From 4e72cf9ee21dd8833af860fa5af4fc91e11018cb Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 29 May 2013 02:08:14 +0100 Subject: [PATCH] *** DANGER TESTING **** changed prims mesh generation hopefully removing spurius faces. CHanged several aspects. Fixed prims inertia that was too low, still using box as model. Increased number of quickstep SOR iterations to 15. Keep it 15 even on heavy load ( will only jump simulation time). --- .../Region/Physics/UbitMeshing/HelperTypes.cs | 4 +- OpenSim/Region/Physics/UbitMeshing/Mesh.cs | 33 +- .../Region/Physics/UbitMeshing/Meshmerizer.cs | 64 +- .../Region/Physics/UbitMeshing/PrimMesher.cs | 1246 +++++------------ .../Physics/UbitOdePlugin/ODEMeshWorker.cs | 6 +- .../Region/Physics/UbitOdePlugin/ODEPrim.cs | 52 +- .../UbitOdePlugin/ODERayCastRequestManager.cs | 2 +- .../Region/Physics/UbitOdePlugin/OdeApi.cs | 2 +- .../Region/Physics/UbitOdePlugin/OdeScene.cs | 286 ++-- 9 files changed, 510 insertions(+), 1185 deletions(-) diff --git a/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs b/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs index 293825779e..5dc1e789ce 100644 --- a/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs +++ b/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs @@ -256,9 +256,9 @@ public class Vertex : IComparable // settings your machine works with. Unusable for a machine readable file format :-( NumberFormatInfo nfi = new NumberFormatInfo(); nfi.NumberDecimalSeparator = "."; - nfi.NumberDecimalDigits = 3; + nfi.NumberDecimalDigits = 6; - String s1 = X.ToString("N2", nfi) + " " + Y.ToString("N2", nfi) + " " + Z.ToString("N2", nfi); + String s1 = X.ToString(nfi) + " " + Y.ToString(nfi) + " " + Z.ToString(nfi); return s1; } diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs index fa069265c5..04188931e3 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs @@ -205,34 +205,21 @@ namespace OpenSim.Region.Physics.Meshing } - private float fRound(float f) - { - int i; - if (f == 0f) - return f; - else if (f > 0f) - i = (int)(1e5f * f + 0.5f); - else - i = (int)(1e5f * f - 0.5f); - - return ((float)i * 1e-5f); - } - public void Add(Triangle triangle) { if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) throw new NotSupportedException("Attempt to Add to a pinned Mesh"); - // round down - triangle.v1.X = fRound(triangle.v1.X); - triangle.v1.Y = fRound(triangle.v1.Y); - triangle.v1.Z = fRound(triangle.v1.Z); - triangle.v2.X = fRound(triangle.v2.X); - triangle.v2.Y = fRound(triangle.v2.Y); - triangle.v2.Z = fRound(triangle.v2.Z); - triangle.v3.X = fRound(triangle.v3.X); - triangle.v3.Y = fRound(triangle.v3.Y); - triangle.v3.Z = fRound(triangle.v3.Z); + + triangle.v1.X = (float)Math.Round(triangle.v1.X, 6); + triangle.v1.Y = (float)Math.Round(triangle.v1.Y, 6); + triangle.v1.Z = (float)Math.Round(triangle.v1.Z, 6); + triangle.v2.X = (float)Math.Round(triangle.v2.X, 6); + triangle.v2.Y = (float)Math.Round(triangle.v2.Y, 6); + triangle.v2.Z = (float)Math.Round(triangle.v2.Z, 6); + triangle.v3.X = (float)Math.Round(triangle.v3.X, 6); + triangle.v3.Y = (float)Math.Round(triangle.v3.Y, 6); + triangle.v3.Z = (float)Math.Round(triangle.v3.Z, 6); if ((triangle.v1.X == triangle.v2.X && triangle.v1.Y == triangle.v2.Y && triangle.v1.Z == triangle.v2.Z) || (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z) diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 00cbfbd3c9..c131c6f9b6 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -816,15 +816,31 @@ namespace OpenSim.Region.Physics.Meshing float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f; float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f; + + if (profileBegin < 0.0f) + profileBegin = 0.0f; + + if (profileEnd < 0.02f) + profileEnd = 0.02f; + else if (profileEnd > 1.0f) + profileEnd = 1.0f; + + if (profileBegin >= profileEnd) + profileBegin = profileEnd - 0.02f; + float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f; if (profileHollow > 0.95f) profileHollow = 0.95f; - + int sides = 4; LevelOfDetail iLOD = (LevelOfDetail)lod; - if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) + byte profshape = (byte)(primShape.ProfileCurve & 0x07); + + if (profshape == (byte)ProfileShape.EquilateralTriangle + || profshape == (byte)ProfileShape.IsometricTriangle + || profshape == (byte)ProfileShape.RightTriangle) sides = 3; - else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) + else if (profshape == (byte)ProfileShape.Circle) { switch (iLOD) { @@ -835,7 +851,7 @@ namespace OpenSim.Region.Physics.Meshing default: sides = 24; break; } } - else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) + else if (profshape == (byte)ProfileShape.HalfCircle) { // half circle, prim is a sphere switch (iLOD) { @@ -865,10 +881,15 @@ namespace OpenSim.Region.Physics.Meshing else if (primShape.HollowShape == HollowShape.Square) hollowSides = 4; else if (primShape.HollowShape == HollowShape.Triangle) - hollowSides = 3; + { + if (profshape == (byte)ProfileShape.HalfCircle) + hollowSides = 6; + else + hollowSides = 3; + } primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides); - + if (primMesh.errorMessage != null) if (primMesh.errorMessage.Length > 0) m_log.Error("[ERROR] " + primMesh.errorMessage); @@ -880,17 +901,11 @@ namespace OpenSim.Region.Physics.Meshing if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible) { - primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10; - primMesh.twistEnd = primShape.PathTwist * 18 / 10; + primMesh.twistBegin = (primShape.PathTwistBegin * 18) / 10; + primMesh.twistEnd = (primShape.PathTwist * 18) / 10; primMesh.taperX = pathScaleX; primMesh.taperY = pathScaleY; - if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f) - { - ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh); - if (profileBegin < 0.0f) profileBegin = 0.0f; - if (profileEnd > 1.0f) profileEnd = 1.0f; - } #if SPAM m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString()); #endif @@ -911,17 +926,11 @@ namespace OpenSim.Region.Physics.Meshing primMesh.radius = 0.01f * primShape.PathRadiusOffset; primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions; primMesh.skew = 0.01f * primShape.PathSkew; - primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10; - primMesh.twistEnd = primShape.PathTwist * 36 / 10; + primMesh.twistBegin = (primShape.PathTwistBegin * 36) / 10; + primMesh.twistEnd = (primShape.PathTwist * 36) / 10; primMesh.taperX = primShape.PathTaperX * 0.01f; primMesh.taperY = primShape.PathTaperY * 0.01f; - if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f) - { - ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh); - if (profileBegin < 0.0f) profileBegin = 0.0f; - if (profileEnd > 1.0f) profileEnd = 1.0f; - } #if SPAM m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString()); #endif @@ -1031,14 +1040,19 @@ namespace OpenSim.Region.Physics.Meshing public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) { - return CreateMesh(primName, primShape, size, lod, false,false,false,false); + return CreateMesh(primName, primShape, size, lod, false,false,false); } public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) { - return CreateMesh(primName, primShape, size, lod, false,false,false,false); + return CreateMesh(primName, primShape, size, lod, false,false,false); } + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde) + { + return CreateMesh(primName, primShape, size, lod, false, false, false); + } + public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) { Mesh mesh = null; @@ -1080,7 +1094,7 @@ namespace OpenSim.Region.Physics.Meshing private static Vector3 m_MeshUnitSize = new Vector3(1.0f, 1.0f, 1.0f); - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde) + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde) { #if SPAM m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName); diff --git a/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs b/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs index 4049ee1598..8eb136bff4 100644 --- a/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs +++ b/OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs @@ -225,26 +225,6 @@ namespace PrimMesher } } - public struct UVCoord - { - public float U; - public float V; - - - public UVCoord(float u, float v) - { - this.U = u; - this.V = v; - } - - public UVCoord Flip() - { - this.U = 1.0f - this.U; - this.V = 1.0f - this.V; - return