mirror of
https://github.com/opensim/opensim.git
synced 2026-08-08 02:05:34 +08:00
ubode things
This commit is contained in:
UbitUmarov
@@ -62,11 +62,12 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
|
||||
public bool MouseLook;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 16)]
|
||||
public struct AABB2D
|
||||
{
|
||||
public float minx;
|
||||
public float miny;
|
||||
public float maxx;
|
||||
public float miny;
|
||||
public float maxy;
|
||||
}
|
||||
|
||||
|
||||
@@ -41,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
using System;
|
||||
using System.Runtime.CompilerServices;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using OMV = OpenMetaverse;
|
||||
@@ -516,9 +517,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
}
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodyDisable(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodyEnable(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
@@ -541,10 +544,30 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]
|
||||
internal extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static Vector3 BodyGetAngularVel(IntPtr body)
|
||||
{
|
||||
unsafe { return *(BodyGetAngularVelUnsafe(body)); }
|
||||
}
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static OMV.Vector3 BodyGetAngularVelOMV(IntPtr body)
|
||||
{
|
||||
unsafe
|
||||
{
|
||||
Vector3* vtmp = BodyGetAngularVelUnsafe(body);
|
||||
return new OMV.Vector3(vtmp->X, vtmp->Y, vtmp->Z);
|
||||
}
|
||||
}
|
||||
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static OMV.Vector3 BodyGetAngularVelOMVforAvatar(IntPtr body)
|
||||
{
|
||||
unsafe
|
||||
{
|
||||
Vector3* vtmp = BodyGetAngularVelUnsafe(body);
|
||||
return new OMV.Vector3(0, 0, (float)Math.Round(vtmp->Z, 3));
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr BodyGetData(IntPtr body);
|
||||
@@ -573,10 +596,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]
|
||||
internal extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static Vector3 BodyGetLinearVel(IntPtr body)
|
||||
{
|
||||
unsafe { return *(BodyGetLinearVelUnsafe(body)); }
|
||||
}
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static OMV.Vector3 BodyGetLinearVelOMV(IntPtr body)
|
||||
{
|
||||
unsafe
|
||||
{
|
||||
Vector3* vtmp = BodyGetLinearVelUnsafe(body);
|
||||
return new OMV.Vector3(vtmp->X, vtmp->Y, vtmp->Z);
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern void BodyGetMass(IntPtr body, out Mass mass);
|
||||
@@ -589,20 +622,40 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]
|
||||
internal extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static Vector3 BodyGetPosition(IntPtr body)
|
||||
{
|
||||
unsafe { return *(BodyGetPositionUnsafe(body)); }
|
||||
}
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static OMV.Vector3 BodyGetPositionOMV(IntPtr body)
|
||||
{
|
||||
unsafe
|
||||
{
|
||||
Vector3* vtmp = BodyGetPositionUnsafe(body);
|
||||
return new OMV.Vector3(vtmp->X, vtmp->Y, vtmp->Z);
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]
|
||||
internal extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static Quaternion BodyGetQuaternion(IntPtr body)
|
||||
{
|
||||
unsafe { return *(BodyGetQuaternionUnsafe(body)); }
|
||||
}
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static OMV.Quaternion BodyGetQuaternionOMV(IntPtr body)
|
||||
{
|
||||
unsafe
|
||||
{
|
||||
Quaternion* q = BodyGetQuaternionUnsafe(body);
|
||||
return new OMV.Quaternion(q->X, q->Y, q->Z, q->W);
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
|
||||
@@ -634,69 +687,91 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
