ogb912/opensim
1
0
Fork 0
mirror of https://github.com/opensim/opensim.git synced 2026-08-11 11:57:03 +08:00
Code Issues Packages Projects Releases Wiki Activity

* This is the fabled LibOMV update with all of the libOMV types from JHurliman

Browse Source 
* This is a HUGE OMG update and will definitely have unknown side effects.. so this is really only for the strong hearted at this point.  Regular people should let the dust settle.
* This has been tested to work with most basic functions. However..   make sure you back up 'everything' before using this.  It's that big!  
* Essentially we're back at square 1 in the testing phase..  so lets identify things that broke.
This commit is contained in:
Teravus Ovares
2008-09-06 07:52:41 +00:00
parent cbec2bf22b
commit 7d89e12293
388 changed files with 6811 additions and 7138 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
View File

@@ -29,13 +29,15 @@
using System;
using System.Collections.Generic;
using OpenMetaverse;
using MonoXnaCompactMaths;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
using Nini.Config;
using AxiomQuaternion = Axiom.Math.Quaternion;
using Vector3 = MonoXnaCompactMaths.Vector3;
using Quaternion = MonoXnaCompactMaths.Quaternion;
#endregion
@@ -61,14 +63,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
//Quaternion
public static Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion)
public static Quaternion QuaternionToXnaQuaternion(OpenMetaverse.Quaternion quaternion)
{
return new Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w);
return new Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
}
public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(Quaternion xnaQuaternion)
public static OpenMetaverse.Quaternion XnaQuaternionToQuaternion(Quaternion xnaQuaternion)
{
return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
return new OpenMetaverse.Quaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
}
//Next methods are extracted from XnaDevRu.BulletX(See 3rd party license):
@@ -92,7 +94,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
internal static Quaternion GetRotation(Matrix m)
{
Quaternion q = new Quaternion();
Quaternion q;
float trace = m.M11 + m.M22 + m.M33;
@@ -108,6 +110,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
else
{
q.X = q.Y = q.Z = q.W = 0f;
int i = m.M11 < m.M22
?
(m.M22 < m.M33 ? 2 : 1)
@@ -601,13 +605,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, AxiomQuaternion rotation)
PhysicsVector size, OpenMetaverse.Quaternion rotation)
{
return AddPrimShape(primName, pbs, position, size, rotation, false);
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, AxiomQuaternion rotation, bool isPhysical)
PhysicsVector size, OpenMetaverse.Quaternion rotation, bool isPhysical)
{
PhysicsActor result;
@@ -634,7 +638,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
return result;
}
public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation,
public PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, OpenMetaverse.Quaternion rotation,
IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
{
BulletXPrim newPrim = null;
@@ -680,7 +684,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//Try to remove garbage
RemoveForgottenRigidBodies();
//End of remove
MoveAllObjects(timeStep);
MoveAPrimitives(timeStep);
fps = (timeStep*simulationSubSteps);
@@ -694,7 +698,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
return fps;
}
private void MoveAllObjects(float timeStep)
private void MoveAPrimitives(float timeStep)
{
foreach (BulletXCharacter actor in _characters.Values)
{
@@ -867,7 +871,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
protected PhysicsVector _velocity;
protected PhysicsVector _size;
protected PhysicsVector _acceleration;
protected AxiomQuaternion _orientation;
protected OpenMetaverse.Quaternion _orientation;
protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
protected RigidBody rigidBody;
protected int m_PhysicsActorType;
@@ -972,7 +976,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get { return _acceleration; }
}
public override AxiomQuaternion Orientation
public override OpenMetaverse.Quaternion Orientation
{
get { return _orientation; }
set
@@ -1148,10 +1152,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
ReOrient(_orientation);
}
protected internal void ReOrient(AxiomQuaternion _newOrient)
protected internal void ReOrient(OpenMetaverse.Quaternion _newOrient)
{
Quaternion _newOrientation;
_newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
_newOrientation = BulletXMaths.QuaternionToXnaQuaternion(_newOrient);
Matrix _comTransform = rigidBody.CenterOfMassTransform;
BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
rigidBody.CenterOfMassTransform = _comTransform;
@@ -1206,12 +1210,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
: this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
AxiomQuaternion.Identity)
OpenMetaverse.Quaternion.Identity)
{
}
public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
PhysicsVector size, PhysicsVector acceleration, OpenMetaverse.Quaternion orientation)
: base(avName)
{
//This fields will be removed. They're temporal
@@ -1289,7 +1293,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get { return base.Acceleration; }
}
public override AxiomQuaternion Orientation
public override OpenMetaverse.Quaternion Orientation
{
get { return base.Orientation; }
set { base.Orientation = value; }
@@ -1404,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
: this(
primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs,
isPhysical)
@@ -1413,12 +1417,14 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
PhysicsVector size,
PhysicsVector acceleration, AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
PhysicsVector acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
bool isPhysical)
: base(primName)
{
if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");
if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity;
if ((size.X == 0) || (size.Y == 0) || (size.Z == 0))
throw new Exception("Size 0");
if (OpenMetaverse.Quaternion.Normalize(rotation).Length() == 0f)
rotation = OpenMetaverse.Quaternion.Identity;
_position = pos;
_physical = isPhysical;
@@ -1468,7 +1474,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get { return base.Acceleration; }
}
public override AxiomQuaternion Orientation
public override OpenMetaverse.Quaternion Orientation
{
get { return base.Orientation; }
set { base.Orientation = value; }
@@ -1565,7 +1571,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
_velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
_orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation);
_orientation = BulletXMaths.XnaQuaternionToQuaternion(rigidBody.Orientation);
if ((Math.Abs(m_prev_position.X - _position.X) < 0.03)
&& (Math.Abs(m_prev_position.Y - _position.Y) < 0.03)
@@ -1687,7 +1693,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
private PhysicsVector _staticPosition;
// private PhysicsVector _staticVelocity;
// private AxiomQuaternion _staticOrientation;
// private OpenMetaverse.Quaternion _staticOrientation;
private float _mass;
// private BulletXScene _parentscene;
internal float[] _heightField;
@@ -1702,7 +1708,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
_staticPosition = new PhysicsVector(BulletXScene.MaxXY/2, BulletXScene.MaxXY/2, 0);
// _staticVelocity = new PhysicsVector();
// _staticOrientation = AxiomQuaternion.Identity;
// _staticOrientation = OpenMetaverse.Quaternion.Identity;
_mass = 0; //No active
// _parentscene = parent_scene;
_heightField = heightField;