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 (AuroraODEPrim 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 (AuroraODEPrim 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);
}
public override void SetTerrain(ITerrainChannel channel, short[] heightMap)
{
m_channel = channel;
float[] _heightmap = ODETerrainHeightFieldHeights;
if (ODETerrainHeightFieldHeights == null)
_heightmap = new float[m_region.RegionSizeX*m_region.RegionSizeY];
for (int x = 0; x < m_region.RegionSizeX; x++)
{
for (int y = 0; y < m_region.RegionSizeY; y++)
{
_heightmap[(x*m_region.RegionSizeX) + y] = heightMap[y*m_region.RegionSizeX + x]/
Constants.TerrainCompression;
}
}
float hfmin = _heightmap.Min();
float hfmax = _heightmap.Max();
SimulationChangesQueue.Enqueue(() =>
{
if (RegionTerrain != IntPtr.Zero)
{
d.GeomHeightfieldDataDestroy(RegionTerrain);
d.SpaceRemove(space, RegionTerrain);
//d.GeomDestroy(RegionTerrain);
GC.RemoveMemoryPressure(_heightmap.Length);
}
const float scale = 1f;
const float offset = 0.0f;
float thickness = 0.2f;
const int wrap = 0;
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
GC.AddMemoryPressure(_heightmap.Length);
//Add the memory pressure properly (note: should we be doing this since we have it in managed memory?)
//Do NOT copy it! Otherwise, it'll copy the terrain into unmanaged memory where we can't release it each time
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
m_region.RegionSizeX,
m_region.RegionSizeY,
m_region.RegionSizeX,
m_region.RegionSizeY, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1.0f,
hfmax + 1.0f);
RegionTerrain = d.CreateHeightfield(space, HeightmapData, 1);
d.GeomSetCategoryBits(RegionTerrain, (int) (CollisionCategories.Land));
d.GeomSetCollideBits(RegionTerrain, (int) (CollisionCategories.Space));
actor_name_map[RegionTerrain] = new NullObjectPhysicsActor();
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0),
1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0),
1.5707f);
q1 = q1*q2;
Vector3 v3;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(RegionTerrain, ref R);
d.GeomSetPosition(RegionTerrain, (m_region.RegionSizeX*0.5f),
(m_region.RegionSizeY*0.5f), 0);
TerrainHeightFieldHeights = heightMap;
ODETerrainHeightFieldHeights = _heightmap;
});
}
