C# OdePlugin.OdePrim类代码示例

        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
                                     PrimitiveBaseShape pbs, bool isphysical, uint localID)
        {
            Vector3 pos = position;
            Vector3 siz = size;
            Quaternion rot = rotation;

            OdePrim newPrim;
            lock (OdeLock)
            {
                newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical);

                lock (_prims)
                    _prims.Add(newPrim);
            }
            newPrim.LocalID = localID;
            return newPrim;
        }

 public void addActivePrim(OdePrim activatePrim)
 {
     // adds active prim..   (ones that should be iterated over in collisions_optimized
     lock (_activeprims)
     {
         if (!_activeprims.Contains(activatePrim))
             _activeprims.Add(activatePrim);
         //else
           //  m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
     }
 }

        private void ChildDelink(OdePrim odePrim)
        {
            // Okay, we have a delinked child..   need to rebuild the body.
            lock (childrenPrim)
            {
                foreach (OdePrim prm in childrenPrim)
                {
                    prm.childPrim = true;
                    prm.disableBody();
                    //prm.m_taintparent = null;
                    //prm._parent = null;
                    //prm.m_taintPhysics = false;
                    //prm.m_disabled = true;
                    //prm.childPrim = false;
                }
            }
            disableBody();

            lock (childrenPrim)
            {
 //Console.WriteLine("childrenPrim.Remove " + odePrim);
                childrenPrim.Remove(odePrim);
            }

            if (Body != IntPtr.Zero)
            {
                _parent_scene.remActivePrim(this);
            }

            lock (childrenPrim)
            {
                foreach (OdePrim prm in childrenPrim)
                {
//Console.WriteLine("ChildDelink calls ParentPrim");
                    AddChildPrim(prm);
                }
            }
        }

        /// <summary>
        /// This is called from within simulate but outside the locked portion
        /// We need to do our own locking here
        /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
        /// Simulate() -- justincc).
        ///
        /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
        ///
        /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
        /// that the space was using.
        /// </summary>
        /// <param name="prim"></param>
        internal void RemovePrimThreadLocked(OdePrim prim)
        {
//            m_log.DebugFormat("[ODE SCENE]: Removing physical prim {0} {1}", prim.Name, prim.LocalID);

            lock (prim)
            {
                RemoveCollisionEventReporting(prim);

                if (prim.prim_geom != IntPtr.Zero)
                {
                    prim.ResetTaints();

                    if (prim.IsPhysical)
                    {
                        prim.disableBody();
                        if (prim.childPrim)
                        {
                            prim.childPrim = false;
                            prim.Body = IntPtr.Zero;
                            prim.m_disabled = true;
                            prim.IsPhysical = false;
                        }


                    }
                    // we don't want to remove the main space

                    // If the geometry is in the targetspace, remove it from the target space
                    //m_log.Warn(prim.m_targetSpace);

                    //if (prim.m_targetSpace != IntPtr.Zero)
                    //{
                    //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
                    //{

                    //if (d.GeomIsSpace(prim.m_targetSpace))
                    //{
                    //waitForSpaceUnlock(prim.m_targetSpace);
                    //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
                    prim.m_targetSpace = IntPtr.Zero;
                    //}
                    //else
                    //{
                    // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
                    //((OdePrim)prim).m_targetSpace.ToString());
                    //}

                    //}
                    //}
                    //m_log.Warn(prim.prim_geom);

                    if (!prim.RemoveGeom())
                        m_log.Warn("[ODE SCENE]: Unable to remove prim from physics scene");

                    lock (_prims)
                        _prims.Remove(prim);

                    //If there are no more geometries in the sub-space, we don't need it in the main space anymore
                    //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
                    //{
                    //if (prim.m_targetSpace != null)
                    //{
                    //if (d.GeomIsSpace(prim.m_targetSpace))
                    //{
                    //waitForSpaceUnlock(prim.m_targetSpace);
                    //d.SpaceRemove(space, prim.m_targetSpace);
                    // free up memory used by the space.
                    //d.SpaceDestroy(prim.m_targetSpace);
                    //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
                    //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
                    //}
                    //else
                    //{
                    //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
                    //((OdePrim) prim).m_targetSpace.ToString());
                    //}
                    //}
                    //}

                    if (SupportsNINJAJoints)
                        RemoveAllJointsConnectedToActorThreadLocked(prim);
                }
            }
        }

        private void ChildSetGeom(OdePrim odePrim)
        {
//            m_log.DebugFormat(
//                "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);

