1380 lines
53 KiB
C#
1380 lines
53 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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// Uncomment this it enable code to do all shape an body memory management
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// in the C# code.
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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 : 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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// Often Scale is unity because the meshmerizer will apply _size when creating 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 OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
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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; // the mass of this object
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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 float _restitution;
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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 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, 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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base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
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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 = 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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_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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_friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material
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_density = PhysicsScene.Params.defaultDensity; // TODO: compute based on object material
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_restitution = PhysicsScene.Params.defaultRestitution;
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_vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness
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_mass = CalculateMass();
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// No body or shape yet
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BSBody = new BulletBody(LocalID, IntPtr.Zero);
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BSShape = new BulletShape(IntPtr.Zero);
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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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CreateGeomAndObject(true);
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CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
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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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// Undo any links between me and any other object
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BSPhysObject parentBefore = Linkset.LinksetRoot;
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int childrenBefore = Linkset.NumberOfChildren;
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Linkset = Linkset.RemoveMeFromLinkset(this);
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DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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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(BSBody, true, null);
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PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
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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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_size = value;
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ForceBodyShapeRebuild(false);
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}
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}
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// Scale is what we set in the physics engine. It is different than 'size' in that
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// 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
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public override OMV.Vector3 Scale { get; set; }
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public override PrimitiveBaseShape Shape {
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set {
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BaseShape = value;
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ForceBodyShapeRebuild(false);
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}
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}
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public override bool ForceBodyShapeRebuild(bool inTaintTime)
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{
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LastAssetBuildFailed = false;
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BSScene.TaintCallback rebuildOperation = 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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if (inTaintTime)
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rebuildOperation();
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else
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PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
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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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_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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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 = obj as BSPrim;
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if (parent != null)
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{
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BSPhysObject parentBefore = Linkset.LinksetRoot;
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int childrenBefore = Linkset.NumberOfChildren;
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Linkset = parent.Linkset.AddMeToLinkset(this);
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DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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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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BSPhysObject parentBefore = Linkset.LinksetRoot;
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int childrenBefore = Linkset.NumberOfChildren;
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Linkset = Linkset.RemoveMeFromLinkset(this);
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DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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return;
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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()
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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 directly into the physics engine
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BulletSimAPI.ClearForces2(BSBody.ptr);
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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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return;
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}
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public override OMV.Vector3 Position {
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get {
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if (!Linkset.IsRoot(this))
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// child prims move around based on their parent. Need to get the latest location
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_position = BulletSimAPI.GetPosition2(BSBody.ptr);
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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 = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
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return _position;
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}
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set {
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// If you must push the position into the physics engine, use ForcePosition.
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if (_position == value)
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{
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return;
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}
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_position = value;
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// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
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PositionSanityCheck();
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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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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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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 = BulletSimAPI.GetPosition2(BSBody.ptr);
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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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PositionSanityCheck();
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BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
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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()
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{
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bool ret = false;
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// If totally below the ground, move the prim up
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// TODO: figure out the right solution for this... only for dynamic objects?
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/*
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float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
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if (Position.Z < terrainHeight)
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{
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DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
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_position.Z = terrainHeight + 2.0f;
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ret = true;
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}
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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.GetWaterLevelAtXYZ(_position);
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// TODO: a floating motor so object will bob in the water
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if (Position.Z < waterHeight)
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{
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_position.Z = waterHeight;
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ret = true;
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}
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}
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// TODO: check for out of bounds
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return ret;
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}
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// A version of the sanity check that also makes sure a new position value is
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// pushed to the physics engine. This routine would be used by anyone
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// who is not already pushing the value.
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private bool PositionSanityCheck(bool inTaintTime)
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{
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bool ret = false;
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if (PositionSanityCheck())
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{
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// The new position value must be pushed into the physics engine but we can't
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// just assign to "Position" because of potential call loops.
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BSScene.TaintCallback sanityOperation = delegate()
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{
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DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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ForcePosition = _position;
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};
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if (inTaintTime)
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sanityOperation();
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else
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PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
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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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// If there are multiple items in the linkset, add them together for the root
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public override float Mass
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{
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get
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{
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// return Linkset.LinksetMass;
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return _mass;
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}
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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 MassRaw { get { return _mass; } }
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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 Linkset.CenterOfMass; }
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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 Linkset.GeometricCenter; }
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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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PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
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{
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// DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
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BulletSimAPI.SetObjectForce2(BSBody.ptr, _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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// Tell the scene about the vehicle so it will get processing each frame.
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PhysicsScene.VehicleInSceneTypeChanged(this, type);
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PhysicsScene.TaintedObject("setVehicleType", delegate()
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{
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// Done at taint time so we're sure the physics engine is not using the variables
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// Vehicle code changes the parameters for this vehicle type.
