some cleanup, allow cast rays to collide with terrain within limited range (old ode)
UbitUmarov
parent
3f4fdacb34
commit
0b36d4ea2f
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@ -203,7 +203,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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public int m_interpenetrationcount { get; private set; }
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internal float m_collisionscore;
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public int m_roundsUnderMotionThreshold { get; private set; }
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private int m_crossingfailures;
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public bool outofBounds { get; private set; }
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private float m_density = 10.000006836f; // Aluminum g/cm3;
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@ -175,8 +175,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
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// this value may still be too large, depending on machine configuration
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// of maximum stack
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float len = req.length;
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if (len > 250f)
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len = 250f;
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if (len > 100f)
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len = 100f;
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// Create the ray
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IntPtr ray = d.CreateRay(m_scene.space, len);
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@ -226,8 +226,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
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{
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// limit ray length or collisions will take all avaiable stack space
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float len = req.length;
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if (len > 250f)
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len = 250f;
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if (len > 100f)
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len = 100f;
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// Create the ray
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IntPtr ray = d.CreateRay(m_scene.space, len);
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@ -252,71 +252,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
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private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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//Don't test against heightfield Geom, or you'll be sorry!
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/*
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terminate called after throwing an instance of 'std::bad_alloc'
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what(): std::bad_alloc
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Stacktrace:
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at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
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at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
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at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
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at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
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fffff>
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at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
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at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
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at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
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0x00114>
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at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
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at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
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at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
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at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
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at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
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at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
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Native stacktrace:
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mono [0x80d2a42]
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[0xb7f5840c]
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/lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
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/usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
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/usr/lib/libstdc++.so.6 [0xb45fa865]
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/usr/lib/libstdc++.so.6 [0xb45fa8a2]
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/usr/lib/libstdc++.so.6 [0xb45fa9da]
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/usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
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/usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
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libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
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libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
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libode.so(dCollide+0x102) [0xb46571b2]
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[0x95cfdec9]
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[0x8ea07fe1]
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[0xab260146]
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libode.so [0xb465a5c4]
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libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
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libode.so(dSpaceCollide2+0x177) [0xb465ac67]
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[0x95cf978e]
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[0x8ea07945]
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[0x95cf2bbc]
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[0xab2787e7]
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[0xab419fb3]
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[0xab416657]
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[0xab415bda]
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[0xb609b08e]
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mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
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mono [0x81a2f0f]
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mono [0x81d28b6]
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mono [0x81ea2c6]
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/lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
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/lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
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*/
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// Exclude heightfield geom
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if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
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return;
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if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
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return;
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// if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
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// return;
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// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
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if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
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@ -58,16 +58,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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End = 2
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}
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// public struct sCollisionData
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// {
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// public uint ColliderLocalId;
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// public uint CollidedWithLocalId;
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// public int NumberOfCollisions;
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// public int CollisionType;
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// public int StatusIndicator;
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// public int lastframe;
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// }
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[Flags]
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public enum CollisionCategories : int
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{
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@ -323,7 +313,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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public bool IsAvCapsuleTilted { get; private set; }
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private float avDensity = 80f;
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// private float avHeightFudgeFactor = 0.52f;
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private float avMovementDivisorWalk = 1.3f;
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private float avMovementDivisorRun = 0.8f;
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private float minimumGroundFlightOffset = 3f;
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@ -346,7 +335,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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public int bodyFramesAutoDisable = 20;
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private float[] _watermap;
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private bool m_filterCollisions = true;
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private d.NearCallback nearCallback;
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@ -457,31 +445,21 @@ namespace OpenSim.Region.PhysicsModule.ODE
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private d.Contact WaterContact;
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private d.Contact[,] m_materialContacts;
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//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
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//Ckrinke private int m_randomizeWater = 200;
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private int m_physicsiterations = 10;
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private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
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private readonly PhysicsActor PANull = new NullPhysicsActor();
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private float step_time = 0.0f;
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//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
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//Ckrinke private int ms = 0;
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public IntPtr world;
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//private bool returncollisions = false;
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// private uint obj1LocalID = 0;
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private uint obj2LocalID = 0;
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//private int ctype = 0;
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private OdeCharacter cc1;
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private OdePrim cp1;
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private OdeCharacter cc2;
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private OdePrim cp2;
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private int p1ExpectedPoints = 0;
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private int p2ExpectedPoints = 0;
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//private int cStartStop = 0;
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//private string cDictKey = "";
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public IntPtr space;
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//private IntPtr tmpSpace;
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// split static geometry collision handling into spaces of 30 meters
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public IntPtr[,] staticPrimspace;
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@ -565,8 +543,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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m_suportCombine = false;
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nearCallback = near;
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// triCallback = TriCallback;
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// triArrayCallback = TriArrayCallback;
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m_rayCastManager = new ODERayCastRequestManager(this);
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// Create the world and the first space
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@ -576,11 +552,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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contactgroup = d.JointGroupCreate(0);
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d.WorldSetAutoDisableFlag(world, false);
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// _watermap = new float[258 * 258];
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// Zero out the prim spaces array (we split our space into smaller spaces so
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// we can hit test less.
