clockwerk-opensim – Blame information for rev 1
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1 | vero | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyrightD |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Linq; |
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30 | using System.Text; |
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31 | |||
32 | using OpenSim.Framework; |
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33 | using OpenSim.Region.OptionalModules.Scripting; |
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34 | |||
35 | using OMV = OpenMetaverse; |
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36 | |||
37 | namespace OpenSim.Region.Physics.BulletSPlugin |
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38 | { |
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39 | public class BSPrimLinkable : BSPrimDisplaced |
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40 | { |
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41 | // The purpose of this subclass is to add linkset functionality to the prim. This overrides |
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42 | // operations necessary for keeping the linkset created and, additionally, this |
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43 | // calls the linkset implementation for its creation and management. |
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44 | |||
45 | #pragma warning disable 414 |
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46 | private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]"; |
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47 | #pragma warning restore 414 |
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48 | |||
49 | // This adds the overrides for link() and delink() so the prim is linkable. |
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50 | |||
51 | public BSLinkset Linkset { get; set; } |
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52 | // The index of this child prim. |
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53 | public int LinksetChildIndex { get; set; } |
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54 | |||
55 | public BSLinkset.LinksetImplementation LinksetType { get; set; } |
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56 | |||
57 | public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, |
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58 | OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) |
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59 | : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) |
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60 | { |
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61 | // Default linkset implementation for this prim |
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62 | LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation; |
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63 | |||
64 | Linkset = BSLinkset.Factory(PhysScene, this); |
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65 | |||
66 | Linkset.Refresh(this); |
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67 | } |
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68 | |||
69 | public override void Destroy() |
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70 | { |
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71 | Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */); |
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72 | base.Destroy(); |
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73 | } |
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74 | |||
75 | public override void link(Manager.PhysicsActor obj) |
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76 | { |
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77 | BSPrimLinkable parent = obj as BSPrimLinkable; |
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78 | if (parent != null) |
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79 | { |
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80 | BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG |
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81 | int childrenBefore = Linkset.NumberOfChildren; // DEBUG |
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82 | |||
83 | Linkset = parent.Linkset.AddMeToLinkset(this); |
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84 | |||
85 | DetailLog("{0},BSPrimLinkable.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", |
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86 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); |
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87 | } |
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88 | return; |
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89 | } |
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90 | |||
91 | public override void delink() |
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92 | { |
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93 | // TODO: decide if this parent checking needs to happen at taint time |
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94 | // Race condition here: if link() and delink() in same simulation tick, the delink will not happen |
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95 | |||
96 | BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG |
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97 | int childrenBefore = Linkset.NumberOfChildren; // DEBUG |
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98 | |||
99 | Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/); |
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100 | |||
101 | DetailLog("{0},BSPrimLinkable.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", |
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102 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); |
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103 | return; |
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104 | } |
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105 | |||
106 | // When simulator changes position, this might be moving a child of the linkset. |
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107 | public override OMV.Vector3 Position |
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108 | { |
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109 | get { return base.Position; } |
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110 | set |
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111 | { |
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112 | base.Position = value; |
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113 | PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setPosition", delegate() |
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114 | { |
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115 | Linkset.UpdateProperties(UpdatedProperties.Position, this); |
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116 | }); |
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117 | } |
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118 | } |
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119 | |||
120 | // When simulator changes orientation, this might be moving a child of the linkset. |
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121 | public override OMV.Quaternion Orientation |
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122 | { |
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123 | get { return base.Orientation; } |
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124 | set |
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125 | { |
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126 | base.Orientation = value; |
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127 | PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setOrientation", delegate() |
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128 | { |
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129 | Linkset.UpdateProperties(UpdatedProperties.Orientation, this); |
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130 | }); |
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131 | } |
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132 | } |
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133 | |||
134 | public override float TotalMass |
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135 | { |
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136 | get { return Linkset.LinksetMass; } |
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137 | } |
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138 | |||
139 | public override OMV.Vector3 CenterOfMass |
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140 | { |
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141 | get { return Linkset.CenterOfMass; } |
