mirror of
https://github.com/opensim/opensim.git
synced 2026-08-08 10:15:33 +08:00
Experimental change of PhysicsVector to Vector3. Untested
This commit is contained in:
John Hurliman
@@ -60,15 +60,15 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private btQuaternion m_bodyOrientation;
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private btDefaultMotionState m_bodyMotionState;
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private btGeneric6DofConstraint m_aMotor;
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// private PhysicsVector m_movementComparision;
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private PhysicsVector m_position;
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private PhysicsVector m_zeroPosition;
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// private Vector3 m_movementComparision;
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private Vector3 m_position;
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private Vector3 m_zeroPosition;
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private bool m_zeroFlag = false;
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private bool m_lastUpdateSent = false;
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private PhysicsVector m_velocity;
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private PhysicsVector m_target_velocity;
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private PhysicsVector m_acceleration;
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private PhysicsVector m_rotationalVelocity;
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private Vector3 m_velocity;
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private Vector3 m_target_velocity;
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private Vector3 m_acceleration;
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private Vector3 m_rotationalVelocity;
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private bool m_pidControllerActive = true;
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public float PID_D = 80.0f;
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public float PID_P = 90.0f;
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@@ -96,8 +96,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
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private bool m_taintRemove = false;
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// private bool m_taintedPosition = false;
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// private PhysicsVector m_taintedPosition_value;
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private PhysicsVector m_taintedForce;
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// private Vector3 m_taintedPosition_value;
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private Vector3 m_taintedForce;
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private float m_buoyancy = 0f;
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@@ -115,14 +115,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public int m_eventsubscription = 0;
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// private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
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public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
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public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
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{
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m_taintedForce = new PhysicsVector();
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m_velocity = new PhysicsVector();
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m_target_velocity = new PhysicsVector();
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m_position = pos;
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m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless
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m_acceleration = new PhysicsVector();
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m_zeroPosition = pos;
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m_parent_scene = parent_scene;
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PID_D = pid_d;
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PID_P = pid_p;
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@@ -161,9 +157,6 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempTrans1 = new btTransform(tempQuat1, tempVector1);
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// m_movementComparision = new PhysicsVector(0, 0, 0);
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m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
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}
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/// <summary>
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@@ -254,18 +247,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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get { return m_zeroFlag; }
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}
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public override PhysicsVector Size
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public override Vector3 Size
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{
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get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
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get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
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set
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{
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m_pidControllerActive = true;
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PhysicsVector SetSize = value;
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Vector3 SetSize = value;
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m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
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//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
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Velocity = new PhysicsVector(0f, 0f, 0f);
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Velocity = Vector3.Zero;
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m_parent_scene.AddPhysicsActorTaint(this);
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}
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@@ -317,12 +310,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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public override void LockAngularMotion(PhysicsVector axis)
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public override void LockAngularMotion(Vector3 axis)
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{
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}
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public override PhysicsVector Position
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public override Vector3 Position
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{
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get { return m_position; }
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set
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@@ -342,9 +335,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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public override PhysicsVector Force
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public override Vector3 Force
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{
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get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); }
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get { return m_target_velocity; }
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set { return; }
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}
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@@ -359,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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public override void VehicleVectorParam(int param, PhysicsVector value)
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public override void VehicleVectorParam(int param, Vector3 value)
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{
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}
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@@ -374,23 +367,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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public override PhysicsVector GeometricCenter
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public override Vector3 GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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get { return Vector3.Zero; }
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}
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public override PhysicsVector CenterOfMass
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public override Vector3 CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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get { return Vector3.Zero; }
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}
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public override PhysicsVector Velocity
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public override Vector3 Velocity
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{
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get
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{
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// There's a problem with PhysicsVector.Zero! Don't Use it Here!
