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starting to add bits and pieces to physics prims that we will eventually need for collisions. not hooked in yet.

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This commit is contained in:
Brian McBee
2007-08-18 23:05:02 +00:00
parent 1ae73931da
commit 318376707d
4 changed files with 33 additions and 11 deletions
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35
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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@@ -80,6 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private double[] _heightmap;
static private d.NearCallback nearCallback = near;
private List<OdeCharacter> _characters = new List<OdeCharacter>();
private List<OdePrim> _prims = new List<OdePrim>();
private static d.ContactGeom[] contacts = new d.ContactGeom[30];
private static d.Contact contact;
@@ -134,7 +135,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
@@ -144,7 +145,14 @@ namespace OpenSim.Region.Physics.OdePlugin
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
return new OdePrim();
Quaternion rot = new Quaternion();
rot.w = rotation.w;
rot.x = rotation.x;
rot.y = rotation.y;
rot.z = rotation.z;
OdePrim newPrim = new OdePrim(this, pos, siz, rot);
this._prims.Add(newPrim);
return newPrim;
}
public override void Simulate(float timeStep)
@@ -347,15 +355,29 @@ namespace OpenSim.Region.Physics.OdePlugin
public class OdePrim : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _size;
private PhysicsVector _acceleration;
private Quaternion _orientation;
private IntPtr BoundingCapsule;
IntPtr capsule_geom;
d.Mass capsule_mass;
public OdePrim()
public OdePrim(OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, Quaternion rotation)
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_position = pos;
_size = size;
_acceleration = new PhysicsVector();
d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
capsule_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z);
this.BoundingCapsule = d.BodyCreate(OdeScene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass);
d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
d.GeomSetBody(capsule_geom, BoundingCapsule);
_orientation = rotation;
}
public override bool Flying
{
@@ -420,12 +442,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
Quaternion res = new Quaternion();
return res;
return _orientation;
}
set
{
_orientation = value;
}
}