1193 lines
43 KiB
C#
1193 lines
43 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 copyrightD
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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 OpenSimulator 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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using System;
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using System.Reflection;
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using System.Collections.Generic;
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using System.Xml;
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using log4net;
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using OMV = OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Region.Physics.ConvexDecompositionDotNet;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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[Serializable]
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public sealed class BSPrim : PhysicsActor
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private static readonly string LogHeader = "[BULLETS PRIM]";
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private IMesh _mesh;
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private PrimitiveBaseShape _pbs;
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private ShapeData.PhysicsShapeType _shapeType;
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private ulong _hullKey;
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private List<ConvexResult> _hulls;
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private BSScene _scene;
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private String _avName;
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private uint _localID = 0;
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private OMV.Vector3 _size;
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private OMV.Vector3 _scale;
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private bool _stopped;
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private bool _grabbed;
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private bool _isSelected;
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private bool _isVolumeDetect;
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private OMV.Vector3 _position;
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private float _mass;
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private float _density;
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private OMV.Vector3 _force;
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private OMV.Vector3 _velocity;
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private OMV.Vector3 _torque;
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private float _collisionScore;
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private OMV.Vector3 _acceleration;
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private OMV.Quaternion _orientation;
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private int _physicsActorType;
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private bool _isPhysical;
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private bool _flying;
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private float _friction;
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private bool _setAlwaysRun;
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private bool _throttleUpdates;
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private bool _isColliding;
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private bool _collidingGround;
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private bool _collidingObj;
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private bool _floatOnWater;
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private OMV.Vector3 _rotationalVelocity;
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private bool _kinematic;
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private float _buoyancy;
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private OMV.Vector3 _angularVelocity;
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private List<BSPrim> _childrenPrims;
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private BSPrim _parentPrim;
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private int _subscribedEventsMs = 0;
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private int _lastCollisionTime = 0;
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long _collidingStep;
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long _collidingGroundStep;
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private BSDynamics _vehicle;
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private OMV.Vector3 _PIDTarget;
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private bool _usePID;
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private float _PIDTau;
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private bool _useHoverPID;
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private float _PIDHoverHeight;
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private PIDHoverType _PIDHoverType;
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private float _PIDHoverTao;
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public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
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OMV.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
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{
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// m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
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_localID = localID;
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_avName = primName;
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_scene = parent_scene;
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_position = pos;
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_size = size;
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_scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
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_orientation = rotation;
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_buoyancy = 1f;
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_velocity = OMV.Vector3.Zero;
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_angularVelocity = OMV.Vector3.Zero;
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_mesh = mesh;
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_hullKey = 0;
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_pbs = pbs;
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_isPhysical = pisPhysical;
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_isVolumeDetect = false;
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_subscribedEventsMs = 0;
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_friction = _scene.DefaultFriction; // TODO: compute based on object material
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_density = _scene.DefaultDensity; // TODO: compute based on object material
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_parentPrim = null; // not a child or a parent
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_vehicle = new BSDynamics(this); // add vehicleness
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_childrenPrims = new List<BSPrim>();
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if (_isPhysical)
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_mass = CalculateMass();
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else
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_mass = 0f;
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// do the actual object creation at taint time
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_scene.TaintedObject(delegate()
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{
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CreateGeom();
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CreateObject();
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});
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}
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// called when this prim is being destroyed and we should free all the resources
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public void Destroy()
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{
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// m_log.DebugFormat("{0}: Destroy", LogHeader);
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// Undo any vehicle properties
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_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
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_scene.RemoveVehiclePrim(this); // just to make sure
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
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});
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}
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public override bool Stopped {
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get { return _stopped; }
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}
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public override OMV.Vector3 Size {
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get { return _size; }
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set {
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_size = value;
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_scene.TaintedObject(delegate()
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{
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if (_isPhysical) _mass = CalculateMass(); // changing size changes the mass
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BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical);
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RecreateGeomAndObject();
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});
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}
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}
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public override PrimitiveBaseShape Shape {
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set {
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_pbs = value;
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_scene.TaintedObject(delegate()
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{
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if (_isPhysical) _mass = CalculateMass(); // changing the shape changes the mass
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RecreateGeomAndObject();
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});
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}
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}
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public override uint LocalID {
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set { _localID = value; }
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get { return _localID; }
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}
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public override bool Grabbed {
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set { _grabbed = value;
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}
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}
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public override bool Selected {
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set {
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_isSelected = value;
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_scene.TaintedObject(delegate()
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{
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SetObjectDynamic();
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});
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}
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}
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public override void CrossingFailure() { return; }
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// link me to the specified parent
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public override void link(PhysicsActor obj) {
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BSPrim parent = (BSPrim)obj;
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// m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
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// TODO: decide if this parent checking needs to happen at taint time
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if (_parentPrim == null)
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{
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if (parent != null)
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{
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// I don't have a parent so I am joining a linkset
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parent.AddChildToLinkset(this);
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}
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}
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else
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{
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// I already have a parent, is parenting changing?
