public static PhysX.RigidActor CreateProperInitialActor(PhysicsShape meshedShape, PhysxScene scene, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsScene.AddPrimShapeFlags flags, out bool kinematicStatic,
Material material)
{
bool isPhysical = (flags & PhysicsScene.AddPrimShapeFlags.Physical) != 0;
kinematicStatic = false;
PhysX.RigidActor actor;
if (isPhysical)
{
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
else
{
if ((flags & PhysicsScene.AddPrimShapeFlags.FromSceneStartup) != 0)
{
actor = PhysxActorFactory.CreateRigidStatic(scene, meshedShape, pos, rotation, material);
}
else
{
kinematicStatic = true;
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
}
return(actor);
}
public override void GatherTerseUpdate(out OpenMetaverse.Vector3 position, out OpenMetaverse.Quaternion rotation, out OpenMetaverse.Vector3 velocity, out OpenMetaverse.Vector3 acceleration, out OpenMetaverse.Vector3 angularVelocity)
{
lock (_terseConsistencyLock)
{
position = _position;
rotation = _rotation;
velocity = _velocity;
//if this is a child prim, or it is not physical, report angular velocity
//as whatever our target is (targetomega)
//this is necessary because changing this physical and back again will
//change the angular velocity and currently TargetOmega is implemented
//as an overwrite to angular velocity which is wrong.
if (IsChild || !_isPhysical)
{
angularVelocity = _properties.AngularVelocityTarget;
}
else if (_useAngularVelocity)
{
angularVelocity = _angularVelocity;
}
else
{
angularVelocity = OpenMetaverse.Vector3.Zero;
}
acceleration = _acceleration;
}
}
public void StaticUpdated(uint actorID, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion orientation)
{
// Update the result variables
m_resultStaticID = actorID;
m_resultPosition = position;
m_resultOrientation = orientation;
m_staticResultsReceived = true;
}
public static LSL_Rotation EHArgUnwrapRotation(object x)
{
if (x is OpenMetaverse.Quaternion)
{
OpenMetaverse.Quaternion q = (OpenMetaverse.Quaternion)x;
return(new LSL_Rotation(q.X, q.Y, q.Z, q.W));
}
return((LSL_Rotation)x);
}
public CreateCharacterCmd(float height, float radius, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rot, bool flying, OpenMetaverse.Vector3 initialVelocity)
{
_height = height;
_radius = radius;
_position = pos;
_rotation = rot;
_flying = flying;
_initialVelocity = initialVelocity;
}
public override void LinkToNewParent(PhysicsActor obj, OpenMetaverse.Vector3 localPos, OpenMetaverse.Quaternion localRot)
{
lock (_terseConsistencyLock)
{
_position = localPos;
_rotation = localRot;
}
_parentPrim = (BasicPrim)obj;
}
public override void UpdateOffsetPosition(OpenMetaverse.Vector3 newOffset, OpenMetaverse.Quaternion rotOffset)
{
//Offset updates are only handled for child prims. Upstream a non child move is
//handled by setting our position directly
if (IsChild)
{
_position = newOffset;
_rotation = rotOffset;
}
}
public CreateCharacterCmd(float height, float radius, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rot, bool flying, OpenMetaverse.Vector3 initialVelocity)
{
_height = height;
_radius = radius;
_position = pos;
_rotation = rot;
_flying = flying;
_initialVelocity = initialVelocity;
}
public override void DelinkFromParent(OpenMetaverse.Vector3 newWorldPosition, OpenMetaverse.Quaternion newWorldRotation)
{
lock (_terseConsistencyLock)
{
_position = newWorldPosition;
_rotation = newWorldRotation;
}
_parentPrim = null;
}
