mirror of
https://github.com/opensim/opensim.git
synced 2026-08-13 13:15:44 +08:00
d36316e1c9
seriously, this is quite the update. Fixes a number of nagging physics problems, including avatar shell size/shape The internal logic is quite different, and CPU usage may be affected. Also some work remains wrt flying. Please test this rev out before you deploy widely
811 lines
25 KiB
C#
811 lines
25 KiB
C#
/*
|
|
* Copyright (c) Contributors, http://opensimulator.org/
|
|
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the OpenSim Project nor the
|
|
* names of its contributors may be used to endorse or promote products
|
|
* derived from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
|
|
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
*/
|
|
using System;
|
|
using System.Threading;
|
|
using System.Collections.Generic;
|
|
|
|
using libsecondlife;
|
|
using libsecondlife.Utilities;
|
|
|
|
using Axiom.Math;
|
|
using Ode.NET;
|
|
using OpenSim.Framework.Types;
|
|
using OpenSim.Framework.Console;
|
|
using OpenSim.Region.Physics.Manager;
|
|
|
|
|
|
namespace OpenSim.Region.Physics.OdePlugin
|
|
{
|
|
/// <summary>
|
|
/// ODE plugin
|
|
/// </summary>
|
|
public class OdePlugin : IPhysicsPlugin
|
|
{
|
|
private OdeScene _mScene;
|
|
|
|
public OdePlugin()
|
|
{
|
|
|
|
}
|
|
|
|
public bool Init()
|
|
{
|
|
return true;
|
|
}
|
|
|
|
public PhysicsScene GetScene()
|
|
{
|
|
if (_mScene == null)
|
|
{
|
|
_mScene = new OdeScene();
|
|
}
|
|
return (_mScene);
|
|
}
|
|
|
|
public string GetName()
|
|
{
|
|
return ("OpenDynamicsEngine");
|
|
}
|
|
|
|
public void Dispose()
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public class OdeScene : PhysicsScene
|
|
{
|
|
private static float ODE_STEPSIZE = 0.004f;
|
|
private IntPtr contactgroup;
|
|
private IntPtr LandGeom;
|
|
private double[] _heightmap;
|
|
private d.NearCallback nearCallback;
|
|
public d.TriCallback triCallback;
|
|
public d.TriArrayCallback triArrayCallback;
|
|
private List<OdeCharacter> _characters = new List<OdeCharacter>();
|
|
private List<OdePrim> _prims = new List<OdePrim>();
|
|
public Dictionary<IntPtr, String> geom_name_map=new Dictionary<IntPtr, String>();
|
|
private d.ContactGeom[] contacts = new d.ContactGeom[30];
|
|
private d.Contact contact;
|
|
private float step_time=0.0f;
|
|
public IntPtr world;
|
|
public IntPtr space;
|
|
public static Object OdeLock = new Object();
|
|
|
|
public OdeScene()
|
|
{
|
|
nearCallback = near;
|
|
triCallback = TriCallback;
|
|
triArrayCallback = TriArrayCallback;
|
|
/*
|
|
contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
|
|
contact.surface.mu = 10.0f;
|
|
contact.surface.bounce = 0.9f;
|
|
contact.surface.soft_erp = 0.005f;
|
|
contact.surface.soft_cfm = 0.00003f;
|
|
*/
|
|
contact.surface.mu = 250.0f;
|
|
contact.surface.bounce = 0.2f;
|
|
lock (OdeLock)
|
|
{
|
|
world = d.WorldCreate();
|
|
space = d.HashSpaceCreate(IntPtr.Zero);
|
|
contactgroup = d.JointGroupCreate(0);
|
|
d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
|
|
d.WorldSetAutoDisableFlag(world, false);
|
|
d.WorldSetContactSurfaceLayer(world, 0.001f);
|
|
d.WorldSetQuickStepNumIterations(world, 10);
|
|
d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
|
|
}
|
|
|
|
_heightmap = new double[65536];
|
|
}
|
|
|
|
// This function blatantly ripped off from BoxStack.cs
|
|
private void near(IntPtr space, IntPtr g1, IntPtr g2)
|
|
{
|
|
// no lock here! It's invoked from within Simulate(), which is thread-locked
|
|
if (g1 == g2)
|
|