            //if (IsPhysical && Body != IntPtr.Zero)
            lock (childrenPrim)
            {
                foreach (OdePrim prm in childrenPrim)
                {
                    //prm.childPrim = true;
                    prm.disableBody();
                    //prm.m_taintparent = null;
                    //prm._parent = null;
                    //prm.m_taintPhysics = false;
                    //prm.m_disabled = true;
                    //prm.childPrim = false;
                }
            }

            disableBody();

            // Spurious - Body == IntPtr.Zero after disableBody()
//            if (Body != IntPtr.Zero)
//            {
//                _parent_scene.DeactivatePrim(this);
//            }

            lock (childrenPrim)
            {
                foreach (OdePrim prm in childrenPrim)
                {
//Console.WriteLine("ChildSetGeom calls ParentPrim");
                    AddChildPrim(prm);
                }
            }
        }

        /// <summary>
        /// Add a child prim to this parent prim.
        /// </summary>
        /// <param name="prim">Child prim</param>
        public void AddChildPrim(OdePrim prim)
        {
//Console.WriteLine("AddChildPrim  " + Name);
            if (this.m_localID != prim.m_localID)
            {
                if (Body == IntPtr.Zero)
                {
                    Body = d.BodyCreate(_parent_scene.world);
                    setMass();
                }
                if (Body != IntPtr.Zero)
                {
                    lock (childrenPrim)
                    {
                        if (!childrenPrim.Contains(prim))
                        {
//Console.WriteLine("childrenPrim.Add " + prim);
                            childrenPrim.Add(prim);
                            
                            foreach (OdePrim prm in childrenPrim)
                            {
                                d.Mass m2;
                                d.MassSetZero(out m2);
                                d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);

                                d.Quaternion quat = new d.Quaternion();
                                quat.W = prm._orientation.W;
                                quat.X = prm._orientation.X;
                                quat.Y = prm._orientation.Y;
                                quat.Z = prm._orientation.Z;

                                d.Matrix3 mat = new d.Matrix3();
                                d.RfromQ(out mat, ref quat);
                                d.MassRotate(ref m2, ref mat);
                                d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
                                d.MassAdd(ref pMass, ref m2);
                            }
                            
                            foreach (OdePrim prm in childrenPrim)
                            {
                                prm.m_collisionCategories |= CollisionCategories.Body;
                                prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);

                                if (prm.prim_geom == IntPtr.Zero)
                                {
                                    m_log.WarnFormat(
                                        "[PHYSICS]: Unable to link one of the linkset elements {0} for parent {1}.  No geom yet", 
                                        prm.Name, prim.Name);
                                    continue;
                                }
//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
                                d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
                                d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);


                                d.Quaternion quat = new d.Quaternion();
                                quat.W = prm._orientation.W;
                                quat.X = prm._orientation.X;
                                quat.Y = prm._orientation.Y;
                                quat.Z = prm._orientation.Z;

                                d.Matrix3 mat = new d.Matrix3();
                                d.RfromQ(out mat, ref quat);
                                if (Body != IntPtr.Zero)
                                {
                                    d.GeomSetBody(prm.prim_geom, Body);
                                    prm.childPrim = true;
                                    d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
                                    //d.GeomSetOffsetPosition(prim.prim_geom,
                                    //    (Position.X - prm.Position.X) - pMass.c.X,
                                    //    (Position.Y - prm.Position.Y) - pMass.c.Y,
                                    //    (Position.Z - prm.Position.Z) - pMass.c.Z);
                                    d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
                                    //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
                                    d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
                                    d.BodySetMass(Body, ref pMass);
                                }
                                else
                                {
                                    m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
                                }

                                prm.m_interpenetrationcount = 0;
                                prm.m_collisionscore = 0;
                                prm.m_disabled = false;

                                // The body doesn't already have a finite rotation mode set here
                                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
                                {
                                    prm.createAMotor(m_angularlock);
                                }
                                prm.Body = Body;
                                _parent_scene.addActivePrim(prm);
                            }

