687 lines
22 KiB
C#
687 lines
22 KiB
C#
using System;
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using System.Collections.Generic;
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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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namespace OpenSim.Region.Physics.OdePlugin
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{
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public class OdePrim : PhysicsActor
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{
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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 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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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 _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 bool outofBounds = false;
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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 const float MassMultiplier = 150f; // Ref: Water: 1000kg.. this iset to 500
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private int debugcounter = 0;
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public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
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Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
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{
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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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_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 = targetSpace;
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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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lock (OdeScene.OdeLock)
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{
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if (mesh != null)
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{
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setMesh(parent_scene, mesh);
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}
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else
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{
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prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
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}
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d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
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d.Quaternion myrot = new d.Quaternion();
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myrot.W = rotation.w;
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myrot.X = rotation.x;
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myrot.Y = rotation.y;
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myrot.Z = rotation.z;
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d.GeomSetQuaternion(prim_geom, ref myrot);
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if (m_isphysical && Body == (IntPtr)0)
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{
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enableBody();
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}
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parent_scene.geom_name_map[prim_geom] = primName;
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parent_scene.actor_name_map[prim_geom] = (PhysicsActor)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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}
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public override int PhysicsActorType
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{
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get { return (int)ActorTypes.Prim; }
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set { return; }
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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 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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_parent_scene.addActivePrim(this);
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}
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public void setMass()
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{
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//Sets Mass based on member MassMultiplier.
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if (Body != (IntPtr)0)
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{
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d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _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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}
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public void setMesh(OdeScene parent_scene, IMesh mesh)
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{
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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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_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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prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);
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if (IsPhysical && Body == (IntPtr)0)
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{
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// Recreate the body
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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_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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//
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if (m_taintshape)
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changeshape(timestep);
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//
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}
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public void Move(float timestep)
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{
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if (m_isphysical)
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{
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// This is a fallback.. May no longer be necessary.
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if (Body == (IntPtr)0)
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enableBody();
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//Prim auto disable after 20 frames,
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///if you move it, re-enable the prim manually.
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d.BodyEnable(Body);
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
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}
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else
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{
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string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
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int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
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if (primScenAvatarIn == "0")
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{
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OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in space with no prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + " . Arr:': " + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
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}
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else
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{
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OpenSim.Framework.Console.MainLog.Instance.Verbose("Physics", "Prim " + m_primName + " in Prim space with prim: " + primScenAvatarIn + ". Expected to be at: " + m_targetSpace.ToString() + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
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}
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m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
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d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
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d.SpaceAdd(m_targetSpace, prim_geom);
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}
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m_taintposition = _position;
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}
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public void rotate(float timestep)
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{
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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.GeomSetQuaternion(prim_geom, ref myrot);
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if (m_isphysical && Body != (IntPtr)0)
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{
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d.BodySetQuaternion(Body, ref myrot);
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}
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m_taintrot = _orientation;
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}
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public void changePhysicsStatus(float timestap)
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{
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if (m_isphysical == true)
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{
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if (Body == (IntPtr)0)
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{
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enableBody();
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}
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}
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else
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{
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if (Body != (IntPtr)0)
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{
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disableBody();
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}
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}
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m_taintPhysics = m_isphysical;
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}
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public void changesize(float timestamp)
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{
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string oldname = _parent_scene.geom_name_map[prim_geom];
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// Cleanup of old prim geometry
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if (_mesh != null)
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{
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// Cleanup meshing here
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}
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//kill body to rebuild
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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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if (d.SpaceQuery(m_targetSpace, prim_geom))
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{
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d.SpaceRemove(m_targetSpace, prim_geom);
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}
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d.GeomDestroy(prim_geom);
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// we don't need to do space calculation because the client sends a position update also.
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// Construction of new prim
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if (this._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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IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
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// createmesh returns null when it's a shape that isn't a cube.
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if (mesh != null)
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{
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setMesh(_parent_scene, mesh);
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}
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else
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{
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prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
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d.GeomSetPosition(prim_geom, _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.GeomSetQuaternion(prim_geom, ref myrot);
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}
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}
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else
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{
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prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
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d.GeomSetPosition(prim_geom, _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.GeomSetQuaternion(prim_geom, ref myrot);
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//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
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if (IsPhysical && Body == (IntPtr)0)
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{
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// Re creates body on size.
