1810 lines
65 KiB
C#
1810 lines
65 KiB
C#
/*
|
|
* Copyright (c) Contributors, http://opensimulator.org/
|
|
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the OpenSim Project nor the
|
|
* names of its contributors may be used to endorse or promote products
|
|
* derived from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
|
|
using System;
|
|
using System.Collections.Generic;
|
|
using System.Runtime.InteropServices;
|
|
using Axiom.Math;
|
|
using Ode.NET;
|
|
using OpenSim.Framework;
|
|
using OpenSim.Region.Physics.Manager;
|
|
|
|
namespace OpenSim.Region.Physics.OdePlugin
|
|
{
|
|
public class OdePrim : PhysicsActor
|
|
{
|
|
private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
|
|
|
|
public PhysicsVector _position;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
|
|
private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
|
|
private PhysicsVector m_rotationalVelocity;
|
|
private PhysicsVector _size;
|
|
private PhysicsVector _acceleration;
|
|
private Quaternion _orientation;
|
|
private PhysicsVector m_taintposition;
|
|
private PhysicsVector m_taintsize;
|
|
private PhysicsVector m_taintVelocity = PhysicsVector.Zero;
|
|
private Quaternion m_taintrot;
|
|
private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
|
|
| CollisionCategories.Space
|
|
| CollisionCategories.Body
|
|
| CollisionCategories.Character);
|
|
private bool m_taintshape = false;
|
|
private bool m_taintPhysics = false;
|
|
private bool m_collidesLand = true;
|
|
private bool m_collidesWater = false;
|
|
|
|
// Default we're a Geometry
|
|
private CollisionCategories m_collisionCategories = (CollisionCategories.Geom );
|
|
|
|
// Default, Collide with Other Geometries, spaces and Bodies
|
|
private CollisionCategories m_collisionFlags = m_default_collisionFlags;
|
|
|
|
public bool m_taintremove = false;
|
|
public bool m_taintdisable = false;
|
|
public bool m_disabled = false;
|
|
public bool m_taintadd = false;
|
|
public bool m_taintselected = false;
|
|
|
|
|
|
public uint m_localID = 0;
|
|
|
|
public GCHandle gc;
|
|
private CollisionLocker ode;
|
|
|
|
private bool m_taintforce = false;
|
|
private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
|
|
|
|
private IMesh _mesh;
|
|
private PrimitiveBaseShape _pbs;
|
|
private OdeScene _parent_scene;
|
|
public IntPtr m_targetSpace = (IntPtr) 0;
|
|
public IntPtr prim_geom;
|
|
public IntPtr prev_geom;
|
|
public IntPtr _triMeshData;
|
|
|
|
private bool iscolliding = false;
|
|
private bool m_isphysical = false;
|
|
private bool m_isSelected = false;
|
|
|
|
private bool m_throttleUpdates = false;
|
|
private int throttleCounter = 0;
|
|
public int m_interpenetrationcount = 0;
|
|
public int m_collisionscore = 0;
|
|
public int m_roundsUnderMotionThreshold = 0;
|
|
private int m_crossingfailures = 0;
|
|
|
|
public bool outofBounds = false;
|
|
private float m_density = 10.000006836f; // Aluminum g/cm3;
|
|
|
|
|
|
public bool _zeroFlag = false;
|
|
private bool m_lastUpdateSent = false;
|
|
|
|
public IntPtr Body = (IntPtr) 0;
|
|
private String m_primName;
|
|
private PhysicsVector _target_velocity;
|
|
public d.Mass pMass;
|
|
|
|
private int debugcounter = 0;
|
|
|
|
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
|
|
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
|
|
{
|
|
|
|
|
|
gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
|
|
ode = dode;
|
|
_velocity = new PhysicsVector();
|
|
_position = pos;
|
|
m_taintposition = pos;
|
|
if (_position.X > 257)
|
|
{
|
|
_position.X = 257;
|
|
}
|
|
if (_position.X < 0)
|
|
{
|
|
_position.X = 0;
|
|
}
|
|
if (_position.Y > 257)
|
|
{
|
|
_position.Y = 257;
|
|
}
|
|
if (_position.Y < 0)
|
|
{
|
|
_position.Y = 0;
|
|
}
|
|
|
|
prim_geom = (IntPtr)0;
|
|
prev_geom = (IntPtr)0;
|
|
|
|
_size = size;
|
|
m_taintsize = _size;
|
|
_acceleration = new PhysicsVector();
|
|
m_rotationalVelocity = PhysicsVector.Zero;
|
|
_orientation = rotation;
|
|
m_taintrot = _orientation;
|
|
_mesh = mesh;
|
|
_pbs = pbs;
|
|
|
|
_parent_scene = parent_scene;
|
|
m_targetSpace = (IntPtr)0;
|
|
|
|
if (pos.Z < 0)
|
|
m_isphysical = false;
|
|
else
|
|
{
|
|
m_isphysical = pisPhysical;
|
|
// If we're physical, we need to be in the master space for now.
