/// <summary>
/// This creates the Avatar's physical Surrogate at the position supplied
/// </summary>
/// <param name="npositionX"></param>
/// <param name="npositionY"></param>
/// <param name="npositionZ"></param>
// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
// place that is safe to call this routine AvatarGeomAndBodyCreation.
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{
if (CAPSULE_LENGTH <= 0)
{
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f;
}
if (CAPSULE_RADIUS <= 0)
{
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f;
}
Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);
if (m_bodyPosition == null)
m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
m_bodyPosition.setValue(npositionX, npositionY, npositionZ);
if (m_bodyOrientation == null)
m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
if (m_bodyTransform == null)
m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
else
{
m_bodyTransform.Dispose();
m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
}
if (m_bodyMotionState == null)
m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
else
m_bodyMotionState.setWorldTransform(m_bodyTransform);
m_mass = Mass;
Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
// this is used for self identification. User localID instead of body handle
Body.setUserPointer(new IntPtr((int)m_localID));
if (ClosestCastResult != null)
ClosestCastResult.Dispose();
ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
m_parent_scene.AddRigidBody(Body);
Body.setActivationState(4);
if (m_aMotor != null)
{
if (m_aMotor.Handle != IntPtr.Zero)
{
m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
m_aMotor.Dispose();
}
m_aMotor = null;
}
m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
m_parent_scene.TransZero,
m_parent_scene.TransZero, false);
m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
}
internal void EnableAxisMotor(Vector3 axislock)
{
if (m_aMotor != null)
DisableAxisMotor();
if (Body == null)
return;
if (Body.Handle == IntPtr.Zero)
return;
if (AxisLockAngleHigh != null && AxisLockAngleHigh.Handle != IntPtr.Zero)
AxisLockAngleHigh.Dispose();
m_aMotor = new btGeneric6DofConstraint(Body, _parent_scene.TerrainBody, _parent_scene.TransZero,
_parent_scene.TransZero, false);
float endNoLock = (360 * Utils.DEG_TO_RAD);
AxisLockAngleHigh = new btVector3((axislock.X == 0) ? 0 : endNoLock, (axislock.Y == 0) ? 0 : endNoLock, (axislock.Z == 0) ? 0 : endNoLock);
m_aMotor.setAngularLowerLimit(_parent_scene.VectorZero);
m_aMotor.setAngularUpperLimit(AxisLockAngleHigh);
m_aMotor.setLinearLowerLimit(AxisLockLinearLow);
m_aMotor.setLinearUpperLimit(AxisLockLinearHigh);
_parent_scene.getBulletWorld().addConstraint((btTypedConstraint)m_aMotor);
//m_aMotor.
}