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_vehicle.ProcessTypeChange(type);
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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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PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
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{
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_vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
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});
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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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PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
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{
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_vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
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});
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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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PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
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{
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_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
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});
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}
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public override void VehicleFlags(int param, bool remove)
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{
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PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
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{
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_vehicle.ProcessVehicleFlags(param, remove);
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});
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}
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// Called each simulation step to advance vehicle characteristics.
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// Called from Scene when doing simulation step so we're in taint processing time.
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public override void StepVehicle(float timeStep)
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{
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if (IsPhysical)
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{
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_vehicle.Step(timeStep);
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}
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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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PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
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{
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// DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
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SetObjectDynamic(true);
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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 Velocity {
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get { return _velocity; }
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set {
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_velocity = value;
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PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
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{
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// DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
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BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
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});
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}
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}
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public override OMV.Vector3 ForceVelocity {
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get { return _velocity; }
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set {
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_velocity = value;
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BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
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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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// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
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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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set { _acceleration = value; }
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}
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public override OMV.Quaternion Orientation {
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get {
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if (!Linkset.IsRoot(this))
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{
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// Children move around because tied to parent. Get a fresh value.
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_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
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}
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return _orientation;
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}
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set {
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if (_orientation == value)
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return;
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_orientation = value;
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// TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
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PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
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{
|
|
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
|
|
// DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
|
|
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
|
});
|
|
}
|
|
}
|
|
// Go directly to Bullet to get/set the value.
|
|
public override OMV.Quaternion ForceOrientation
|
|
{
|
|
get
|
|
{
|
|
_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
|
|
return _orientation;
|
|
}
|
|
set
|
|
{
|
|
_orientation = value;
|
|
BulletSimAPI.SetTranslation2(BSBody.ptr, _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);
|
|
});
|
|
}
|
|
}
|
|
}
|
|
|
|
// 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; }
|
|
}
|
|
|
|
// 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
|
|
private void UpdatePhysicalParameters()
|
|
{
|
|
// DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
|
|
|
|
// 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).
|
|
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
|
|
|
|
// 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)
|
|
_vehicle.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);
|
|
|
|
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
|
|
|
|
// Rebuild its shape
|
|
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
|
|
|
|
// Collision filter can be set only when the object is in the world
|
|
if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
|
|
{
|
|
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
|
|
}
|
|
|
|
// Recompute any linkset parameters.
|
|
// When going from non-physical to physical, this re-enables the constraints that
|
|
// had been automatically disabled when the mass was set to zero.
|
|
Linkset.Refresh(this, true);
|
|
|
|
DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
|
|
LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
|
|
}
|
|
|
|
// "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.
|
|
private void MakeDynamic(bool makeStatic)
|
|
{
|
|
if (makeStatic)
|
|
{
|
|
// Become a Bullet 'static' object type
|
|
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
|
// Stop all movement
|
|
BulletSimAPI.ClearAllForces2(BSBody.ptr);
|
|
// Center of mass is at the center of the object
|
|
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
|
|
// Mass is zero which disables a bunch of physics stuff in Bullet
|
|
BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
|
|
// There is no inertia in a static object
|
|
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
|
|
// Set collision detection parameters
|
|
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
|
|
{
|
|
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
|
|
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
|
|
}
|
|
// There can be special things needed for implementing linksets
|
|
Linkset.MakeStatic(this);
|
|
// The activation state is 'disabled' so Bullet will not try to act on it.
|
|
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
|
|
// Start it out sleeping and physical actions could wake it up.
|
|
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
|
|
|
|
BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
|
|
BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
|
|
}
|
|
else
|
|
{
|
|
// Not a Bullet static object
|
|
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
|
|
|
// Set various physical properties so internal dynamic properties will get computed correctly as they are set
|
|
BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
|
|
BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
|
|
|
|
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
|
|
BulletSimAPI.ClearAllForces2(BSBody.ptr);
|
|
|
|
// For good measure, make sure the transform is set through to the motion state
|
|
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
|
|
|
|
// A dynamic object has mass
|
|
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
|
|
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
|
|
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
|
|
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
|
|
|
|
// Set collision detection parameters
|
|
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
|
|
{
|
|
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
|
|
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
|
|
}
|
|
|
|
// Various values for simulation limits
|
|
BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
|
|
BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
|
|
BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
|
|
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
|
|
|
|
// There might be special things needed for implementing linksets.
|
|
Linkset.MakeDynamic(this);
|
|
|
|
// Force activation of the object so Bullet will act on it.
|
|
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
|
|
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
|
|
// BulletSimAPI.Activate2(BSBody.ptr, true);
|
|
|
|
BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
|
|
BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
|
|
}
|
|
}
|
|
|
|
// "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)BulletSimAPI.GetBodyType2(BSBody.ptr);
|
|
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 = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, 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 = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
|
BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
|
|
BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
|
|
}
|
|
}
|
|
|
|
// Turn on or off the flag controlling whether collision events are returned to the simulator.