|
|
// linksets *should* be in a space together.. but are not currently
|
|
if (m_isphysical)
|
|
m_targetSpace = _parent_scene.space;
|
|
}
|
|
m_primName = primName;
|
|
m_taintadd = true;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
// don't do .add() here; old geoms get recycled with the same hash
|
|
|
|
}
|
|
|
|
/// <summary>
|
|
/// Nasty, however without this you get
|
|
/// 'invalid operation for locked space' when things are really loaded down
|
|
/// </summary>
|
|
/// <param name="space"></param>
|
|
|
|
public override int PhysicsActorType
|
|
{
|
|
get { return (int) ActorTypes.Prim; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool SetAlwaysRun
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override uint LocalID
|
|
{
|
|
set { m_localID = value; }
|
|
}
|
|
|
|
public override bool Grabbed
|
|
{
|
|
set { return; }
|
|
}
|
|
|
|
public override bool Selected
|
|
{
|
|
set {
|
|
// This only makes the object not collidable if the object
|
|
// is physical or the object is modified somehow *IN THE FUTURE*
|
|
// without this, if an avatar selects prim, they can walk right
|
|
// through it while it's selected
|
|
|
|
if ((m_isphysical && !_zeroFlag) || !value)
|
|
{
|
|
m_taintselected = value;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
}
|
|
else
|
|
{
|
|
|
|
m_taintselected = value;
|
|
m_isSelected = value;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
public void SetGeom(IntPtr geom)
|
|
{
|
|
prev_geom = prim_geom;
|
|
prim_geom = geom;
|
|
if (prim_geom != (IntPtr)0)
|
|
{
|
|
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
|
|
}
|
|
//m_log.Warn("Setting Geom to: " + prim_geom);
|
|
|
|
}
|
|
|
|
public void enableBodySoft()
|
|
{
|
|
if (m_isphysical)
|
|
if (Body != (IntPtr)0)
|
|
d.BodyEnable(Body);
|
|
|
|
m_disabled = false;
|
|
}
|
|
|
|
public void disableBodySoft()
|
|
{
|
|
m_disabled = true;
|
|
|
|
if (m_isphysical)
|
|
if (Body != (IntPtr)0)
|
|
d.BodyDisable(Body);
|
|
}
|
|
|
|
|
|
public void enableBody()
|
|
{
|
|
// Sets the geom to a body
|
|
Body = d.BodyCreate(_parent_scene.world);
|
|
|
|
setMass();
|
|
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.BodySetQuaternion(Body, ref myrot);
|
|
d.GeomSetBody(prim_geom, Body);
|
|
m_collisionCategories |= CollisionCategories.Body;
|
|
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
|
|
|
|
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
|
|
|
|
|
|
d.BodySetAutoDisableFlag(Body, true);
|
|
d.BodySetAutoDisableSteps(Body, 20);
|
|
|
|
m_interpenetrationcount = 0;
|
|
m_collisionscore = 0;
|
|
m_disabled = false;
|
|
|
|
_parent_scene.addActivePrim(this);
|
|
}
|
|
|
|
private float CalculateMass()
|
|
{
|
|
float volume = 0;
|
|
|
|
// No material is passed to the physics engines yet.. soo..
|
|
// we're using the m_density constant in the class definition
|
|
|
|
|
|
float returnMass = 0;
|
|
|
|
switch (_pbs.ProfileShape)
|
|
{
|
|
case ProfileShape.Square:
|
|
// Profile Volume
|
|
|
|
volume = _size.X*_size.Y*_size.Z;
|
|
|
|
// If the user has 'hollowed out'
|
|
// ProfileHollow is one of those 0 to 50000 values :P
|
|
// we like percentages better.. so turning into a percentage
|
|
|
|
if (((float) _pbs.ProfileHollow/50000f) > 0.0)
|
|
{
|
|
float hollowAmount = (float) _pbs.ProfileHollow/50000f;
|
|
|
|
// calculate the hollow volume by it's shape compared to the prim shape
|
|
float hollowVolume = 0;
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
case HollowShape.Square:
|
|
case HollowShape.Same:
|
|
// Cube Hollow volume calculation
|
|
float hollowsizex = _size.X*hollowAmount;
|
|
float hollowsizey = _size.Y*hollowAmount;
|
|
float hollowsizez = _size.Z*hollowAmount;
|
|
hollowVolume = hollowsizex*hollowsizey*hollowsizez;
|
|
break;
|
|
|
|
case HollowShape.Circle:
|
|
// Hollow shape is a perfect cyllinder in respect to the cube's scale
|
|
// Cyllinder hollow volume calculation
|
|
float hRadius = _size.X/2;
|
|
float hLength = _size.Z;
|
|
|
|
// pi * r2 * h
|
|
hollowVolume = ((float) (Math.PI*Math.Pow(hRadius, 2)*hLength)*hollowAmount);
|
|
break;
|
|
|
|
case HollowShape.Triangle:
|
|
// Equilateral Triangular Prism volume hollow calculation
|
|
// Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
|
|
|
|
float aLength = _size.Y;
|
|
// 1/2 abh
|
|
hollowVolume = (float) ((0.5*aLength*_size.X*_size.Z)*hollowAmount);
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume = volume - hollowVolume;
|
|
}
|
|
|
|
break;
|
|
case ProfileShape.Circle:
|
|
if (_pbs.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
// Cylinder
|
|
float volume1 = (float)(Math.PI * Math.Pow(_size.X/2, 2) * _size.Z);
|
|
float volume2 = (float)(Math.PI * Math.Pow(_size.Y/2, 2) * _size.Z);
|
|
|
|
// Approximating the cylinder's irregularity.
