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* Bigish ODE stability Update. Run Prebuild

ThreadPoolClientBranch
Teravus Ovares 2008-02-13 23:14:41 +00:00
parent 12e0d8b316
commit 3588d89b2c
10 changed files with 381 additions and 176 deletions
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19
OpenSim/Region/Communications/OGS1/OGS1GridServices.cs
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@ -824,6 +824,16 @@ namespace OpenSim.Region.Communications.OGS1
/// <param name="agentData"></param>
/// <returns></returns>
public bool InformRegionOfPrimCrossing(ulong regionHandle, LLUUID primID, string objData)
{
int failures = 0;
lock (m_deadRegionCache)
{
if (m_deadRegionCache.ContainsKey(regionHandle))
{
failures = m_deadRegionCache[regionHandle];
}
}
if (failures <= 3)
{
RegionInfo regInfo = null;
try
@ -840,8 +850,8 @@ namespace OpenSim.Region.Communications.OGS1
bool retValue = false;
OGS1InterRegionRemoting remObject = (OGS1InterRegionRemoting) Activator.GetObject(
typeof (OGS1InterRegionRemoting),
OGS1InterRegionRemoting remObject = (OGS1InterRegionRemoting)Activator.GetObject(
typeof(OGS1InterRegionRemoting),
"tcp://" + regInfo.RemotingAddress +
":" + regInfo.RemotingPort +
"/InterRegions");
@ -899,6 +909,11 @@ namespace OpenSim.Region.Communications.OGS1
return false;
}
}
else
{
return false;
}
}
/// <summary>
///

4
OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
View File

@ -351,5 +351,9 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
public override void SetMomentum(PhysicsVector momentum)
{
}
public override void CrossingFailure()
{
}
}
}

5
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
View File

@ -986,6 +986,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
#endregion
public override void CrossingFailure()
{
}
}
/// <summary>

46
OpenSim/Region/Physics/Manager/CollisionLocker.cs Normal file
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@ -0,0 +1,46 @@
using System;
using System.Collections.Generic;
using System.Text;
namespace OpenSim.Region.Physics.Manager
{
public class CollisionLocker
{
private bool locked = false;
private List<IntPtr> worldlock = new List<IntPtr>();
public CollisionLocker()
{
}
public void dlock(IntPtr world)
{
lock (worldlock)
{
worldlock.Add(world);
}
}
public void dunlock(IntPtr world)
{
lock (worldlock)
{
worldlock.Remove(world);
}
}
public bool lockquery()
{
return (worldlock.Count > 0);
}
public void drelease(IntPtr world)
{
lock (worldlock)
{
if (worldlock.Contains(world))
worldlock.Remove(world);
}
}
}
}

7
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -126,6 +126,8 @@ namespace OpenSim.Region.Physics.Manager
public abstract bool Selected { set; }
public abstract void CrossingFailure();
public virtual void RequestPhysicsterseUpdate()
{
// Make a temporary copy of the event to avoid possibility of
@ -279,6 +281,11 @@ namespace OpenSim.Region.Physics.Manager
get { return 0f; }
}
public override void CrossingFailure()
{
}
public override Quaternion Orientation
{

12
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -16,7 +16,7 @@
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DISCLAIMEd. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
@ -35,7 +35,7 @@ using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
/// Various properties that ODE uses for AMotors but isn't exposed in d.NET so we must define them ourselves.
/// </summary>
public enum dParam : int
@ -87,6 +87,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_hackSentFall = false;
private bool m_hackSentFly = false;
private bool m_foundDebian = false;
private CollisionLocker ode;
private string m_name = String.Empty;
@ -103,8 +104,9 @@ namespace OpenSim.Region.Physics.OdePlugin
public d.Mass ShellMass;
public bool collidelock = false;
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode)
{
ode = dode;
_velocity = new PhysicsVector();
_target_velocity = new PhysicsVector();
_position = pos;
@ -801,5 +803,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyDestroy(Body);
}
}
public override void CrossingFailure()
{
}
}
}

