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* Optimized usings

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* Shortened type references
* Removed redundant 'this' qualifier
This commit is contained in:
lbsa71
2007-10-30 09:05:31 +00:00
parent c32d1f0562
commit 67e12b95ea
353 changed files with 15459 additions and 10338 deletions
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22
OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
View File

@@ -27,24 +27,26 @@
*/
using System.Reflection;
using System.Runtime.InteropServices;
// Information about this assembly is defined by the following
// attributes.
//
// change them to the information which is associated with the assembly
// you compile.
[assembly: AssemblyTitle("RealPhysXplugin")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("RealPhysXplugin")]
[assembly: AssemblyCopyright("")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
[assembly : AssemblyTitle("RealPhysXplugin")]
[assembly : AssemblyDescription("")]
[assembly : AssemblyConfiguration("")]
[assembly : AssemblyCompany("")]
[assembly : AssemblyProduct("RealPhysXplugin")]
[assembly : AssemblyCopyright("")]
[assembly : AssemblyTrademark("")]
[assembly : AssemblyCulture("")]
// This sets the default COM visibility of types in the assembly to invisible.
// If you need to expose a type to COM, use [ComVisible(true)] on that type.
[assembly: ComVisible(false)]
[assembly : ComVisible(false)]
// The assembly version has following format :
//
@@ -53,4 +55,4 @@ using System.Runtime.InteropServices;
// You can specify all values by your own or you can build default build and revision
// numbers with the '*' character (the default):
[assembly: AssemblyVersion("1.0.*")]
[assembly : AssemblyVersion("1.0.*")]

72
OpenSim/Region/Physics/OdePlugin/Meshing/HelperTypes.cs
View File

@@ -27,10 +27,9 @@
*/
using System;
using System.Globalization;
using System.Diagnostics;
using System.Collections.Generic;
using System.Diagnostics;
using System.Globalization;
using OpenSim.Region.Physics.Manager;
public class Vertex : IComparable<Vertex>
@@ -76,8 +75,6 @@ public class Vertex : IComparable<Vertex>
{
return me.CompareTo(other) < 0;
}
}
public class Simplex : IComparable<Simplex>
@@ -122,8 +119,7 @@ public class Simplex : IComparable<Simplex>
return 0;
}
};
} ;
public class Triangle
{
@@ -131,9 +127,9 @@ public class Triangle
public Vertex v2;
public Vertex v3;
float radius_square;
float cx;
float cy;
private float radius_square;
private float cx;
private float cy;
public Triangle(Vertex _v1, Vertex _v2, Vertex _v3)
{
@@ -149,18 +145,18 @@ public class Triangle
float dx, dy;
float dd;
dx = x - this.cx;
dy = y - this.cy;
dx = x - cx;
dy = y - cy;
dd = dx * dx + dy * dy;
if (dd < this.radius_square)
dd = dx*dx + dy*dy;
if (dd < radius_square)
return true;
else
return false;
}
void CalcCircle()
private void CalcCircle()
{
// Calculate the center and the radius of a circle given by three points p1, p2, p3
// It is assumed, that the triangles vertices are already set correctly
@@ -198,8 +194,8 @@ public class Triangle
p3y = v3.point.Y;
/* calc helping values first */
c1 = (p1x * p1x + p1y * p1y - p2x * p2x - p2y * p2y) / 2;
c2 = (p1x * p1x + p1y * p1y - p3x * p3x - p3y * p3y) / 2;
c1 = (p1x*p1x + p1y*p1y - p2x*p2x - p2y*p2y)/2;
c2 = (p1x*p1x + p1y*p1y - p3x*p3x - p3y*p3y)/2;
v1x = p1x - p2x;
v1y = p1y - p2y;
@@ -207,35 +203,34 @@ public class Triangle
v2x = p1x - p3x;
v2y = p1y - p3y;
z = (c1 * v2x - c2 * v1x);
n = (v1y * v2x - v2y * v1x);
z = (c1*v2x - c2*v1x);
n = (v1y*v2x - v2y*v1x);
if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location
if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location
{
radius_square = 0.0f;
return;
}
this.cy = (float)(z / n);
cy = (float) (z/n);
if (v2x != 0.0)
{
this.cx = (float)((c2 - v2y * this.cy) / v2x);
cx = (float) ((c2 - v2y*cy)/v2x);
}
else if (v1x != 0.0)
{
this.cx = (float)((c1 - v1y * this.cy) / v1x);
cx = (float) ((c1 - v1y*cy)/v1x);
}
else
{
Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */
}
rx = (p1x - this.cx);
ry = (p1y - this.cy);
this.radius_square = (float)(rx * rx + ry * ry);
rx = (p1x - cx);
ry = (p1y - cy);