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if (parent != _parentPrim)
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{
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if (parent == null)
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{
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// we are being removed from a linkset
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_parentPrim.RemoveChildFromLinkset(this);
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}
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else
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{
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// asking to reparent a prim should not happen
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m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader);
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}
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}
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}
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return;
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}
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// delink me from my linkset
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public override void delink() {
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// TODO: decide if this parent checking needs to happen at taint time
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// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
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// m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID);
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if (_parentPrim != null)
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{
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_parentPrim.RemoveChildFromLinkset(this);
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}
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return;
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}
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public void AddChildToLinkset(BSPrim pchild)
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{
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BSPrim child = pchild;
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_scene.TaintedObject(delegate()
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{
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if (!_childrenPrims.Contains(child))
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{
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_childrenPrims.Add(child);
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child.ParentPrim = this; // the child has gained a parent
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RecreateGeomAndObject(); // rebuild my shape with the new child added
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}
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});
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return;
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}
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public void RemoveChildFromLinkset(BSPrim pchild)
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{
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BSPrim child = pchild;
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_scene.TaintedObject(delegate()
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{
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if (_childrenPrims.Contains(child))
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{
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_childrenPrims.Remove(child);
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child.ParentPrim = null; // the child has lost its parent
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RecreateGeomAndObject(); // rebuild my shape with the child removed
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}
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else
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{
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m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset");
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}
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});
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return;
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}
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public BSPrim ParentPrim
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{
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set { _parentPrim = value; }
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}
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public ulong HullKey
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{
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get { return _hullKey; }
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}
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// return true if we are the root of a linkset (there are children to manage)
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public bool IsRootOfLinkset
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{
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get { return (_parentPrim == null && _childrenPrims.Count != 0); }
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}
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public override void LockAngularMotion(OMV.Vector3 axis) { return; }
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public override OMV.Vector3 Position {
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get {
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// don't do the following GetObjectPosition because this function is called a zillion times
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// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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return _position;
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}
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set {
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_position = value;
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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// m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
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});
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}
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}
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public override float Mass {
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get { return _mass; }
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}
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public override OMV.Vector3 Force {
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get { return _force; }
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set {
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_force = value;
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
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});
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}
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}
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public override int VehicleType {
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get {
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return (int)_vehicle.Type; // if we are a vehicle, return that type