public override void SetRotLookAtTarget(OpenMetaverse.Quaternion target, float strength, float damping)
{
lock (_properties)
{
_properties.RotLookTarget = target;
_properties.RotLookStrength = OpenMetaverse.Utils.Clamp(strength, 0.1f, 1.0f);
_properties.RotLookDamping = OpenMetaverse.Utils.Clamp(damping, 0.1f, 100.0f);
}
_scene.QueueCommand(new Commands.WakeUpCmd(this));
}
public static String AvatarMoved(string uuid, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation, OpenMetaverse.Vector3 velocity)
{
Dictionary <string, object> msg = new Dictionary <string, object>();
msg ["type"] = "moveAvatar";
msg ["uuid"] = uuid;
msg ["position"] = position;
msg ["rotation"] = rotation;
msg ["velocity"] = velocity;
return(MGMJson.Encode(msg));
}
public void DynamicUpdated(uint actorID, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion orientation,
OpenMetaverse.Vector3 linearVelocity, OpenMetaverse.Vector3 angularVelocity)
{
Console.WriteLine("Received dynamic results!");
// Update the result variables
m_resultDynamicID = actorID;
m_resultPosition = position;
m_resultOrientation = orientation;
m_resultLinearVelocity = linearVelocity;
m_resultAngularVelocity = angularVelocity;
m_dynamicResultsReceived = true;
}
public ChangeChildPrimOffsetCmd(PhysxPrim parent, PhysxPrim child, OpenMetaverse.Vector3 newOffset,
OpenMetaverse.Quaternion rotOffset)
{
Util.ThrowIfNull(parent, "parent");
Util.ThrowIfNull(child, "child");
_parent = parent;
_child = child;
_newOffset = newOffset;
_rotOffset = rotOffset;
_affectedPrims = new List<PhysxPrim> { parent, child };
}
public UnlinkFromParentCmd(PhysxPrim child, PhysxPrim parent, OpenMetaverse.Vector3 newWorldPosition,
OpenMetaverse.Quaternion newWorldRotation)
{
Util.ThrowIfNull(parent, "parent");
Util.ThrowIfNull(child, "child");
_child = child;
_parent = parent;
_newWorldPosition = newWorldPosition;
_newWorldRotation = newWorldRotation;
_targetPrims = new PhysxPrim[] { child, parent };
}
public UnlinkFromParentCmd(PhysxPrim child, PhysxPrim parent, OpenMetaverse.Vector3 newWorldPosition,
OpenMetaverse.Quaternion newWorldRotation)
{
Util.ThrowIfNull(parent, "parent");
Util.ThrowIfNull(child, "child");
_child = child;
_parent = parent;
_newWorldPosition = newWorldPosition;
_newWorldRotation = newWorldRotation;
_targetPrims = new PhysxPrim[] { child, parent };
}
public ChangeChildPrimOffsetCmd(PhysxPrim parent, PhysxPrim child, OpenMetaverse.Vector3 newOffset,
OpenMetaverse.Quaternion rotOffset)
{
Util.ThrowIfNull(parent, "parent");
Util.ThrowIfNull(child, "child");
_parent = parent;
_child = child;
_newOffset = newOffset;
_rotOffset = rotOffset;
_affectedPrims = new List <PhysxPrim> {
parent, child
};
}
public PrepChildPrimAndLinkCmd(PhysxPrim parent, PhysxPrim child, OpenMetaverse.Vector3 localPos,
OpenMetaverse.Quaternion localRot)
{
Util.ThrowIfNull(parent, "parent");
Util.ThrowIfNull(child, "child");
_parent = parent;
_child = child;
_localPos = localPos;
_localRot = localRot;
_newShape = null;
_affectedPrims = new List<PhysxPrim> { parent, child };
_affectedPrims.AddRange(child.ChildShapes.Keys);
}
public PrepChildPrimAndLinkCmd(PhysxPrim parent, PhysxPrim child, OpenMetaverse.Vector3 localPos,
OpenMetaverse.Quaternion localRot)
{
Util.ThrowIfNull(parent, "parent");
Util.ThrowIfNull(child, "child");
_parent = parent;
_child = child;
_localPos = localPos;
_localRot = localRot;
_newShape = null;
_affectedPrims = new List <PhysxPrim> {
parent, child
};
