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applied Darok"s BulletXPlugin changes 003.patch

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dan miller
2007-10-07 14:40:02 +00:00
parent 6a43889f65
commit 2d5f5e2b32
10 changed files with 856 additions and 107 deletions
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470
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@@ -30,18 +30,28 @@
#region References
using System;
using System.Collections.Generic;
using OpenSim.Framework.Types;
using OpenSim.Region.Physics.Manager;
using OpenSim.Framework.Types;
using Axiom.Math;
using AxiomQuaternion = Axiom.Math.Quaternion;
//Specific References for BulletXPlugin
using MonoXnaCompactMaths; //Called as MXCM
using MonoXnaCompactMaths;
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
#endregion
namespace OpenSim.Region.Physics.BulletXPlugin
{
/// <summary>
/// This class is only here for compilations reasons
/// </summary>
public class Mesh
{
public Mesh()
{
}
}
/// <summary>
/// BulletXConversions are called now BulletXMaths
/// This Class converts objects and types for BulletX and give some operations
@@ -222,12 +232,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private const int maxXY = 256;
private const int maxZ = 4096;
private const int maxHandles = 32766; //Why? I don't know
private static float gravity = 9.8f;
private static float heightLevel0 = 77.0f;
private static float heightLevel1 = 200.0f;
private static float lowGravityFactor = 0.2f;
private float[] _heightmap;
private const float gravity = 9.8f;
private const float heightLevel0 = 77.0f;
private const float heightLevel1 = 200.0f;
private const float lowGravityFactor = 0.2f;
//OpenSim calls Simulate 10 times per seconds. So FPS = "Simulate Calls" * simulationSubSteps = 100 FPS
private const int simulationSubSteps = 10;
//private float[] _heightmap;
private BulletXPlanet _simFlatPlanet;
private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
private List<BulletXPrim> _prims = new List<BulletXPrim>();
@@ -235,6 +247,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public static float HeightLevel0 { get { return heightLevel0; } }
public static float HeightLevel1 { get { return heightLevel1; } }
public static float LowGravityFactor { get { return lowGravityFactor; } }
public static int MaxXY { get { return maxXY; } }
public static int MaxZ { get { return maxZ; } }
private List<RigidBody> _forgottenRigidBodies = new List<RigidBody>();
internal string is_ex_message = "Can't remove rigidBody!: ";
#endregion
public BulletXScene()
@@ -250,10 +267,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
}
this._heightmap = new float[65536];
//this._heightmap = new float[65536];
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
@@ -262,7 +278,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
BulletXCharacter newAv = null;
lock (BulletXLock)
{
newAv = new BulletXCharacter(this, pos);
newAv = new BulletXCharacter(avName, this, pos);
_characters.Add(newAv);
}
return newAv;
@@ -273,48 +289,98 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
lock (BulletXLock)
{
try
{
ddWorld.RemoveRigidBody(((BulletXCharacter)actor).RigidBody);
}
catch (Exception ex)
{
BulletXMessage(is_ex_message + ex.Message, true);
((BulletXCharacter)actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(((BulletXCharacter)actor).RigidBody);
}
_characters.Remove((BulletXCharacter)actor);
}
GC.Collect();
}
}
PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
{
PhysicsActor result;
switch (pbs.ProfileShape)
{
case ProfileShape.Square:
/// support simple box & hollow box now; later, more shapes
if (pbs.ProfileHollow == 0)
{
result = AddPrim(primName, position, size, rotation, null, null);
}
else
{
Mesh mesh = null;
result = AddPrim(primName, position, size, rotation, mesh, pbs);
}
break;
default:
result = AddPrim(primName, position, size, rotation, null, null);
break;
}
return result;
}
public PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation)
{
return AddPrim("", position, size, rotation, null, null);
}
public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
{
BulletXPrim newPrim = null;
lock (BulletXLock)
{
newPrim = new BulletXPrim(this, position, size, rotation);
newPrim = new BulletXPrim(name, this, position, size, rotation, mesh, pbs);
_prims.Add(newPrim);
}
return newPrim;
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
{
return AddPrim(position, size, rotation);
}
public override void RemovePrim(PhysicsActor prim)
{
if (prim is BulletXPrim)
{
lock (BulletXLock)
{
try
{
ddWorld.RemoveRigidBody(((BulletXPrim)prim).RigidBody);
}
catch (Exception ex)
{
BulletXMessage(is_ex_message + ex.Message, true);
((BulletXPrim)prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(((BulletXPrim)prim).RigidBody);
}
_prims.Remove((BulletXPrim)prim);
}
GC.Collect();
}
}
public override void Simulate(float timeStep)
{
lock (BulletXLock)
{
BXSMove(timeStep);
ddWorld.StepSimulation(timeStep, 0, timeStep);
//Heightmap Validation:
BXSValidateHeight();
//Try to remove garbage
RemoveForgottenRigidBodies();
//End of remove
MoveAllObjects(timeStep);
ddWorld.StepSimulation(timeStep, simulationSubSteps, timeStep);
//Extra Heightmap Validation: BulletX's HeightFieldTerrain somestimes doesn't work so fine.