                            m_collisionCategories |= CollisionCategories.Body;
//.........这里部分代码省略.........

        protected void ChildRemove(OdePrim odePrim, bool reMakeBody)
        {
            // Okay, we have a delinked child.. destroy all body and remake
            if (odePrim != this && !childrenPrim.Contains(odePrim))
                return;

            DestroyBody();

            if (odePrim == this)
            {
                OdePrim newroot = null;
                lock (childrenPrim)
                {
                    if (childrenPrim.Count > 0)
                    {
                        newroot = childrenPrim[0];
                        childrenPrim.RemoveAt(0);
                        foreach (OdePrim prm in childrenPrim)
                        {
                            newroot.childrenPrim.Add(prm);
                        }
                        childrenPrim.Clear();
                    }
                    if (newroot != null)
                    {
                        newroot.childPrim = false;
                        newroot._parent = null;
                        newroot.MakeBody();
                    }
                }
                if (reMakeBody)
                    MakeBody();
                return;
            }
            else
            {
                lock (childrenPrim)
                {
                    childrenPrim.Remove(odePrim);
                    odePrim.childPrim = false;
                    odePrim._parent = null;
                    if (reMakeBody)
                        odePrim.MakeBody();
                }
            }
            MakeBody();
        }

 public void AddChange(OdePrim prim, changes what, Object arg)
 {
     ODEchangeitem item = new ODEchangeitem();
     item.prim = prim;
     item.what = what;
     item.arg = arg;
     ChangesQueue.Enqueue(item);
 }

        /// <summary>
        /// Add a child prim to this parent prim.
        /// </summary>
        /// <param name="prim">Child prim</param>
        // I'm the parent
        // prim is the child
        public void ParentPrim(OdePrim prim)
        {
            //Console.WriteLine("ParentPrim  " + m_primName);
            if (this.m_localID != prim.m_localID)
            {
                DestroyBody();  // for now we need to rebuil entire object on link change

                lock (childrenPrim)
                {
                    // adopt the prim
                    if (!childrenPrim.Contains(prim))
                        childrenPrim.Add(prim);

                    // see if this prim has kids and adopt them also
                    // should not happen for now
                    foreach (OdePrim prm in prim.childrenPrim)
                    {
                        if (!childrenPrim.Contains(prm))
                        {
                            if (prm.Body != IntPtr.Zero)
                            {
                                if (prm.prim_geom != IntPtr.Zero)
                                    d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
                                if(prm.Body != prim.Body)
                                    prm.DestroyBody(); // don't loose bodies around
                                prm.Body = IntPtr.Zero;
                            }

                            childrenPrim.Add(prm);
                            prm._parent = this;
                        }
                    }
                }
                //Remove old children from the prim
                prim.childrenPrim.Clear();
                prim.childPrim = true;
                prim._parent = this;

                if (prim.Body != IntPtr.Zero)
                {
                    if (prim.prim_geom != IntPtr.Zero)
                        d.GeomSetBody(prim.prim_geom, IntPtr.Zero);
                    prim.DestroyBody(); // don't loose bodies around
                    prim.Body = IntPtr.Zero;
                }
                MakeBody(); // full nasty reconstruction
            }
        }

        private void ChildDelink(OdePrim odePrim)
        {
            // Okay, we have a delinked child.. destroy all body and remake
            if (odePrim != this && !childrenPrim.Contains(odePrim))
                return;

            DestroyBody();

            if (odePrim == this) // delinking the root prim
            {
                OdePrim newroot = null;
                lock (childrenPrim)
                {
                    if (childrenPrim.Count > 0)
                    {
                        newroot = childrenPrim[0];
                        childrenPrim.RemoveAt(0);
                        foreach (OdePrim prm in childrenPrim)
                        {
                            newroot.childrenPrim.Add(prm);
                        }
                        childrenPrim.Clear();
                    }
                    if (newroot != null)
                    {
                        newroot.childPrim = false;
                        newroot._parent = null;
                        newroot.MakeBody();
                    }
                }
            }

            else
            {
                lock (childrenPrim)
                {
                    childrenPrim.Remove(odePrim);
                    odePrim.childPrim = false;
                    odePrim._parent = null;
                    //                    odePrim.UpdateDataFromGeom();
                    odePrim.MakeBody();
                }
            }
            MakeBody();
        }

