* Cleaned up some locking on the ODEPlugin to make it more developer friendly
* Expect the occasional deadlock?0.6.0-stable
parent
7981c45750
commit
081b2ac34e
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@ -293,6 +293,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.addActivePrim(this);
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}
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#region Mass Calculation
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private float CalculateMass()
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{
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float volume = 0;
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@ -598,6 +600,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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return returnMass;
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}
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#endregion
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public void setMass()
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{
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if (Body != (IntPtr) 0)
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@ -734,10 +739,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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private void changelink(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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if (_parent == null && m_taintparent != null)
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{
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@ -763,17 +764,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linkJoint = (IntPtr)0;
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}
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ode.dunlock(_parent_scene.world);
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_parent = m_taintparent;
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}
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private void changeSelectedStatus(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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if (m_taintselected)
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{
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@ -831,7 +828,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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ode.dunlock(_parent_scene.world);
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resetCollisionAccounting();
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m_isSelected = m_taintselected;
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}
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@ -860,10 +857,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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public void changeadd(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
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IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
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@ -992,7 +987,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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ode.dunlock(_parent_scene.world);
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_parent_scene.geom_name_map[prim_geom] = this.m_primName;
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_parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
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@ -1004,10 +999,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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public void Move(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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if (m_isphysical)
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@ -1057,7 +1049,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.SpaceAdd(m_targetSpace, prim_geom);
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}
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}
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ode.dunlock(_parent_scene.world);
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changeSelectedStatus(timestep);
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@ -1067,10 +1059,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void rotate(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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d.Quaternion myrot = new d.Quaternion();
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myrot.W = _orientation.w;
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@ -1083,8 +1072,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodySetQuaternion(Body, ref myrot);
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}
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ode.dunlock(_parent_scene.world);
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resetCollisionAccounting();
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m_taintrot = _orientation;
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}
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@ -1098,29 +1085,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void changedisable(float timestep)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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m_disabled = true;
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if (Body != (IntPtr)0)
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{
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d.BodyDisable(Body);
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Body = (IntPtr)0;
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}
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ode.dunlock(_parent_scene.world);
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m_taintdisable = false;
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}
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public void changePhysicsStatus(float timestep)
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{
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lock (ode)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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if (m_isphysical == true)
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{
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@ -1137,9 +1116,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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ode.dunlock(_parent_scene.world);
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}
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changeSelectedStatus(timestep);
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resetCollisionAccounting();
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@ -1148,10 +1124,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void changesize(float timestamp)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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//if (!_parent_scene.geom_name_map.ContainsKey(prim_geom))
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//{
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// m_taintsize = _size;
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@ -1311,8 +1284,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.geom_name_map[prim_geom] = oldname;
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ode.dunlock(_parent_scene.world);
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changeSelectedStatus(timestamp);
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resetCollisionAccounting();
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@ -1321,11 +1292,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void changeshape(float timestamp)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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string oldname = _parent_scene.geom_name_map[prim_geom];
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@ -1471,8 +1437,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.geom_name_map[prim_geom] = oldname;
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ode.dunlock(_parent_scene.world);
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changeSelectedStatus(timestamp);
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resetCollisionAccounting();
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@ -1483,10 +1447,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if (!m_isSelected)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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lock (m_forcelist)
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@ -1505,7 +1466,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_forcelist.Clear();
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}
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ode.dunlock(_parent_scene.world);
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m_collisionscore = 0;
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m_interpenetrationcount = 0;
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@ -1517,12 +1477,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if (!m_isSelected)
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{
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lock (ode)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(_parent_scene.world);
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System.Threading.Thread.Sleep(20);
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if (IsPhysical)
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@ -1533,8 +1488,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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ode.dunlock(_parent_scene.world);
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}
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//resetCollisionAccounting();
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}
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m_taintVelocity = PhysicsVector.Zero;
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@ -1763,12 +1716,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
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{
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base.RaiseOutOfBounds(_position);
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}
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//if (m_crossingfailures < 5)
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//{
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//base.RequestPhysicsterseUpdate();
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//}
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//else
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//{
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//base.RaiseOutOfBounds(_position);
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//}
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}
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if (l_position.Z < 0)
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{
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@ -229,14 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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public void starttiming()
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{
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ms = Environment.TickCount;
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}
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public int stoptiming()
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{
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return Environment.TickCount - ms;
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}
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// Initialize the mesh plugin
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public override void Initialise(IMesher meshmerizer)
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{
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@ -245,15 +238,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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internal void waitForSpaceUnlock(IntPtr space)
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{
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while (d.SpaceLockQuery(space))
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{
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while (d.SpaceLockQuery(space)){ } // Wait and do nothing
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}
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}
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/// <summary>
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/// Debug space message for printing the space that a prim/avatar is in.
