1733 lines
65 KiB
C#
1733 lines
65 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 class BSPrim : BSPhysObject
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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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// _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
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private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
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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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// _position is what the simulator thinks the positions of the prim is.
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private OMV.Vector3 _position;
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private float _mass; // the mass of this object
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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 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 bool _setAlwaysRun;
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private bool _throttleUpdates;
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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 int CrossingFailures { get; set; }
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public BSDynamics VehicleActor;
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public string VehicleActorName = "BasicVehicle";
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private BSVMotor _targetMotor;
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private OMV.Vector3 _PIDTarget;
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private float _PIDTau;
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private BSFMotor _hoverMotor;
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private float _PIDHoverHeight;
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private PIDHoverType _PIDHoverType;
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private float _PIDHoverTau;
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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, PrimitiveBaseShape pbs, bool pisPhysical)
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: base(parent_scene, localID, primName, "BSPrim")
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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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_physicsActorType = (int)ActorTypes.Prim;
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_position = pos;
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_size = size;
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Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
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_orientation = rotation;
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_buoyancy = 0f;
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_velocity = OMV.Vector3.Zero;
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_rotationalVelocity = OMV.Vector3.Zero;
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BaseShape = pbs;
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_isPhysical = pisPhysical;
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_isVolumeDetect = false;
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VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName);
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PhysicalActors.Add(VehicleActorName, VehicleActor);
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_mass = CalculateMass();
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// DetailLog("{0},BSPrim.constructor,call", LocalID);
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// do the actual object creation at taint time
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PhysicsScene.TaintedObject("BSPrim.create", delegate()
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{
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// Make sure the object is being created with some sanity.
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ExtremeSanityCheck(true /* inTaintTime */);
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CreateGeomAndObject(true);
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CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
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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 override void Destroy()
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{
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// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
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base.Destroy();
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// Undo any vehicle properties
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this.VehicleType = (int)Vehicle.TYPE_NONE;
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PhysicsScene.TaintedObject("BSPrim.Destroy", delegate()
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{
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DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
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// If there are physical body and shape, release my use of same.
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PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
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PhysBody.Clear();
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PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
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PhysShape.Clear();
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});
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}
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// No one uses this property.
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public override bool Stopped {
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get { return false; }
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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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// We presume the scale and size are the same. If scale must be changed for
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// the physical shape, that is done when the geometry is built.
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_size = value;
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Scale = _size;
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ForceBodyShapeRebuild(false);
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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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BaseShape = value;
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PrimAssetState = PrimAssetCondition.Unknown;
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ForceBodyShapeRebuild(false);
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}
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}
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// 'unknown' says to choose the best type
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public override BSPhysicsShapeType PreferredPhysicalShape
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{ get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
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public override bool ForceBodyShapeRebuild(bool inTaintTime)
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{
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if (inTaintTime)
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{
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_mass = CalculateMass(); // changing the shape changes the mass
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CreateGeomAndObject(true);
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}
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else
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{
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PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate()
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{
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_mass = CalculateMass(); // changing the shape changes the mass
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CreateGeomAndObject(true);
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});
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}
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return true;
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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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{
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if (value != _isSelected)
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{
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_isSelected = value;
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PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
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{
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DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
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SetObjectDynamic(false);
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});
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}
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}
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}
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public override bool IsSelected
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{
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get { return _isSelected; }
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}
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public override void CrossingFailure()
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{
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CrossingFailures++;
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if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
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{
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base.RaiseOutOfBounds(RawPosition);
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}
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else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
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{
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m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
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}
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return;
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}
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// link me to the specified parent
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public override void link(PhysicsActor obj) {
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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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}
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// Set motion values to zero.
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// Do it to the properties so the values get set in the physics engine.
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// Push the setting of the values to the viewer.
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// Called at taint time!
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public override void ZeroMotion(bool inTaintTime)
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{
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_velocity = OMV.Vector3.Zero;
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_acceleration = OMV.Vector3.Zero;
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_rotationalVelocity = OMV.Vector3.Zero;
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// Zero some other properties in the physics engine
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PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
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{
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if (PhysBody.HasPhysicalBody)
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PhysicsScene.PE.ClearAllForces(PhysBody);
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});
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}
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public override void ZeroAngularMotion(bool inTaintTime)
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{
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_rotationalVelocity = OMV.Vector3.Zero;
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// Zero some other properties in the physics engine
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PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
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{
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// DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
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if (PhysBody.HasPhysicalBody)
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{
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PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
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PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
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}
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});
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}
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public override void LockAngularMotion(OMV.Vector3 axis)
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{
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DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
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// "1" means free, "0" means locked
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OMV.Vector3 locking = LockedAxisFree;
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if (axis.X != 1) locking.X = 0f;
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if (axis.Y != 1) locking.Y = 0f;
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if (axis.Z != 1) locking.Z = 0f;
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LockedAxis = locking;
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if (LockedAxis != LockedAxisFree)
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{
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PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
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{
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DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
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// If there is not already an axis locker, make one
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if (!PhysicalActors.HasActor(LockedAxisActorName))
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{
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PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName));
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}
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UpdatePhysicalParameters();
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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 RawPosition
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{
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get { return _position; }
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set { _position = value; }
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}
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public override OMV.Vector3 Position {
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get {
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// don't do the GetObjectPosition for root elements because this function is called a zillion times.
