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refactor: Simplify ODEPrim.AddChildPrim() by returning early where appropriate.

0.7.3-extended
Justin Clark-Casey (justincc) 2012-04-21 03:23:51 +01:00
parent d368a10cc7
commit 232f59749e
1 changed files with 113 additions and 111 deletions
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224
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
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@ -1042,142 +1042,144 @@ Console.WriteLine("ZProcessTaints for " + Name);
/// <param name="prim">Child prim</param> /// <param name="prim">Child prim</param>
private void AddChildPrim(OdePrim prim) private void AddChildPrim(OdePrim prim)
{ {
//Console.WriteLine("AddChildPrim " + Name); if (LocalID == prim.LocalID)
if (LocalID != prim.LocalID) return;
if (Body == IntPtr.Zero)
{ {
if (Body == IntPtr.Zero) Body = d.BodyCreate(_parent_scene.world);
{ setMass();
Body = d.BodyCreate(_parent_scene.world); }
setMass();
} lock (childrenPrim)
if (Body != IntPtr.Zero) {
{ if (childrenPrim.Contains(prim))
lock (childrenPrim) return;
{
if (!childrenPrim.Contains(prim))
{
//Console.WriteLine("childrenPrim.Add " + prim); //Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim); childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
{
d.Mass m2;
d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Quaternion quat = new d.Quaternion(); foreach (OdePrim prm in childrenPrim)
quat.W = prm._orientation.W; {
quat.X = prm._orientation.X; d.Mass m2;
quat.Y = prm._orientation.Y; d.MassSetZero(out m2);
quat.Z = prm._orientation.Z; d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Matrix3 mat = new d.Matrix3(); d.Quaternion quat = new d.Quaternion();
d.RfromQ(out mat, ref quat); quat.W = prm._orientation.W;
d.MassRotate(ref m2, ref mat); quat.X = prm._orientation.X;
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); quat.Y = prm._orientation.Y;
d.MassAdd(ref pMass, ref m2); quat.Z = prm._orientation.Z;
}
d.Matrix3 mat = new d.Matrix3();
foreach (OdePrim prm in childrenPrim) d.RfromQ(out mat, ref quat);
{ d.MassRotate(ref m2, ref mat);
prm.m_collisionCategories |= CollisionCategories.Body; d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); d.MassAdd(ref pMass, ref m2);
}
foreach (OdePrim prm in childrenPrim)
{
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
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);
d.Quaternion quat = new d.Quaternion(); d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W; quat.W = prm._orientation.W;
quat.X = prm._orientation.X; quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y; quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z; quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3(); d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat); d.RfromQ(out mat, ref quat);
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
{ {
d.GeomSetBody(prm.prim_geom, Body); d.GeomSetBody(prm.prim_geom, Body);
prm.childPrim = true; prm.childPrim = true;
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
//d.GeomSetOffsetPosition(prim.prim_geom, //d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X, // (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y, // (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z); // (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat); //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass); d.BodySetMass(Body, ref pMass);
} }
else else
{ {
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
} }
prm.m_interpenetrationcount = 0; prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0; prm.m_collisionscore = 0;
prm.m_disabled = false; prm.m_disabled = false;
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{ {
prm.createAMotor(m_angularlock); prm.createAMotor(m_angularlock);
} }
prm.Body = Body; prm.Body = Body;
_parent_scene.ActivatePrim(prm); _parent_scene.ActivatePrim(prm);
} }
m_collisionCategories |= CollisionCategories.Body; m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
//Console.WriteLine(" Post GeomSetCategoryBits 2"); //Console.WriteLine(" Post GeomSetCategoryBits 2");
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
d.Quaternion quat2 = new d.Quaternion(); d.Quaternion quat2 = new d.Quaternion();
quat2.W = _orientation.W; quat2.W = _orientation.W;
quat2.X = _orientation.X; quat2.X = _orientation.X;
quat2.Y = _orientation.Y; quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z; quat2.Z = _orientation.Z;
d.Matrix3 mat2 = new d.Matrix3(); d.Matrix3 mat2 = new d.Matrix3();
d.RfromQ(out mat2, ref quat2); d.RfromQ(out mat2, ref quat2);
d.GeomSetBody(prim_geom, Body); d.GeomSetBody(prim_geom, Body);
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
//d.GeomSetOffsetPosition(prim.prim_geom, //d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X, // (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y, // (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z); // (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2); //d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass); d.BodySetMass(Body, ref pMass);
d.BodySetAutoDisableFlag(Body, true); d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames); d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0; m_interpenetrationcount = 0;
m_collisionscore = 0; m_collisionscore = 0;
m_disabled = false; m_disabled = false;
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{ {
createAMotor(m_angularlock); createAMotor(m_angularlock);
}
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
_parent_scene.ActivatePrim(this);
}
}
} }
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
_parent_scene.ActivatePrim(this);
} }
} }
private void ChildSetGeom(OdePrim odePrim) private void ChildSetGeom(OdePrim odePrim)
{ {
// m_log.DebugFormat(
// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);
//if (IsPhysical && Body != IntPtr.Zero) //if (IsPhysical && Body != IntPtr.Zero)
lock (childrenPrim) lock (childrenPrim)
{ {