private void MakeBody()
{
// d.Vector3 dvtmp;
// d.Vector3 dbtmp;
if (m_blockPhysicalReconstruction) // building is blocked
return;
if (childPrim) // child prims don't get own bodies;
return;
if (prim_geom == IntPtr.Zero)
{
MainConsole.Instance.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet");
return;
}
if (!m_isphysical) // only physical things get a body
return;
if (Body != IntPtr.Zero) // who shouldn't have one already ?
{
d.BodyDestroy(Body);
Body = IntPtr.Zero;
MainConsole.Instance.Warn("[PHYSICS]: MakeBody called having a body");
}
d.Mass objdmass = new d.Mass {};
d.Matrix3 mymat = new d.Matrix3();
d.Quaternion myrot = new d.Quaternion();
Body = d.BodyCreate(_parent_scene.world);
d.BodySetData(Body, (IntPtr)ActorTypes.Prim);
DMassDup(ref primdMass, out objdmass);
// rotate inertia
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat);
// set the body rotation and position
d.BodySetRotation(Body, ref mymat);
// recompute full object inertia if needed
if (childrenPrim.Count > 0)
{
d.Matrix3 mat = new d.Matrix3();
d.Quaternion quat = new d.Quaternion();
d.Mass tmpdmass = new d.Mass {};
Vector3 rcm;
rcm.X = _position.X + objdmass.c.X;
rcm.Y = _position.Y + objdmass.c.Y;
rcm.Z = _position.Z + objdmass.c.Z;
lock (childrenPrim)
{
foreach (WhiteCoreODEPrim prm in childrenPrim)
{
if (prm.prim_geom == IntPtr.Zero)
{
MainConsole.Instance.Warn(
"[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet");
continue;
}
DMassCopy(ref prm.primdMass, ref tmpdmass);
// apply prim current rotation to inertia
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.RfromQ(out mat, ref quat);
d.MassRotate(ref tmpdmass, ref mat);
Vector3 ppos = prm._position;
ppos.X += tmpdmass.c.X - rcm.X;
ppos.Y += tmpdmass.c.Y - rcm.Y;
ppos.Z += tmpdmass.c.Z - rcm.Z;
// refer inertia to root prim center of mass position
d.MassTranslate(ref tmpdmass,
ppos.X,
ppos.Y,
ppos.Z);
d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
// fix prim colision cats
d.GeomClearOffset(prm.prim_geom);
d.GeomSetBody(prm.prim_geom, Body);
prm.Body = Body;
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
}
}
}
d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset
// associate root geom with body
d.GeomSetBody(prim_geom, Body);
d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z);
// ode wants inertia at center of body
myrot.W = -myrot.W;
d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat);
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
// disconnect from world gravity so we can apply buoyancy
// if (!testRealGravity)
d.BodySetGravityMode(Body, false);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
d.BodySetDamping(Body, .001f, .0002f);
m_disabled = false;
d.GeomSetCategoryBits(prim_geom, (int) m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int) m_collisionFlags);
if (m_targetSpace != _parent_scene.space)
{
if (d.SpaceQuery(m_targetSpace, prim_geom))
d.SpaceRemove(m_targetSpace, prim_geom);
m_targetSpace = _parent_scene.space;
d.SpaceAdd(m_targetSpace, prim_geom);
}
lock (childrenPrim)
{
foreach (WhiteCoreODEPrim prm in childrenPrim)
{
if (prm.prim_geom == IntPtr.Zero)
continue;
Vector3 ppos = prm._position;
d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prm.prim_geom, (int) prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int) prm.m_collisionFlags);
if (prm.m_targetSpace != _parent_scene.space)
{
if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
prm.m_targetSpace = _parent_scene.space;
d.SpaceAdd(m_targetSpace, prm.prim_geom);
}
prm.m_disabled = false;
_parent_scene.addActivePrim(prm);
}
}
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
{
createAMotor(m_angularlock);
}
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, this, _parent_scene);
_parent_scene.addActivePrim(this);
}
private static void DMassDup(ref d.Mass src, out d.Mass dst)
{
dst = new d.Mass
{
};
dst.c.W = src.c.W;
dst.c.X = src.c.X;
dst.c.Y = src.c.Y;
dst.c.Z = src.c.Z;
dst.mass = src.mass;
dst.I.M00 = src.I.M00;
dst.I.M01 = src.I.M01;
dst.I.M02 = src.I.M02;
dst.I.M10 = src.I.M10;
dst.I.M11 = src.I.M11;
dst.I.M12 = src.I.M12;
dst.I.M20 = src.I.M20;
dst.I.M21 = src.I.M21;
dst.I.M22 = src.I.M22;
}
