public AuroraPhysXPrim(ISceneChildEntity entity, AuroraODEPhysicsScene parent_scene, bool pisPhysical, CollisionLocker dode) { m_vehicle = new AuroraPhysXDynamics (); //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); }
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); }
/// <summary> /// Initiailizes the scene /// Sets many properties that ODE requires to be stable /// These settings need to be tweaked 'exactly' right or weird stuff happens. /// </summary> public AuroraODEPhysicsScene(CollisionLocker dode, string sceneIdentifier) { OdeLock = new Object(); ode = dode; nearCallback = near; triCallback = TriCallback; lock (OdeLock) { // Create the world and the first space world = d.WorldCreate(); space = d.HashSpaceCreate(IntPtr.Zero); contactgroup = d.JointGroupCreate(0); //contactgroup d.WorldSetAutoDisableFlag(world, false); #if USE_DRAWSTUFF Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization)); viewthread.Start(); #endif } }
public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { Name = primName; m_vehicle = new ODEDynamics(); //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.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); } _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; if (!pos.IsFinite()) { size = new Vector3(0.5f, 0.5f, 0.5f); m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); } 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.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); } _orientation = rotation; m_taintrot = _orientation; _pbs = pbs; _parent_scene = parent_scene; m_targetSpace = (IntPtr)0; if (pos.Z < 0) { IsPhysical = false; } else { 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 (IsPhysical) m_targetSpace = _parent_scene.space; } m_taintadd = true; _parent_scene.AddPhysicsActorTaint(this); // don't do .add() here; old geoms get recycled with the same hash }
public OdePlugin() { ode = new CollisionLocker(); }
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { m_uuid = UUID.Random(); if (pos.IsFinite()) { if (pos.Z > 9999999f) { pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; } if (pos.Z < -90000f) { pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5; } _position = pos; m_taintPosition.X = pos.X; m_taintPosition.Y = pos.Y; m_taintPosition.Z = pos.Z; } else { _position = new Vector3(((float)_parent_scene.WorldExtents.X * 0.5f), ((float)_parent_scene.WorldExtents.Y * 0.5f), parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f); m_taintPosition.X = _position.X; m_taintPosition.Y = _position.Y; m_taintPosition.Z = _position.Z; m_log.Warn("[PHYSICS]: Got NaN Position on Character Create"); } _parent_scene = parent_scene; PID_D = pid_d; PID_P = pid_p; CAPSULE_RADIUS = capsule_radius; m_tensor = tensor; m_density = density; heightFudgeFactor = height_fudge_factor; walkDivisor = walk_divisor; runDivisor = rundivisor; // m_StandUpRotation = // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f, // 0.5f); for (int i = 0; i < 11; i++) { m_colliderarr[i] = false; } CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; m_isPhysical = false; // current status: no ODE information exists m_tainted_isPhysical = true; // new tainted status: need to create ODE information _parent_scene.AddPhysicsActorTaint(this); m_name = avName; }
public AuroraODEPlugin() { ode = new CollisionLocker(); }
/// <summary> /// Initiailizes the scene /// Sets many properties that ODE requires to be stable /// These settings need to be tweaked 'exactly' right or weird stuff happens. /// </summary> public OdeScene(CollisionLocker dode, string sceneIdentifier) { m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier); OdeLock = new Object(); ode = dode; nearCallback = near; triCallback = TriCallback; triArrayCallback = TriArrayCallback; m_rayCastManager = new ODERayCastRequestManager(this); lock (OdeLock) { // Create the world and the first space world = d.WorldCreate(); space = d.HashSpaceCreate(IntPtr.Zero); contactgroup = d.JointGroupCreate(0); //contactgroup d.WorldSetAutoDisableFlag(world, false); #if USE_DRAWSTUFF Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization)); viewthread.Start(); #endif } _watermap = new float[258 * 258]; // Zero out the prim spaces array (we split our space into smaller spaces so // we can hit test less. }
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { _target_velocity = new PhysicsVector(0, 0, 0); m_vehicle = new ODEVehicleSettings(); //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); ode = dode; _velocity = new PhysicsVector(); if (!PhysicsVector.isFinite(pos)) { pos = new PhysicsVector(128, 128, parent_scene.GetTerrainHeightAtXY(128, 128) + 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 (!PhysicsVector.isFinite(pos)) { size = new PhysicsVector(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; _acceleration = new PhysicsVector(); m_rotationalVelocity = PhysicsVector.Zero; 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 PEPrim(String primName, PEScene parent_scene, Vector3 pos, Vector3 size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { _position = pos; _size = size; _orientation = rotation; // m_log.DebugFormat("[REMOTE PRIM ENGINE] PEPrim creation of {0}", primName); }
public PECharacter(String avName, PEScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { _position = pos; _size = size; _density = density; //base.ChangingActorID = RegionSyncServerModule.ActorID; //return; }
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, CollisionLocker dode, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { // ode = dode; _velocity = new Vector3(); _target_velocity = new Vector3(); _position = pos; m_taintPosition.X = pos.X; m_taintPosition.Y = pos.Y; m_taintPosition.Z = pos.Z; _acceleration = new Vector3(); _parent_scene = parent_scene; PID_D = pid_d; PID_P = pid_p; CAPSULE_RADIUS = capsule_radius; m_tensor = tensor; m_density = density; heightFudgeFactor = height_fudge_factor; walkDivisor = walk_divisor; runDivisor = rundivisor; // m_StandUpRotation = // new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f, // 0.5f); for (int i = 0; i < 11; i++) { m_colliderarr[i] = false; } CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; m_isPhysical = false; // current status: no ODE information exists m_tainted_isPhysical = true; // new tainted status: need to create ODE information _parent_scene.AddPhysicsActorTaint(this); m_name = avName; }
public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { _target_velocity = new Vector3(0, 0, 0); //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); ode = dode; _velocity = new Vector3(); _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 (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 = new Vector3(); m_rotationalVelocity = Vector3.Zero; _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 }