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}
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set {
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Vehicle type = (Vehicle)value;
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_vehicle.ProcessTypeChange(type);
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_scene.TaintedObject(delegate()
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{
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if (type == Vehicle.TYPE_NONE)
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{
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_scene.RemoveVehiclePrim(this);
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}
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else
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{
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// make it so the scene will call us each tick to do vehicle things
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_scene.AddVehiclePrim(this);
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}
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return;
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});
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}
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}
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public override void VehicleFloatParam(int param, float value)
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{
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_vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
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}
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public override void VehicleVectorParam(int param, OMV.Vector3 value)
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{
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_vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
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}
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public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
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{
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_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
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}
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public override void VehicleFlags(int param, bool remove)
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{
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_vehicle.ProcessVehicleFlags(param, remove);
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}
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// Called each simulation step to advance vehicle characteristics
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public void StepVehicle(float timeStep)
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{
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_vehicle.Step(timeStep, _scene);
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}
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// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
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public override void SetVolumeDetect(int param) {
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bool newValue = (param != 0);
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if (_isVolumeDetect != newValue)
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{
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_isVolumeDetect = newValue;
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_scene.TaintedObject(delegate()
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{
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SetObjectDynamic();
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});
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}
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return;
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}
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public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
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public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
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public override OMV.Vector3 Velocity {
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get { return _velocity; }
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set { _velocity = value;
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
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});
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}
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}
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public OMV.Vector3 AngularVelocity
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{
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get { return _angularVelocity; }
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set
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{
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_angularVelocity = value;
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _angularVelocity);
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});
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}
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}
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public override OMV.Vector3 Torque {
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get { return _torque; }
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set { _torque = value;
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}
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}
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public override float CollisionScore {
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get { return _collisionScore; }
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set { _collisionScore = value;
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}
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}
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public override OMV.Vector3 Acceleration {
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get { return _acceleration; }
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}
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public override OMV.Quaternion Orientation {
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get { return _orientation; }
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set {
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_orientation = value;
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_scene.TaintedObject(delegate()
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{
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// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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// m_log.DebugFormat("{0}: set orientation: {1}", LogHeader, _orientation);
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});
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}
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}
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public override int PhysicsActorType {
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get { return _physicsActorType; }
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set { _physicsActorType = value;
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}
