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update ubitODE to my current working state

avinationmerge
UbitUmarov 2012-02-27 02:10:03 +00:00
parent f451f67213
commit 0d51c42f59
4 changed files with 389 additions and 579 deletions
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110
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
View File

@ -83,7 +83,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
private float m_linearMotorDecayTimescale = 120; private float m_linearMotorDecayTimescale = 120;
private float m_linearMotorTimescale = 1000; private float m_linearMotorTimescale = 1000;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
private Vector3 m_linearMotorOffset = Vector3.Zero; private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties //Angular properties
@ -91,7 +90,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
//Deflection properties //Deflection properties
private float m_angularDeflectionEfficiency = 0; private float m_angularDeflectionEfficiency = 0;
@ -102,7 +100,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//Banking properties //Banking properties
private float m_bankingEfficiency = 0; private float m_bankingEfficiency = 0;
private float m_bankingMix = 0; private float m_bankingMix = 0;
private float m_bankingTimescale = 0; private float m_bankingTimescale = 1000;
//Hover and Buoyancy properties //Hover and Buoyancy properties
private float m_VhoverHeight = 0f; private float m_VhoverHeight = 0f;
@ -117,9 +115,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_verticalAttractionEfficiency = 1.0f; // damped private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor. private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
// auxiliar
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
// auxiliar
private float m_lmEfect = 0; // current linear motor eficiency private float m_lmEfect = 0; // current linear motor eficiency
private float m_amEfect = 0; // current angular motor eficiency private float m_amEfect = 0; // current angular motor eficiency
@ -130,6 +127,82 @@ namespace OpenSim.Region.Physics.OdePlugin
_pParentScene = rootPrim._parent_scene; _pParentScene = rootPrim._parent_scene;
} }
public void DoSetVehicle(VehicleData vd)
{
float timestep = _pParentScene.ODE_STEPSIZE;
float invtimestep = 1.0f / timestep;
m_type = vd.m_type;
m_flags = vd.m_flags;
// Linear properties
m_linearMotorDirection = vd.m_linearMotorDirection;
m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
if (m_linearMotorDecayTimescale < 0.5f) m_linearMotorDecayTimescale = 0.5f;
m_linearMotorDecayTimescale *= invtimestep;
m_linearMotorTimescale = vd.m_linearMotorTimescale;
if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
m_linearMotorOffset = vd.m_linearMotorOffset;
//Angular properties
m_angularMotorDirection = vd.m_angularMotorDirection;
m_angularMotorTimescale = vd.m_angularMotorTimescale;
if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
if (m_angularMotorDecayTimescale < 0.5f) m_angularMotorDecayTimescale = 0.5f;
m_angularMotorDecayTimescale *= invtimestep;
m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
//Deflection properties
m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
//Banking properties
m_bankingEfficiency = vd.m_bankingEfficiency;
m_bankingMix = vd.m_bankingMix;
m_bankingTimescale = vd.m_bankingTimescale;
if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
//Hover and Buoyancy properties
m_VhoverHeight = vd.m_VhoverHeight;
m_VhoverEfficiency = vd.m_VhoverEfficiency;
m_VhoverTimescale = vd.m_VhoverTimescale;
if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
//Attractor properties
m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
// Axis
m_referenceFrame = vd.m_referenceFrame;
m_lmEfect = 0;
m_amEfect = 0;
}
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{ {
float len; float len;
@ -231,6 +304,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f) if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len); m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f; // turn it on m_amEfect = 1.0f; // turn it on
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
d.BodyEnable(rootPrim.Body);
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < timestep) pValue = timestep;
@ -242,6 +318,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 30.0f) if (len > 30.0f)
m_linearMotorDirection *= (30.0f / len); m_linearMotorDirection *= (30.0f / len);
m_lmEfect = 1.0f; // turn it on m_lmEfect = 1.0f; // turn it on
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
d.BodyEnable(rootPrim.Body);
break; break;
case Vehicle.LINEAR_MOTOR_OFFSET: case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue, pValue, pValue); m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@ -273,6 +352,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f) if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len); m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f; // turn it on m_amEfect = 1.0f; // turn it on
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
d.BodyEnable(rootPrim.Body);
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep; if (pValue.X < timestep) pValue.X = timestep;