|
|
private void EnableCollisions(bool wantsCollisionEvents)
|
|
{
|
|
if (wantsCollisionEvents)
|
|
{
|
|
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
|
}
|
|
else
|
|
{
|
|
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
|
|
}
|
|
}
|
|
|
|
// 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 override bool IsColliding {
|
|
get { return (CollidingStep == PhysicsScene.SimulationStep); }
|
|
set { _isColliding = value; }
|
|
}
|
|
public override bool CollidingGround {
|
|
get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
|
|
set { _collidingGround = value; }
|
|
}
|
|
public override bool CollidingObj {
|
|
get { return _collidingObj; }
|
|
set { _collidingObj = 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 = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
|
|
else
|
|
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
|
|
});
|
|
}
|
|
}
|
|
public override OMV.Vector3 RotationalVelocity {
|
|
get {
|
|
/*
|
|
OMV.Vector3 pv = OMV.Vector3.Zero;
|
|
// if close to zero, report zero
|
|
// This is copied from ODE but I'm not sure why it returns zero but doesn't
|
|
// zero the property in the physics engine.
|
|
if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
|
|
return pv;
|
|
*/
|
|
|
|
return _rotationalVelocity;
|
|
}
|
|
set {
|
|
_rotationalVelocity = value;
|
|
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
|
|
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
|
|
{
|
|
// DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
|
|
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
|
|
});
|
|
}
|
|
}
|
|
public override OMV.Vector3 ForceRotationalVelocity {
|
|
get {
|
|
return _rotationalVelocity;
|
|
}
|
|
set {
|
|
_rotationalVelocity = value;
|
|
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
|
|
}
|
|
}
|
|
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);
|
|
// Buoyancy is faked by changing the gravity applied to the object
|
|
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
|
|
BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
|
|
}
|
|
}
|
|
|
|
// Used for MoveTo
|
|
public override OMV.Vector3 PIDTarget {
|
|
set { _PIDTarget = value; }
|
|
}
|
|
public override bool PIDActive {
|
|
set { _usePID = value; }
|
|
}
|
|
public override float PIDTau {
|
|
set { _PIDTau = value; }
|
|
}
|
|
|
|
// Used for llSetHoverHeight and maybe vehicle height
|
|
// Hover Height will override MoveTo target's Z
|
|
public override bool PIDHoverActive {
|
|
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; } }
|
|
|
|
private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
|
|
public override void AddForce(OMV.Vector3 force, bool pushforce) {
|
|
AddForce(force, pushforce, false);
|
|
}
|
|
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
|
|
// for an object, doesn't matter if force is a pushforce or not
|
|
if (force.IsFinite())
|
|
{
|
|
// _force += force;
|
|
lock (m_accumulatedForces)
|
|
m_accumulatedForces.Add(new OMV.Vector3(force));
|
|
}
|
|
else
|
|
{
|
|
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
|
|
return;
|
|
}
|
|
BSScene.TaintCallback addForceOperation = delegate()
|
|
{
|
|
OMV.Vector3 fSum = OMV.Vector3.Zero;
|
|
lock (m_accumulatedForces)
|
|
{
|
|
// Sum the accumulated additional forces for one big force to apply once.
|
|
foreach (OMV.Vector3 v in m_accumulatedForces)
|
|
{
|
|
fSum += v;
|
|
}
|
|
m_accumulatedForces.Clear();
|
|
}
|
|
// DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
|
|
// For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
|
|
if (fSum != OMV.Vector3.Zero)
|
|
BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
|
|
};
|
|
if (inTaintTime)
|
|
addForceOperation();
|
|
else
|
|
PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
|
|
}
|
|
|
|
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
|
|
// DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
|
|
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
|
|
}
|
|
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 * volume;
|
|
|
|
/*
|
|
* This change means each object keeps its own mass and the Mass property
|
|
* will return the sum if we're part of a linkset.
|
|
if (IsRootOfLinkset)
|
|
{
|
|
foreach (BSPrim prim in _childrenPrims)
|
|
{
|
|
returnMass += prim.CalculateMass();
|
|
}
|
|
}
|
|
*/
|
|
|
|
if (returnMass <= 0)
|
|
returnMass = 0.0001f;
|
|
|
|
if (returnMass > PhysicsScene.MaximumObjectMass)
|
|
returnMass = PhysicsScene.MaximumObjectMass;
|
|
|
|
return returnMass;
|
|
}// end CalculateMass
|
|
#endregion Mass Calculation
|
|
|
|
// Copy prim's info into the BulletSim shape description structure
|
|
public void FillShapeInfo(out ShapeData shape)
|
|
{
|
|
shape.ID = LocalID;
|
|
shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
|
|
shape.Position = _position;
|
|
shape.Rotation = _orientation;
|
|
shape.Velocity = _velocity;
|
|
shape.Size = _size;
|
|
shape.Scale = Scale;
|
|
shape.Mass = _isPhysical ? _mass : 0f;
|
|
shape.Buoyancy = _buoyancy;
|
|
shape.HullKey = 0;
|
|
shape.MeshKey = 0;
|
|
shape.Friction = _friction;
|
|
shape.Restitution = _restitution;
|
|
shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
|
|
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
|
|
shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
|
|
}
|
|
// Rebuild the geometry and object.
