protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointErrorMessage != null)
{
OnJointErrorMessage(joint, message);
}
}
protected virtual void DoJointDeactivated(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointDeactivated != null)
{
OnJointDeactivated(joint);
}
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// update non-physical objects like the joint proxy objects that represent the position
// of the joints in the scene.
// This routine is normally called from within a lock (OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
protected internal void jointMoved(PhysicsJoint joint)
{
// m_parentScene.PhysicsScene.DumpJointInfo(); // non-thread-locked version; we should already be in a lock (OdeLock) when this callback is invoked
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject == null)
{
jointErrorMessage(joint, "WARNING, joint proxy not found, name " + joint.ObjectNameInScene);
return;
}
// now update the joint proxy object in the scene to have the position of the joint as returned by the physics engine
SceneObjectPart trackedBody = GetSceneObjectPart(joint.TrackedBodyName); // FIXME: causes a sequential lookup
if (trackedBody == null) return; // the actor may have been deleted but the joint still lingers around a few frames waiting for deletion. during this time, trackedBody is NULL to prevent further motion of the joint proxy.
jointProxyObject.Velocity = trackedBody.Velocity;
jointProxyObject.AngularVelocity = trackedBody.AngularVelocity;
switch (joint.Type)
{
case PhysicsJointType.Ball:
{
Vector3 jointAnchor = m_scene.PhysicsScene.GetJointAnchor(joint);
Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos, true); // schedules the entire group for a terse update
}
break;
case PhysicsJointType.Hinge:
{
Vector3 jointAnchor = m_scene.PhysicsScene.GetJointAnchor(joint);
// Normally, we would just ask the physics scene to return the axis for the joint.
// Unfortunately, ODE sometimes returns <0,0,0> for the joint axis, which should
// never occur. Therefore we cannot rely on ODE to always return a correct joint axis.
// Therefore the following call does not always work:
//PhysicsVector phyJointAxis = _PhyScene.GetJointAxis(joint);
// instead we compute the joint orientation by saving the original joint orientation
// relative to one of the jointed bodies, and applying this transformation
// to the current position of the jointed bodies (the tracked body) to compute the
// current joint orientation.
if (joint.TrackedBodyName == null)
{
jointErrorMessage(joint, "joint.TrackedBodyName is null, joint " + joint.ObjectNameInScene);
}
Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
Quaternion q = trackedBody.RotationOffset * joint.LocalRotation;
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos, true); // schedules the entire group for a terse update
jointProxyObject.ParentGroup.UpdateGroupRotationR(q); // schedules the entire group for a terse update
}
break;
}
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// alert the user of errors by using the debug channel in the same way that scripts alert
// the user of compile errors.
// This routine is normally called from within a lock (OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
public void jointErrorMessage(PhysicsJoint joint, string message)
{
if (joint != null)
{
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
return;
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject != null)
{
IChatModule chatModule = m_scene.RequestModuleInterface<IChatModule>();
if (chatModule != null)
chatModule.SimChat("[NINJA]: " + message,
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false, m_scene);
joint.ErrorMessageCount++;
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
{
if (chatModule != null)
chatModule.SimChat("[NINJA]: Too many messages for this joint, suppressing further messages.",
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false, m_scene);
}
}
else
{
// couldn't find the joint proxy object; the error message is silently suppressed
}
}
}
public virtual Vector3 GetJointAxis(PhysicsJoint joint)
{ return Vector3.Zero; }
protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointErrorMessage != null)
{
OnJointErrorMessage(joint, message);
}
}
public virtual OpenMetaverse.Vector3 GetJointAxis(PhysicsJoint joint)
{
return(OpenMetaverse.Vector3.Zero);
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// update non-physical objects like the joint proxy objects that represent the position
// of the joints in the scene.
// This routine is normally called from within a lock (OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
protected internal void jointDeactivated(PhysicsJoint joint)
{
//m_log.Debug("[NINJA] SceneGraph.jointDeactivated, joint:" + joint.ObjectNameInScene);
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject == null)
{
jointErrorMessage(joint, "WARNING, trying to deactivate (stop interpolation of) joint proxy, but not found, name " + joint.ObjectNameInScene);
return;
}
// turn the proxy non-physical, which also stops its client-side interpolation
bool wasUsingPhysics = ((jointProxyObject.Flags & PrimFlags.Physics) != 0);
if (wasUsingPhysics)
{
jointProxyObject.UpdatePrimFlags(false, false, true, false); // FIXME: possible deadlock here; check to make sure all the scene alterations set into motion here won't deadlock
}
}
// internal utility function: must be called within a lock (OdeLock)
private void InternalRemoveActiveJoint(PhysicsJoint joint)
{
activeJoints.Remove(joint);
SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
}
// internal utility function: must be called within a lock (OdeLock)
private void InternalRemovePendingJoint(PhysicsJoint joint)
{
pendingJoints.Remove(joint);
SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
}
// internal utility function: must be called within a lock (OdeLock)
private void InternalAddActiveJoint(PhysicsJoint joint)
{
activeJoints.Add(joint);
SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
}
// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
public override Vector3 GetJointAnchor(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 pos = new d.Vector3();
if (!(joint is AuroraODEPhysicsJoint))
{
DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
}
else
{
AuroraODEPhysicsJoint odeJoint = (AuroraODEPhysicsJoint)joint;
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
d.JointGetBallAnchor(odeJoint.jointID, out pos);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAnchor(odeJoint.jointID, out pos);
break;
}
}
return new Vector3((float)pos.X, (float)pos.Y, (float)pos.Z);
}
public virtual PhysicsVector GetJointAxis(PhysicsJoint joint)
{
return(null);
}
public virtual PhysicsVector GetJointAxis(PhysicsJoint joint)
{ return null; }
/// <summary>
/// Get joint axis.
/// </summary>
/// <remarks>
/// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
/// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
/// appears to be unreliable. Fortunately we can compute the joint axis ourselves by
/// keeping track of the joint's original orientation relative to one of the involved bodies.
/// </remarks>
/// <param name="joint"></param>
/// <returns></returns>
public override Vector3 GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = new d.Vector3();
if (!(joint is OdePhysicsJoint))
{
DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
}
else
{
OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAxis(odeJoint.jointID, out axis);
break;
}
}
return new Vector3(axis.X, axis.Y, axis.Z);
}
public virtual Vector3 GetJointAxis(PhysicsJoint joint)
{
return(Vector3.Zero);
}
protected virtual void DoJointDeactivated(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointDeactivated != null)
{
OnJointDeactivated(joint);
}
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// alert the user of errors by using the debug channel in the same way that scripts alert
// the user of compile errors.
// This routine is normally called from within a lock (OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
public void jointErrorMessage(PhysicsJoint joint, string message)
{
if (joint != null)
{
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
return;
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject != null)
{
SimChat(Utils.StringToBytes("[NINJA]: " + message),
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false);
joint.ErrorMessageCount++;
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
{
SimChat(Utils.StringToBytes("[NINJA]: Too many messages for this joint, suppressing further messages."),
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false);
}
}
else
{
// couldn't find the joint proxy object; the error message is silently suppressed
}
}
}
public virtual OpenMetaverse.Vector3 GetJointAxis(PhysicsJoint joint)
{ return OpenMetaverse.Vector3.Zero; }