public override void RemoveAvatar(PhysicsActor actor)
{
BasicActor act = (BasicActor) actor;
if (_actors.Contains(act))
{
_actors.Remove(act);
}
}
public override void RemovePrim(PhysicsActor prim)
{
POSPrim p = (POSPrim) prim;
if (_prims.Contains(p))
{
_prims.Remove(p);
}
}
public override void RemoveAvatar(PhysicsActor character)
{
POSCharacter act = (POSCharacter) character;
if (_characters.Contains(act))
{
_characters.Remove(act);
}
}
/// <summary>
/// Indicates that an actor has been updated by the engine.
/// NOTE: This is an override method that is not needed.
/// </summary>
/// <param name="prim">The actor that was modified</param>
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
// Nothing to do here
}
public override void RemoveAvatar(PhysicsActor actor)
{
this.QueueCommand(new Commands.RemoveCharacterCmd((PhysxCharacter)actor));
}
public override void link(PhysicsActor obj) { return; }
/// <summary> /// Remove an avatar. /// </summary> /// <param name="actor"></param> public abstract void RemoveAvatar(PhysicsActor actor);
/// <summary>
/// Apply physics to this part.
/// </summary>
/// <param name="rootObjectFlags"></param>
/// <param name="m_physicalPrim"></param>
public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive, bool m_physicalPrim)
{
bool isPhysical = (((rootObjectFlags & (uint) PrimFlags.Physics) != 0) && m_physicalPrim);
bool isPhantom = ((rootObjectFlags & (uint) PrimFlags.Phantom) != 0);
if (IsJoint())
{
DoPhysicsPropertyUpdate(isPhysical, true);
}
else
{
// Special case for VolumeDetection: If VolumeDetection is set, the phantom flag is locally ignored
if (VolumeDetectActive)
isPhantom = false;
// Added clarification.. since A rigid body is an object that you can kick around, etc.
bool RigidBody = isPhysical && !isPhantom;
// The only time the physics scene shouldn't know about the prim is if it's phantom or an attachment, which is phantom by definition
// or flexible
if (!isPhantom && !IsAttachment && !(Shape.PathCurve == (byte) Extrusion.Flexible))
{
PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
Name,
Shape,
AbsolutePosition,
Scale,
RotationOffset,
RigidBody);
// Basic Physics returns null.. joy joy joy.
if (PhysActor != null)
{
PhysActor.SOPName = this.Name; // save object name and desc into the PhysActor so ODE internals know the joint/body info
PhysActor.SOPDescription = this.Description;
PhysActor.LocalID = LocalId;
DoPhysicsPropertyUpdate(RigidBody, true);
PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
}
}
}
}
public void AttachToPhysicsShape(PhysicsActor shape, bool isChild)
{
PhysActor = shape;
SetPhysActorRelationProperties();
if (!isChild)
{
PhysActor.OnRequestTerseUpdate -= this.PhysicsRequestingTerseUpdate;
PhysActor.OnRequestTerseUpdate += this.PhysicsRequestingTerseUpdate;
PhysActor.OnComplexityError -= new PhysicsActor.ComplexityError(PhysActor_OnComplexityError);
PhysActor.OnComplexityError += new PhysicsActor.ComplexityError(PhysActor_OnComplexityError);
PhysActor.OnPhysicsRequestingOBB -= PhysActor_OnPhysicsRequestingOBB;
PhysActor.OnPhysicsRequestingOBB += PhysActor_OnPhysicsRequestingOBB;
}
PhysActor.OnNeedsPersistence -= new PhysicsActor.RequestPersistence(PhysActor_OnNeedsPersistence);
PhysActor.OnNeedsPersistence += new PhysicsActor.RequestPersistence(PhysActor_OnNeedsPersistence);
PhysActor.OnPositionUpdate -= new PositionUpdate(PhysActor_OnPositionUpdate);
PhysActor.OnPositionUpdate += new PositionUpdate(PhysActor_OnPositionUpdate);
this.CheckForScriptCollisionEventsAndSubscribe();
}
public abstract void link(PhysicsActor obj);
public void GetMesh(ODEPhysRepData repData)
{
PhysicsActor actor = repData.actor;
PrimitiveBaseShape pbs = repData.pbs;
repData.mesh = null;
repData.hasOBB = false;
if (!needsMeshing(repData))
{
repData.meshState = MeshState.noNeed;
return;
}
if (repData.meshState == MeshState.MeshFailed)
{
return;
}
if (pbs.SculptEntry)
{
if (repData.meshState == MeshState.AssetFailed)
{
if (pbs.SculptTexture == repData.assetID)
{
return;
}
}
}
repData.meshState = MeshState.noNeed;
IMesh mesh = null;
Vector3 size = repData.size;
byte shapetype = repData.shapetype;
bool convex;
int clod = (int)LevelOfDetail.High;
if (shapetype == 0)
{
convex = false;
}
else
{
convex = true;
if (pbs.SculptType != (byte)SculptType.Mesh)
{
clod = (int)LevelOfDetail.Low;
}
}
mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
if (mesh == null)
{
if (pbs.SculptEntry)
{
if (pbs.SculptTexture == UUID.Zero)
{
return;
}
repData.assetID = pbs.SculptTexture;
if (pbs.SculptData == null || pbs.SculptData.Length == 0)
{
repData.meshState = MeshState.needAsset;
return;
}
}
}
repData.mesh = mesh;
repData.pbs.SculptData = Utils.EmptyBytes;
if (mesh == null)
{
if (pbs.SculptEntry)
{
repData.meshState = MeshState.AssetFailed;
}
else
{
repData.meshState = MeshState.MeshFailed;
}
return;
}
repData.meshState = MeshState.AssetOK;
return;
}
// see if we need a mesh and if so if we have a cached one
// called with a new repData
public void CheckMesh(ODEPhysRepData repData)
{
PhysicsActor actor = repData.actor;
PrimitiveBaseShape pbs = repData.pbs;
if (!needsMeshing(repData))
{
repData.meshState = MeshState.noNeed;
repData.hasOBB = false;
return;
}
IMesh mesh = null;
Vector3 size = repData.size;
int clod = (int)LevelOfDetail.High;
byte shapetype = repData.shapetype;
bool convex = shapetype == 2;
mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex);
if (mesh == null)
{
if (pbs.SculptEntry)
{
if (pbs.SculptTexture != null && pbs.SculptTexture != UUID.Zero)
{
repData.assetID = pbs.SculptTexture;
repData.meshState = MeshState.needAsset;
}
else
{
repData.meshState = MeshState.MeshFailed;
}
return;
}
else
{
repData.meshState = MeshState.needMesh;
mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
if (mesh == null)
{
repData.meshState = MeshState.MeshFailed;
return;
}
}
}
repData.meshState = MeshState.AssetOK;
repData.mesh = mesh;
repData.OBB = mesh.GetOBB();
repData.OBBOffset = mesh.GetCentroid();
repData.hasOBB = true;
if (pbs.SculptEntry)
{
repData.assetID = pbs.SculptTexture;
}
pbs.SculptData = Utils.EmptyBytes;
return;
}
public void llPushObject(string target, LSL_Vector impulse, LSL_Vector ang_impulse, int local)
{
if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID))
{
return;
}
bool pushAllowed = false;
bool pusheeIsAvatar = false;
UUID targetID = UUID.Zero;
if (!UUID.TryParse(target, out targetID))
{
return;
}
IScenePresence pusheeav = null;
Vector3 PusheePos = Vector3.Zero;
ISceneChildEntity pusheeob = null;
IScenePresence avatar = World.GetScenePresence(targetID);
if (avatar != null)
{
pusheeIsAvatar = true;
// Pushee is in GodMode this pushing object isn't owned by them
if (avatar.GodLevel > 0 && m_host.OwnerID != targetID)
{
return;
}
pusheeav = avatar;
// Find pushee position
// Pushee Linked?
if (pusheeav.ParentID != UUID.Zero)
{
ISceneChildEntity parentobj = World.GetSceneObjectPart(pusheeav.ParentID);
PusheePos = parentobj != null ? parentobj.AbsolutePosition : pusheeav.AbsolutePosition;
}
else
{
PusheePos = pusheeav.AbsolutePosition;
}
}
if (!pusheeIsAvatar)
{
// not an avatar so push is not affected by parcel flags
pusheeob = World.GetSceneObjectPart(UUID.Parse(target));
// We can't find object
if (pusheeob == null)
{
return;
}
// Object not pushable. Not an attachment and has no physics component
if (!pusheeob.IsAttachment && pusheeob.PhysActor == null)
{
return;
}
PusheePos = pusheeob.AbsolutePosition;
pushAllowed = true;
}
else
{
IParcelManagementModule parcelManagement = World.RequestModuleInterface <IParcelManagementModule>();
if (World.RegionInfo.RegionSettings.RestrictPushing)
{
pushAllowed = m_host.OwnerID == targetID ||
m_host.ParentEntity.Scene.Permissions.IsGod(m_host.OwnerID);
}
else
{
if (parcelManagement != null)
{
ILandObject targetlandObj = parcelManagement.GetLandObject(PusheePos.X, PusheePos.Y);
if (targetlandObj == null)
{
// We didn't find the parcel but region isn't push restricted so assume it's ok
pushAllowed = true;
}
else
{
// Parcel push restriction
pushAllowed = (targetlandObj.LandData.Flags & (uint)ParcelFlags.RestrictPushObject) !=
(uint)ParcelFlags.RestrictPushObject ||
m_host.ParentEntity.Scene.Permissions.CanPushObject(m_host.OwnerID,
targetlandObj);
}
}
}
}
if (pushAllowed)
{
float distance = (PusheePos - m_host.AbsolutePosition).Length();
float distance_term = distance * distance * distance; // Script Energy
float pusher_mass = m_host.GetMass();
const float PUSH_ATTENUATION_DISTANCE = 17f;
const float PUSH_ATTENUATION_SCALE = 5f;
float distance_attenuation = 1f;
if (distance > PUSH_ATTENUATION_DISTANCE)
{
float normalized_units = 1f + (distance - PUSH_ATTENUATION_DISTANCE) / PUSH_ATTENUATION_SCALE;
distance_attenuation = 1f / normalized_units;
}
Vector3 applied_linear_impulse = new Vector3((float)impulse.x, (float)impulse.y, (float)impulse.z);
{
float impulse_length = applied_linear_impulse.Length();
float desired_energy = impulse_length * pusher_mass;
if (desired_energy > 0f)
{
desired_energy += distance_term;
}
float scaling_factor = 1f;
scaling_factor *= distance_attenuation;
applied_linear_impulse *= scaling_factor;
}
if (pusheeIsAvatar)
{
if (pusheeav != null)
{
PhysicsActor pa = pusheeav.PhysicsActor;
if (pa != null)
{
if (local != 0)
{
applied_linear_impulse *= m_host.GetWorldRotation();
}
//Put a limit on it...