@ -286,6 +368,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 30.0f) if (len > 30.0f)
m_linearMotorDirection *= (30.0f / len); m_linearMotorDirection *= (30.0f / len);
m_lmEfect = 1.0f; // turn it on m_lmEfect = 1.0f; // turn it on
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
d.BodyEnable(rootPrim.Body);
break; break;
case Vehicle.LINEAR_MOTOR_OFFSET: case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@ -347,12 +432,23 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000; m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120 * invtimestep; m_linearMotorDecayTimescale = 120;
m_angularMotorTimescale = 1000; m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 1000 * invtimestep; m_angularMotorDecayTimescale = 1000;
m_VhoverHeight = 0; m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 1000; m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0; m_VehicleBuoyancy = 0;
m_linearDeflectionEfficiency = 0;
m_linearDeflectionTimescale = 1000;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 1000;
m_bankingEfficiency = 0;
m_bankingMix = 1;
m_bankingTimescale = 1000;
m_verticalAttractionEfficiency = 0;
m_verticalAttractionTimescale = 1000;
m_flags = (VehicleFlag)0; m_flags = (VehicleFlag)0;
break; break;

321
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -111,7 +111,7 @@ namespace OpenSim.Region.Physics.OdePlugin
| CollisionCategories.Body | CollisionCategories.Body
| CollisionCategories.Character | CollisionCategories.Character
); );
private bool m_collidesLand = true; // private bool m_collidesLand = true;
private bool m_collidesWater; private bool m_collidesWater;
public bool m_returnCollisions; public bool m_returnCollisions;
@ -122,7 +122,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private CollisionCategories m_collisionFlags = m_default_collisionFlags; private CollisionCategories m_collisionFlags = m_default_collisionFlags;
public bool m_disabled; public bool m_disabled;
public bool m_taintselected;
public uint m_localID; public uint m_localID;
@ -142,20 +142,19 @@ namespace OpenSim.Region.Physics.OdePlugin
private List<OdePrim> childrenPrim = new List<OdePrim>(); private List<OdePrim> childrenPrim = new List<OdePrim>();
private bool m_iscolliding; private bool m_iscolliding;
private bool m_wascolliding;
private bool m_isSelected; public bool m_isSelected;
private bool m_delaySelect;
private bool m_lastdoneSelected;
public bool m_outbounds;
internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
private bool m_throttleUpdates; private bool m_throttleUpdates;
private int throttleCounter; private int throttleCounter;
public int m_interpenetrationcount;
public float m_collisionscore; public float m_collisionscore;
int m_colliderfilter = 0; int m_colliderfilter = 0;
public int m_roundsUnderMotionThreshold;
private int m_crossingfailures;
public bool outofBounds;
private float m_density = 10.000006836f; // Aluminum g/cm3; private float m_density = 10.000006836f; // Aluminum g/cm3;
public bool _zeroFlag; public bool _zeroFlag;
@ -166,12 +165,11 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 _target_velocity; private Vector3 _target_velocity;
public Vector3 primOOBsize; // prim real dimensions from mesh public Vector3 primOOBsize; // prim real dimensions from mesh
public Vector3 primOOBoffset; // is centroid out of mesh or rest aabb public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
public float primOOBradiusSQ; public float primOOBradiusSQ;
public d.Mass primdMass; // prim inertia information on it's own referencial public d.Mass primdMass; // prim inertia information on it's own referencial
float primMass; // prim own mass float primMass; // prim own mass
float _mass; // object mass acording to case float _mass; // object mass acording to case
public d.Mass objectpMass; // object last computed inertia
private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
public int givefakepos = 0; public int givefakepos = 0;
@ -182,9 +180,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public int m_eventsubscription; public int m_eventsubscription;
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
private IntPtr m_linkJoint = IntPtr.Zero;
private IntPtr _linkJointGroup = IntPtr.Zero;
public volatile bool childPrim; public volatile bool childPrim;
public ODEDynamics m_vehicle; public ODEDynamics m_vehicle;
@ -264,7 +259,7 @@ namespace OpenSim.Region.Physics.OdePlugin
set set
{ {
if (value) if (value)
m_isSelected = value; m_isSelected = value; // if true set imediatly to stop moves etc
AddChange(changes.Selected, value); AddChange(changes.Selected, value);
} }
} }
@ -298,13 +293,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_iscolliding = false; m_iscolliding = false;
else else
m_iscolliding = true; m_iscolliding = true;
if (m_wascolliding != m_iscolliding)
{
if (m_wascolliding && !m_isSelected && Body != IntPtr.Zero)
d.BodyEnable(Body);
m_wascolliding = m_iscolliding;
}
} }
} }
@ -665,19 +653,21 @@ namespace OpenSim.Region.Physics.OdePlugin
strVehicleQuatParam fp = new strVehicleQuatParam(); strVehicleQuatParam fp = new strVehicleQuatParam();