ValidateHeightForAll();
//End heightmap validation.
BXSUpdateKinetics();
UpdateKineticsForAll();
}
}
private void BXSMove(float timeStep)
private void MoveAllObjects(float timeStep)
{
foreach (BulletXCharacter actor in _characters)
{
@@ -324,39 +390,33 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
}
}
private void BXSValidateHeight()
private void ValidateHeightForAll()
{
float _height;
foreach (BulletXCharacter actor in _characters)
{
if ((actor.RigidBodyHorizontalPosition.x < 0) || (actor.RigidBodyHorizontalPosition.y < 0))
{
_height = 0;
}
else
{
_height = this._heightmap[
(int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
+ (int)Math.Round(actor.RigidBodyHorizontalPosition.y)];
}
//_height = HeightValue(actor.RigidBodyPosition);
_height = _simFlatPlanet.HeightValue(actor.RigidBodyPosition);
actor.ValidateHeight(_height);
//if (_simFlatPlanet.heightIsNotValid(actor.RigidBodyPosition, out _height)) actor.ValidateHeight(_height);
}
foreach (BulletXPrim prim in _prims)
{
if ((prim.RigidBodyHorizontalPosition.x < 0) || (prim.RigidBodyHorizontalPosition.y < 0))
{
_height = 0;
}
else
{
_height = this._heightmap[
(int)Math.Round(prim.RigidBodyHorizontalPosition.x) * 256
+ (int)Math.Round(prim.RigidBodyHorizontalPosition.y)];
}
//_height = HeightValue(prim.RigidBodyPosition);
_height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition);
prim.ValidateHeight(_height);
//if (_simFlatPlanet.heightIsNotValid(prim.RigidBodyPosition, out _height)) prim.ValidateHeight(_height);
}
//foreach (BulletXCharacter actor in _characters)
//{
// actor.ValidateHeight(0);
//}
//foreach (BulletXPrim prim in _prims)
//{
// prim.ValidateHeight(0);
//}
}
private void BXSUpdateKinetics()
private void UpdateKineticsForAll()
{
//UpdatePosition > UpdateKinetics.
//Not only position will be updated, also velocity cause acceleration.
@@ -368,6 +428,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
prim.UpdateKinetics();
}
//if(this._simFlatPlanet!=null) this._simFlatPlanet.Restore();
}
public override void GetResults()
{
@@ -382,24 +443,97 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
public override void SetTerrain(float[] heightMap)
{
//As the same as ODE, heightmap (x,y) must be swapped for BulletX
for (int i = 0; i < 65536; i++)
{
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
int x = i & 0xff;
int y = i >> 8;
this._heightmap[i] = heightMap[x * 256 + y];
}
lock (BulletXLock)
{
//Updating BulletX HeightMap???