radius_square = (float) (rx*rx + ry*ry);
}
public List<Simplex> GetSimplices()
@@ -254,17 +249,18 @@ public class Triangle
public override String ToString()
{
NumberFormatInfo nfi = new NumberFormatInfo();
nfi.CurrencyDecimalDigits = 2;
nfi.CurrencyDecimalSeparator = ".";
String s1 = "<" + v1.point.X.ToString(nfi) + "," + v1.point.Y.ToString(nfi) + "," + v1.point.Z.ToString(nfi) + ">";
String s2 = "<" + v2.point.X.ToString(nfi) + "," + v2.point.Y.ToString(nfi) + "," + v2.point.Z.ToString(nfi) + ">";
String s3 = "<" + v3.point.X.ToString(nfi) + "," + v3.point.Y.ToString(nfi) + "," + v3.point.Z.ToString(nfi) + ">";
String s1 = "<" + v1.point.X.ToString(nfi) + "," + v1.point.Y.ToString(nfi) + "," + v1.point.Z.ToString(nfi) +
">";
String s2 = "<" + v2.point.X.ToString(nfi) + "," + v2.point.Y.ToString(nfi) + "," + v2.point.Z.ToString(nfi) +
">";
String s3 = "<" + v3.point.X.ToString(nfi) + "," + v3.point.Y.ToString(nfi) + "," + v3.point.Z.ToString(nfi) +
">";
return s1 + ";" + s2 + ";" + s3;
}
public PhysicsVector getNormal()
@@ -281,12 +277,12 @@ public class Triangle
// Cross product for normal
PhysicsVector n = new PhysicsVector();
float nx, ny, nz;
n.X = e1.Y * e2.Z - e1.Z * e2.Y;
n.Y = e1.Z * e2.X - e1.X * e2.Z;
n.Z = e1.X * e2.Y - e1.Y * e2.X;
n.X = e1.Y*e2.Z - e1.Z*e2.Y;
n.Y = e1.Z*e2.X - e1.X*e2.Z;
n.Z = e1.X*e2.Y - e1.Y*e2.X;
// Length
float l = (float)Math.Sqrt(n.X * n.X + n.Y * n.Y + n.Z * n.Z);
float l = (float) Math.Sqrt(n.X*n.X + n.Y*n.Y + n.Z*n.Z);
// Normalized "normal"
n.X /= l;
@@ -303,6 +299,4 @@ public class Triangle
v1 = v2;
v2 = vt;
}
}
}

256
OpenSim/Region/Physics/OdePlugin/Meshing/Meshmerizer.cs
View File

@@ -27,12 +27,8 @@
*/
using System;
using System.Globalization;
using System.Diagnostics;
using System.Collections.Generic;
using System.Text;
using System.Runtime.InteropServices;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
@@ -75,14 +71,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public float[] getVertexListAsFloat()
{
float[] result = new float[vertices.Count * 3];
float[] result = new float[vertices.Count*3];
for (int i = 0; i < vertices.Count; i++)
{
Vertex v = vertices[i];
PhysicsVector point = v.point;
result[3 * i + 0] = point.X;
result[3 * i + 1] = point.Y;
result[3 * i + 2] = point.Z;
result[3*i + 0] = point.X;
result[3*i + 1] = point.Y;
result[3*i + 2] = point.Z;
}
GCHandle.Alloc(result, GCHandleType.Pinned);
return result;
@@ -90,13 +86,13 @@ namespace OpenSim.Region.Physics.OdePlugin
public int[] getIndexListAsInt()
{
int[] result = new int[triangles.Count * 3];
int[] result = new int[triangles.Count*3];
for (int i = 0; i < triangles.Count; i++)
{
Triangle t = triangles[i];
result[3 * i + 0] = vertices.IndexOf(t.v1);
result[3 * i + 1] = vertices.IndexOf(t.v2);
result[3 * i + 2] = vertices.IndexOf(t.v3);
result[3*i + 0] = vertices.IndexOf(t.v1);
result[3*i + 1] = vertices.IndexOf(t.v2);
result[3*i + 2] = vertices.IndexOf(t.v3);
}
GCHandle.Alloc(result, GCHandleType.Pinned);
return result;
@@ -110,16 +106,13 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (Triangle t in newMesh.triangles)
Add(t);
}
}
public class Meshmerizer
{
static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v)
private static List<Triangle> FindInfluencedTriangles(List<Triangle> triangles, Vertex v)
{
List<Triangle> influenced = new List<Triangle>();
foreach (Triangle t in triangles)
@@ -133,9 +126,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
return influenced;
}
static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles, List<int> innerBorders)
private static void InsertVertices(List<Vertex> vertices, int usedForSeed, List<Triangle> triangles,
List<int> innerBorders)
{
// This is a variant of the delaunay algorithm
// each time a new vertex is inserted, all triangles that are influenced by it are deleted
@@ -143,7 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// It is not very time efficient but easy to implement.
int iCurrentVertex;
int iMaxVertex=vertices.Count;
int iMaxVertex = vertices.Count;
for (iCurrentVertex = usedForSeed; iCurrentVertex < iMaxVertex; iCurrentVertex++)
{
// Background: A triangle mesh fulfills the delaunay condition if (iff!)