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}
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// Initialize from configs
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@ -708,8 +679,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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spaceGridMaxX--;
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spaceGridMaxY--;
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// Centeral contact friction and bounce
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// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
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// an avatar falls through in Z but not in X or Y when walking on a prim.
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@ -884,9 +853,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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d.WorldSetLinearDampingThreshold(world, 256f);
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d.WorldSetMaxAngularSpeed(world, 256f);
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// Set how many steps we go without running collision testing
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// This is in addition to the step size.
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// Essentially Steps * m_physicsiterations
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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//d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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@ -901,22 +867,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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_worldInitialized = true;
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}
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// internal void waitForSpaceUnlock(IntPtr space)
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// {
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// //if (space != IntPtr.Zero)
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// //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
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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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// /// <param name="pos"></param>
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// /// <returns>Returns which split up space the given position is in.</returns>
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// public string whichspaceamIin(Vector3 pos)
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// {
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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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@ -1042,12 +992,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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name2 = "null";
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}
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//if (id == d.GeomClassId.TriMeshClass)
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//{
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// m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
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//m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
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//}
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// Figure out how many contact points we have
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int count = 0;
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@ -1166,110 +1110,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
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// we don't want prim or avatar to explode
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#region InterPenetration Handling - Unintended physics explosions
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# region disabled code1
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if (curContact.depth >= 0.08f)
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{
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//This is disabled at the moment only because it needs more tweaking
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//It will eventually be uncommented
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/*
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if (contact.depth >= 1.00f)
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{
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//m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
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}
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//If you interpenetrate a prim with an agent
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if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
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p1.PhysicsActorType == (int) ActorTypes.Prim) ||
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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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//contact.depth = contact.depth * 4.15f;
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/*
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if (p2.PhysicsActorType == (int) ActorTypes.Agent)
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{
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p2.CollidingObj = true;
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contact.depth = 0.003f;
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p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
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OdeCharacter character = (OdeCharacter) p2;
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character.SetPidStatus(true);
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contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
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}
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else
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{
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//contact.depth = 0.0000000f;
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}
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if (p1.PhysicsActorType == (int) ActorTypes.Agent)
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{
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p1.CollidingObj = true;
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contact.depth = 0.003f;
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p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
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contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
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OdeCharacter character = (OdeCharacter)p1;
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character.SetPidStatus(true);
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}
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else
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{
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//contact.depth = 0.0000000f;
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}
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}
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*/
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// If you interpenetrate a prim with another prim
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/*
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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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//op2.m_collisionscore++;
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//if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
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//{
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//op1.m_taintdisable = true;
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//AddPhysicsActorTaint(p1);
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//op2.m_taintdisable = true;
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//AddPhysicsActorTaint(p2);
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//}
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//if (contact.depth >= 0.25f)
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//{
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// Don't collide, one or both prim will expld.
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//op1.m_interpenetrationcount++;
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//op2.m_interpenetrationcount++;
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//interpenetrations_before_disable = 200;
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//if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
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//{
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//op1.m_taintdisable = true;
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//AddPhysicsActorTaint(p1);
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//}
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//if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
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//{
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// op2.m_taintdisable = true;
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//AddPhysicsActorTaint(p2);
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//}
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//contact.depth = contact.depth / 8f;
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//contact.normal = new d.Vector3(0, 0, 1);
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//}
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//if (op1.m_disabled || op2.m_disabled)
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//{
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//Manually disabled objects stay disabled
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//contact.depth = 0f;
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//}
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#endregion
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}
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*/
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#endregion
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if (curContact.depth >= 1.00f)
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{
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//m_log.Info("[P]: " + contact.depth.ToString());
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@ -1584,12 +1427,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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}
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else if (at == ActorTypes.Prim)
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{
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//d.AABB aabb1 = new d.AABB();
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//d.AABB aabb2 = new d.AABB();
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//d.GeomGetAABB(contactGeom.g2, out aabb2);
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//d.GeomGetAABB(contactGeom.g1, out aabb1);
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//aabb1.