internal static extern IntPtr dBodyGetNextGeom(IntPtr Geom);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern bool BodyIsEnabled(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAutoDisableDefaults(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAutoDisableSteps(IntPtr body, int steps);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAutoDisableTime(IntPtr body, dReal time);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetData(IntPtr body, IntPtr data);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetFiniteRotationMode(IntPtr body, int mode);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetLinearDamping(IntPtr body, dReal scale);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAngularDamping(IntPtr body, dReal scale);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern dReal BodyGetLinearDamping(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern dReal BodyGetAngularDamping(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern dReal BodyGetLinearDampingThreshold(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern dReal BodyGetAngularDampingThreshold(IntPtr body);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetGravityMode(IntPtr body, bool mode);
|
||||
|
||||
/// <summary>
|
||||
@@ -708,33 +783,43 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
internal static extern void dBodySetGyroscopicMode(IntPtr body, int enabled);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetMass(IntPtr body, ref Mass mass);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetQuaternion(IntPtr body, ref dReal w);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetRotation(IntPtr body, ref Matrix3 R);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetRotation(IntPtr body, ref dReal M00);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]
|
||||
@@ -761,6 +846,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
internal static extern void CloseODE();
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static extern int CollidePtr(IntPtr o1, IntPtr o2, int flags, IntPtr contactgeomarray, int skip);
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]
|
||||
@@ -768,6 +854,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
|
||||
{
|
||||
NTotalGeoms++;
|
||||
@@ -776,6 +863,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
|
||||
{
|
||||
NTotalGeoms++;
|
||||
@@ -808,6 +896,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateOSTerrain"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiOSTerrain(IntPtr space, IntPtr data, int bPlaceable);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreateOSTerrain(IntPtr space, IntPtr data, int bPlaceable)
|
||||
{
|
||||
NTotalGeoms++;
|
||||
@@ -830,6 +919,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
|
||||
{
|
||||
NTotalGeoms++;
|
||||
@@ -838,6 +928,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiRay(IntPtr space, dReal length);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreateRay(IntPtr space, dReal length)
|
||||
{
|
||||
NTotalGeoms++;
|
||||
@@ -846,6 +937,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreateSphere(IntPtr space, dReal radius)
|
||||
{
|
||||
NTotalGeoms++;
|
||||
@@ -855,6 +947,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
[DllImport("ubode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
|
||||
internal static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
|
||||
TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
internal static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
|
||||
TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
|
||||
{
|
||||
|
||||
@@ -237,7 +237,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
Name = avName;
|
||||
|
||||
UpdateShortAABB();
|
||||
UpdateAABB2D();
|
||||
|
||||
AddChange(changes.Add, null);
|
||||
}
|
||||
@@ -1222,71 +1222,65 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
// so force it back to identity
|
||||
SafeNativeMethods.BodySetQuaternion(Body, ref m_NativeOrientation2D);
|
||||
|
||||
SafeNativeMethods.Vector3 dtmp = SafeNativeMethods.BodyGetPosition(Body);
|
||||
Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
|
||||
|
||||