|
|
if (volume1 > volume2)
|
|
{
|
|
volume = (float)volume1 - (volume1 - volume2);
|
|
}
|
|
else if (volume2 > volume1)
|
|
{
|
|
volume = (float)volume2 - (volume2 - volume1);
|
|
}
|
|
else
|
|
{
|
|
// Regular cylinder
|
|
volume = volume1;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// We don't know what the shape is yet, so use default
|
|
volume = _size.X * _size.Y * _size.Z;
|
|
}
|
|
// If the user has 'hollowed out'
|
|
// ProfileHollow is one of those 0 to 50000 values :P
|
|
// we like percentages better.. so turning into a percentage
|
|
|
|
if (((float)_pbs.ProfileHollow / 50000f) > 0.0)
|
|
{
|
|
float hollowAmount = (float)_pbs.ProfileHollow / 50000f;
|
|
|
|
// calculate the hollow volume by it's shape compared to the prim shape
|
|
float hollowVolume = 0;
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
|
|
case HollowShape.Same:
|
|
case HollowShape.Circle:
|
|
// Hollow shape is a perfect cyllinder in respect to the cube's scale
|
|
// Cyllinder hollow volume calculation
|
|
float hRadius = _size.X / 2;
|
|
float hLength = _size.Z;
|
|
|
|
// pi * r2 * h
|
|
hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount);
|
|
break;
|
|
|
|
case HollowShape.Square:
|
|
// Cube Hollow volume calculation
|
|
float hollowsizex = _size.X * hollowAmount;
|
|
float hollowsizey = _size.Y * hollowAmount;
|
|
float hollowsizez = _size.Z * hollowAmount;
|
|
hollowVolume = hollowsizex * hollowsizey * hollowsizez;
|
|
break;
|
|
|
|
|
|
|
|
case HollowShape.Triangle:
|
|
// Equilateral Triangular Prism volume hollow calculation
|
|
// Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
|
|
|
|
float aLength = _size.Y;
|
|
// 1/2 abh
|
|
hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
|
|
break;
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume = volume - hollowVolume;
|
|
}
|
|
break;
|
|
|
|
case ProfileShape.HalfCircle:
|
|
if (_pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Z && _size.Z == _size.X)
|
|
{
|
|
// regular sphere
|
|
// v = 4/3 * pi * r^3
|
|
float sradius3 = (float)Math.Pow((_size.X / 2), 3);
|
|
volume = (float)((4 / 3) * Math.PI * sradius3);
|
|
}
|
|
else
|
|
{
|
|
// we treat this as a box currently
|
|
volume = _size.X * _size.Y * _size.Z;
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
// We don't know what the shape is yet, so use default
|
|
volume = _size.X * _size.Y * _size.Z;
|
|
}
|
|
break;
|
|
case ProfileShape.EquilateralTriangle:
|
|
/*
|
|
v = (abs((xB*yA-xA*yB)+(xC*yB-xB*yC)+(xA*yC-xC*yA))/2) * h
|
|
|
|
// seed mesh
|
|
Vertex MM = new Vertex(-0.25f, -0.45f, 0.0f);
|
|
Vertex PM = new Vertex(+0.5f, 0f, 0.0f);
|
|
Vertex PP = new Vertex(-0.25f, +0.45f, 0.0f);
|
|
*/
|
|
float xA = -0.25f * _size.X;
|
|
float yA = -0.45f * _size.Y;
|
|
|
|
float xB = 0.5f * _size.X;
|
|
float yB = 0;
|
|
|
|
float xC = -0.25f * _size.X;
|
|
float yC = 0.45f * _size.Y;
|
|
|
|
volume = (float)((Math.Abs((xB * yA - xA * yB) + (xC * yB - xB * yC) + (xA * yC - xC * yA)) / 2) * _size.Z);
|
|
|
|
// If the user has 'hollowed out'
|
|
// ProfileHollow is one of those 0 to 50000 values :P
|
|
// we like percentages better.. so turning into a percentage
|
|
float fhollowFactor = ((float)_pbs.ProfileHollow / 1.9f);
|
|
if (((float)fhollowFactor / 50000f) > 0.0)
|
|
{
|
|
float hollowAmount = (float)fhollowFactor / 50000f;
|
|
|
|
// calculate the hollow volume by it's shape compared to the prim shape
|
|
float hollowVolume = 0;
|
|
switch (_pbs.HollowShape)
|
|
{
|
|
|
|
case HollowShape.Same:
|
|
case HollowShape.Triangle:
|
|
// Equilateral Triangular Prism volume hollow calculation
|
|
// Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
|
|
|
|
float aLength = _size.Y;
|
|
// 1/2 abh
|
|
hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
|
|
break;
|
|
|
|
case HollowShape.Square:
|
|
// Cube Hollow volume calculation
|
|
float hollowsizex = _size.X * hollowAmount;
|
|
float hollowsizey = _size.Y * hollowAmount;
|
|
float hollowsizez = _size.Z * hollowAmount;
|
|
hollowVolume = hollowsizex * hollowsizey * hollowsizez;
|
|
break;
|
|
|
|
case HollowShape.Circle:
|
|
// Hollow shape is a perfect cyllinder in respect to the cube's scale
|
|
// Cyllinder hollow volume calculation
|
|
float hRadius = _size.X / 2;
|
|
float hLength = _size.Z;
|
|
|
|
// pi * r2 * h
|
|
hollowVolume = ((float)((Math.PI * Math.Pow(hRadius, 2) * hLength)/2) * hollowAmount);
|
|
break;
|
|
|
|
|
|
default:
|
|
hollowVolume = 0;
|
|
break;
|
|
}
|
|
volume = volume - hollowVolume;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
// we don't have all of the volume formulas yet so
|
|
// use the common volume formula for all
|
|
volume = _size.X*_size.Y*_size.Z;
|
|
break;
|
|
}
|
|
|
|
// Calculate Path cut effect on volume
|
|
// Not exact, in the triangle hollow example
|
|
// They should never be zero or less then zero..