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/// </summary>
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@ -264,6 +251,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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return calculateSpaceForGeom(pos).ToString();
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}
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#region Collision Detection
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/// <summary>
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/// This is our near callback. A geometry is near a body
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/// </summary>
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@ -299,9 +288,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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//Collide all geoms in each space..
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//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
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//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
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return;
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}
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else
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{
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// Colliding Geom To Geom
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// This portion of the function 'was' blatantly ripped off from BoxStack.cs
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if (g1 == (IntPtr)0 || g2 == (IntPtr)0)
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@ -417,6 +407,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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(p1.PhysicsActorType == (int) ActorTypes.Agent &&
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p2.PhysicsActorType == (int) ActorTypes.Prim))
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{
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# region disabled code1
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//contacts[i].depth = contacts[i].depth * 4.15f;
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/*
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if (p2.PhysicsActorType == (int) ActorTypes.Agent)
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//contacts[i].depth = 0.0000000f;
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}
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*/
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#endregion
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}
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// If you interpenetrate a prim with another prim
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if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
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{
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#region disabledcode2
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//OdePrim op1 = (OdePrim)p1;
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//OdePrim op2 = (OdePrim)p2;
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//op1.m_collisionscore++;
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//Manually disabled objects stay disabled
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//contacts[i].depth = 0f;
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//}
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#endregion
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}
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if (contacts[i].depth >= 1.00f)
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{
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@ -600,13 +594,53 @@ namespace OpenSim.Region.Physics.OdePlugin
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//System.Console.WriteLine(count.ToString());
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//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
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}
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}
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}
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private float GetTerrainHeightAtXY(float x, float y)
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public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
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{
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return (float)_origheightmap[(int)y * Constants.RegionSize + (int)x];
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/* String name1 = null;
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String name2 = null;
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if (!geom_name_map.TryGetValue(trimesh, out name1))
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{
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name1 = "null";
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}
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if (!geom_name_map.TryGetValue(refObject, out name2))
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{
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name2 = "null";
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}
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m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
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*/
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return 1;
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}
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public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
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{
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String name1 = null;
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String name2 = null;
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if (!geom_name_map.TryGetValue(trimesh, out name1))
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{
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name1 = "null";
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}
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if (!geom_name_map.TryGetValue(refObject, out name2))
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{
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name2 = "null";
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}
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// m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
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d.Vector3 v0 = new d.Vector3();
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d.Vector3 v1 = new d.Vector3();
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d.Vector3 v2 = new d.Vector3();
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d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
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// m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
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return 1;
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}
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/// <summary>
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@ -715,6 +749,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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#endregion
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private float GetTerrainHeightAtXY(float x, float y)
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{
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return (float)_origheightmap[(int)y * Constants.RegionSize + (int)x];
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}
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#region Add/Remove Entities
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public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
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{
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PhysicsVector pos = new PhysicsVector();
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@ -735,6 +780,80 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
