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Experimental change of PhysicsVector to Vector3. Untested

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This commit is contained in:
John Hurliman
2009-10-25 23:16:12 -07:00
parent b6651ce790
commit d199767e69
32 changed files with 867 additions and 879 deletions
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113
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@@ -68,15 +68,15 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private PhysicsVector _position;
private Vector3 _position;
private d.Vector3 _zeroPosition;
// private d.Matrix3 m_StandUpRotation;
private bool _zeroFlag = false;
private bool m_lastUpdateSent = false;
private PhysicsVector _velocity;
private PhysicsVector _target_velocity;
private PhysicsVector _acceleration;
private PhysicsVector m_rotationalVelocity;
private Vector3 _velocity;
private Vector3 _target_velocity;
private Vector3 _acceleration;
private Vector3 m_rotationalVelocity;
private float m_mass = 80f;
public float m_density = 60f;
private bool m_pidControllerActive = true;
@@ -99,7 +99,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_hackSentFall = false;
private bool m_hackSentFly = false;
private int m_requestedUpdateFrequency = 0;
private PhysicsVector m_taintPosition = new PhysicsVector(0, 0, 0);
private Vector3 m_taintPosition = Vector3.Zero;
public uint m_localID = 0;
public bool m_returnCollisions = false;
// taints and their non-tainted counterparts
@@ -143,22 +143,17 @@ namespace OpenSim.Region.Physics.OdePlugin
public UUID m_uuid;
public bool bad = false;
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
// ode = dode;
_velocity = new PhysicsVector();
_target_velocity = new PhysicsVector();
if (PhysicsVector.isFinite(pos))
if (pos.IsFinite())
{
if (pos.Z > 9999999)
if (pos.Z > 9999999f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (pos.Z < -90000)
if (pos.Z < -90000f)
{
pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
@@ -169,15 +164,13 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
_position = new PhysicsVector(((int)_parent_scene.WorldExtents.X * 0.5f), ((int)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128, 128) + 10);
_position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition.X = _position.X;
m_taintPosition.Y = _position.Y;
m_taintPosition.Z = _position.Z;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
_acceleration = new PhysicsVector();
_parent_scene = parent_scene;
PID_D = pid_d;
@@ -189,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
walkDivisor = walk_divisor;
runDivisor = rundivisor;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
@@ -205,7 +197,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
m_name = avName;
@@ -412,20 +403,20 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Not really a good choice unless you 'know' it's a good
/// spot otherwise you're likely to orbit the avatar.
/// </summary>
public override PhysicsVector Position
public override Vector3 Position
{
get { return _position; }
set
{
if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
if (value.Z > 9999999)
if (value.Z > 9999999f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (value.Z < -90000)
if (value.Z < -90000f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
@@ -447,7 +438,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector RotationalVelocity
public override Vector3 RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
@@ -457,20 +448,20 @@ namespace OpenSim.Region.Physics.OdePlugin
/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
/// and use it to offset landings properly
/// </summary>
public override PhysicsVector Size
public override Vector3 Size
{
get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
get { return new Vector3(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); }
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_pidControllerActive = true;
PhysicsVector SetSize = value;
Vector3 SetSize = value;
m_tainted_CAPSULE_LENGTH = (SetSize.Z*1.15f) - CAPSULE_RADIUS*2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
Velocity = new PhysicsVector(0f, 0f, 0f);
Velocity = Vector3.Zero;
_parent_scene.AddPhysicsActorTaint(this);
}
@@ -481,7 +472,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
private void AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3 movementVector)
{
movementVector.Z = 0f;
float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
@@ -643,7 +634,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// (with -0..0 motor stops) falls into the terrain for reasons yet
// to be comprehended in their entirety.
#endregion
AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
@@ -688,7 +679,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override void LockAngularMotion(PhysicsVector axis)
public override void LockAngularMotion(Vector3 axis)
{
}
@@ -716,9 +707,9 @@ namespace OpenSim.Region.Physics.OdePlugin
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
// }
public override PhysicsVector Force
public override Vector3 Force
{
get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
get { return _target_velocity; }
set { return; }
}
@@ -733,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override void VehicleVectorParam(int param, PhysicsVector value)
public override void VehicleVectorParam(int param, Vector3 value)
{
}
@@ -748,14 +739,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override PhysicsVector CenterOfMass
public override Vector3 CenterOfMass
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PhysicsVector GeometricCenter
public override Vector3 GeometricCenter
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
@@ -763,18 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
set { return; }
}
public override PhysicsVector Velocity
public override Vector3 Velocity
{
get {
// There's a problem with PhysicsVector.Zero! Don't Use it Here!