 //sets non physical prim m_targetSpace to right space in spaces grid for static prims
 // should only be called for non physical prims unless they are becoming non physical
 private void SetInStaticSpace(OdePrim prim)
 {
     IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
     prim.m_targetSpace = targetSpace;
 }

 private void ChildSetGeom(OdePrim odePrim)
 {
     // well.. 
     DestroyBody();
     MakeBody();
 }

//.........这里部分代码省略.........
                    // use the common volume formula for all
                    volume = _size.X*_size.Y*_size.Z;
                    break;
            }

            // Calculate Path cut effect on volume
            // Not exact, in the triangle hollow example
            // They should never be zero or less then zero..
            // we'll ignore it if it's less then zero

            // ProfileEnd and ProfileBegin are values
            // from 0 to 50000

            // Turning them back into percentages so that I can cut that percentage off the volume

            float PathCutEndAmount = _pbs.ProfileEnd;
            float PathCutStartAmount = _pbs.ProfileBegin;
            if (((PathCutStartAmount + PathCutEndAmount)/50000f) > 0.0f)
            {
                float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount)/50000f);

                // Check the return amount for sanity
                if (pathCutAmount >= 0.99f)
                    pathCutAmount = 0.99f;

                volume = volume - (volume*pathCutAmount);
            }
            UInt16 taperX = _pbs.PathScaleX;
            UInt16 taperY = _pbs.PathScaleY;
            float taperFactorX = 0;
            float taperFactorY = 0;

            // Mass = density * volume
            if (taperX != 100)
            {
                if (taperX > 100)
                {
                    taperFactorX = 1.0f - ((float)taperX / 200);
                    //m_log.Warn("taperTopFactorX: " + extr.taperTopFactorX.ToString());
                }
                else
                {
                    taperFactorX = 1.0f - ((100 - (float)taperX) / 100);
                    //m_log.Warn("taperBotFactorX: " + extr.taperBotFactorX.ToString());
                }
                volume = (float)volume * ((taperFactorX / 3f) + 0.001f);
            }

            if (taperY != 100)
            {
                if (taperY > 100)
                {
                    taperFactorY = 1.0f - ((float)taperY / 200);
                    //m_log.Warn("taperTopFactorY: " + extr.taperTopFactorY.ToString());
                }
                else
                {
                    taperFactorY = 1.0f - ((100 - (float)taperY) / 100);
                    //m_log.Warn("taperBotFactorY: " + extr.taperBotFactorY.ToString());
                }
                volume = (float)volume * ((taperFactorY / 3f) + 0.001f);
            }
            returnMass = m_density*volume;
            if (returnMass <= 0) returnMass = 0.0001f;//ckrinke: Mass must be greater then zero.



            // Recursively calculate mass
            bool HasChildPrim = false;
            lock (childrenPrim)
            {
                if (childrenPrim.Count > 0)
                {
                    HasChildPrim = true;
                }

            }
            if (HasChildPrim)
            {
                OdePrim[] childPrimArr = new OdePrim[0];

                lock (childrenPrim)
                    childPrimArr = childrenPrim.ToArray();

                for (int i = 0; i < childPrimArr.Length; i++)
                {
                    if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove)
                        returnMass += childPrimArr[i].CalculateMass();
                    // failsafe, this shouldn't happen but with OpenSim, you never know :)
                    if (i > 256)
                        break;
                }
            }
                



           
            return returnMass;
        }

 public void remActivePrim(OdePrim deactivatePrim)
 {
     lock (_activeprims)
     {
         _activeprims.Remove(deactivatePrim);
     }
 }

        private void changeLink(OdePrim NewParent)
        {
            if (_parent == null && NewParent != null)
            {
                NewParent.ParentPrim(this);
            }
            else if (_parent != null)
            {
                if (_parent is OdePrim)
                {
                    if (NewParent != _parent)
                    {
                        (_parent as OdePrim).ChildDelink(this);
                        childPrim = false;

                        if (NewParent != null)
                        {
                            NewParent.ParentPrim(this);
                        }
                    }
                }
            }
            _parent = NewParent;
        }