|
|
// This is called when the shape changes so we need to recreate the mesh/hull.
|
|
// Called at taint-time!!!
|
|
private void CreateGeomAndObject(bool forceRebuild)
|
|
{
|
|
ShapeData shapeData;
|
|
FillShapeInfo(out shapeData);
|
|
|
|
// If this prim is part of a linkset, we must remove and restore the physical
|
|
// links if the body is rebuilt.
|
|
bool needToRestoreLinkset = false;
|
|
|
|
// Create the correct physical representation for this type of object.
|
|
// Updates BSBody and BSShape with the new information.
|
|
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
|
|
// Returns 'true' if either the body or the shape was changed.
|
|
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
|
|
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 handled by BSLinkset.)
|
|
needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
|
|
});
|
|
|
|
if (needToRestoreLinkset)
|
|
{
|
|
// If physical body dependencies were removed, restore them
|
|
Linkset.RestoreBodyDependencies(this);
|
|
}
|
|
|
|
// Make sure the properties are set on the new object
|
|
UpdatePhysicalParameters();
|
|
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()
|
|
enum UpdatedProperties {
|
|
Position = 1 << 0,
|
|
Rotation = 1 << 1,
|
|
Velocity = 1 << 2,
|
|
Acceleration = 1 << 3,
|
|
RotationalVel = 1 << 4
|
|
}
|
|
|
|
const float ROTATION_TOLERANCE = 0.01f;
|
|
const float VELOCITY_TOLERANCE = 0.001f;
|
|
const float POSITION_TOLERANCE = 0.05f;
|
|
const float ACCELERATION_TOLERANCE = 0.01f;
|
|
const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
|
|
|
|
public override void UpdateProperties(EntityProperties entprop)
|
|
{
|
|
/*
|
|
UpdatedProperties changed = 0;
|
|
// assign to the local variables so the normal set action does not happen
|
|
// if (_position != entprop.Position)
|
|
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
|
|
{
|
|
_position = entprop.Position;
|
|
changed |= UpdatedProperties.Position;
|
|
}
|
|
// if (_orientation != entprop.Rotation)
|
|
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
|
|
{
|
|
_orientation = entprop.Rotation;
|
|
changed |= UpdatedProperties.Rotation;
|
|
}
|
|
// if (_velocity != entprop.Velocity)
|
|
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
|
|
{
|
|
_velocity = entprop.Velocity;
|
|
changed |= UpdatedProperties.Velocity;
|
|
}
|
|
// if (_acceleration != entprop.Acceleration)
|
|
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
|
|
{
|
|
_acceleration = entprop.Acceleration;
|
|
changed |= UpdatedProperties.Acceleration;
|
|
}
|
|
// if (_rotationalVelocity != entprop.RotationalVelocity)
|
|
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
|
|
{
|
|
_rotationalVelocity = entprop.RotationalVelocity;
|
|
changed |= UpdatedProperties.RotationalVel;
|
|
}
|
|
if (changed != 0)
|
|
{
|
|
// Only update the position of single objects and linkset roots
|
|
if (this._parentPrim == null)
|
|
{
|
|
base.RequestPhysicsterseUpdate();
|
|
}
|
|
}
|
|
*/
|
|
|
|
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
|
|
|
|
// Updates only for individual prims and for the root object of a linkset.
|
|
if (Linkset.IsRoot(this))
|
|
{
|
|
// Assign to the local variables so the normal set action does not happen
|
|
_position = entprop.Position;
|
|
_orientation = entprop.Rotation;
|
|
_velocity = entprop.Velocity;
|
|
_acceleration = entprop.Acceleration;
|
|
_rotationalVelocity = entprop.RotationalVelocity;
|
|
|
|
// remember the current and last set values
|
|
LastEntityProperties = CurrentEntityProperties;
|
|
CurrentEntityProperties = entprop;
|
|
|
|
PositionSanityCheck(true);
|
|
|
|
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
|
|
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
|
|
|
|
// BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG
|
|
|
|
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);
|
|
}
|
|
*/
|
|
|
|
// The linkset implimentation might want to know about this.
|
|
Linkset.UpdateProperties(this);
|
|
}
|
|
}
|
|
}
|