
|
|
|
|
set { _position = value;
|
|
//m_log.Info("[PHYSICS]: " + _position.ToString());
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Size
|
|
{
|
|
get { return _size; }
|
|
set { _size = value; }
|
|
}
|
|
|
|
public override float Mass
|
|
{
|
|
get { return CalculateMass(); }
|
|
}
|
|
|
|
public override PhysicsVector Force
|
|
{
|
|
get { return PhysicsVector.Zero; }
|
|
}
|
|
|
|
public override PhysicsVector CenterOfMass
|
|
{
|
|
get { return PhysicsVector.Zero; }
|
|
}
|
|
|
|
public override PhysicsVector GeometricCenter
|
|
{
|
|
get { return PhysicsVector.Zero; }
|
|
}
|
|
|
|
public override PrimitiveBaseShape Shape
|
|
{
|
|
set {
|
|
|
|
_pbs = value;
|
|
m_taintshape = true;
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
// Averate previous velocity with the new one so
|
|
// client object interpolation works a 'little' better
|
|
PhysicsVector returnVelocity = new PhysicsVector();
|
|
returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
|
|
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
|
|
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
|
|
return returnVelocity;
|
|
}
|
|
set {
|
|
_velocity = value;
|
|
|
|
m_taintVelocity = value;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
|
|
|
|
}
|
|
}
|
|
|
|
public override float CollisionScore
|
|
{
|
|
get { return m_collisionscore; }
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get { return _orientation; }
|
|
set { _orientation = value; }
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get { return _acceleration; }
|
|
}
|
|
|
|
|
|
public void SetAcceleration(PhysicsVector accel)
|
|
{
|
|
_acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
m_forcelist.Add(force);
|
|
m_taintforce = true;
|
|
//m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
|
|
}
|
|
|
|
public override PhysicsVector RotationalVelocity
|
|
{
|
|
get {
|
|
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
|
if (_zeroFlag)
|
|
return pv;
|
|
m_lastUpdateSent = false;
|
|
|
|
if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
|
|
return pv;
|
|
|
|
return m_rotationalVelocity;
|
|
}
|
|
set { m_rotationalVelocity = value; }
|
|
}
|
|
public override void CrossingFailure()
|
|
{
|
|
m_crossingfailures++;
|
|
if (m_crossingfailures > 5)
|
|
{
|
|
base.RaiseOutOfBounds(_position);
|
|
return;
|
|
|
|
}
|
|
else if (m_crossingfailures == 5)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
|
|
}
|
|
}
|
|
public void UpdatePositionAndVelocity()
|
|
{
|
|
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
|
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
|
if (Body != (IntPtr) 0)
|
|
{
|
|
d.Vector3 vec = d.BodyGetPosition(Body);
|
|
d.Quaternion ori = d.BodyGetQuaternion(Body);
|
|
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
|
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
|
|
|
|
PhysicsVector l_position = new PhysicsVector();
|
|
|
|
|
|
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
|
//if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
//if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
//if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
//if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
|
|
m_lastposition = _position;
|
|
|
|
l_position.X = vec.X;
|
|
l_position.Y = vec.Y;
|
|
l_position.Z = vec.Z;
|
|
|
|
if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
|
|
{
|
|
base.RaiseOutOfBounds(_position);
|
|
}
|
|
//if (m_crossingfailures < 5)
|
|
//{
|
|
//base.RequestPhysicsterseUpdate();
|
|
//}
|
|
//}
|
|
|
|
if (l_position.Z < 0)
|
|
{
|
|
// This is so prim that get lost underground don't fall forever and suck up
|
|
//
|
|
// Sim resources and memory.
|
|
// Disables the prim's movement physics....
|
|
// It's a hack and will generate a console message if it fails.
|
|
|
|
|
|
//IsPhysical = false;
|
|
base.RaiseOutOfBounds(_position);
|
|
_velocity.X = 0;
|
|
_velocity.Y = 0;
|
|
_velocity.Z = 0;
|
|
m_rotationalVelocity.X = 0;
|
|
m_rotationalVelocity.Y = 0;
|
|
m_rotationalVelocity.Z = 0;
|
|
base.RequestPhysicsterseUpdate();
|
|
m_throttleUpdates = false;
|
|
throttleCounter = 0;
|
|
_zeroFlag = true;
|
|
//outofBounds = true;
|
|
}
|
|
|
|
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
|
|
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
|
|
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02))
|
|
{
|
|
_zeroFlag = true;
|
|
m_throttleUpdates = false;
|
|
}
|
|
else
|
|
{
|
|
//System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString());
|
|
_zeroFlag = false;
|
|
}
|
|
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
// Supposedly this is supposed to tell SceneObjectGroup that
|
|
// no more updates need to be sent..