@@ -154,8 +148,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// do not fulfill this condition with respect to the new triangle
// Find the triangles that are influenced by the new vertex
Vertex v=vertices[iCurrentVertex];
List<Triangle> influencedTriangles=FindInfluencedTriangles(triangles, v);
Vertex v = vertices[iCurrentVertex];
List<Triangle> influencedTriangles = FindInfluencedTriangles(triangles, v);
List<Simplex> simplices = new List<Simplex>();
@@ -175,10 +169,10 @@ namespace OpenSim.Region.Physics.OdePlugin
// Look for duplicate simplices here.
// Remember, they are directly side by side in the list right now
int iSimplex;
List<Simplex> innerSimplices=new List<Simplex>();
List<Simplex> innerSimplices = new List<Simplex>();
for (iSimplex = 1; iSimplex < simplices.Count; iSimplex++) // Startindex=1, so we can refer backwards
{
if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex])==0)
if (simplices[iSimplex - 1].CompareTo(simplices[iSimplex]) == 0)
{
innerSimplices.Add(simplices[iSimplex - 1]);
innerSimplices.Add(simplices[iSimplex]);
@@ -187,7 +181,7 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (Simplex s in innerSimplices)
{
simplices.Remove(s);
simplices.Remove(s);
}
// each simplex still in the list belongs to the hull of the region in question
@@ -210,7 +204,7 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (Triangle t in triangles)
{
if (
innerBorders.Contains(vertices.IndexOf(t.v1))
innerBorders.Contains(vertices.IndexOf(t.v1))
&& innerBorders.Contains(vertices.IndexOf(t.v2))
&& innerBorders.Contains(vertices.IndexOf(t.v3))
)
@@ -223,18 +217,18 @@ namespace OpenSim.Region.Physics.OdePlugin
}
static Mesh CreateBoxMeshX(PrimitiveBaseShape primShape, PhysicsVector size)
// Builds the x (+ and -) surfaces of a box shaped prim
private static Mesh CreateBoxMeshX(PrimitiveBaseShape primShape, PhysicsVector size)
// Builds the x (+ and -) surfaces of a box shaped prim
{
UInt16 hollowFactor = primShape.ProfileHollow;
Mesh meshMX = new Mesh();
// Surface 0, -X
meshMX.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
meshMX.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
meshMX.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
meshMX.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
meshMX.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
meshMX.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
meshMX.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
meshMX.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
meshMX.Add(new Triangle(meshMX.vertices[0], meshMX.vertices[2], meshMX.vertices[1]));
meshMX.Add(new Triangle(meshMX.vertices[1], meshMX.vertices[2], meshMX.vertices[3]));
@@ -242,10 +236,10 @@ namespace OpenSim.Region.Physics.OdePlugin
Mesh meshPX = new Mesh();
// Surface 1, +X
meshPX.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
meshPX.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
meshPX.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
meshPX.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
meshPX.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
meshPX.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
meshPX.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
meshPX.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
meshPX.Add(new Triangle(meshPX.vertices[0], meshPX.vertices[1], meshPX.vertices[2]));
@@ -254,17 +248,17 @@ namespace OpenSim.Region.Physics.OdePlugin
if (hollowFactor > 0)
{
float hollowFactorF = (float)hollowFactor / (float)50000;
float hollowFactorF = (float) hollowFactor/(float) 50000;
Vertex IPP;
Vertex IPM;
Vertex IMP;
Vertex IMM;
IPP = new Vertex("Inner-X+Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IPM = new Vertex("Inner-X+Y-Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IMP = new Vertex("Inner-X-Y+Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IMM = new Vertex("Inner-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IPP = new Vertex("Inner-X+Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IPM = new Vertex("Inner-X+Y-Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
IMP = new Vertex("Inner-X-Y+Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IMM = new Vertex("Inner-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
meshMX.Add(IPP);
meshMX.Add(IPM);
@@ -280,11 +274,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
IPP = new Vertex("Inner+X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IPM = new Vertex("Inner+X+Y-Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IMP = new Vertex("Inner+X-Y+Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IMM = new Vertex("Inner+X-Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IPP = new Vertex("Inner+X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IPM = new Vertex("Inner+X+Y-Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