this; - } - } - public struct Face { public int primFace; @@ -254,16 +234,6 @@ namespace PrimMesher public int v2; public int v3; - //normals - public int n1; - public int n2; - public int n3; - - // uvs - public int uv1; - public int uv2; - public int uv3; - public Face(int v1, int v2, int v3) { primFace = 0; @@ -272,31 +242,6 @@ namespace PrimMesher this.v2 = v2; this.v3 = v3; - this.n1 = 0; - this.n2 = 0; - this.n3 = 0; - - this.uv1 = 0; - this.uv2 = 0; - this.uv3 = 0; - - } - - public Face(int v1, int v2, int v3, int n1, int n2, int n3) - { - primFace = 0; - - this.v1 = v1; - this.v2 = v2; - this.v3 = v3; - - this.n1 = n1; - this.n2 = n2; - this.n3 = n3; - - this.uv1 = 0; - this.uv2 = 0; - this.uv3 = 0; } public Coord SurfaceNormal(List coordList) @@ -312,96 +257,6 @@ namespace PrimMesher } } - public struct ViewerFace - { - public int primFaceNumber; - - public Coord v1; - public Coord v2; - public Coord v3; - - public int coordIndex1; - public int coordIndex2; - public int coordIndex3; - - public Coord n1; - public Coord n2; - public Coord n3; - - public UVCoord uv1; - public UVCoord uv2; - public UVCoord uv3; - - public ViewerFace(int primFaceNumber) - { - this.primFaceNumber = primFaceNumber; - - this.v1 = new Coord(); - this.v2 = new Coord(); - this.v3 = new Coord(); - - this.coordIndex1 = this.coordIndex2 = this.coordIndex3 = -1; // -1 means not assigned yet - - this.n1 = new Coord(); - this.n2 = new Coord(); - this.n3 = new Coord(); - - this.uv1 = new UVCoord(); - this.uv2 = new UVCoord(); - this.uv3 = new UVCoord(); - } - - public void Scale(float x, float y, float z) - { - this.v1.X *= x; - this.v1.Y *= y; - this.v1.Z *= z; - - this.v2.X *= x; - this.v2.Y *= y; - this.v2.Z *= z; - - this.v3.X *= x; - this.v3.Y *= y; - this.v3.Z *= z; - } - - public void AddPos(float x, float y, float z) - { - this.v1.X += x; - this.v2.X += x; - this.v3.X += x; - - this.v1.Y += y; - this.v2.Y += y; - this.v3.Y += y; - - this.v1.Z += z; - this.v2.Z += z; - this.v3.Z += z; - } - - public void AddRot(Quat q) - { - this.v1 *= q; - this.v2 *= q; - this.v3 *= q; - - this.n1 *= q; - this.n2 *= q; - this.n3 *= q; - } - - public void CalcSurfaceNormal() - { - - Coord edge1 = new Coord(this.v2.X - this.v1.X, this.v2.Y - this.v1.Y, this.v2.Z - this.v1.Z); - Coord edge2 = new Coord(this.v3.X - this.v1.X, this.v3.Y - this.v1.Y, this.v3.Z - this.v1.Z); - - this.n1 = this.n2 = this.n3 = Coord.Cross(edge1, edge2).Normalize(); - } - } - internal struct Angle { internal float angle; @@ -428,14 +283,6 @@ namespace PrimMesher new Angle(1.0f, 1.0f, 0.0f) }; - private static Coord[] normals3 = - { - new Coord(0.25f, 0.4330127019f, 0.0f).Normalize(), - new Coord(-0.5f, 0.0f, 0.0f).Normalize(), - new Coord(0.25f, -0.4330127019f, 0.0f).Normalize(), - new Coord(0.25f, 0.4330127019f, 0.0f).Normalize() - }; - private static Angle[] angles4 = { new Angle(0.0f, 1.0f, 0.0f), @@ -445,13 +292,32 @@ namespace PrimMesher new Angle(1.0f, 1.0f, 0.0f) }; - private static Coord[] normals4 = + private static Angle[] angles6 = { - new Coord(0.5f, 0.5f, 0.0f).Normalize(), - new Coord(-0.5f, 0.5f, 0.0f).Normalize(), - new Coord(-0.5f, -0.5f, 0.0f).Normalize(), - new Coord(0.5f, -0.5f, 0.0f).Normalize(), - new Coord(0.5f, 0.5f, 0.0f).Normalize() + new Angle(0.0f, 1.0f, 0.0f), + new Angle(0.16666666666666667f, 0.5f, 0.8660254037844386f), + new Angle(0.33333333333333333f, -0.5f, 0.86602540378443871f), + new Angle(0.5f, -1.0f, 0.0f), + new Angle(0.66666666666666667f, -0.5f, -0.86602540378443837f), + new Angle(0.83333333333333326f, 0.5f, -0.86602540378443904f), + new Angle(1.0f, 1.0f, 0.0f) + }; + + private static Angle[] angles12 = + { + new Angle(0.0f, 1.0f, 0.0f), + new Angle(0.083333333333333329f, 0.86602540378443871f, 0.5f), + new Angle(0.16666666666666667f, 0.5f, 0.8660254037844386f), + new Angle(0.25f, 0.0f, 1.0f), + new Angle(0.33333333333333333f, -0.5f, 0.86602540378443871f), + new Angle(0.41666666666666663f, -0.86602540378443849f, 0.5f), + new Angle(0.5f, -1.0f, 0.0f), + new Angle(0.58333333333333326f, -0.86602540378443882f, -0.5f), + new Angle(0.66666666666666667f, -0.5f, -0.86602540378443837f), + new Angle(0.75f, 0.0f, -1.0f), + new Angle(0.83333333333333326f, 0.5f, -0.86602540378443904f), + new Angle(0.91666666666666663f, 0.86602540378443837f, -0.5f), + new Angle(1.0f, 1.0f, 0.0f) }; private static Angle[] angles24 = @@ -503,56 +369,72 @@ namespace PrimMesher } internal List angles; - internal List normals; - internal void makeAngles(int sides, float startAngle, float stopAngle) + internal void makeAngles(int sides, float startAngle, float stopAngle, bool hasCut) { angles = new List(); - normals = new List(); - double twoPi = System.Math.PI * 2.0; - float twoPiInv = 1.0f / (float)twoPi; + const double twoPi = System.Math.PI * 2.0; + const float twoPiInv = (float)(1.0d / twoPi); if (sides < 1) throw new Exception("number of sides not greater than zero"); if (stopAngle <= startAngle) throw new Exception("stopAngle not greater than startAngle"); - if ((sides == 3 || sides == 4 || sides == 24)) + if ((sides == 3 || sides == 4 || sides == 6 || sides == 12 || sides == 24)) { startAngle *= twoPiInv; stopAngle *= twoPiInv; Angle[] sourceAngles; - if (sides == 3) - sourceAngles = angles3; - else if (sides == 4) - sourceAngles = angles4; - else sourceAngles = angles24; + switch (sides) + { + case 3: + sourceAngles = angles3; + break; + case 4: + sourceAngles = angles4; + break; + case 6: + sourceAngles = angles6; + break; + case 12: + sourceAngles = angles12; + break; + default: + sourceAngles = angles24; + break; + } int startAngleIndex = (int)(startAngle * sides); int endAngleIndex = sourceAngles.Length - 1; - if (stopAngle < 1.0f) - endAngleIndex = (int)(stopAngle * sides) + 1; - if (endAngleIndex == startAngleIndex) - endAngleIndex++; - for (int angleIndex = startAngleIndex; angleIndex < endAngleIndex + 1; angleIndex++) + if (hasCut) { - angles.Add(sourceAngles[angleIndex]); - if (sides == 3) - normals.Add(normals3[angleIndex]); - else if (sides == 4) - normals.Add(normals4[angleIndex]); + if (stopAngle < 1.0f) + endAngleIndex = (int)(stopAngle * sides) + 1; + if (endAngleIndex == startAngleIndex) + endAngleIndex++; + + for (int angleIndex = startAngleIndex; angleIndex < endAngleIndex + 1; angleIndex++) + { + angles.Add(sourceAngles[angleIndex]); + } + + if (startAngle > 0.0f) + angles[0] = interpolatePoints(startAngle, angles[0], angles[1]); + + if (stopAngle < 1.0f) + { + int lastAngleIndex = angles.Count - 1; + angles[lastAngleIndex] = interpolatePoints(stopAngle, angles[lastAngleIndex - 1], angles[lastAngleIndex]); + } } - - if (startAngle > 0.0f) - angles[0] = interpolatePoints(startAngle, angles[0], angles[1]); - - if (stopAngle < 1.0f) + else { - int lastAngleIndex = angles.Count - 1; - angles[lastAngleIndex] = interpolatePoints(stopAngle, angles[lastAngleIndex - 1], angles[lastAngleIndex]); + for (int angleIndex = startAngleIndex; angleIndex < endAngleIndex; angleIndex++) + angles.Add(sourceAngles[angleIndex]); } } else @@ -618,20 +500,10 @@ namespace PrimMesher public List coords; public List faces; - public List vertexNormals; - public List us; - public List faceUVs; - public List faceNumbers; // use these for making individual meshes for each prim face public List outerCoordIndices = null; public List hollowCoordIndices = null; - public List cut1CoordIndices = null; - public List cut2CoordIndices = null; - - public Coord faceNormal = new Coord(0.0f, 0.0f, 1.0f); - public Coord cutNormal1 = new Coord(); - public Coord cutNormal2 = new Coord(); public int numOuterVerts = 0; public int numHollowVerts = 0; @@ -639,7 +511,6 @@ namespace PrimMesher public int outerFaceNumber = -1; public int hollowFaceNumber = -1; - public bool calcVertexNormals = false; public int bottomFaceNumber = 0; public int numPrimFaces = 0; @@ -647,40 +518,19 @@ namespace PrimMesher { this.coords = new List(); this.faces = new List(); - this.vertexNormals = new List(); - this.us = new List(); - this.faceUVs = new List(); - this.faceNumbers = new List(); } - public Profile(int sides, float profileStart, float profileEnd, float hollow, int hollowSides, bool createFaces, bool calcVertexNormals) + public Profile(int sides, float profileStart, float profileEnd, float hollow, int hollowSides, bool hasProfileCut, bool createFaces) { - this.calcVertexNormals = calcVertexNormals; + const float halfSqr2 = 0.7071067811866f; + this.coords = new List(); this.faces = new List(); - this.vertexNormals = new List(); - this.us = new List(); - this.faceUVs = new List(); - this.faceNumbers = new List(); - - Coord center = new Coord(0.0f, 0.0f, 0.0f); List hollowCoords = new List(); - List hollowNormals = new List(); - List hollowUs = new List(); - - if (calcVertexNormals) - { - this.outerCoordIndices = new List(); - this.hollowCoordIndices = new List(); - this.cut1CoordIndices = new List(); - this.cut2CoordIndices = new List(); - } bool hasHollow = (hollow > 0.0f); - bool hasProfileCut = (profileStart > 0.0f || profileEnd < 1.0f); - AngleList angles = new AngleList(); AngleList hollowAngles = new AngleList(); @@ -688,14 +538,14 @@ namespace PrimMesher float yScale = 0.5f; if (sides == 4) // corners of a square are sqrt(2) from center { - xScale = 0.707107f; - yScale = 0.707107f; + xScale = halfSqr2; + yScale = halfSqr2; } float startAngle = profileStart * twoPi; float stopAngle = profileEnd * twoPi; - try { angles.makeAngles(sides, startAngle, stopAngle); } + try { angles.makeAngles(sides, startAngle, stopAngle,hasProfileCut); } catch (Exception ex) { @@ -707,6 +557,9 @@ namespace PrimMesher this.numOuterVerts = angles.angles.Count; + Angle angle; + Coord newVert = new Coord(); + // flag to create as few triangles as possible for 3 or 4 side profile bool simpleFace = (sides < 5 && !hasHollow && !hasProfileCut); @@ -716,7 +569,7 @@ namespace PrimMesher hollowAngles = angles; else { - try { hollowAngles.makeAngles(hollowSides, startAngle, stopAngle); } + try { hollowAngles.makeAngles(hollowSides, startAngle, stopAngle, hasProfileCut); } catch (Exception ex) { errorMessage = "makeAngles failed: Exception: " + ex.ToString() @@ -724,116 +577,48 @@ namespace PrimMesher return; } + + int numHollowAngles = hollowAngles.angles.Count; + for (int i = 0; i < numHollowAngles; i++) + { + angle = hollowAngles.angles[i]; + newVert.X = hollow * xScale * angle.X; + newVert.Y = hollow * yScale * angle.Y; + newVert.Z = 0.0f; + + hollowCoords.Add(newVert); + } } this.numHollowVerts = hollowAngles.angles.Count; } else if (!simpleFace) { + Coord center = new Coord(0.0f, 0.0f, 0.0f); this.coords.Add(center); - if (this.calcVertexNormals) - this.vertexNormals.Add(new Coord(0.0f, 0.0f, 1.0f)); - this.us.Add(0.0f); } - float z = 0.0f; - - Angle angle; - Coord newVert = new Coord(); - if (hasHollow && hollowSides != sides) - { - int numHollowAngles = hollowAngles.angles.Count; - for (int i = 0; i < numHollowAngles; i++) - { - angle = hollowAngles.angles[i]; - newVert.X = hollow * xScale * angle.X; - newVert.Y = hollow * yScale * angle.Y; - newVert.Z = z; - - hollowCoords.Add(newVert); - if (this.calcVertexNormals) - { - if (hollowSides < 5) - hollowNormals.Add(hollowAngles.normals[i].Invert()); - else - hollowNormals.Add(new Coord(-angle.X, -angle.Y, 0.0f)); - - if (hollowSides == 4) - hollowUs.Add(angle.angle * hollow * 0.707107f); - else - hollowUs.Add(angle.angle * hollow); - } - } - } - - int index = 0; int numAngles = angles.angles.Count; + bool hollowsame = (hasHollow && hollowSides == sides); for (int i = 0; i < numAngles; i++) { angle = angles.angles[i]; newVert.X = angle.X * xScale; newVert.Y = angle.Y * yScale; - newVert.Z = z; + newVert.Z = 0.0f; this.coords.Add(newVert); - if (this.calcVertexNormals) + if (hollowsame) { - this.outerCoordIndices.Add(this.coords.Count - 1); - - if (sides < 5) - { - this.vertexNormals.Add(angles.normals[i]); - float u = angle.angle; - this.us.Add(u); - } - else - { - this.vertexNormals.Add(new Coord(angle.X, angle.Y, 0.0f)); - this.us.Add(angle.angle); - } + newVert.X *= hollow; + newVert.Y *= hollow; + hollowCoords.Add(newVert); } - - if (hasHollow) - { - if (hollowSides == sides) - { - newVert.X *= hollow; - newVert.Y *= hollow; - newVert.Z = z; - hollowCoords.Add(newVert); - if (this.calcVertexNormals) - { - if (sides < 5) - { - hollowNormals.Add(angles.normals[i].Invert()); - } - - else - hollowNormals.Add(new Coord(-angle.X, -angle.Y, 0.0f)); - - hollowUs.Add(angle.angle * hollow); - } - } - } - else if (!simpleFace && createFaces && angle.angle > 0.0001f) - { - Face newFace = new Face(); - newFace.v1 = 0; - newFace.v2 = index; - newFace.v3 = index + 1; - - this.faces.Add(newFace); - } - index += 1; } if (hasHollow) { hollowCoords.Reverse(); - if (this.calcVertexNormals) - { - hollowNormals.Reverse(); - hollowUs.Reverse(); - } + this.coords.AddRange(hollowCoords); if (createFaces) { @@ -855,187 +640,176 @@ namespace PrimMesher newFace.v3 = numTotalVerts - coordIndex - 1; this.faces.Add(newFace); } - } - else - { - if (this.numOuterVerts < this.numHollowVerts) + if (!hasProfileCut) { - Face newFace = new Face(); - int j = 0; // j is the index for outer vertices - int maxJ = this.numOuterVerts - 1; - for (int i = 0; i < this.numHollowVerts; i++) // i is the index for inner vertices + newFace.v1 = this.numOuterVerts - 1; + newFace.v2 = 0; + newFace.v3 = this.numOuterVerts; + this.faces.Add(newFace); + + newFace.v1 = 0; + newFace.v2 = numTotalVerts - 1; + newFace.v3 = this.numOuterVerts; + this.faces.Add(newFace); + } + } + else if (this.numOuterVerts < this.numHollowVerts) + { + Face newFace = new Face(); + int j = 0; // j is the index for outer vertices + int i; + int maxJ = this.numOuterVerts - 1; + float curHollowAngle = 0; + for (i = 0; i < this.numHollowVerts; i++) // i is the index for inner vertices + { + curHollowAngle = hollowAngles.angles[i].angle; + if (j < maxJ) { - if (j < maxJ) - if (angles.angles[j + 1].angle - hollowAngles.angles[i].angle < hollowAngles.angles[i].angle - angles.angles[j].angle + 0.000001f) - { - newFace.v1 = numTotalVerts - i - 1; - newFace.v2 = j; - newFace.v3 = j + 1; + if (angles.angles[j + 1].angle - curHollowAngle < curHollowAngle - angles.angles[j].angle + 0.000001f) + { + newFace.v1 = numTotalVerts - i - 1; + newFace.v2 = j; + newFace.v3 = j + 1; + this.faces.Add(newFace); + j++; + } + } + else + { + if (1.0f - curHollowAngle < curHollowAngle - angles.angles[j].angle + 0.000001f) + break; + } - this.faces.Add(newFace); - j += 1; - } + newFace.v1 = j; + newFace.v2 = numTotalVerts - i - 2; + newFace.v3 = numTotalVerts - i - 1; - newFace.v1 = j; - newFace.v2 = numTotalVerts - i - 2; - newFace.v3 = numTotalVerts - i - 1; + this.faces.Add(newFace); + } + + if (!hasProfileCut) + { + if (i == this.numHollowVerts) + { + newFace.v1 = numTotalVerts - this.numHollowVerts; + newFace.v2 = maxJ; + newFace.v3 = 0; this.faces.Add(newFace); } - } - else // numHollowVerts < numOuterVerts - { - Face newFace = new Face(); - int j = 0; // j is the index for inner vertices - int maxJ = this.numHollowVerts - 1; - for (int i = 0; i < this.numOuterVerts; i++) + else { - if (j < maxJ) - if (hollowAngles.angles[j + 1].angle - angles.angles[i].angle < angles.angles[i].angle - hollowAngles.angles[j].angle + 0.000001f) - { - newFace.v1 = i; - newFace.v2 = numTotalVerts - j - 2; - newFace.v3 = numTotalVerts - j - 1; + if (1.0f - curHollowAngle < curHollowAngle - angles.angles[maxJ].angle + 0.000001f) + { + newFace.v1 = numTotalVerts - i - 1; + newFace.v2 = maxJ; + newFace.v3 = 0; - this.faces.Add(newFace); - j += 1; - } + this.faces.Add(newFace); + } - newFace.v1 = numTotalVerts - j - 1; - newFace.v2 = i; - newFace.v3 = i + 1; + for (; i < this.numHollowVerts - 1; i++) + { + newFace.v1 = 0; + newFace.v2 = numTotalVerts - i - 2; + newFace.v3 = numTotalVerts - i - 1; + + this.faces.Add(newFace); + } + } + + newFace.v1 = 0; + newFace.v2 = numTotalVerts - this.numHollowVerts; + newFace.v3 = numTotalVerts - 1; + this.faces.Add(newFace); + } + } + else // numHollowVerts < numOuterVerts + { + Face newFace = new Face(); + int j = 0; // j is the index for inner vertices + int maxJ = this.numHollowVerts - 1; + for (int i = 0; i < this.numOuterVerts; i++) + { + if (j < maxJ) + if (hollowAngles.angles[j + 1].angle - angles.angles[i].angle < angles.angles[i].angle - hollowAngles.angles[j].angle + 0.000001f) + { + newFace.v1 = i; + newFace.v2 = numTotalVerts - j - 2; + newFace.v3 = numTotalVerts - j - 1; + + this.faces.Add(newFace); + j += 1; + } + + newFace.v1 = numTotalVerts - j - 1; + newFace.v2 = i; + newFace.v3 = i + 1; + + this.faces.Add(newFace); + } + + if (!hasProfileCut) + { + int i = this.numOuterVerts - 1; + + if (hollowAngles.angles[0].angle - angles.angles[i].angle < angles.angles[i].angle - hollowAngles.angles[maxJ].angle + 0.000001f) + { + newFace.v1 = 0; + newFace.v2 = numTotalVerts - maxJ - 1; + newFace.v3 = numTotalVerts - 1; this.faces.Add(newFace); } + + newFace.v1 = numTotalVerts - maxJ - 1; + newFace.v2 = i; + newFace.v3 = 0; + + this.faces.Add(newFace); } } } + + } - if (calcVertexNormals) + else if (createFaces) + { + if (simpleFace) { - foreach (Coord hc in hollowCoords) + if (sides == 3) + this.faces.Add(new Face(0, 1, 2)); + else if (sides == 4) { - this.coords.Add(hc); - hollowCoordIndices.Add(this.coords.Count - 1); + this.faces.Add(new Face(0, 1, 2)); + this.faces.Add(new Face(0, 2, 3)); } } else - this.coords.AddRange(hollowCoords); - - if (this.calcVertexNormals) { - this.vertexNormals.AddRange(hollowNormals); - this.us.AddRange(hollowUs); - + for (int i = 1; i < numAngles ; i++) + { + Face newFace = new Face(); + newFace.v1 = 0; + newFace.v2 = i; + newFace.v3 = i + 1; + this.faces.Add(newFace); + } + if (!hasProfileCut) + { + Face newFace = new Face(); + newFace.v1 = 0; + newFace.v2 = numAngles; + newFace.v3 = 1; + this.faces.Add(newFace); + } } } - if (simpleFace && createFaces) - { - if (sides == 3) - this.faces.Add(new Face(0, 1, 2)); - else if (sides == 4) - { - this.faces.Add(new Face(0, 1, 2)); - this.faces.Add(new Face(0, 2, 3)); - } - } - - if (calcVertexNormals && hasProfileCut) - { - int lastOuterVertIndex = this.numOuterVerts - 1; - - if (hasHollow) - { - this.cut1CoordIndices.Add(0); - this.cut1CoordIndices.Add(this.coords.Count - 1); - - this.cut2CoordIndices.Add(lastOuterVertIndex + 1); - this.cut2CoordIndices.Add(lastOuterVertIndex); - - this.cutNormal1.X = this.coords[0].Y - this.coords[this.coords.Count - 1].Y; - this.cutNormal1.Y = -(this.coords[0].X - this.coords[this.coords.Count - 1].X); - - this.cutNormal2.X = this.coords[lastOuterVertIndex + 1].Y - this.coords[lastOuterVertIndex].Y; - this.cutNormal2.Y = -(this.coords[lastOuterVertIndex + 1].X - this.coords[lastOuterVertIndex].X); - } - - else - { - this.cut1CoordIndices.Add(0); - this.cut1CoordIndices.Add(1); - - this.cut2CoordIndices.Add(lastOuterVertIndex); - this.cut2CoordIndices.Add(0); - - this.cutNormal1.X = this.vertexNormals[1].Y; - this.cutNormal1.Y = -this.vertexNormals[1].X; - - this.cutNormal2.X = -this.vertexNormals[this.vertexNormals.Count - 2].Y; - this.cutNormal2.Y = this.vertexNormals[this.vertexNormals.Count - 2].X; - - } - this.cutNormal1.Normalize(); - this.cutNormal2.Normalize(); - } - - this.MakeFaceUVs(); hollowCoords = null; - hollowNormals = null; - hollowUs = null; - - if (calcVertexNormals) - { // calculate prim face numbers - - // face number order is top, outer, hollow, bottom, start cut, end cut - // I know it's ugly but so is the whole concept of prim face numbers - - int faceNum = 1; // start with outer faces - this.outerFaceNumber = faceNum; - - int startVert = hasProfileCut && !hasHollow ? 1 : 0; - if (startVert > 0) - this.faceNumbers.Add(-1); - for (int i = 0; i < this.numOuterVerts - 1; i++) - this.faceNumbers.Add(sides < 5 && i <= sides ? faceNum++ : faceNum); - - this.faceNumbers.Add(hasProfileCut ? -1 : faceNum++); - - if (sides > 4 && (hasHollow || hasProfileCut)) - faceNum++; - - if (sides < 5 && (hasHollow || hasProfileCut) && this.numOuterVerts < sides) - faceNum++; - - if (hasHollow) - { - for (int i = 0; i < this.numHollowVerts; i++) - this.faceNumbers.Add(faceNum); - - this.hollowFaceNumber = faceNum++; - } - - this.bottomFaceNumber = faceNum++; - - if (hasHollow && hasProfileCut) - this.faceNumbers.Add(faceNum++); - - for (int i = 0; i < this.faceNumbers.Count; i++) - if (this.faceNumbers[i] == -1) - this.faceNumbers[i] = faceNum++; - - this.numPrimFaces = faceNum; - } - } - public void MakeFaceUVs() - { - this.faceUVs = new List(); - foreach (Coord c in this.coords) - this.faceUVs.Add(new UVCoord(1.0f - (0.5f + c.X), 1.0f - (0.5f - c.Y))); - } public Profile Copy() { @@ -1047,24 +821,10 @@ namespace PrimMesher Profile copy = new Profile(); copy.coords.AddRange(this.coords); - copy.faceUVs.AddRange(this.faceUVs); if (needFaces) copy.faces.AddRange(this.faces); - if ((copy.calcVertexNormals = this.calcVertexNormals) == true) - { - copy.vertexNormals.AddRange(this.vertexNormals); - copy.faceNormal = this.faceNormal; - copy.cutNormal1 = this.cutNormal1; - copy.cutNormal2 = this.cutNormal2; - copy.us.AddRange(this.us); - copy.faceNumbers.AddRange(this.faceNumbers); - copy.cut1CoordIndices = new List(this.cut1CoordIndices); - copy.cut2CoordIndices = new List(this.cut2CoordIndices); - copy.hollowCoordIndices = new List(this.hollowCoordIndices); - copy.outerCoordIndices = new List(this.outerCoordIndices); - } copy.numOuterVerts = this.numOuterVerts; copy.numHollowVerts = this.numHollowVerts; @@ -1099,18 +859,6 @@ namespace PrimMesher for (i = 0; i < numVerts; i++) this.coords[i] *= q; - - if (this.calcVertexNormals) - { - int numNormals = this.vertexNormals.Count; - for (i = 0; i < numNormals; i++) - this.vertexNormals[i] *= q; - - this.faceNormal *= q; - this.cutNormal1 *= q; - this.cutNormal2 *= q; - - } } public void Scale(float x, float y) @@ -1146,29 +894,6 @@ namespace PrimMesher tmpFace.v1 = tmp; this.faces[i] = tmpFace; } - - if (this.calcVertexNormals) - { - int normalCount = this.vertexNormals.Count; - if (normalCount > 0) - { - Coord n = this.vertexNormals[normalCount - 1]; - n.Z = -n.Z; - this.vertexNormals[normalCount - 1] = n; - } - } - - this.faceNormal.X = -this.faceNormal.X; - this.faceNormal.Y = -this.faceNormal.Y; - this.faceNormal.Z = -this.faceNormal.Z; - - int numfaceUVs = this.faceUVs.Count; - for (i = 0; i < numfaceUVs; i++) - { - UVCoord uv = this.faceUVs[i]; - uv.V = 1.0f - uv.V; - this.faceUVs[i] = uv; - } } public void AddValue2FaceVertexIndices(int num) @@ -1186,25 +911,7 @@ namespace PrimMesher } } - public void AddValue2FaceNormalIndices(int num) - { - if (this.calcVertexNormals) - { - int numFaces = this.faces.Count; - Face tmpFace; - for (int i = 0; i < numFaces; i++) - { - tmpFace = this.faces[i]; - tmpFace.n1 += num; - tmpFace.n2 += num; - tmpFace.n3 += num; - - this.faces[i] = tmpFace; - } - } - } - - public void DumpRaw(String path, String name, String title) + public void DumpRaw(String path, String name, String title) { if (path == null) return; @@ -1451,11 +1158,9 @@ namespace PrimMesher private const float twoPi = 2.0f * (float)Math.PI; public List coords; - public List normals; +// public List normals; public List faces; - public List viewerFaces; - private int sides = 4; private int hollowSides = 4; private float profileStart = 0.0f; @@ -1478,15 +1183,8 @@ namespace PrimMesher public float revolutions = 1.0f; public int stepsPerRevolution = 24; - private int profileOuterFaceNumber = -1; - private int profileHollowFaceNumber = -1; - private bool hasProfileCut = false; private bool hasHollow = false; - public bool calcVertexNormals = false; - private bool normalsProcessed = false; - public bool viewerMode = false; - public bool sphereMode = false; public int numPrimFaces = 0; @@ -1518,27 +1216,16 @@ namespace PrimMesher s += "\nradius...............: " + this.radius.ToString(); s += "\nrevolutions..........: " + this.revolutions.ToString(); s += "\nstepsPerRevolution...: " + this.stepsPerRevolution.ToString(); - s += "\nsphereMode...........: " + this.sphereMode.ToString(); s += "\nhasProfileCut........: " + this.hasProfileCut.ToString(); - s += "\nhasHollow............: " + this.hasHollow.ToString(); - s += "\nviewerMode...........: " + this.viewerMode.ToString(); + s += "\nhasHollow............: " + this.hasHollow.ToString(); return s; } - public int ProfileOuterFaceNumber - { - get { return profileOuterFaceNumber; } - } - - public int ProfileHollowFaceNumber - { - get { return profileHollowFaceNumber; } - } - public bool HasProfileCut { get { return hasProfileCut; } + set { hasProfileCut = value; } } public bool HasHollow @@ -1555,6 +1242,7 @@ namespace PrimMesher /// /// /// + /// public PrimMesh(int sides, float profileStart, float profileEnd, float hollow, int hollowSides) { this.coords = new List(); @@ -1594,32 +1282,12 @@ namespace PrimMesher this.coords = new List(); this.faces = new List(); - if (this.viewerMode) - { - this.viewerFaces = new List(); - this.calcVertexNormals = true; - } - - if (this.calcVertexNormals) - this.normals = new List(); - int steps = 1; float length = this.pathCutEnd - this.pathCutBegin; - normalsProcessed = false; - if (this.viewerMode && this.sides == 3) - { - // prisms don't taper well so add some vertical resolution - // other prims may benefit from this