clockwerk-opensim-stable – Rev 1
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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*/
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.OptionalModules.Scripting;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSPrimLinkable : BSPrimDisplaced
{
// The purpose of this subclass is to add linkset functionality to the prim. This overrides
// operations necessary for keeping the linkset created and, additionally, this
// calls the linkset implementation for its creation and management.
private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]";
// This adds the overrides for link() and delink() so the prim is linkable.
public BSLinkset Linkset { get; set; }
// The index of this child prim.
public int LinksetChildIndex { get; set; }
public BSLinkset.LinksetImplementation LinksetType { get; set; }
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysScene, this);
Linkset.Refresh(this);
}
public override void Destroy()
{
Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */);
base.Destroy();
}
public override void link(Manager.PhysicsActor obj)
{
BSPrimLinkable parent = obj as BSPrimLinkable;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG
Linkset = parent.Linkset.AddMeToLinkset(this);
DetailLog("{0},BSPrimLinkable.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
}
return;
}
public override void delink()
{
// TODO: decide if this parent checking needs to happen at taint time
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG
Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/);
DetailLog("{0},BSPrimLinkable.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
return;
}
// When simulator changes position, this might be moving a child of the linkset.
public override OMV.Vector3 Position
{
get { return base.Position; }
set
{
base.Position = value;
PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setPosition", delegate()
{
Linkset.UpdateProperties(UpdatedProperties.Position, this);
});
}
}
// When simulator changes orientation, this might be moving a child of the linkset.
public override OMV.Quaternion Orientation
{
get { return base.Orientation; }
set
{
base.Orientation = value;
PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setOrientation", delegate()
{
Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
});
}
}
public override float TotalMass
{
get { return Linkset.LinksetMass; }
}
public override OMV.Vector3 CenterOfMass
{
get { return Linkset.CenterOfMass; }
}
public override OMV.Vector3 GeometricCenter
{
get { return Linkset.GeometricCenter; }
}
// Refresh the linkset structure and parameters when the prim's physical parameters are changed.
public override void UpdatePhysicalParameters()
{
base.UpdatePhysicalParameters();
// Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero.
// For compound based linksets, this enables and disables interactions of the children.
if (Linkset != null) // null can happen during initialization
Linkset.Refresh(this);
}
// When the prim is made dynamic or static, the linkset needs to change.
protected override void MakeDynamic(bool makeStatic)
{
base.MakeDynamic(makeStatic);
if (Linkset != null) // null can happen during initialization
{
if (makeStatic)
Linkset.MakeStatic(this);
else
Linkset.MakeDynamic(this);
}
}
// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
protected override void RemoveDependencies()
{
Linkset.RemoveDependencies(this);
base.RemoveDependencies();
}
// Called after a simulation step for the changes in physical object properties.
// Do any filtering/modification needed for linksets.
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
// Called after a simulation step to post a collision with this object.
// This returns 'true' if the collision has been queued and the SendCollisions call must
// be made at the end of the simulation step.
public override bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// Ask the linkset if it wants to handle the collision
if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
{
// The linkset didn't handle it so pass the collision through normal processing
ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
}
return ret;
}
// A linkset reports any collision on any part of the linkset.
public long SomeCollisionSimulationStep = 0;
public override bool HasSomeCollision
{
get
{
return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
}
set
{
if (value)
SomeCollisionSimulationStep = PhysScene.SimulationStep;
else
SomeCollisionSimulationStep = 0;
base.HasSomeCollision = value;
}
}
// Convert the existing linkset of this prim into a new type.
public bool ConvertLinkset(BSLinkset.LinksetImplementation newType)
{
bool ret = false;
if (LinksetType != newType)
{
DetailLog("{0},BSPrimLinkable.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType);
// Set the implementation type first so the call to BSLinkset.Factory gets the new type.
this.LinksetType = newType;
BSLinkset oldLinkset = this.Linkset;
BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this);
this.Linkset = newLinkset;
// Pick up any physical dependencies this linkset might have in the physics engine.
oldLinkset.RemoveDependencies(this);
// Create a list of the children (mainly because can't interate through a list that's changing)
List<BSPrimLinkable> children = new List<BSPrimLinkable>();
oldLinkset.ForEachMember((child) =>
{
if (!oldLinkset.IsRoot(child))
children.Add(child);
return false; // 'false' says to continue to next member
});
// Remove the children from the old linkset and add to the new (will be a new instance from the factory)
foreach (BSPrimLinkable child in children)
{
oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/);
}
foreach (BSPrimLinkable child in children)
{
newLinkset.AddMeToLinkset(child);
child.Linkset = newLinkset;
}
// Force the shape and linkset to get reconstructed
newLinkset.Refresh(this);
this.ForceBodyShapeRebuild(true /* inTaintTime */);
}
return ret;
}
#region Extension
public override object Extension(string pFunct, params object[] pParams)
{
DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length);
object ret = null;
switch (pFunct)
{
// physGetLinksetType();
// pParams = [ BSPhysObject root, null ]
case ExtendedPhysics.PhysFunctGetLinksetType:
{
ret = (object)LinksetType;
DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret);
break;
}
// physSetLinksetType(type);
// pParams = [ BSPhysObject root, null, integer type ]
case ExtendedPhysics.PhysFunctSetLinksetType:
{
if (pParams.Length > 2)
{
BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2];
if (Linkset.IsRoot(this))
{
PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate()
{
// Cause the linkset type to change
DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}",
LocalID, Linkset.LinksetImpl, linksetType);
ConvertLinkset(linksetType);
});
}
ret = (object)(int)linksetType;
}
break;
}
// physChangeLinkType(linknum, typeCode);
// pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
case ExtendedPhysics.PhysFunctChangeLinkType:
{
ret = Linkset.Extension(pFunct, pParams);
break;
}
// physGetLinkType(linknum);
// pParams = [ BSPhysObject root, BSPhysObject child ]
case ExtendedPhysics.PhysFunctGetLinkType:
{
ret = Linkset.Extension(pFunct, pParams);
break;
}
// physChangeLinkParams(linknum, [code, value, code, value, ...]);
// pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ]
case ExtendedPhysics.PhysFunctChangeLinkParams:
{
ret = Linkset.Extension(pFunct, pParams);
break;
}
default:
ret = base.Extension(pFunct, pParams);
break;
}
return ret;
}
#endregion // Extension
}
}