return; // Can't collide with yourself
|
|
|
|
IntPtr b1 = d.GeomGetBody(g1);
|
|
IntPtr b2 = d.GeomGetBody(g2);
|
|
|
|
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
|
|
return;
|
|
|
|
d.GeomClassID id = d.GeomGetClass(g1);
|
|
if (id==d.GeomClassID.TriMeshClass)
|
|
{
|
|
String name1 = null;
|
|
String name2 = null;
|
|
if (!geom_name_map.TryGetValue(g1, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
if (!geom_name_map.TryGetValue(g2, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
// MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
}
|
|
|
|
int count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
|
|
for (int i = 0; i < count; i++)
|
|
{
|
|
contact.geom = contacts[i];
|
|
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
|
|
d.JointAttach(joint, b1, b2);
|
|
}
|
|
|
|
}
|
|
|
|
private void collision_optimized()
|
|
{
|
|
foreach (OdeCharacter chr in _characters)
|
|
{
|
|
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
|
|
foreach (OdeCharacter ch2 in _characters) /// should be a separate space -- lots of avatars will be N**2 slow
|
|
{
|
|
d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
OdeCharacter newAv = new OdeCharacter(avName, this, pos);
|
|
_characters.Add(newAv);
|
|
return newAv;
|
|
}
|
|
|
|
public override void RemoveAvatar(PhysicsActor actor)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
((OdeCharacter)actor).Destroy();
|
|
_characters.Remove((OdeCharacter)actor);
|
|
}
|
|
}
|
|
|
|
public override void RemovePrim(PhysicsActor prim)
|
|
{
|
|
if (prim is OdePrim)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
d.GeomDestroy(((OdePrim)prim).prim_geom);
|
|
_prims.Remove((OdePrim)prim);
|
|
}
|
|
}
|
|
}
|
|
|
|
PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
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;
|
|
Quaternion rot = new Quaternion();
|
|
rot.w = rotation.w;
|
|
rot.x = rotation.x;
|
|
rot.y = rotation.y;
|
|
rot.z = rotation.z;
|
|
OdePrim newPrim;
|
|
lock (OdeLock)
|
|
{
|
|
newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs);
|
|
}
|
|
_prims.Add(newPrim);
|
|
return newPrim;
|
|
}
|
|
|
|
|
|
public int TriArrayCallback(System.IntPtr trimesh, System.IntPtr refObject, int[] triangleIndex, int triCount)
|
|
{
|
|
/* String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
if (!geom_name_map.TryGetValue(refObject, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
MainLog.Instance.Verbose("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
*/
|
|
return 1;
|
|
}
|
|
|
|
public int TriCallback(System.IntPtr trimesh, System.IntPtr refObject, int triangleIndex)
|
|
{
|
|
|
|
String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
if (!geom_name_map.TryGetValue(refObject, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
// MainLog.Instance.Verbose("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
|
|
|
|
d.Vector3 v0 = new d.Vector3();
|
|
d.Vector3 v1 = new d.Vector3();
|
|
d.Vector3 v2 = new d.Vector3();
|
|
|
|
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
|
|
// MainLog.Instance.Debug("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
|
|
|
|
return 1;
|
|
}
|
|
|
|
|
|
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
|
|
{
|
|
PhysicsActor result;
|
|
|
|
switch(pbs.ProfileShape)
|
|
{
|
|
case ProfileShape.Square:
|
|
/// support simple box & hollow box now; later, more shapes
|
|
if (pbs.ProfileHollow == 0)
|
|
{
|
|
result = AddPrim(primName, position, size, rotation, null, null);
|
|
}
|
|
else
|
|
{
|
|