but just do prisms for now - if (Math.Abs(this.taperX) > 0.01 || Math.Abs(this.taperY) > 0.01) - steps = (int)(steps * 4.5 * length); - } + this.hasProfileCut = this.profileEnd - this.profileStart < 0.9999f; - if (this.sphereMode) - this.hasProfileCut = this.profileEnd - this.profileStart < 0.4999f; - else - this.hasProfileCut = this.profileEnd - this.profileStart < 0.9999f; this.hasHollow = (this.hollow > 0.001f); float twistBegin = this.twistBegin / 360.0f * twoPi; @@ -1701,47 +1369,16 @@ namespace PrimMesher hollow *= 1.414f; } - Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides, true, calcVertexNormals); + Profile profile = new Profile(this.sides, this.profileStart, this.profileEnd, hollow, this.hollowSides, this.hasProfileCut,true); this.errorMessage = profile.errorMessage; this.numPrimFaces = profile.numPrimFaces; - int cut1FaceNumber = profile.bottomFaceNumber + 1; - int cut2FaceNumber = cut1FaceNumber + 1; - if (!needEndFaces) - { - cut1FaceNumber -= 2; - cut2FaceNumber -= 2; - } - - profileOuterFaceNumber = profile.outerFaceNumber; - if (!needEndFaces) - profileOuterFaceNumber--; - - if (hasHollow) - { - profileHollowFaceNumber = profile.hollowFaceNumber; - if (!needEndFaces) - profileHollowFaceNumber--; - } - - int cut1Vert = -1; - int cut2Vert = -1; - if (hasProfileCut) - { - cut1Vert = hasHollow ? profile.coords.Count - 1 : 0; - cut2Vert = hasHollow ? profile.numOuterVerts - 1 : profile.numOuterVerts; - } - if (initialProfileRot != 0.0f) { profile.AddRot(new Quat(new Coord(0.0f, 0.0f, 1.0f), initialProfileRot)); - if (viewerMode) - profile.MakeFaceUVs(); } - Coord lastCutNormal1 = new Coord(); - Coord lastCutNormal2 = new Coord(); float thisV = 0.0f; float lastV = 0.0f; @@ -1764,57 +1401,21 @@ namespace PrimMesher path.stepsPerRevolution = stepsPerRevolution; path.Create(pathType, steps); + + int lastNode = path.pathNodes.Count -1; for (int nodeIndex = 0; nodeIndex < path.pathNodes.Count; nodeIndex++) { PathNode node = path.pathNodes[nodeIndex]; Profile newLayer = profile.Copy(); - newLayer.Scale(node.xScale, node.yScale); + newLayer.Scale(node.xScale, node.yScale); newLayer.AddRot(node.rotation); newLayer.AddPos(node.position); if (needEndFaces && nodeIndex == 0) { newLayer.FlipNormals(); - - // add the bottom faces to the viewerFaces list - if (this.viewerMode) - { - Coord faceNormal = newLayer.faceNormal; - ViewerFace newViewerFace = new ViewerFace(profile.bottomFaceNumber); - int numFaces = newLayer.faces.Count; - List faces = newLayer.faces; - - for (int i = 0; i < numFaces; i++) - { - Face face = faces[i]; - newViewerFace.v1 = newLayer.coords[face.v1]; - newViewerFace.v2 = newLayer.coords[face.v2]; - newViewerFace.v3 = newLayer.coords[face.v3]; - - newViewerFace.coordIndex1 = face.v1; - newViewerFace.coordIndex2 = face.v2; - newViewerFace.coordIndex3 = face.v3; - - newViewerFace.n1 = faceNormal; - newViewerFace.n2 = faceNormal; - newViewerFace.n3 = faceNormal; - - newViewerFace.uv1 = newLayer.faceUVs[face.v1]; - newViewerFace.uv2 = newLayer.faceUVs[face.v2]; - newViewerFace.uv3 = newLayer.faceUVs[face.v3]; - - if (pathType == PathType.Linear) - { - newViewerFace.uv1.Flip(); - newViewerFace.uv2.Flip(); - newViewerFace.uv3.Flip(); - } - - this.viewerFaces.Add(newViewerFace); - } - } } // if (nodeIndex == 0) // append this layer @@ -1824,15 +1425,17 @@ namespace PrimMesher this.coords.AddRange(newLayer.coords); - if (this.calcVertexNormals) + if (needEndFaces) { - newLayer.AddValue2FaceNormalIndices(this.normals.Count); - this.normals.AddRange(newLayer.vertexNormals); + if (nodeIndex == 0) + this.faces.AddRange(newLayer.faces); + else if (nodeIndex == lastNode) + { + if (node.xScale > 1e-6 && node.yScale > 1e-6) + this.faces.AddRange(newLayer.faces); + } } - if (node.percentOfPath < this.pathCutBegin + 0.01f || node.percentOfPath > this.pathCutEnd - 0.01f) - this.faces.AddRange(newLayer.faces); - // fill faces between layers int numVerts = newLayer.coords.Count; @@ -1843,219 +1446,88 @@ namespace PrimMesher if (nodeIndex > 0) { - int startVert = coordsLen + 1; + int startVert = coordsLen; int endVert = this.coords.Count; - - if (sides < 5 || this.hasProfileCut || this.hasHollow) - startVert--; - - for (int i = startVert; i < endVert; i++) + if (!this.hasProfileCut) { - int iNext = i + 1; - if (i == endVert - 1) - iNext = startVert; + int i = startVert; + for (int l = 0; l < profile.numOuterVerts - 1; l++) + { + newFace1.v1 = i; + newFace1.v2 = i - numVerts; + newFace1.v3 = i + 1; + this.faces.Add(newFace1); - int whichVert = i - startVert; + newFace2.v1 = i + 1; + newFace2.v2 = i - numVerts; + newFace2.v3 = i + 1 - numVerts; + this.faces.Add(newFace2); + i++; + } newFace1.v1 = i; newFace1.v2 = i - numVerts; - newFace1.v3 = iNext; - - newFace1.n1 = newFace1.v1; - newFace1.n2 = newFace1.v2; - newFace1.n3 = newFace1.v3; + newFace1.v3 = startVert; this.faces.Add(newFace1); - newFace2.v1 = iNext; + newFace2.v1 = startVert; newFace2.v2 = i - numVerts; - newFace2.v3 = iNext - numVerts; - - newFace2.n1 = newFace2.v1; - newFace2.n2 = newFace2.v2; - newFace2.n3 = newFace2.v3; + newFace2.v3 = startVert - numVerts; this.faces.Add(newFace2); - if (this.viewerMode) + if (this.hasHollow) { - // add the side faces to the list of viewerFaces here - - int primFaceNum = profile.faceNumbers[whichVert]; - if (!needEndFaces) - primFaceNum -= 1; - - ViewerFace newViewerFace1 = new ViewerFace(primFaceNum); - ViewerFace newViewerFace2 = new ViewerFace(primFaceNum); - - int uIndex = whichVert; - if (!hasHollow && sides > 4 && uIndex < newLayer.us.Count - 1) + startVert = ++i; + for (int l = 0; l < profile.numHollowVerts - 1; l++) { - uIndex++; + newFace1.v1 = i; + newFace1.v2 = i - numVerts; + newFace1.v3 = i + 1; + this.faces.Add(newFace1); + + newFace2.v1 = i + 1; + newFace2.v2 = i - numVerts; + newFace2.v3 = i + 1 - numVerts; + this.faces.Add(newFace2); + i++; } - float u1 = newLayer.us[uIndex]; - float u2 = 1.0f; - if (uIndex < (int)newLayer.us.Count - 1) - u2 = newLayer.us[uIndex + 1]; - - if (whichVert == cut1Vert || whichVert == cut2Vert) - { - u1 = 0.0f; - u2 = 1.0f; - } - else if (sides < 5) - { - if (whichVert < profile.numOuterVerts) - { // boxes and prisms have one texture face per side of the prim, so the U values have to be scaled - // to reflect the entire texture width - u1 *= sides; - u2 *= sides; - u2 -= (int)u1; - u1 -= (int)u1; - if (u2 < 0.1f) - u2 = 1.0f; - } - } - - if (this.sphereMode) - { - if (whichVert != cut1Vert && whichVert != cut2Vert) - { - u1 = u1 * 2.0f - 1.0f; - u2 = u2 * 2.0f - 1.0f; - - if (whichVert >= newLayer.numOuterVerts) - { - u1 -= hollow; - u2 -= hollow; - } - - } - } - - newViewerFace1.uv1.U = u1; - newViewerFace1.uv2.U = u1; - newViewerFace1.uv3.U = u2; - - newViewerFace1.uv1.V = thisV; - newViewerFace1.uv2.V = lastV; - newViewerFace1.uv3.V = thisV; - - newViewerFace2.uv1.U = u2; - newViewerFace2.uv2.U = u1; - newViewerFace2.uv3.U = u2; - - newViewerFace2.uv1.V = thisV; - newViewerFace2.uv2.V = lastV; - newViewerFace2.uv3.V = lastV; - - newViewerFace1.v1 = this.coords[newFace1.v1]; - newViewerFace1.v2 = this.coords[newFace1.v2]; - newViewerFace1.v3 = this.coords[newFace1.v3]; - - newViewerFace2.v1 = this.coords[newFace2.v1]; - newViewerFace2.v2 = this.coords[newFace2.v2]; - newViewerFace2.v3 = this.coords[newFace2.v3]; - - newViewerFace1.coordIndex1 = newFace1.v1; - newViewerFace1.coordIndex2 = newFace1.v2; - newViewerFace1.coordIndex3 = newFace1.v3; - - newViewerFace2.coordIndex1 = newFace2.v1; - newViewerFace2.coordIndex2 = newFace2.v2; - newViewerFace2.coordIndex3 = newFace2.v3; - - // profile cut faces - if (whichVert == cut1Vert) - { - newViewerFace1.primFaceNumber = cut1FaceNumber; - newViewerFace2.primFaceNumber = cut1FaceNumber; - newViewerFace1.n1 = newLayer.cutNormal1; - newViewerFace1.n2 = newViewerFace1.n3 = lastCutNormal1; - - newViewerFace2.n1 = newViewerFace2.n3 = newLayer.cutNormal1; - newViewerFace2.n2 = lastCutNormal1; - } - else if (whichVert == cut2Vert) - { - newViewerFace1.primFaceNumber = cut2FaceNumber; - newViewerFace2.primFaceNumber = cut2FaceNumber; - newViewerFace1.n1 = newLayer.cutNormal2; - newViewerFace1.n2 = lastCutNormal2; - newViewerFace1.n3 = lastCutNormal2; - - newViewerFace2.n1 = newLayer.cutNormal2; - newViewerFace2.n3 = newLayer.cutNormal2; - newViewerFace2.n2 = lastCutNormal2; - } - - else // outer and hollow faces - { - if ((sides < 5 && whichVert < newLayer.numOuterVerts) || (hollowSides < 5 && whichVert >= newLayer.numOuterVerts)) - { // looks terrible when path is twisted... need vertex normals here - newViewerFace1.CalcSurfaceNormal(); - newViewerFace2.CalcSurfaceNormal(); - } - else - { - newViewerFace1.n1 = this.normals[newFace1.n1]; - newViewerFace1.n2 = this.normals[newFace1.n2]; - newViewerFace1.n3 = this.normals[newFace1.n3]; - - newViewerFace2.n1 = this.normals[newFace2.n1]; - newViewerFace2.n2 = this.normals[newFace2.n2]; - newViewerFace2.n3 = this.normals[newFace2.n3]; - } - } - - this.viewerFaces.Add(newViewerFace1); - this.viewerFaces.Add(newViewerFace2); + newFace1.v1 = i; + newFace1.v2 = i - numVerts; + newFace1.v3 = startVert; + this.faces.Add(newFace1); + newFace2.v1 = startVert; + newFace2.v2 = i - numVerts; + newFace2.v3 = startVert - numVerts; + this.faces.Add(newFace2); } + + } - } - - lastCutNormal1 = newLayer.cutNormal1; - lastCutNormal2 = newLayer.cutNormal2; - lastV = thisV; - - if (needEndFaces && nodeIndex == path.pathNodes.Count - 1 && viewerMode) - { - // add the top faces to the viewerFaces list here - Coord faceNormal = newLayer.faceNormal; - ViewerFace newViewerFace = new ViewerFace(0); - int numFaces = newLayer.faces.Count; - List faces = newLayer.faces; - - for (int i = 0; i < numFaces; i++) + else { - Face face = faces[i]; - newViewerFace.v1 = newLayer.coords[face.v1 - coordsLen]; - newViewerFace.v2 = newLayer.coords[face.v2 - coordsLen]; - newViewerFace.v3 = newLayer.coords[face.v3 - coordsLen]; - - newViewerFace.coordIndex1 = face.v1 - coordsLen; - newViewerFace.coordIndex2 = face.v2 - coordsLen; - newViewerFace.coordIndex3 = face.v3 - coordsLen; - - newViewerFace.n1 = faceNormal; - newViewerFace.n2 = faceNormal; - newViewerFace.n3 = faceNormal; - - newViewerFace.uv1 = newLayer.faceUVs[face.v1 - coordsLen]; - newViewerFace.uv2 = newLayer.faceUVs[face.v2 - coordsLen]; - newViewerFace.uv3 = newLayer.faceUVs[face.v3 - coordsLen]; - - if (pathType == PathType.Linear) + for (int i = startVert; i < endVert; i++) { - newViewerFace.uv1.Flip(); - newViewerFace.uv2.Flip(); - newViewerFace.uv3.Flip(); - } + int iNext = i + 1; + if (i == endVert - 1) + iNext = startVert; - this.viewerFaces.Add(newViewerFace); + newFace1.v1 = i; + newFace1.v2 = i - numVerts; + newFace1.v3 = iNext; + this.faces.Add(newFace1); + + newFace2.v1 = iNext; + newFace2.v2 = i - numVerts; + newFace2.v3 = iNext - numVerts; + this.faces.Add(newFace2); + + } } } + lastV = thisV; } // for (int nodeIndex = 0; nodeIndex < path.pathNodes.Count; nodeIndex++) @@ -2138,50 +1610,16 @@ namespace PrimMesher copy.radius = this.radius; copy.revolutions = this.revolutions; copy.stepsPerRevolution = this.stepsPerRevolution; - copy.calcVertexNormals = this.calcVertexNormals; - copy.normalsProcessed = this.normalsProcessed; - copy.viewerMode = this.viewerMode; + copy.numPrimFaces = this.numPrimFaces; copy.errorMessage = this.errorMessage; copy.coords = new List(this.coords); copy.faces = new List(this.faces); - copy.viewerFaces = new List(this.viewerFaces); - copy.normals = new List(this.normals); return copy; } - /// - /// Calculate surface normals for all of the faces in the list of faces in this mesh - /// - public void CalcNormals() - { - if (normalsProcessed) - return; - - normalsProcessed = true; - - int numFaces = faces.Count; - - if (!this.calcVertexNormals) - this.normals = new List(); - - for (int i = 0; i < numFaces; i++) - { - Face face = faces[i]; - - this.normals.Add(SurfaceNormal(i).Normalize()); - - int normIndex = normals.Count - 1; - face.n1 = normIndex; - face.n2 = normIndex; - face.n3 = normIndex; - - this.faces[i] = face; - } - } - /// /// Adds a value to each XYZ vertex coordinate in the mesh /// @@ -2202,18 +1640,6 @@ namespace PrimMesher vert.Z += z; this.coords[i] = vert; } - - if (this.viewerFaces != null) - { - int numViewerFaces = this.viewerFaces.Count; - - for (i = 0; i < numViewerFaces; i++) - { - ViewerFace v = this.viewerFaces[i]; - v.AddPos(x, y, z); - this.viewerFaces[i] = v; - } - } } /// @@ -2227,38 +1653,11 @@ namespace PrimMesher for (i = 0; i < numVerts; i++) this.coords[i] *= q; - - if (this.normals != null) - { - int numNormals = this.normals.Count; - for (i = 0; i < numNormals; i++) - this.normals[i] *= q; - } - - if (this.viewerFaces != null) - { - int numViewerFaces = this.viewerFaces.Count; - - for (i = 0; i < numViewerFaces; i++) - { - ViewerFace v = this.viewerFaces[i]; - v.v1 *= q; - v.v2 *= q; - v.v3 *= q; - - v.n1 *= q; - v.n2 *= q; - v.n3 *= q; - this.viewerFaces[i] = v; - } - } } #if VERTEX_INDEXER public VertexIndexer GetVertexIndexer() { - if (this.viewerMode && this.viewerFaces.Count > 0) - return new VertexIndexer(this); return null; } #endif @@ -2278,21 +1677,6 @@ namespace PrimMesher Coord m = new Coord(x, y, z); for (i = 0; i < numVerts; i++) this.coords[i] *= m; - - if (this.viewerFaces != null) - { - int numViewerFaces = this.viewerFaces.Count; - for (i = 0; i < numViewerFaces; i++) - { - ViewerFace v = this.viewerFaces[i]; - v.v1 *= m; - v.v2 *= m; - v.v3 *= m; - this.viewerFaces[i] = v; - } - - } - } /// diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 0df71eb95f..5030cec783 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin else { repData.meshState = MeshState.needMesh; - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true); + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); if (mesh == null) { repData.meshState = MeshState.MeshFailed; @@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin clod = (int)LevelOfDetail.Low; } - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true); + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); if (mesh == null) { @@ -929,4 +929,4 @@ namespace OpenSim.Region.Physics.OdePlugin repData.actor.Name); } } -} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index faa948809f..7cabddd18f 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -25,7 +25,7 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -/* Revision 2011/12 by Ubit Umarov +/* Revision 2011/12/13 by Ubit Umarov * * */ @@ -1736,7 +1736,9 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodySetAutoDisableFlag(Body, true); d.BodySetAutoDisableSteps(Body, body_autodisable_frames); - d.BodySetDamping(Body, .005f, .005f); + d.BodySetAutoDisableAngularThreshold(Body, 0.01f); + d.BodySetAutoDisableLinearThreshold(Body, 0.01f); + d.BodySetDamping(Body, .005f, .001f); if (m_targetSpace != IntPtr.Zero) { @@ -2144,7 +2146,7 @@ namespace OpenSim.Region.Physics.OdePlugin _mass = primMass; // just in case - d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z); + d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z); d.MassTranslate(ref primdMass, m_OBBOffset.X, @@ -2362,6 +2364,7 @@ namespace OpenSim.Region.Physics.OdePlugin MakeBody(); } + #region changes private void changeadd() @@ -3213,7 +3216,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (++bodydisablecontrol < 20) return; - d.BodyEnable(Body); } @@ -3381,11 +3383,12 @@ namespace OpenSim.Region.Physics.OdePlugin } } - public void UpdatePositionAndVelocity() + public void UpdatePositionAndVelocity(int frame) { if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) { - if (d.BodyIsEnabled(Body) || !_zeroFlag) + bool bodyenabled = d.BodyIsEnabled(Body); + if (bodyenabled || !