_affectedPrims.AddRange(child.ChildShapes.Keys);
}
private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
{
Vec3 pos = new Vec3();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
Vec3 siz = new Vec3();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
_prims.Add(act);
return(act);
}
private void ChangeToChild(BasicPrim parent, OpenMetaverse.Vector3 localPos, OpenMetaverse.Quaternion localRot)
{
_parentPrim = parent;
//this prim no longer has its old shape or its actor
//_scene.PrimBecameChild(this);
//if we have children, we need to unref their shapes here, as our new parent (ours and our children)
//may require different shape types and will be rebuilt
//this.DeleteActor(_actor, _myShape, _isPhysical, DeleteActorFlags.UnrefChildShapes);
//_actor = null;
//_dynActor = null;
//_myShape = null;
_position = localPos;
_rotation = localRot;
}
public BasicPrim(BasicPrim parent, BasicScene scene, PrimitiveBaseShape baseShape, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, /*PhysicsShape myShape, PhysX.RigidActor myActor,*/
bool isPhysical, IPhysicsProperties properties /*, CollisionGroupFlag collisionGroup*/)
{
_parentPrim = parent;
_scene = scene;
_pbs = baseShape;
_position = pos;
_rotation = rotation;
_isPhysical = isPhysical;
_properties = (BasicPhysicsProperties)properties;
//_collisionGroup = collisionGroup;
_acceleration = OpenMetaverse.Vector3.Zero;
_mass = OBJECT_DENSITY * _pbs.Scale.X * _pbs.Scale.Y * _pbs.Scale.Z;
//this.AssignActor(myActor, myShape, _isPhysical, DeleteActorFlags.None);
}
public CreateObjectCmd(PhysxPrim parent, string primName, OpenSim.Framework.PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation, OpenMetaverse.Vector3 velocity, OpenMetaverse.Vector3 angularVelocity,
float lod, PhysicsScene.AddPrimShapeFlags flags, Material material, byte[] serializedPhysicsProperties, byte[] serializedPhysicsShapes,
ulong interpolateTime)
{
_parent = parent;
_primName = primName;
_pbs = pbs;
_position = position;
_size = size;
_rotation = rotation;
_velocity = velocity;
_angularVelocity = angularVelocity;
_lod = lod;
_flags = flags;
_material = material;
_serializedPhysicsProperties = serializedPhysicsProperties;
_serializedPhysicsShapes = serializedPhysicsShapes;
_interpolateTime = interpolateTime;
}
public CreateObjectCmd(PhysxPrim parent, string primName, OpenSim.Framework.PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation, OpenMetaverse.Vector3 velocity, OpenMetaverse.Vector3 angularVelocity,
float lod, PhysicsScene.AddPrimShapeFlags flags, Material material, byte[] serializedPhysicsProperties, byte[] serializedPhysicsShapes,
ulong interpolateTime)
{
_parent = parent;
_primName = primName;
_pbs = pbs;
_position = position;
_size = size;
_rotation = rotation;
_velocity = velocity;
_angularVelocity = angularVelocity;
_lod = lod;
_flags = flags;
_material = material;
_serializedPhysicsProperties = serializedPhysicsProperties;
_serializedPhysicsShapes = serializedPhysicsShapes;
_interpolateTime = interpolateTime;
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation, bool isPhysical)
{
return(AddPrim(position, size, rotation));
}
public SetRotationCmd(PhysxPrim prim, OpenMetaverse.Quaternion newRot)
{
_prim = prim;
_newRotation = newRot;
}
/**
* @brief Add arbitrary constant available to script compilation.
* CAUTION: These values get compiled-in to a script and must not
* change over time as previously compiled scripts will
* still have the old values.