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if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)))
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{
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if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
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@ -1631,14 +1468,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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cc1 = (OdeCharacter)p1;
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obj2LocalID = cc1.LocalID;
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cc1.AddCollisionEvent(cc2.LocalID, contact);
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//ctype = (int)CollisionCategories.Character;
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//if (cc1.CollidingObj)
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//cStartStop = (int)StatusIndicators.Generic;
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//else
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//cStartStop = (int)StatusIndicators.Start;
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//returncollisions = true;
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break;
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case ActorTypes.Prim:
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@ -1648,21 +1477,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
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obj2LocalID = cp1.LocalID;
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cp1.AddCollisionEvent(cc2.LocalID, contact);
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}
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//ctype = (int)CollisionCategories.Geom;
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//if (cp1.CollidingObj)
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//cStartStop = (int)StatusIndicators.Generic;
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//else
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//cStartStop = (int)StatusIndicators.Start;
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//returncollisions = true;
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break;
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case ActorTypes.Ground:
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case ActorTypes.Unknown:
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obj2LocalID = 0;
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//ctype = (int)CollisionCategories.Land;
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//returncollisions = true;
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break;
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}
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@ -1684,13 +1503,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
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cc1 = (OdeCharacter) p1;
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obj2LocalID = cc1.LocalID;
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cc1.AddCollisionEvent(cp2.LocalID, contact);
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||||
//ctype = (int)CollisionCategories.Character;
|
||||
|
||||
//if (cc1.CollidingObj)
|
||||
//cStartStop = (int)StatusIndicators.Generic;
|
||||
//else
|
||||
//cStartStop = (int)StatusIndicators.Start;
|
||||
//returncollisions = true;
|
||||
}
|
||||
break;
|
||||
case ActorTypes.Prim:
|
||||
|
|
@ -1700,23 +1512,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
cp1 = (OdePrim) p1;
|
||||
obj2LocalID = cp1.LocalID;
|
||||
cp1.AddCollisionEvent(cp2.LocalID, contact);
|
||||
//ctype = (int)CollisionCategories.Geom;
|
||||
|
||||
//if (cp1.CollidingObj)
|
||||
//cStartStop = (int)StatusIndicators.Generic;
|
||||
//else
|
||||
//cStartStop = (int)StatusIndicators.Start;
|
||||
|
||||
//returncollisions = true;
|
||||
}
|
||||
break;
|
||||
|
||||
case ActorTypes.Ground:
|
||||
case ActorTypes.Unknown:
|
||||
obj2LocalID = 0;
|
||||
//ctype = (int)CollisionCategories.Land;
|
||||
|
||||
//returncollisions = true;
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -1724,80 +1525,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
}
|
||||
break;
|
||||
}
|
||||
//if (returncollisions)
|
||||
//{
|
||||
|
||||
//lock (m_storedCollisions)
|
||||
//{
|
||||
//cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
|
||||
//if (m_storedCollisions.ContainsKey(cDictKey))
|
||||
//{
|
||||
//sCollisionData objd = m_storedCollisions[cDictKey];
|
||||
//objd.NumberOfCollisions += 1;
|
||||
//objd.lastframe = framecount;
|
||||
//m_storedCollisions[cDictKey] = objd;
|
||||
//}
|
||||
//else
|
||||
//{
|
||||
//sCollisionData objd = new sCollisionData();
|
||||
//objd.ColliderLocalId = obj1LocalID;
|
||||
//objd.CollidedWithLocalId = obj2LocalID;
|
||||
//objd.CollisionType = ctype;
|
||||
//objd.NumberOfCollisions = 1;
|
||||
//objd.lastframe = framecount;
|
||||
//objd.StatusIndicator = cStartStop;
|
||||
//m_storedCollisions.Add(cDictKey, objd);
|
||||
//}
|
||||
//}
|
||||
// }
|
||||
}
|
||||
/*
|
||||
private 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;
|
||||
}
|
||||
|
||||
private 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>
|
||||
/// This is our collision testing routine in ODE
|
||||
/// </summary>
|
||||
|
|
@ -2988,26 +2716,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
|
||||
lock (OdeLock)
|
||||
{
|
||||
// Process 10 frames if the sim is running normal..
|
||||
// process 5 frames if the sim is running slow
|
||||
//try
|
||||
//{
|
||||
//d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
||||
//}
|
||||
//catch (StackOverflowException)
|
||||
//{
|
||||
// m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
|
||||
// ode.drelease(world);
|
||||
//base.TriggerPhysicsBasedRestart();
|
||||
//}
|
||||
|
||||
// Figure out the Frames Per Second we're going at.
|
||||
//(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
|
||||
|
||||
|
||||
// HACK: Using a time dilation of 1.0 to debug rubberbanding issues
|
||||
//m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
|
||||
|
||||
while (step_time > HalfOdeStep)
|
||||
{
|
||||
try
|
||||
|
|
@ -3107,10 +2815,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
|
|||
tempTick = tempTick2;
|
||||
}
|
||||
|
||||
//if ((framecount % m_randomizeWater) == 0)
|
||||
// randomizeWater(waterlevel);
|
||||
|
||||
//int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
|
||||
m_rayCastManager.ProcessQueuedRequests();
|
||||
|
||||
if (CollectStats)
|
||||
|
|
|
|||
Loading…
Reference in New Issue