fp.param = param; fp.param = param;
fp.value = value; fp.value = value;
AddChange(changes.VehicleVectorParam, fp); AddChange(changes.VehicleRotationParam, fp);
} }
public override void VehicleFlags(int param, bool value) public override void VehicleFlags(int param, bool value)
{ {
if (m_vehicle == null)
return;
strVehicleBoolParam bp = new strVehicleBoolParam(); strVehicleBoolParam bp = new strVehicleBoolParam();
bp.param = param; bp.param = param;
bp.value = value; bp.value = value;
AddChange(changes.VehicleFlags, bp); AddChange(changes.VehicleFlags, bp);
} }
public override void SetVehicle(object vdata)
{
AddChange(changes.SetVehicle, vdata);
}
public void SetAcceleration(Vector3 accel) public void SetAcceleration(Vector3 accel)
{ {
_acceleration = accel; _acceleration = accel;
@ -710,8 +700,30 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void CrossingFailure() public override void CrossingFailure()
{ {
m_crossingfailures++; if (m_outbounds)
changeDisable(false); {
_position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
_position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
_position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
m_lastposition = _position;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_lastVelocity = _velocity;
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Stop();
if(Body != IntPtr.Zero)
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
if (prim_geom != IntPtr.Zero)
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
m_outbounds = false;
changeDisable(false);
base.RequestPhysicsterseUpdate();
}
} }
public override void SetMomentum(Vector3 momentum) public override void SetMomentum(Vector3 momentum)
@ -865,12 +877,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_force = Vector3.Zero; m_force = Vector3.Zero;
m_iscolliding = false; m_iscolliding = false;
m_wascolliding = false;
m_colliderfilter = 0; m_colliderfilter = 0;
hasOOBoffsetFromMesh = false; hasOOBoffsetFromMesh = false;
_triMeshData = IntPtr.Zero; _triMeshData = IntPtr.Zero;
m_lastdoneSelected = false;
m_isSelected = false;
m_delaySelect = false;
primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
@ -885,8 +899,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private void resetCollisionAccounting() private void resetCollisionAccounting()
{ {
m_collisionscore = 0; m_collisionscore = 0;
m_interpenetrationcount = 0;
m_disabled = false;
} }
private void createAMotor(Vector3 axis) private void createAMotor(Vector3 axis)
@ -926,9 +938,6 @@ namespace OpenSim.Region.Physics.OdePlugin
curr.W = dcur.W; curr.W = dcur.W;
Vector3 ax; Vector3 ax;
const int StopERP = 7;
const int StopCFM = 8;
int i = 0; int i = 0;
int j = 0; int j = 0;
if (axis.X == 0) if (axis.X == 0)
@ -943,10 +952,10 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, (int)StopCFM, 0f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, (int)StopERP, 0.8f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
i++; i++;
j = 256; // odeplugin.cs doesn't have all parameters so this moves to next axis set j = 256; // move to next axis set
} }
if (axis.Y == 0) if (axis.Y == 0)
@ -960,8 +969,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, j + (int)StopCFM, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)StopERP, 0.8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
i++; i++;
j += 256; j += 256;
} }
@ -977,8 +986,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, j + (int)StopCFM, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)StopERP, 0.8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
} }
} }
@ -1186,24 +1195,10 @@ namespace OpenSim.Region.Physics.OdePlugin
public void enableBodySoft() public void enableBodySoft()
{ {
if (!childPrim) if (!childPrim && !m_isSelected)
{ {
if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
{ {
if (m_targetSpace != _parent_scene.ActiveSpace)
{
m_targetSpace = _parent_scene.ActiveSpace;
foreach (OdePrim prm in childrenPrim)
{
if (prm.prim_geom != IntPtr.Zero)
{
d.SpaceAdd(m_targetSpace, prm.prim_geom);
prm.m_targetSpace = m_targetSpace;
}
}
d.SpaceAdd(m_targetSpace, prim_geom);
}
d.GeomEnable(prim_geom); d.GeomEnable(prim_geom);
foreach (OdePrim prm in childrenPrim) foreach (OdePrim prm in childrenPrim)
d.GeomEnable(prm.prim_geom); d.GeomEnable(prm.prim_geom);
@ -1211,6 +1206,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(Body); d.BodyEnable(Body);
} }
} }
m_disabled = false;
resetCollisionAccounting(); // this sets m_disable to false resetCollisionAccounting(); // this sets m_disable to false
} }
@ -1221,19 +1217,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
{ {
if (m_targetSpace == _parent_scene.ActiveSpace)
{
foreach (OdePrim prm in childrenPrim)
{
if (prm.m_targetSpace != IntPtr.Zero && prm.prim_geom != IntPtr.Zero)
{
d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
prm.m_targetSpace = IntPtr.Zero;
}
}
d.SpaceRemove(m_targetSpace, prim_geom);
m_targetSpace = IntPtr.Zero;
}
d.GeomDisable(prim_geom); d.GeomDisable(prim_geom);
foreach (OdePrim prm in childrenPrim) foreach (OdePrim prm in childrenPrim)
d.GeomDisable(prm.prim_geom); d.GeomDisable(prm.prim_geom);