_zeroFlag) { bool lastZeroFlag = _zeroFlag; @@ -3478,13 +3481,13 @@ namespace OpenSim.Region.Physics.OdePlugin // tolerance values depende a lot on simulation noise... // use simple math.abs since we dont need to be exact - if ( - (Math.Abs(_position.X - lpos.X) < 0.001f) - && (Math.Abs(_position.Y - lpos.Y) < 0.001f) - && (Math.Abs(_position.Z - lpos.Z) < 0.001f) - && (Math.Abs(_orientation.X - ori.X) < 0.0001f) - && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f) - && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W + if (!bodyenabled || + (Math.Abs(_position.X - lpos.X) < 0.005f) + && (Math.Abs(_position.Y - lpos.Y) < 0.005f) + && (Math.Abs(_position.Z - lpos.Z) < 0.005f) + && (Math.Abs(_orientation.X - ori.X) < 0.001f) + && (Math.Abs(_orientation.Y - ori.Y) < 0.001f) + && (Math.Abs(_orientation.Z - ori.Z) < 0.001f) // ignore W ) { _zeroFlag = true; @@ -3499,9 +3502,9 @@ namespace OpenSim.Region.Physics.OdePlugin _acceleration = _velocity; - if ((Math.Abs(vel.X) < 0.001f) && - (Math.Abs(vel.Y) < 0.001f) && - (Math.Abs(vel.Z) < 0.001f)) + if ((Math.Abs(vel.X) < 0.005f) && + (Math.Abs(vel.Y) < 0.005f) && + (Math.Abs(vel.Z) < 0.005f)) { _velocity = Vector3.Zero; float t = -m_invTimeStep; @@ -3538,6 +3541,15 @@ namespace OpenSim.Region.Physics.OdePlugin } } + _position.X = lpos.X; + _position.Y = lpos.Y; + _position.Z = lpos.Z; + + _orientation.X = ori.X; + _orientation.Y = ori.Y; + _orientation.Z = ori.Z; + _orientation.W = ori.W; + if (_zeroFlag) { if (lastZeroFlag) @@ -3556,14 +3568,6 @@ namespace OpenSim.Region.Physics.OdePlugin return; } - _position.X = lpos.X; - _position.Y = lpos.Y; - _position.Z = lpos.Z; - - _orientation.X = ori.X; - _orientation.Y = ori.Y; - _orientation.Z = ori.Z; - _orientation.W = ori.W; base.RequestPhysicsterseUpdate(); m_lastUpdateSent = false; } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs index 2923ccfd38..73ababac21 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs @@ -680,4 +680,4 @@ namespace OpenSim.Region.Physics.OdePlugin public RayFilterFlags filter; public Quaternion orientation; } -} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs index 10d7d50d95..1f09dc76e2 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs @@ -1869,7 +1869,7 @@ namespace OdeAPI [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] public static extern void SpaceSetCleanup(IntPtr space, bool mode); - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] + [DllImport("ode.dll", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] public static extern void SpaceSetSublevel(IntPtr space, int sublevel); [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 754bc86978..49dc03ce1a 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -25,6 +25,7 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ +// Revision 2011/12/13 by Ubit Umarov //#define SPAM using System; @@ -43,25 +44,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.OdePlugin { - public enum StatusIndicators : int - { - Generic = 0, - Start = 1, - End = 2 - } - - public struct sCollisionData - { - public uint ColliderLocalId; - public uint CollidedWithLocalId; - public int NumberOfCollisions; - public int CollisionType; - public int StatusIndicator; - public int lastframe; - } - - - // colision flags of things others can colide with + // colision flags of things others can colide with // rays, sensors, probes removed since can't be colided with // The top space where things are placed provided further selection // ie physical are in active space nonphysical in static @@ -188,12 +171,14 @@ namespace OpenSim.Region.Physics.OdePlugin public bool OdeUbitLib = false; // private int threadid = 0; - private Random fluidRandomizer = new Random(Environment.TickCount); +// private Random fluidRandomizer = new Random(Environment.TickCount); - const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; - const float MaxERP = 0.8f; - const float minERP = 0.1f; +// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; + + const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1; + const float comumContactERP = 0.7f; const float comumContactCFM = 0.0001f; + const float comumContactSLIP = 0.000001f; float frictionMovementMult = 0.8f; @@ -236,8 +221,8 @@ namespace OpenSim.Region.Physics.OdePlugin public float geomDefaultDensity = 10.000006836f; - public int geomContactPointsStartthrottle = 3; - public int geomUpdatesPerThrottledUpdate = 15; +// public int geomContactPointsStartthrottle = 3; +// public int geomUpdatesPerThrottledUpdate = 15; public float bodyPIDD = 35f; public float bodyPIDG = 25; @@ -246,7 +231,6 @@ namespace OpenSim.Region.Physics.OdePlugin public int bodyFramesAutoDisable = 5; - private d.NearCallback nearCallback; private HashSet _characters = new HashSet(); @@ -266,11 +250,12 @@ namespace OpenSim.Region.Physics.OdePlugin // public Dictionary geom_name_map = new Dictionary(); public Dictionary actor_name_map = new Dictionary(); - private float contactsurfacelayer = 0.002f; + private float contactsurfacelayer = 0.001f; private int contactsPerCollision = 80; internal IntPtr ContactgeomsArray = IntPtr.Zero; private IntPtr GlobalContactsArray = IntPtr.Zero; + private d.Contact SharedTmpcontact = new d.Contact(); const int maxContactsbeforedeath = 4000; private volatile int m_global_contactcount = 0; @@ -283,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin private Dictionary TerrainHeightFieldHeights = new Dictionary(); private Dictionary TerrainHeightFieldHeightsHandlers = new Dictionary(); - private int m_physicsiterations = 10; + private int m_physicsiterations = 15; private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag // private PhysicsActor PANull = new NullPhysicsActor(); private float step_time = 0.0f; @@ -303,8 +288,6 @@ namespace OpenSim.Region.Physics.OdePlugin public IntPtr StaticSpace; // space for the static things around public IntPtr GroundSpace; // space for ground - public IntPtr SharedRay; - // some speedup variables private int spaceGridMaxX; private int spaceGridMaxY; @@ -431,8 +414,6 @@ namespace OpenSim.Region.Physics.OdePlugin contactgroup = d.JointGroupCreate(0); //contactgroup - SharedRay = d.CreateRay(TopSpace, 1.0f); - d.WorldSetAutoDisableFlag(world, false); } } @@ -481,10 +462,10 @@ namespace OpenSim.Region.Physics.OdePlugin metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); - contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); +// contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); - m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); +// m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); avDensity = physicsconfig.GetFloat("av_density", avDensity); avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); @@ -492,8 +473,8 @@ namespace OpenSim.Region.Physics.OdePlugin contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); - geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); - geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); +// geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); +// geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); // geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); @@ -508,6 +489,23 @@ namespace OpenSim.Region.Physics.OdePlugin } } + + d.WorldSetCFM(world, comumContactCFM); + d.WorldSetERP(world, comumContactERP); + + d.WorldSetGravity(world, gravityx, gravityy, gravityz); + + d.WorldSetLinearDamping(world, 0.002f); + d.WorldSetAngularDamping(world, 0.002f); + d.WorldSetAngularDampingThreshold(world, 0f); + d.WorldSetLinearDampingThreshold(world, 0f); + d.WorldSetMaxAngularSpeed(world, 100f); + + d.WorldSetQuickStepNumIterations(world, m_physicsiterations); + + d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); + d.WorldSetContactMaxCorrectingVel(world, 60.0f); + m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); HalfOdeStep = ODE_STEPSIZE * 0.5f; @@ -516,6 +514,20 @@ namespace OpenSim.Region.Physics.OdePlugin ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); + SharedTmpcontact.geom.g1 = IntPtr.Zero; + SharedTmpcontact.geom.g2 = IntPtr.Zero; + + SharedTmpcontact.geom.side1 = -1; + SharedTmpcontact.geom.side2 = -1; + + SharedTmpcontact.surface.mode = comumContactFlags; + SharedTmpcontact.surface.mu = 0; + SharedTmpcontact.surface.bounce = 0; + SharedTmpcontact.surface.soft_cfm = comumContactCFM; + SharedTmpcontact.surface.soft_erp = comumContactERP; + SharedTmpcontact.surface.slip1 = comumContactSLIP; + SharedTmpcontact.surface.slip2 = comumContactSLIP; + m_materialContactsData[(int)Material.Stone].mu = 0.8f; m_materialContactsData[(int)Material.Stone].bounce = 0.4f; @@ -540,27 +552,6 @@ namespace OpenSim.Region.Physics.OdePlugin m_materialContactsData[(int)Material.light].mu = 0.0f; m_materialContactsData[(int)Material.light].bounce = 0.0f; - // Set the gravity,, don't disable things automatically (we set it explicitly on some things) - - d.WorldSetGravity(world, gravityx, gravityy, gravityz); - d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); - - d.WorldSetLinearDamping(world, 0.002f); - d.WorldSetAngularDamping(world, 0.002f); - d.WorldSetAngularDampingThreshold(world, 0f); - d.WorldSetLinearDampingThreshold(world, 0f); - d.WorldSetMaxAngularSpeed(world, 100f); - - d.WorldSetCFM(world,1e-6f); // a bit harder than default - //d.WorldSetCFM(world, 1e-4f); // a bit harder than default - d.WorldSetERP(world, 0.6f); // higher than original - - // Set how many steps we go without running collision testing - // This is in addition to the step size. - // Essentially Steps * m_physicsiterations - d.WorldSetQuickStepNumIterations(world, m_physicsiterations); - - d.WorldSetContactMaxCorrectingVel(world, 