// There's a problem with Vector3.Zero! Don't Use it Here!
if (_zeroFlag)
return new PhysicsVector(0f, 0f, 0f);
return Vector3.Zero;
m_lastUpdateSent = false;
return _velocity;
}
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_pidControllerActive = true;
_target_velocity = value;
@@ -786,9 +777,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector Torque
public override Vector3 Torque
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
set { return; }
}
@@ -814,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsVector Acceleration
public override Vector3 Acceleration
{
get { return _acceleration; }
}
public void SetAcceleration(PhysicsVector accel)
public void SetAcceleration(Vector3 accel)
{
m_pidControllerActive = true;
_acceleration = accel;
@@ -830,9 +821,9 @@ namespace OpenSim.Region.Physics.OdePlugin
/// The PID controller takes this target velocity and tries to make it a reality
/// </summary>
/// <param name="force"></param>
public override void AddForce(PhysicsVector force, bool pushforce)
public override void AddForce(Vector3 force, bool pushforce)
{
if (PhysicsVector.isFinite(force))
if (force.IsFinite())
{
if (pushforce)
{
@@ -861,7 +852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_lastUpdateSent = false;
}
public override void AddAngularForce(PhysicsVector force, bool pushforce)
public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
@@ -870,7 +861,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// After all of the forces add up with 'add force' we apply them with doForce
/// </summary>
/// <param name="force"></param>
public void doForce(PhysicsVector force)
public void doForce(Vector3 force)
{
if (!collidelock)
{
@@ -881,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override void SetMomentum(PhysicsVector momentum)
public override void SetMomentum(Vector3 momentum)
{
}
@@ -908,9 +899,9 @@ namespace OpenSim.Region.Physics.OdePlugin
//PidStatus = true;
d.Vector3 localpos = d.BodyGetPosition(Body);
PhysicsVector localPos = new PhysicsVector(localpos.X, localpos.Y, localpos.Z);
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
if (!PhysicsVector.isFinite(localPos))
if (!localPos.IsFinite())
{
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
@@ -946,7 +937,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
}
PhysicsVector vec = new PhysicsVector();
Vector3 vec = Vector3.Zero;
d.Vector3 vel = d.BodyGetLinearVel(Body);
float movementdivisor = 1f;
@@ -1059,12 +1050,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// end add Kitto Flora
}
if (PhysicsVector.isFinite(vec))
if (vec.IsFinite())
{
doForce(vec);
if (!_zeroFlag)
{
AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
}
else
@@ -1197,7 +1188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
public override PhysicsVector PIDTarget { set { return; } }
public override Vector3 PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
@@ -1311,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDestroy(Shell);
AvatarGeomAndBodyCreation(_position.X, _position.Y,
_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
Velocity = new PhysicsVector(0f, 0f, 0f);
Velocity = Vector3.Zero;
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
@@ -1325,7 +1316,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
if (!m_taintPosition.IsIdentical(_position, 0.05f))
if (!m_taintPosition.ApproxEquals(_position, 0.05f))
{
if (Body != IntPtr.Zero)
{

2
OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
View File

@@ -232,7 +232,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
switch (pParam)
{

269
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@@ -57,44 +57,43 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _torque = new PhysicsVector(0,0,0);
private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
private Vector3 _position;
private Vector3 _velocity;
private Vector3 _torque;
private Vector3 m_lastVelocity;
private Vector3 m_lastposition;
private Quaternion m_lastorientation = new Quaternion();
private PhysicsVector m_rotationalVelocity;
private PhysicsVector _size;
private PhysicsVector _acceleration;
private Vector3 m_rotationalVelocity;
private Vector3 _size;
private Vector3 _acceleration;
// private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
private Quaternion _orientation;
private PhysicsVector m_taintposition;
private PhysicsVector m_taintsize;
private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
private Vector3 m_taintposition;
private Vector3 m_taintsize;
private Vector3 m_taintVelocity;
private Vector3 m_taintTorque;
private Quaternion m_taintrot;
private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
private Vector3 m_angularlock = Vector3.One;
private Vector3 m_taintAngularLock = Vector3.One;
private IntPtr Amotor = IntPtr.Zero;
private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
// private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
private float m_PIDTau = 0f;
private Vector3 m_PIDTarget;
private float m_PIDTau;
private float PID_D = 35f;
private float PID_G = 25f;
private bool m_usePID = false;
private bool m_usePID;
// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
// and are for non-VEHICLES only.