IMP = new Vertex("Inner+X-Y+Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IMM = new Vertex("Inner+X-Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
meshPX.Add(IPP);
meshPX.Add(IPM);
@@ -308,18 +301,17 @@ namespace OpenSim.Region.Physics.OdePlugin
}
static Mesh CreateBoxMeshY(PrimitiveBaseShape primShape, PhysicsVector size)
// Builds the y (+ and -) surfaces of a box shaped prim
private static Mesh CreateBoxMeshY(PrimitiveBaseShape primShape, PhysicsVector size)
// Builds the y (+ and -) surfaces of a box shaped prim
{
UInt16 hollowFactor = primShape.ProfileHollow;
// (M)inus Y
Mesh MeshMY = new Mesh();
MeshMY.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
MeshMY.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
MeshMY.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
MeshMY.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, +size.Z / 2.0f));
MeshMY.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
MeshMY.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
MeshMY.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
MeshMY.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, +size.Z/2.0f));
MeshMY.Add(new Triangle(MeshMY.vertices[0], MeshMY.vertices[1], MeshMY.vertices[2]));
MeshMY.Add(new Triangle(MeshMY.vertices[2], MeshMY.vertices[1], MeshMY.vertices[3]));
@@ -327,27 +319,27 @@ namespace OpenSim.Region.Physics.OdePlugin
// (P)lus Y
Mesh MeshPY = new Mesh();
MeshPY.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
MeshPY.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
MeshPY.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
MeshPY.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, +size.Z / 2.0f));
MeshPY.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
MeshPY.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
MeshPY.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
MeshPY.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, +size.Z/2.0f));
MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[0], MeshPY.vertices[2]));
MeshPY.Add(new Triangle(MeshPY.vertices[1], MeshPY.vertices[2], MeshPY.vertices[3]));
if (hollowFactor > 0)
{
float hollowFactorF = (float)hollowFactor / (float)50000;
float hollowFactorF = (float) hollowFactor/(float) 50000;
Vertex IPP;
Vertex IPM;
Vertex IMP;
Vertex IMM;
IPP = new Vertex("Inner+X-Y+Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IPM = new Vertex("Inner+X-Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IMP = new Vertex("Inner-X-Y+Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IMM = new Vertex("Inner-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IPP = new Vertex("Inner+X-Y+Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IPM = new Vertex("Inner+X-Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
IMP = new Vertex("Inner-X-Y+Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IMM = new Vertex("Inner-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
MeshMY.Add(IPP);
MeshMY.Add(IPM);
@@ -363,11 +355,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
IPP = new Vertex("Inner+X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IPM=new Vertex("Inner+X+Y-Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IMP=new Vertex("Inner-X+Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, +size.Z / 2.0f);
IMM=new Vertex("Inner-X+Y-Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, -size.Z / 2.0f);
IPP = new Vertex("Inner+X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IPM = new Vertex("Inner+X+Y-Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
IMP = new Vertex("Inner-X+Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, +size.Z/2.0f);
IMM = new Vertex("Inner-X+Y-Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, -size.Z/2.0f);
MeshPY.Add(IPP);
MeshPY.Add(IPM);
@@ -381,9 +372,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
PhysicsVector n = t.getNormal();
}
}
@@ -393,9 +381,9 @@ namespace OpenSim.Region.Physics.OdePlugin
return result;
}
static Mesh CreateBoxMeshZ(PrimitiveBaseShape primShape, PhysicsVector size)
// Builds the z (+ and -) surfaces of a box shaped prim
private static Mesh CreateBoxMeshZ(PrimitiveBaseShape primShape, PhysicsVector size)
// Builds the z (+ and -) surfaces of a box shaped prim
{
UInt16 hollowFactor = primShape.ProfileHollow;
@@ -403,10 +391,10 @@ namespace OpenSim.Region.Physics.OdePlugin
// (M)inus Z
Mesh MZ = new Mesh();
MZ.Add(new Vertex("-X-Y-Z", -size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
MZ.Add(new Vertex("+X-Y-Z", +size.X / 2.0f, -size.Y / 2.0f, -size.Z / 2.0f));
MZ.Add(new Vertex("-X+Y-Z", -size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
MZ.Add(new Vertex("+X+Y-Z", +size.X / 2.0f, +size.Y / 2.0f, -size.Z / 2.0f));
MZ.Add(new Vertex("-X-Y-Z", -size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
MZ.Add(new Vertex("+X-Y-Z", +size.X/2.0f, -size.Y/2.0f, -size.Z/2.0f));
MZ.Add(new Vertex("-X+Y-Z", -size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