int MaxPush = (int)pusheeav.PhysicsActor.Mass * 25;
if (applied_linear_impulse.X > 0 &&
Math.Abs(applied_linear_impulse.X) > MaxPush)
{
applied_linear_impulse.X = MaxPush;
}
if (applied_linear_impulse.X < 0 &&
Math.Abs(applied_linear_impulse.X) > MaxPush)
{
applied_linear_impulse.X = -MaxPush;
}
if (applied_linear_impulse.Y > 0 &&
Math.Abs(applied_linear_impulse.X) > MaxPush)
{
applied_linear_impulse.Y = MaxPush;
}
if (applied_linear_impulse.Y < 0 &&
Math.Abs(applied_linear_impulse.Y) > MaxPush)
{
applied_linear_impulse.Y = -MaxPush;
}
if (applied_linear_impulse.Z > 0 &&
Math.Abs(applied_linear_impulse.X) > MaxPush)
{
applied_linear_impulse.Z = MaxPush;
}
if (applied_linear_impulse.Z < 0 &&
Math.Abs(applied_linear_impulse.Z) > MaxPush)
{
applied_linear_impulse.Z = -MaxPush;
}
pa.AddForce(applied_linear_impulse, true);
}
}
}
else
{
if (pusheeob.PhysActor != null)
{
pusheeob.ApplyImpulse(applied_linear_impulse, local != 0);
}
}
}
}
/// <summary>
/// This method determines the proper movement related animation
/// </summary>
private string DetermineMovementAnimation()
{
const int FALL_DELAY = 800;
const int PREJUMP_DELAY = 200;
const int JUMP_PERIOD = 800;
#region Inputs
if (m_scenePresence.IsInTransit)
{
return(CurrentMovementAnimation);
}
if (m_scenePresence.SitGround)
{
currentControlState = motionControlStates.sitted;
return("SITGROUND");
}
if (m_scenePresence.ParentID != 0 || m_scenePresence.ParentUUID != UUID.Zero)
{
currentControlState = motionControlStates.sitted;
return("SIT");
}
AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags;
PhysicsActor actor = m_scenePresence.PhysicsActor;
const AgentManager.ControlFlags ANYXYMASK = (
AgentManager.ControlFlags.AGENT_CONTROL_AT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS |
AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_NEG |
AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_POS |
AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_NEG
);
// Check control flags
/* not in use
* bool heldForward = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_AT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS)) != 0);
* bool heldBack = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_NEG)) != 0);
* bool heldLeft = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_POS)) != 0);
* bool heldRight = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_NEG)) != 0);
*/
bool heldTurnLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT;
bool heldTurnRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT;
// bool heldUp = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_POS | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_POS)) != 0);
// excluded nudge up so it doesn't trigger jump state
bool heldUp = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_POS)) != 0);
bool heldDown = ((controlFlags & (AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG | AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG)) != 0);
//bool flying = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_FLY) == AgentManager.ControlFlags.AGENT_CONTROL_FLY;
//bool mouselook = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK) == AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK;
bool heldOnXY = ((controlFlags & ANYXYMASK) != 0);
if (heldOnXY || heldUp || heldDown)
{
heldTurnLeft = false;
heldTurnRight = false;
}
#endregion Inputs
// no physics actor case
if (actor == null)
{
// well what to do?
currentControlState = motionControlStates.onsurface;
if (heldOnXY)
{
return("WALK");
}
return("STAND");
}
#region Flying
bool isColliding = actor.IsColliding;
if (actor.Flying)
{
m_animTickFall = 0;
m_animTickJump = 0;
m_jumping = false;
Falling = false;
currentControlState = motionControlStates.flying;
if (heldOnXY)
{
return(m_scenePresence.Scene.m_useFlySlow ? "FLYSLOW" : "FLY");
}
else if (heldUp)
{
return("HOVER_UP");
}
else if (heldDown)
{
if (isColliding)
{
actor.Flying = false;
currentControlState = motionControlStates.landing;
m_animTickLand = Environment.TickCount;
return("LAND");
}
else
{
return("HOVER_DOWN");
}
}
else
{
return("HOVER");
}
}
else
{
if (isColliding && currentControlState == motionControlStates.flying)
{
currentControlState = motionControlStates.landing;
m_animTickLand = Environment.TickCount;
return("LAND");
}
}
#endregion Flying
#region Falling/Floating/Landing
if (!isColliding && currentControlState != motionControlStates.jumping)
{
float fallVelocity = actor.Velocity.Z;
// if stable on Hover assume falling
if (actor.PIDHoverActive && fallVelocity < 0.05f)
{
Falling = true;
currentControlState = motionControlStates.falling;
m_lastFallVelocity = fallVelocity;
return("FALLDOWN");
}
if (fallVelocity < -2.5f)
{
Falling = true;
}
if (m_animTickFall == 0 || (fallVelocity >= -0.5f))
{
m_animTickFall = Environment.TickCount;
}
else
{
int fallElapsed = (Environment.TickCount - m_animTickFall);
if ((fallElapsed > FALL_DELAY) && (fallVelocity < -3.0f))
{
currentControlState = motionControlStates.falling;
m_lastFallVelocity = fallVelocity;
// Falling long enough to trigger the animation
return("FALLDOWN");
}
}
// Check if the user has stopped walking just now
if (CurrentMovementAnimation == "WALK" && !heldOnXY && !heldDown && !heldUp)
{
return("STAND");
}
return(CurrentMovementAnimation);
}
m_animTickFall = 0;
#endregion Falling/Floating/Landing
#region Jumping // section added for jumping...
if (isColliding && heldUp && currentControlState != motionControlStates.jumping && !actor.PIDHoverActive)
{
// Start jumping, prejump
currentControlState = motionControlStates.jumping;
m_jumping = true;
Falling = false;
m_animTickJump = Environment.TickCount;
return("PREJUMP");
}
if (currentControlState == motionControlStates.jumping)
{
int jumptime = Environment.TickCount - m_animTickJump;
if ((jumptime > (JUMP_PERIOD * 1.5f)) && actor.IsColliding)
{
// end jumping
m_jumping = false;
Falling = false;
actor.Selected = false; // borrowed for jumping flag
m_animTickLand = Environment.TickCount;
currentControlState = motionControlStates.landing;
return("LAND");
}
else if (jumptime > JUMP_PERIOD)
{
// jump down
return("JUMP");
}
else if (jumptime > PREJUMP_DELAY)
{
// jump up
m_jumping = true;
return("JUMP");
}
return(CurrentMovementAnimation);
}
#endregion Jumping
#region Ground Movement
if (currentControlState == motionControlStates.falling)
{
Falling = false;
currentControlState = motionControlStates.landing;
m_animTickLand = Environment.TickCount;
// TODO: SOFT_LAND support
float fallVsq = m_lastFallVelocity * m_lastFallVelocity;
if (fallVsq > 300f) // aprox 20*h
{
return("STANDUP");
}
else if (fallVsq > 160f)
{
return("SOFT_LAND");
}
else
{
return("LAND");
}
}
if (currentControlState == motionControlStates.landing)
{
Falling = false;
int landElapsed = Environment.TickCount - m_animTickLand;
int limit = 1000;
if (CurrentMovementAnimation == "LAND")
{
limit = 350;
}
// NB if the above is set too long a weird anim reset from some place prevents STAND from being sent to client
if ((m_animTickLand != 0) && (landElapsed <= limit))
{
return(CurrentMovementAnimation);
}
else
{
currentControlState = motionControlStates.onsurface;
m_animTickLand = 0;
return("STAND");
}
}
// next section moved outside paren. and realigned for jumping
if (heldOnXY)
{
currentControlState = motionControlStates.onsurface;
Falling = false;
// Walking / crouchwalking / running
if (heldDown)
{
return("CROUCHWALK");
}
// We need to prevent these animations if the user tries to make their avatar walk or run whilst
// specifying AGENT_CONTROL_STOP (pressing down space on viewers).