|
|
// we'll ignore it if it's less then zero
|
|
|
|
// ProfileEnd and ProfileBegin are values
|
|
// from 0 to 50000
|
|
|
|
// Turning them back into percentages so that I can cut that percentage off the volume
|
|
|
|
float PathCutEndAmount = _pbs.ProfileEnd;
|
|
float PathCutStartAmount = _pbs.ProfileBegin;
|
|
if (((PathCutStartAmount + PathCutEndAmount)/50000f) > 0.0f)
|
|
{
|
|
float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount)/50000f);
|
|
|
|
// Check the return amount for sanity
|
|
if (pathCutAmount >= 0.99f)
|
|
pathCutAmount = 0.99f;
|
|
|
|
volume = volume - (volume*pathCutAmount);
|
|
}
|
|
UInt16 taperX = _pbs.PathScaleX;
|
|
UInt16 taperY = _pbs.PathScaleY;
|
|
float taperFactorX = 0;
|
|
float taperFactorY = 0;
|
|
|
|
// Mass = density * volume
|
|
if (taperX != 100)
|
|
{
|
|
if (taperX > 100)
|
|
{
|
|
taperFactorX = 1.0f - ((float)taperX / 200);
|
|
//m_log.Warn("taperTopFactorX: " + extr.taperTopFactorX.ToString());
|
|
}
|
|
else
|
|
{
|
|
taperFactorX = 1.0f - ((100 - (float)taperX) / 100);
|
|
//m_log.Warn("taperBotFactorX: " + extr.taperBotFactorX.ToString());
|
|
}
|
|
volume = (float)volume * ((taperFactorX / 3f) + 0.001f);
|
|
}
|
|
|
|
if (taperY != 100)
|
|
{
|
|
if (taperY > 100)
|
|
{
|
|
taperFactorY = 1.0f - ((float)taperY / 200);
|
|
//m_log.Warn("taperTopFactorY: " + extr.taperTopFactorY.ToString());
|
|
}
|
|
else
|
|
{
|
|
taperFactorY = 1.0f - ((100 - (float)taperY) / 100);
|
|
//m_log.Warn("taperBotFactorY: " + extr.taperBotFactorY.ToString());
|
|
}
|
|
volume = (float)volume * ((taperFactorY / 3f) + 0.001f);
|
|
}
|
|
returnMass = m_density*volume;
|
|
|
|
return returnMass;
|
|
}
|
|
|
|
public void setMass()
|
|
{
|
|
if (Body != (IntPtr) 0)
|
|
{
|
|
float newmass = CalculateMass();
|
|
//m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString());
|
|
|
|
if (newmass <= 0) newmass = 0.0001f;
|
|
d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z);
|
|
d.BodySetMass(Body, ref pMass);
|
|
}
|
|
}
|
|
|
|
|
|
public void disableBody()
|
|
{
|
|
//this kills the body so things like 'mesh' can re-create it.