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IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
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{
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PhysicsVector pos = new PhysicsVector();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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PhysicsVector siz = new PhysicsVector();
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siz.X = size.X;
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siz.Y = size.Y;
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siz.Z = size.Z;
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Quaternion rot = new Quaternion();
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rot.w = rotation.w;
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rot.x = rotation.x;
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rot.y = rotation.y;
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rot.z = rotation.z;
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OdePrim newPrim;
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lock (OdeLock)
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{
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newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
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_prims.Add(newPrim);
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}
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return newPrim;
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}
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public void addActivePrim(OdePrim activatePrim)
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{
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// adds active prim.. (ones that should be iterated over in collisions_optimized
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_activeprims.Add(activatePrim);
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation) //To be removed
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{
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return AddPrimShape(primName, pbs, position, size, rotation, false);
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation, bool isPhysical)
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{
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PhysicsActor result;
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IMesh mesh = null;
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switch (pbs.ProfileShape)
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{
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case ProfileShape.Square:
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/// support simple box & hollow box now; later, more shapes
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if (needsMeshing(pbs))
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{
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mesh = mesher.CreateMesh(primName, pbs, size);
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}
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break;
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}
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result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
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return result;
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}
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public void remActivePrim(OdePrim deactivatePrim)
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{
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_activeprims.Remove(deactivatePrim);
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}
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public override void RemovePrim(PhysicsActor prim)
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{
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if (prim is OdePrim)
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@ -767,10 +886,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if (prim.prim_geom != (IntPtr)0)
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{
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while (ode.lockquery())
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{
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}
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ode.dlock(world);
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//System.Threading.Thread.Sleep(20);
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prim.ResetTaints();
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|
@ -846,11 +963,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
//}
|
||||
}
|
||||
|
||||
ode.dunlock(world);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Space Separation Calculation
|
||||
|
||||
/// <summary>
|
||||
/// Takes a space pointer and zeros out the array we're using to hold the spaces
|
||||
/// </summary>
|
||||
|
@ -1065,95 +1186,10 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
return returnint;
|
||||
}
|
||||
|
||||
private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
|
||||
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
|
||||
{
|
||||
PhysicsVector pos = new PhysicsVector();
|
||||
pos.X = position.X;
|
||||
pos.Y = position.Y;
|
||||
pos.Z = position.Z;
|
||||
PhysicsVector siz = new PhysicsVector();
|
||||
siz.X = size.X;
|
||||
siz.Y = size.Y;
|
||||
siz.Z = size.Z;
|
||||
Quaternion rot = new Quaternion();
|
||||
rot.w = rotation.w;
|
||||
rot.x = rotation.x;
|
||||
rot.y = rotation.y;
|
||||
rot.z = rotation.z;
|
||||
#endregion
|
||||
|
||||
|
||||
|
||||
OdePrim newPrim;
|
||||
lock (OdeLock)
|
||||
{
|
||||
newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
|
||||
|
||||
_prims.Add(newPrim);
|
||||
}
|
||||
|
||||
|
||||
return newPrim;
|
||||
}
|
||||
|
||||
public void addActivePrim(OdePrim activatePrim)
|
||||
{
|
||||
// adds active prim.. (ones that should be iterated over in collisions_optimized
|
||||
|
||||
_activeprims.Add(activatePrim);
|
||||
}
|
||||
|
||||
public void remActivePrim(OdePrim deactivatePrim)
|
||||
{
|
||||
_activeprims.Remove(deactivatePrim);
|
||||
}
|
||||
|
||||
public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
|
||||
{
|
||||
/* String name1 = null;
|
||||
String name2 = null;
|
||||
|
||||
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
||||
{
|
||||
name1 = "null";
|
||||
}
|
||||
if (!geom_name_map.TryGetValue(refObject, out name2))
|
||||
{
|
||||
name2 = "null";
|
||||
}
|
||||
|
||||
m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
|
||||
*/
|
||||
return 1;
|
||||
}
|
||||
|
||||
public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
|
||||
{
|
||||
String name1 = null;
|
||||
String name2 = null;
|
||||
|
||||
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
||||
{
|
||||
name1 = "null";
|
||||
}
|
||||
|
||||
if (!geom_name_map.TryGetValue(refObject, out name2))
|
||||
{
|
||||
name2 = "null";
|
||||
}
|
||||
|
||||
// m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
|
||||
|
||||
d.Vector3 v0 = new d.Vector3();
|
||||
d.Vector3 v1 = new d.Vector3();
|
||||
d.Vector3 v2 = new d.Vector3();
|
||||
|
||||
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
|
||||
// m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Routine to figure out if we need to mesh this prim with our mesher
|
||||
|
@ -1183,35 +1219,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return false;
|
||||
}
|
||||
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
|
||||
PhysicsVector size, Quaternion rotation) //To be removed
|
||||
{
|
||||
return AddPrimShape(primName, pbs, position, size, rotation, false);
|
||||
}
|
||||
|
||||
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
|
||||
PhysicsVector size, Quaternion rotation, bool isPhysical)
|
||||
{
|
||||
PhysicsActor result;
|
||||
IMesh mesh = null;
|
||||
|
||||
switch (pbs.ProfileShape)
|
||||
{
|
||||
case ProfileShape.Square:
|
||||
/// support simple box & hollow box now; later, more shapes
|
||||
if (needsMeshing(pbs))
|
||||
{
|
||||
mesh = mesher.CreateMesh(primName, pbs, size);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
|
||||
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Called after our prim properties are set Scale, position etc.