else if (!m_scenePresence.AgentControlStopActive)
{
if (m_scenePresence.SetAlwaysRun)
{
return("RUN");
}
else
{
return("WALK");
}
}
}
else
{
currentControlState = motionControlStates.onsurface;
Falling = false;
// Not walking
if (heldDown)
{
return("CROUCH");
}
else if (heldTurnLeft)
{
return("TURNLEFT");
}
else if (heldTurnRight)
{
return("TURNRIGHT");
}
else
{
return("STAND");
}
}
#endregion Ground Movement
return(CurrentMovementAnimation);
}
private double GetPriorityByBestAvatarResponsiveness(IClientAPI client, ISceneEntity entity)
{
ScenePresence presence = m_scene.GetScenePresence(client.AgentId);
if (presence != null)
{
// If this is an update for our own avatar give it the highest priority
if (presence == entity)
{
return(0.0);
}
// Use group position for child prims
Vector3 entityPos = entity.AbsolutePosition;
if (entity is SceneObjectPart)
{
entityPos = m_scene.GetGroupByPrim(entity.LocalId).AbsolutePosition;
}
else
{
entityPos = entity.AbsolutePosition;
}
if (!presence.IsChildAgent)
{
if (entity is ScenePresence)
{
return(1.0);
}
// Root agent. Use distance from camera and a priority decrease for objects behind us
Vector3 camPosition = presence.CameraPosition;
Vector3 camAtAxis = presence.CameraAtAxis;
// Distance
double priority = Vector3.DistanceSquared(camPosition, entityPos);
// Plane equation
float d = -Vector3.Dot(camPosition, camAtAxis);
float p = Vector3.Dot(camAtAxis, entityPos) + d;
if (p < 0.0f)
{
priority *= 2.0;
}
if (entity is SceneObjectPart)
{
PhysicsActor physActor = ((SceneObjectPart)entity).ParentGroup.RootPart.PhysActor;
if (physActor == null || !physActor.IsPhysical)
{
priority += 100;
}
if (((SceneObjectPart)entity).ParentGroup.RootPart.IsAttachment)
{
priority = 1.0;
}
}
return(priority);
}
else
{
// Child agent. Use the normal distance method
Vector3 presencePos = presence.AbsolutePosition;
return(Vector3.DistanceSquared(presencePos, entityPos));
}
}
return(double.NaN);
}
private double GetPriorityByBestAvatarResponsiveness(IScenePresence presence, IEntity entity)
{
// If this is an update for our own avatar give it the highest priority
if (presence.UUID == entity.UUID)
{
return(0.0);
}
if (entity == null)
{
return(double.NaN);
}
if (entity is IScenePresence)
{
return(1.0);
}
// Use group position for child prims
Vector3 entityPos = entity.AbsolutePosition;
if (!presence.IsChildAgent)
{
// Root agent. Use distance from camera and a priority decrease for objects behind us
Vector3 camPosition = presence.CameraPosition;
Vector3 camAtAxis = presence.CameraAtAxis;
// Distance
double priority = Vector3.DistanceSquared(camPosition, entityPos);
// Plane equation
float d = -Vector3.Dot(camPosition, camAtAxis);
float p = Vector3.Dot(camAtAxis, entityPos) + d;
if (p < 0.0f)
{
priority *= 2.0;
}
//Add distance again to really emphasize it
priority += Vector3.DistanceSquared(presence.AbsolutePosition, entityPos);
if ((Vector3.Distance(presence.AbsolutePosition, entityPos) / 2) > presence.DrawDistance)
{
//Outside of draw distance!
priority *= 2;
}
SceneObjectPart rootPart = null;
if (entity is SceneObjectPart)
{
if (((SceneObjectPart)entity).ParentGroup != null &&
((SceneObjectPart)entity).ParentGroup.RootPart != null)
{
rootPart = ((SceneObjectPart)entity).ParentGroup.RootPart;
}
}
if (entity is SceneObjectGroup)
{
if (((SceneObjectGroup)entity).RootPart != null)
{
rootPart = ((SceneObjectGroup)entity).RootPart;
}
}
if (rootPart != null)
{
PhysicsActor physActor = rootPart.PhysActor;
// Objects avatars are sitting on should be prioritized more
if (presence.ParentID == rootPart.UUID)
{
//Objects that are physical get more priority.
if (physActor != null && physActor.IsPhysical)
{
return(0.0);
}
else
{
return(1.2);
}
}
if (physActor == null || physActor.IsPhysical)
{
priority /= 2; //Emphasize physical objs
}
//Factor in the size of objects as well, big ones are MUCH more important than small ones
float size = rootPart.ParentGroup.GroupScale().Length();
//Cap size at 200 so that it doesn't completely overwhelm other objects
if (size > 200)
{
size = 200;
}
//Do it dynamically as well so that larger prims get smaller quicker
priority /= size > 40 ? (size / 35) : (size > 20 ? (size / 17) : 1);
if (rootPart.IsAttachment)
{
//Attachments are always high!
priority = 0.5;
}
}
//Closest first!
return(priority);
}
else
{
// Child agent. Use the normal distance method
Vector3 presencePos = presence.AbsolutePosition;
return(Vector3.DistanceSquared(presencePos, entityPos));
}
}
public override void delink()
{
m_taintparent = null;
}
public override void SetTerrain(bool[] heightMap)
{
if (m_terrainShape != null)
{
DeleteTerrain();
}
m_terrainShape = AddPrim(
"__TERRAIN__",
new Vector3(Constants.RegionSize / 2, Constants.RegionSize / 2, Constants.RegionSize / 2),
new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionSize),
Quaternion.Identity,
voxmesher.ToMesh(heightMap),
PrimitiveBaseShape.Default,
false);
//float AabbCenterX = Constants.RegionSize/2f;
//float AabbCenterY = Constants.RegionSize/2f;
//float AabbCenterZ = 0f;
/*
* float temphfmin, temphfmax;
*
* temphfmin = hfmin;
* temphfmax = hfmax;
*
* if (temphfmin < 0)
* {
* temphfmax = 0 - temphfmin;
* temphfmin = 0 - temphfmin;
* }
* else if (temphfmin > 0)
* {
* temphfmax = temphfmax + (0 - temphfmin);
* //temphfmin = temphfmin + (0 - temphfmin);
* }
* AabbCenterZ = temphfmax/2f;
*
* if (m_terrainPosition == null)
* {
* m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
* }
* else
* {
* try
* {
* m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
* }
* catch (ObjectDisposedException)
* {
* m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
* }
* }
*/
if (m_terrainMotionState != null)
{
m_terrainMotionState.Dispose();
m_terrainMotionState = null;
}
m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
}
public override void RemovePrim(PhysicsActor prim)
{
if (prim is BulletXPrim)
{
lock (BulletXLock)
{
try
{
ddWorld.RemoveRigidBody(((BulletXPrim) prim).RigidBody);
}
catch (Exception ex)
{
BulletXMessage(is_ex_message + ex.Message, true);
((BulletXPrim) prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(((BulletXPrim) prim).RigidBody);
}
_prims.Remove(((BulletXPrim) prim).RigidBody);
}
GC.Collect();
}
}
internal void remCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
{
//TODO: FIXME:
}
private void RemoveFromPhysicalScene(PhysicsActor physActor)
{
if (IsRootPart())
{
m_parentGroup.Scene.PhysicsScene.RemovePrim(physActor);
m_parentGroup.ForEachPart((SceneObjectPart part) =>
{
part.PhysActor = null;
}
);
}
}
public override void DeletePrim(PhysicsActor prim)
{
}
public override void RemoveAvatar(PhysicsActor actor)
{
}
public int physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
{
int ret = -1;
if (!Enabled)
{
return(ret);
}
// The part that is requesting the change.
SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
if (requestingPart != null)
{
// The change is always made to the root of a linkset.
SceneObjectGroup containingGroup = requestingPart.ParentGroup;
SceneObjectPart rootPart = containingGroup.RootPart;
if (rootPart != null)
{
PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
if (rootPhysActor.IsPhysical)
{
// Change a physical linkset by making non-physical, waiting for one heartbeat so all
// the prim and linkset state is updated, changing the type and making the
// linkset physical again.
containingGroup.ScriptSetPhysicsStatus(false);
Thread.Sleep(150); // longer than one heartbeat tick
// A kludge for the moment.
// Since compound linksets move the children but don't generate position updates to the
// simulator, it is possible for compound linkset children to have out-of-sync simulator
// and physical positions. The following causes the simulator to push the real child positions
// down into the physics engine to get everything synced.
containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
object[] parms2 = { rootPhysActor, null, linksetType };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
Thread.Sleep(150); // longer than one heartbeat tick
containingGroup.ScriptSetPhysicsStatus(true);
}
else
{
// Non-physical linksets don't have a physical instantiation so there is no state to
// worry about being updated.
object[] parms2 = { rootPhysActor, null, linksetType };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
}
}
else
{
m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return(ret);
}
public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
{ return; }
private bool GetRootPhysActor(UUID hostID, out SceneObjectGroup containingGroup, out SceneObjectPart rootPart, out PhysicsActor rootPhysActor)
{
bool ret = false;
rootPhysActor = null;
containingGroup = null;
rootPart = null;
SceneObjectPart requestingPart;
requestingPart = BaseScene.GetSceneObjectPart(hostID);
if (requestingPart != null)
{
// The type is is always on the root of a linkset.
containingGroup = requestingPart.ParentGroup;
if (containingGroup != null && !containingGroup.IsDeleted)
{
rootPart = containingGroup.RootPart;
if (rootPart != null)
{
rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
ret = true;
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Containing group missing or deleted. hostID={1}", LogHeader, hostID);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return(ret);
}
public override void RemovePrim(PhysicsActor prim)
{
if (!m_initialized) return;
BSPhysObject bsprim = prim as BSPhysObject;
if (bsprim != null)
{
DetailLog("{0},RemovePrim,call", bsprim.LocalID);
// m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
try
{
lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
}
bsprim.Destroy();
// bsprim.dispose();
}
else
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
}
}
// Find the root and child PhysActors based on the linkNum.