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}
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public override bool IsPhysical {
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get { return _isPhysical; }
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set {
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_isPhysical = value;
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_scene.TaintedObject(delegate()
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{
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SetObjectDynamic();
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});
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}
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}
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// An object is static (does not move) if selected or not physical
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private bool IsStatic
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{
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get { return _isSelected || !IsPhysical; }
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}
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// An object is solid if it's not phantom and if it's not doing VolumeDetect
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private bool IsSolid
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{
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get { return !IsPhantom && !_isVolumeDetect; }
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}
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// make gravity work if the object is physical and not selected
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// no locking here because only called when it is safe
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private void SetObjectDynamic()
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{
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// non-physical things work best with a mass of zero
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_mass = IsStatic ? 0f : CalculateMass();
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BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
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// m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}, mass={4}", LogHeader, _localID, IsStatic, IsSolid, _mass);
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}
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// prims don't fly
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public override bool Flying {
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get { return _flying; }
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set { _flying = value; }
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}
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public override bool SetAlwaysRun {
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get { return _setAlwaysRun; }
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set { _setAlwaysRun = value; }
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}
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public override bool ThrottleUpdates {
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get { return _throttleUpdates; }
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set { _throttleUpdates = value; }
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}
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public override bool IsColliding {
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get { return (_collidingStep == _scene.SimulationStep); }
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set { _isColliding = value; }
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}
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public override bool CollidingGround {
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get { return (_collidingGroundStep == _scene.SimulationStep); }
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set { _collidingGround = value; }
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}
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public override bool CollidingObj {
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get { return _collidingObj; }
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set { _collidingObj = value; }
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}
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public bool IsPhantom {
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get {
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// SceneObjectPart removes phantom objects from the physics scene
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// so, although we could implement touching and such, we never
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// are invoked as a phantom object
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return false;
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}
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}
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public override bool FloatOnWater {
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set { _floatOnWater = value; }
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}
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public override OMV.Vector3 RotationalVelocity {
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get { return _rotationalVelocity; }
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set { _rotationalVelocity = value;
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// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
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}
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}
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public override bool Kinematic {
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get { return _kinematic; }
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set { _kinematic = value;
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// m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
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}
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}
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public override float Buoyancy {
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get { return _buoyancy; }
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set { _buoyancy = value;
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
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});
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}
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}
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// Used for MoveTo
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public override OMV.Vector3 PIDTarget {
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set { _PIDTarget = value; }
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}
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public override bool PIDActive {
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set { _usePID = value; }
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}
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public override float PIDTau {
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set { _PIDTau = value; }
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}