230
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -16,7 +16,7 @@
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DISCLAIMEd. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
@ -56,6 +56,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool m_taintremove = false;
public bool m_taintdisable = false;
public bool m_disabled = false;
public bool m_taintadd = false;
private CollisionLocker ode;
private bool m_taintforce = false;
private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
@ -74,6 +76,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public int m_interpenetrationcount = 0;
public int m_collisionscore = 0;
public int m_roundsUnderMotionThreshold = 0;
private int m_crossingfailures = 0;
public bool outofBounds = false;
private float m_density = 10.000006836f; // Aluminum g/cm3;
@ -90,9 +93,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private int debugcounter = 0;
public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
ode = dode;
_velocity = new PhysicsVector();
_position = pos;
m_taintposition = pos;
@ -136,86 +139,11 @@ namespace OpenSim.Region.Physics.OdePlugin
m_targetSpace = _parent_scene.space;
}
m_primName = primName;
if (mesh != null)
{
}
else
{
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size);
// createmesh returns null when it's a shape that isn't a cube.
}
}
lock (OdeScene.OdeLock)
{
if (mesh != null)
{
setMesh(parent_scene, mesh);
}
else
{
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
{
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
{
if (((_size.X / 2f) > 0f))
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2);
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
}
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
}
}
//else if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
//{
//Cyllinder
//if (_size.X == _size.Y)
//{
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
//}
//else
//{
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
//}
//}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
}
}
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.W = rotation.w;
myrot.X = rotation.x;
myrot.Y = rotation.y;
myrot.Z = rotation.z;
d.GeomSetQuaternion(prim_geom, ref myrot);
if (m_isphysical && Body == (IntPtr) 0)
{
enableBody();
}
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
// don't do .add() here; old geoms get recycled with the same hash
parent_scene.geom_name_map[prim_geom] = primName;
parent_scene.actor_name_map[prim_geom] = (PhysicsActor) this;
// don't do .add() here; old geoms get recycled with the same hash
}
}
/// <summary>
@ -399,15 +327,18 @@ namespace OpenSim.Region.Physics.OdePlugin
public void setMesh(OdeScene parent_scene, IMesh mesh)
{
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
System.Threading.Thread.Sleep(10);
//Kill Body so that mesh can re-make the geom
if (IsPhysical && Body != (IntPtr) 0)
{
disableBody();
}
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
System.Threading.Thread.Sleep(10);
float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
@ -448,6 +379,10 @@ namespace OpenSim.Region.Physics.OdePlugin
public void ProcessTaints(float timestep)
{
System.Threading.Thread.Sleep(5);
if (m_taintadd)
changeadd(timestep);
if (m_taintposition != _position)
Move(timestep);
@ -478,7 +413,123 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void changeadd(float timestep)
{
if (_mesh != null)
{
}
else
{
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size);
// createmesh returns null when it's a shape that isn't a cube.
}
}
lock (OdeScene.OdeLock)
{
if (_mesh != null)
{
setMesh(_parent_scene, _mesh);
}
else
{
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
{
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
{
if (((_size.X / 2f) > 0f))
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2);
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
return;
}
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
return;
}
}
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
}
catch (System.AccessViolationException)
{
return;
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
}
}
}
//else if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
//{
//Cyllinder
//if (_size.X == _size.Y)
//{
//prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z);
//}
//else
//{
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
//}
//}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
return;
}
}
}
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.W = _orientation.w;
myrot.X = _orientation.x;
myrot.Y = _orientation.y;
myrot.Z = _orientation.z;
d.GeomSetQuaternion(prim_geom, ref myrot);
if (m_isphysical && Body == (IntPtr)0)
{
enableBody();
}
}
m_taintadd = false;
}
public void Move(float timestep)
{
if (m_isphysical)
@ -941,7 +992,15 @@ namespace OpenSim.Region.Physics.OdePlugin
}
set { m_rotationalVelocity = value; }
}
public override void CrossingFailure()
{
m_crossingfailures++;
if (m_crossingfailures >= 5)
{
m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName);
}
}
public void UpdatePositionAndVelocity()
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
@ -968,9 +1027,12 @@ namespace OpenSim.Region.Physics.OdePlugin
l_position.Z = vec.Z;
if (l_position.X > 257f || l_position.X < -1f || l_position.Y > 257f || l_position.Y < -1f)
{
if (m_crossingfailures < 5)
{
base.RequestPhysicsterseUpdate();
}
}
if (l_position.Z < 0)
{