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if (m_zeroFlag)
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return new PhysicsVector(0f, 0f, 0f);
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return Vector3.Zero;
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m_lastUpdateSent = false;
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return m_velocity;
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}
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@@ -401,9 +393,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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public override PhysicsVector Torque
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public override Vector3 Torque
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{
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get { return PhysicsVector.Zero; }
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get { return Vector3.Zero; }
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set { return; }
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}
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@@ -413,7 +405,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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set { }
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}
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public override PhysicsVector Acceleration
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public override Vector3 Acceleration
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{
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get { return m_acceleration; }
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}
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@@ -586,7 +578,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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set { return; }
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}
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public override PhysicsVector RotationalVelocity
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public override Vector3 RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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@@ -604,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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set { m_buoyancy = value; }
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}
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public override PhysicsVector PIDTarget { set { return; } }
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public override Vector3 PIDTarget { set { return; } }
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public override bool PIDActive { set { return; } }
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public override float PIDTau { set { return; } }
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@@ -634,7 +626,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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/// </summary>
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/// <param name="force"></param>
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/// <param name="pushforce">Is this a push by a script?</param>
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public override void AddForce(PhysicsVector force, bool pushforce)
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public override void AddForce(Vector3 force, bool pushforce)
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{
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if (pushforce)
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{
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@@ -656,7 +648,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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//m_lastUpdateSent = false;
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}
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public void doForce(PhysicsVector force, bool now)
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public void doForce(Vector3 force, bool now)
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{
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tempVector3.setValue(force.X, force.Y, force.Z);
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@@ -671,7 +663,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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public void doImpulse(PhysicsVector force, bool now)
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public void doImpulse(Vector3 force, bool now)
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{
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tempVector3.setValue(force.X, force.Y, force.Z);
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@@ -686,12 +678,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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public override void AddAngularForce(PhysicsVector force, bool pushforce)
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public override void AddAngularForce(Vector3 force, bool pushforce)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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public override void SetMomentum(Vector3 momentum)
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{
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}
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@@ -808,7 +800,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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AvatarGeomAndBodyCreation(m_position.X, m_position.Y,
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m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2));
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Velocity = new PhysicsVector(0f, 0f, 0f);
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Velocity = Vector3.Zero;
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}
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else
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@@ -852,9 +844,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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//PidStatus = true;
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PhysicsVector vec = new PhysicsVector();
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Vector3 vec = Vector3.Zero;
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PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
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Vector3 vel = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
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float movementdivisor = 1f;
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@@ -885,7 +877,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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// Avatar to Avatar collisions
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// Prim to avatar collisions
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PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
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Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
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vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2);
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vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2);