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// _position = ForcePosition;
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return _position;
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}
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set {
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// If the position must be forced into the physics engine, use ForcePosition.
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// All positions are given in world positions.
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if (_position == value)
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{
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DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
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return;
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}
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_position = value;
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PositionSanityCheck(false);
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PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
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{
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DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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ForcePosition = _position;
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});
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}
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}
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public override OMV.Vector3 ForcePosition {
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get {
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_position = PhysicsScene.PE.GetPosition(PhysBody);
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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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if (PhysBody.HasPhysicalBody)
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{
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PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
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ActivateIfPhysical(false);
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}
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}
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}
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// Check that the current position is sane and, if not, modify the position to make it so.
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// Check for being below terrain and being out of bounds.
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// Returns 'true' of the position was made sane by some action.
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private bool PositionSanityCheck(bool inTaintTime)
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{
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bool ret = false;
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// We don't care where non-physical items are placed
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if (!IsPhysicallyActive)
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return ret;
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if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
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{
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// The physical object is out of the known/simulated area.
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// Upper levels of code will handle the transition to other areas so, for
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// the time, we just ignore the position.
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return ret;
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}
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float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
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OMV.Vector3 upForce = OMV.Vector3.Zero;
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float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
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if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
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{
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DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
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float targetHeight = terrainHeight + (Size.Z / 2f);
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// If the object is below ground it just has to be moved up because pushing will
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// not get it through the terrain
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_position.Z = targetHeight;
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if (inTaintTime)
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{
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ForcePosition = _position;
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}
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// If we are throwing the object around, zero its other forces
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ZeroMotion(inTaintTime);
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ret = true;
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}
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if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
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{
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float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
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// TODO: a floating motor so object will bob in the water
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if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
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{
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// Upforce proportional to the distance away from the water. Correct the error in 1 sec.
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upForce.Z = (waterHeight - RawPosition.Z) * 1f;
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// Apply upforce and overcome gravity.
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OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
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DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
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AddForce(correctionForce, false, inTaintTime);
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ret = true;
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}
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}
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return ret;
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}
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// Occasionally things will fly off and really get lost.
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// Find the wanderers and bring them back.
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// Return 'true' if some parameter need some sanity.
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private bool ExtremeSanityCheck(bool inTaintTime)
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{
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bool ret = false;
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uint wayOutThere = Constants.RegionSize * Constants.RegionSize;
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// There have been instances of objects getting thrown way out of bounds and crashing
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// the border crossing code.
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if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere
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|| _position.Y < -Constants.RegionSize || _position.Y > wayOutThere
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|| _position.Z < -Constants.RegionSize || _position.Z > wayOutThere)
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{
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_position = new OMV.Vector3(10, 10, 50);
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ZeroMotion(inTaintTime);
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ret = true;
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}
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if (_velocity.LengthSquared() > BSParam.MaxLinearVelocity)
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{
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_velocity = Util.ClampV(_velocity, BSParam.MaxLinearVelocity);
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ret = true;
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}
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if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
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{
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_rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
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ret = true;
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}
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return ret;
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}
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// Return the effective mass of the object.
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// The definition of this call is to return the mass of the prim.
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// If the simulator cares about the mass of the linkset, it will sum it itself.
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public override float Mass
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{
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get { return _mass; }
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}
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// TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
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public virtual float TotalMass
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{
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get { return _mass; }
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}
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// used when we only want this prim's mass and not the linkset thing
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public override float RawMass {
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get { return _mass; }
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}
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// Set the physical mass to the passed mass.
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// Note that this does not change _mass!
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public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
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{
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if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
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{
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if (IsStatic)
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{
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PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
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Inertia = OMV.Vector3.Zero;
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PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
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PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
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}
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else
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{
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if (inWorld)
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{
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// Changing interesting properties doesn't change proxy and collision cache
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// information. The Bullet solution is to re-add the object to the world
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// after parameters are changed.
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PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
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}
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// The computation of mass props requires gravity to be set on the object.
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Gravity = ComputeGravity(Buoyancy);
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PhysicsScene.PE.SetGravity(PhysBody, Gravity);
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Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
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PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
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PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
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DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
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LocalID, physMass, Inertia, Gravity, inWorld);
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if (inWorld)
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{
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AddObjectToPhysicalWorld();
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}
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}
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}
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}
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// Return what gravity should be set to this very moment
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public OMV.Vector3 ComputeGravity(float buoyancy)
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{
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OMV.Vector3 ret = PhysicsScene.DefaultGravity;
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if (!IsStatic)
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{
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ret *= (1f - buoyancy);
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ret *= GravModifier;
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}
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return ret;
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}
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// Is this used?
