/// <summary>
/// Add a child prim to this parent prim.
/// </summary>
/// <param name="prim">Child prim</param>
public void AddChildPrim(OdePrim prim)
{
//Console.WriteLine("AddChildPrim " + Name);
if (this.m_localID != prim.m_localID)
{
if (Body == IntPtr.Zero)
{
Body = d.BodyCreate(_parent_scene.world);
setMass();
}
if (Body != IntPtr.Zero)
{
lock (childrenPrim)
{
if (!childrenPrim.Contains(prim))
{
//Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
{
d.Mass m2;
d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(ref m2, ref mat);
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
}
foreach (OdePrim prm in childrenPrim)
{
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
if (prm.prim_geom == IntPtr.Zero)
{
m_log.WarnFormat(
"[PHYSICS]: Unable to link one of the linkset elements {0} for parent {1}. No geom yet",
prm.Name, prim.Name);
continue;
}
//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
if (Body != IntPtr.Zero)
{
d.GeomSetBody(prm.prim_geom, Body);
prm.childPrim = true;
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
}
else
{
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
}
prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0;
prm.m_disabled = false;
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{
prm.createAMotor(m_angularlock);
}
prm.Body = Body;
_parent_scene.addActivePrim(prm);
}
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
//Console.WriteLine(" Post GeomSetCategoryBits 2");
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
d.Quaternion quat2 = new d.Quaternion();
quat2.W = _orientation.W;
quat2.X = _orientation.X;
quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z;
d.Matrix3 mat2 = new d.Matrix3();
d.RfromQ(out mat2, ref quat2);
d.GeomSetBody(prim_geom, Body);
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0;
m_collisionscore = 0;
m_disabled = false;
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{
createAMotor(m_angularlock);
}
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
_parent_scene.addActivePrim(this);
}
}
}
}
}
public void randomizeWater(float baseheight)
{
const uint heightmapWidth = m_regionWidth + 2;
const uint heightmapHeight = m_regionHeight + 2;
const uint heightmapWidthSamples = m_regionWidth + 2;
const uint heightmapHeightSamples = m_regionHeight + 2;
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 2.9f;
const int wrap = 0;
for (int i = 0; i < (258 * 258); i++)
{
_watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
}
lock (OdeLock)
{
if (WaterGeom != IntPtr.Zero)
{
d.SpaceRemove(space, WaterGeom);
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (WaterGeom != IntPtr.Zero)
{
d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
}
geom_name_map[WaterGeom] = "Water";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
//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;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(WaterGeom, ref R);
d.GeomSetPosition(WaterGeom, 128, 128, 0);
}
}
public override void SetTerrain(float[] heightMap)
{
for (int i = 0; i < 65536; i++)
{
this._heightmap[i] = (double)heightMap[i];
}
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);
d.Matrix3 R = new d.Matrix3();
Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
//Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
q1 = q1 * q2;
//q1 = q1 * q3;
Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.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 void SetTerrain(float[] heightMap, Vector3 pOffset)
{
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- creating a buffer zone of one extra sample all around
//_origheightmap = heightMap;
float[] _heightmap;
// zero out a heightmap array float array (single dimension [flattened]))
//if ((int)Constants.RegionSize == 256)
// _heightmap = new float[514 * 514];
//else
_heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
uint heightmapWidth = Constants.RegionSize + 1;
uint heightmapHeight = Constants.RegionSize + 1;
uint heightmapWidthSamples;
uint heightmapHeightSamples;
//if (((int)Constants.RegionSize) == 256)
//{
// heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
// heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
// heightmapWidth++;
// heightmapHeight++;
//}
//else
//{
heightmapWidthSamples = (uint)Constants.RegionSize + 1;
heightmapHeightSamples = (uint)Constants.RegionSize + 1;
//}
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 0.2f;
const int wrap = 0;
int regionsize = (int) Constants.RegionSize + 2;
//Double resolution
//if (((int)Constants.RegionSize) == 256)
// heightMap = ResizeTerrain512Interpolation(heightMap);
// if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
// regionsize = 512;
float hfmin = 2000;
float hfmax = -2000;
for (int x = 0; x < heightmapWidthSamples; x++)
{
for (int y = 0; y < heightmapHeightSamples; y++)
{
int xx = Util.Clip(x - 1, 0, regionsize - 1);
int yy = Util.Clip(y - 1, 0, regionsize - 1);
float val= heightMap[yy * (int)Constants.RegionSize + xx];
_heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
hfmin = (val < hfmin) ? val : hfmin;
hfmax = (val > hfmax) ? val : hfmax;
}
}
lock (OdeLock)
{
IntPtr GroundGeom = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
{
RegionTerrain.Remove(pOffset);
if (GroundGeom != IntPtr.Zero)
{
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
{
TerrainHeightFieldHeights.Remove(GroundGeom);
}
d.SpaceRemove(space, GroundGeom);
d.GeomDestroy(GroundGeom);
}
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1,
(int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (GroundGeom != IntPtr.Zero)
{
d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
}
geom_name_map[GroundGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
//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;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)) - 1, (pOffset.Y + ((int)Constants.RegionSize * 0.5f)) - 1, 0);
IntPtr testGround = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out testGround))
{
RegionTerrain.Remove(pOffset);
}
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
}
}
public override void SetTerrain(float[] heightMap)
{
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- creating a buffer zone of one extra sample all around
_origheightmap = heightMap; // Used for Fly height. Kitto Flora
const uint heightmapWidth = m_regionWidth + 2;
const uint heightmapHeight = m_regionHeight + 2;
const uint heightmapWidthSamples = 2*m_regionWidth + 2;
const uint heightmapHeightSamples = 2*m_regionHeight + 2;
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 0.2f;
const int wrap = 0;
//Double resolution
heightMap = ResizeTerrain512Interpolation(heightMap);
float hfmin = 2000;
float hfmax = -2000;
for (int x = 0; x < heightmapWidthSamples; x++)
{
for (int y = 0; y < heightmapHeightSamples; y++)
{
int xx = Util.Clip(x - 1, 0, 511);
int yy = Util.Clip(y - 1, 0, 511);
float val = heightMap[yy*512 + xx];
_heightmap[x*heightmapHeightSamples + y] = val;
hfmin = (val < hfmin) ? val : hfmin;
hfmax = (val > hfmax) ? val : hfmax;
}
}
lock (OdeLock)
{
if (LandGeom != IntPtr.Zero)
{
d.SpaceRemove(space, LandGeom);
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
(int) heightmapWidthSamples, (int) heightmapHeightSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1 , hfmax + 1);
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (LandGeom != IntPtr.Zero)
{
d.GeomSetCategoryBits(LandGeom, (int)(CollisionCategories.Land));
d.GeomSetCollideBits(LandGeom, (int)(CollisionCategories.Space));
}
geom_name_map[LandGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
//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;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(LandGeom, ref R);
d.GeomSetPosition(LandGeom, 128, 128, 0);
}
}