MZ.Add(new Vertex("+X+Y-Z", +size.X/2.0f, +size.Y/2.0f, -size.Z/2.0f));
MZ.Add(new Triangle(MZ.vertices[1], MZ.vertices[0], MZ.vertices[2]));
@@ -415,10 +403,10 @@ namespace OpenSim.Region.Physics.OdePlugin
// (P)lus Z
Mesh PZ = new Mesh();
PZ.Add(new Vertex("-X-Y+Z", -size.X / 2.0f, -size.Y / 2.0f, 0.0f));
PZ.Add(new Vertex("+X-Y+Z", +size.X / 2.0f, -size.Y / 2.0f, 0.0f));
PZ.Add(new Vertex("-X+Y+Z", -size.X / 2.0f, +size.Y / 2.0f, 0.0f));
PZ.Add(new Vertex("+X+Y+Z", +size.X / 2.0f, +size.Y / 2.0f, 0.0f));
PZ.Add(new Vertex("-X-Y+Z", -size.X/2.0f, -size.Y/2.0f, 0.0f));
PZ.Add(new Vertex("+X-Y+Z", +size.X/2.0f, -size.Y/2.0f, 0.0f));
PZ.Add(new Vertex("-X+Y+Z", -size.X/2.0f, +size.Y/2.0f, 0.0f));
PZ.Add(new Vertex("+X+Y+Z", +size.X/2.0f, +size.Y/2.0f, 0.0f));
// Surface 5, +Z
PZ.Add(new Triangle(PZ.vertices[0], PZ.vertices[1], PZ.vertices[2]));
@@ -426,12 +414,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (hollowFactor > 0)
{
float hollowFactorF = (float)hollowFactor / (float)50000;
float hollowFactorF = (float) hollowFactor/(float) 50000;
MZ.Add(new Vertex("-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
MZ.Add(new Vertex("-X+Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
MZ.Add(new Vertex("-X-Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
MZ.Add(new Vertex("-X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
MZ.Add(new Vertex("-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
MZ.Add(new Vertex("-X+Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
MZ.Add(new Vertex("-X-Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
MZ.Add(new Vertex("-X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
List<int> innerBorders = new List<int>();
innerBorders.Add(4);
@@ -441,10 +429,10 @@ namespace OpenSim.Region.Physics.OdePlugin
InsertVertices(MZ.vertices, 4, MZ.triangles, innerBorders);
PZ.Add(new Vertex("-X-Y-Z", -size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
PZ.Add(new Vertex("-X+Y-Z", +size.X * hollowFactorF / 2.0f, -size.Y * hollowFactorF / 2.0f, 0.0f));
PZ.Add(new Vertex("-X-Y+Z", -size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
PZ.Add(new Vertex("-X+Y+Z", +size.X * hollowFactorF / 2.0f, +size.Y * hollowFactorF / 2.0f, 0.0f));
PZ.Add(new Vertex("-X-Y-Z", -size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
PZ.Add(new Vertex("-X+Y-Z", +size.X*hollowFactorF/2.0f, -size.Y*hollowFactorF/2.0f, 0.0f));
PZ.Add(new Vertex("-X-Y+Z", -size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
PZ.Add(new Vertex("-X+Y+Z", +size.X*hollowFactorF/2.0f, +size.Y*hollowFactorF/2.0f, 0.0f));
innerBorders = new List<int>();
innerBorders.Add(4);
@@ -453,16 +441,15 @@ namespace OpenSim.Region.Physics.OdePlugin
innerBorders.Add(7);
InsertVertices(PZ.vertices, 4, PZ.triangles, innerBorders);
}
foreach (Vertex v in PZ.vertices)
{
v.point.Z = size.Z / 2.0f;
v.point.Z = size.Z/2.0f;
}
foreach (Vertex v in MZ.vertices)
{
v.point.Z = -size.Z / 2.0f;
v.point.Z = -size.Z/2.0f;
}
foreach (Triangle t in MZ.triangles)
@@ -486,15 +473,14 @@ namespace OpenSim.Region.Physics.OdePlugin
return result;
}
static Mesh CreateBoxMesh(PrimitiveBaseShape primShape, PhysicsVector size)
private static Mesh CreateBoxMesh(PrimitiveBaseShape primShape, PhysicsVector size)
{
Mesh result = new Mesh();
Mesh MeshX = Meshmerizer.CreateBoxMeshX(primShape, size);
Mesh MeshY = Meshmerizer.CreateBoxMeshY(primShape, size);
Mesh MeshZ = Meshmerizer.CreateBoxMeshZ(primShape, size);
Mesh MeshX = CreateBoxMeshX(primShape, size);
Mesh MeshY = CreateBoxMeshY(primShape, size);
Mesh MeshZ = CreateBoxMeshZ(primShape, size);
result.Append(MeshX);
result.Append(MeshY);
@@ -504,64 +490,63 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public static void CalcNormals(Mesh mesh)
public static void CalcNormals(Mesh mesh)
{
int iTriangles = mesh.triangles.Count;
mesh.normals = new float[iTriangles*3];
int i=0;
int i = 0;
foreach (Triangle t in mesh.triangles)
{
float ux, uy, uz;
float vx, vy, vz;
float wx, wy, wz;
ux = t.v1.point.X;
uy = t.v1.point.Y;
uz = t.v1.point.Z;
ux = t.v1.point.X;
uy = t.v1.point.Y;
uz = t.v1.point.Z;
vx = t.v2.point.X;
vy = t.v2.point.Y;
vz = t.v2.point.Z;
vx = t.v2.point.X;
vy = t.v2.point.Y;
vz = t.v2.point.Z;
wx = t.v3.point.X;
wy = t.v3.point.Y;
wz = t.v3.point.Z;
wx = t.v3.point.X;
wy = t.v3.point.Y;
wz = t.v3.point.Z;
// Vectors for edges
float e1x, e1y, e1z;
float e2x, e2y, e2z;
// Vectors for edges
float e1x, e1y, e1z;
float e2x, e2y, e2z;
e1x = ux - vx;
e1y = uy - vy;
e1z = uz - vz;
e1x = ux - vx;
e1y = uy - vy;
e1z = uz - vz;
e2x = ux - wx;
e2y = uy - wy;
e2z = uz - wz;
e2x = ux - wx;
e2y = uy - wy;
e2z = uz - wz;
// Cross product for normal
float nx, ny, nz;
nx = e1y * e2z - e1z * e2y;
ny = e1z * e2x - e1x * e2z;
nz = e1x * e2y - e1y * e2x;
// Cross product for normal
float nx, ny, nz;
nx = e1y*e2z - e1z*e2y;
ny = e1z*e2x - e1x*e2z;
nz = e1x*e2y - e1y*e2x;