|
|
if (Body != (IntPtr) 0)
|
|
{
|
|
m_collisionCategories &= ~CollisionCategories.Body;
|
|
m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
|
|
|
|
if (prim_geom != (IntPtr)0)
|
|
{
|
|
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
|
|
}
|
|
|
|
_parent_scene.remActivePrim(this);
|
|
d.BodyDestroy(Body);
|
|
Body = (IntPtr) 0;
|
|
}
|
|
m_disabled = true;
|
|
m_collisionscore = 0;
|
|
}
|
|
|
|
public void setMesh(OdeScene parent_scene, IMesh mesh)
|
|
{
|
|
// This sleeper is there to moderate how long it takes between
|
|
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
|
|
|
|
System.Threading.Thread.Sleep(10);
|
|
|
|
//Kill Body so that mesh can re-make the geom
|
|
if (IsPhysical && Body != (IntPtr) 0)
|
|
{
|
|
disableBody();
|
|
}
|
|
|
|
float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
|
|
int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
|
|
int VertexCount = vertexList.GetLength(0)/3;
|
|
int IndexCount = indexList.GetLength(0);
|
|
|
|
_triMeshData = d.GeomTriMeshDataCreate();
|
|
|
|
d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount,
|
|
3*sizeof (int));
|
|
d.GeomTriMeshDataPreprocess(_triMeshData);
|
|
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
|
|
try
|
|
{
|
|
if (prim_geom == (IntPtr)0)
|
|
{
|
|
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
|
|
}
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
|
|
m_log.Error("[PHYSICS]: MESH LOCKED");
|
|
return;
|
|
}
|
|
if (IsPhysical && Body == (IntPtr) 0)
|
|
{
|
|
// Recreate the body
|
|
m_interpenetrationcount = 0;
|
|
m_collisionscore = 0;
|
|
|
|
enableBody();
|
|
|
|
}
|
|
}
|
|
|
|
public void ProcessTaints(float timestep)
|
|
{
|
|
|
|
|
|
if (m_taintadd)
|
|
{
|
|
changeadd(timestep);
|
|
}
|
|
|
|
if (m_taintposition != _position)
|
|
Move(timestep);
|
|
|
|
if (m_taintrot != _orientation)
|
|
rotate(timestep);
|
|
//
|
|
|
|
if (m_taintPhysics != m_isphysical)
|
|
changePhysicsStatus(timestep);
|
|
//
|
|
|
|
if (m_taintsize != _size)
|
|
changesize(timestep);
|
|
//
|
|
|
|
if (m_taintshape)
|
|
changeshape(timestep);
|
|
//
|
|
|
|
if (m_taintforce)
|
|
changeAddForce(timestep);
|
|
|
|
if (m_taintdisable)
|
|
changedisable(timestep);
|
|
|
|
if (m_taintselected != m_isSelected)
|
|
changeSelectedStatus(timestep);
|
|
|
|
if (m_taintVelocity != PhysicsVector.Zero)
|
|
changevelocity(timestep);
|
|
}
|
|
|
|
private void changeSelectedStatus(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
if (m_taintselected)
|
|
{
|
|
|
|
|
|
m_collisionCategories = CollisionCategories.Selected;
|
|
m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
|
|
|
|
// We do the body disable soft twice because 'in theory' a collision could have happened
|
|
// in between the disabling and the collision properties setting
|
|
// which would wake the physical body up from a soft disabling and potentially cause it to fall
|
|
// through the ground.
|
|
|
|
if (m_isphysical)
|
|
{
|
|
disableBodySoft();
|
|
}
|
|
|
|
if (prim_geom != (IntPtr)0)
|
|
{
|
|
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
|
|
}
|
|
|
|
if (m_isphysical)
|
|
{
|
|
disableBodySoft();
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
|
|
m_collisionCategories = CollisionCategories.Geom;
|
|
|
|
if (m_isphysical)
|
|
m_collisionCategories |= CollisionCategories.Body;
|
|
|
|
|
|
m_collisionFlags = m_default_collisionFlags;
|
|
|
|
if (m_collidesLand)
|
|
m_collisionFlags |= CollisionCategories.Land;
|
|
if (m_collidesWater)
|
|
m_collisionFlags |= CollisionCategories.Water;
|
|
|
|
if (prim_geom != (IntPtr)0)
|
|
{
|
|
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
|
|
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
|
|
}
|
|
if (m_isphysical)
|
|
enableBodySoft();
|
|
|
|
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
resetCollisionAccounting();
|
|
m_isSelected = m_taintselected;
|
|
}
|
|
|
|
public void ResetTaints()
|
|
{
|
|
|
|
m_taintposition = _position;
|
|
|
|
m_taintrot = _orientation;
|
|
|
|
m_taintPhysics = m_isphysical;
|
|
|
|
m_taintselected = m_isSelected;
|
|
|
|
m_taintsize = _size;
|
|
|
|
|
|
m_taintshape = false;
|
|
|
|
m_taintforce = false;
|
|
|
|
m_taintdisable = false;
|
|
|
|
m_taintVelocity = PhysicsVector.Zero;
|
|
}
|
|
public void changeadd(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
|
IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
|
|
|
|
if (targetspace == IntPtr.Zero)
|
|
targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
|
|
|
|
m_targetSpace = targetspace;
|
|
|
|
|
|
|
|
if (_mesh != null)
|
|
{
|
|
}
|
|
else
|
|
{
|
|
if (_parent_scene.needsMeshing(_pbs))
|
|
{
|
|
// Don't need to re-enable body.. it's done in SetMesh
|
|
_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size);
|
|
// createmesh returns null when it's a shape that isn't a cube.