*/
public static ScriptConst AddConstant(string name, object value)
{
CompValu cv = null;
if (value is char)
{
cv = new CompValuChar(new TokenTypeChar(null), (char)value);
}
else if (value is double)
{
cv = new CompValuFloat(new TokenTypeFloat(null), (double)(double)value);
}
else if (value is float)
{
cv = new CompValuFloat(new TokenTypeFloat(null), (double)(float)value);
}
else if (value is int)
{
cv = new CompValuInteger(new TokenTypeInt(null), (int)value);
}
else if (value is string)
{
cv = new CompValuString(new TokenTypeStr(null), (string)value);
}
else if (value is LSL_Float)
{
cv = new CompValuFloat(new TokenTypeFloat(null), (double)((LSL_Float)value).value);
}
else if (value is LSL_Integer)
{
cv = new CompValuInteger(new TokenTypeInt(null), ((LSL_Integer)value).value);
}
else if (value is LSL_Rotation)
{
LSL_Rotation r = (LSL_Rotation)value;
CompValu x = new CompValuFloat(new TokenTypeFloat(null), r.x);
CompValu y = new CompValuFloat(new TokenTypeFloat(null), r.y);
CompValu z = new CompValuFloat(new TokenTypeFloat(null), r.z);
CompValu s = new CompValuFloat(new TokenTypeFloat(null), r.s);
cv = new CompValuRot(new TokenTypeRot(null), x, y, z, s);
}
else if (value is LSL_String)
{
cv = new CompValuString(new TokenTypeStr(null), (string)(LSL_String)value);
}
else if (value is LSL_Vector)
{
LSL_Vector v = (LSL_Vector)value;
CompValu x = new CompValuFloat(new TokenTypeFloat(null), v.x);
CompValu y = new CompValuFloat(new TokenTypeFloat(null), v.y);
CompValu z = new CompValuFloat(new TokenTypeFloat(null), v.z);
cv = new CompValuVec(new TokenTypeVec(null), x, y, z);
}
else if (value is OpenMetaverse.Quaternion)
{
OpenMetaverse.Quaternion r = (OpenMetaverse.Quaternion)value;
CompValu x = new CompValuFloat(new TokenTypeFloat(null), r.X);
CompValu y = new CompValuFloat(new TokenTypeFloat(null), r.Y);
CompValu z = new CompValuFloat(new TokenTypeFloat(null), r.Z);
CompValu s = new CompValuFloat(new TokenTypeFloat(null), r.W);
cv = new CompValuRot(new TokenTypeRot(null), x, y, z, s);
}
else if (value is OpenMetaverse.UUID)
{
cv = new CompValuString(new TokenTypeKey(null), value.ToString());
}
else if (value is OpenMetaverse.Vector3)
{
OpenMetaverse.Vector3 v = (OpenMetaverse.Vector3)value;
CompValu x = new CompValuFloat(new TokenTypeFloat(null), v.X);
CompValu y = new CompValuFloat(new TokenTypeFloat(null), v.Y);
CompValu z = new CompValuFloat(new TokenTypeFloat(null), v.Z);
cv = new CompValuVec(new TokenTypeVec(null), x, y, z);
}
if (cv == null)
{
throw new Exception("bad type " + value.GetType().Name);
}
return(new ScriptConst(scriptConstants, name, cv));
}
protected OpenMetaverse.Quaternion parseRotation(XmlElement XMLNode)
{
OpenMetaverse.Quaternion orientation = new OpenMetaverse.Quaternion();
orientation.X = ParseFloat(XMLNode.GetAttribute("qx"));
orientation.Y = ParseFloat(XMLNode.GetAttribute("qy"));
orientation.Z = ParseFloat(XMLNode.GetAttribute("qz"));
orientation.W = ParseFloat(XMLNode.GetAttribute("qw"));
return orientation;
}
private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
{
Vec3 pos = new Vec3();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
Vec3 siz = new Vec3();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
_prims.Add(act);
return act;
}
public void AttachObject(uint localID, OpenMetaverse.Quaternion rotation, byte attachPoint, OpenMetaverse.UUID ownerID)
{
}
