public void setCollisionShape(btCollisionShape collisionShape)
{
if (m_disposed)
{
throw new ObjectDisposedException(ToString());
}
BulletAPI_BtCollisionObject_setCollisionShape(m_handle, collisionShape.Handle);
}
public btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape, btVector3 localInertia)
{
m_constructionInfo = new btRigidBodyConstructionInfo();
m_constructionInfo.m_collisionShape = collisionShape;
m_constructionInfo.m_localInertia = localInertia;
m_constructionInfo.m_motionState = motionState;
m_constructionInfo.m_startWorldTransform = btTransform.getIdentity();
m_constructionInfo.SetGenericDefaultValues();
m_constructionInfo.m_mass = mass;
m_constructionInfo.commit();
m_handle = BulletAPI_CreateBtRigidBody(m_constructionInfo.Handle);
}
public btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape, btVector3 localInertia)
{
m_constructionInfo = new btRigidBodyConstructionInfo();
m_constructionInfo.m_collisionShape = collisionShape;
m_constructionInfo.m_localInertia = localInertia;
m_constructionInfo.m_motionState = motionState;
m_constructionInfo.m_startWorldTransform = btTransform.getIdentity();
m_constructionInfo.SetGenericDefaultValues();
m_constructionInfo.m_mass = mass;
m_constructionInfo.commit();
m_handle = BulletAPI_CreateBtRigidBody(m_constructionInfo.Handle);
}
internal void Dispose()
{
m_parent_scene.RemoveAvatarFromList(this);
if (Body != null)
{
if (Body.isInWorld())
{
m_parent_scene.removeFromWorld(this, Body);
m_parent_scene.RemoveCollisionObject(Body);
}
Body.Dispose();
Body = null;
}
if (m_aMotor != null)
{
if (m_aMotor.Handle != IntPtr.Zero)
m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
m_aMotor.Dispose(); m_aMotor = null;
}
if (ClosestCastResult != null)
{
ClosestCastResult.Dispose(); ClosestCastResult = null;
}
if (Shell != null)
{
Shell.Dispose(); Shell = null;
}
tempQuat1.Dispose();
tempTrans1.Dispose();
tempVector1.Dispose();
tempVector2.Dispose();
tempVector3.Dispose();
tempVector4.Dispose();
tempVector5RayCast.Dispose();
tempVector6RayCast.Dispose();
}
/// <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);
}
private void SetCollisionShape(btCollisionShape shape)
{
/*
if (shape == null)
m_log.Debug("[PHYSICS]:SetShape!Null");
else
m_log.Debug("[PHYSICS]:SetShape!");
if (Body != null)
{
DisposeOfBody();
}
if (prim_geom != null)
{
prim_geom.Dispose();
prim_geom = null;
}
*/
prim_geom = shape;
//Body.set
}
public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
{
tempPosition1 = new btVector3(0, 0, 0);
tempPosition2 = new btVector3(0, 0, 0);
tempPosition3 = new btVector3(0, 0, 0);
tempSize1 = new btVector3(0, 0, 0);
tempSize2 = new btVector3(0, 0, 0);
tempLinearVelocity1 = new btVector3(0, 0, 0);
tempLinearVelocity2 = new btVector3(0, 0, 0);
tempAngularVelocity1 = new btVector3(0, 0, 0);
tempAngularVelocity2 = new btVector3(0, 0, 0);
tempInertia1 = new btVector3(0, 0, 0);
tempInertia2 = new btVector3(0, 0, 0);
tempOrientation1 = new btQuaternion(0, 0, 0, 1);
tempOrientation2 = new btQuaternion(0, 0, 0, 1);
_parent_scene = parent_scene;
tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);
AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize);
int regionsize = (int)Constants.RegionSize;
if (regionsize == 256)
regionsize = 512;
AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
_target_velocity = Vector3.Zero;
_velocity = Vector3.Zero;
_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 = null;
Body = null;
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;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
_orientation = rotation;
m_taintrot = _orientation;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
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
}
m_primName = primName;
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
}
internal void Dispose()
{
if (Body.isInWorld())
m_parent_scene.removeFromWorld(Body);
if (m_aMotor.Handle != IntPtr.Zero)
m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
m_aMotor.Dispose(); m_aMotor = null;
ClosestCastResult.Dispose(); ClosestCastResult = null;
Body.Dispose(); Body = null;
Shell.Dispose(); Shell = null;
tempQuat1.Dispose();
tempTrans1.Dispose();
tempVector1.Dispose();
tempVector2.Dispose();
tempVector3.Dispose();
tempVector4.Dispose();
tempVector5RayCast.Dispose();
tempVector6RayCast.Dispose();
}
public void setCollisionShape(btCollisionShape collisionShape)
{
if (m_disposed)
throw new ObjectDisposedException(ToString());
BulletAPI_BtCollisionObject_setCollisionShape(m_handle, collisionShape.Handle);
}
private void SetCollisionShape(btCollisionShape shape)
{
/*if (shape == null)
m_log.Debug("[PHYSICS]:SetShape!Null");
if (Body != null)
{
DisposeOfBody();
}
if (prim_geom != null)
{
prim_geom.Dispose();
prim_geom = null;
}*/
if (shape != null)
{
prim_geom = shape;
//CreateGeom(IntPtr.Zero, null);
}
else
prim_geom = shape;
//Body.set
}