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public override OMV.Vector3 CenterOfMass
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{
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get { return RawPosition; }
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}
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// Is this used?
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public override OMV.Vector3 GeometricCenter
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{
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get { return RawPosition; }
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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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if (_force != OMV.Vector3.Zero)
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{
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// If the force is non-zero, it must be reapplied each tick because
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// Bullet clears the forces applied last frame.
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RegisterPreStepAction("BSPrim.setForce", LocalID,
|
|
delegate(float timeStep)
|
|
{
|
|
if (!IsPhysicallyActive || _force == OMV.Vector3.Zero)
|
|
{
|
|
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
|
|
return;
|
|
}
|
|
|
|
DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
}
|
|
);
|
|
}
|
|
else
|
|
{
|
|
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override int VehicleType {
|
|
get {
|
|
return (int)VehicleActor.Type; // if we are a vehicle, return that type
|
|
}
|
|
set {
|
|
Vehicle type = (Vehicle)value;
|
|
|
|
PhysicsScene.TaintedObject("setVehicleType", delegate()
|
|
{
|
|
// Done at taint time so we're sure the physics engine is not using the variables
|
|
// Vehicle code changes the parameters for this vehicle type.
|
|
VehicleActor.ProcessTypeChange(type);
|
|
ActivateIfPhysical(false);
|
|
});
|
|
}
|
|
}
|
|
public override void VehicleFloatParam(int param, float value)
|
|
{
|
|
PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
|
|
{
|
|
VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
|
|
ActivateIfPhysical(false);
|
|
});
|
|
}
|
|
public override void VehicleVectorParam(int param, OMV.Vector3 value)
|
|
{
|
|
PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
|
|
{
|
|
VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
|
|
ActivateIfPhysical(false);
|
|
});
|
|
}
|
|
public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
|
|
{
|
|
PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
|
|
{
|
|
VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
|
|
ActivateIfPhysical(false);
|
|
});
|
|
}
|
|
public override void VehicleFlags(int param, bool remove)
|
|
{
|
|
PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
|
|
{
|
|
VehicleActor.ProcessVehicleFlags(param, remove);
|
|
});
|
|
}
|
|
|
|
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
|
|
public override void SetVolumeDetect(int param) {
|
|
bool newValue = (param != 0);
|
|
if (_isVolumeDetect != newValue)
|
|
{
|
|
_isVolumeDetect = newValue;
|
|
PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
|
|
{
|
|
// DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
|
|
SetObjectDynamic(true);
|
|
});
|
|
}
|
|
return;
|
|
}
|
|
public override void SetMaterial(int material)
|
|
{
|
|
base.SetMaterial(material);
|
|
PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
|
|
{
|
|
UpdatePhysicalParameters();
|
|
});
|
|
}
|
|
public override float Friction
|
|
{
|
|
get { return base.Friction; }
|
|
set
|
|
{
|
|
if (base.Friction != value)
|
|
{
|
|
base.Friction = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
|
|
{
|
|
UpdatePhysicalParameters();
|
|
});
|
|
}
|
|
}
|
|
}
|
|
public override float Restitution
|
|
{
|
|
get { return base.Restitution; }
|
|
set
|
|
{
|
|
if (base.Restitution != value)
|
|
{
|
|
base.Restitution = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
|
|
{
|
|
UpdatePhysicalParameters();
|
|
});
|
|
}
|
|
}
|
|
}
|
|
// The simulator/viewer keep density as 100kg/m3.
|
|
// Remember to use BSParam.DensityScaleFactor to create the physical density.
|
|
public override float Density
|
|
{
|
|
get { return base.Density; }
|
|
set
|
|
{
|
|
if (base.Density != value)
|
|
{
|
|
base.Density = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
|
|
{
|
|
UpdatePhysicalParameters();
|
|
});
|
|
}
|
|
}
|
|
}
|
|
public override float GravModifier
|
|
{
|
|
get { return base.GravModifier; }
|
|
set
|
|
{
|
|
if (base.GravModifier != value)
|
|
{
|
|
base.GravModifier = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
|
|
{
|
|
UpdatePhysicalParameters();
|
|
});
|
|
}
|
|
}
|
|
}
|
|
public override OMV.Vector3 RawVelocity
|
|
{
|
|
get { return _velocity; }
|
|
set { _velocity = value; }
|
|
}
|
|
public override OMV.Vector3 Velocity {
|
|
get { return _velocity; }
|
|
set {
|
|
_velocity = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
|
|
{
|
|
// DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
|
|
ForceVelocity = _velocity;
|
|
});
|
|
}
|
|
}
|
|
public override OMV.Vector3 ForceVelocity {
|
|
get { return _velocity; }
|
|
set {
|
|
PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
|
|
|
|
_velocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
|
|
PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
}
|
|
}
|
|
public override OMV.Vector3 Torque {
|
|
get { return _torque; }
|
|
set {
|
|
_torque = value;
|
|
if (_torque != OMV.Vector3.Zero)
|
|
{
|
|
// If the torque is non-zero, it must be reapplied each tick because
|
|
// Bullet clears the forces applied last frame.