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if (m_flying)
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@@ -927,7 +919,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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// We're colliding with something and we're not flying but we're moving
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// This means we're walking or running.
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PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
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Vector3 pos = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
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vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P;
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if (m_target_velocity.X > 0)
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{
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@@ -1016,7 +1008,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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tempVector2 = Body.getInterpolationLinearVelocity();
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// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
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PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ());
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Vector3 vec = new Vector3(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ());
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// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
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if (vec.X < -10.0f) vec.X = 0.0f;
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@@ -1048,7 +1040,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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else
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{
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m_lastUpdateSent = false;
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vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
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vec = new Vector3(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ());
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m_velocity.X = (vec.X);
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m_velocity.Y = (vec.Y);
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@@ -43,44 +43,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private PhysicsVector _position;
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private PhysicsVector m_zeroPosition;
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private PhysicsVector _velocity;
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private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
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private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private Quaternion m_lastorientation = new Quaternion();
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private PhysicsVector m_rotationalVelocity;
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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private Vector3 _position;
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private Vector3 m_zeroPosition;
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private Vector3 _velocity;
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private Vector3 _torque;
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private Vector3 m_lastVelocity;
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private Vector3 m_lastposition;
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private Quaternion m_lastorientation = Quaternion.Identity;
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private Vector3 m_rotationalVelocity;
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private Vector3 _size;
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private Vector3 _acceleration;
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// private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
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private Quaternion _orientation;
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private PhysicsVector m_taintposition;
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private PhysicsVector m_taintsize;
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private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
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private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
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private Vector3 m_taintposition;
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private Vector3 m_taintsize;
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private Vector3 m_taintVelocity;
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private Vector3 m_taintTorque;
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private Quaternion m_taintrot;
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private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
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private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
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private Vector3 m_angularlock = Vector3.One;
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private Vector3 m_taintAngularLock = Vector3.One;
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// private btGeneric6DofConstraint Amotor;
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private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
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private float m_PIDTau = 0f;
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private float m_PIDHoverHeight = 0f;
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private float m_PIDHoverTau = 0f;
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private bool m_useHoverPID = false;
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private Vector3 m_PIDTarget;
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private float m_PIDTau;
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private float m_PIDHoverHeight;
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private float m_PIDHoverTau;
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private bool m_useHoverPID;
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private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
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private float m_targetHoverHeight = 0f;
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private float m_groundHeight = 0f;
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private float m_waterHeight = 0f;
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private float m_targetHoverHeight;
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private float m_groundHeight;
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private float m_waterHeight;
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private float PID_D = 35f;
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private float PID_G = 25f;
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// private float m_tensor = 5f;
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// private int body_autodisable_frames = 20;