// Return 'true' if both are found and returned.
private bool GetRootAndChildPhysActors(UUID hostID, int linkNum, out PhysicsActor rootPhysActor, out PhysicsActor childPhysActor)
{
bool ret = false;
rootPhysActor = null;
childPhysActor = null;
SceneObjectGroup containingGroup;
SceneObjectPart rootPart;
if (GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor))
{
SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
if (linkPart != null)
{
childPhysActor = linkPart.PhysActor;
if (childPhysActor != null)
{
ret = true;
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
return(ret);
}
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
//throw new NotSupportedException("AddPhysicsActorTaint must be called with a taint type");
}
/// <summary>
/// This method determines the proper movement related animation
/// </summary>
private string DetermineMovementAnimation()
{
const float FALL_DELAY = 800f;
const float PREJUMP_DELAY = 200f;
const float JUMP_PERIOD = 800f;
#region Inputs
AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags;
PhysicsActor actor = m_scenePresence.PhysicsActor;
// Create forward and left vectors from the current avatar rotation
Matrix4 rotMatrix = Matrix4.CreateFromQuaternion(m_scenePresence.Rotation);
Vector3 fwd = Vector3.Transform(Vector3.UnitX, rotMatrix);
Vector3 left = Vector3.Transform(Vector3.UnitY, rotMatrix);
// Check control flags
bool heldForward = ((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_AT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_AT_POS || (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS);
bool heldBack = ((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG || (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_NEG);
bool heldLeft = ((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS || (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_POS);
bool heldRight = ((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG || (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_LEFT_NEG);
bool heldTurnLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT;
bool heldTurnRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT;
bool heldUp = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) == AgentManager.ControlFlags.AGENT_CONTROL_UP_POS;
bool heldDown = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG;
//bool flying = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_FLY) == AgentManager.ControlFlags.AGENT_CONTROL_FLY;
//bool mouselook = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK) == AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK;
if (heldForward || heldBack || heldLeft || heldRight || heldUp || heldDown)
{
heldTurnLeft = false;
heldTurnRight = false;
}
// Direction in which the avatar is trying to move
Vector3 move = Vector3.Zero;
if (heldForward)
{
move.X += fwd.X; move.Y += fwd.Y;
}
if (heldBack)
{
move.X -= fwd.X; move.Y -= fwd.Y;
}
if (heldLeft)
{
move.X += left.X; move.Y += left.Y;
}
if (heldRight)
{
move.X -= left.X; move.Y -= left.Y;
}
if (heldUp)
{
move.Z += 1;
}
if (heldDown)
{
move.Z -= 1;
}
// Is the avatar trying to move?
// bool moving = (move != Vector3.Zero);
#endregion Inputs
#region Flying
if (actor != null && actor.Flying)
{
m_animTickFall = 0;
m_animTickJump = 0;
m_jumping = false;
Falling = false;
m_jumpVelocity = 0f;
actor.Selected = false;
m_fallHeight = actor.Position.Z; // save latest flying height
if (move.X != 0f || move.Y != 0f)
{
return(m_scenePresence.Scene.m_useFlySlow ? "FLYSLOW" : "FLY");
}
else if (move.Z > 0f)
{
return("HOVER_UP");
}
else if (move.Z < 0f)
{
if (actor != null && actor.IsColliding)
{
return("LAND");
}
else
{
return("HOVER_DOWN");
}
}
else
{
return("HOVER");
}
}
#endregion Flying
#region Falling/Floating/Landing
if ((actor == null || !actor.IsColliding) && !m_jumping)
{
float fallElapsed = (float)(Environment.TickCount - m_animTickFall);
float fallVelocity = (actor != null) ? actor.Velocity.Z : 0.0f;
if (!m_jumping && (fallVelocity < -3.0f))
{
Falling = true;
}
if (m_animTickFall == 0 || (fallVelocity >= 0.0f))
{
// not falling yet, or going up
// reset start of fall time
m_animTickFall = Environment.TickCount;
}
else if (!m_jumping && (fallElapsed > FALL_DELAY) && (fallVelocity < -3.0f) && (m_scenePresence.WasFlying))
{
// Falling long enough to trigger the animation
return("FALLDOWN");
}
// Check if the user has stopped walking just now
if (CurrentMovementAnimation == "WALK" && (move == Vector3.Zero))
{
return("STAND");
}
return(CurrentMovementAnimation);
}
#endregion Falling/Floating/Landing
#region Jumping // section added for jumping...
int jumptime;
jumptime = Environment.TickCount - m_animTickJump;
if ((move.Z > 0f) && (!m_jumping))
{
// Start jumping, prejump
m_animTickFall = 0;
m_jumping = true;
Falling = false;
actor.Selected = true; // borrowed for jumping flag
m_animTickJump = Environment.TickCount;
m_jumpVelocity = 0.35f;
return("PREJUMP");
}
if (m_jumping)
{
if ((jumptime > (JUMP_PERIOD * 1.5f)) && actor.IsColliding)
{
// end jumping
m_jumping = false;
Falling = false;
actor.Selected = false; // borrowed for jumping flag
m_jumpVelocity = 0f;
m_animTickFall = Environment.TickCount;
return("LAND");
}
else if (jumptime > JUMP_PERIOD)
{
// jump down
m_jumpVelocity = 0f;
return("JUMP");
}
else if (jumptime > PREJUMP_DELAY)
{
// jump up
m_jumping = true;
m_jumpVelocity = 10f;
return("JUMP");
}
}
#endregion Jumping
#region Ground Movement
if (CurrentMovementAnimation == "FALLDOWN")
{
Falling = false;
m_animTickFall = Environment.TickCount;
// TODO: SOFT_LAND support
float fallHeight = m_fallHeight - actor.Position.Z;
if (fallHeight > 15.0f)
{
return("STANDUP");
}
else if (fallHeight > 8.0f)
{
return("SOFT_LAND");
}
else
{
return("LAND");
}
}
else if ((CurrentMovementAnimation == "LAND") || (CurrentMovementAnimation == "SOFT_LAND") || (CurrentMovementAnimation == "STANDUP"))
{
int landElapsed = Environment.TickCount - m_animTickFall;
int limit = 1000;
if (CurrentMovementAnimation == "LAND")
{
limit = 350;
}
// NB if the above is set too long a weird anim reset from some place prevents STAND from being sent to client
if ((m_animTickFall != 0) && (landElapsed <= limit))
{
return(CurrentMovementAnimation);
}
else
{
m_fallHeight = actor.Position.Z; // save latest flying height
return("STAND");
}
}
// next section moved outside paren. and realigned for jumping
if (move.X != 0f || move.Y != 0f)
{
m_fallHeight = actor.Position.Z; // save latest flying height
Falling = false;
// Walking / crouchwalking / running
if (move.Z < 0f)
{
return("CROUCHWALK");
}
// We need to prevent these animations if the user tries to make their avatar walk or run whilst
// specifying AGENT_CONTROL_STOP (pressing down space on viewers).
else if (!m_scenePresence.AgentControlStopActive)
{
if (m_scenePresence.SetAlwaysRun)
{
return("RUN");
}
else
{
return("WALK");
}
}
}
else if (!m_jumping)
{
Falling = false;
// Not walking
if (move.Z < 0)
{
return("CROUCH");
}
else if (heldTurnLeft)
{
return("TURNLEFT");
}
else if (heldTurnRight)
{
return("TURNRIGHT");
}
else
{
return("STAND");
}
}
#endregion Ground Movement
Falling = false;
return(CurrentMovementAnimation);
}
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
}
/// <summary>
/// This method determines the proper movement related animation
/// </summary>
public string GetMovementAnimation()
{
const float FALL_DELAY = 0.33f;
const float PREJUMP_DELAY = 0.25f;
#region Inputs
if (m_scenePresence.SitGround)
{
return("SIT_GROUND_CONSTRAINED");
}
AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags;
PhysicsActor actor = m_scenePresence.PhysicsActor;
// Create forward and left vectors from the current avatar rotation
Matrix4 rotMatrix = Matrix4.CreateFromQuaternion(m_scenePresence.Rotation);
Vector3 fwd = Vector3.Transform(Vector3.UnitX, rotMatrix);
Vector3 left = Vector3.Transform(Vector3.UnitY, rotMatrix);
// Check control flags
bool heldForward =
(((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_AT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_AT_POS) || ((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS));
bool heldBack = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG;
bool heldLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS) == AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS;
bool heldRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG;
//bool heldTurnLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT;
//bool heldTurnRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) == AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT;
bool heldUp = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) == AgentManager.ControlFlags.AGENT_CONTROL_UP_POS;
bool heldDown = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) == AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG;
//bool flying = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_FLY) == AgentManager.ControlFlags.AGENT_CONTROL_FLY;
//bool mouselook = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK) == AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK;
// Direction in which the avatar is trying to move
Vector3 move = Vector3.Zero;
if (heldForward)
{
move.X += fwd.X; move.Y += fwd.Y;
}
if (heldBack)
{
move.X -= fwd.X; move.Y -= fwd.Y;
}
if (heldLeft)
{
move.X += left.X; move.Y += left.Y;
}
if (heldRight)
{
move.X -= left.X; move.Y -= left.Y;
}
if (heldUp)
{
move.Z += 1;
}
if (heldDown)
{
move.Z -= 1;
}
// Is the avatar trying to move?