|
|
RegisterPreStepAction("BSPrim.setTorque", LocalID,
|
|
delegate(float timeStep)
|
|
{
|
|
if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero)
|
|
{
|
|
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
|
|
return;
|
|
}
|
|
|
|
if (PhysBody.HasPhysicalBody)
|
|
AddAngularForce(_torque, false, true);
|
|
}
|
|
);
|
|
}
|
|
else
|
|
{
|
|
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
|
|
}
|
|
// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
|
|
}
|
|
}
|
|
public override OMV.Vector3 Acceleration {
|
|
get { return _acceleration; }
|
|
set { _acceleration = value; }
|
|
}
|
|
public override OMV.Quaternion RawOrientation
|
|
{
|
|
get { return _orientation; }
|
|
set { _orientation = value; }
|
|
}
|
|
public override OMV.Quaternion Orientation {
|
|
get {
|
|
return _orientation;
|
|
}
|
|
set {
|
|
if (_orientation == value)
|
|
return;
|
|
_orientation = value;
|
|
|
|
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
|
|
{
|
|
ForceOrientation = _orientation;
|
|
});
|
|
}
|
|
}
|
|
// Go directly to Bullet to get/set the value.
|
|
public override OMV.Quaternion ForceOrientation
|
|
{
|
|
get
|
|
{
|
|
_orientation = PhysicsScene.PE.GetOrientation(PhysBody);
|
|
return _orientation;
|
|
}
|
|
set
|
|
{
|
|
_orientation = value;
|
|
if (PhysBody.HasPhysicalBody)
|
|
PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
|
|
}
|
|
}
|
|
public override int PhysicsActorType {
|
|
get { return _physicsActorType; }
|
|
set { _physicsActorType = value; }
|
|
}
|
|
public override bool IsPhysical {
|
|
get { return _isPhysical; }
|
|
set {
|
|
if (_isPhysical != value)
|
|
{
|
|
_isPhysical = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
|
|
{
|
|
DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
|
|
SetObjectDynamic(true);
|
|
// whether phys-to-static or static-to-phys, the object is not moving.
|
|
ZeroMotion(true);
|
|
|
|
});
|
|
}
|
|
}
|
|
}
|
|
|
|
// An object is static (does not move) if selected or not physical
|
|
public override bool IsStatic
|
|
{
|
|
get { return _isSelected || !IsPhysical; }
|
|
}
|
|
|
|
// An object is solid if it's not phantom and if it's not doing VolumeDetect
|
|
public override bool IsSolid
|
|
{
|
|
get { return !IsPhantom && !_isVolumeDetect; }
|
|
}
|
|
|
|
// The object is moving and is actively being dynamic in the physical world
|
|
public override bool IsPhysicallyActive
|
|
{
|
|
get { return !_isSelected && IsPhysical; }
|
|
}
|
|
|
|
// Make gravity work if the object is physical and not selected
|
|
// Called at taint-time!!
|
|
private void SetObjectDynamic(bool forceRebuild)
|
|
{
|
|
// Recreate the physical object if necessary
|
|
CreateGeomAndObject(forceRebuild);
|
|
}
|
|
|
|
// Convert the simulator's physical properties into settings on BulletSim objects.
|
|
// There are four flags we're interested in:
|
|
// IsStatic: Object does not move, otherwise the object has mass and moves
|
|
// isSolid: other objects bounce off of this object
|
|
// isVolumeDetect: other objects pass through but can generate collisions
|
|
// collisionEvents: whether this object returns collision events
|
|
public virtual void UpdatePhysicalParameters()
|
|
{
|
|
if (!PhysBody.HasPhysicalBody)
|
|
{
|
|
// This would only happen if updates are called for during initialization when the body is not set up yet.
|
|
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
|
|
return;
|
|
}
|
|
|
|
// Mangling all the physical properties requires the object not be in the physical world.
|
|
// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
|
|
PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
|
|
|
|
// Set up the object physicalness (does gravity and collisions move this object)
|
|
MakeDynamic(IsStatic);
|
|
|
|
// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
|
|
VehicleActor.Refresh();
|
|
PhysicalActors.Refresh();
|
|
|
|
// Arrange for collision events if the simulator wants them
|
|
EnableCollisions(SubscribedEvents());
|
|
|
|
// Make solid or not (do things bounce off or pass through this object).