// Length
float l = (float)Math.Sqrt(nx * nx + ny * ny + nz * nz);
// Length
float l = (float) Math.Sqrt(nx*nx + ny*ny + nz*nz);
// Normalized "normal"
nx /= l;
ny /= l;
nz /= l;
// Normalized "normal"
nx /= l;
ny /= l;
nz /= l;
mesh.normals[i] = nx;
mesh.normals[i + 1] = ny;
mesh.normals[i + 2] = nz;
i+=3;
i += 3;
}
}
@@ -572,18 +557,15 @@ namespace OpenSim.Region.Physics.OdePlugin
switch (primShape.ProfileShape)
{
case ProfileShape.Square:
mesh=CreateBoxMesh(primShape, size);
mesh = CreateBoxMesh(primShape, size);
CalcNormals(mesh);
break;
default:
mesh=null;
mesh = null;
break;
}
return mesh;
}
}
}
}

274
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@@ -25,19 +25,14 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
using System;
using System.Threading;
using System.Collections.Generic;
using libsecondlife;
using Axiom.Math;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Framework.Console;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
@@ -49,7 +44,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public OdePlugin()
{
}
public bool Init()
@@ -73,7 +67,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public void Dispose()
{
}
}
@@ -82,17 +75,17 @@ namespace OpenSim.Region.Physics.OdePlugin
private static float ODE_STEPSIZE = 0.004f;
private static bool RENDER_FLAG = false;
private IntPtr contactgroup;
private IntPtr LandGeom=(IntPtr)0;
private IntPtr LandGeom = (IntPtr) 0;
private double[] _heightmap;
private d.NearCallback nearCallback;
public d.TriCallback triCallback;
public d.TriArrayCallback triArrayCallback;
private List<OdeCharacter> _characters = new List<OdeCharacter>();
private List<OdePrim> _prims = new List<OdePrim>();
public Dictionary<IntPtr, String> geom_name_map=new Dictionary<IntPtr, String>();
public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
private d.ContactGeom[] contacts = new d.ContactGeom[30];
private d.Contact contact;
private float step_time=0.0f;
private float step_time = 0.0f;
public IntPtr world;
public IntPtr space;
public static Object OdeLock = new Object();
@@ -140,7 +133,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
d.GeomClassID id = d.GeomGetClass(g1);
if (id==d.GeomClassID.TriMeshClass)
if (id == d.GeomClassID.TriMeshClass)
{
String name1 = null;
String name2 = null;
@@ -163,7 +156,6 @@ namespace OpenSim.Region.Physics.OdePlugin
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
d.JointAttach(joint, b1, b2);
}
}
private void collision_optimized()
@@ -171,7 +163,8 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (OdeCharacter chr in _characters)
{
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
foreach (OdeCharacter ch2 in _characters) /// should be a separate space -- lots of avatars will be N**2 slow
foreach (OdeCharacter ch2 in _characters)
/// should be a separate space -- lots of avatars will be N**2 slow
{
d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback);
}
@@ -193,8 +186,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{
lock (OdeLock)
{
((OdeCharacter)actor).Destroy();
_characters.Remove((OdeCharacter)actor);
((OdeCharacter) actor).Destroy();
_characters.Remove((OdeCharacter) actor);
}
}
@@ -204,13 +197,14 @@ namespace OpenSim.Region.Physics.OdePlugin
{
lock (OdeLock)
{
d.GeomDestroy(((OdePrim)prim).prim_geom);
_prims.Remove((OdePrim)prim);
d.GeomDestroy(((OdePrim) prim).prim_geom);
_prims.Remove((OdePrim) prim);
}
}
}
PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
Mesh mesh, PrimitiveBaseShape pbs)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
@@ -235,7 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public int TriArrayCallback(System.IntPtr trimesh, System.IntPtr refObject, int[] triangleIndex, int triCount)
public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
{
/* String name1 = null;
String name2 = null;
@@ -254,15 +248,14 @@ namespace OpenSim.Region.Physics.OdePlugin
return 1;
}
public int TriCallback(System.IntPtr trimesh, System.IntPtr refObject, int triangleIndex)
public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
{
String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(trimesh, out name1))
{
name1 = "null";
name1 = "null";
}
if (!geom_name_map.TryGetValue(refObject, out name2))
{
@@ -282,11 +275,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation)
{
PhysicsActor result;
switch(pbs.ProfileShape)
switch (pbs.ProfileShape)
{
case ProfileShape.Square:
/// support simple box & hollow box now; later, more shapes
@@ -310,7 +304,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override void Simulate(float timeStep)
{
step_time += timeStep;
@@ -327,11 +320,12 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 rx, ry, rz;
p.Orientation.ToAxes(out rx, out ry, out rz);
Console.WriteLine("RENDER: block; " + p.Size.X + ", " + p.Size.Y + ", " + p.Size.Z + "; " +
" 0, 0, 1; " + //shape, size, color