public void SendAvatarData(ulong regionHandle, string firstName, string lastName, string grouptitle, OpenMetaverse.UUID avatarID, uint avatarLocalID,
OpenMetaverse.Vector3 Pos, byte[] textureEntry, uint parentID, OpenMetaverse.Quaternion rotation, OpenMetaverse.Vector4 collisionPlane,
OpenMetaverse.Vector3 velocity, bool immediate)
{
}
public override void DelinkFromParent(OpenMetaverse.Vector3 newWorldPosition, OpenMetaverse.Quaternion newWorldRotation)
{
lock (_terseConsistencyLock)
{
_position = newWorldPosition;
_rotation = newWorldRotation;
}
_parentPrim = null;
}
public BasicPrim(BasicPrim parent, BasicScene scene, PrimitiveBaseShape baseShape, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, /*PhysicsShape myShape, PhysX.RigidActor myActor,*/
bool isPhysical, IPhysicsProperties properties/*, CollisionGroupFlag collisionGroup*/)
{
_parentPrim = parent;
_scene = scene;
_pbs = baseShape;
_position = pos;
_rotation = rotation;
_isPhysical = isPhysical;
_properties = (BasicPhysicsProperties)properties;
//_collisionGroup = collisionGroup;
_acceleration = OpenMetaverse.Vector3.Zero;
_mass = OBJECT_DENSITY * _pbs.Scale.X * _pbs.Scale.Y * _pbs.Scale.Z;
//this.AssignActor(myActor, myShape, _isPhysical, DeleteActorFlags.None);
}
public override void DelinkFromParent(OpenMetaverse.Vector3 newWorldPosition, OpenMetaverse.Quaternion newWorldRotation)
{
lock (_terseConsistencyLock)
{
_position = newWorldPosition;
_rotation = newWorldRotation;
}
_scene.QueueCommand(new Commands.UnlinkFromParentCmd(this, _parentPrim, newWorldPosition, newWorldRotation));
}
//public override void SetMaterial(IMaterial
public override void LinkToNewParent(PhysicsActor obj, OpenMetaverse.Vector3 localPos, OpenMetaverse.Quaternion localRot)
{
lock (_terseConsistencyLock)
{
_position = localPos;
_rotation = localRot;
}
_scene.QueueCommand(new Commands.PrepChildPrimAndLinkCmd((PhysxPrim)obj, this, localPos, localRot));
}
public PhysxPrim(PhysxPrim parent, PhysxScene scene, PrimitiveBaseShape baseShape, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsShape myShape, PhysX.RigidActor myActor,
bool isPhysical, IPhysicsProperties properties, CollisionGroupFlag collisionGroup)
{
_parentPrim = parent;
_scene = scene;
_pbs = baseShape;
_position = pos;
_rotation = rotation;
_isPhysical = isPhysical;
_properties = (PhysicsProperties)properties;
_collisionGroup = collisionGroup;
this.AssignActor(myActor, myShape, _isPhysical, DeleteActorFlags.None);
if (_properties.VehicleProps != null && _properties.VehicleProps.Type != VehicleType.None)
{
//init dynamics
CheckCreateVehicleDynamics();
}
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation) //To be removed
{
return AddPrimShape(primName, pbs, position, size, rotation, false);
}
/// <summary>
/// Unlinks this prim from its parent
/// </summary>
/// <param name="newWorldPosition">The new position for the new physics actor</param>
/// <param name="newWorldRotation">The new rotation for the new physics actor</param>
internal void UnlinkFromParent(OpenMetaverse.Vector3 newWorldPosition,
OpenMetaverse.Quaternion newWorldRotation)
{
if (_parentPrim == null) return;
bool physical = _parentPrim.IsPhysical;
_position = newWorldPosition;
_rotation = newWorldRotation;
PhysicsShape childShape = _parentPrim.UnlinkChild(this);
_parentPrim = null;
if (childShape != null)
{
this.RebuildPhysxActorWithNewShape(childShape, null, physical, true);
}
}