60.0f); spacesPerMeter = 1 / metersInSpace; spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); @@ -631,40 +622,21 @@ namespace OpenSim.Region.Physics.OdePlugin // sets a global contact for a joint for contactgeom , and base contact description) - private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale) + + + private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom) { - if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) + if (m_global_contactcount >= maxContactsbeforedeath) return IntPtr.Zero; - float erp = contactGeom.depth; - erp *= erpscale; - if (erp < minERP) - erp = minERP; - else if (erp > MaxERP) - erp = MaxERP; + m_global_contactcount++; - float depth = contactGeom.depth * dscale; - if (depth > 0.5f) - depth = 0.5f; - - d.Contact newcontact = new d.Contact(); - newcontact.geom.depth = depth; - newcontact.geom.g1 = contactGeom.g1; - newcontact.geom.g2 = contactGeom.g2; - newcontact.geom.pos = contactGeom.pos; - newcontact.geom.normal = contactGeom.normal; - newcontact.geom.side1 = contactGeom.side1; - newcontact.geom.side2 = contactGeom.side2; - - // this needs bounce also - newcontact.surface.mode = comumContactFlags; - newcontact.surface.mu = mu; - newcontact.surface.bounce = bounce; - newcontact.surface.soft_cfm = cfm; - newcontact.surface.soft_erp = erp; + SharedTmpcontact.geom.depth = contactGeom.depth; + SharedTmpcontact.geom.pos = contactGeom.pos; + SharedTmpcontact.geom.normal = contactGeom.normal; IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); - Marshal.StructureToPtr(newcontact, contact, true); + Marshal.StructureToPtr(SharedTmpcontact, contact, true); return d.JointCreateContactPtr(world, contactgroup, contact); } @@ -825,10 +797,12 @@ namespace OpenSim.Region.Physics.OdePlugin if (!GetCurContactGeom(0, ref curContact)) return; + ContactPoint maxDepthContact = new ContactPoint(); + // do volume detection case if ((p1.IsVolumeDtc || p2.IsVolumeDtc)) { - ContactPoint maxDepthContact = new ContactPoint( + maxDepthContact = new ContactPoint( new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), curContact.depth, false @@ -842,10 +816,7 @@ namespace OpenSim.Region.Physics.OdePlugin float mu = 0; float bounce = 0; - float cfm = 0.0001f; - float erpscale = 1.0f; - float dscale = 1.0f; - bool IgnoreNegSides = false; +// bool IgnoreNegSides = false; ContactData contactdata1 = new ContactData(0, 0, false); ContactData contactdata2 = new ContactData(0, 0, false); @@ -890,7 +861,9 @@ namespace OpenSim.Region.Physics.OdePlugin break; case (int)ActorTypes.Prim: - if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) + Vector3 relV = p1.Velocity - p2.Velocity; + float relVlenSQ = relV.LengthSquared(); + if (relVlenSQ > 0.0001f) { p1.CollidingObj = true; p2.CollidingObj = true; @@ -900,21 +873,7 @@ namespace OpenSim.Region.Physics.OdePlugin bounce = contactdata1.bounce * contactdata2.bounce; mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); - cfm = p1.Mass; - if (cfm > p2.Mass) - cfm = p2.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - if (dscale > 1.0f) - dscale = 1.0f; - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; - - if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) + if (relVlenSQ > 0.01f) mu *= frictionMovementMult; break; @@ -923,27 +882,17 @@ namespace OpenSim.Region.Physics.OdePlugin p1.getContactData(ref contactdata1); bounce = contactdata1.bounce * TerrainBounce; mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); + if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) mu *= frictionMovementMult; p1.CollidingGround = true; - - cfm = p1.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - if (dscale > 1.0f) - dscale = 1.0f; - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; - +/* if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) { if (curContact.side1 > 0) IgnoreNegSides = true; } + */ break; case (int)ActorTypes.Water: @@ -961,22 +910,8 @@ namespace OpenSim.Region.Physics.OdePlugin bounce = contactdata2.bounce * TerrainBounce; mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); - cfm = p2.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - - if (dscale > 1.0f) - dscale = 1.0f; - - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; - - if (curContact.side1 > 0) // should be 2 ? - IgnoreNegSides = true; +// if (curContact.side1 > 0) // should be 2 ? +// IgnoreNegSides = true; if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) mu *= frictionMovementMult; @@ -993,26 +928,24 @@ namespace OpenSim.Region.Physics.OdePlugin if (ignore) return; - - d.ContactGeom maxContact = curContact; - // if (IgnoreNegSides && curContact.side1 < 0) - // maxContact.depth = float.MinValue; - - d.ContactGeom minContact = curContact; - // if (IgnoreNegSides && curContact.side1 < 0) - // minContact.depth = float.MaxValue; - IntPtr Joint; bool FeetCollision = false; int ncontacts = 0; - int i = 0; + maxDepthContact = new ContactPoint(); + maxDepthContact.PenetrationDepth = float.MinValue; + ContactPoint minDepthContact = new ContactPoint(); + minDepthContact.PenetrationDepth = float.MaxValue; + + SharedTmpcontact.geom.depth = 0; + SharedTmpcontact.surface.mu = mu; + SharedTmpcontact.surface.bounce = bounce; + while (true) { - -// if (!(IgnoreNegSides && curContact.side1 < 0)) +// if (!(IgnoreNegSides && curContact.side1 < 0)) { bool noskip = true; if (dop1ava) @@ -1029,26 +962,32 @@ namespace OpenSim.Region.Physics.OdePlugin if (noskip) { - m_global_contactcount++; - if (m_global_contactcount >= maxContactsbeforedeath) - break; - - ncontacts++; - - Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); + Joint = CreateContacJoint(ref curContact); if (Joint == IntPtr.Zero) break; d.JointAttach(Joint, b1, b2); - if (curContact.depth > maxContact.depth) - maxContact = curContact; + ncontacts++; - if (curContact.depth < minContact.depth) - minContact = curContact; + if (curContact.depth > maxDepthContact.PenetrationDepth) + { + maxDepthContact.Position.X = curContact.pos.X; + maxDepthContact.Position.Y = curContact.pos.Y; + maxDepthContact.Position.Z = curContact.pos.Z; + maxDepthContact.PenetrationDepth = curContact.depth; + maxDepthContact.CharacterFeet = FeetCollision; + } + + if (curContact.depth < minDepthContact.PenetrationDepth) + { + minDepthContact.PenetrationDepth = curContact.depth; + minDepthContact.SurfaceNormal.X = curContact.normal.X; + minDepthContact.SurfaceNormal.Y = curContact.normal.Y; + minDepthContact.SurfaceNormal.Z = curContact.normal.Z; + } } } - if (++i >= count) break; @@ -1058,11 +997,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (ncontacts > 0) { - ContactPoint maxDepthContact = new ContactPoint( - new Vector3(maxContact.pos.X, maxContact.pos.Y, maxContact.pos.Z), - new Vector3(minContact.normal.X, minContact.normal.Y, minContact.normal.Z), - maxContact.depth, FeetCollision - ); + maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X; + maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y; + maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z; + collision_accounting_events(p1, p2, maxDepthContact); } } @@ -1629,16 +1567,15 @@ namespace OpenSim.Region.Physics.OdePlugin if (framecount < 0) framecount = 0; - framecount++; - int curphysiteractions; +// int curphysiteractions; // if in trouble reduce step resolution - if (step_time >= m_SkipFramesAtms) - curphysiteractions = m_physicsiterations / 2; - else - curphysiteractions = m_physicsiterations; +// if (step_time >= m_SkipFramesAtms) +// curphysiteractions = m_physicsiterations / 2; +// else +// curphysiteractions = m_physicsiterations; // checkThread(); int nodeframes = 0; @@ -1653,14 +1590,12 @@ namespace OpenSim.Region.Physics.OdePlugin } ODEchangeitem item; - - - d.WorldSetQuickStepNumIterations(world, curphysiteractions); +// d.WorldSetQuickStepNumIterations(world, curphysiteractions); int loopstartMS = Util.EnvironmentTickCount(); int looptimeMS = 0; - + while (step_time > HalfOdeStep) { @@ -1763,6 +1698,7 @@ namespace OpenSim.Region.Physics.OdePlugin // do a ode simulation step d.WorldQuickStep(world, ODE_STEPSIZE); +// d.WorldStep(world, ODE_STEPSIZE); d.JointGroupEmpty(contactgroup); // update managed ideia of physical data and do updates to core @@ -1789,7 +1725,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (actor.IsPhysical) { - actor.UpdatePositionAndVelocity(); + actor.UpdatePositionAndVelocity(framecount); } } }