Mesh mesh = Meshmerizer.CreateMesh(pbs, size);
|
|
result = AddPrim(primName, position, size, rotation, mesh, pbs);
|
|
}
|
|
break;
|
|
|
|
default:
|
|
result = AddPrim(primName, position, size, rotation, null, null);
|
|
break;
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
|
|
public override void Simulate(float timeStep)
|
|
{
|
|
step_time += timeStep;
|
|
lock (OdeLock)
|
|
{
|
|
foreach (OdePrim p in _prims)
|
|
{
|
|
}
|
|
int i = 0;
|
|
while (step_time > 0.0f)
|
|
{
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
actor.Move(timeStep);
|
|
}
|
|
collision_optimized();
|
|
d.WorldQuickStep(world, ODE_STEPSIZE);
|
|
d.JointGroupEmpty(contactgroup);
|
|
step_time -= ODE_STEPSIZE;
|
|
i++;
|
|
}
|
|
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
actor.UpdatePositionAndVelocity();
|
|
}
|
|
}
|
|
}
|
|
|
|
public override void GetResults()
|
|
{
|
|
|
|
}
|
|
|
|
public override bool IsThreaded
|
|
{
|
|
get
|
|
{
|
|
return (false); // for now we won't be multithreaded
|
|
}
|
|
}
|
|
|
|
public override void SetTerrain(float[] heightMap)
|
|
{
|
|
for (int i = 0; i < 65536; i++)
|
|
{
|
|
// this._heightmap[i] = (double)heightMap[i];
|
|
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
|
|
int x = i & 0xff;
|
|
int y = i >> 8;
|
|
_heightmap[i] = (double)heightMap[x * 256 + y];
|
|
}
|
|
|
|
lock (OdeLock)
|
|
{
|
|
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
|
d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
|
|
d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
|
|
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
|
this.geom_name_map[LandGeom]="Terrain";
|
|
|
|
d.Matrix3 R = new d.Matrix3();
|
|
|
|
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
|
|
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
|
|
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
|
|
|
|
q1 = q1 * q2;
|
|
//q1 = q1 * q3;
|
|
Vector3 v3 = new Vector3();
|
|
float angle = 0;
|
|
q1.ToAngleAxis(ref angle, ref v3);
|
|
|
|
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
|
|
d.GeomSetRotation(LandGeom, ref R);
|
|
d.GeomSetPosition(LandGeom, 128, 128, 0);
|
|
}
|
|
}
|
|
|
|
public override void DeleteTerrain()
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public class OdeCharacter : PhysicsActor
|
|
{
|
|
private PhysicsVector _position;
|
|
private d.Vector3 _zeroPosition;
|
|
private bool _zeroFlag=false;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector _target_velocity;
|
|
private PhysicsVector _acceleration;
|
|
private static float PID_D=4000.0f;
|
|
private static float PID_P=7000.0f;
|
|
private static float POSTURE_SERVO = 10000.0f;
|
|
private bool flying = false;
|
|
//private float gravityAccel;
|
|
public IntPtr Body;
|
|
private OdeScene _parent_scene;
|
|
public IntPtr Shell;
|
|
public d.Mass ShellMass;
|
|
|
|
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
|
|
{
|
|
_velocity = new PhysicsVector();
|
|
_target_velocity = new PhysicsVector();
|
|
_position = pos;
|
|
_acceleration = new PhysicsVector();
|
|
_parent_scene = parent_scene;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
Shell = d.CreateCapsule(parent_scene.space, 0.4f, 1.0f);
|
|
d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
|
|
Body = d.BodyCreate(parent_scene.world);
|
|
d.BodySetMass(Body, ref ShellMass);
|
|
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
|
|
d.GeomSetBody(Shell, Body);
|
|
}
|
|
parent_scene.geom_name_map[Shell]=avName;
|
|
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get
|
|
{
|