@ -1369,9 +1352,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetMass(Body, ref objdmass); d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass; _mass = objdmass.mass;
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
// disconnect from world gravity so we can apply buoyancy // disconnect from world gravity so we can apply buoyancy
d.BodySetGravityMode(Body, false); d.BodySetGravityMode(Body, false);
@ -1379,16 +1359,14 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetAutoDisableSteps(Body, body_autodisable_frames); d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
// d.BodySetLinearDampingThreshold(Body, 0.01f); // d.BodySetLinearDampingThreshold(Body, 0.01f);
// d.BodySetAngularDampingThreshold(Body, 0.001f); // d.BodySetAngularDampingThreshold(Body, 0.001f);
d.BodySetDamping(Body, .001f, .0002f); d.BodySetDamping(Body, .002f, .002f);
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
m_interpenetrationcount = 0;
m_collisionscore = 0; m_collisionscore = 0;
m_disabled = false;
if (m_targetSpace != _parent_scene.ActiveSpace) if (m_targetSpace != _parent_scene.ActiveSpace)
{ {
if (m_targetSpace != IntPtr.Zero) if (m_targetSpace != IntPtr.Zero)
@ -1416,6 +1394,7 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
prm.m_collisionscore = 0;
if (prm.m_targetSpace != _parent_scene.ActiveSpace) if (prm.m_targetSpace != _parent_scene.ActiveSpace)
{ {
@ -1428,10 +1407,11 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_targetSpace = _parent_scene.ActiveSpace; prm.m_targetSpace = _parent_scene.ActiveSpace;
d.SpaceAdd(m_targetSpace, prm.prim_geom); d.SpaceAdd(m_targetSpace, prm.prim_geom);
} }
d.GeomEnable(prm.prim_geom);
if (m_isSelected || m_disabled)
d.GeomDisable(prm.prim_geom);
prm.m_disabled = false; prm.m_disabled = false;
prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0;
_parent_scene.addActivePrim(prm); _parent_scene.addActivePrim(prm);
} }
} }
@ -1442,8 +1422,12 @@ namespace OpenSim.Region.Physics.OdePlugin
createAMotor(m_angularlock); createAMotor(m_angularlock);
} }
d.GeomEnable(prim_geom); if (m_isSelected || m_disabled)
m_disabled = false; {
d.GeomDisable(prim_geom);
d.BodyDisable(Body);
}
_parent_scene.addActivePrim(this); _parent_scene.addActivePrim(this);
} }
@ -1484,12 +1468,16 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_collisionscore = 0; prm.m_collisionscore = 0;
} }
} }
if (Amotor != IntPtr.Zero)
{
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
d.BodyDestroy(Body); d.BodyDestroy(Body);
} }
Body = IntPtr.Zero; Body = IntPtr.Zero;
} }
_mass = primMass; _mass = primMass;
m_disabled = true;
m_collisionscore = 0; m_collisionscore = 0;
} }
@ -2115,49 +2103,72 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetTorque(Body, 0f, 0f, 0f); d.BodySetTorque(Body, 0f, 0f, 0f);
d.BodySetLinearVel(Body, 0f, 0f, 0f); d.BodySetLinearVel(Body, 0f, 0f, 0f);
d.BodySetAngularVel(Body, 0f, 0f, 0f); d.BodySetAngularVel(Body, 0f, 0f, 0f);
} }
} }
private void changeSelectedStatus(bool newval) private void changeSelectedStatus(bool newval)
{
if (m_lastdoneSelected == newval)
return;
m_lastdoneSelected = newval;
DoSelectedStatus(newval);
}
private void CheckDelaySelect()
{
if (m_delaySelect)
{
DoSelectedStatus(m_isSelected);
}
}
private void DoSelectedStatus(bool newval)
{ {
m_isSelected = newval; m_isSelected = newval;
Stop(); Stop();
if (newval) if (newval)
{ {
m_collisionCategories = CollisionCategories.Selected; if (!childPrim && Body != IntPtr.Zero)
m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); d.BodyDisable(Body);
if (prim_geom != IntPtr.Zero) if (m_delaySelect)
{ {
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); if (!childPrim)
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); {
foreach (OdePrim prm in childrenPrim)
{
d.GeomDisable(prm.prim_geom);
prm.m_delaySelect = false;
}
}
d.GeomDisable(prim_geom);
m_delaySelect = false;
}
else
{
m_delaySelect = true;
} }
disableBodySoft();
} }
else else
{ {
m_collisionCategories = CollisionCategories.Geom; if (!childPrim && Body != IntPtr.Zero && !m_disabled)
d.BodyEnable(Body);
if (m_isphysical) if (!childPrim)
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags = m_default_collisionFlags;
if (m_collidesLand)
m_collisionFlags |= CollisionCategories.Land;
if (m_collidesWater)
m_collisionFlags |= CollisionCategories.Water;
if (prim_geom != IntPtr.Zero)
{ {
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); foreach (OdePrim prm in childrenPrim)
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); {
if(!prm.m_disabled)
d.GeomEnable(prm.prim_geom);
prm.m_delaySelect = false;
}
} }
if(!m_disabled)
d.GeomEnable(prim_geom);
enableBodySoft(); m_delaySelect = false;
} }
resetCollisionAccounting(); resetCollisionAccounting();
@ -2165,6 +2176,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changePosition(Vector3 newPos) private void changePosition(Vector3 newPos)
{ {
CheckDelaySelect();
if (m_isphysical) if (m_isphysical)
{ {
if (childPrim) // inertia is messed, must rebuild if (childPrim) // inertia is messed, must rebuild
@ -2207,6 +2219,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeOrientation(Quaternion newOri) private void changeOrientation(Quaternion newOri)