|
|
MakeSolid(IsSolid);
|
|
|
|
AddObjectToPhysicalWorld();
|
|
|
|
// Rebuild its shape
|
|
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
|
|
|
|
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
|
|
LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
|
|
}
|
|
|
|
// "Making dynamic" means changing to and from static.
|
|
// When static, gravity does not effect the object and it is fixed in space.
|
|
// When dynamic, the object can fall and be pushed by others.
|
|
// This is independent of its 'solidness' which controls what passes through
|
|
// this object and what interacts with it.
|
|
protected virtual void MakeDynamic(bool makeStatic)
|
|
{
|
|
if (makeStatic)
|
|
{
|
|
// Become a Bullet 'static' object type
|
|
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
|
|
// Stop all movement
|
|
ZeroMotion(true);
|
|
|
|
// Set various physical properties so other object interact properly
|
|
PhysicsScene.PE.SetFriction(PhysBody, Friction);
|
|
PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
|
|
PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
|
|
|
|
// Mass is zero which disables a bunch of physics stuff in Bullet
|
|
UpdatePhysicalMassProperties(0f, false);
|
|
// Set collision detection parameters
|
|
if (BSParam.CcdMotionThreshold > 0f)
|
|
{
|
|
PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
|
|
PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
|
|
}
|
|
|
|
// The activation state is 'disabled' so Bullet will not try to act on it.
|
|
// PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
|
|
// Start it out sleeping and physical actions could wake it up.
|
|
PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
|
|
|
|
// This collides like a static object
|
|
PhysBody.collisionType = CollisionType.Static;
|
|
}
|
|
else
|
|
{
|
|
// Not a Bullet static object
|
|
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
|
|
|
|
// Set various physical properties so other object interact properly
|
|
PhysicsScene.PE.SetFriction(PhysBody, Friction);
|
|
PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
|
|
// DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
|
|
|
|
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
|
|
// Since this can be called multiple times, only zero forces when becoming physical
|
|
// PhysicsScene.PE.ClearAllForces(BSBody);
|
|
|
|
// For good measure, make sure the transform is set through to the motion state
|
|
ForcePosition = _position;
|
|
ForceVelocity = _velocity;
|
|
ForceRotationalVelocity = _rotationalVelocity;
|
|
|
|
// A dynamic object has mass
|
|
UpdatePhysicalMassProperties(RawMass, false);
|
|
|
|
// Set collision detection parameters
|
|
if (BSParam.CcdMotionThreshold > 0f)
|
|
{
|
|
PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
|
|
PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
|
|
}
|
|
|
|
// Various values for simulation limits
|
|
PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
|
|
PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
|
|
PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
|
|
PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
|
|
|
|
// This collides like an object.
|
|
PhysBody.collisionType = CollisionType.Dynamic;
|
|
|
|
// Force activation of the object so Bullet will act on it.
|
|
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
|
|
PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
|
|
}
|
|
}
|
|
|
|
// "Making solid" means that other object will not pass through this object.
|
|
// To make transparent, we create a Bullet ghost object.
|
|
// Note: This expects to be called from the UpdatePhysicalParameters() routine as
|
|
// the functions after this one set up the state of a possibly newly created collision body.
|
|
private void MakeSolid(bool makeSolid)
|
|
{
|
|
CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
|
|
if (makeSolid)
|
|
{
|
|
// Verify the previous code created the correct shape for this type of thing.
|
|
if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
|
|
{
|
|
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
|
|
}
|
|
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
|
}
|
|
else
|
|
{
|
|
if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
|
|
{
|
|
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
|
|
}
|
|
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
|
|
|
// Change collision info from a static object to a ghosty collision object
|
|
PhysBody.collisionType = CollisionType.VolumeDetect;
|
|
}
|
|
}
|
|
|
|
// Enable physical actions. Bullet will keep sleeping non-moving physical objects so
|
|
// they need waking up when parameters are changed.
|
|
// Called in taint-time!!
|
|
private void ActivateIfPhysical(bool forceIt)
|
|
{
|
|
if (IsPhysical && PhysBody.HasPhysicalBody)
|
|
PhysicsScene.PE.Activate(PhysBody, forceIt);
|
|
}
|
|
|
|
// Turn on or off the flag controlling whether collision events are returned to the simulator.
|
|
private void EnableCollisions(bool wantsCollisionEvents)
|
|
{
|
|
if (wantsCollisionEvents)
|
|
{
|
|
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
|
}
|
|
else
|
|
{
|
|
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
|
}
|
|
}
|
|
|
|
// Add me to the physical world.
|
|
// Object MUST NOT already be in the world.
|
|
// This routine exists because some assorted properties get mangled by adding to the world.