(p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " + (p.Position.Z - 33.0f) + "; " + // position
rx.x + "," + ry.x + "," + rz.x + ", " + // rotation
rx.y + "," + ry.y + "," + rz.y + ", " +
rx.z + "," + ry.z + "," + rz.z);
" 0, 0, 1; " + //shape, size, color
(p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " +
(p.Position.Z - 33.0f) + "; " + // position
rx.x + "," + ry.x + "," + rz.x + ", " + // rotation
rx.y + "," + ry.y + "," + rz.y + ", " +
rx.z + "," + ry.z + "," + rz.z);
}
}
int i = 0;
@@ -357,22 +351,27 @@ namespace OpenSim.Region.Physics.OdePlugin
float Zoff = -33.0f;
d.Matrix3 temp = d.BodyGetRotation(actor.Body);
Console.WriteLine("RENDER: cylinder; " + // shape
OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size
"; 0, 1, 0; " + // color
(actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " + (actor.Position.Z + Zoff) + "; " + // position
temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation
temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " +
temp.M02 + "," + temp.M12 + "," + temp.M22);
d.Vector3 caphead; d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH * .5f, out caphead);
d.Vector3 capfoot; d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH * .5f, out capfoot);
OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size
"; 0, 1, 0; " + // color
(actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " +
(actor.Position.Z + Zoff) + "; " + // position
temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation
temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " +
temp.M02 + "," + temp.M12 + "," + temp.M22);
d.Vector3 caphead;
d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH*.5f, out caphead);
d.Vector3 capfoot;
d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH*.5f, out capfoot);
Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size
"; 1, 0, 1; " + //color
(caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) + "; " + // position
"1,0,0, 0,1,0, 0,0,1"); // rotation
"; 1, 0, 1; " + //color
(caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) +
"; " + // position
"1,0,0, 0,1,0, 0,0,1"); // rotation
Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size
"; 1, 0, 0; " + //color
(capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) + "; " + // position
"1,0,0, 0,1,0, 0,0,1"); // rotation
"; 1, 0, 0; " + //color
(capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) +
"; " + // position
"1,0,0, 0,1,0, 0,0,1"); // rotation
}
}
}
@@ -380,14 +379,11 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void GetResults()
{
}
public override bool IsThreaded
{
get
{
return (false); // for now we won't be multithreaded
get { return (false); // for now we won't be multithreaded
}
}
@@ -400,21 +396,21 @@ namespace OpenSim.Region.Physics.OdePlugin
{
for (int y = 0; y < 258; y++)
{
int xx = x-1;
int xx = x - 1;
if (xx < 0) xx = 0;
if (xx > 255) xx = 255;
int yy = y-1;
int yy = y - 1;
if (yy < 0) yy = 0;
if (yy > 255) yy = 255;
double val = (double)heightMap[yy * 256 + xx];
_heightmap[x * 258 + y] = val;
double val = (double) heightMap[yy*256 + xx];
_heightmap[x*258 + y] = val;
}
}
lock (OdeLock)
{
if (!(LandGeom == (IntPtr)0))
if (!(LandGeom == (IntPtr) 0))
{
d.SpaceRemove(space, LandGeom);
}
@@ -422,7 +418,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 258, 258, 1.0f, 0.0f, 2.0f, 0);
d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
this.geom_name_map[LandGeom]="Terrain";
geom_name_map[LandGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
@@ -430,7 +426,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
q1 = q1 * q2;
q1 = q1*q2;
//q1 = q1 * q3;
Vector3 v3 = new Vector3();
float angle = 0;
@@ -444,7 +440,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void DeleteTerrain()
{
}
}
@@ -452,12 +447,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private PhysicsVector _position;
private d.Vector3 _zeroPosition;
private bool _zeroFlag=false;
private bool _zeroFlag = false;
private PhysicsVector _velocity;
private PhysicsVector _target_velocity;
private PhysicsVector _acceleration;
private static float PID_D=4000.0f;
private static float PID_P=7000.0f;
private static float PID_D = 4000.0f;
private static float PID_P = 7000.0f;
private static float POSTURE_SERVO = 10000.0f;
public static float CAPSULE_RADIUS = 0.5f;
public static float CAPSULE_LENGTH = 0.9f;
@@ -484,28 +479,18 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
d.GeomSetBody(Shell, Body);
}
parent_scene.geom_name_map[Shell]=avName;
parent_scene.geom_name_map[Shell] = avName;
}
public override bool Flying
{
get
{
return flying;
}
set
{
flying = value;
}
get { return flying; }
set { flying = value; }
}
public override PhysicsVector Position
{
get
{
return _position;
}
get { return _position; }
set
{
lock (OdeScene.OdeLock)
@@ -518,60 +503,34 @@ namespace OpenSim.Region.Physics.OdePlugin
public override PhysicsVector Size
{
get
{
return new PhysicsVector(0,0,0);
}
set
{
}