private float m_PIDHoverHeight = 0f;
private float m_PIDHoverTau = 0f;
private bool m_useHoverPID = false;
private float m_PIDHoverHeight;
private float m_PIDHoverTau;
private bool m_useHoverPID;
private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
private float m_targetHoverHeight = 0f;
private float m_groundHeight = 0f;
private float m_waterHeight = 0f;
private float m_buoyancy = 0f; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
private float m_targetHoverHeight;
private float m_groundHeight;
private float m_waterHeight;
private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
// private float m_tensor = 5f;
private int body_autodisable_frames = 20;
@@ -105,11 +104,11 @@ namespace OpenSim.Region.Physics.OdePlugin
| CollisionCategories.Body
| CollisionCategories.Character
);
private bool m_taintshape = false;
private bool m_taintPhysics = false;
private bool m_taintshape;
private bool m_taintPhysics;
private bool m_collidesLand = true;
private bool m_collidesWater = false;
public bool m_returnCollisions = false;
private bool m_collidesWater;
public bool m_returnCollisions;
// Default we're a Geometry
private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -117,85 +116,83 @@ namespace OpenSim.Region.Physics.OdePlugin
// Default, Collide with Other Geometries, spaces and Bodies
private CollisionCategories m_collisionFlags = m_default_collisionFlags;
public bool m_taintremove = false;
public bool m_taintdisable = false;
public bool m_disabled = false;
public bool m_taintadd = false;
public bool m_taintselected = false;
public bool m_taintCollidesWater = false;
public bool m_taintremove;
public bool m_taintdisable;
public bool m_disabled;
public bool m_taintadd;
public bool m_taintselected;
public bool m_taintCollidesWater;
public uint m_localID = 0;
public uint m_localID;
//public GCHandle gc;
private CollisionLocker ode;
private bool m_taintforce = false;
private bool m_taintaddangularforce = false;
private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
private Vector3 m_force;
private List<Vector3> m_forcelist = new List<Vector3>();
private List<Vector3> m_angularforcelist = new List<Vector3>();
private IMesh _mesh;
private PrimitiveBaseShape _pbs;
private OdeScene _parent_scene;
public IntPtr m_targetSpace = (IntPtr) 0;
public IntPtr m_targetSpace = IntPtr.Zero;
public IntPtr prim_geom;
public IntPtr prev_geom;
public IntPtr _triMeshData;
private IntPtr _linkJointGroup = (IntPtr)0;
private PhysicsActor _parent = null;
private PhysicsActor m_taintparent = null;
private IntPtr _linkJointGroup = IntPtr.Zero;
private PhysicsActor _parent;
private PhysicsActor m_taintparent;
private List<OdePrim> childrenPrim = new List<OdePrim>();
private bool iscolliding = false;
private bool m_isphysical = false;
private bool m_isSelected = false;
private bool iscolliding;
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 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;
public IntPtr Body = (IntPtr) 0;
public IntPtr Body = IntPtr.Zero;
public String m_primName;
// private String m_primName;
private PhysicsVector _target_velocity;
private Vector3 _target_velocity;
public d.Mass pMass;
public int m_eventsubscription = 0;
private CollisionEventUpdate CollisionEventsThisFrame = null;
public int m_eventsubscription;
private CollisionEventUpdate CollisionEventsThisFrame;
private IntPtr m_linkJoint = (IntPtr)0;
private IntPtr m_linkJoint = IntPtr.Zero;
public volatile bool childPrim = false;
public volatile bool childPrim;
private ODEDynamics m_vehicle;
internal int m_material = (int)Material.Wood;
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
_target_velocity = new PhysicsVector(0, 0, 0);
m_vehicle = new ODEDynamics();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
_velocity = new PhysicsVector();
if (!PhysicsVector.isFinite(pos))
if (!pos.IsFinite())
{
pos = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), parent_scene.GetTerrainHeightAtXY(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f)) + 0.5f);
pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
}
_position = pos;
@@ -210,9 +207,9 @@ namespace OpenSim.Region.Physics.OdePlugin