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// Used for llSetHoverHeight and maybe vehicle height
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// Hover Height will override MoveTo target's Z
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public override bool PIDHoverActive {
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set { _useHoverPID = value; }
|
|
}
|
|
public override float PIDHoverHeight {
|
|
set { _PIDHoverHeight = value; }
|
|
}
|
|
public override PIDHoverType PIDHoverType {
|
|
set { _PIDHoverType = value; }
|
|
}
|
|
public override float PIDHoverTau {
|
|
set { _PIDHoverTao = value; }
|
|
}
|
|
|
|
// For RotLookAt
|
|
public override OMV.Quaternion APIDTarget { set { return; } }
|
|
public override bool APIDActive { set { return; } }
|
|
public override float APIDStrength { set { return; } }
|
|
public override float APIDDamping { set { return; } }
|
|
|
|
public override void AddForce(OMV.Vector3 force, bool pushforce) {
|
|
if (force.IsFinite())
|
|
{
|
|
_force.X += force.X;
|
|
_force.Y += force.Y;
|
|
_force.Z += force.Z;
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
|
|
}
|
|
_scene.TaintedObject(delegate()
|
|
{
|
|
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
|
|
});
|
|
}
|
|
|
|
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
|
|
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
|
|
}
|
|
public override void SetMomentum(OMV.Vector3 momentum) {
|
|
}
|
|
public override void SubscribeEvents(int ms) {
|
|
_subscribedEventsMs = ms;
|
|
_lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
|
|
}
|
|
public override void UnSubscribeEvents() {
|
|
_subscribedEventsMs = 0;
|
|
}
|
|
public override bool SubscribedEvents() {
|
|
return (_subscribedEventsMs > 0);
|
|
}
|
|
|
|
#region Mass Calculation
|
|
|
|
private float CalculateMass()
|
|
{
|
|
float volume = _size.X * _size.Y * _size.Z; // default
|
|
float tmp;
|
|
|
|
float returnMass = 0;
|
|
float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
|
|
float hollowVolume = hollowAmount * hollowAmount;
|
|
|
|
switch (_pbs.ProfileShape)
|
|
{
|
|
case ProfileShape.Square:
|
|
// default box
|
|
|
|
if (_pbs.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Square:
|
|
case HollowShape.Same:
|
|
break;
|
|
|
|
case HollowShape.Circle:
|
|
|
|
hollowVolume *= 0.78539816339f;
|
|
break;
|
|
|
|
case HollowShape.Triangle:
|
|
|
|
hollowVolume *= (0.5f * .5f);
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume *= (1.0f - hollowVolume);
|
|
}
|
|
}
|
|
|
|
else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
//a tube
|
|
|
|
volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
|
|
tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
|
|
volume -= volume*tmp*tmp;
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
hollowVolume *= hollowAmount;
|
|
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Square:
|
|
case HollowShape.Same:
|
|
break;
|
|
|
|
case HollowShape.Circle:
|
|
hollowVolume *= 0.78539816339f;;
|
|
break;
|
|
|
|
case HollowShape.Triangle:
|
|
hollowVolume *= 0.5f * 0.5f;
|
|
break;
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume *= (1.0f - hollowVolume);
|
|
}
|
|
}
|
|
|
|
break;
|
|
|
|
case ProfileShape.Circle:
|
|
|
|
if (_pbs.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
volume *= 0.78539816339f; // elipse base
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Same:
|
|
case HollowShape.Circle:
|
|
break;
|
|
|
|
case HollowShape.Square:
|
|
hollowVolume *= 0.5f * 2.5984480504799f;
|
|
break;
|
|
|
|
case HollowShape.Triangle:
|
|
hollowVolume *= .5f * 1.27323954473516f;
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume *= (1.0f - hollowVolume);
|
|
}
|
|
}
|
|
|
|
else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
|
|
tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
|
|
volume *= (1.0f - tmp * tmp);
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
|
|
// calculate the hollow volume by it's shape compared to the prim shape
|
|
hollowVolume *= hollowAmount;
|
|
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Same:
|
|
case HollowShape.Circle:
|
|
break;
|
|
|
|
case HollowShape.Square:
|
|
hollowVolume *= 0.5f * 2.5984480504799f;
|
|
break;
|
|
|
|
case HollowShape.Triangle:
|
|
hollowVolume *= .5f * 1.27323954473516f;
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume *= (1.0f - hollowVolume);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case ProfileShape.HalfCircle:
|
|
if (_pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
volume *= 0.52359877559829887307710723054658f;
|
|
}
|
|
break;
|
|
|
|
case ProfileShape.EquilateralTriangle:
|
|
|
|
if (_pbs.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
volume *= 0.32475953f;
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
|
|
// calculate the hollow volume by it's shape compared to the prim shape
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Same:
|
|
case HollowShape.Triangle:
|
|
hollowVolume *= .25f;
|
|
break;
|
|
|
|
case HollowShape.Square:
|
|
hollowVolume *= 0.499849f * 3.07920140172638f;
|
|
break;
|
|
|
|
case HollowShape.Circle:
|
|
// Hollow shape is a perfect cyllinder in respect to the cube's scale
|
|
// Cyllinder hollow volume calculation
|
|
|
|
hollowVolume *= 0.1963495f * 3.07920140172638f;
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume *= (1.0f - hollowVolume);
|
|
}
|
|
}
|
|
else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
volume *= 0.32475953f;
|
|
volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
|
|
tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
|
|
volume *= (1.0f - tmp * tmp);
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
|
|
hollowVolume *= hollowAmount;
|
|
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Same:
|
|
case HollowShape.Triangle:
|
|
hollowVolume *= .25f;
|
|
break;
|
|
|
|
case HollowShape.Square:
|
|
hollowVolume *= 0.499849f * 3.07920140172638f;
|
|
break;
|
|
|
|
case HollowShape.Circle:
|
|
|
|
hollowVolume *= 0.1963495f * 3.07920140172638f;
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume *= (1.0f - hollowVolume);
|
|
}
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
|
|
|
|
float taperX1;
|
|
float taperY1;
|
|
float taperX;
|
|
float taperY;
|
|
float pathBegin;
|
|
float pathEnd;
|
|
float profileBegin;
|
|
float profileEnd;
|
|
|
|
if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
|
|
{
|
|
taperX1 = _pbs.PathScaleX * 0.01f;
|
|
if (taperX1 > 1.0f)
|
|
taperX1 = 2.0f - taperX1;
|
|
taperX = 1.0f - taperX1;
|
|
|
|
taperY1 = _pbs.PathScaleY * 0.01f;
|
|
if (taperY1 > 1.0f)
|
|
taperY1 = 2.0f - taperY1;
|
|
taperY = 1.0f - taperY1;
|
|
}
|
|
else
|
|
{
|
|
taperX = _pbs.PathTaperX * 0.01f;
|
|
if (taperX < 0.0f)
|
|
taperX = -taperX;
|
|
taperX1 = 1.0f - taperX;
|
|
|
|
taperY = _pbs.PathTaperY * 0.01f;
|
|
if (taperY < 0.0f)
|
|
taperY = -taperY;
|
|
taperY1 = 1.0f - taperY;
|
|
|
|
}
|
|
|
|
|
|
volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
|
|
|
|
pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
|
|
pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
|
|
volume *= (pathEnd - pathBegin);
|
|
|
|
// this is crude aproximation
|
|
profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
|
|
profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
|
|
volume *= (profileEnd - profileBegin);
|
|
|
|
returnMass = _density * volume;
|
|
|
|
if (returnMass <= 0)
|
|
returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.