{ {
CheckDelaySelect();
if (m_isphysical) if (m_isphysical)
{ {
if (childPrim) // inertia is messed, must rebuild if (childPrim) // inertia is messed, must rebuild
@ -2258,6 +2271,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
{ {
CheckDelaySelect();
if (m_isphysical) if (m_isphysical)
{ {
if (childPrim && m_building) // inertia is messed, must rebuild if (childPrim && m_building) // inertia is messed, must rebuild
@ -2342,6 +2356,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changePhysicsStatus(bool NewStatus) private void changePhysicsStatus(bool NewStatus)
{ {
CheckDelaySelect();
m_isphysical = NewStatus; m_isphysical = NewStatus;
if (!childPrim) if (!childPrim)
@ -2384,6 +2400,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeprimsizeshape() private void changeprimsizeshape()
{ {
CheckDelaySelect();
OdePrim parent = (OdePrim)_parent; OdePrim parent = (OdePrim)_parent;
bool chp = childPrim; bool chp = childPrim;
@ -2508,7 +2526,6 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
m_collisionscore = 0; m_collisionscore = 0;
m_interpenetrationcount = 0;
} }
} }
@ -2528,7 +2545,6 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
m_collisionscore = 0; m_collisionscore = 0;
m_interpenetrationcount = 0;
} }
} }
@ -2565,6 +2581,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
{ {
m_building = false; m_building = false;
CheckDelaySelect();
if (!childPrim) if (!childPrim)
MakeBody(); MakeBody();
} }
@ -2575,18 +2592,26 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
private void changeVehicleType(int value) public void changeSetVehicle(VehicleData vdata)
{ {
if (m_vehicle == null) if (m_vehicle == null)
m_vehicle = new ODEDynamics(this);
m_vehicle.DoSetVehicle(vdata);
}
private void changeVehicleType(int value)
{
if (value == (int)Vehicle.TYPE_NONE)
{ {
if (value != (int)Vehicle.TYPE_NONE) if (m_vehicle != null)
{ m_vehicle = null;
m_vehicle = new ODEDynamics(this);
m_vehicle.ProcessTypeChange((Vehicle)value);
}
} }
else else
{
if (m_vehicle == null)
m_vehicle = new ODEDynamics(this);
m_vehicle.ProcessTypeChange((Vehicle)value); m_vehicle.ProcessTypeChange((Vehicle)value);
}
} }
private void changeVehicleFloatParam(strVehicleFloatParam fp) private void changeVehicleFloatParam(strVehicleFloatParam fp)
@ -2595,8 +2620,6 @@ namespace OpenSim.Region.Physics.OdePlugin
return; return;
m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
} }
private void changeVehicleVectorParam(strVehicleVectorParam vp) private void changeVehicleVectorParam(strVehicleVectorParam vp)
@ -2604,8 +2627,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_vehicle == null) if (m_vehicle == null)
return; return;
m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
} }
private void changeVehicleRotationParam(strVehicleQuatParam qp) private void changeVehicleRotationParam(strVehicleQuatParam qp)
@ -2613,8 +2634,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_vehicle == null) if (m_vehicle == null)
return; return;
m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
} }
private void changeVehicleFlags(strVehicleBoolParam bp) private void changeVehicleFlags(strVehicleBoolParam bp)
@ -2622,8 +2641,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_vehicle == null) if (m_vehicle == null)
return; return;
m_vehicle.ProcessVehicleFlags(bp.param, bp.value); m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
} }
#endregion #endregion
@ -2849,41 +2866,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
{ {
if (m_crossingfailures != 0 && m_crossingfailures < 5)
{
_position.X = Util.Clip(_position.X, 0.4f, _parent_scene.WorldExtents.X - 0.4f);
_position.Y = Util.Clip(_position.Y, 0.4f, _parent_scene.WorldExtents.Y - 0.4f);
_position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
float tmp = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y);
if (_position.Z < tmp)
_position.Z = tmp + 0.2f;
m_lastposition = _position;
m_lastorientation = _orientation;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_lastVelocity = _velocity;
m_rotationalVelocity = _velocity;
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Stop();
m_crossingfailures = 0; // do this only once
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
enableBodySoft();
base.RequestPhysicsterseUpdate();
return;
}
else if (m_crossingfailures != 0)
{
return;
}
Vector3 pv = Vector3.Zero; Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag; bool lastZeroFlag = _zeroFlag;
@ -2899,24 +2881,21 @@ namespace OpenSim.Region.Physics.OdePlugin
// we can't let it keeping moving and having colisions // we can't let it keeping moving and having colisions
// since it can be stucked between something like terrain and edge // since it can be stucked between something like terrain and edge
// so lets stop and disable it until something else kicks it // so lets stop and disable it until something else kicks it
if (m_crossingfailures == 0)
{
_position.X = Util.Clip(lpos.X, -0.5f, _parent_scene.WorldExtents.X + 0.5f); _position.X = Util.Clip(lpos.X, -0.2f, _parent_scene.WorldExtents.X + 0.2f);
_position.Y = Util.Clip(lpos.Y, -0.5f, _parent_scene.WorldExtents.Y + 0.5f); _position.Y = Util.Clip(lpos.Y, -0.2f, _parent_scene.WorldExtents.Y + 0.2f);