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
if (!PhysicsVector.isFinite(pos))
if (!pos.IsFinite())
{
size = new PhysicsVector(0.5f, 0.5f, 0.5f);
size = new Vector3(0.5f, 0.5f, 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
}
@@ -222,8 +219,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_size = size;
m_taintsize = _size;
_acceleration = new PhysicsVector();
m_rotationalVelocity = PhysicsVector.Zero;
if (!QuaternionIsFinite(rotation))
{
@@ -388,7 +383,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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, 0.0f)) && _parent == null)
{
createAMotor(m_angularlock);
}
@@ -882,7 +877,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim_geom != IntPtr.Zero)
{
if (!_position.IsIdentical(m_taintposition,0f))
if (!_position.ApproxEquals(m_taintposition, 0f))
changemove(timestep);
if (m_taintrot != _orientation)
@@ -907,7 +902,7 @@ namespace OpenSim.Region.Physics.OdePlugin
changePhysicsStatus(timestep);
//
if (!_size.IsIdentical(m_taintsize,0))
if (!_size.ApproxEquals(m_taintsize,0f))
changesize(timestep);
//
@@ -921,7 +916,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintaddangularforce)
changeAddAngularForce(timestep);
if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
changeSetTorque(timestep);
if (m_taintdisable)
@@ -930,7 +925,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintselected != m_isSelected)
changeSelectedStatus(timestep);
if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
changevelocity(timestep);
if (m_taintparent != _parent)
@@ -939,7 +934,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintCollidesWater != m_collidesWater)
changefloatonwater(timestep);
if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
changeAngularLock(timestep);
}
@@ -959,7 +954,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//If we have a parent then we're not authorative here
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);
@@ -976,7 +971,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
// Store this for later in case we get turned into a separate body
m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
m_angularlock = m_taintAngularLock;
}
@@ -1120,7 +1115,7 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.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)
{
prm.createAMotor(m_angularlock);
}
@@ -1163,7 +1158,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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)
{
createAMotor(m_angularlock);
}
@@ -1347,7 +1342,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintshape = false;
m_taintforce = false;
m_taintdisable = false;
m_taintVelocity = PhysicsVector.Zero;
m_taintVelocity = Vector3.Zero;
}
public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
@@ -1576,7 +1571,7 @@ Console.WriteLine(" JointCreateFixed");
//Console.WriteLine("Move " + m_primName);
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
// NON-'VEHICLES' are dealt with here
if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
{
d.Vector3 avel2 = d.BodyGetAngularVel(Body);
if (m_angularlock.X == 1)
@@ -1633,7 +1628,7 @@ Console.WriteLine(" JointCreateFixed");
d.Vector3 pos = d.BodyGetPosition(Body);
_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)
@@ -1641,7 +1636,7 @@ Console.WriteLine(" JointCreateFixed");
// 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))
{
// keep track of where we stopped. No more slippin' & slidin'
@@ -1726,13 +1721,13 @@ Console.WriteLine(" JointCreateFixed");
_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))
{
// keep track of where we stopped. No more slippin' & slidin'
@@ -1821,7 +1816,7 @@ Console.WriteLine(" JointCreateFixed");
d.BodySetQuaternion(Body, ref myrot);
if (m_isphysical)
{
if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
if (!m_angularlock.ApproxEquals(Vector3.One, 0f))
createAMotor(m_angularlock);
}
}
@@ -2130,7 +2125,7 @@ Console.WriteLine(" JointCreateFixed");
//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] * 100);
@@ -2160,8 +2155,8 @@ Console.WriteLine(" JointCreateFixed");
d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
}
}
m_taintTorque = new PhysicsVector(0, 0, 0);