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private IMesh primMesh = null;
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private bool m_usePID = false;
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private IMesh primMesh;
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private bool m_usePID;
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private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
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| CollisionCategories.Space
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@@ -88,11 +87,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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| CollisionCategories.Character
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);
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private bool m_taintshape = false;
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private bool m_taintPhysics = false;
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private bool m_taintshape;
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private bool m_taintPhysics;
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// private bool m_collidesLand = true;
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private bool m_collidesWater = false;
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public bool m_returnCollisions = false;
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private bool m_collidesWater;
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public bool m_returnCollisions;
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// Default we're a Geometry
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// private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
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@@ -100,23 +99,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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// Default, Collide with Other Geometries, spaces and Bodies
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// private CollisionCategories m_collisionFlags = m_default_collisionFlags;
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public bool m_taintremove = false;
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public bool m_taintdisable = false;
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public bool m_disabled = false;
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public bool m_taintadd = false;
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public bool m_taintselected = false;
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public bool m_taintCollidesWater = false;
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public bool m_taintremove;
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public bool m_taintdisable;
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public bool m_disabled;
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public bool m_taintadd;
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public bool m_taintselected;
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public bool m_taintCollidesWater;
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public uint m_localID = 0;
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public uint m_localID;
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//public GCHandle gc;
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// private CollisionLocker ode;
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|
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private bool m_taintforce = false;
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private bool m_taintaddangularforce = false;
|
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private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
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private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
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private bool m_taintforce;
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private bool m_taintaddangularforce;
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private Vector3 m_force;
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private List<Vector3> m_forcelist = new List<Vector3>();
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private List<Vector3> m_angularforcelist = new List<Vector3>();
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||||
private IMesh _mesh;
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private PrimitiveBaseShape _pbs;
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@@ -124,40 +123,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public btCollisionShape prim_geom;
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||||
public IntPtr _triMeshData;
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|
||||
private PhysicsActor _parent = null;
|
||||
private PhysicsActor m_taintparent = null;
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||||
private PhysicsActor _parent;
|
||||
private PhysicsActor m_taintparent;
|
||||
|
||||
private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>();
|
||||
|
||||
private bool iscolliding = false;
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||||
private bool m_isphysical = false;
|
||||
private bool m_isSelected = false;
|
||||
private bool iscolliding;
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||||
private bool m_isphysical;
|
||||
private bool m_isSelected;
|
||||
|
||||
internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
|
||||
internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
|
||||
|
||||
private bool m_throttleUpdates = false;
|
||||
// private int throttleCounter = 0;
|
||||
public int m_interpenetrationcount = 0;
|
||||
public float m_collisionscore = 0;
|
||||
public int m_roundsUnderMotionThreshold = 0;
|
||||
private int m_crossingfailures = 0;
|
||||
private bool m_throttleUpdates;
|
||||
// private int throttleCounter;
|
||||
public int m_interpenetrationcount;
|
||||
public float m_collisionscore;
|
||||
public int m_roundsUnderMotionThreshold;
|
||||
private int m_crossingfailures;
|
||||
|
||||
public float m_buoyancy = 0f;
|
||||
public float m_buoyancy;
|
||||
|
||||
public bool outofBounds = false;
|
||||
public bool outofBounds;
|
||||
private float m_density = 10.000006836f; // Aluminum g/cm3;
|
||||
|
||||
public bool _zeroFlag = false;
|
||||
private bool m_lastUpdateSent = false;
|
||||
public bool _zeroFlag;
|
||||
private bool m_lastUpdateSent;
|
||||
|
||||
|
||||
private String m_primName;
|
||||
private PhysicsVector _target_velocity;
|
||||
private Vector3 _target_velocity;
|
||||
|
||||
public int m_eventsubscription = 0;
|
||||
public int m_eventsubscription;
|
||||
// private CollisionEventUpdate CollisionEventsThisFrame = null;
|
||||
|
||||
public volatile bool childPrim = false;
|
||||
public volatile bool childPrim;
|
||||
|
||||
private btVector3 tempPosition1;
|
||||
private btVector3 tempPosition2;
|
||||
@@ -190,7 +189,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
public btRigidBody Body;
|
||||
|
||||
public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size,
|
||||
public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
|
||||
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
|
||||
{
|
||||
tempPosition1 = new btVector3(0, 0, 0);
|
||||