|
|
}
|
|
}
|
|
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
if (_mesh != null)
|
|
{
|
|
setMesh(_parent_scene, _mesh);
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
if (((_size.X / 2f) > 0f))
|
|
{
|
|
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
//else if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
try
|
|
{
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
|
|
ode.dunlock(_parent_scene.world);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
if (prim_geom != (IntPtr) 0)
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
|
|
|
|
if (m_isphysical && Body == (IntPtr)0)
|
|
{
|
|
enableBody();
|
|
}
|
|
|
|
|
|
}
|
|
ode.dunlock(_parent_scene.world);
|
|
_parent_scene.geom_name_map[prim_geom] = this.m_primName;
|
|
_parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
|
|
|
|
changeSelectedStatus(timestep);
|
|
|
|
m_taintadd = false;
|
|
|
|
|
|
}
|
|
public void Move(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
|
|
if (m_isphysical)
|
|
{
|
|
// This is a fallback.. May no longer be necessary.
|
|
if (Body == (IntPtr) 0)
|
|
enableBody();
|
|
//Prim auto disable after 20 frames,
|
|
//if you move it, re-enable the prim manually.
|
|
|
|
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
|
d.BodyEnable(Body);
|
|
|
|
}
|
|
else
|
|
{
|
|
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
|
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
|
|
IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
|
|
m_targetSpace = tempspace;
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
if (prim_geom != (IntPtr) 0)
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
d.SpaceAdd(m_targetSpace, prim_geom);
|
|
}
|
|
}
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
changeSelectedStatus(timestep);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintposition = _position;
|
|
}
|
|
|
|
public void rotate(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
if (m_isphysical && Body != (IntPtr) 0)
|
|
{
|
|
d.BodySetQuaternion(Body, ref myrot);
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintrot = _orientation;
|
|
}
|
|
|
|
private void resetCollisionAccounting()
|
|
{
|
|
m_collisionscore = 0;
|
|
m_interpenetrationcount = 0;
|
|
m_disabled = false;
|
|
}
|
|
|
|
public void changedisable(float timestep)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
m_disabled = true;
|
|
if (Body != (IntPtr)0)
|
|
{
|
|
d.BodyDisable(Body);
|
|
Body = (IntPtr)0;
|
|
}
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
m_taintdisable = false;
|
|
}
|
|
|
|
public void changePhysicsStatus(float timestep)
|
|
{
|
|
lock (ode)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
if (m_isphysical == true)
|
|
{
|
|
if (Body == (IntPtr)0)
|
|
{
|
|
enableBody();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (Body != (IntPtr)0)
|
|
{
|
|
disableBody();
|
|
}
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
}
|
|
|
|
changeSelectedStatus(timestep);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintPhysics = m_isphysical;
|
|
}
|
|
|
|
public void changesize(float timestamp)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
//if (!_parent_scene.geom_name_map.ContainsKey(prim_geom))
|
|
//{
|
|
// m_taintsize = _size;
|
|
//return;
|
|
//}
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
|
|
|
|
// Cleanup of old prim geometry
|
|
if (_mesh != null)
|
|
{
|
|
// Cleanup meshing here
|
|
}
|
|
//kill body to rebuild
|
|
if (IsPhysical && Body != (IntPtr) 0)
|
|
{
|
|
disableBody();
|
|
}
|
|
if (d.SpaceQuery(m_targetSpace, prim_geom))
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
d.SpaceRemove(m_targetSpace, prim_geom);
|
|
}
|
|
d.GeomDestroy(prim_geom);
|
|
prim_geom = (IntPtr)0;
|
|
// we don't need to do space calculation because the client sends a position update also.
|
|
|
|
// Construction of new prim
|
|
if (_parent_scene.needsMeshing(_pbs))
|
|
{
|
|
// Don't need to re-enable body.. it's done in SetMesh
|
|
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
|
// createmesh returns null when it's a shape that isn't a cube.
|
|
if (mesh != null)
|
|
{
|
|
setMesh(_parent_scene, mesh);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
if (((_size.X / 2f) > 0f) && ((_size.X / 2f) < 1000))
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[PHYSICS]: Failed to load a sphere bad size");
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
// prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr) 0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
changeSelectedStatus(timestamp);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintsize = _size;
|
|
}
|
|
|
|
public void changeshape(float timestamp)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
|
|
// Cleanup of old prim geometry and Bodies
|
|
if (IsPhysical && Body != (IntPtr) 0)
|
|
{
|
|
disableBody();
|
|
}
|
|
d.GeomDestroy(prim_geom);
|
|
prim_geom = (IntPtr) 0;
|
|
// we don't need to do space calculation because the client sends a position update also.
|
|
|
|
// Construction of new prim
|
|
if (_parent_scene.needsMeshing(_pbs))
|
|
{
|
|
// Don't need to re-enable body.. it's done in SetMesh
|
|
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size);
|
|
// createmesh returns null when it's a shape that isn't a cube.
|
|
if (mesh != null)
|
|
{
|
|
setMesh(_parent_scene, mesh);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
if (((_size.X / 2f) > 0f) && ((_size.X / 2f) < 1000))
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[PHYSICS]: Failed to load a sphere bad size");
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
// prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
|
|
}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
}
|
|
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
|
|
//{
|
|
//Cyllinder
|
|
//if (_size.X == _size.Y)
|
|
//{
|
|
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
|
|
//}
|
|
//else
|
|
//{
|
|
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
|
|
//}
|
|
//}
|
|
else
|
|
{
|
|
_parent_scene.waitForSpaceUnlock(m_targetSpace);
|
|
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
|
|
}
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
|
|
|
|
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
if (IsPhysical && Body == (IntPtr)0)
|
|
{
|
|
// Re creates body on size.
