public AuroraODECharacter(String avName, AuroraODEPhysicsScene parent_scene, Vector3 pos, Quaternion rotation,
Vector3 size)
{
m_uuid = UUID.Random();
_parent_scene = parent_scene;
m_taintRotation = rotation;
if (pos.IsFinite())
{
if (pos.Z > 9999999f || pos.Z < -90f)
{
pos.Z =
_parent_scene.GetTerrainHeightAtXY(_parent_scene.Region.RegionSizeX * 0.5f,
_parent_scene.Region.RegionSizeY * 0.5f) + 5.0f;
}
_position = pos;
}
else
{
_position.X = _parent_scene.Region.RegionSizeX * 0.5f;
_position.Y = _parent_scene.Region.RegionSizeY * 0.5f;
_position.Z = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + 10f;
MainConsole.Instance.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
m_isPhysical = false; // current status: no ODE information exists
Size = size;
m_name = avName;
}
public AuroraODERayCastRequestManager(AuroraODEPhysicsScene pScene)
{
m_scene = pScene;
nearCallback = near;
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
}
/// <summary>
/// Dereference the creator scene so that it can be garbage collected if needed.
/// </summary>
internal void Dispose()
{
m_scene = null;
if (ContactgeomsArray != IntPtr.Zero)
{
Marshal.FreeHGlobal(ContactgeomsArray);
}
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
if (!m_initialized) //Only initialize ode once!
{
// Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
// http://opensimulator.org/mantis/view.php?id=2750).
d.InitODE();
m_initialized = true;
}
_mScene = new AuroraODEPhysicsScene(ode, sceneIdentifier);
}
return(_mScene);
}
public ODESpecificAvatar(String avName, AuroraODEPhysicsScene parent_scene, Vector3 pos, Quaternion rotation,
Vector3 size) : base(avName, parent_scene, pos, rotation, size)
{
base._parent_ref = this;
}
public void setMesh (AuroraODEPhysicsScene parent_scene, IMesh mesh)
{
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
//Thread.Sleep(10);
//Kill Body so that mesh can re-make the geom
if (IsPhysical && Body != IntPtr.Zero)
{
if (childPrim)
{
if (_parent != null)
{
AuroraPhysXPrim parent = (AuroraPhysXPrim)_parent;
parent.ChildDelink (this);
}
}
else
{
DestroyBody ();
}
}
IntPtr vertices, indices;
int vertexCount, indexCount;
int vertexStride, triStride;
mesh.getVertexListAsPtrToFloatArray (out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap
mesh.getIndexListAsPtrToIntArray (out indices, out triStride, out indexCount); // Also fixed, needs release after usage
mesh.releaseSourceMeshData (); // free up the original mesh data to save memory
if (m_MeshToTriMeshMap.ContainsKey (mesh))
{
_triMeshData = m_MeshToTriMeshMap[mesh];
}
else
{
_triMeshData = d.GeomTriMeshDataCreate ();
d.GeomTriMeshDataBuildSimple (_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
d.GeomTriMeshDataPreprocess (_triMeshData);
m_MeshToTriMeshMap[mesh] = _triMeshData;
}
_parent_scene.waitForSpaceUnlock (m_targetSpace);
try
{
if (prim_geom == IntPtr.Zero)
{
SetGeom (d.CreateTriMesh (m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
}
}
catch (AccessViolationException)
{
m_log.Error ("[PHYSICS]: MESH LOCKED");
return;
}
}
public AuroraPhysXPrim(ISceneChildEntity entity, AuroraODEPhysicsScene parent_scene, bool pisPhysical, CollisionLocker dode)
{
m_vehicle = new AuroraPhysXDynamics ();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
// correct for changed timestep
PID_D /= (parent_scene.ODE_STEPSIZE * 50f); // original ode fps of 50
PID_G /= (parent_scene.ODE_STEPSIZE * 50f);
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
_size = entity.Scale;
_position = entity.AbsolutePosition;
fakepos = false;
_orientation = entity.GetWorldRotation ();
fakeori = false;
_pbs = entity.Shape;
_parent_entity = entity;
_parent_scene = parent_scene;
m_targetSpace = (IntPtr)0;
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
if (m_isphysical)
m_targetSpace = _parent_scene.space;
m_forceacc = Vector3.Zero;
m_angularforceacc = Vector3.Zero;
m_UpdateTimecntr = 0;
m_UpdateFPScntr = 2.5f * parent_scene.StepTime; // this parameter needs retunning and possible came from ini file
if (m_UpdateTimecntr > .1f) // try to keep it under 100ms
m_UpdateTimecntr = .1f;
AddChange (changes.Add, null);
}
public AuroraODERayCastRequestManager(AuroraODEPhysicsScene pScene)
{
m_scene = pScene;
nearCallback = near;
}
/// <summary>
/// Dereference the creator scene so that it can be garbage collected if needed.
/// </summary>
internal void Dispose()
{
m_scene = null;
}
public AuroraPhysXCharacter (String avName, AuroraPhysXPhysicsScene parent_scene, Vector3 pos, Quaternion rotation, Vector3 size)
{
m_uuid = UUID.Random();
m_taintRotation = rotation;
// _orientation = rotation;
// _lastorientation = rotation;
if (pos.IsFinite())
{
if (pos.Z > 9999999f || pos.Z <-90f)
{
// pos.Z = parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
pos.Z = parent_scene.GetTerrainHeightAtXY(parent_scene.Region.RegionSizeX * 0.5f, parent_scene.Region.RegionSizeY * 0.5f) + 5.0f;
}
_position = pos;
m_taintPosition.X = pos.X;
m_taintPosition.Y = pos.Y;
m_taintPosition.Z = pos.Z;
}
else
{
_position.X = (float)parent_scene.Region.RegionSizeX * 0.5f;
_position.Y = (float)parent_scene.Region.RegionSizeY * 0.5f;
_position.Z = parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + 10f;
m_taintPosition.X = _position.X;
m_taintPosition.Y = _position.Y;
m_taintPosition.Z = _position.Z;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
_parent_scene = parent_scene;
CAPSULE_RADIUS = parent_scene.avCapRadius;
// m_StandUpRotation =
// new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
// 0.5f);
CAPSULE_LENGTH = (size.Z * 1.1f) - CAPSULE_RADIUS * 2.0f;
if ((m_collisionFlags & CollisionCategories.Land) == 0)
AvatarHalfsize = CAPSULE_LENGTH * 0.5f + CAPSULE_RADIUS;
else
AvatarHalfsize = CAPSULE_LENGTH * 0.5f + CAPSULE_RADIUS - 0.3f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
_parent_scene.AddPhysicsActorTaint(this);
m_UpdateTimecntr = 0;
m_UpdateFPScntr = 2.5f * parent_scene.StepTime; // this parameter needs retunning and possible came from ini file
if (m_UpdateTimecntr > .1f) // try to keep it under 100ms
m_UpdateTimecntr = .1f;
m_name = avName;
}