|
|
internal void AddObjectToPhysicalWorld()
|
|
{
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
|
|
}
|
|
else
|
|
{
|
|
m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
|
|
DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
|
|
}
|
|
}
|
|
|
|
// prims don't fly
|
|
public override bool Flying {
|
|
get { return _flying; }
|
|
set {
|
|
_flying = value;
|
|
}
|
|
}
|
|
public override bool SetAlwaysRun {
|
|
get { return _setAlwaysRun; }
|
|
set { _setAlwaysRun = value; }
|
|
}
|
|
public override bool ThrottleUpdates {
|
|
get { return _throttleUpdates; }
|
|
set { _throttleUpdates = value; }
|
|
}
|
|
public bool IsPhantom {
|
|
get {
|
|
// SceneObjectPart removes phantom objects from the physics scene
|
|
// so, although we could implement touching and such, we never
|
|
// are invoked as a phantom object
|
|
return false;
|
|
}
|
|
}
|
|
public override bool FloatOnWater {
|
|
set {
|
|
_floatOnWater = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
|
|
{
|
|
if (_floatOnWater)
|
|
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
|
|
else
|
|
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
|
|
});
|
|
}
|
|
}
|
|
public override OMV.Vector3 RotationalVelocity {
|
|
get {
|
|
return _rotationalVelocity;
|
|
}
|
|
set {
|
|
_rotationalVelocity = value;
|
|
Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
|
|
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
|
|
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
|
|
{
|
|
ForceRotationalVelocity = _rotationalVelocity;
|
|
});
|
|
}
|
|
}
|
|
public override OMV.Vector3 ForceRotationalVelocity {
|
|
get {
|
|
return _rotationalVelocity;
|
|
}
|
|
set {
|
|
_rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
|
|
PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
|
|
// PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
}
|
|
}
|
|
public override bool Kinematic {
|
|
get { return _kinematic; }
|
|
set { _kinematic = value;
|
|
// m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
|
|
}
|
|
}
|
|
public override float Buoyancy {
|
|
get { return _buoyancy; }
|
|
set {
|
|
_buoyancy = value;
|
|
PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
|
|
{
|
|
ForceBuoyancy = _buoyancy;
|
|
});
|
|
}
|
|
}
|
|
public override float ForceBuoyancy {
|
|
get { return _buoyancy; }
|
|
set {
|
|
_buoyancy = value;
|
|
// DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
|
|
// Force the recalculation of the various inertia,etc variables in the object
|
|
UpdatePhysicalMassProperties(RawMass, true);
|
|
DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2},grav={3}", LocalID, _buoyancy, RawMass, Gravity);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
}
|
|
|
|
// Used for MoveTo
|
|
public override OMV.Vector3 PIDTarget {
|
|
set
|
|
{
|
|
// TODO: add a sanity check -- don't move more than a region or something like that.
|
|
_PIDTarget = value;
|
|
}
|
|
}
|
|
public override float PIDTau {
|
|
set { _PIDTau = value; }
|
|
}
|
|
public override bool PIDActive {
|
|
set {
|
|
if (value)
|
|
{
|
|
// We're taking over after this.
|
|
ZeroMotion(true);
|
|
|
|
_targetMotor = new BSVMotor("BSPrim.PIDTarget",
|
|
_PIDTau, // timeScale
|
|
BSMotor.Infinite, // decay time scale
|
|
BSMotor.InfiniteVector, // friction timescale
|
|
1f // efficiency
|
|
);
|
|
_targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
|
|
_targetMotor.SetTarget(_PIDTarget);
|
|
_targetMotor.SetCurrent(RawPosition);
|
|
/*
|
|
_targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
|
|
_targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
|
|
|
|
_targetMotor.SetTarget(_PIDTarget);
|
|
_targetMotor.SetCurrent(RawPosition);
|
|
_targetMotor.TimeScale = _PIDTau;
|
|
_targetMotor.Efficiency = 1f;
|
|
*/
|
|
|
|
RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
|
|
{
|
|
if (!IsPhysicallyActive)
|
|
{
|
|
UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
|
|
return;
|
|
}
|
|
|
|
OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
|
|
|
|
// 'movePosition' is where we'd like the prim to be at this moment.
|
|
OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
|
|
|
|
// If we are very close to our target, turn off the movement motor.
|
|
if (_targetMotor.ErrorIsZero())
|
|
{
|
|
DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
|
|
LocalID, movePosition, RawPosition, Mass);
|
|
ForcePosition = _targetMotor.TargetValue;
|
|
_targetMotor.Enabled = false;
|
|
}
|
|
else
|
|
{
|
|
_position = movePosition;
|
|
PositionSanityCheck(true /* intaintTime */);
|
|
ForcePosition = _position;
|
|
}
|
|
DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
|
|
});
|
|
}
|
|
else
|
|
{
|
|
// Stop any targetting
|
|
UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Used for llSetHoverHeight and maybe vehicle height
|
|
// Hover Height will override MoveTo target's Z
|
|
public override bool PIDHoverActive {
|
|
set {
|
|
if (value)
|
|
{
|
|
// Turning the target on
|
|
_hoverMotor = new BSFMotor("BSPrim.Hover",
|
|
_PIDHoverTau, // timeScale
|
|
BSMotor.Infinite, // decay time scale
|
|
BSMotor.Infinite, // friction timescale
|
|
1f // efficiency
|
|
);
|
|
_hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
|
|
_hoverMotor.SetCurrent(RawPosition.Z);
|
|
_hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
|
|
|
|
RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
|
|
{
|
|
// Don't do hovering while the object is selected.