_position = SafeNativeMethods.BodyGetPositionOMV(Body);
|
||||
// check outbounds forcing to be in world
|
||||
bool fixbody = false;
|
||||
float tmp = localpos.X;
|
||||
if ((Single.IsNaN(tmp) || Single.IsInfinity(tmp)))
|
||||
if ((Single.IsNaN(_position.X) || Single.IsInfinity(_position.X)))
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.X = 128f;
|
||||
_position.X = 128f;
|
||||
}
|
||||
else if (tmp < 0.0f)
|
||||
else if (_position.X < 0.0f)
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.X = 0.1f;
|
||||
_position.X = 0.1f;
|
||||
}
|
||||
else if (tmp > m_parent_scene.WorldExtents.X - 0.1f)
|
||||
else if (_position.X > m_parent_scene.WorldExtents.X - 0.1f)
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.X = m_parent_scene.WorldExtents.X - 0.1f;
|
||||
_position.X = m_parent_scene.WorldExtents.X - 0.1f;
|
||||
}
|
||||
|
||||
tmp = localpos.Y;
|
||||
if ((Single.IsNaN(tmp) || Single.IsInfinity(tmp)))
|
||||
if ((Single.IsNaN(_position.Y) || Single.IsInfinity(_position.Y)))
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.X = 128f;
|
||||
_position.Y = 128f;
|
||||
}
|
||||
else if (tmp < 0.0f)
|
||||
else if (_position.Y < 0.0f)
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.Y = 0.1f;
|
||||
_position.Y = 0.1f;
|
||||
}
|
||||
else if (tmp > m_parent_scene.WorldExtents.Y - 0.1)
|
||||
else if (_position.Y > m_parent_scene.WorldExtents.Y - 0.1f)
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.Y = m_parent_scene.WorldExtents.Y - 0.1f;
|
||||
_position.Y = m_parent_scene.WorldExtents.Y - 0.1f;
|
||||
}
|
||||
|
||||
tmp = localpos.Z;
|
||||
if ((Single.IsNaN(tmp) || Single.IsInfinity(tmp)))
|
||||
if ((Single.IsNaN(_position.Z) || Single.IsInfinity(_position.Z)))
|
||||
{
|
||||
fixbody = true;
|
||||
localpos.Z = 128f;
|
||||
}
|
||||
|
||||
if (m_pidControllerActive == false)
|
||||
{
|
||||
_zeroPosition = localpos;
|
||||
_position.Z = 128f;
|
||||
}
|
||||
|
||||
if (fixbody)
|
||||
{
|
||||
m_freemove = false;
|
||||
SafeNativeMethods.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
|
||||
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
}
|
||||
|
||||
float breakfactor;
|
||||
if (m_pidControllerActive == false)
|
||||
{
|
||||
_zeroPosition = _position;
|
||||
}
|
||||
|
||||
Vector3 vec = Vector3.Zero;
|
||||
dtmp = SafeNativeMethods.BodyGetLinearVel(Body);
|
||||
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
|
||||
//Update AABB
|
||||
UpdateAABB2D();
|
||||
|
||||
float aabbminz = _position.Z - CapsuleSizeZ;
|
||||
//float aabbmaxz = _position.Z + CapsuleSizeZ;
|
||||
|
||||
Vector3 ctz = m_targetVelocity;
|
||||
|
||||
if (m_alwaysRun)
|
||||
{
|
||||
ctz.X *= m_runMultiplier;
|
||||
@@ -1298,22 +1292,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
ctz.Y *= m_walkMultiplier;
|
||||
}
|
||||
|
||||
Vector3 vel = SafeNativeMethods.BodyGetLinearVelOMV(Body);
|
||||
|
||||
//******************************************
|
||||
// colide with land
|
||||
|
||||
//SafeNativeMethods.GeomGetAABB(capsule, out SafeNativeMethods.AABB aabb);
|
||||
SafeNativeMethods.GeomGetAABB(collider, out SafeNativeMethods.AABB aabb);
|
||||
float chrminZ = aabb.MinZ; // move up a bit
|
||||
Vector3 posch = localpos;
|
||||
|
||||
float tmpX = _position.X;
|
||||
float tmpY = _position.Y;
|
||||
if (m_flying)
|
||||
{
|
||||
posch.X += vel.X * m_sceneTimeStep;
|
||||
posch.Y += vel.Y * m_sceneTimeStep;
|
||||
tmpX += vel.X * m_sceneTimeStep;
|
||||
tmpY += vel.Y * m_sceneTimeStep;
|
||||
}
|
||||
|
||||
float terrainheight = m_parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
|
||||
if (chrminZ < terrainheight)
|
||||
Vector3 vec = Vector3.Zero;
|
||||
float terrainheight = m_parent_scene.GetTerrainHeightAtXY(tmpX, tmpY);
|
||||
if (aabbminz < terrainheight)
|
||||
{
|
||||
if (ctz.Z < 0)
|
||||
ctz.Z = 0;
|
||||
@@ -1324,8 +1317,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