@@ -225,8 +224,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
|
||||
|
||||
_target_velocity = new PhysicsVector(0, 0, 0);
|
||||
_velocity = new PhysicsVector();
|
||||
_target_velocity = Vector3.Zero;
|
||||
_velocity = Vector3.Zero;
|
||||
_position = pos;
|
||||
m_taintposition = pos;
|
||||
PID_D = parent_scene.bodyPIDD;
|
||||
@@ -244,8 +243,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
_size = size;
|
||||
m_taintsize = _size;
|
||||
_acceleration = new PhysicsVector();
|
||||
m_rotationalVelocity = PhysicsVector.Zero;
|
||||
_acceleration = Vector3.Zero;
|
||||
m_rotationalVelocity = Vector3.Zero;
|
||||
_orientation = rotation;
|
||||
m_taintrot = _orientation;
|
||||
_mesh = mesh;
|
||||
@@ -274,7 +273,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
get { return _zeroFlag; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Size
|
||||
public override Vector3 Size
|
||||
{
|
||||
get { return _size; }
|
||||
set { _size = value; }
|
||||
@@ -348,13 +347,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_taintparent = null;
|
||||
}
|
||||
|
||||
public override void LockAngularMotion(PhysicsVector axis)
|
||||
public override void LockAngularMotion(Vector3 axis)
|
||||
{
|
||||
m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
|
||||
m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
|
||||
m_taintAngularLock = axis;
|
||||
}
|
||||
|
||||
public override PhysicsVector Position
|
||||
public override Vector3 Position
|
||||
{
|
||||
get { return _position; }
|
||||
|
||||
@@ -370,9 +369,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
get { return CalculateMass(); }
|
||||
}
|
||||
|
||||
public override PhysicsVector Force
|
||||
public override Vector3 Force
|
||||
{
|
||||
//get { return PhysicsVector.Zero; }
|
||||
//get { return Vector3.Zero; }
|
||||
get { return m_force; }
|
||||
set { m_force = value; }
|
||||
}
|
||||
@@ -388,7 +387,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
//TODO:
|
||||
}
|
||||
|
||||
public override void VehicleVectorParam(int param, PhysicsVector value)
|
||||
public override void VehicleVectorParam(int param, Vector3 value)
|
||||
{
|
||||
//TODO:
|
||||
}
|
||||
@@ -405,23 +404,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
}
|
||||
|
||||
public override PhysicsVector GeometricCenter
|
||||
public override Vector3 GeometricCenter
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override PhysicsVector CenterOfMass
|
||||
public override Vector3 CenterOfMass
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
get { return Vector3.Zero; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Velocity
|
||||
public override Vector3 Velocity
|
||||
{
|
||||
get
|
||||
{
|
||||
// Averate previous velocity with the new one so
|
||||
// client object interpolation works a 'little' better
|
||||
PhysicsVector returnVelocity = new PhysicsVector();
|
||||
Vector3 returnVelocity;
|
||||
returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
|
||||
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
|
||||
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
|
||||
@@ -436,12 +435,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector Torque
|
||||
public override Vector3 Torque
|
||||
{
|
||||
get
|
||||
{
|
||||
if (!m_isphysical || Body.Handle == IntPtr.Zero)
|
||||
return new PhysicsVector(0, 0, 0);
|
||||
return Vector3.Zero;
|
||||
|
||||
return _torque;
|
||||
}
|
||||
@@ -459,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
set { m_collisionscore = value; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Acceleration
|
||||
public override Vector3 Acceleration
|
||||
{
|
||||
get { return _acceleration; }
|
||||
}
|
||||
@@ -528,16 +527,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
}
|
||||
|
||||
public override PhysicsVector RotationalVelocity
|
||||
public override Vector3 RotationalVelocity
|
||||
{
|
||||
get
|
||||
{
|
||||
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
||||
Vector3 pv = Vector3.Zero;
|
||||
if (_zeroFlag)
|
||||
return pv;
|
||||
m_lastUpdateSent = false;
|
||||
|
||||
if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
|
||||
if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
|
||||
return pv;
|
||||
|
||||
return m_rotationalVelocity;
|
||||
@@ -557,7 +556,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
set { m_buoyancy = value; }
|
||||
}
|
||||
|
||||
public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
|
||||
public override Vector3 PIDTarget { set { m_PIDTarget = value; ; } }
|
||||
public override bool PIDActive { set { m_usePID = value; } }
|
||||
public override float PIDTau { set { m_PIDTau = value; } }
|
||||
|
||||
@@ -567,20 +566,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
|
||||
|
||||
|
||||
public override void AddForce(PhysicsVector force, bool pushforce)
|
||||
public override void AddForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
m_forcelist.Add(force);
|
||||
m_taintforce = true;
|
||||
//m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
|
||||
}
|
||||
|
||||
public override void AddAngularForce(PhysicsVector force, bool pushforce)
|
||||
public override void AddAngularForce(Vector3 force, bool pushforce)
|
||||
{
|
||||
m_angularforcelist.Add(force);
|
||||
m_taintaddangularforce = true;
|
||||
}
|
||||
|
||||
public override void SetMomentum(PhysicsVector momentum)
|
||||
public override void SetMomentum(Vector3 momentum)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -778,7 +777,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
}
|
||||
|
||||
if (!_position.IsIdentical(m_taintposition, 0f))
|
||||
if (!_position.ApproxEquals(m_taintposition, 0f))
|
||||
{
|
||||
m_log.Debug("[PHYSICS]: TaintMove");
|
||||
changemove(timestep);
|
||||
@@ -796,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
//
|
||||
|
||||
if (!_size.IsIdentical(m_taintsize, 0))
|
||||
if (!_size.ApproxEquals(m_taintsize, 0f))
|
||||
{
|
||||
m_log.Debug("[PHYSICS]: TaintSize");
|
||||
changesize(timestep);
|
||||
@@ -820,7 +819,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_log.Debug("[PHYSICS]: TaintAngularForce");
|
||||
changeAddAngularForce(timestep);
|
||||
}
|
||||
if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
|
||||
if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
|
||||
{
|
||||
m_log.Debug("[PHYSICS]: TaintTorque");
|
||||
changeSetTorque(timestep);
|
||||
@@ -835,7 +834,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_log.Debug("[PHYSICS]: TaintSelected");
|
||||
changeSelectedStatus(timestep);
|
||||
}
|
||||
if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
|
||||
if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
|
||||
{
|
||||
m_log.Debug("[PHYSICS]: TaintVelocity");
|
||||
changevelocity(timestep);
|
||||
@@ -849,7 +848,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
changefloatonwater(timestep);
|
||||
}
|
||||
if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
|
||||
if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
|
||||
{
|
||||
m_log.Debug("[PHYSICS]: TaintAngularLock");
|
||||
changeAngularLock(timestep);
|
||||
@@ -1012,7 +1011,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (_parent_scene.needsMeshing(_pbs))
|
||||
{
|
||||
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
|
||||
ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
|
||||
// createmesh returns null when it doesn't mesh.