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142 | } |
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143 | |||
144 | public override OMV.Vector3 GeometricCenter |
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145 | { |
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146 | get { return Linkset.GeometricCenter; } |
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147 | } |
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148 | |||
149 | // Refresh the linkset structure and parameters when the prim's physical parameters are changed. |
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150 | public override void UpdatePhysicalParameters() |
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151 | { |
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152 | base.UpdatePhysicalParameters(); |
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153 | // Recompute any linkset parameters. |
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154 | // When going from non-physical to physical, this re-enables the constraints that |
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155 | // had been automatically disabled when the mass was set to zero. |
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156 | // For compound based linksets, this enables and disables interactions of the children. |
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157 | if (Linkset != null) // null can happen during initialization |
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158 | Linkset.Refresh(this); |
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159 | } |
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160 | |||
161 | // When the prim is made dynamic or static, the linkset needs to change. |
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162 | protected override void MakeDynamic(bool makeStatic) |
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163 | { |
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164 | base.MakeDynamic(makeStatic); |
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165 | if (Linkset != null) // null can happen during initialization |
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166 | { |
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167 | if (makeStatic) |
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168 | Linkset.MakeStatic(this); |
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169 | else |
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170 | Linkset.MakeDynamic(this); |
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171 | } |
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172 | } |
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173 | |||
174 | // Body is being taken apart. Remove physical dependencies and schedule a rebuild. |
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175 | protected override void RemoveDependencies() |
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176 | { |
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177 | Linkset.RemoveDependencies(this); |
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178 | base.RemoveDependencies(); |
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179 | } |
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180 | |||
181 | // Called after a simulation step for the changes in physical object properties. |
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182 | // Do any filtering/modification needed for linksets. |
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183 | public override void UpdateProperties(EntityProperties entprop) |
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184 | { |
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185 | if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this)) |
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186 | { |
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187 | // Properties are only updated for the roots of a linkset. |
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188 | // TODO: this will have to change when linksets are articulated. |
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189 | base.UpdateProperties(entprop); |
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190 | } |
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191 | /* |
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192 | else |
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193 | { |
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194 | // For debugging, report the movement of children |
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195 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
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196 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
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197 | entprop.Acceleration, entprop.RotationalVelocity); |
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198 | } |
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199 | */ |
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200 | // The linkset might like to know about changing locations |
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201 | Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); |
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202 | } |
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203 | |||
204 | // Called after a simulation step to post a collision with this object. |
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205 | // This returns 'true' if the collision has been queued and the SendCollisions call must |
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206 | // be made at the end of the simulation step. |
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207 | public override bool Collide(uint collidingWith, BSPhysObject collidee, |
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208 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) |
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209 | { |
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210 | bool ret = false; |
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211 | // Ask the linkset if it wants to handle the collision |
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212 | if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth)) |
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213 | { |
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214 | // The linkset didn't handle it so pass the collision through normal processing |
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215 | ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); |
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216 | } |
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217 | return ret; |
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218 | } |
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219 | |||
220 | // A linkset reports any collision on any part of the linkset. |
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221 | public long SomeCollisionSimulationStep = 0; |
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222 | public override bool HasSomeCollision |
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223 | { |
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224 | get |
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225 | { |
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226 | return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding; |
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227 | } |
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228 | set |
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229 | { |
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230 | if (value) |
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231 | SomeCollisionSimulationStep = PhysScene.SimulationStep; |
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232 | else |
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233 | SomeCollisionSimulationStep = 0; |
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234 | |||
235 | base.HasSomeCollision = value; |
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236 | } |
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237 | } |
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238 | |||
239 | // Convert the existing linkset of this prim into a new type. |
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240 | public bool ConvertLinkset(BSLinkset.LinksetImplementation newType) |
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241 | { |
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242 | bool ret = false; |
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243 | if (LinksetType != newType) |
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244 | { |
