Index: OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
===================================================================
--- OpenSim/Region/Environment/Scenes/SceneObjectPart.cs (revision 7781)
+++ OpenSim/Region/Environment/Scenes/SceneObjectPart.cs (working copy)
@@ -414,7 +414,14 @@
public virtual string Name
{
get { return m_name; }
- set { m_name = value; }
+ set
+ {
+ m_name = value;
+ if (PhysActor != null)
+ {
+ PhysActor.SOPName = value;
+ }
+ }
}
public byte Material
@@ -676,7 +683,14 @@
public string Description
{
get { return m_description; }
- set { m_description = value; }
+ set
+ {
+ m_description = value;
+ if (PhysActor != null)
+ {
+ PhysActor.SOPDescription = value;
+ }
+ }
}
public Color Color
@@ -1274,28 +1288,37 @@
///
public void ApplyPhysics(uint rootObjectFlags, bool m_physicalPrim)
{
+ //m_log.Debug("[NINJA] applying physics to " + Name);
bool isPhysical = (((rootObjectFlags & (uint) PrimFlags.Physics) != 0) && m_physicalPrim);
bool isPhantom = ((rootObjectFlags & (uint) PrimFlags.Phantom) != 0);
- // 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
- if (!isPhantom && !IsAttachment)
+ if (IsJoint())
{
- PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
- Name,
- Shape,
- new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
- new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
- RotationOffset,
- RigidBody);
+ DoPhysicsPropertyUpdate(isPhysical, true);
+ }
+ else
+ {
+ // 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
+ if (!isPhantom && !IsAttachment)
+ {
+ PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
+ Name,
+ Shape,
+ new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+ new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
+ RotationOffset,
+ RigidBody);
- // Basic Physics returns null.. joy joy joy.
- if (PhysActor != null)
- {
- PhysActor.LocalID = LocalId;
- DoPhysicsPropertyUpdate(RigidBody, true);
+ // 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);
+ }
}
}
}
@@ -1406,47 +1429,138 @@
public void DoPhysicsPropertyUpdate(bool UsePhysics, bool isNew)
{
- if (PhysActor != null)
+ //m_log.Debug("[NINJA] updating physics property of " + Name + " to be " + UsePhysics);
+
+ if (IsJoint())
{
- if (UsePhysics != PhysActor.IsPhysical || isNew)
+ if (UsePhysics)
{
- if (PhysActor.IsPhysical)
+ // by turning a joint proxy object physical, we cause creation of a joint in the ODE scene.
+ // note that, as a special case, joints have no bodies or geoms in the physics scene, even though they are physical.
+
+ PhysicsJointType jointType;
+ if (IsHingeJoint())
{
- if (!isNew)
- ParentGroup.Scene.RemovePhysicalPrim(1);
+ jointType = PhysicsJointType.Hinge;
+ }
+ else if (IsBallJoint())
+ {
+ jointType = PhysicsJointType.Ball;
+ }
+ else
+ {
+ jointType = PhysicsJointType.Ball;
+ }
- PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
- PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
- PhysActor.delink();
+ List bodyNames = new List();
+ string RawParams = Description;
+ string[] jointParams = RawParams.Split(' ');
+ string trackedBodyName = null;
+ if (jointParams.Length >= 2)
+ {
+ for (int iBodyName = 0; iBodyName < 2; iBodyName++)
+ {
+ string bodyName = jointParams[iBodyName];
+ bodyNames.Add(bodyName);
+ if (bodyName != "NULL")
+ {
+ if (trackedBodyName == null)
+ {
+ trackedBodyName = bodyName;
+ }
+ }
+ }
}
- PhysActor.IsPhysical = UsePhysics;
+ SceneObjectPart trackedBody = m_parentGroup.Scene.GetSceneObjectPart(trackedBodyName); // FIXME: causes a sequential lookup
+ Quaternion localRotation = Quaternion.Identity;
+ if (trackedBody != null)
+ {
+ localRotation = Quaternion.Inverse(trackedBody.RotationOffset) * this.RotationOffset;
+ }
+ else
+ {
+ m_log.Warn("[NINUA] warning: tracked body name not found! joint: " + Name);
+ }
+ PhysicsJoint joint;
- // If we're not what we're supposed to be in the physics scene, recreate ourselves.