|
return flying;
|
|
}
|
|
set
|
|
{
|
|
flying = value;
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get
|
|
{
|
|
return _position;
|
|
}
|
|
set
|
|
{
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.BodySetPosition(Body, value.X, value.Y, value.Z);
|
|
_position = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Size
|
|
{
|
|
get
|
|
{
|
|
return new PhysicsVector(0,0,0);
|
|
}
|
|
set
|
|
{
|
|
}
|
|
}
|
|
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
_target_velocity = value;
|
|
}
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get
|
|
{
|
|
return false;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get
|
|
{
|
|
return Quaternion.Identity;
|
|
}
|
|
set
|
|
{
|
|
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get
|
|
{
|
|
return _acceleration;
|
|
}
|
|
|
|
}
|
|
public void SetAcceleration(PhysicsVector accel)
|
|
{
|
|
_acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
|
|
}
|
|
|
|
public void Move(float timeStep)
|
|
{
|
|
// no lock; for now it's only called from within Simulate()
|
|
PhysicsVector vec = new PhysicsVector();
|
|
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
|
|
|
// if velocity is zero, use position control; otherwise, velocity control
|
|
if (_target_velocity.X == 0.0f & _target_velocity.Y == 0.0f & _target_velocity.Z == 0.0f)
|
|
{
|
|
// keep track of where we stopped. No more slippin' & slidin'
|
|
if (!_zeroFlag)
|
|
{
|
|
_zeroFlag = true;
|
|
_zeroPosition = d.BodyGetPosition(Body);
|
|
}
|
|
d.Vector3 pos = d.BodyGetPosition(Body);
|
|
vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P;
|
|
vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P;
|
|
if (flying)
|
|
{
|
|
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
_zeroFlag = false;
|
|
vec.X = (_target_velocity.X - vel.X) * PID_D;
|
|
vec.Y = (_target_velocity.Y - vel.Y) * PID_D;
|
|
if (flying)
|
|
{
|
|
vec.Z = (_target_velocity.Z - vel.Z) * PID_D;
|
|
}
|
|
}
|
|
if (flying)
|
|
{
|
|
vec.Z += 10.0f;
|
|
}
|
|
d.BodyAddForce(this.Body, vec.X, vec.Y, vec.Z);
|
|
|
|
// ok -- let's stand up straight!
|
|
d.Vector3 feet;
|
|
d.Vector3 head;
|
|
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
|
|
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
|
|
float posture = head.Z - feet.Z;
|
|
|
|
// restoring force proportional to lack of posture:
|
|
float servo = (2.5f-posture) * POSTURE_SERVO;
|
|
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
|
|
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
|
|
}
|
|
|
|
public void UpdatePositionAndVelocity()
|
|
{
|
|
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
|
d.Vector3 vec = d.BodyGetPosition(Body);
|
|
|
|
// 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 (vec.Y < 0.0f) vec.Y = 0.0f;
|
|
if (vec.X > 255.95f) vec.X = 255.95f;
|
|
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
|
|
|
this._position.X = vec.X;
|
|
this._position.Y = vec.Y;
|
|
this._position.Z = vec.Z;
|
|
|
|
if (_zeroFlag)
|
|
{
|
|
_velocity.X = 0.0f;
|
|
_velocity.Y = 0.0f;
|
|
_velocity.Z = 0.0f;
|
|
}
|
|
else
|
|
{
|
|
vec = d.BodyGetLinearVel(Body);
|
|
_velocity.X = vec.X;
|
|
_velocity.Y = vec.Y;
|
|
_velocity.Z = vec.Z;
|
|
}
|
|
}
|
|
|
|
public void Destroy()
|
|
{
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.GeomDestroy(this.Shell);
|
|
this._parent_scene.geom_name_map.Remove(this.Shell);
|
|
d.BodyDestroy(this.Body);
|
|
}
|
|
}
|
|
}
|
|
|
|
public class OdePrim : PhysicsActor
|
|
{
|
|
private PhysicsVector _position;
|
|