m_haveLastFallVel = true;
|
||||
}
|
||||
|
||||
Vector3 n = m_parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y);
|
||||
float depth = terrainheight - chrminZ;
|
||||
Vector3 n = m_parent_scene.GetTerrainNormalAtXY(tmpX, tmpY);
|
||||
float depth = terrainheight - aabbminz;
|
||||
|
||||
vec.Z = depth * PID_P * 50;
|
||||
|
||||
@@ -1369,8 +1362,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
ContactPoint contact = new ContactPoint();
|
||||
contact.PenetrationDepth = depth;
|
||||
contact.Position.X = localpos.X;
|
||||
contact.Position.Y = localpos.Y;
|
||||
contact.Position.X = _position.X;
|
||||
contact.Position.Y = _position.Y;
|
||||
contact.Position.Z = terrainheight;
|
||||
contact.SurfaceNormal = -n;
|
||||
contact.RelativeSpeed = Vector3.Dot(m_lastFallVel,n);
|
||||
@@ -1424,9 +1417,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
} // end switch (m_PIDHoverType)
|
||||
|
||||
// don't go underground
|
||||
if (m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ))
|
||||
if (m_targetHoverHeight > terrainheight + _position.Z)
|
||||
{
|
||||
float fz = (m_targetHoverHeight - localpos.Z);
|
||||
float fz = (m_targetHoverHeight - _position.Z);
|
||||
|
||||
// if error is zero, use position control; otherwise, velocity control
|
||||
if (Math.Abs(fz) < 0.01f)
|
||||
@@ -1438,7 +1431,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
_zeroFlag = false;
|
||||
fz /= m_PIDHoverTau;
|
||||
|
||||
tmp = Math.Abs(fz);
|
||||
float tmp = Math.Abs(fz);
|
||||
if (tmp > 50)
|
||||
fz = 50 * Math.Sign(fz);
|
||||
else if (tmp < 0.1)
|
||||
@@ -1473,6 +1466,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
}
|
||||
}
|
||||
|
||||
float breakfactor;
|
||||
if (!m_freemove)
|
||||
{
|
||||
// if velocity is zero, use position control; otherwise, velocity control
|
||||
@@ -1484,7 +1478,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
if (!_zeroFlag)
|
||||
{
|
||||
_zeroFlag = true;
|
||||
_zeroPosition = localpos;
|
||||
_zeroPosition = _position;
|
||||
}
|
||||
if (m_pidControllerActive)
|
||||
{
|
||||
@@ -1495,12 +1489,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
float pidd2 = PID_D * 2f;
|
||||
float pidp5 = PID_P * 5;
|
||||
|
||||
vec.X = -vel.X * pidd2 + (_zeroPosition.X - localpos.X) * pidp5;
|
||||
vec.Y = -vel.Y * pidd2 + (_zeroPosition.Y - localpos.Y) * pidp5;
|
||||
vec.X = -vel.X * pidd2 + (_zeroPosition.X - _position.X) * pidp5;
|
||||
vec.Y = -vel.Y * pidd2 + (_zeroPosition.Y - _position.Y) * pidp5;
|
||||
if (vel.Z > 0)
|
||||
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
|
||||
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - _position.Z) * PID_P;
|
||||
else
|
||||
vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f;
|
||||
vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - _position.Z) * PID_P) * 0.2f;
|
||||
}
|
||||
}
|
||||
else
|
||||
@@ -1623,9 +1617,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
//Added for auto fly height. Kitto Flora
|
||||
float target_altitude = terrainheight + MinimumGroundFlightOffset;
|
||||
|
||||
if (localpos.Z < target_altitude)
|
||||
if (_position.Z < target_altitude)
|
||||
{
|
||||
vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
|
||||
vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
|
||||
}
|
||||
// end add Kitto Flora
|
||||
}
|
||||
@@ -1635,15 +1629,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
vec.Z -= m_scenegravityForceZ * m_buoyancy;
|
||||
}
|
||||
|
||||
if (vec.IsFinite())
|
||||
{
|
||||
if ((vec.X != 0 || vec.Y != 0 || vec.Z != 0))
|
||||
SafeNativeMethods.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
|
||||
}
|
||||
|
||||
// update our local ideia of position velocity and aceleration
|
||||
_position = localpos;
|
||||
UpdateShortAABB();
|
||||
if ((vec.Z != 0 || vec.X != 0 || vec.Y != 0))
|
||||
SafeNativeMethods.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