|
||||
CreateGeom(IntPtr.Zero, _mesh);
|
||||
}
|
||||
@@ -1029,7 +1028,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
return _parent_scene.needsMeshing(_pbs);
|
||||
}
|
||||
|
||||
internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation)
|
||||
internal void ProcessGeomCreationAsTriMesh(Vector3 positionOffset, Quaternion orientation)
|
||||
{
|
||||
// Don't need to re-enable body.. it's done in SetMesh
|
||||
float meshlod = _parent_scene.meshSculptLOD;
|
||||
@@ -1038,7 +1037,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
meshlod = _parent_scene.MeshSculptphysicalLOD;
|
||||
|
||||
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
|
||||
if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity)
|
||||
if (!positionOffset.ApproxEquals(Vector3.Zero, 0.001f) || orientation != Quaternion.Identity)
|
||||
{
|
||||
|
||||
float[] xyz = new float[3];
|
||||
@@ -1202,7 +1201,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
//m_log.Info("[PHYSICS]: dequeing forcelist");
|
||||
if (IsPhysical)
|
||||
{
|
||||
PhysicsVector iforce = new PhysicsVector();
|
||||
Vector3 iforce = Vector3.Zero;
|
||||
for (int i = 0; i < m_forcelist.Count; i++)
|
||||
{
|
||||
iforce = iforce + m_forcelist[i];
|
||||
@@ -1237,7 +1236,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
//m_log.Info("[PHYSICS]: dequeing forcelist");
|
||||
if (IsPhysical)
|
||||
{
|
||||
PhysicsVector iforce = new PhysicsVector();
|
||||
Vector3 iforce = Vector3.Zero;
|
||||
for (int i = 0; i < m_angularforcelist.Count; i++)
|
||||
{
|
||||
iforce = iforce + m_angularforcelist[i];
|
||||
@@ -1276,7 +1275,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
}
|
||||
}
|
||||
m_taintTorque = new PhysicsVector(0, 0, 0);
|
||||
m_taintTorque = Vector3.Zero;
|
||||
}
|
||||
|
||||
private void changedisable(float timestep)
|
||||
@@ -1317,7 +1316,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
//resetCollisionAccounting();
|
||||
}
|
||||
m_taintVelocity = PhysicsVector.Zero;
|
||||
m_taintVelocity = Vector3.Zero;
|
||||
}
|
||||
|
||||
private void changelink(float timestep)
|
||||
@@ -1361,7 +1360,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
if (m_taintparent != null)
|
||||
{
|
||||
m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f;
|
||||
Vector3 taintparentPosition = m_taintparent.Position;
|
||||
taintparentPosition.Z = m_taintparent.Position.Z + 0.02f;
|
||||
m_taintparent.Position = taintparentPosition;
|
||||
_parent_scene.AddPhysicsActorTaint(m_taintparent);
|
||||
}
|
||||
}
|
||||
@@ -1382,7 +1383,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (_parent == null)
|
||||
{
|
||||
if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f, 1f, 1f), 0))
|
||||
if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
|
||||
{
|
||||
//d.BodySetFiniteRotationMode(Body, 0);
|
||||
//d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
|
||||
@@ -1395,7 +1396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
|
||||
}
|
||||
m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
|
||||
m_angularlock = m_taintAngularLock;
|
||||
|
||||
}
|
||||
#endregion
|
||||
@@ -1460,17 +1461,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
// TODO: NEED btVector3 for Linear Velocity
|
||||
// NEED btVector3 for Position
|
||||
|
||||
PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet
|
||||
PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z);
|
||||
Vector3 pos = _position; //TODO: Insert values gotten from bullet
|
||||
Vector3 vel = _velocity;
|
||||
|
||||
_target_velocity =
|
||||
new PhysicsVector(
|
||||
new Vector3(
|
||||
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
|
||||
(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
|
||||
(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
|
||||
);
|
||||
|
||||
if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
|
||||
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
|
||||
{
|
||||
|
||||
/* TODO: Do Bullet equiv
|
||||
@@ -1512,8 +1513,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
PID_G = m_PIDTau + 1;
|
||||
}
|
||||
PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
|
||||
PhysicsVector vel = new PhysicsVector(0, 0, 0);
|
||||
Vector3 pos = Vector3.Zero; //TODO: Insert values gotten from bullet
|
||||
Vector3 vel = Vector3.Zero;
|
||||
|
||||
// determine what our target height really is based on HoverType
|
||||
switch (m_PIDHoverType)
|
||||
@@ -1545,13 +1546,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
|
||||
_target_velocity =
|
||||
new PhysicsVector(0.0f, 0.0f,
|
||||
new Vector3(0.0f, 0.0f,
|
||||
(m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
|
||||
);
|
||||
|
||||
// if velocity is zero, use position control; otherwise, velocity control
|
||||
|
||||
if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
|
||||
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
|
||||
{
|
||||
|
||||
/* TODO: Do Bullet Equiv
|
||||
@@ -1626,8 +1627,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
else
|
||||
{
|
||||
if (m_zeroPosition == null)
|
||||
m_zeroPosition = new PhysicsVector(0, 0, 0);
|
||||
m_zeroPosition.setValues(_position.X, _position.Y, _position.Z);
|
||||
m_zeroPosition = Vector3.Zero;
|
||||
m_zeroPosition = _position;
|
||||
return;
|
||||
}
|
||||
}
|
||||
@@ -2177,7 +2178,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
//if (hasTrimesh)
|
||||
//{
|
||||
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
|
||||
ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
|
||||
// createmesh returns null when it doesn't mesh.