|
||||
|
@ -1224,10 +1231,13 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (prim is OdePrim)
|
||||
{
|
||||
OdePrim taintedprim = ((OdePrim) prim);
|
||||
lock (_taintedPrim)
|
||||
{
|
||||
if (!(_taintedPrim.Contains(taintedprim)))
|
||||
_taintedPrim.Add(taintedprim);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// This is our main simulate loop
|
||||
|
@ -1291,12 +1301,50 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
ode.dlock(world);
|
||||
try
|
||||
{
|
||||
lock (_characters)
|
||||
{
|
||||
foreach (OdeCharacter actor in _characters)
|
||||
{
|
||||
if (actor != null)
|
||||
actor.Move(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool processedtaints = false;
|
||||
|
||||
lock (_taintedPrim)
|
||||
{
|
||||
foreach (OdePrim prim in _taintedPrim)
|
||||
{
|
||||
if (prim.m_taintremove)
|
||||
{
|
||||
RemovePrimThreadLocked(prim);
|
||||
}
|
||||
|
||||
prim.ProcessTaints(timeStep);
|
||||
|
||||
processedtaints = true;
|
||||
prim.m_collisionscore = 0;
|
||||
}
|
||||
|
||||
if (processedtaints)
|
||||
_taintedPrim = new List<OdePrim>();
|
||||
|
||||
}
|
||||
|
||||
lock (_activeprims)
|
||||
{
|
||||
foreach (OdePrim prim in _activeprims)
|
||||
{
|
||||
prim.m_collisionscore = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
collision_optimized(timeStep);
|
||||
|
||||
|
@ -1321,37 +1369,17 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
lock (_characters)
|
||||
{
|
||||
foreach (OdeCharacter actor in _characters)
|
||||
{
|
||||
if (actor != null)
|
||||
actor.UpdatePositionAndVelocity();
|
||||
}
|
||||
|
||||
if (!ode.lockquery())
|
||||
{
|
||||
bool processedtaints = false;
|
||||
foreach (OdePrim prim in _taintedPrim)
|
||||
{
|
||||
if (prim.m_taintremove)
|
||||
{
|
||||
RemovePrimThreadLocked(prim);
|
||||
}
|
||||
|
||||
prim.ProcessTaints(timeStep);
|
||||
|
||||
processedtaints = true;
|
||||
prim.m_collisionscore = 0;
|
||||
}
|
||||
if (processedtaints)
|
||||
_taintedPrim = new List<OdePrim>();
|
||||
}
|
||||
foreach (OdePrim prim in _activeprims)
|
||||
lock (_activeprims)
|
||||
{
|
||||
prim.m_collisionscore = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (timeStep < 0.2f)
|
||||
{
|
||||
foreach (OdePrim actor in _activeprims)
|
||||
|
@ -1363,6 +1391,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
return fps;
|
||||
}
|
||||
|
||||
|
@ -1375,6 +1405,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// for now we won't be multithreaded
|
||||
get { return (false); }
|
||||
}
|
||||
|
||||
#region ODE Specific Terrain Fixes
|
||||
public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
|
||||
{
|
||||
float[] returnarr = new float[262144];
|
||||
|
@ -1637,11 +1669,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return returnarr;
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
public override void SetTerrain(float[] heightMap)
|
||||
{
|
||||
// this._heightmap[i] = (double)heightMap[i];
|
||||
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
|
||||
// also, creating a buffer zone of one extra sample all around
|
||||
// dbm (danx0r) -- creating a buffer zone of one extra sample all around
|
||||
_origheightmap = heightMap;
|
||||
const uint heightmapWidth = m_regionWidth + 2;
|
||||
const uint heightmapHeight = m_regionHeight + 2;
|
||||
|
@ -1654,6 +1687,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
//Double resolution
|
||||
heightMap = ResizeTerrain512Interpolation(heightMap);
|
||||
|
||||
for (int x = 0; x < heightmapWidthSamples; x++)
|
||||
{
|
||||
for (int y = 0; y < heightmapHeightSamples; y++)
|
||||
|
|
Loading…
Reference in New Issue