public override void LinkToNewParent(PhysicsActor obj, OpenMetaverse.Vector3 localPos, OpenMetaverse.Quaternion localRot)
{
lock (_terseConsistencyLock)
{
_position = localPos;
_rotation = localRot;
}
_parentPrim = (BasicPrim)obj;
}
public void SendAvatarTerseUpdate(ulong regionHandle, ushort timeDilation, uint localID, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 velocity, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion rotation, OpenMetaverse.UUID agentid, OpenMetaverse.Vector4 collisionPlane)
{
}
private void ChangeToChild(PhysxPrim parent, OpenMetaverse.Vector3 localPos, OpenMetaverse.Quaternion localRot)
{
_parentPrim = parent;
//this prim no longer has its old shape or its actor
_scene.PrimBecameChild(this);
//if we have children, we need to unref their shapes here, as our new parent (ours and our children)
//may require different shape types and will be rebuilt
this.DeleteActor(_actor, _myShape, _isPhysical, DeleteActorFlags.UnrefChildShapes);
_actor = null;
_dynActor = null;
_myShape = null;
_position = localPos;
_rotation = localRot;
}
public void SendSitResponse(OpenMetaverse.UUID TargetID, OpenMetaverse.Vector3 OffsetPos, OpenMetaverse.Quaternion SitOrientation, bool autopilot, OpenMetaverse.Vector3 CameraAtOffset, OpenMetaverse.Vector3 CameraEyeOffset, bool ForceMouseLook)
{
}
public BasicPrim(BasicScene scene, PrimitiveBaseShape baseShape, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, /*PhysicsShape myShape, PhysX.RigidActor myActor,*/
bool isPhysical, IPhysicsProperties properties /*, CollisionGroupFlag collisionGroup*/)
: this(null, scene, baseShape, pos, rotation, /*myShape, myActor,*/ isPhysical, properties /*, collisionGroup*/)
{
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation, bool isPhysical)
{
return AddPrim(position, size, rotation);
}
private void CheckSyncRotation()
{
//check my rotation
_rotation = GetRotationFromActor();
}
public override PhysicsActor AddAvatar(string avName, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation, OpenMetaverse.Vector3 size, bool isFlying, OpenMetaverse.Vector3 initialVelocity)
{
Commands.CreateCharacterCmd cmd = new Commands.CreateCharacterCmd(size.Z, size.X, position, rotation, isFlying, initialVelocity);
this.QueueCommand(cmd);
cmd.FinshedEvent.Wait();
cmd.Dispose();
return(cmd.FinalActor);
}
public SetRotationCmd(PhysxPrim prim, OpenMetaverse.Quaternion newRot)
{
_prim = prim;
_newRotation = newRot;
}
public Quaternion(OMV_Quaternion rot)
{
x = rot.X;
y = rot.Y;
z = rot.Z;
s = rot.W;
}
public PhysxCharacter(PhysxScene scene, float height, float radius,
OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
bool flying, OpenMetaverse.Vector3 initialVelocity)
{
_scene = scene;
_radius = Math.Max(radius, 0.2f);
/*
* The capsule is defined as a position, a vertical height, and a radius. The height is the distance between the
* two sphere centers at the end of the capsule. In other words:
*
* p = pos (returned by controller)
* h = height
* r = radius
*
* p = center of capsule
* top sphere center = p.y + h*0.5
* bottom sphere center = p.y - h*0.5
* top capsule point = p.y + h*0.5 + r
* bottom capsule point = p.y - h*0.5 - r
*/
_height = height;
_flying = flying;
float volume = (float)(Math.PI * Math.Pow(_radius, 2) * this.CapsuleHeight);
_mass = CHARACTER_DENSITY * volume;
_position = position;
_rotation = rotation;
_hitReportDelegator = new UserControllerHitReportDelegator();