// bool moving = (move != Vector3.Zero);
bool jumping = m_animTickJump != 0;
#endregion Inputs
#region Flying
if (actor != null && actor.Flying)
{
m_animTickFall = 0;
m_animTickJump = 0;
if (move.X != 0f || move.Y != 0f)
{
return(m_scenePresence.Scene.m_useFlySlow ? "FLYSLOW" : "FLY");
}
else if (move.Z > 0f)
{
return("HOVER_UP");
}
else if (move.Z < 0f)
{
if (actor != null && actor.IsColliding)
{
return("LAND");
}
else
{
return("HOVER_DOWN");
}
}
else
{
return("HOVER");
}
}
#endregion Flying
#region Falling/Floating/Landing
if (actor == null || !actor.IsColliding)
{
float fallElapsed = (float)(Environment.TickCount - m_animTickFall) / 1000f;
float fallVelocity = (actor != null) ? actor.Velocity.Z : 0.0f;
if (m_animTickFall == 0 || (fallElapsed > FALL_DELAY && fallVelocity >= 0.0f))
{
// Just started falling
m_animTickFall = Environment.TickCount;
}
else if (!jumping && fallElapsed > FALL_DELAY)
{
// Falling long enough to trigger the animation
return("FALLDOWN");
}
else if (m_animTickJump == -1)
{
m_animTickJump = 0;
return("STAND");
}
return(m_movementAnimation);
}
#endregion Falling/Floating/Landing
#region Ground Movement
if (m_movementAnimation == "FALLDOWN")
{
m_animTickFall = Environment.TickCount;
// TODO: SOFT_LAND support
return("LAND");
}
else if (m_movementAnimation == "LAND")
{
float landElapsed = (float)(Environment.TickCount - m_animTickFall) / 1000f;
if ((m_animTickFall != 0) && (landElapsed <= FALL_DELAY))
{
return("LAND");
}
}
m_animTickFall = 0;
if (move.Z > 0f)
{
// Jumping
if (!jumping)
{
// Begin prejump
m_animTickJump = Environment.TickCount;
return("PREJUMP");
}
else if (Environment.TickCount - m_animTickJump > PREJUMP_DELAY * 1000.0f)
{
// Start actual jump
if (m_animTickJump == -1)
{
// Already jumping! End the current jump
m_animTickJump = 0;
return("JUMP");
}
m_animTickJump = -1;
return("JUMP");
}
else
{
return("JUMP");
}
}
else
{
// Not jumping
m_animTickJump = 0;
if (move.X != 0f || move.Y != 0f)
{
// Walking / crouchwalking / running
if (move.Z < 0f)
{
return("CROUCHWALK");
}
else if (m_scenePresence.SetAlwaysRun)
{
return("RUN");
}
else
{
return("WALK");
}
}
else
{
// Not walking
if (move.Z < 0f)
{
return("CROUCH");
}
else
{
return("STAND");
}
}
}
#endregion Ground Movement
//return m_movementAnimation;
}
public override void link(PhysicsActor obj)
{
m_taintparent = obj;
}
public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse)
{
if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).prim_geom == IntPtr.Zero)
{
PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
return;
}
IntPtr geom = ((OdePrim)actor).prim_geom;
Vector3 geopos = d.GeomGetPositionOMV(geom);
Quaternion geomOri = d.GeomGetQuaternionOMV(geom);
// Vector3 geopos = actor.Position;
// Quaternion geomOri = actor.Orientation;
Quaternion geomInvOri = Quaternion.Conjugate(geomOri);
Quaternion ori = Quaternion.Identity;
Vector3 rayDir = geopos + offset - avCameraPosition;
float raylen = rayDir.Length();
if (raylen < 0.001f)
{
PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
return;
}
float t = 1 / raylen;
rayDir.X *= t;
rayDir.Y *= t;
rayDir.Z *= t;
raylen += 30f; // focal point may be far
List <ContactResult> rayResults;
rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags);
if (rayResults.Count == 0)
{
/* if this fundamental ray failed, then just fail so user can try another spot and not be sitted far on a big prim
* d.AABB aabb;
* d.GeomGetAABB(geom, out aabb);
* offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z);
* ori = geomInvOri;
* offset *= geomInvOri;
* PhysicsSitResponse(1, actor.LocalID, offset, ori);
*/
PhysicsSitResponse(0, actor.LocalID, offset, ori);
return;
}
int status = 1;
offset = rayResults[0].Pos - geopos;
d.GeomClassID geoclass = d.GeomGetClass(geom);
if (geoclass == d.GeomClassID.SphereClass)
{
float r = d.GeomSphereGetRadius(geom);
offset.Normalize();
offset *= r;
RotAroundZ(offset.X, offset.Y, ref ori);
if (r < 0.4f)
{
offset = new Vector3(0, 0, r);
}
else
{
if (offset.Z < 0.4f)
{
t = offset.Z;
float rsq = r * r;
t = 1.0f / (rsq - t * t);
offset.X *= t;
offset.Y *= t;
offset.Z = 0.4f;
t = rsq - 0.16f;
offset.X *= t;
offset.Y *= t;
}
else if (r > 0.8f && offset.Z > 0.8f * r)
{
status = 3;
avOffset.X = -avOffset.X;
avOffset.Z *= 1.6f;
}
}
offset += avOffset * ori;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(status, actor.LocalID, offset, ori);
return;
}
Vector3 norm = rayResults[0].Normal;
if (norm.Z < -0.4f)
{
PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity);
return;
}
float SitNormX = -rayDir.X;
float SitNormY = -rayDir.Y;
Vector3 pivot = geopos + offset;
float edgeNormalX = norm.X;
float edgeNormalY = norm.Y;
float edgeDirX = -rayDir.X;
float edgeDirY = -rayDir.Y;
Vector3 edgePos = rayResults[0].Pos;
float edgeDist = float.MaxValue;
bool foundEdge = false;
if (norm.Z < 0.5f)
{
float rayDist = 4.0f;
for (int i = 0; i < 6; i++)
{
pivot.X -= 0.01f * norm.X;
pivot.Y -= 0.01f * norm.Y;
pivot.Z -= 0.01f * norm.Z;
rayDir.X = -norm.X * norm.Z;
rayDir.Y = -norm.Y * norm.Z;
rayDir.Z = 1.0f - norm.Z * norm.Z;
rayDir.Normalize();
rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims);
if (rayResults.Count == 0)
{
break;
}
if (Math.Abs(rayResults[0].Normal.Z) < 0.7f)
{
rayDist -= rayResults[0].Depth;
if (rayDist < 0f)
{
break;
}
pivot = rayResults[0].Pos;
norm = rayResults[0].Normal;
edgeNormalX = norm.X;
edgeNormalY = norm.Y;
edgeDirX = -rayDir.X;
edgeDirY = -rayDir.Y;
}
else
{
foundEdge = true;
edgePos = rayResults[0].Pos;
break;
}
}
if (!foundEdge)
{
PhysicsSitResponse(0, actor.LocalID, offset, ori);
return;
}
avOffset.X *= 0.5f;
}
else if (norm.Z > 0.866f)
{
float toCamBaseX = avCameraPosition.X - pivot.X;
float toCamBaseY = avCameraPosition.Y - pivot.Y;
float toCamX = toCamBaseX;
float toCamY = toCamBaseY;
for (int j = 0; j < 4; j++)
{
float rayDist = 1.0f;
float curEdgeDist = 0.0f;
for (int i = 0; i < 3; i++)
{
pivot.Z -= 0.01f;
rayDir.X = toCamX;
rayDir.Y = toCamY;
rayDir.Z = (-toCamX * norm.X - toCamY * norm.Y) / norm.Z;
rayDir.Normalize();
rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims);
if (rayResults.Count == 0)
{
break;
}
curEdgeDist += rayResults[0].Depth;
if (rayResults[0].Normal.Z > 0.5f)
{
rayDist -= rayResults[0].Depth;
if (rayDist < 0f)
{
break;
}
pivot = rayResults[0].Pos;
norm = rayResults[0].Normal;
}
else
{
foundEdge = true;
if (curEdgeDist < edgeDist)
{
edgeDist = curEdgeDist;
edgeNormalX = rayResults[0].Normal.X;
edgeNormalY = rayResults[0].Normal.Y;
edgeDirX = rayDir.X;
edgeDirY = rayDir.Y;
edgePos = rayResults[0].Pos;
}
break;
}
}
if (foundEdge && edgeDist < 0.2f)
{
break;
}
pivot = geopos + offset;
switch (j)
{
case 0:
toCamX = -toCamBaseY;
toCamY = toCamBaseX;
break;
case 1:
toCamX = toCamBaseY;
toCamY = -toCamBaseX;
break;
case 2:
toCamX = -toCamBaseX;
toCamY = -toCamBaseY;
break;
default:
break;
}
}
if (!foundEdge)
{
avOffset.X = -avOffset.X;
avOffset.Z *= 1.6f;
RotAroundZ(SitNormX, SitNormY, ref ori);
offset += avOffset * ori;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(3, actor.LocalID, offset, ori);
return;
}
avOffset.X *= 0.5f;
}
SitNormX = edgeNormalX;
SitNormY = edgeNormalY;
if (edgeDirX * SitNormX + edgeDirY * SitNormY < 0)
{
SitNormX = -SitNormX;
SitNormY = -SitNormY;
}
RotAroundZ(SitNormX, SitNormY, ref ori);
offset = edgePos + avOffset * ori;
offset -= geopos;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(1, actor.LocalID, offset, ori);
return;
}
private void changelink(float timestep)
{
// If the newly set parent is not null
// create link
if (_parent == null && m_taintparent != null)
{
if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
{
OdePrim obj = (OdePrim)m_taintparent;
//obj.disableBody();
//Console.WriteLine("changelink calls ParentPrim");
obj.AddChildPrim(this);
/*
if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body)
{
_linkJointGroup = d.JointGroupCreate(0);
m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
d.JointAttach(m_linkJoint, obj.Body, Body);
d.JointSetFixed(m_linkJoint);
}
*/
}
}
// If the newly set parent is null
// destroy link
else if (_parent != null && m_taintparent == null)
{
//Console.WriteLine(" changelink B");
if (_parent is OdePrim)
{
OdePrim obj = (OdePrim)_parent;
obj.ChildDelink(this);
childPrim = false;
//_parent = null;
}
/*
if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0)
d.JointGroupDestroy(_linkJointGroup);
_linkJointGroup = (IntPtr)0;
m_linkJoint = (IntPtr)0;
*/
}
_parent = m_taintparent;
m_taintPhysics = IsPhysical;
}
// This is the standard Near. g1 is the ray
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
if (g2 == IntPtr.Zero || g1 == g2)
{
return;
}
if (m_contactResults.Count >= CurrentMaxCount)
{
return;
}
if (SafeNativeMethods.GeomIsSpace(g2))
{
try
{
SafeNativeMethods.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
}
return;
}
int count = 0;
try
{
count = SafeNativeMethods.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
return;
}
if (count == 0)
{
return;
}
/*
* uint cat1 = d.GeomGetCategoryBits(g1);
* uint cat2 = d.GeomGetCategoryBits(g2);
* uint col1 = d.GeomGetCollideBits(g1);
* uint col2 = d.GeomGetCollideBits(g2);
*/
uint ID = 0;
PhysicsActor p2 = null;
m_scene.actor_name_map.TryGetValue(g2, out p2);
if (p2 == null)
{
return;
}
switch (p2.PhysicsActorType)
{
case (int)ActorTypes.Prim:
RayFilterFlags thisFlags;
if (p2.IsPhysical)
{
thisFlags = RayFilterFlags.physical;
}
else
{
thisFlags = RayFilterFlags.nonphysical;
}
if (p2.Phantom)
{
thisFlags |= RayFilterFlags.phantom;
}
if (p2.IsVolumeDtc)
{
thisFlags |= RayFilterFlags.volumedtc;
}
if ((thisFlags & CurrentRayFilter) == 0)
{
return;
}
ID = ((OdePrim)p2).LocalID;
break;
case (int)ActorTypes.Agent:
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
{
return;
}
else
{
ID = ((OdeCharacter)p2).LocalID;
}
break;
case (int)ActorTypes.Ground:
if ((CurrentRayFilter & RayFilterFlags.land) == 0)
{
return;
}
break;
case (int)ActorTypes.Water:
if ((CurrentRayFilter & RayFilterFlags.water) == 0)
{
return;
}
break;
default:
break;
}
SafeNativeMethods.ContactGeom curcontact = new SafeNativeMethods.ContactGeom();
// closestHit for now only works for meshs, so must do it for others
if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
{
// Loop all contacts, build results.