|
|
if (!IsPhysicallyActive)
|
|
return;
|
|
|
|
_hoverMotor.SetCurrent(RawPosition.Z);
|
|
_hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
|
|
float targetHeight = _hoverMotor.Step(timeStep);
|
|
|
|
// 'targetHeight' is where we'd like the Z of the prim to be at this moment.
|
|
// Compute the amount of force to push us there.
|
|
float moveForce = (targetHeight - RawPosition.Z) * Mass;
|
|
// Undo anything the object thinks it's doing at the moment
|
|
moveForce = -RawVelocity.Z * Mass;
|
|
|
|
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
|
|
DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
|
|
});
|
|
}
|
|
else
|
|
{
|
|
UnRegisterPreStepAction("BSPrim.Hover", LocalID);
|
|
}
|
|
}
|
|
}
|
|
public override float PIDHoverHeight {
|
|
set { _PIDHoverHeight = value; }
|
|
}
|
|
public override PIDHoverType PIDHoverType {
|
|
set { _PIDHoverType = value; }
|
|
}
|
|
public override float PIDHoverTau {
|
|
set { _PIDHoverTau = value; }
|
|
}
|
|
// Based on current position, determine what we should be hovering at now.
|
|
// Must recompute often. What if we walked offa cliff>
|
|
private float ComputeCurrentPIDHoverHeight()
|
|
{
|
|
float ret = _PIDHoverHeight;
|
|
float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
|
|
|
|
switch (_PIDHoverType)
|
|
{
|
|
case PIDHoverType.Ground:
|
|
ret = groundHeight + _PIDHoverHeight;
|
|
break;
|
|
case PIDHoverType.GroundAndWater:
|
|
float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
|
|
if (groundHeight > waterHeight)
|
|
{
|
|
ret = groundHeight + _PIDHoverHeight;
|
|
}
|
|
else
|
|
{
|
|
ret = waterHeight + _PIDHoverHeight;
|
|
}
|
|
break;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
|
|
// 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) {
|
|
// Per documentation, max force is limited.
|
|
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
|
|
|
|
// Since this force is being applied in only one step, make this a force per second.
|
|
addForce /= PhysicsScene.LastTimeStep;
|
|
AddForce(addForce, pushforce, false /* inTaintTime */);
|
|
}
|
|
|
|
// Applying a force just adds this to the total force on the object.
|
|
// This added force will only last the next simulation tick.
|
|
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
|
|
// for an object, doesn't matter if force is a pushforce or not
|
|
if (IsPhysicallyActive)
|
|
{
|
|
if (force.IsFinite())
|
|
{
|
|
// DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
|
|
|
|
OMV.Vector3 addForce = force;
|
|
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
|
|
{
|
|
// Bullet adds this central force to the total force for this tick
|
|
DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
|
|
// for an object, doesn't matter if force is a pushforce or not
|
|
if (!IsPhysicallyActive)
|
|
{
|
|
if (impulse.IsFinite())
|
|
{
|
|
OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
|
|
// DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
|
|
|
|
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
|
|
{
|
|
// Bullet adds this impulse immediately to the velocity
|
|
DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
|
|
AddAngularForce(force, pushforce, false);
|
|
}
|
|
public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
|
|
{
|
|
if (force.IsFinite())
|
|
{
|
|
OMV.Vector3 angForce = force;
|
|
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
|
|
{
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce);
|
|
PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
});
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
|
|
return;
|
|
}
|
|
}
|
|
|
|
// A torque impulse.
|
|
// ApplyTorqueImpulse adds torque directly to the angularVelocity.
|
|
// AddAngularForce accumulates the force and applied it to the angular velocity all at once.