72
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -16,7 +16,7 @@
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DISCLAIMEd. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
@ -46,10 +46,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private CollisionLocker ode;
private OdeScene _mScene;
public OdePlugin()
{
ode = new CollisionLocker();
}
public bool Init()
@ -61,7 +63,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (_mScene == null)
{
_mScene = new OdeScene();
_mScene = new OdeScene(ode);
}
return (_mScene);
}
@ -74,7 +76,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public void Dispose()
{
d.CloseODE();
}
}
@ -82,6 +84,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
CollisionLocker ode;
// TODO: this should be hard-coded in some common place
private const uint m_regionWidth = 256;
private const uint m_regionHeight = 256;
@ -137,8 +140,9 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public OdeScene()
public OdeScene(CollisionLocker dode)
{
ode = dode;
nearCallback = near;
triCallback = TriCallback;
triArrayCallback = TriArrayCallback;
@ -178,6 +182,7 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeLock)
{
// Creat the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
@ -268,8 +273,14 @@ namespace OpenSim.Region.Physics.OdePlugin
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide test a space");
}
//Colliding a space or a geom with a space or a geom. so drill down
//Collide all geoms in each space..
@ -304,7 +315,7 @@ namespace OpenSim.Region.Physics.OdePlugin
name2 = "null";
}
//if (id == d.GeomClassID.TriMeshClass)
//if (id == d.GeomClassId.TriMeshClass)
//{
// m_log.Info("near: A collision was detected between {1} and {2}", 0, name1, name2);
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
@ -321,6 +332,10 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
base.TriggerPhysicsBasedRestart();
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide test an object");
}
PhysicsActor p1;
PhysicsActor p2;
@ -438,7 +453,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (contacts[i].depth >= 0.25f)
{
// Don't collide, one or both prim will explode.
// Don't collide, one or both prim will expld.
op1.m_interpenetrationcount++;
@ -596,8 +611,14 @@ namespace OpenSim.Region.Physics.OdePlugin
// And we'll run this again against the avatar and the space segment
// This will return with a bunch of possible objects in the space segment
// and we'll run it again on all of them.
try
{
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to space collide");
}
//float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
//if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
//{
@ -616,8 +637,14 @@ namespace OpenSim.Region.Physics.OdePlugin
// This if may not need to be there.. it might be skipped anyway.
if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
{
try
{
d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to space collide");
}
//calculateSpaceForGeom(chr.Position)
//foreach (OdePrim ch2 in _prims)
/// should be a separate space -- lots of avatars will be N**2 slow
@ -634,8 +661,15 @@ namespace OpenSim.Region.Physics.OdePlugin
//}
//}
}
try
{
d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to space collide");
}
}
}
else
{
@ -663,7 +697,7 @@ namespace OpenSim.Region.Physics.OdePlugin
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv = new OdeCharacter(avName, this, pos);
OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode);
_characters.Add(newAv);
return newAv;
}
@ -1007,7 +1041,7 @@ namespace OpenSim.Region.Physics.OdePlugin
OdePrim newPrim;
lock (OdeLock)
{
newPrim = new OdePrim(name, this, targetspace, pos, siz, rot, mesh, pbs, isphysical);
newPrim = new OdePrim(name, this, targetspace, pos, siz, rot, mesh, pbs, isphysical, ode);
_prims.Add(newPrim);
}
@ -1204,7 +1238,14 @@ namespace OpenSim.Region.Physics.OdePlugin
actor.collidelock = true;
}
ode.dlock(world);
collision_optimized(timeStep);
ode.dunlock(world);
try
{
d.WorldQuickStep(world, ODE_STEPSIZE);
@ -1228,6 +1269,8 @@ namespace OpenSim.Region.Physics.OdePlugin
actor.UpdatePositionAndVelocity();
}
if (!ode.lockquery())
{
bool processedtaints = false;
foreach (OdePrim prim in _taintedPrim)
{
@ -1239,14 +1282,15 @@ namespace OpenSim.Region.Physics.OdePlugin
processedtaints = true;
prim.m_collisionscore = 0;
}
if (processedtaints)
_taintedPrim = new List<OdePrim>();
}
foreach (OdePrim prim in _activeprims)
{
prim.m_collisionscore = 0;
}
if (processedtaints)
_taintedPrim = new List<OdePrim>();
if (timeStep < 0.2f)
{

8
OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
View File

@ -480,6 +480,10 @@ namespace OpenSim.Region.Physics.POSPlugin
public override void SetMomentum(PhysicsVector momentum)
{
}
public override void CrossingFailure()
{
}
}
public class POSPrim : PhysicsActor
@ -640,6 +644,10 @@ namespace OpenSim.Region.Physics.POSPlugin
{
set { return; }
}
public override void CrossingFailure()
{
}
}
}

8
OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
View File

@ -393,6 +393,10 @@ namespace OpenSim.Region.Physics.PhysXPlugin
_position.Y = vec.Y;
_position.Z = vec.Z;
}
public override void CrossingFailure()
{
}
}
@ -577,5 +581,9 @@ namespace OpenSim.Region.Physics.PhysXPlugin
{
get { return PhysicsVector.Zero; }
}
public override void CrossingFailure()
{
}
}
}