}
////As the same as ODE, heightmap (x,y) must be swapped for BulletX
//for (int i = 0; i < 65536; i++)
//{
// // this._heightmap[i] = (double)heightMap[i];
// // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
// int x = i & 0xff;
// int y = i >> 8;
// this._heightmap[i] = heightMap[x * 256 + y];
//}
//float[] swappedHeightMap = new float[65536];
////As the same as ODE, heightmap (x,y) must be swapped for BulletX
//for (int i = 0; i < 65536; i++)
//{
// // this._heightmap[i] = (double)heightMap[i];
// // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
// int x = i & 0xff;
// int y = i >> 8;
// swappedHeightMap[i] = heightMap[x * 256 + y];
//}
DeleteTerrain();
//There is a BulletXLock inside the constructor of BulletXPlanet
//this._simFlatPlanet = new BulletXPlanet(this, swappedHeightMap);
this._simFlatPlanet = new BulletXPlanet(this, heightMap);
//this._heightmap = heightMap;
}
public override void DeleteTerrain()
{
if (this._simFlatPlanet != null)
{
lock (BulletXLock)
{
try
{
ddWorld.RemoveRigidBody(this._simFlatPlanet.RigidBody);
}
catch (Exception ex)
{
BulletXMessage(is_ex_message + ex.Message, true);
this._simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(this._simFlatPlanet.RigidBody);
}
}
this._simFlatPlanet = null;
GC.Collect();
BulletXMessage("Terrain erased!", false);
}
//this._heightmap = null;
}
internal void AddForgottenRigidBody(RigidBody forgottenRigidBody)
{
_forgottenRigidBodies.Add(forgottenRigidBody);
}
private void RemoveForgottenRigidBodies()
{
RigidBody forgottenRigidBody;
int nRigidBodies = _forgottenRigidBodies.Count;
for(int i = nRigidBodies - 1; i >= 0; i--)
{
forgottenRigidBody = _forgottenRigidBodies[i];
try
{
ddWorld.RemoveRigidBody(forgottenRigidBody);
_forgottenRigidBodies.Remove(forgottenRigidBody);
BulletXMessage("Forgotten Rigid Body Removed", false);
}
catch (Exception ex)
{
BulletXMessage("Can't remove forgottenRigidBody!: " + ex.Message, false);
}
}
GC.Collect();
}
internal void BulletXMessage(string message, bool isWarning)
{
PhysicsPluginManager.PhysicsPluginMessage("[Modified BulletX]:\t" + message, isWarning);
}
//temp
//private float HeightValue(MonoXnaCompactMaths.Vector3 position)
//{
// int li_x, li_y;
// float height;
// li_x = (int)Math.Round(position.X); if (li_x < 0) li_x = 0;
// li_y = (int)Math.Round(position.Y); if (li_y < 0) li_y = 0;
// height = this._heightmap[li_y * 256 + li_x];
// if (height < 0) height = 0;
// else if (height > maxZ) height = maxZ;
// return height;
//}
}
/// <summary>
/// PhysicsActor Character Class for BulletX
@@ -414,19 +548,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private bool flying;
private RigidBody rigidBody;
public Axiom.Math.Vector2 RigidBodyHorizontalPosition
public MonoXnaCompactMaths.Vector3 RigidBodyPosition
{
get
{
return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
}
get { return this.rigidBody.CenterOfMassPosition; }
}
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
: this(parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
: this("", parent_scene, pos)
{
}
public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
: this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
AxiomQuaternion.Identity)
{
}
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
{
//This fields will be removed. They're temporal
@@ -462,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
rigidBody.ActivationState = ActivationState.DisableDeactivation;
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
MonoXnaCompactMaths.Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
@@ -535,6 +670,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
}
public RigidBody RigidBody
{
get
{
return rigidBody;
}
}
public override bool Flying
{
get
@@ -579,8 +721,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//_velocity == rigidBody.LinearVelocity
vec.X = this._velocity.X;
vec.Y = this._velocity.Y;
vec.Z = this._velocity.Z;
vec.Z = this._velocity.Z;
if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate();
if (flying)
{
//Antigravity with movement
@@ -677,33 +819,37 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//For now all prims have the same density, all prims are made of water. Be water my friend! :D
private const float _density = 1000.0f;
private RigidBody rigidBody;
private BulletXScene _parent_scene;
//_physical value will be linked with the prim object value
private Boolean _physical = false;
public Axiom.Math.Vector2 RigidBodyHorizontalPosition
public MonoXnaCompactMaths.Vector3 RigidBodyPosition
{
get
{
return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
}
get { return this.rigidBody.CenterOfMassPosition; }
}
public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
: this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation)
: this("", parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, null, null)
{
}
public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
PhysicsVector aceleration, AxiomQuaternion rotation)
public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
: this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs)
{
}
public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
{
_position = pos;
_velocity = velocity;
_size = size;
if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");
if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity;
_position = pos;
if (_physical) _velocity = velocity; else _velocity = new PhysicsVector();
_size = size;
_acceleration = aceleration;
//Because a bug, orientation will be fixed to AxiomQuaternion.Identity
_orientation = AxiomQuaternion.Identity;
//_orientation = rotation;
//---
_orientation = rotation;
_parent_scene = parent_scene;
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
@@ -718,9 +864,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f);
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
_collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