|
|
// Computed as: angularVelocity += impulse * inertia;
|
|
public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
|
|
{
|
|
OMV.Vector3 applyImpulse = impulse;
|
|
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
|
|
{
|
|
if (PhysBody.HasPhysicalBody)
|
|
{
|
|
PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
|
|
ActivateIfPhysical(false);
|
|
}
|
|
});
|
|
}
|
|
|
|
public override void SetMomentum(OMV.Vector3 momentum) {
|
|
// DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
|
|
}
|
|
#region Mass Calculation
|
|
|
|
private float CalculateMass()
|
|
{
|
|
float volume = _size.X * _size.Y * _size.Z; // default
|
|
float tmp;
|
|
|
|
float returnMass = 0;
|
|
float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
|
|
float hollowVolume = hollowAmount * hollowAmount;
|
|
|
|
switch (BaseShape.ProfileShape)
|
|
{
|
|
case ProfileShape.Square:
|
|
// default box
|
|
|
|
if (BaseShape.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
//a tube
|
|
|
|
volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
|
|
tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
|
|
volume -= volume*tmp*tmp;
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
hollowVolume *= hollowAmount;
|
|
|
|
switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
volume *= 0.78539816339f; // elipse base
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
|
|
tmp = 1.0f - .02f * (float)(200 - BaseShape.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 (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
volume *= 0.52359877559829887307710723054658f;
|
|
}
|
|
break;
|
|
|
|
case ProfileShape.EquilateralTriangle:
|
|
|
|
if (BaseShape.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 (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
volume *= 0.32475953f;
|
|
volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
|
|
tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
|
|
volume *= (1.0f - tmp * tmp);
|
|
|
|
if (hollowAmount > 0.0)
|
|
{
|
|
|
|
hollowVolume *= hollowAmount;
|
|
|
|
switch (BaseShape.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 (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
|
|
{
|
|
taperX1 = BaseShape.PathScaleX * 0.01f;
|
|
if (taperX1 > 1.0f)
|
|
taperX1 = 2.0f - taperX1;
|
|
taperX = 1.0f - taperX1;
|
|
|
|
taperY1 = BaseShape.PathScaleY * 0.01f;
|
|
if (taperY1 > 1.0f)
|
|
taperY1 = 2.0f - taperY1;
|
|
taperY = 1.0f - taperY1;
|
|
}
|
|
else
|
|
{
|
|
taperX = BaseShape.PathTaperX * 0.01f;
|
|
if (taperX < 0.0f)
|
|
taperX = -taperX;
|
|
taperX1 = 1.0f - taperX;
|
|
|
|
taperY = BaseShape.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)BaseShape.PathBegin * 2.0e-5f;
|
|
pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
|
|
volume *= (pathEnd - pathBegin);
|
|
|
|
// this is crude aproximation
|
|
profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
|
|
profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
|
|
volume *= (profileEnd - profileBegin);
|
|
|
|
returnMass = Density * BSParam.DensityScaleFactor * volume;
|
|
|
|
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
|
|
// DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
|
|
|
|
return returnMass;
|
|
}// end CalculateMass
|
|
#endregion Mass Calculation
|
|
|
|
// Rebuild the geometry and object.
|
|
// This is called when the shape changes so we need to recreate the mesh/hull.
|
|
// Called at taint-time!!!
|
|
public void CreateGeomAndObject(bool forceRebuild)
|
|
{
|
|
// Create the correct physical representation for this type of object.
|
|
// Updates base.PhysBody and base.PhysShape with the new information.
|
|
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
|
|
PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
|
|
{
|
|
// Called if the current prim body is about to be destroyed.
|
|
// Remove all the physical dependencies on the old body.
|
|
// (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
|
|
RemoveBodyDependencies();
|
|
});
|
|
|
|
// Make sure the properties are set on the new object
|
|
UpdatePhysicalParameters();
|
|
return;
|
|
}
|
|
|
|
protected virtual void RemoveBodyDependencies()
|
|
{
|
|
VehicleActor.RemoveBodyDependencies();
|
|
PhysicalActors.RemoveBodyDependencies();
|
|
}
|
|
|
|
// The physics engine says that properties have updated. Update same and inform
|
|
// the world that things have changed.
|
|
public override void UpdateProperties(EntityProperties entprop)
|
|
{
|
|
TriggerPreUpdatePropertyAction(ref entprop);
|
|
|
|
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
|
|
|
// Assign directly to the local variables so the normal set actions do not happen
|
|
_position = entprop.Position;
|
|
_orientation = entprop.Rotation;
|
|
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
|
|
// very sensitive to velocity changes.
|
|
if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, BSParam.UpdateVelocityChangeThreshold))
|
|
_velocity = entprop.Velocity;
|
|
_acceleration = entprop.Acceleration;
|
|
_rotationalVelocity = entprop.RotationalVelocity;
|
|
|
|
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
|
|
|
// The sanity check can change the velocity and/or position.
|
|
if (PositionSanityCheck(true /* inTaintTime */ ))
|
|
{
|
|
entprop.Position = _position;
|
|
entprop.Velocity = _velocity;
|
|
entprop.RotationalVelocity = _rotationalVelocity;
|
|
entprop.Acceleration = _acceleration;
|
|
}
|
|
|
|
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
|
|
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
|
|
|
|
// remember the current and last set values
|
|
LastEntityProperties = CurrentEntityProperties;
|
|
CurrentEntityProperties = entprop;
|
|
|
|
base.RequestPhysicsterseUpdate();
|
|
/*
|
|
else
|
|
{
|
|
// For debugging, report the movement of children
|
|
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
|
|
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
|
|
entprop.Acceleration, entprop.RotationalVelocity);
|
|
}
|
|
*/
|
|
}
|
|
}
|
|
}
|