|
|
|
|
if (IsRootOfLinkset)
|
|
{
|
|
foreach (BSPrim prim in _childrenPrims)
|
|
{
|
|
returnMass += prim.CalculateMass();
|
|
}
|
|
}
|
|
|
|
if (returnMass > _scene.maximumMassObject)
|
|
returnMass = _scene.maximumMassObject;
|
|
return returnMass;
|
|
}// end CalculateMass
|
|
#endregion Mass Calculation
|
|
|
|
// Create the geometry information in Bullet for later use
|
|
// No locking here because this is done when we know physics is not simulating
|
|
private void CreateGeom()
|
|
{
|
|
if (_mesh == null)
|
|
{
|
|
// the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
// m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to sphere of size {1}", LogHeader, _size);
|
|
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
|
|
// Bullet native objects are scaled by the Bullet engine so pass the size in
|
|
_scale = _size;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to box of size {1}", LogHeader, _size);
|
|
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
|
|
_scale = _size;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_hullKey != 0)
|
|
{
|
|
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
|
|
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
|
|
_hullKey = 0;
|
|
_hulls.Clear();
|
|
}
|
|
|
|
int[] indices = _mesh.getIndexListAsInt();
|
|
List<OMV.Vector3> vertices = _mesh.getVertexList();
|
|
|
|
//format conversion from IMesh format to DecompDesc format
|
|
List<int> convIndices = new List<int>();
|
|
List<float3> convVertices = new List<float3>();
|
|
for (int ii = 0; ii < indices.GetLength(0); ii++)
|
|
{
|
|
convIndices.Add(indices[ii]);
|
|
}
|
|
foreach (OMV.Vector3 vv in vertices)
|
|
{
|
|
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
|
|
}
|
|
|
|
// setup and do convex hull conversion
|
|
_hulls = new List<ConvexResult>();
|
|
DecompDesc dcomp = new DecompDesc();
|
|
dcomp.mIndices = convIndices;
|
|
dcomp.mVertices = convVertices;
|
|
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
|
|
// create the hull into the _hulls variable
|
|
convexBuilder.process(dcomp);
|
|
|
|
// Convert the vertices and indices for passing to unmanaged
|
|
// The hull information is passed as a large floating point array.
|
|
// The format is:
|
|
// convHulls[0] = number of hulls
|
|
// convHulls[1] = number of vertices in first hull
|
|
// convHulls[2] = hull centroid X coordinate
|
|
// convHulls[3] = hull centroid Y coordinate
|
|
// convHulls[4] = hull centroid Z coordinate
|
|
// convHulls[5] = first hull vertex X
|
|
// convHulls[6] = first hull vertex Y
|
|
// convHulls[7] = first hull vertex Z
|
|
// convHulls[8] = second hull vertex X
|
|
// ...
|
|
// convHulls[n] = number of vertices in second hull
|
|
// convHulls[n+1] = second hull centroid X coordinate
|
|
// ...
|
|
//
|
|
// TODO: is is very inefficient. Someday change the convex hull generator to return
|
|
// data structures that do not need to be converted in order to pass to Bullet.
|
|
// And maybe put the values directly into pinned memory rather than marshaling.