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245 | DetailLog("{0},BSPrimLinkable.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); |
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246 | |||
247 | // Set the implementation type first so the call to BSLinkset.Factory gets the new type. |
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248 | this.LinksetType = newType; |
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249 | |||
250 | BSLinkset oldLinkset = this.Linkset; |
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251 | BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this); |
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252 | |||
253 | this.Linkset = newLinkset; |
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254 | |||
255 | // Pick up any physical dependencies this linkset might have in the physics engine. |
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256 | oldLinkset.RemoveDependencies(this); |
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257 | |||
258 | // Create a list of the children (mainly because can't interate through a list that's changing) |
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259 | List<BSPrimLinkable> children = new List<BSPrimLinkable>(); |
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260 | oldLinkset.ForEachMember((child) => |
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261 | { |
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262 | if (!oldLinkset.IsRoot(child)) |
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263 | children.Add(child); |
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264 | return false; // 'false' says to continue to next member |
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265 | }); |
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266 | |||
267 | // Remove the children from the old linkset and add to the new (will be a new instance from the factory) |
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268 | foreach (BSPrimLinkable child in children) |
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269 | { |
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270 | oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/); |
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271 | } |
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272 | foreach (BSPrimLinkable child in children) |
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273 | { |
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274 | newLinkset.AddMeToLinkset(child); |
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275 | child.Linkset = newLinkset; |
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276 | } |
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277 | |||
278 | // Force the shape and linkset to get reconstructed |
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279 | newLinkset.Refresh(this); |
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280 | this.ForceBodyShapeRebuild(true /* inTaintTime */); |
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281 | } |
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282 | return ret; |
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283 | } |
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284 | |||
285 | #region Extension |
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286 | public override object Extension(string pFunct, params object[] pParams) |
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287 | { |
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288 | DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length); |
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289 | object ret = null; |
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290 | switch (pFunct) |
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291 | { |
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292 | // physGetLinksetType(); |
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293 | // pParams = [ BSPhysObject root, null ] |
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294 | case ExtendedPhysics.PhysFunctGetLinksetType: |
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295 | { |
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296 | ret = (object)LinksetType; |
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297 | DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret); |
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298 | break; |
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299 | } |
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300 | // physSetLinksetType(type); |
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301 | // pParams = [ BSPhysObject root, null, integer type ] |
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302 | case ExtendedPhysics.PhysFunctSetLinksetType: |
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303 | { |
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304 | if (pParams.Length > 2) |
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305 | { |
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306 | BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2]; |
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307 | if (Linkset.IsRoot(this)) |
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308 | { |
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309 | PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate() |
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310 | { |
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311 | // Cause the linkset type to change |
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312 | DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}", |
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313 | LocalID, Linkset.LinksetImpl, linksetType); |
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314 | ConvertLinkset(linksetType); |
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315 | }); |
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316 | } |
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317 | ret = (object)(int)linksetType; |
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318 | } |
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319 | break; |
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320 | } |
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321 | // physChangeLinkType(linknum, typeCode); |
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322 | // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ] |
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323 | case ExtendedPhysics.PhysFunctChangeLinkType: |
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324 | { |
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325 | ret = Linkset.Extension(pFunct, pParams); |
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326 | break; |
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327 | } |
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328 | // physGetLinkType(linknum); |
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329 | // pParams = [ BSPhysObject root, BSPhysObject child ] |
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330 | case ExtendedPhysics.PhysFunctGetLinkType: |
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331 | { |
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332 | ret = Linkset.Extension(pFunct, pParams); |
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333 | break; |
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334 | } |
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335 | // physChangeLinkParams(linknum, [code, value, code, value, ...]); |
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336 | // pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] |
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337 | case ExtendedPhysics.PhysFunctChangeLinkParams: |
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338 | { |
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339 | ret = Linkset.Extension(pFunct, pParams); |
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340 | break; |
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341 | } |
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342 | default: |
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343 | ret = base.Extension(pFunct, pParams); |
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344 | break; |
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345 | } |
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346 | return ret; |
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347 | } |
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348 | #endregion // Extension |
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349 | } |
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350 | } |