public AuroraODEPrim(String primName, AuroraODEPhysicsScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode, float Density)
{
m_vehicle = new AuroraODEDynamics();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
if (!pos.IsFinite())
{
pos = new Vector3((parent_scene.Region.RegionSizeX * 0.5f), (parent_scene.Region.RegionSizeY * 0.5f),
parent_scene.GetTerrainHeightAtXY((parent_scene.Region.RegionSizeX * 0.5f), (parent_scene.Region.RegionSizeY * 0.5f)));
m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
}
_position = pos;
fakepos = false;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
// correct for changed timestep
PID_D /= (parent_scene.ODE_STEPSIZE * 50f); // original ode fps of 50
PID_G /= (parent_scene.ODE_STEPSIZE * 50f);
m_density = Density / 100;
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
if (!size.IsFinite())
{
size = new Vector3(0.5f, 0.5f, 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
}
if (size.X <= 0) size.X = 0.01f;
if (size.Y <= 0) size.Y = 0.01f;
if (size.Z <= 0) size.Z = 0.01f;
_size = size;
if (!QuaternionIsFinite(rotation))
{
rotation = Quaternion.Identity;
m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
}
_orientation = rotation;
fakeori = false;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
m_targetSpace = (IntPtr)0;
if (pos.Z < 0)
m_isphysical = false;
else
{
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
if (m_isphysical)
m_targetSpace = _parent_scene.space;
}
m_primName = primName;
m_forceacc = Vector3.Zero;
m_angularforceacc = Vector3.Zero;
m_UpdateTimecntr = 0;
m_UpdateFPScntr = 2.5f * parent_scene.StepTime; // this parameter needs retunning and possible came from ini file
if (m_UpdateTimecntr > .1f) // try to keep it under 100ms
m_UpdateTimecntr = .1f;
AddChange(changes.Add, null);
}
public AuroraODEPrim(String primName, AuroraODEPhysicsScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
m_vehicle = new AuroraODEDynamics();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
if (!pos.IsFinite())
{
pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
}
_position = pos;
m_taintposition = pos;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
m_density = parent_scene.geomDefaultDensity;
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
if (!pos.IsFinite())
{
size = new Vector3(0.5f, 0.5f, 0.5f);
m_log.Warn("[PHYSICS]: Got nonFinite Object create Size");
}
if (size.X <= 0) size.X = 0.01f;
if (size.Y <= 0) size.Y = 0.01f;
if (size.Z <= 0) size.Z = 0.01f;
_size = size;
m_taintsize = _size;
if (!QuaternionIsFinite(rotation))
{
rotation = Quaternion.Identity;
m_log.Warn("[PHYSICS]: Got nonFinite Object create Rotation");
}
_orientation = rotation;
m_taintrot = _orientation;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
m_targetSpace = (IntPtr)0;
if (pos.Z < 0)
m_isphysical = false;
else
{
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
if (m_isphysical)
m_targetSpace = _parent_scene.space;
}
m_primName = primName;
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
// don't do .add() here; old geoms get recycled with the same hash
}
public AuroraODEPrim(string name, byte physicsType, PrimitiveBaseShape shape, Vector3 position, Vector3 size, Quaternion rotation,
int material, float friction, float restitution, float gravityMultiplier, float density, AuroraODEPhysicsScene parent_scene)
{
m_vehicle = new AuroraODEDynamics();
// correct for changed timestep
PID_D /= (parent_scene.ODE_STEPSIZE*50f); // original ode fps of 50
PID_G /= (parent_scene.ODE_STEPSIZE*50f);
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
_name = name;
PhysicsShapeType = physicsType;
_size = size;
_position = position;
fakepos = 0;
_orientation = rotation;