if(_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
rigidBody.ActivationState = ActivationState.DisableDeactivation;
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
MonoXnaCompactMaths.Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
@@ -754,8 +900,16 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
lock (BulletXScene.BulletXLock)
{
_velocity = value;
Speed();
//Static objects don' have linear velocity
if (_physical)
{
_velocity = value;
Speed();
}
else
{
_velocity = new PhysicsVector();
}
}
}
}
@@ -801,7 +955,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get
{
//For now all prims are boxes
return _density * _size.X * _size.Y * _size.Z;
return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z;
}
}
public RigidBody RigidBody
{
get
{
return rigidBody;
}
}
public override bool Flying
@@ -863,7 +1024,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
m.Translation = v3;
rigidBody.WorldTransform = m;
//When a Prim touch the ground it's vertical velocity it's reduced to ZERO
Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
//Static objects don't have linear velocity
if(_physical)
Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
}
}
internal void UpdateKinetics()
@@ -872,18 +1035,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
//Orientation is not implemented yet in MonoXnaCompactMaths
//this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); < Good
//ReOrient();
//---
ReOrient();
this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation);
}
else //Doesn't updates properties. That's a cancel
{
Translate();
Speed();
//Orientation is not implemented yet in MonoXnaCompactMaths
//ReOrient();
//Speed(); //<- Static objects don't have linear velocity
ReOrient();
}
}
@@ -915,10 +1072,49 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
private void ReSize(PhysicsVector _newSize)
{
//I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
//so i have to do it manually. That's recreating rigidbody
MonoXnaCompactMaths.Vector3 _newsize;
_newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize);
//For now all prims are Boxes
rigidBody.CollisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f);
if ((_newsize.X == 0) || (_newsize.Y == 0) || (_newsize.Z == 0)) throw new Exception("Size 0");
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
RigidBody _tmpRigidBody;
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(this._position);
//For now all prims are boxes
CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f);
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
_tmpRigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
MonoXnaCompactMaths.Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
_tmpRigidBody.Translate(_vDebugTranslation);
//---
//There is a bug when trying to remove a rigidBody that is colliding with something..
try
{
this._parent_scene.ddWorld.RemoveRigidBody(rigidBody);
}
catch(Exception ex)
{
this._parent_scene.BulletXMessage(this._parent_scene.is_ex_message + ex.Message, true);
rigidBody.ActivationState = ActivationState.DisableSimulation;
this._parent_scene.AddForgottenRigidBody(rigidBody);
}
rigidBody = _tmpRigidBody;
this._parent_scene.ddWorld.AddRigidBody(rigidBody);
if (_physical) Speed();//Static objects don't have linear velocity
ReOrient();
GC.Collect();
}
private void ReOrient()
{
@@ -935,4 +1131,74 @@ namespace OpenSim.Region.Physics.BulletXPlugin
#endregion
}
/// <summary>
/// This Class manage a HeighField as a RigidBody. This is for to be added in the BulletXScene
/// </summary>
internal class BulletXPlanet
{
private PhysicsVector _staticPosition;
private PhysicsVector _staticVelocity;
private AxiomQuaternion _staticOrientation;
private float _mass;
private BulletXScene _parentscene;
internal float[] _heightField;
private RigidBody _flatPlanet;
internal RigidBody RigidBody { get { return _flatPlanet; } }
internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
{
_staticPosition = new PhysicsVector(BulletXScene.MaxXY / 2, BulletXScene.MaxXY/2, 0);
_staticVelocity = new PhysicsVector();
_staticOrientation = AxiomQuaternion.Identity;
_mass = 0; //No active
_parentscene = parent_scene;
_heightField = heightField;
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
lock (BulletXScene.BulletXLock)
{
try
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
CollisionShape _collisionShape = new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField, (float)BulletXScene.MaxZ, 2, true, false);
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
//_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
_flatPlanet = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
MonoXnaCompactMaths.Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
_flatPlanet.Translate(_vDebugTranslation);
parent_scene.ddWorld.AddRigidBody(_flatPlanet);
}
catch (Exception ex)
{
this._parentscene.BulletXMessage(ex.Message, true);
}
}
this._parentscene.BulletXMessage("BulletXPlanet created.", false);
}
internal float HeightValue(MonoXnaCompactMaths.Vector3 position)
{
int li_x, li_y;
float height;
li_x = (int)Math.Round(position.X);
if (li_x < 0) li_x = 0;
if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1;
li_y = (int)Math.Round(position.Y);
if (li_y < 0) li_y = 0;
if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1;
height = ((HeightfieldTerrainShape)this._flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y);
if (height < 0) height = 0;
else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ;
return height;
}
}
}

13
OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
View File

@@ -104,6 +104,19 @@ namespace OpenSim.Region.Physics.Manager
pluginAssembly = null;
}
//---
public static void PhysicsPluginMessage(string message, bool isWarning)
{
if (isWarning)
{
MainLog.Instance.Warn("PHYSICS", message);
}
else
{
MainLog.Instance.Verbose("PHYSICS", message);
}
}
//---
}
public interface IPhysicsPlugin