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curcontact))
{
break;
}
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = ID;
collisionresult.Pos.X = curcontact.pos.X;
collisionresult.Pos.Y = curcontact.pos.Y;
collisionresult.Pos.Z = curcontact.pos.Z;
collisionresult.Depth = curcontact.depth;
collisionresult.Normal.X = curcontact.normal.X;
collisionresult.Normal.Y = curcontact.normal.Y;
collisionresult.Normal.Z = curcontact.normal.Z;
lock (m_contactResults)
{
m_contactResults.Add(collisionresult);
if (m_contactResults.Count >= CurrentMaxCount)
{
return;
}
}
}
}
else
{
// keep only closest contact
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = ID;
collisionresult.Depth = float.MaxValue;
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curcontact))
{
break;
}
if (curcontact.depth < collisionresult.Depth)
{
collisionresult.Pos.X = curcontact.pos.X;
collisionresult.Pos.Y = curcontact.pos.Y;
collisionresult.Pos.Z = curcontact.pos.Z;
collisionresult.Depth = curcontact.depth;
collisionresult.Normal.X = curcontact.normal.X;
collisionresult.Normal.Y = curcontact.normal.Y;
collisionresult.Normal.Z = curcontact.normal.Z;
}
}
if (collisionresult.Depth != float.MaxValue)
{
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
public override void RemoveAvatar(PhysicsActor actor)
{
if (actor is BulletXCharacter)
{
lock (BulletXLock)
{
try
{
ddWorld.RemoveRigidBody(((BulletXCharacter) actor).RigidBody);
}
catch (Exception ex)
{
BulletXMessage(is_ex_message + ex.Message, true);
((BulletXCharacter) actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
AddForgottenRigidBody(((BulletXCharacter) actor).RigidBody);
}
_characters.Remove(((BulletXCharacter) actor).RigidBody);
}
GC.Collect();
}
}
/// <summary>
/// This method determines the proper movement related animation
/// </summary>
public string GetMovementAnimation()
{
const float STANDUP_TIME = 2f;
const float BRUSH_TIME = 3.5f;
const float FALL_AFTER_MOVE_TIME = 0.75f;
const float SOFTLAND_FORCE = 80;
#region Inputs
if (m_scenePresence.SitGround)
{
return("SIT_GROUND_CONSTRAINED");
}
AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags;
PhysicsActor actor = m_scenePresence.PhysicsActor;
// Create forward and left vectors from the current avatar rotation
Vector3 fwd = Vector3.UnitX * m_scenePresence.Rotation;
Vector3 left = Vector3.UnitY * m_scenePresence.Rotation;
// Check control flags
bool heldForward =
(((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_AT_POS) ==
AgentManager.ControlFlags.AGENT_CONTROL_AT_POS) ||
((controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS) ==
AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_AT_POS));
bool yawPos = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_POS) ==
AgentManager.ControlFlags.AGENT_CONTROL_YAW_POS;
bool yawNeg = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_NEG) ==
AgentManager.ControlFlags.AGENT_CONTROL_YAW_NEG;
bool heldBack = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG) ==
AgentManager.ControlFlags.AGENT_CONTROL_AT_NEG;
bool heldLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS) ==
AgentManager.ControlFlags.AGENT_CONTROL_LEFT_POS;
bool heldRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG) ==
AgentManager.ControlFlags.AGENT_CONTROL_LEFT_NEG;
bool heldTurnLeft = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) ==
AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT;
bool heldTurnRight = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) ==
AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT;
bool heldUp = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) ==
AgentManager.ControlFlags.AGENT_CONTROL_UP_POS;
bool heldDown = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) ==
AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG;
//bool flying = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_FLY) == AgentManager.ControlFlags.AGENT_CONTROL_FLY;
//bool mouselook = (controlFlags & AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK) == AgentManager.ControlFlags.AGENT_CONTROL_MOUSELOOK;
// Direction in which the avatar is trying to move
Vector3 move = Vector3.Zero;
if (heldForward)
{
move.X += fwd.X;
move.Y += fwd.Y;
}
if (heldBack)
{
move.X -= fwd.X;
move.Y -= fwd.Y;
}
if (heldLeft)
{
move.X += left.X;
move.Y += left.Y;
}
if (heldRight)
{
move.X -= left.X;
move.Y -= left.Y;
}
if (heldUp)
{
move.Z += 1;
}
if (heldDown)
{
move.Z -= 1;
}
float fallVelocity = (actor != null) ? actor.Velocity.Z : 0.0f;
if (heldTurnLeft && yawPos && !heldForward &&
!heldBack && actor != null && !actor.IsJumping &&
!actor.Flying && move.Z == 0 &&
fallVelocity == 0.0f && !heldUp &&
!heldDown && move.CompareTo(Vector3.Zero) == 0)
{
return("TURNLEFT");
}
if (heldTurnRight && yawNeg && !heldForward &&
!heldBack && actor != null && !actor.IsJumping &&
!actor.Flying && move.Z == 0 &&
fallVelocity == 0.0f && !heldUp &&
!heldDown && move.CompareTo(Vector3.Zero) == 0)
{
return("TURNRIGHT");
}
// Is the avatar trying to move?
// bool moving = (move != Vector3.Zero);
#endregion Inputs
#region Standup
float standupElapsed = (Util.EnvironmentTickCount() - m_animTickStandup) / 1000f;
if (m_scenePresence.PhysicsActor != null && standupElapsed < STANDUP_TIME &&
m_useSplatAnimation)
{
// Falling long enough to trigger the animation
m_scenePresence.FallenStandUp = true;
m_scenePresence.PhysicsActor.Velocity = Vector3.Zero;
return("STANDUP");
}
// need the brush off?
if (standupElapsed < BRUSH_TIME && m_useSplatAnimation)
{
m_scenePresence.FallenStandUp = true;
return("BRUSH");
}
if (m_animTickStandup != 0 || m_scenePresence.FallenStandUp)
{
m_scenePresence.FallenStandUp = false;
m_animTickStandup = 0;
}
#endregion Standup
#region Flying
if (actor != null &&
(m_scenePresence.AgentControlFlags & (uint)AgentManager.ControlFlags.AGENT_CONTROL_FLY) ==
(uint)AgentManager.ControlFlags.AGENT_CONTROL_FLY || m_scenePresence.ForceFly)
{
m_animTickWalk = 0;
m_animTickFall = 0;
if (move.X != 0f || move.Y != 0f)
{
// level?
if (move.Z == 0)
{
if (m_scenePresence.Scene.PhysicsScene.UseUnderWaterPhysics &&
actor.Position.Z < m_scenePresence.Scene.RegionInfo.RegionSettings.WaterHeight)
{
return("SWIM_FORWARD");
}
// must be flying then
if (m_timesBeforeSlowFlyIsOff < SLOWFLY_DELAY)
{
m_timesBeforeSlowFlyIsOff++;
return("FLYSLOW");
}
return("FLY");
}
// going up then...
if (move.Z > 0)
{
if (m_scenePresence.Scene.PhysicsScene.UseUnderWaterPhysics &&
actor.Position.Z < m_scenePresence.Scene.RegionInfo.RegionSettings.WaterHeight)
{
return("SWIM_UP");
}
// easy does it
return("FLYSLOW");
}
if (m_scenePresence.Scene.PhysicsScene.UseUnderWaterPhysics &&
actor.Position.Z < m_scenePresence.Scene.RegionInfo.RegionSettings.WaterHeight)
{
return("SWIM_DOWN");
}
// in the wild blue yonder
return("FLY");
}
// moving left/right but going up as well?