get { return new PhysicsVector(0, 0, 0); }
set { }
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_target_velocity = value;
}
get { return _velocity; }
set { _target_velocity = value; }
}
public override bool Kinematic
{
get
{
return false;
}
set
{
}
get { return false; }
set { }
}
public override Quaternion Orientation
{
get
{
return Quaternion.Identity;
}
set
{
}
get { return Quaternion.Identity; }
set { }
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
get { return _acceleration; }
}
public void SetAcceleration(PhysicsVector accel)
{
_acceleration = accel;
@@ -579,12 +538,10 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
public void Move(float timeStep)
@@ -603,28 +560,28 @@ namespace OpenSim.Region.Physics.OdePlugin
_zeroPosition = d.BodyGetPosition(Body);
}
d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P;
vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P;
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
}
}
else
{
_zeroFlag = false;
vec.X = (_target_velocity.X - vel.X) * PID_D;
vec.Y = (_target_velocity.Y - vel.Y) * PID_D;
vec.X = (_target_velocity.X - vel.X)*PID_D;
vec.Y = (_target_velocity.Y - vel.Y)*PID_D;
if (flying)
{
vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
vec.Z = (_target_velocity.Z - vel.Z)*PID_D;
}
}
if (flying)
{
vec.Z += 10.0f;
}
d.BodyAddForce(this.Body, vec.X, vec.Y, vec.Z);
d.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
// ok -- let's stand up straight!
d.Vector3 feet;
@@ -634,7 +591,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float posture = head.Z - feet.Z;
// restoring force proportional to lack of posture:
float servo = (2.5f-posture) * POSTURE_SERVO;
float servo = (2.5f - posture)*POSTURE_SERVO;
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
}
@@ -650,9 +607,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (vec.X > 255.95f) vec.X = 255.95f;
if (vec.Y > 255.95f) vec.Y = 255.95f;
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z;
_position.X = vec.X;
_position.Y = vec.Y;
_position.Z = vec.Z;
if (_zeroFlag)
{
@@ -673,9 +630,9 @@ namespace OpenSim.Region.Physics.OdePlugin
{
lock (OdeScene.OdeLock)
{
d.GeomDestroy(this.Shell);
this._parent_scene.geom_name_map.Remove(this.Shell);
d.BodyDestroy(this.Body);
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
d.BodyDestroy(Body);
}
}
}
@@ -693,7 +650,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public IntPtr prim_geom;
public IntPtr _triMeshData;
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
{
_velocity = new PhysicsVector();
@@ -707,7 +664,7 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeScene.OdeLock)
{
if (mesh!=null)
if (mesh != null)
{
setMesh(parent_scene, mesh);
}
@@ -723,20 +680,22 @@ namespace OpenSim.Region.Physics.OdePlugin
myrot.Y = rotation.y;
myrot.Z = rotation.z;
d.GeomSetQuaternion(prim_geom, ref myrot);
parent_scene.geom_name_map[prim_geom] = primName; // don't do .add() here; old geoms get recycled with the same hash
parent_scene.geom_name_map[prim_geom] = primName;
// don't do .add() here; old geoms get recycled with the same hash
}
}
public void setMesh(OdeScene parent_scene, Mesh mesh)
public void setMesh(OdeScene parent_scene, Mesh mesh)
{
float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory
int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage
int VertexCount = vertexList.GetLength(0) / 3;
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.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3*sizeof (float), VertexCount, indexList, IndexCount,
3*sizeof (int));
d.GeomTriMeshDataPreprocess(_triMeshData);
prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null);
@@ -744,21 +703,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public override bool Flying
{
get
{
return false; //no flying prims for you
}
set
{
get { return false; //no flying prims for you
}
set { }
}
public override PhysicsVector Position
{
get
{
return _position;
}
get { return _position; }
set
{
_position = value;
@@ -771,10 +723,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public override PhysicsVector Size
{
get
{
return _size;
}
get { return _size; }
set
{
_size = value;
@@ -798,33 +747,19 @@ namespace OpenSim.Region.Physics.OdePlugin
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
get { return _velocity; }
set { _velocity = value; }
}
public override bool Kinematic
{
get
{
return false;
}
set
{
}
get { return false; }
set { }
}
public override Quaternion Orientation
{
get
{
return _orientation;
}
get { return _orientation; }
set
{
_orientation = value;
@@ -842,15 +777,12 @@ namespace OpenSim.Region.Physics.OdePlugin
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
get { return _acceleration; }
}
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
_acceleration = accel;
}
public override void AddForce(PhysicsVector force)
@@ -861,4 +793,4 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
}
}
}