private PhysicsVector _velocity;
|
|
private PhysicsVector _size;
|
|
private PhysicsVector _acceleration;
|
|
private Quaternion _orientation;
|
|
private Mesh _mesh;
|
|
private PrimitiveBaseShape _pbs;
|
|
private OdeScene _parent_scene;
|
|
public IntPtr prim_geom;
|
|
public IntPtr _triMeshData;
|
|
|
|
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
|
|
Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
|
|
{
|
|
_velocity = new PhysicsVector();
|
|
_position = pos;
|
|
_size = size;
|
|
_acceleration = new PhysicsVector();
|
|
_orientation = rotation;
|
|
_mesh = mesh;
|
|
_pbs = pbs;
|
|
_parent_scene = parent_scene;
|
|
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
if (mesh!=null)
|
|
{
|
|
setMesh(parent_scene, mesh);
|
|
}
|
|
else
|
|
{
|
|
prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z);
|
|
}
|
|
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = rotation.w;
|
|
myrot.X = rotation.x;
|
|
myrot.Y = rotation.y;
|
|
myrot.Z = rotation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
parent_scene.geom_name_map[prim_geom] = primName; // don't do .add() here; old geoms get recycled with the same hash
|
|
}
|
|
}
|
|
|
|
public void setMesh(OdeScene parent_scene, Mesh mesh)
|
|
{
|
|
float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory
|
|
int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage
|
|
int VertexCount = vertexList.GetLength(0) / 3;
|
|
int IndexCount = indexList.GetLength(0);
|
|
|
|
_triMeshData = d.GeomTriMeshDataCreate();
|
|
|
|
d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount, 3 * sizeof(int));
|
|
d.GeomTriMeshDataPreprocess(_triMeshData);
|
|
|
|
prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null);
|
|
}
|
|
|
|
public override bool Flying
|
|
{
|
|
get
|
|
{
|
|
return false; //no flying prims for you
|
|
}
|
|
set
|
|
{
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Position
|
|
{
|
|
get
|
|
{
|
|
return _position;
|
|
}
|
|
set
|
|
{
|
|
_position = value;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Size
|
|
{
|
|
get
|
|
{
|
|
return _size;
|
|
}
|
|
set
|
|
{
|
|
_size = value;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
if (_mesh != null) // We deal with a mesh here
|
|
{
|
|
string oldname = _parent_scene.geom_name_map[prim_geom];
|
|
d.GeomDestroy(prim_geom);
|
|
Mesh mesh = Meshmerizer.CreateMesh(_pbs, _size);
|
|
setMesh(_parent_scene, mesh);
|
|
_parent_scene.geom_name_map[prim_geom] = oldname;
|
|
}
|
|
else
|
|
{
|
|
d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Velocity
|
|
{
|
|
get
|
|
{
|
|
return _velocity;
|
|
}
|
|
set
|
|
{
|
|
_velocity = value;
|
|
}
|
|
}
|
|
|
|
public override bool Kinematic
|
|
{
|
|
get
|
|
{
|
|
return false;
|
|
}
|
|
set
|
|
{
|
|
}
|
|
}
|
|
|
|
public override Quaternion Orientation
|
|
{
|
|
get
|
|
{
|
|
return _orientation;
|
|
}
|
|
set
|
|
{
|
|
_orientation = value;
|
|
lock (OdeScene.OdeLock)
|
|
{
|
|
d.Quaternion myrot = new d.Quaternion();
|
|
myrot.W = _orientation.w;
|
|
myrot.X = _orientation.x;
|
|
myrot.Y = _orientation.y;
|
|
myrot.Z = _orientation.z;
|
|
d.GeomSetQuaternion(prim_geom, ref myrot);
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsVector Acceleration
|
|
{
|
|
get
|
|
{
|
|
return _acceleration;
|
|
}
|
|
}
|
|
|
|
public void SetAcceleration(PhysicsVector accel)
|
|
{
|
|
this._acceleration = accel;
|
|
}
|
|
|
|
public override void AddForce(PhysicsVector force)
|
|
{
|
|
}
|
|
|
|
public override void SetMomentum(PhysicsVector momentum)
|
|
{
|
|
}
|
|
}
|
|
}
|