if (move.Z > 0f)
{
//This is for the slow fly timer
m_timesBeforeSlowFlyIsOff = 0;
if (m_scenePresence.Scene.PhysicsScene.UseUnderWaterPhysics &&
actor.Position.Z < m_scenePresence.Scene.RegionInfo.RegionSettings.WaterHeight)
{
return("SWIM_UP");
}
// going up...
return("HOVER_UP");
}
// mabye moving down then?
if (move.Z < 0f)
{
wasLastFlying = true;
//This is for the slow fly timer
m_timesBeforeSlowFlyIsOff = 0;
if (m_scenePresence.Scene.PhysicsScene.UseUnderWaterPhysics &&
actor.Position.Z < m_scenePresence.Scene.RegionInfo.RegionSettings.WaterHeight)
{
return("SWIM_DOWN");
}
else
{
ITerrainChannel channel = m_scenePresence.Scene.RequestModuleInterface <ITerrainChannel> ();
if (channel != null)
{
float groundHeight =
channel.GetNormalizedGroundHeight((int)m_scenePresence.AbsolutePosition.X,
(int)m_scenePresence.AbsolutePosition.Y);
if (actor != null && (m_scenePresence.AbsolutePosition.Z - groundHeight) < 2)
{
return("LAND");
}
return("HOVER_DOWN");
}
// no ground here...
return("HOVER_DOWN");
}
}
//This is for the slow fly timer
m_timesBeforeSlowFlyIsOff = 0;
if (m_scenePresence.Scene.PhysicsScene.UseUnderWaterPhysics &&
actor.Position.Z < m_scenePresence.Scene.RegionInfo.RegionSettings.WaterHeight)
{
return("SWIM_HOVER");
}
return("HOVER");
}
m_timesBeforeSlowFlyIsOff = 0;
#endregion Flying
#region Jumping
if (actor != null && actor.IsJumping)
{
return("JUMP");
}
if (actor != null && actor.IsPreJumping)
{
return("PREJUMP");
}
#endregion
#region Falling/Floating/Landing
float walkElapsed = (Util.EnvironmentTickCount() - m_animTickWalk) / 1000f;
if (actor != null && actor.IsPhysical && !actor.IsJumping && (!actor.IsColliding) && !actor.Flying && actor.TargetVelocity != Vector3.Zero /* && actor.Velocity.Z < -2*/ &&
(walkElapsed > FALL_AFTER_MOVE_TIME || m_animTickWalk == 0))//For if they user is walking off something, or they are falling
{
//Always return falldown immediately as there shouldn't be a waiting period
if (m_animTickFall == 0)
{
m_animTickFall = Util.EnvironmentTickCount();
}
return("FALLDOWN");
}
#endregion Falling/Floating/Landing
#region Ground Movement
if (m_movementAnimation == "FALLDOWN")
{
float fallElapsed = (Util.EnvironmentTickCount() - m_animTickFall) / 1000f;
// soft landing?
if (fallElapsed < 0.75)
{
m_animTickFall = Util.EnvironmentTickCount();
return("SOFT_LAND");
}
// a bit harder then?
if (actor != null &&
(fallElapsed < 1.1 ||
(Math.Abs(actor.Velocity.X) > 1 &&
Math.Abs(actor.Velocity.Y) > 1 &&
actor.Velocity.Z < 3)
)
)
{
m_animTickFall = Util.EnvironmentTickCount();
return("LAND");
}
// maybe a hard one...
if (m_useSplatAnimation)
{
m_animTickStandup = Util.EnvironmentTickCount();
return("STANDUP");
}
// just a simple landing
return("LAND");
}
// landing then
if (m_movementAnimation == "LAND")
{
if (actor != null && actor.Velocity.Z < 0)
{
if (actor.Velocity.Z < SOFTLAND_FORCE)
{
return("LAND");
}
return("SOFT_LAND");
}
//return "LAND";
}
m_animTickFall = 0;
if (move.Z <= 0f)
{
if (actor != null && (move.X != 0f || move.Y != 0f ||
actor.Velocity.X != 0 && actor.Velocity.Y != 0))
{
wasLastFlying = false;
if (actor.IsColliding)
{
m_animTickWalk = Util.EnvironmentTickCount();
}
// Walking / crouchwalking / running
if (move.Z < 0f)
{
return("CROUCHWALK");
}
// always run?
if (m_scenePresence.SetAlwaysRun)
{
return("RUN");
}
// must be walking then
return("WALK");
}
// Not walking
if (move.Z < 0f && !wasLastFlying)
{
return("CROUCH");
}
return("STAND");
}
#endregion Ground Movement
// none of the above so just continue the last animation
return(m_movementAnimation);
}
public override void LinkToNewParent(PhysicsActor obj, Vector3 localPos, Quaternion localRot)
{
}
public void StopMoveToTarget()
{
PhysicsActor?.DeactivateTargetList();
}
public void SetParentAndUpdatePhysics(SceneObjectGroup parent)
{
this.SetParent(parent, false);
PhysicsActor physActor = PhysActor;
if (physActor != null)
{
//does the parent have a physactor?
PhysicsActor parentPhysactor = parent.RootPart.PhysActor;
if (parentPhysactor != null)
{
physActor.LinkToNewParent(parent.RootPart.PhysActor, this.OffsetPosition, this.RotationOffset);
}
else
{
//we're linking a non-phantom prim to a phantom parent, phantomize this prim as well
//NOTE: Don't use UpdatePrimFlags here, it only works for roots, and this is not a root
//any longer
this.AddFlag(PrimFlags.Phantom);
m_parentGroup.Scene.PhysicsScene.RemovePrim(physActor);
PhysActor = null;
}
}
}
// This is the standard Near. Uses space AABBs to speed up detection.
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
//Don't test against heightfield Geom, or you'll be sorry!
/*
* terminate called after throwing an instance of 'std::bad_alloc'
* what(): std::bad_alloc
* Stacktrace:
*
* at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
* at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
* at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
* at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
* fffff>
* at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
* at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
* at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
* 0x00114>
* at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
* at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
* at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
* at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
* at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
* at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
*
* Native stacktrace:
*
* mono [0x80d2a42]
* [0xb7f5840c]
* /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
* /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
* /usr/lib/libstdc++.so.6 [0xb45fa865]
* /usr/lib/libstdc++.so.6 [0xb45fa8a2]
* /usr/lib/libstdc++.so.6 [0xb45fa9da]
* /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
* /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
* libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
* libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
* libode.so(dCollide+0x102) [0xb46571b2]
* [0x95cfdec9]
* [0x8ea07fe1]
* [0xab260146]
* libode.so [0xb465a5c4]
* libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
* libode.so(dSpaceCollide2+0x177) [0xb465ac67]
* [0x95cf978e]
* [0x8ea07945]
* [0x95cf2bbc]
* [0xab2787e7]
* [0xab419fb3]
* [0xab416657]
* [0xab415bda]
* [0xb609b08e]
* mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
* mono [0x81a2f0f]
* mono [0x81d28b6]
* mono [0x81ea2c6]
* /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
* /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
*/
// Exclude heightfield geom
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
{
return;
}
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
{
return;
}
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
{
return;
}
// Separating static prim geometry spaces.
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide test a space");
return;
}
//Colliding a space or a geom with a space or a geom. so drill down
//Collide all geoms in each space..
//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
return;
}
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
{
return;
}
int count = 0;
try
{
if (g1 == g2)
{
return; // Can't collide with yourself
}
lock (contacts)
{
count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
}
}
catch (SEHException)
{
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
return;
}
PhysicsActor p1 = null;
PhysicsActor p2 = null;
if (g1 != IntPtr.Zero)
{
m_scene.actor_name_map.TryGetValue(g1, out p1);
}
if (g2 != IntPtr.Zero)
{
m_scene.actor_name_map.TryGetValue(g1, out p2);
}
// Loop over contacts, build results.
for (int i = 0; i < count; i++)
{
if (p1 != null)
{
if (p1 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = p1.LocalID;
collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
collisionresult.Depth = contacts[i].depth;
collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
contacts[i].normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
if (p2 != null)
{
if (p2 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = p2.LocalID;
collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
collisionresult.Depth = contacts[i].depth;
collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
contacts[i].normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
}
// link me to the specified parent
public override void link(PhysicsActor obj) {
BSPrim parent = (BSPrim)obj;
// m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
// TODO: decide if this parent checking needs to happen at taint time
if (_parentPrim == null)
{
if (parent != null)
{
// I don't have a parent so I am joining a linkset
parent.AddChildToLinkset(this);
}
}
else
{
// I already have a parent, is parenting changing?
if (parent != _parentPrim)
{
if (parent == null)
{
// we are being removed from a linkset
_parentPrim.RemoveChildFromLinkset(this);
}
else
{
// asking to reparent a prim should not happen
m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader);
}
}
}
return;
}
public override void AddPhysicsActorTaint(PhysicsActor prim, TaintType taint)
{
}
public void UpdatePrimFlags(bool UsePhysics, bool IsTemporary, bool IsPhantom, bool IsVD)
{
bool wasUsingPhysics = ((ObjectFlags & (uint) PrimFlags.Physics) != 0);
bool wasTemporary = ((ObjectFlags & (uint)PrimFlags.TemporaryOnRez) != 0);
bool wasPhantom = ((ObjectFlags & (uint)PrimFlags.Phantom) != 0);
bool wasVD = VolumeDetectActive;
if ((UsePhysics == wasUsingPhysics) && (wasTemporary == IsTemporary) && (wasPhantom == IsPhantom) && (IsVD==wasVD))
{
return;
}
// Special cases for VD. VD can only be called from a script
// and can't be combined with changes to other states. So we can rely
// that...
// ... if VD is changed, all others are not.