|
|
// but it seems broken.
|
|
_velocity.X = 0.0f;
|
|
_velocity.Y = 0.0f;
|
|
_velocity.Z = 0.0f;
|
|
//_orientation.w = 0f;
|
|
//_orientation.x = 0f;
|
|
//_orientation.y = 0f;
|
|
//_orientation.z = 0f;
|
|
m_rotationalVelocity.X = 0;
|
|
m_rotationalVelocity.Y = 0;
|
|
m_rotationalVelocity.Z = 0;
|
|
if (!m_lastUpdateSent)
|
|
{
|
|
m_throttleUpdates = false;
|
|
throttleCounter = 0;
|
|
m_rotationalVelocity = pv;
|
|
base.RequestPhysicsterseUpdate();
|
|
m_lastUpdateSent = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_lastVelocity = _velocity;
|
|
|
|
_position = l_position;
|
|
|
|
_velocity.X = vel.X;
|
|
_velocity.Y = vel.Y;
|
|
_velocity.Z = vel.Z;
|
|
if (_velocity.IsIdentical(pv, 0.5f))
|
|
{
|
|
m_rotationalVelocity = pv;
|
|
}
|
|
else
|
|
{
|
|
m_rotationalVelocity.setValues(rotvel.X, rotvel.Y, rotvel.Z);
|
|
}
|
|
|
|
//System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
|
|
_orientation.w = ori.W;
|
|
_orientation.x = ori.X;
|
|
_orientation.y = ori.Y;
|
|
_orientation.z = ori.Z;
|
|
m_lastUpdateSent = false;
|
|
if (!m_throttleUpdates || throttleCounter > 15)
|
|
{
|
|
|
|
base.RequestPhysicsterseUpdate();
|
|
}
|
|
else
|
|
{
|
|
throttleCounter++;
|
|
}
|
|
}
|
|
m_lastposition = l_position;
|
|
}
|
|
else
|
|
{
|
|
// Not a body.. so Make sure the client isn't interpolating
|
|
_velocity.X = 0;
|
|
_velocity.Y = 0;
|
|
_velocity.Z = 0;
|
|
m_rotationalVelocity.X = 0;
|
|
m_rotationalVelocity.Y = 0;
|
|
m_rotationalVelocity.Z = 0;
|
|
_zeroFlag = true;
|
|
}
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
}
|
|
|
|
|
|
// rex, new function.
|
|
// This function should be called only outside of simulation loop -> OdeLock used.
|
|
public override void SetCollisionMesh(byte[] vData, string MeshName, bool vbScaleMesh)
|
|
{
|
|
float[] tempVertexList;
|
|
float[] tempBounds;
|
|
int[] tempIndexList;
|
|
string errorMessage;
|
|
float[] scalefactor = new float[3];
|
|
int vertindex = 0;
|
|
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
// 1. Get rid of old mesh
|
|
m_DotMeshCollision = false;
|
|
if (_mesh != null)
|
|
{
|
|
if ((OdeCollisionMesh)_mesh != null)
|
|
(_mesh as OdeCollisionMesh).FreeLists();
|
|
|
|
_mesh = null;
|
|
}
|
|
|
|
// 2. Try to load new colmesh
|
|
OdeCollisionMesh mesh = null;
|
|
if (vData != null)
|
|
{
|
|
DotMeshLoader.ReadDotMeshModel(vData, out tempVertexList, out tempIndexList, out tempBounds, out errorMessage);
|
|
|
|
if (tempVertexList != null && tempIndexList != null)
|
|
{
|
|
mesh = new OdeCollisionMesh(tempVertexList.GetLength(0), tempIndexList.GetLength(0));
|
|
mesh.m_BoundsScaling = vbScaleMesh;
|
|
mesh.BoundsMin.X = tempBounds[0];
|
|
mesh.BoundsMin.Y = tempBounds[1];
|
|
mesh.BoundsMin.Z = tempBounds[2];
|
|
mesh.BoundsMax.X = tempBounds[3];
|
|
mesh.BoundsMax.Y = tempBounds[4];
|
|
mesh.BoundsMax.Z = tempBounds[5];
|
|
|
|
LLVector3 scalingvector = new LLVector3(_size.X, _size.Y, _size.Z);
|
|
if (vbScaleMesh)
|
|
{
|
|
LLVector3 boundssize = mesh.BoundsMax - mesh.BoundsMin;
|
|
if (boundssize.X != 0)
|
|
scalingvector.X /= boundssize.X;
|
|