|
|
int hullCount = _hulls.Count;
|
|
int totalVertices = 1; // include one for the count of the hulls
|
|
foreach (ConvexResult cr in _hulls)
|
|
{
|
|
totalVertices += 4; // add four for the vertex count and centroid
|
|
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
|
|
}
|
|
float[] convHulls = new float[totalVertices];
|
|
|
|
convHulls[0] = (float)hullCount;
|
|
int jj = 1;
|
|
foreach (ConvexResult cr in _hulls)
|
|
{
|
|
// copy vertices for index access
|
|
float3[] verts = new float3[cr.HullVertices.Count];
|
|
int kk = 0;
|
|
foreach (float3 ff in cr.HullVertices)
|
|
{
|
|
verts[kk++] = ff;
|
|
}
|
|
|
|
// add to the array one hull's worth of data
|
|
convHulls[jj++] = cr.HullIndices.Count;
|
|
convHulls[jj++] = 0f; // centroid x,y,z
|
|
convHulls[jj++] = 0f;
|
|
convHulls[jj++] = 0f;
|
|
foreach (int ind in cr.HullIndices)
|
|
{
|
|
convHulls[jj++] = verts[ind].x;
|
|
convHulls[jj++] = verts[ind].y;
|
|
convHulls[jj++] = verts[ind].z;
|
|
}
|
|
}
|
|
|
|
// create the hull definition in Bullet
|
|
_hullKey = (ulong)_pbs.GetHashCode();
|
|
// m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid= {1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
|
|
BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
|
|
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
|
|
// meshes are already scaled by the meshmerizer
|
|
_scale = new OMV.Vector3(1f, 1f, 1f);
|
|
}
|
|
return;
|
|
}
|
|
|
|
private void HullReturn(ConvexResult result)
|
|
{
|
|
_hulls.Add(result);
|
|
return;
|
|
}
|
|
|
|
// Create an object in Bullet
|
|
// No locking here because this is done when the physics engine is not simulating
|
|
private void CreateObject()
|
|
{
|
|
if (IsRootOfLinkset)
|
|
{
|
|
// Create a linkset around this object
|
|
/*
|
|
* NOTE: the original way of creating a linkset was to create a compound hull in the
|
|
* root which consisted of the hulls of all the children. This didn't work well because
|
|
* OpenSimulator needs updates and collisions for all the children and the physics
|
|
* engine didn't create events for the children when the root hull was moved.
|
|
* This code creates the compound hull.
|
|
// If I am the root prim of a linkset, replace my physical shape with all the
|
|
// pieces of the children.
|
|
// All of the children should have called CreateGeom so they have a hull
|
|
// in the physics engine already. Here we pull together all of those hulls
|
|
// into one shape.
|
|
int totalPrimsInLinkset = _childrenPrims.Count + 1;
|
|
// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset);
|
|
ShapeData[] shapes = new ShapeData[totalPrimsInLinkset];
|
|
FillShapeInfo(out shapes[0]);
|
|
int ii = 1;
|
|
foreach (BSPrim prim in _childrenPrims)
|
|
{
|
|
// m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID);
|
|
prim.FillShapeInfo(out shapes[ii]);
|
|
ii++;
|
|
}
|
|
BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes);
|
|
*/
|
|
// Create the linkset by putting constraints between the objects of the set so they cannot move
|
|
// relative to each other.
|
|
// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
|
|
|
|
// remove any constraints that might be in place
|
|
foreach (BSPrim prim in _childrenPrims)
|
|
{
|
|
BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
|
|
}
|
|
// create constraints between the root prim and each of the children
|
|
foreach (BSPrim prim in _childrenPrims)
|
|
{
|
|
// this is a constraint that allows no freedom of movement between the two objects
|
|
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
|
|
BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, OMV.Vector3.Zero, OMV.Vector3.Zero,
|
|
OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// simple object
|
|
// m_log.DebugFormat("{0}: CreateObject. ID={1}", LogHeader, LocalID);
|
|
ShapeData shape;
|
|
FillShapeInfo(out shape);
|
|
BulletSimAPI.CreateObject(_scene.WorldID, shape);
|
|
}
|
|
}
|
|
|
|
// Copy prim's info into the BulletSim shape description structure
|
|
public void FillShapeInfo(out ShapeData shape)
|
|
{
|
|
shape.ID = _localID;
|
|
shape.Type = _shapeType;
|
|
shape.Position = _position;
|
|
shape.Rotation = _orientation;
|
|
shape.Velocity = _velocity;
|
|
shape.Scale = _scale;
|
|
shape.Mass = _isPhysical ? _mass : 0f;
|
|
shape.Buoyancy = _buoyancy;
|
|
shape.MeshKey = _hullKey;
|
|
shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
|
|
shape.Friction = _friction;
|
|
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
|
|
}
|
|
|
|
// Rebuild the geometry and object.