// ... if one of the others is changed, VD is not.
if (IsVD) // VD is active, special logic applies
{
// State machine logic for VolumeDetect
// More logic below
bool phanReset = (IsPhantom != wasPhantom) && !IsPhantom;
if (phanReset) // Phantom changes from on to off switch VD off too
{
IsVD = false; // Switch it of for the course of this routine
VolumeDetectActive = false; // and also permanently
if (PhysActor != null)
PhysActor.SetVolumeDetect(0); // Let physics know about it too
}
else
{
IsPhantom = false;
// If volumedetect is active we don't want phantom to be applied.
// If this is a new call to VD out of the state "phantom"
// this will also cause the prim to be visible to physics
}
}
if (UsePhysics && IsJoint())
{
IsPhantom = true;
}
if (UsePhysics)
{
AddFlag(PrimFlags.Physics);
if (!wasUsingPhysics)
{
DoPhysicsPropertyUpdate(UsePhysics, false);
if (m_parentGroup != null)
{
if (!m_parentGroup.IsDeleted)
{
if (LocalId == m_parentGroup.RootPart.LocalId)
{
m_parentGroup.CheckSculptAndLoad();
}
}
}
}
}
else
{
RemFlag(PrimFlags.Physics);
if (wasUsingPhysics)
{
DoPhysicsPropertyUpdate(UsePhysics, false);
}
}
if (IsPhantom || IsAttachment || (Shape.PathCurve == (byte)Extrusion.Flexible)) // note: this may have been changed above in the case of joints
{
AddFlag(PrimFlags.Phantom);
if (PhysActor != null)
{
m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
/// that's not wholesome. Had to make Scene public
PhysActor = null;
}
}
else // Not phantom
{
RemFlag(PrimFlags.Phantom);
PhysicsActor pa = PhysActor;
if (pa == null)
{
// It's not phantom anymore. So make sure the physics engine get's knowledge of it
PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
Name,
Shape,
AbsolutePosition,
Scale,
RotationOffset,
UsePhysics);
pa = PhysActor;
if (pa != null)
{
pa.LocalID = LocalId;
DoPhysicsPropertyUpdate(UsePhysics, true);
if (m_parentGroup != null)
{
if (!m_parentGroup.IsDeleted)
{
if (LocalId == m_parentGroup.RootPart.LocalId)
{
m_parentGroup.CheckSculptAndLoad();
}
}
}
if (
((AggregateScriptEvents & scriptEvents.collision) != 0) ||
((AggregateScriptEvents & scriptEvents.collision_end) != 0) ||
((AggregateScriptEvents & scriptEvents.collision_start) != 0) ||
(CollisionSound != UUID.Zero)
)
{
PhysActor.OnCollisionUpdate += PhysicsCollision;
PhysActor.SubscribeEvents(1000);
}
}
}
else // it already has a physical representation
{
pa.IsPhysical = UsePhysics;
DoPhysicsPropertyUpdate(UsePhysics, false); // Update physical status. If it's phantom this will remove the prim
if (m_parentGroup != null)
{
if (!m_parentGroup.IsDeleted)
{
if (LocalId == m_parentGroup.RootPart.LocalId)
{
m_parentGroup.CheckSculptAndLoad();
}
}
}
}
}
if (IsVD)
{
// If the above logic worked (this is urgent candidate to unit tests!)
// we now have a physicsactor.
// Defensive programming calls for a check here.
// Better would be throwing an exception that could be catched by a unit test as the internal
// logic should make sure, this Physactor is always here.
if (this.PhysActor != null)
{
PhysActor.SetVolumeDetect(1);
AddFlag(PrimFlags.Phantom); // We set this flag also if VD is active
this.VolumeDetectActive = true;
}
}
else
{ // Remove VolumeDetect in any case. Note, it's safe to call SetVolumeDetect as often as you like
// (mumbles, well, at least if you have infinte CPU powers :-))
PhysicsActor pa = this.PhysActor;
if (pa != null)
{
PhysActor.SetVolumeDetect(0);
}
this.VolumeDetectActive = false;
}
if (IsTemporary)
{
AddFlag(PrimFlags.TemporaryOnRez);
}
else
{
RemFlag(PrimFlags.TemporaryOnRez);
}
// m_log.Debug("Update: PHY:" + UsePhysics.ToString() + ", T:" + IsTemporary.ToString() + ", PHA:" + IsPhantom.ToString() + " S:" + CastsShadows.ToString());
ParentGroup.HasGroupChanged = true;
ScheduleFullUpdate();
}
public override void LinkToNewParent(PhysicsActor obj, Vector3 localPos, Quaternion localRot)
{
}
public override void RemovePrim(PhysicsActor prim)
{
}
public void refresh(Vector3 influence, bool jump, bool sprint, bool crouch)
{
//Debug.Log("Hello?");
capsuleOffsets[0] = Vector3.up * (settings.stepUpMax + settings.collisionRadius);
capsuleOffsets[1] = capsuleOffsets[0] + Vector3.up * settings.collisionHeight;
currentVelocity = currentPhysics.getVelocity();
Vector3 workingInfluence = influence;
switch (currentPhysicsMode)
{
case PhysicsModes.STANDING:
case PhysicsModes.WALKING:
case PhysicsModes.RUNNING: {
Debug.Log("GROUNDED!!");
if (!currentPhysics.inValidState())
{
//if on a slidable terrain.
currentPhysics = movementSelection[(int)key.AIR_TRAVERSAL];
currentPhysicsMode = PhysicsModes.AIRBORNE;
currentPhysics.reset();
currentPhysics.setVelocity(currentVelocity);
}
if (jump)
{
//if infront of climable that fits a vaulatable, and enough speed, vault it
//else if infront of climbable and moving towards it, step up it.
currentPhysics = movementSelection[(int)key.AIR_TRAVERSAL]; //AIR TRAVERSAL
currentPhysicsMode = PhysicsModes.AIRBORNE;
currentPhysics.reset();
currentPhysics.setVelocity(currentVelocity);
workingInfluence.y = 1;
}
}
break;
case PhysicsModes.CROUCHING:
case PhysicsModes.SLIDING: {
}
break;
case PhysicsModes.CLIMBING: {
}
break;
case PhysicsModes.AIRBORNE:
default: {
Debug.Log("AIRBORNE!!");
if (!currentPhysics.inValidState())
{
Debug.Log("in-valid");
currentPhysicsMode = PhysicsModes.STANDING;
currentPhysics = movementSelection[(int)key.GROUND_TRAVERSAL];
currentPhysics.setVelocity(currentVelocity);
}
}
break;
}
currentPhysics.refresh(workingInfluence);
}
/// <summary> /// Remove a prim. /// </summary> /// <param name="prim"></param> public abstract void RemovePrim(PhysicsActor prim);
public override void RemovePrim(PhysicsActor prim)
{
}
public abstract void AddPhysicsActorTaint(PhysicsActor prim);
public override void RemoveAvatar(PhysicsActor actor)
{
this.QueueCommand(new Commands.RemoveCharacterCmd((PhysxCharacter)actor));
}
public override void RemoveAvatar(PhysicsActor actor)
{
// m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
if (!m_initialized) return;
BSCharacter bsactor = actor as BSCharacter;
if (bsactor != null)
{
try
{
lock (PhysObjects)
PhysObjects.Remove(bsactor.LocalID);
// Remove kludge someday
lock (m_avatars)
m_avatars.Remove(bsactor);
}
catch (Exception e)
{
m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
}
bsactor.Destroy();
// bsactor.dispose();
}
else
{
m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
LogHeader, actor.LocalID, actor.GetType().Name);
}
}
public override void RemovePrim(PhysicsActor prim)
{
this.QueueCommand(new Commands.RemoveObjectCmd((PhysxPrim)prim));
}
// This is a call from the simulator saying that some physical property has been updated.
// The BulletSim driver senses the changing of relevant properties so this taint
// information call is not needed.
public override void AddPhysicsActorTaint(PhysicsActor prim) { }
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
//throw new NotSupportedException("AddPhysicsActorTaint must be called with a taint type");
}
public override void RemovePrim(PhysicsActor prim)
{
this.QueueCommand(new Commands.RemoveObjectCmd((PhysxPrim)prim));
}
public override void link(PhysicsActor obj)
{
return;
}
public override void AddPhysicsActorTaint(PhysicsActor prim, TaintType taint)
{
TaintHandler handler;
if (_taintHandlers.TryGetValue(taint, out handler))
{
handler((PhysxPrim)prim, taint);
}
}
// This is the standard Near. Uses space AABBs to speed up detection.
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
{
return;
}
// if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
// return;
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
{
return;
}
// Separating static prim geometry spaces.
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide test a space");
return;
}
//Colliding a space or a geom with a space or a geom. so drill down
//Collide all geoms in each space..
//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
return;
}
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
{
return;
}
int count = 0;
try
{
if (g1 == g2)
{
return; // Can't collide with yourself
}
lock (contacts)
{
count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.unmanagedSizeOf);
}
}
catch (SEHException)
{
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
return;
}
PhysicsActor p1 = null;
PhysicsActor p2 = null;
if (g1 != IntPtr.Zero)
{
m_scene.actor_name_map.TryGetValue(g1, out p1);
}
if (g2 != IntPtr.Zero)
{
m_scene.actor_name_map.TryGetValue(g1, out p2);
}
// Loop over contacts, build results.
for (int i = 0; i < count; i++)
{
if (p1 != null)
{
if (p1 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = p1.LocalID;
collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
collisionresult.Depth = contacts[i].depth;
collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
contacts[i].normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
if (p2 != null)
{
if (p2 is OdePrim)
{
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = p2.LocalID;
collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
collisionresult.Depth = contacts[i].depth;
collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
contacts[i].normal.Z);
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
}