m_taintTorque = Vector3.Zero;
}
public void changeAddAngularForce(float timestamp)
@@ -2173,7 +2168,7 @@ Console.WriteLine(" JointCreateFixed");
//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] * 100);
@@ -2207,7 +2202,7 @@ Console.WriteLine(" JointCreateFixed");
//resetCollisionAccounting();
}
m_taintVelocity = PhysicsVector.Zero;
m_taintVelocity = Vector3.Zero;
}
public override bool IsPhysical
@@ -2216,7 +2211,7 @@ Console.WriteLine(" JointCreateFixed");
set {
m_isphysical = value;
if (!m_isphysical) // Zero the remembered last velocity
m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
m_lastVelocity = Vector3.Zero;
}
}
@@ -2261,7 +2256,7 @@ Console.WriteLine(" JointCreateFixed");
get { return _zeroFlag; }
}
public override PhysicsVector Position
public override Vector3 Position
{
get { return _position; }
@@ -2270,12 +2265,12 @@ Console.WriteLine(" JointCreateFixed");
}
}
public override PhysicsVector Size
public override Vector3 Size
{
get { return _size; }
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
_size = value;
}
@@ -2291,13 +2286,13 @@ Console.WriteLine(" JointCreateFixed");
get { return CalculateMass(); }
}
public override PhysicsVector Force
public override Vector3 Force
{
//get { return PhysicsVector.Zero; }
//get { return Vector3.Zero; }
get { return m_force; }
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_force = value;
}
@@ -2319,7 +2314,7 @@ Console.WriteLine(" JointCreateFixed");
m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value);
}
public override void VehicleVectorParam(int param, PhysicsVector value)
public override void VehicleVectorParam(int param, Vector3 value)
{
m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value);
}
@@ -2337,14 +2332,14 @@ Console.WriteLine(" JointCreateFixed");
}
}
public override PhysicsVector CenterOfMass
public override Vector3 CenterOfMass
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PhysicsVector GeometricCenter
public override Vector3 GeometricCenter
{
get { return PhysicsVector.Zero; }
get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
@@ -2356,13 +2351,13 @@ Console.WriteLine(" JointCreateFixed");
}
}
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 = Vector3.Zero;
returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2;
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2;
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2;
@@ -2370,7 +2365,7 @@ Console.WriteLine(" JointCreateFixed");
}
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
_velocity = value;
@@ -2385,19 +2380,19 @@ Console.WriteLine(" JointCreateFixed");
}
}
public override PhysicsVector Torque
public override Vector3 Torque
{
get
{
if (!m_isphysical || Body == IntPtr.Zero)
return new PhysicsVector(0,0,0);
return Vector3.Zero;
return _torque;
}
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_taintTorque = value;
_parent_scene.AddPhysicsActorTaint(this);
@@ -2449,20 +2444,20 @@ Console.WriteLine(" JointCreateFixed");
return true;
}
public override PhysicsVector Acceleration
public override Vector3 Acceleration
{
get { return _acceleration; }
}
public void SetAcceleration(PhysicsVector accel)
public void SetAcceleration(Vector3 accel)
{
_acceleration = accel;
}
public override void AddForce(PhysicsVector force, bool pushforce)
public override void AddForce(Vector3 force, bool pushforce)
{
if (PhysicsVector.isFinite(force))
if (force.IsFinite())
{
m_forcelist.Add(force);
m_taintforce = true;
@@ -2474,9 +2469,9 @@ Console.WriteLine(" JointCreateFixed");
//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)
{
if (PhysicsVector.isFinite(force))
if (force.IsFinite())
{
m_angularforcelist.Add(force);
m_taintaddangularforce = true;
@@ -2487,23 +2482,23 @@ Console.WriteLine(" JointCreateFixed");
}
}
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;
}
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_rotationalVelocity = value;
}
@@ -2544,16 +2539,16 @@ Console.WriteLine(" JointCreateFixed");
m_taintparent = null;
}
public override void LockAngularMotion(PhysicsVector axis)
public override void LockAngularMotion(Vector3 axis)
{
// reverse the zero/non zero values for ODE.