|
||||
|
||||
/*
|
||||
@@ -2197,11 +2198,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (chld == null)
|
||||
continue;
|
||||
PhysicsVector offset = chld.Position - Position;
|
||||
Vector3 offset = chld.Position - Position;
|
||||
Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
|
||||
pos *= Quaternion.Inverse(Orientation);
|
||||
//pos *= Orientation;
|
||||
offset.setValues(pos.X, pos.Y, pos.Z);
|
||||
offset = pos;
|
||||
chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
|
||||
|
||||
_mesh.Append(chld._mesh);
|
||||
@@ -2433,7 +2434,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_collisionscore = 0;
|
||||
m_disabled = false;
|
||||
// The body doesn't already have a finite rotation mode set here
|
||||
if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
|
||||
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
|
||||
{
|
||||
// TODO: Create Angular Motor on Axis Lock!
|
||||
}
|
||||
@@ -2447,7 +2448,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (_parent == null)
|
||||
{
|
||||
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
||||
Vector3 pv = Vector3.Zero;
|
||||
bool lastZeroFlag = _zeroFlag;
|
||||
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
|
||||
tempPosition3.Dispose();
|
||||
@@ -2471,10 +2472,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
|
||||
tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
|
||||
|
||||
_torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
|
||||
_torque = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
|
||||
tempAngularVelocity1.getZ());
|
||||
PhysicsVector l_position = new PhysicsVector();
|
||||
Quaternion l_orientation = new Quaternion();
|
||||
Vector3 l_position = Vector3.Zero;
|
||||
Quaternion l_orientation = Quaternion.Identity;
|
||||
m_lastposition = _position;
|
||||
m_lastorientation = _orientation;
|
||||
|
||||
@@ -2598,20 +2599,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
_velocity.Z = tempLinearVelocity1.getZ();
|
||||
|
||||
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
|
||||
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
|
||||
_acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
|
||||
_velocity.Y - m_lastVelocity.Y / 0.1f,
|
||||
_velocity.Z - m_lastVelocity.Z / 0.1f);
|
||||
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
|
||||
|
||||
if (_velocity.IsIdentical(pv, 0.5f))
|
||||
if (_velocity.ApproxEquals(pv, 0.5f))
|
||||
{
|
||||
m_rotationalVelocity = pv;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
|
||||
tempAngularVelocity1.getZ());
|
||||
m_rotationalVelocity = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
|
||||
}
|
||||
|
||||
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
|
||||
@@ -2665,7 +2664,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_taintremove = true;
|
||||
}
|
||||
|
||||
internal void EnableAxisMotor(PhysicsVector axislock)
|
||||
internal void EnableAxisMotor(Vector3 axislock)
|
||||
{
|
||||
if (m_aMotor != null)
|
||||
DisableAxisMotor();
|
||||
|
||||
@@ -139,7 +139,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
}
|
||||
|
||||
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
|
||||
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
|
||||
{
|
||||
BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
|
||||
avCapRadius, avStandupTensor, avDensity,
|
||||
@@ -177,14 +177,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
}
|
||||
|
||||
private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
|
||||
private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
|
||||
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
|
||||
{
|
||||
PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
|
||||
Vector3 pos = position;
|
||||
//pos.X = position.X;
|
||||
//pos.Y = position.Y;
|
||||
//pos.Z = position.Z;
|
||||
PhysicsVector siz = new PhysicsVector();
|
||||
Vector3 siz = Vector3.Zero;
|
||||
siz.X = size.X;
|
||||
siz.Y = size.Y;
|
||||
siz.Z = size.Z;
|
||||
@@ -201,12 +201,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
return newPrim;
|
||||
}
|
||||
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation)
|
||||
{
|
||||
return AddPrimShape(primName, pbs, position, size, rotation, false);
|
||||
}
|
||||
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical)
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical)
|
||||
{
|
||||
PhysicsActor result;
|
||||
IMesh mesh = null;
|
||||
|
||||
Reference in New Issue
Block a user