349 lines
14 KiB
C#
Executable File
349 lines
14 KiB
C#
Executable File
/*
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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.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OpenSim.Framework;
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using OpenSim.Region.OptionalModules.Scripting;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSPrimLinkable : BSPrimDisplaced
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{
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// The purpose of this subclass is to add linkset functionality to the prim. This overrides
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// operations necessary for keeping the linkset created and, additionally, this
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// calls the linkset implementation for its creation and management.
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private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]";
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// This adds the overrides for link() and delink() so the prim is linkable.
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public BSLinkset Linkset { get; set; }
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// The index of this child prim.
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public int LinksetChildIndex { get; set; }
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public BSLinkset.LinksetImplementation LinksetType { get; set; }
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public BSPrimLinkable(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(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
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{
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// Default linkset implementation for this prim
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LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
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Linkset = BSLinkset.Factory(PhysScene, this);
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Linkset.Refresh(this);
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}
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public override void Destroy()
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{
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Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */);
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base.Destroy();
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}
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public override void link(Manager.PhysicsActor obj)
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{
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BSPrimLinkable parent = obj as BSPrimLinkable;
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if (parent != null)
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{
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BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
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int childrenBefore = Linkset.NumberOfChildren; // DEBUG
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Linkset = parent.Linkset.AddMeToLinkset(this);
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DetailLog("{0},BSPrimLinkable.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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public override void delink()
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{
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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; // DEBUG
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int childrenBefore = Linkset.NumberOfChildren; // DEBUG
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Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/);
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DetailLog("{0},BSPrimLinkable.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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// When simulator changes position, this might be moving a child of the linkset.
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public override OMV.Vector3 Position
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{
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get { return base.Position; }
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set
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{
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base.Position = value;
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PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setPosition", delegate()
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{
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Linkset.UpdateProperties(UpdatedProperties.Position, this);
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});
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}
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}
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// When simulator changes orientation, this might be moving a child of the linkset.
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public override OMV.Quaternion Orientation
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{
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get { return base.Orientation; }
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set
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{
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base.Orientation = value;
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PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setOrientation", delegate()
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{
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Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
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});
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}
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}
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public override float TotalMass
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{
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get { return Linkset.LinksetMass; }
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}
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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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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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// Refresh the linkset structure and parameters when the prim's physical parameters are changed.
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public override void UpdatePhysicalParameters()
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{
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base.UpdatePhysicalParameters();
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// Recompute any linkset parameters.
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// When going from non-physical to physical, this re-enables the constraints that
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// had been automatically disabled when the mass was set to zero.
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// For compound based linksets, this enables and disables interactions of the children.
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if (Linkset != null) // null can happen during initialization
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Linkset.Refresh(this);
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}
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// When the prim is made dynamic or static, the linkset needs to change.
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protected override void MakeDynamic(bool makeStatic)
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{
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base.MakeDynamic(makeStatic);
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if (Linkset != null) // null can happen during initialization
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{
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if (makeStatic)
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Linkset.MakeStatic(this);
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else
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Linkset.MakeDynamic(this);
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}
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}
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// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
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protected override void RemoveDependencies()
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{
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Linkset.RemoveDependencies(this);
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base.RemoveDependencies();
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}
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// Called after a simulation step for the changes in physical object properties.
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// Do any filtering/modification needed for linksets.
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public override void UpdateProperties(EntityProperties entprop)
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{
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if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this))
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{
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// Properties are only updated for the roots of a linkset.
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// TODO: this will have to change when linksets are articulated.
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base.UpdateProperties(entprop);
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}
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/*
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else
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{
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// For debugging, report the movement of children
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DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
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LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
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entprop.Acceleration, entprop.RotationalVelocity);
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}
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*/
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// The linkset might like to know about changing locations
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Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
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}
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// Called after a simulation step to post a collision with this object.
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// This returns 'true' if the collision has been queued and the SendCollisions call must
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// be made at the end of the simulation step.