if (PhysicsVector.isFinite(axis))
if (axis.IsFinite())
{
axis.X = (axis.X > 0) ? 1f : 0f;
axis.Y = (axis.Y > 0) ? 1f : 0f;
axis.Z = (axis.Z > 0) ? 1f : 0f;
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;
}
else
{
@@ -2566,7 +2561,7 @@ Console.WriteLine(" JointCreateFixed");
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
if (_parent == null)
{
PhysicsVector pv = new PhysicsVector(0, 0, 0);
Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag;
if (Body != (IntPtr)0) // FIXME -> or if it is a joint
{
@@ -2575,9 +2570,9 @@ Console.WriteLine(" JointCreateFixed");
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
d.Vector3 torque = d.BodyGetTorque(Body);
_torque.setValues(torque.X, torque.Y, torque.Z);
PhysicsVector l_position = new PhysicsVector();
Quaternion l_orientation = new Quaternion();
_torque = new Vector3(torque.X, torque.Y, torque.Z);
Vector3 l_position = Vector3.Zero;
Quaternion l_orientation = Quaternion.Identity;
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
//if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
@@ -2712,16 +2707,16 @@ Console.WriteLine(" JointCreateFixed");
_velocity.Z = vel.Z;
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 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(rotvel.X, rotvel.Y, rotvel.Z);
m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
}
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
@@ -2769,15 +2764,15 @@ Console.WriteLine(" JointCreateFixed");
}
}
public override void SetMomentum(PhysicsVector momentum)
public override void SetMomentum(Vector3 momentum)
{
}
public override PhysicsVector PIDTarget
public override Vector3 PIDTarget
{
set
{
if (PhysicsVector.isFinite(value))
if (value.IsFinite())
{
m_PIDTarget = value;
}
@@ -2793,7 +2788,7 @@ Console.WriteLine(" JointCreateFixed");
public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
private void createAMotor(PhysicsVector axis)
private void createAMotor(Vector3 axis)
{
if (Body == IntPtr.Zero)
return;

50
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@@ -684,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </summary>
/// <param name="pos"></param>
/// <returns>Returns which split up space the given position is in.</returns>
public string whichspaceamIin(PhysicsVector pos)
public string whichspaceamIin(Vector3 pos)
{
return calculateSpaceForGeom(pos).ToString();
}
@@ -963,7 +963,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//p2.CollidingObj = true;
contacts[i].depth = 0.00000003f;
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
contacts[i].pos =
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
contacts[i].pos.Y + (p1.Size.Y/2),
@@ -981,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//p2.CollidingObj = true;
contacts[i].depth = 0.00000003f;
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
contacts[i].pos =
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
contacts[i].pos.Y + (p1.Size.Y/2),
@@ -1646,9 +1646,9 @@ namespace OpenSim.Region.Physics.OdePlugin
#region Add/Remove Entities
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
{
PhysicsVector pos = new PhysicsVector();
Vector3 pos;
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
@@ -1698,18 +1698,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
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);
//pos.X = position.X;
//pos.Y = position.Y;
//pos.Z = position.Z;
PhysicsVector siz = new PhysicsVector();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
Vector3 pos = position;
Vector3 siz = size;
Quaternion rot = rotation;
OdePrim newPrim;
@@ -1736,14 +1730,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation) //To be removed
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation) //To be removed
{
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;
@@ -1976,7 +1970,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// this joint will just be added to a waiting list that is NOT processed during the main
// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
{
@@ -1984,7 +1978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
OdePhysicsJoint joint = new OdePhysicsJoint();
joint.ObjectNameInScene = objectNameInScene;
joint.Type = jointType;
joint.Position = new PhysicsVector(position.X, position.Y, position.Z);
joint.Position = position;
joint.Rotation = rotation;
joint.RawParams = parms;
joint.BodyNames = new List<string>(bodyNames);
@@ -2036,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
public override PhysicsVector GetJointAnchor(PhysicsJoint joint)
public override Vector3 GetJointAnchor(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 pos = new d.Vector3();
@@ -2058,14 +2052,14 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
return new PhysicsVector(pos.X, pos.Y, pos.Z);
return new Vector3(pos.X, pos.Y, pos.Z);
}
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
// appears to be unreliable. Fortunately we can compute the joint axis ourselves by
// keeping track of the joint's original orientation relative to one of the involved bodies.
public override PhysicsVector GetJointAxis(PhysicsJoint joint)
public override Vector3 GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = new d.Vector3();
@@ -2087,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
return new PhysicsVector(axis.X, axis.Y, axis.Z);
return new Vector3(axis.X, axis.Y, axis.Z);
}
@@ -2255,7 +2249,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="pos">the position that the geom moved to</param>
/// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
/// <returns>a pointer to the new space it's in</returns>
public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
{
// Called from setting the Position and Size of an ODEPrim so
// it's already in locked space.
@@ -2402,7 +2396,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </summary>
/// <param name="pos"></param>
/// <returns>a pointer to the space. This could be a new space or reused space.</returns>
public IntPtr calculateSpaceForGeom(PhysicsVector pos)
public IntPtr calculateSpaceForGeom(Vector3 pos)
{
int[] xyspace = calculateSpaceArrayItemFromPos(pos);
//m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
@@ -2414,7 +2408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </summary>
/// <param name="pos"></param>
/// <returns>an array item based on the position</returns>
public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
{
int[] returnint = new int[2];

4
OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
View File

@@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public void CreateAndDropPhysicalCube()
{
PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
PhysicsVector position = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 128);
PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f);
Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
Quaternion rot = Quaternion.Identity;
PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
OdePrim oprim = (OdePrim)prim;