_position.Z = Util.Clip(lpos.Z, -100f, 50000f); _position.Z = Util.Clip(lpos.Z, -100f, 50000f);
m_lastposition = _position; m_lastposition = _position;
m_lastorientation = _orientation; // m_lastorientation = _orientation;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); // d.BodySetAngularVel(Body, 0, 0, 0);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
disableBodySoft(); // stop collisions disableBodySoft(); // stop collisions
m_crossingfailures++; // do this only once m_outbounds = true;
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
return; return;
}
} }
if (lpos.Z < -100 || lpos.Z > 100000f) if (lpos.Z < -100 || lpos.Z > 100000f)
@ -3159,6 +3138,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
ChildRemove(this, false); ChildRemove(this, false);
m_vehicle = null;
RemoveGeom(); RemoveGeom();
m_targetSpace = IntPtr.Zero; m_targetSpace = IntPtr.Zero;
if (m_eventsubscription > 0) if (m_eventsubscription > 0)
@ -3273,6 +3253,9 @@ namespace OpenSim.Region.Physics.OdePlugin
changeVehicleRotationParam((strVehicleQuatParam) arg); changeVehicleRotationParam((strVehicleQuatParam) arg);
break; break;
case changes.SetVehicle:
changeSetVehicle((VehicleData) arg);
break;
case changes.Null: case changes.Null:
donullchange(); donullchange();
break; break;

1
OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
View File

@ -1,4 +1,3 @@
/* /*
* based on: * based on:
* Ode.NET - .NET bindings for ODE * Ode.NET - .NET bindings for ODE

536
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
VehicleVectorParam, VehicleVectorParam,
VehicleRotationParam, VehicleRotationParam,
VehicleFlags, VehicleFlags,
SetVehicle,
Null //keep this last used do dim the methods array. does nothing but pulsing the prim Null //keep this last used do dim the methods array. does nothing but pulsing the prim
} }
@ -166,8 +167,8 @@ namespace OpenSim.Region.Physics.OdePlugin
float frictionMovementMult = 0.3f; float frictionMovementMult = 0.3f;
float TerrainBounce = 0.3f; float TerrainBounce = 0.1f;
float TerrainFriction = 0.3f; float TerrainFriction = 0.1f;
public float AvatarBounce = 0.3f; public float AvatarBounce = 0.3f;
public float AvatarFriction = 0;// 0.9f * 0.5f; public float AvatarFriction = 0;// 0.9f * 0.5f;
@ -989,145 +990,62 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="timeStep"></param> /// <param name="timeStep"></param>
private void collision_optimized() private void collision_optimized()
{ {
// _perloopContact.Clear();
// clear characts IsColliding until we do it some other way
lock (_characters) lock (_characters)
{ {
foreach (OdeCharacter chr in _characters) try
{
foreach (OdeCharacter chr in _characters)
{ {
// this are odd checks if they are needed something is wrong elsewhere if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
// keep for now continue;
if (chr == null)
continue;
if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) chr.IsColliding = false;
continue; // chr.CollidingGround = false; not done here
chr.CollidingObj = false;
chr.IsColliding = false; // do colisions with static space
// chr.CollidingGround = false; not done here d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
chr.CollidingObj = false;
} }
} }
catch (AccessViolationException)
// now let ode do its job
// colide active things amoung them
int st = Util.EnvironmentTickCount();
int ta;
int ts;
try
{ {
m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
}
}
// collide active prims with static enviroment
lock (_activeprims)
{
try
{
foreach (OdePrim prm in _activeprims)
{
if (d.BodyIsEnabled(prm.Body))
d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback);
}
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
}
}
// finally colide active things amoung them
try
{
d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
} }
catch (AccessViolationException) catch (AccessViolationException)
{ {
m_log.Warn("[PHYSICS]: Unable to Active space collide"); m_log.Warn("[PHYSICS]: Unable to collide in Active space");
} }
ta = Util.EnvironmentTickCountSubtract(st);
// then active things with static enviroment
try
{
d.SpaceCollide2(ActiveSpace,StaticSpace, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to Active to static space collide");
}
ts = Util.EnvironmentTickCountSubtract(st);
// _perloopContact.Clear(); // _perloopContact.Clear();
} }
#endregion #endregion
public float GetTerrainHeightAtXY(float x, float y)
{
// assumes 1m size grid and constante size square regions
// region offset in mega position
int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
IntPtr heightFieldGeom = IntPtr.Zero;
// get region map
if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
return 0f;
if (heightFieldGeom == IntPtr.Zero)
return 0f;
if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
return 0f;
// TerrainHeightField for ODE as offset 1m
x += 1f - offsetX;
y += 1f - offsetY;
// make position fit into array
if (x < 0)
x = 0;
if (y < 0)
y = 0;
// integer indexs
int ix;
int iy;
// interpolators offset
float dx;
float dy;
int regsize = (int)Constants.RegionSize + 2; // map size see setterrain