_hitReportDelegator.OnShapeHitCallback += this.OnShapeHit;
_hitReportDelegator.OnControllerHitCallback += this.OnControllerHit;
PhysX.CapsuleControllerDesc controllerDesc = new PhysX.CapsuleControllerDesc
{
Height = this.CapsuleHeight,
Radius = _radius,
StepOffset = STEP_OFFSET,
UpDirection = new PhysX.Math.Vector3(0.0f, 0.0f, 1.0f),
Position = PhysUtil.OmvVectorToPhysx(position),
Material = scene.DEFAULT_MATERIAL,
InteractionMode = PhysX.CCTInteractionMode.Include,
SlopeLimit = (float)Math.Cos(OpenMetaverse.Utils.DEG_TO_RAD * MAX_WALKABLE_SLOPE),
ContactOffset = CONTACT_OFFSET,
Callback = _hitReportDelegator,
BehaviorCallback = _rideOnBehavior
};
_controller = _scene.ControllerManager.CreateController<PhysX.CapsuleController>(controllerDesc);
_controller.Actor.UserData = this;
DoZDepenetration();
_controller.ShapeFilterData = CollisionGroup.GetFilterData((uint)(PhysX.PairFlag.NotifyTouchFound | PhysX.PairFlag.NotifyTouchLost),
0, CollisionGroupFlag.Character);
_lastSync = (uint)Environment.TickCount;
_vTarget = initialVelocity;
_velocity = initialVelocity;
if (_vTarget != OpenMetaverse.Vector3.Zero)
{
//hack to continue at velocity until the controller picks up
_lastVelocityNonZero = OpenSim.Framework.Util.GetLongTickCount() - VELOCITY_RAMPUP_TIME;
}
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation) //To be removed
{
return(AddPrimShape(primName, pbs, position, size, rotation, false));
}
private float CalculateDepenetrationZOffset(OpenMetaverse.Vector3 pos, PhysX.Geometry avaGeom, PhysX.Shape avaShape)
{
const int MAX_ITERATIONS = 8;
const float PUSH_MULTIPLIER = 1.5F;
float pushFactor = 0.1f;
OpenMetaverse.Vector3 offset = OpenMetaverse.Vector3.Zero;
bool foundOverlap = false;
//constant from looking at the rot returned from the live avatar,
//remember that capsules are always upright, and z rotations don't have an effect
//on their geometry
OpenMetaverse.Quaternion capsuleRot = new OpenMetaverse.Quaternion(0f, -0.7071069f, 0f, 0.7071067f);
for (int i = 0; i < MAX_ITERATIONS; i++)
{
foundOverlap = false;
OpenMetaverse.Vector3 translatedPose = pos + offset;
PhysX.Shape[] overlap = _scene.SceneImpl.OverlapMultiple(avaGeom, PhysUtil.PositionToMatrix(translatedPose, capsuleRot));
if (overlap == null)
{
foundOverlap = true;
}
else
{
foreach (var shape in overlap)
{
if (shape != avaShape && !ShapeIsVolumeDetect(shape))
{
foundOverlap = true;
break;
}
}
}
if (foundOverlap && i + 1 < MAX_ITERATIONS)
{
offset += new OpenMetaverse.Vector3(0f, 0f, pushFactor);
pushFactor *= PUSH_MULTIPLIER;
}
else
{
break;
}
}
if (foundOverlap == false && offset != OpenMetaverse.Vector3.Zero)
{
return offset.Z;
}
return 0.0f;
}
public override void VehicleRotationParam(int param, Quaternion rotation)
{
}
public void SendTelehubInfo(OpenMetaverse.Vector3 TelehubPos, OpenMetaverse.Quaternion TelehubRot, List <OpenMetaverse.Vector3> SpawnPoint, OpenMetaverse.UUID ObjectID, string nameT)
{
}
public override void VehicleRotationParam(int param, Quaternion rotation)
{
}
public override void UpdateOffsetPosition(OpenMetaverse.Vector3 newOffset, OpenMetaverse.Quaternion rotOffset)
{
//Offset updates are only handled for child prims. Upstream a non child move is
//handled by setting our position directly
if (IsChild)
{
_position = newOffset;
_rotation = rotOffset;
_parentPrim.ChildPrimOffsetChanged(this, newOffset, rotOffset);
}
}