|
|
// EnableBody also does setMass()
|
|
enableBody();
|
|
d.BodyEnable(Body);
|
|
}
|
|
}
|
|
|
|
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
changeSelectedStatus(timestamp);
|
|
|
|
resetCollisionAccounting();
|
|
m_taintshape = false;
|
|
}
|
|
|
|
public void changeAddForce(float timestamp)
|
|
{
|
|
if (!m_isSelected)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
|
|
lock (m_forcelist)
|
|
{
|
|
//m_log.Info("[PHYSICS]: dequeing forcelist");
|
|
if (IsPhysical)
|
|
{
|
|
PhysicsVector iforce = new PhysicsVector();
|
|
for (int i = 0; i < m_forcelist.Count; i++)
|
|
{
|
|
iforce = iforce + (m_forcelist[i] * 100);
|
|
}
|
|
d.BodyEnable(Body);
|
|
d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
|
|
}
|
|
m_forcelist.Clear();
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
|
|
m_collisionscore = 0;
|
|
m_interpenetrationcount = 0;
|
|
}
|
|
m_taintforce = false;
|
|
|
|
}
|
|
private void changevelocity(float timestep)
|
|
{
|
|
if (!m_isSelected)
|
|
{
|
|
lock (ode)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(_parent_scene.world);
|
|
|
|
System.Threading.Thread.Sleep(20);
|
|
if (IsPhysical)
|
|
{
|
|
if (Body != (IntPtr)0)
|
|
{
|
|
d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
|
|
}
|
|
}
|
|
|
|
ode.dunlock(_parent_scene.world);
|
|
}
|
|
//resetCollisionAccounting();
|
|
}
|
|
m_taintVelocity = PhysicsVector.Zero;
|
|
}
|
|
public override bool IsPhysical
|
|
{
|
|
get { return m_isphysical; }
|
|
set { m_isphysical = value; }
|
|
}
|
|
|
|
public void setPrimForRemoval()
|
|
{
|
|
m_taintremove = true;
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get { return false; //no flying prims for you
|
|
}
|
|
set { }
|
|
}
|
|
|
|
public override bool IsColliding
|
|
{
|
|
get { return iscolliding; }
|
|
set { iscolliding = value; }
|
|
}
|
|
|
|
public override bool CollidingGround
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool CollidingObj
|
|
{
|
|
get { return false; }
|
|
set { return; }
|
|
}
|
|
|
|
public override bool ThrottleUpdates
|
|
{
|
|
get { return m_throttleUpdates; }
|
|
set { m_throttleUpdates = value; }
|
|
}
|
|
|
|
public override bool Stopped
|
|
{
|
|
get { return _zeroFlag; }
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get { return _position; }
|
|
|
|
set { _position = value;
|
|
//m_log.Info("[PHYSICS]: " + _position.ToString());
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Size
|
|
{
|
|
get { return _size; }
|
|
set { _size = value; }
|
|
}
|
|
|
|
public override float Mass
|
|
{
|
|
get { return CalculateMass(); }
|
|
}
|
|
|
|
public override PhysicsVector Force
|
|
{
|
|
get { return PhysicsVector.Zero; }
|
|
}
|
|
|
|
public override PhysicsVector CenterOfMass
|
|
{
|
|
get { return PhysicsVector.Zero; }
|
|
}
|
|
|
|
public override PhysicsVector GeometricCenter
|
|
{
|
|
get { return PhysicsVector.Zero; }
|
|
}
|
|
|
|
public override PrimitiveBaseShape Shape
|
|
{
|
|
set {
|
|
|
|
_pbs = value;
|
|
m_taintshape = true;
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
// Averate previous velocity with the new one so
|
|
// client object interpolation works a 'little' better
|
|
PhysicsVector returnVelocity = new PhysicsVector();
|
|
returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
|
|
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
|
|
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
|
|
return returnVelocity;
|
|
}
|
|
set {
|
|
_velocity = value;
|
|
|
|
m_taintVelocity = value;
|
|
_parent_scene.AddPhysicsActorTaint(this);
|
|
|
|
|
|
}
|
|
}
|
|
|
|
public override float CollisionScore
|
|
{
|
|
get { return m_collisionscore; }
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get { return false; }
|
|
set { }
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get { return _orientation; }
|
|
set { _orientation = value; }
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get { return _acceleration; }
|
|
}
|
|
|
|
|
|
public void SetAcceleration(PhysicsVector accel)
|
|
{
|
|
_acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
m_forcelist.Add(force);
|
|
m_taintforce = true;
|
|
//m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
|
|
}
|
|
|
|
public override PhysicsVector RotationalVelocity
|
|
{
|
|
get {
|
|
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
|
if (_zeroFlag)
|
|
return pv;
|
|
m_lastUpdateSent = false;
|
|
|
|
if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
|
|
return pv;
|
|
|
|
return m_rotationalVelocity;
|
|
}
|
|
set { m_rotationalVelocity = value; }
|
|
}
|
|
public override void CrossingFailure()
|
|
{
|
|
m_crossingfailures++;
|
|
if (m_crossingfailures > 5)
|
|
{
|
|
base.RaiseOutOfBounds(_position);
|
|
return;
|
|
|
|
}
|
|
else if (m_crossingfailures == 5)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
|
|
}
|
|
}
|
|
public void UpdatePositionAndVelocity()
|
|
{
|
|
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
|
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
|
bool lastZeroFlag = _zeroFlag;
|
|
if (Body != (IntPtr) 0)
|
|
{
|
|
d.Vector3 vec = d.BodyGetPosition(Body);
|
|
d.Quaternion ori = d.BodyGetQuaternion(Body);
|
|
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
|
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
|
|
|
|
PhysicsVector l_position = new PhysicsVector();
|
|
|
|
|
|
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
|
//if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
//if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
//if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
//if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
|
|
|
|
m_lastposition = _position;
|
|
|
|
l_position.X = vec.X;
|
|
l_position.Y = vec.Y;
|
|
l_position.Z = vec.Z;
|
|
|
|
if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
|
|
{
|
|
base.RaiseOutOfBounds(_position);
|
|
}
|
|
//if (m_crossingfailures < 5)
|
|
//{
|
|
//base.RequestPhysicsterseUpdate();
|
|
//}
|
|
//}
|
|
|
|
if (l_position.Z < 0)
|
|
{
|
|
// This is so prim that get lost underground don't fall forever and suck up
|
|
//
|
|
// Sim resources and memory.