// we still have square fixed size regions
// also flip x and y because of how map is done for ODE fliped axis
// so ix,iy,dx and dy are inter exchanged
if (x < regsize - 1)
{
iy = (int)x;
dy = x - (float)iy;
}
else // out world use external height
{
iy = regsize - 1;
dy = 0;
}
if (y < regsize - 1)
{
ix = (int)y;
dx = y - (float)ix;
}
else
{
ix = regsize - 1;
dx = 0;
}
float h0;
float h1;
float h2;
iy *= regsize;
iy += ix; // all indexes have iy + ix
float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
if ((dx + dy) <= 1.0f)
{
h0 = ((float)heights[iy]); // 0,0 vertice
h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
}
else
{
h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
}
return h0 + h1 + h2;
}
/// <summary> /// <summary>
/// Add actor to the list that should receive collision events in the simulate loop. /// Add actor to the list that should receive collision events in the simulate loop.
@ -1835,273 +1753,94 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return (false); } get { return (false); }
} }
#region ODE Specific Terrain Fixes public float GetTerrainHeightAtXY(float x, float y)
public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
{ {
float[] returnarr = new float[262144]; // assumes 1m size grid and constante size square regions
float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y]; // needs to know about sims around in future
// region offset in mega position
// Filling out the array into its multi-dimensional components int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
for (int y = 0; y < WorldExtents.Y; y++) int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
IntPtr heightFieldGeom = IntPtr.Zero;
// get region map
if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
return 0f;
if (heightFieldGeom == IntPtr.Zero)
return 0f;
if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
return 0f;
// TerrainHeightField for ODE as offset 1m
x += 1f - offsetX;
y += 1f - offsetY;
// make position fit into array
if (x < 0)
x = 0;
if (y < 0)
y = 0;
// integer indexs
int ix;
int iy;
// interpolators offset
float dx;
float dy;
int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
// we still have square fixed size regions
// also flip x and y because of how map is done for ODE fliped axis
// so ix,iy,dx and dy are inter exchanged
if (x < regsize - 1)
{ {
for (int x = 0; x < WorldExtents.X; x++) iy = (int)x;
{ dy = x - (float)iy;
resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x]; }
} else // out world use external height
{
iy = regsize - 1;
dy = 0;
}
if (y < regsize - 1)
{
ix = (int)y;
dx = y - (float)ix;
}
else
{
ix = regsize - 1;
dx = 0;
} }
// Resize using Nearest Neighbour float h0;
float h1;
float h2;
// This particular way is quick but it only works on a multiple of the original iy *= regsize;
iy += ix; // all indexes have iy + ix
// The idea behind this method can be described with the following diagrams float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
// second pass and third pass happen in the same loop really.. just separated
// them to show what this does.
// First Pass if ((dx + dy) <= 1.0f)
// ResultArr:
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// Second Pass
// ResultArr2:
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// Third pass fills in the blanks
// ResultArr2:
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// X,Y = .
// X+1,y = ^
// X,Y+1 = *
// X+1,Y+1 = #
// Filling in like this;
// .*
// ^#
// 1st .
// 2nd *
// 3rd ^
// 4th #
// on single loop.
float[,] resultarr2 = new float[512, 512];
for (int y = 0; y < WorldExtents.Y; y++)
{ {
for (int x = 0; x < WorldExtents.X; x++) h0 = ((float)heights[iy]); // 0,0 vertice
{ h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
resultarr2[y * 2, x * 2] = resultarr[y, x]; h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
}
if (y < WorldExtents.Y) else
{ {
resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x]; h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
} h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
if (x < WorldExtents.X) h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
{
resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
}
if (x < WorldExtents.X && y < WorldExtents.Y)
{
resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
}
}
} }
//Flatten out the array return h0 + h1 + h2;
int i = 0;
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
if (resultarr2[y, x] <= 0)
returnarr[i] = 0.0000001f;
else
returnarr[i] = resultarr2[y, x];
i++;
}
}
return returnarr;
} }
public float[] ResizeTerrain512Interpolation(float[] heightMap)
{
float[] returnarr = new float[262144];
float[,] resultarr = new float[512,512];
// Filling out the array into its multi-dimensional components
for (int y = 0; y < 256; y++)
{
for (int x = 0; x < 256; x++)
{
resultarr[y, x] = heightMap[y * 256 + x];
}
}
// Resize using interpolation
// This particular way is quick but it only works on a multiple of the original
// The idea behind this method can be described with the following diagrams
// second pass and third pass happen in the same loop really.. just separated
// them to show what this does.