|
|
// This is called when the shape changes so we need to recreate the mesh/hull.
|
|
// No locking here because this is done when the physics engine is not simulating
|
|
private void RecreateGeomAndObject()
|
|
{
|
|
if (_hullKey != 0)
|
|
{
|
|
// if a hull already exists, delete the old one
|
|
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
|
|
_hullKey = 0;
|
|
}
|
|
// If this object is complex or we are the root of a linkset, build a mesh.
|
|
// The root of a linkset must be a mesh so we can create the linked compound object.
|
|
if (_scene.NeedsMeshing(_pbs) || IsRootOfLinkset )
|
|
{
|
|
// m_log.DebugFormat("{0}: RecreateGeomAndObject: creating mesh", LogHeader);
|
|
_mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.meshLOD, _isPhysical);
|
|
}
|
|
else
|
|
{
|
|
// it's a BulletSim native shape.
|
|
_mesh = null;
|
|
}
|
|
CreateGeom(); // create the geometry for this prim
|
|
CreateObject();
|
|
return;
|
|
}
|
|
|
|
// The physics engine says that properties have updated. Update same and inform
|
|
// the world that things have changed.
|
|
// TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
|
|
private int UpPropPosition = 1 << 0;
|
|
private int UpPropRotation = 1 << 1;
|
|
private int UpPropVelocity = 1 << 2;
|
|
private int UpPropAcceleration = 1 << 3;
|
|
private int UpPropAngularVel = 1 << 4;
|
|
|
|
public void UpdateProperties(EntityProperties entprop)
|
|
{
|
|
int changed = 0;
|
|
// assign to the local variables so the normal set action does not happen
|
|
if (_position != entprop.Position)
|
|
{
|
|
_position = entprop.Position;
|
|
// m_log.DebugFormat("{0}: UpdateProperties: position = {1}", LogHeader, _position);
|
|
changed |= UpPropPosition;
|
|
}
|
|
if (_orientation != entprop.Rotation)
|
|
{
|
|
_orientation = entprop.Rotation;
|
|
// m_log.DebugFormat("{0}: UpdateProperties: rotation = {1}", LogHeader, _orientation);
|
|
changed |= UpPropRotation;
|
|
}
|
|
if (_velocity != entprop.Velocity)
|
|
{
|
|
_velocity = entprop.Velocity;
|
|
// m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
|
|
changed |= UpPropVelocity;
|
|
}
|
|
if (_acceleration != entprop.Acceleration)
|
|
{
|
|
_acceleration = entprop.Acceleration;
|
|
// m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
|
|
changed |= UpPropAcceleration;
|
|
}
|
|
if (_rotationalVelocity != entprop.AngularVelocity)
|
|
{
|
|
_rotationalVelocity = entprop.AngularVelocity;
|
|
// m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
|
|
changed |= UpPropAngularVel;
|
|
}
|
|
if (changed != 0)
|
|
{
|
|
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
|
|
base.RequestPhysicsterseUpdate();
|
|
}
|
|
}
|
|
|
|
// I've collided with something
|
|
public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
|
|
{
|
|
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
|
|
// The following makes IsColliding() and IsCollidingGround() work
|
|
_collidingStep = _scene.SimulationStep;
|
|
if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
|
|
{
|
|
_collidingGroundStep = _scene.SimulationStep;
|
|
}
|
|
|
|
if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events
|
|
// throttle the collisions to the number of milliseconds specified in the subscription
|
|
int nowTime = Util.EnvironmentTickCount();
|
|
if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
|
|
_lastCollisionTime = nowTime;
|
|
|
|
// create the event for the collision
|
|
Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
|
|
contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
|
|
CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints);
|
|
base.SendCollisionUpdate(args);
|
|
}
|
|
}
|
|
}
|