|
|
// Disables the prim's movement physics....
|
|
// It's a hack and will generate a console message if it fails.
|
|
|
|
|
|
//IsPhysical = false;
|
|
base.RaiseOutOfBounds(_position);
|
|
_velocity.X = 0;
|
|
_velocity.Y = 0;
|
|
_velocity.Z = 0;
|
|
m_rotationalVelocity.X = 0;
|
|
m_rotationalVelocity.Y = 0;
|
|
m_rotationalVelocity.Z = 0;
|
|
base.RequestPhysicsterseUpdate();
|
|
m_throttleUpdates = false;
|
|
throttleCounter = 0;
|
|
_zeroFlag = true;
|
|
//outofBounds = true;
|
|
}
|
|
|
|
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
|
|
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
|
|
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02))
|
|
{
|
|
_zeroFlag = true;
|
|
m_throttleUpdates = false;
|
|
}
|
|
else
|
|
{
|
|
//System.Console.WriteLine(Math.Abs(m_lastposition.X - l_position.X).ToString());
|
|
_zeroFlag = false;
|
|
}
|
|
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
// Supposedly this is supposed to tell SceneObjectGroup that
|
|
// no more updates need to be sent..
|
|
// but it seems broken.
|
|
_velocity.X = 0.0f;
|
|
_velocity.Y = 0.0f;
|
|
_velocity.Z = 0.0f;
|
|
//_orientation.w = 0f;
|
|
//_orientation.x = 0f;
|
|
//_orientation.y = 0f;
|
|
//_orientation.z = 0f;
|
|
m_rotationalVelocity.X = 0;
|
|
m_rotationalVelocity.Y = 0;
|
|
m_rotationalVelocity.Z = 0;
|
|
if (!m_lastUpdateSent)
|
|
{
|
|
m_throttleUpdates = false;
|
|
throttleCounter = 0;
|
|
m_rotationalVelocity = pv;
|
|
base.RequestPhysicsterseUpdate();
|
|
m_lastUpdateSent = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (lastZeroFlag != _zeroFlag)
|
|
base.RequestPhysicsterseUpdate();
|
|
|
|
m_lastVelocity = _velocity;
|
|
|
|
_position = l_position;
|
|
|
|
_velocity.X = vel.X;
|
|
_velocity.Y = vel.Y;
|
|
_velocity.Z = vel.Z;
|
|
if (_velocity.IsIdentical(pv, 0.5f))
|
|
{
|
|
m_rotationalVelocity = pv;
|
|
}
|
|
else
|
|
{
|
|
m_rotationalVelocity.setValues(rotvel.X, rotvel.Y, rotvel.Z);
|
|
}
|
|
|
|
//System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
|
|
_orientation.w = ori.W;
|
|
_orientation.x = ori.X;
|
|
_orientation.y = ori.Y;
|
|
_orientation.z = ori.Z;
|
|
m_lastUpdateSent = false;
|
|
if (!m_throttleUpdates || throttleCounter > 15)
|
|
{
|
|
|
|
base.RequestPhysicsterseUpdate();
|
|
}
|
|
else
|
|
{
|
|
throttleCounter++;
|
|
}
|
|
}
|
|
m_lastposition = l_position;
|
|
}
|
|
else
|
|
{
|
|
// Not a body.. so Make sure the client isn't interpolating
|
|
_velocity.X = 0;
|
|
_velocity.Y = 0;
|
|
_velocity.Z = 0;
|
|
m_rotationalVelocity.X = 0;
|
|
m_rotationalVelocity.Y = 0;
|
|
m_rotationalVelocity.Z = 0;
|
|
_zeroFlag = true;
|
|
}
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
}
|
|
}
|
|
} |