|
||||
|
||||
if (_zeroFlag)
|
||||
{
|
||||
@@ -1658,11 +1645,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
a = (_velocity - a) * m_sceneInverseTimeStep;
|
||||
SetSmooth(ref _acceleration, ref a, 2);
|
||||
|
||||
dtmp = SafeNativeMethods.BodyGetAngularVel(Body);
|
||||
m_rotationalVelocity.X = 0f;
|
||||
m_rotationalVelocity.Y = 0f;
|
||||
m_rotationalVelocity.Z = dtmp.Z;
|
||||
Math.Round(m_rotationalVelocity.Z, 3);
|
||||
m_rotationalVelocity = SafeNativeMethods.BodyGetAngularVelOMVforAvatar(Body);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1674,14 +1657,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
v.Z = (float)Math.Round(v.Z, digits);
|
||||
}
|
||||
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
public void SetSmooth(ref Vector3 dst, ref Vector3 value)
|
||||
{
|
||||
dst.X = 0.1f * dst.X + 0.9f * value.X;
|
||||
dst.Y = 0.1f * dst.Y + 0.9f * value.Y;
|
||||
dst.Z = 0.1f * dst.Z + 0.9f * value.Z;
|
||||
}
|
||||
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits)
|
||||
{
|
||||
@@ -1695,7 +1670,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
dst.Z = (float)Math.Round(dst.Z, rounddigits);
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Updates the reported position and velocity.
|
||||
/// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
|
||||
@@ -1703,6 +1677,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
/// copy and outbounds now done in move(..) at ode rate
|
||||
///
|
||||
/// </summary>
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
public void UpdatePositionAndVelocity()
|
||||
{
|
||||
}
|
||||
@@ -1989,7 +1964,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
_position.Z += (sz - oldsz) * 0.5f;
|
||||
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
|
||||
UpdateShortAABB();
|
||||
UpdateAABB2D();
|
||||
|
||||
m_bodydisablecontrol = 0;
|
||||
_zeroFlag = false;
|
||||
@@ -2013,8 +1988,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
SafeNativeMethods.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
}
|
||||
UpdateShortAABB();
|
||||
_position = newPos;
|
||||
UpdateAABB2D();
|
||||
|
||||
m_freemove = false;
|
||||
_zeroFlag = false;
|
||||
m_pidControllerActive = true;
|
||||
@@ -2057,6 +2033,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
}
|
||||
}
|
||||
else if (Body != IntPtr.Zero)
|
||||
SafeNativeMethods.BodyEnable(Body);
|
||||
}
|
||||
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
@@ -2198,12 +2176,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
m_useHoverPID = active;
|
||||
}
|
||||
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
private void donullchange()
|
||||
{
|
||||
}
|
||||
|
||||
[MethodImpl(MethodImplOptions.AggressiveInlining)]
|
||||
public void UpdateShortAABB()
|
||||
public void UpdateAABB2D()
|
||||
{
|
||||
_AABB2D.minx = _position.X - CapsuleRadius;
|
||||
_AABB2D.maxx = _position.X + CapsuleRadius;
|
||||
|
||||
@@ -566,8 +566,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
SafeNativeMethods.Vector3 dtmp;
|
||||
if (!childPrim && Body != IntPtr.Zero)
|
||||
{
|
||||
dtmp = SafeNativeMethods.BodyGetPosition(Body);
|
||||
return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
|
||||
return SafeNativeMethods.BodyGetPositionOMV(Body);
|
||||
}
|
||||
else if (m_prim_geom != IntPtr.Zero)
|
||||
{
|
||||
@@ -1507,12 +1506,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
|
||||
|
||||
// get current orientation to lock
|
||||
|
||||
SafeNativeMethods.Quaternion dcur = SafeNativeMethods.BodyGetQuaternion(Body);
|
||||
Quaternion curr; // crap convertion between identical things
|
||||
curr.X = dcur.X;
|
||||
curr.Y = dcur.Y;
|
||||
curr.Z = dcur.Z;
|
||||
curr.W = dcur.W;
|
||||
Quaternion curr= SafeNativeMethods.BodyGetQuaternionOMV(Body);
|
||||
Vector3 ax;
|
||||
|
||||
int i = 0;
|
||||
|
||||
Reference in New Issue
Block a user