public override void linkGroupToThis(PhysicsActor[] objs)
{
Linkset.AddGroupToLinkset(objs.Cast <BSPrimLinkable>().ToArray());
DetailLog("{0},BSPrimLinkset.linkGroupToThis,call, childrenAdded={1}, childrenAfter={2}",
LocalID, objs.Length, Linkset.NumberOfChildren);
}
// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
protected override void RemoveDependencies()
{
if (Linkset != null)
{
Linkset.RemoveDependencies(this);
}
base.RemoveDependencies();
}
public override void Destroy()
{
if (!Linkset.LinksetRoot.BlockPhysicalReconstruction)//If we are disabled, this entire linkset is being removed, so allow it to happen
{
Linkset = Linkset.RemoveMeFromLinkset(this);
}
base.Destroy();
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysScene, this);
PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
Linkset.Refresh(this);
});
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysScene, this);
Linkset.Refresh(this);
}
protected override void MakeDynamic(bool makeStatic)
{
base.MakeDynamic(makeStatic);
if (makeStatic)
{
Linkset.MakeStatic(this);
}
else
{
Linkset.MakeDynamic(this);
}
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
if (_velocityMotor.Enabled)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...).
OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
{
stepVelocity.Z = entprop.Velocity.Z;
DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
}
// If the user has said stop and we've stopped applying velocity correction,
// the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
{
ZeroMotion(true);
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
}
_velocity = stepVelocity;
entprop.Velocity = _velocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
Linkset.UpdateProperties(this, true);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
}
// Refresh the linkset structure and parameters when the prim's physical parameters are changed.
public override void UpdatePhysicalParameters()
{
base.UpdatePhysicalParameters();
// Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero.
// For compound based linksets, this enables and disables interactions of the children.
if (Linkset != null) // null can happen during initialization
{
Linkset.Refresh(this);
}
}
// Called after a simulation step to post a collision with this object.
// This returns 'true' if the collision has been queued and the SendCollisions call must
// be made at the end of the simulation step.
public override bool Collide(BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// Ask the linkset if it wants to handle the collision
if (!Linkset.HandleCollide(this, collidee, contactPoint, contactNormal, pentrationDepth))
{
// The linkset didn't handle it so pass the collision through normal processing
ret = base.Collide(collidee, contactPoint, contactNormal, pentrationDepth);
}
return(ret);
}
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction,
float restitution, float gravityMultiplier, float density)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysicsScene, this);
if (Linkset != null)
{
Linkset.Refresh(this);
}
}
public override void delink()
{
// TODO: decide if this parent checking needs to happen at taint time
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG
Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/);
DetailLog("{0},BSPrimLinkable.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
return;
}
// When the prim is made dynamic or static, the linkset needs to change.
protected override void MakeDynamic(bool makeStatic)
{
base.MakeDynamic(makeStatic);
if (Linkset != null) // null can happen during initialization
{
if (makeStatic)
{
Linkset.MakeStatic(this);
}
else
{
Linkset.MakeDynamic(this);
}
}
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction,
float restitution, float gravityMultiplier, float density)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysicsScene, this);
PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
base.SetMaterial(material);
base.Friction = friction;
base.Restitution = restitution;
base.GravityMultiplier = gravityMultiplier;
base.Density = density;
Linkset.Refresh(this);
});
}
// Called after a simulation step for the changes in physical object properties.
// Do any filtering/modification needed for linksets.
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
/*
* else
* {
* // For debugging, report the movement of children
* DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
* LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
* entprop.Acceleration, entprop.RotationalVelocity);
* }
*/
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
Linkset.UpdateProperties(this, true);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
}
public override void Destroy()
{
Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */);
base.Destroy();
}
public override object Extension(string pFunct, params object[] pParams)
{
DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length);
object ret = null;
switch (pFunct)
{
// physGetLinksetType();
// pParams = [ BSPhysObject root, null ]
case ExtendedPhysics.PhysFunctGetLinksetType:
{
ret = (object)LinksetType;
DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret);
break;
}
// physSetLinksetType(type);
// pParams = [ BSPhysObject root, null, integer type ]
case ExtendedPhysics.PhysFunctSetLinksetType:
{
if (pParams.Length > 2)
{
BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2];
if (Linkset.IsRoot(this))
{
PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate()
{
// Cause the linkset type to change
DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}",
LocalID, Linkset.LinksetImpl, linksetType);
ConvertLinkset(linksetType);
});
}
ret = (object)(int)linksetType;
}
break;
}
// physChangeLinkType(linknum, typeCode);
// pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
case ExtendedPhysics.PhysFunctChangeLinkType:
{
ret = Linkset.Extension(pFunct, pParams);
break;
}
// physGetLinkType(linknum);
// pParams = [ BSPhysObject root, BSPhysObject child ]
case ExtendedPhysics.PhysFunctGetLinkType:
{
ret = Linkset.Extension(pFunct, pParams);
break;
}
// physChangeLinkParams(linknum, [code, value, code, value, ...]);
// pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ]
case ExtendedPhysics.PhysFunctChangeLinkParams:
{
ret = Linkset.Extension(pFunct, pParams);
break;
}
default:
ret = base.Extension(pFunct, pParams);
break;
}
return(ret);
}
// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
protected override void RemoveDependencies()
{
Linkset.RemoveDependencies(this);
base.RemoveDependencies();
}
public override void Destroy()
{
Linkset = Linkset.RemoveMeFromLinkset(this);
base.Destroy();
}