if (boundssize.Y != 0)
|
|
scalingvector.Z /= boundssize.Y;
|
|
if (boundssize.Z != 0)
|
|
scalingvector.Y /= boundssize.Z;
|
|
}
|
|
|
|
scalefactor[0] = scalingvector.X;
|
|
scalefactor[1] = scalingvector.Z;
|
|
scalefactor[2] = scalingvector.Y;
|
|
for (int i = 0; i < tempVertexList.GetLength(0); i++)
|
|
{
|
|
mesh.vertexListOrig[i] = tempVertexList[i];
|
|
mesh.vertexList[i] = tempVertexList[i] * scalefactor[vertindex];
|
|
|
|
vertindex++;
|
|
if (vertindex > 2)
|
|
vertindex = 0;
|
|
}
|
|
|
|
for (int i = 0; i < tempIndexList.GetLength(0); i++)
|
|
{
|
|
mesh.indexListOrig[i] = tempIndexList[i];
|
|
mesh.indexList[i] = tempIndexList[i];
|
|
}
|
|
|
|
|
|
}
|
|
else
|
|
MainLog.Instance.Error("PHYSICS", "Error importing mesh:" + MeshName + ", " + errorMessage);
|
|
}
|
|
|
|
// 3. If mesh is null, must create the default collisionbox
|
|
if (mesh == null)
|
|
{
|
|
CreateDefaultCollision();
|
|
return;
|
|
}
|
|
|
|
// 4. If mesh loaded, use it
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
m_DotMeshCollision = true;
|
|
|
|
if (IsPhysical && Body != (IntPtr)0)
|
|
disableBody();
|
|
|
|
if (prim_geom != (IntPtr)0)
|
|
{
|
|
if (d.SpaceQuery(m_targetSpace, prim_geom))
|
|
{
|
|
d.SpaceRemove(m_targetSpace, prim_geom);
|
|
}
|
|
d.GeomDestroy(prim_geom);
|
|
}
|
|
|
|
setMesh(_parent_scene, mesh);
|
|
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
|
|
Quaternion meshRotA = Quaternion.FromAngleAxis((float)(Math.PI * 0.5), new Vector3(1, 0, 0));
|
|
Quaternion meshRotB = Quaternion.FromAngleAxis((float)(Math.PI), new Vector3(0, 1, 0));
|
|
Quaternion mytemprot = _orientation * meshRotA * meshRotB;
|
|
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = mytemprot.w;
|
|
myrot.X = mytemprot.x;
|
|
myrot.Y = mytemprot.y;
|
|
myrot.Z = mytemprot.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// rex, function added
|
|
private void CreateDefaultCollision()
|
|
{
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
|
|
// Cleanup of old prim geometry
|
|
if (_mesh != null)
|
|
{
|
|
// Cleanup meshing here
|
|
}
|
|
//kill body to rebuild
|
|
if (IsPhysical && Body != (IntPtr)0)
|
|
{
|
|
disableBody();
|
|
}
|
|
if (d.SpaceQuery(m_targetSpace, prim_geom))
|
|
{
|
|
d.SpaceRemove(m_targetSpace, prim_geom);
|
|
}
|
|
d.GeomDestroy(prim_geom);
|
|
|
|
// we don't need to do space calculation because the client sends a position update also.
|
|
// Construction of new prim
|
|
if (_parent_scene.needsMeshing(_pbs))
|
|
{
|
|
// Don't need to re-enable body.. it's done in SetMesh
|
|
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
|
// createmesh returns null when it's a shape that isn't a cube.
|
|
if (mesh != null)
|
|
{
|
|
setMesh(_parent_scene, mesh);
|
|
}
|
|
else
|
|
{
|
|
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
}
|
|
|
|
// rex, new function
|
|
public override void SetBoundsScaling(bool vbScaleMesh)
|
|
{
|
|
if (m_DotMeshCollision && _mesh != null)
|
|
{
|
|
(_mesh as OdeCollisionMesh).m_BoundsScaling = vbScaleMesh;
|
|
m_BoundsScalingUpdate = true;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
}
|