// First Pass
// ResultArr:
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// Second Pass
// ResultArr2:
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// Third pass fills in the blanks
// ResultArr2:
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// X,Y = .
// X+1,y = ^
// X,Y+1 = *
// X+1,Y+1 = #
// Filling in like this;
// .*
// ^#
// 1st .
// 2nd *
// 3rd ^
// 4th #
// on single loop.
float[,] resultarr2 = new float[512,512];
for (int y = 0; y < (int)Constants.RegionSize; y++)
{
for (int x = 0; x < (int)Constants.RegionSize; x++)
{
resultarr2[y*2, x*2] = resultarr[y, x];
if (y < (int)Constants.RegionSize)
{
if (y + 1 < (int)Constants.RegionSize)
{
if (x + 1 < (int)Constants.RegionSize)
{
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
}
else
{
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
}
}
else
{
resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
}
}
if (x < (int)Constants.RegionSize)
{
if (x + 1 < (int)Constants.RegionSize)
{
if (y + 1 < (int)Constants.RegionSize)
{
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
}
else
{
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
}
}
else
{
resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
}
}
if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
{
if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
{
resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
}
else
{
resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
}
}
}
}
//Flatten out the array
int i = 0;
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
{
m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
resultarr2[y, x] = 0;
}
returnarr[i] = resultarr2[y, x];
i++;
}
}
return returnarr;
}
#endregion
public override void SetTerrain(float[] heightMap) public override void SetTerrain(float[] heightMap)
{ {
if (m_worldOffset != Vector3.Zero && m_parentScene != null) if (m_worldOffset != Vector3.Zero && m_parentScene != null)
@ -2124,48 +1863,47 @@ namespace OpenSim.Region.Physics.OdePlugin
public void SetTerrain(float[] heightMap, Vector3 pOffset) public void SetTerrain(float[] heightMap, Vector3 pOffset)
{ {
// assumes 1m size grid and constante size square regions
// needs to know about sims around in future
float[] _heightmap; float[] _heightmap;
_heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
uint heightmapWidth = Constants.RegionSize + 2; uint heightmapWidth = Constants.RegionSize + 2;
uint heightmapHeight = Constants.RegionSize + 2; uint heightmapHeight = Constants.RegionSize + 2;
uint heightmapWidthSamples; uint heightmapWidthSamples = heightmapWidth + 1;
uint heightmapHeightSamples = heightmapHeight + 1;
uint heightmapHeightSamples; _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
heightmapWidthSamples = (uint)Constants.RegionSize + 2;
heightmapHeightSamples = (uint)Constants.RegionSize + 2;
const float scale = 1.0f; const float scale = 1.0f;
const float offset = 0.0f; const float offset = 0.0f;
const float thickness = 10f; const float thickness = 10f;
const int wrap = 0; const int wrap = 0;
int regionsize = (int) Constants.RegionSize + 2; uint regionsize = Constants.RegionSize;
float hfmin = float.MaxValue; float hfmin = float.MaxValue;
float hfmax = float.MinValue; float hfmax = float.MinValue;
float val; float val;
int xx; uint xx;
int yy; uint yy;
int maxXXYY = regionsize - 3; uint maxXXYY = regionsize - 1;
// flipping map adding one margin all around so things don't fall in edges // flipping map adding one margin all around so things don't fall in edges
int xt = 0; uint xt = 0;
xx = 0; xx = 0;
for (int x = 0; x < heightmapWidthSamples; x++) for (uint x = 0; x < heightmapWidthSamples; x++)
{ {
if (x > 1 && xx < maxXXYY) if (x > 1 && xx < maxXXYY)
xx++; xx++;
yy = 0; yy = 0;
for (int y = 0; y < heightmapHeightSamples; y++) for (uint y = 0; y < heightmapHeightSamples; y++)
{ {
if (y > 1 && y < maxXXYY) if (y > 1 && y < maxXXYY)
yy += (int)Constants.RegionSize; yy += regionsize;
val = heightMap[yy + xx]; val = heightMap[yy + xx];
_heightmap[xt + y] = val; _heightmap[xt + y] = val;
@ -2176,8 +1914,7 @@ namespace OpenSim.Region.Physics.OdePlugin
hfmax = val; hfmax = val;
} }
xt += heightmapHeightSamples;
xt += regionsize;
} }
lock (OdeLock) lock (OdeLock)
{ {
@ -2230,11 +1967,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R); d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0); d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0);
IntPtr testGround = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out testGround))
{
RegionTerrain.Remove(pOffset);
}
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); // TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);