- //m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
- /// that's not wholesome. Had to make Scene public
- //PhysActor = null;
+ joint = m_parentGroup.Scene.PhysicsScene.RequestJointCreation(Name, jointType,
+ new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
+ this.RotationOffset,
+ Description,
+ bodyNames,
+ trackedBodyName,
+ localRotation);
+ }
+ else
+ {
+ // here we turn off the joint object, so remove the joint from the physics scene
+ m_parentGroup.Scene.PhysicsScene.RequestJointDeletion(Name); // FIXME: what if the name changed?
- if ((ObjectFlags & (uint) PrimFlags.Phantom) == 0)
+ // make sure client isn't interpolating the joint proxy object
+ Velocity = new Vector3(0, 0, 0);
+ RotationalVelocity = new Vector3(0, 0, 0);
+ Acceleration = new Vector3(0, 0, 0);
+ }
+ }
+ else
+ {
+ if (PhysActor != null)
+ {
+ //m_log.Debug("[NINJA] physics actor is not null");
+ if (UsePhysics != PhysActor.IsPhysical || isNew)
{
- if (UsePhysics)
+ if (PhysActor.IsPhysical)
{
- ParentGroup.Scene.AddPhysicalPrim(1);
+ if (!isNew)
+ ParentGroup.Scene.RemovePhysicalPrim(1);
- PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
- PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
- if (_parentID != 0 && _parentID != LocalId)
+ PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
+ PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
+ PhysActor.delink();
+
+ // make sure client isn't interpolating the turned-off prim (necessary for jointed assemblies that fly apart when non-physicalized)
+ Velocity = new Vector3(0, 0, 0);
+ RotationalVelocity = new Vector3(0, 0, 0);
+ Acceleration = new Vector3(0, 0, 0);
+
+ // destroy all joints connected to this now deactivated body
+ m_parentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(PhysActor);
+
+ // stop client-side interpolation of all joint proxy objects that have just been deleted
+ // this is done because RemoveAllJointsConnectedToActor invokes the OnJointDeactivated callback,
+ // which stops client-side interpolation of deactivated joint proxy objects.
+ }
+
+ PhysActor.IsPhysical = UsePhysics;
+
+ // If we're not what we're supposed to be in the physics scene, recreate ourselves.
+ //m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
+ /// that's not wholesome. Had to make Scene public
+ //PhysActor = null;
+
+ if ((ObjectFlags & (uint)PrimFlags.Phantom) == 0)
+ {
+ if (UsePhysics)
{
- if (ParentGroup.RootPart.PhysActor != null)
+ ParentGroup.Scene.AddPhysicalPrim(1);
+
+ PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
+ PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
+ if (_parentID != 0 && _parentID != LocalId)
{
- PhysActor.link(ParentGroup.RootPart.PhysActor);
+ if (ParentGroup.RootPart.PhysActor != null)
+ {
+ PhysActor.link(ParentGroup.RootPart.PhysActor);
+ }
}
}
}
+
}
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
@@ -3166,6 +3280,44 @@
}
}
+ public bool IsHingeJoint()
+ {
+ if (m_parentGroup.Scene.NINJAPhysicsJointsEnabled)
+ {
+ string hingeString = "hingejoint";
+ return (Name.Length >= hingeString.Length && Name.Substring(0, hingeString.Length) == hingeString);
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ public bool IsBallJoint()
+ {
+ if (m_parentGroup.Scene.NINJAPhysicsJointsEnabled)
+ {
+ string ballString = "balljoint";
+ return (Name.Length >= ballString.Length && Name.Substring(0, ballString.Length) == ballString);
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ public bool IsJoint()
+ {
+ if (m_parentGroup.Scene.NINJAPhysicsJointsEnabled)
+ {
+ return IsHingeJoint() || IsBallJoint();
+ }
+ else
+ {
+ return false;
+ }
+ }
+
public void UpdatePrimFlags(bool UsePhysics, bool IsTemporary, bool IsPhantom)
{
bool wasUsingPhysics = ((ObjectFlags & (uint) PrimFlags.Physics) != 0);
@@ -3177,6 +3329,11 @@
return;
}
+ if (UsePhysics && IsJoint())
+ {
+ IsPhantom = true;
+ }
+
if (UsePhysics)
{
AddFlag(PrimFlags.Physics);
@@ -3204,7 +3361,7 @@
}
}
- if (IsPhantom || IsAttachment)
+ if (IsPhantom || IsAttachment) // note: this may have been changed above in the case of joints
{
AddFlag(PrimFlags.Phantom);
if (PhysActor != null)