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// EnableBody also does setMass()
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enableBody();
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d.BodyEnable(Body);
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}
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}
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_parent_scene.geom_name_map[prim_geom] = oldname;
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m_taintsize = _size;
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}
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public void changeshape(float timestamp)
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{
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string oldname = _parent_scene.geom_name_map[prim_geom];
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// Cleanup of old prim geometry and Bodies
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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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d.GeomDestroy(prim_geom);
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if (_mesh != null)
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{
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d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
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}
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// Construction of new prim
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if (this._parent_scene.needsMeshing(_pbs))
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{
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IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
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if (mesh != null)
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{
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setMesh(_parent_scene, mesh);
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}
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else
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{
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prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
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}
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}
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else
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{
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prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
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}
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if (IsPhysical && Body == (IntPtr)0)
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{
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//re-create new body
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enableBody();
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}
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else
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{
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d.GeomSetPosition(prim_geom, _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.GeomSetQuaternion(prim_geom, ref myrot);
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}
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_parent_scene.geom_name_map[prim_geom] = oldname;
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m_taintshape = false;
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}
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public override bool IsPhysical
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{
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get { return m_isphysical; }
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set { m_isphysical = value; }
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}
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public void setPrimForRemoval()
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{
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m_taintremove = true;
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}
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public override bool Flying
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{
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get
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{
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return false; //no flying prims for you
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}
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set { }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public override bool CollidingGround
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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 CollidingObj
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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 ThrottleUpdates
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{
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get { return m_throttleUpdates; }
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set { m_throttleUpdates = value; }
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}
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public override PhysicsVector Position
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{
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get { return _position; }
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set
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{
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_position = value;
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}
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}
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public override PhysicsVector Size
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{
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get { return _size; }
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set
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{
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_size = value;
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}
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}
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public override PrimitiveBaseShape Shape
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{
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set
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{
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_pbs = value;
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}
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}
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public override PhysicsVector Velocity
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{
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get
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{
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// Averate previous velocity with the new one so
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// client object interpolation works a 'little' better
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PhysicsVector returnVelocity = new PhysicsVector();
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returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
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returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
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returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
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return returnVelocity;
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}
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set { _velocity = value; }
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}
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public override bool Kinematic
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{
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get { return false; }
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set { }
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}
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public override Quaternion Orientation
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{
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get { return _orientation; }
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set
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{
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_orientation = value;
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}
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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_acceleration = accel;
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}
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public override void AddForce(PhysicsVector force)
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{
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public void UpdatePositionAndVelocity()
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{
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// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
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if (Body != (IntPtr)0)
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{
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d.Vector3 vec = d.BodyGetPosition(Body);
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d.Quaternion ori = d.BodyGetQuaternion(Body);
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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d.Vector3 rotvel = d.BodyGetAngularVel(Body);
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|
|
|
PhysicsVector l_position = new PhysicsVector();
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// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
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if (vec.X < 0.0f) vec.X = 0.0f;
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if (vec.Y < 0.0f) vec.Y = 0.0f;
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if (vec.X > 255.95f) vec.X = 255.95f;
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if (vec.Y > 255.95f) vec.Y = 255.95f;
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m_lastposition = _position;
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|
|
|
l_position.X = vec.X;
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|
l_position.Y = vec.Y;
|
|
l_position.Z = vec.Z;
|
|
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;
|
|
}
|
|
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;
|
|
base.RequestPhysicsterseUpdate();
|
|
m_lastUpdateSent = true;
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
m_lastVelocity = _velocity;
|
|
|
|
_position = l_position;
|
|
|
|
_velocity.X = vel.X;
|
|
_velocity.Y = vel.Y;
|
|
_velocity.Z = vel.Z;
|
|
|
|
m_rotationalVelocity.X = rotvel.X;
|
|
m_rotationalVelocity.Y = rotvel.Y;
|
|
m_rotationalVelocity.Z = 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)
|
|
{
|
|
}
|
|
}
|
|
}
|