private void changemove(float timestep)
{
m_log.Debug("[PHYSICS]: _________ChangeMove");
if (!m_isphysical)
{
tempTransform2 = Body.getWorldTransform();
btQuaternion quat = tempTransform2.getRotation();
tempPosition2.setValue(_position.X, _position.Y, _position.Z);
tempTransform2.Dispose();
tempTransform2 = new btTransform(quat, tempPosition2);
Body.setWorldTransform(tempTransform2);
changeSelectedStatus(timestep);
resetCollisionAccounting();
}
else
{
if (Body != null)
{
if (Body.Handle != IntPtr.Zero)
{
DisableAxisMotor();
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
/*
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
SetCollisionShape(prim_geom);
*/
if (m_isphysical)
SetBody(Mass);
else
SetBody(0);
changeSelectedStatus(timestep);
resetCollisionAccounting();
}
m_taintposition = _position;
}
public void UpdatePositionAndVelocity()
{
if (!m_isSelected)
{
if (_parent == null)
{
Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag;
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
tempPosition3.Dispose();
if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
tempTransform3.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
tempAngularVelocity1.Dispose();
if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
tempLinearVelocity1.Dispose();
tempTransform3 = Body.getInterpolationWorldTransform();
tempPosition3 = tempTransform3.getOrigin(); // vec
tempOrientation2 = tempTransform3.getRotation(); // ori
tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
_torque = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
tempAngularVelocity1.getZ());
Vector3 l_position = Vector3.Zero;
Quaternion l_orientation = Quaternion.Identity;
m_lastposition = _position;
m_lastorientation = _orientation;
l_position.X = tempPosition3.getX();
l_position.Y = tempPosition3.getY();
l_position.Z = tempPosition3.getZ();
l_orientation.X = tempOrientation2.getX();
l_orientation.Y = tempOrientation2.getY();
l_orientation.Z = tempOrientation2.getZ();
l_orientation.W = tempOrientation2.getW();
if (l_position.X > ((int)Constants.RegionSize - 0.05f) || l_position.X < 0f || l_position.Y > ((int)Constants.RegionSize - 0.05f) || l_position.Y < 0f)
{
//base.RaiseOutOfBounds(l_position);
if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
{
_position = l_position;
//_parent_scene.remActivePrim(this);
if (_parent == null)
base.RequestPhysicsterseUpdate();
return;
}
else
{
if (_parent == null)
base.RaiseOutOfBounds(l_position);
return;
}
}
if (l_position.Z < -200000f)
{
// This is so prim that get lost underground don't fall forever and suck up
//
// Sim resources and memory.
// Disables the prim's movement physics....
// It's a hack and will generate a console message if it fails.
//IsPhysical = false;
//if (_parent == null)
//base.RaiseOutOfBounds(_position);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (_parent == null)
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
// throttleCounter = 0;
_zeroFlag = true;
//outofBounds = true;
}
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
{
_zeroFlag = true;
m_throttleUpdates = false;
}
else
{
//m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
_zeroFlag = false;
}
if (_zeroFlag)
{
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
//_orientation.w = 0f;
//_orientation.X = 0f;
//_orientation.Y = 0f;
//_orientation.Z = 0f;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
// throttleCounter = 0;
m_rotationalVelocity = pv;
if (_parent == null)
base.RequestPhysicsterseUpdate();
m_lastUpdateSent = true;
}
}
else
{
if (lastZeroFlag != _zeroFlag)
{
if (_parent == null)
base.RequestPhysicsterseUpdate();
}
m_lastVelocity = _velocity;
_position = l_position;
_velocity.X = tempLinearVelocity1.getX();
_velocity.Y = tempLinearVelocity1.getY();
_velocity.Z = tempLinearVelocity1.getZ();
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
_acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
_velocity.Y - m_lastVelocity.Y / 0.1f,
_velocity.Z - m_lastVelocity.Z / 0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
if (_velocity.ApproxEquals(pv, 0.5f))
{
m_rotationalVelocity = pv;
}
else
{
m_rotationalVelocity = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
}
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
_orientation.X = l_orientation.X;
_orientation.Y = l_orientation.Y;
_orientation.Z = l_orientation.Z;
_orientation.W = l_orientation.W;
m_lastUpdateSent = false;
//if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
//{
if (_parent == null)
base.RequestPhysicsterseUpdate();
// }
// else
// {
// throttleCounter++;
//}
}
m_lastposition = l_position;
if (forceenable)
{
Body.forceActivationState(1);
forceenable = false;
}
}
else
{
// Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
_zeroFlag = true;
}
}
}