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public override bool Collide(uint collidingWith, BSPhysObject collidee,
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OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
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{
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bool ret = false;
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// Ask the linkset if it wants to handle the collision
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if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
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{
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// The linkset didn't handle it so pass the collision through normal processing
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ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
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}
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return ret;
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}
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// A linkset reports any collision on any part of the linkset.
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public long SomeCollisionSimulationStep = 0;
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public override bool HasSomeCollision
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{
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get
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{
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return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
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}
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set
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{
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if (value)
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SomeCollisionSimulationStep = PhysScene.SimulationStep;
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else
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SomeCollisionSimulationStep = 0;
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base.HasSomeCollision = value;
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}
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}
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// Convert the existing linkset of this prim into a new type.
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public bool ConvertLinkset(BSLinkset.LinksetImplementation newType)
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{
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bool ret = false;
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if (LinksetType != newType)
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{
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DetailLog("{0},BSPrimLinkable.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType);
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// Set the implementation type first so the call to BSLinkset.Factory gets the new type.
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this.LinksetType = newType;
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BSLinkset oldLinkset = this.Linkset;
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BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this);
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this.Linkset = newLinkset;
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// Pick up any physical dependencies this linkset might have in the physics engine.
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oldLinkset.RemoveDependencies(this);
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// Create a list of the children (mainly because can't interate through a list that's changing)
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List<BSPrimLinkable> children = new List<BSPrimLinkable>();
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oldLinkset.ForEachMember((child) =>
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{
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if (!oldLinkset.IsRoot(child))
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children.Add(child);
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return false; // 'false' says to continue to next member
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});
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// Remove the children from the old linkset and add to the new (will be a new instance from the factory)
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foreach (BSPrimLinkable child in children)
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{
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oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/);
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}
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foreach (BSPrimLinkable child in children)
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{
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newLinkset.AddMeToLinkset(child);
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child.Linkset = newLinkset;
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}
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// Force the shape and linkset to get reconstructed
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newLinkset.Refresh(this);
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this.ForceBodyShapeRebuild(true /* inTaintTime */);
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}
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return ret;
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}
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#region Extension
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public override object Extension(string pFunct, params object[] pParams)
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{
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DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length);
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object ret = null;
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switch (pFunct)
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{
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// physGetLinksetType();
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// pParams = [ BSPhysObject root, null ]
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case ExtendedPhysics.PhysFunctGetLinksetType:
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{
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ret = (object)LinksetType;
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DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret);
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break;
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}
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// physSetLinksetType(type);
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// pParams = [ BSPhysObject root, null, integer type ]
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case ExtendedPhysics.PhysFunctSetLinksetType:
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{
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if (pParams.Length > 2)
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{
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BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2];
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if (Linkset.IsRoot(this))
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{
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PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate()
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{
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// Cause the linkset type to change
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DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}",
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LocalID, Linkset.LinksetImpl, linksetType);
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ConvertLinkset(linksetType);
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});
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}
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ret = (object)(int)linksetType;
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}
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break;
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}
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// physChangeLinkType(linknum, typeCode);
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// pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
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case ExtendedPhysics.PhysFunctChangeLinkType:
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{
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ret = Linkset.Extension(pFunct, pParams);
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break;
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}
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// physGetLinkType(linknum);
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// pParams = [ BSPhysObject root, BSPhysObject child ]
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case ExtendedPhysics.PhysFunctGetLinkType:
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{
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ret = Linkset.Extension(pFunct, pParams);
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break;
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}
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// physChangeLinkParams(linknum, [code, value, code, value, ...]);
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// pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ]
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case ExtendedPhysics.PhysFunctChangeLinkParams:
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{
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ret = Linkset.Extension(pFunct, pParams);
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break;
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}
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default:
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ret = base.Extension(pFunct, pParams);
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break;
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}
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return ret;
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}
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#endregion // Extension
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}
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}
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