fakeori = 0;
_pbs = shape;
_parent_scene = parent_scene;
m_targetSpace = IntPtr.Zero;
/*
m_isphysical = pisPhysical;
if (m_isphysical)
m_targetSpace = _parent_scene.space;
*/
m_isphysical = false;
m_forceacc = Vector3.Zero;
m_angularforceacc = Vector3.Zero;
hasOOBoffsetFromMesh = false;
_triMeshData = IntPtr.Zero;
SetMaterial(material, friction, restitution, gravityMultiplier, density);
CalcPrimBodyData();
_parent_scene.AddSimulationChange(() => changeadd());
}
public AuroraODEPrim (ISceneChildEntity entity, AuroraODEPhysicsScene parent_scene, bool pisPhysical)
{
m_vehicle = new AuroraODEDynamics ();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
// correct for changed timestep
PID_D /= (parent_scene.ODE_STEPSIZE * 50f); // original ode fps of 50
PID_G /= (parent_scene.ODE_STEPSIZE * 50f);
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
_size = entity.Scale;
_position = entity.AbsolutePosition;
fakepos = 0;
_orientation = entity.GetWorldRotation ();
fakeori = 0;
_pbs = entity.Shape;
_parent_entity = entity;
_parent_scene = parent_scene;
m_targetSpace = IntPtr.Zero;
/*
m_isphysical = pisPhysical;
if (m_isphysical)
m_targetSpace = _parent_scene.space;
*/
m_isphysical = false;
m_forceacc = Vector3.Zero;
m_angularforceacc = Vector3.Zero;
hasOOBoffsetFromMesh = false;
_triMeshData = IntPtr.Zero;
CalcPrimBodyData();
m_UpdateTimecntr = 0;
m_UpdateFPScntr = 2.5f * parent_scene.StepTime; // this parameter needs retunning and possible came from ini file
if (m_UpdateTimecntr > .1f) // try to keep it under 100ms
m_UpdateTimecntr = .1f;
AddChange (changes.Add, null);
}
public AuroraODEPrim (ISceneChildEntity entity, AuroraODEPhysicsScene parent_scene, bool pisPhysical, CollisionLocker dode)
{
m_vehicle = new AuroraODEDynamics ();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
// correct for changed timestep
PID_D /= (parent_scene.ODE_STEPSIZE * 50f); // original ode fps of 50
PID_G /= (parent_scene.ODE_STEPSIZE * 50f);
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
_size = entity.Scale;
_position = entity.AbsolutePosition;
fakepos = false;
_orientation = entity.GetWorldRotation ();
fakeori = false;
_pbs = entity.Shape;
_parent_entity = entity;
_parent_scene = parent_scene;
m_targetSpace = (IntPtr)0;
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
if (m_isphysical)
m_targetSpace = _parent_scene.space;
m_forceacc = Vector3.Zero;
m_angularforceacc = Vector3.Zero;
m_UpdateTimecntr = 0;
m_UpdateFPScntr = 2.5f * parent_scene.StepTime; // this parameter needs retunning and possible came from ini file
if (m_UpdateTimecntr > .1f) // try to keep it under 100ms
m_UpdateTimecntr = .1f;
AddChange (changes.Add, null);
}
private Vector3 showposition; // a temp hack for now rest of code expects position to be changed immediately
public AuroraODEPrim(ISceneChildEntity entity, AuroraODEPhysicsScene parent_scene, bool pisPhysical)
{
m_vehicle = new AuroraODEDynamics();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
// correct for changed timestep
PID_D /= (parent_scene.ODE_STEPSIZE * 50f); // original ode fps of 50
PID_G /= (parent_scene.ODE_STEPSIZE * 50f);
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
_size = entity.Scale;
_position = entity.AbsolutePosition;
fakepos = 0;
_orientation = entity.GetWorldRotation();
fakeori = 0;
_pbs = entity.Shape;
_parent_entity = entity;
_parent_scene = parent_scene;
m_targetSpace = IntPtr.Zero;
/*
m_isphysical = pisPhysical;
if (m_isphysical)
m_targetSpace = _parent_scene.space;
*/
m_isphysical = false;
m_forceacc = Vector3.Zero;
m_angularforceacc = Vector3.Zero;
hasOOBoffsetFromMesh = false;
_triMeshData = IntPtr.Zero;
CalcPrimBodyData();
_parent_scene.AddSimulationChange(() => changeadd());
}