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*** 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).
avinationmerge
UbitUmarov 2013-05-29 02:08:14 +01:00
parent a348c8e44a
commit 4e72cf9ee2
9 changed files with 510 additions and 1185 deletions
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4
OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs
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@ -256,9 +256,9 @@ public class Vertex : IComparable<Vertex>
// settings your machine works with. Unusable for a machine readable file format :-( // settings your machine works with. Unusable for a machine readable file format :-(
NumberFormatInfo nfi = new NumberFormatInfo(); NumberFormatInfo nfi = new NumberFormatInfo();
nfi.NumberDecimalSeparator = "."; 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; return s1;
} }

33
OpenSim/Region/Physics/UbitMeshing/Mesh.cs
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@ -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) public void Add(Triangle triangle)
{ {
if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero)
throw new NotSupportedException("Attempt to Add to a pinned Mesh"); throw new NotSupportedException("Attempt to Add to a pinned Mesh");
// round down
triangle.v1.X = fRound(triangle.v1.X); triangle.v1.X = (float)Math.Round(triangle.v1.X, 6);
triangle.v1.Y = fRound(triangle.v1.Y); triangle.v1.Y = (float)Math.Round(triangle.v1.Y, 6);
triangle.v1.Z = fRound(triangle.v1.Z); triangle.v1.Z = (float)Math.Round(triangle.v1.Z, 6);
triangle.v2.X = fRound(triangle.v2.X); triangle.v2.X = (float)Math.Round(triangle.v2.X, 6);
triangle.v2.Y = fRound(triangle.v2.Y); triangle.v2.Y = (float)Math.Round(triangle.v2.Y, 6);
triangle.v2.Z = fRound(triangle.v2.Z); triangle.v2.Z = (float)Math.Round(triangle.v2.Z, 6);
triangle.v3.X = fRound(triangle.v3.X); triangle.v3.X = (float)Math.Round(triangle.v3.X, 6);
triangle.v3.Y = fRound(triangle.v3.Y); triangle.v3.Y = (float)Math.Round(triangle.v3.Y, 6);
triangle.v3.Z = fRound(triangle.v3.Z); 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) 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) || (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z)

60
OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
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@ -816,15 +816,31 @@ namespace OpenSim.Region.Physics.Meshing
float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f; float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
float profileEnd = 1.0f - (float)primShape.ProfileEnd * 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; float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
if (profileHollow > 0.95f) if (profileHollow > 0.95f)
profileHollow = 0.95f; profileHollow = 0.95f;
int sides = 4; int sides = 4;
LevelOfDetail iLOD = (LevelOfDetail)lod; 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; sides = 3;
else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) else if (profshape == (byte)ProfileShape.Circle)
{ {
switch (iLOD) switch (iLOD)
{ {
@ -835,7 +851,7 @@ namespace OpenSim.Region.Physics.Meshing
default: sides = 24; break; default: sides = 24; break;
} }
} }
else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) else if (profshape == (byte)ProfileShape.HalfCircle)
{ // half circle, prim is a sphere { // half circle, prim is a sphere
switch (iLOD) switch (iLOD)
{ {
@ -865,7 +881,12 @@ namespace OpenSim.Region.Physics.Meshing
else if (primShape.HollowShape == HollowShape.Square) else if (primShape.HollowShape == HollowShape.Square)
hollowSides = 4; hollowSides = 4;
else if (primShape.HollowShape == HollowShape.Triangle) 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); primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
@ -880,17 +901,11 @@ namespace OpenSim.Region.Physics.Meshing
if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible) if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
{ {
primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10; primMesh.twistBegin = (primShape.PathTwistBegin * 18) / 10;
primMesh.twistEnd = primShape.PathTwist * 18 / 10; primMesh.twistEnd = (primShape.PathTwist * 18) / 10;
primMesh.taperX = pathScaleX; primMesh.taperX = pathScaleX;
primMesh.taperY = pathScaleY; 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 #if SPAM
m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString()); m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
#endif #endif
@ -911,17 +926,11 @@ namespace OpenSim.Region.Physics.Meshing
primMesh.radius = 0.01f * primShape.PathRadiusOffset; primMesh.radius = 0.01f * primShape.PathRadiusOffset;
primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions; primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
primMesh.skew = 0.01f * primShape.PathSkew; primMesh.skew = 0.01f * primShape.PathSkew;
primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10; primMesh.twistBegin = (primShape.PathTwistBegin * 36) / 10;
primMesh.twistEnd = primShape.PathTwist * 36 / 10; primMesh.twistEnd = (primShape.PathTwist * 36) / 10;
primMesh.taperX = primShape.PathTaperX * 0.01f; primMesh.taperX = primShape.PathTaperX * 0.01f;
primMesh.taperY = primShape.PathTaperY * 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 #if SPAM
m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString()); m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
#endif #endif
@ -1031,12 +1040,17 @@ namespace OpenSim.Region.Physics.Meshing
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) 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) 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) public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
@ -1080,7 +1094,7 @@ namespace OpenSim.Region.Physics.Meshing
private static Vector3 m_MeshUnitSize = new Vector3(1.0f, 1.0f, 1.0f); 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 #if SPAM
m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName); m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);

1250
OpenSim/Region/Physics/UbitMeshing/PrimMesher.cs
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File diff suppressed because it is too large Load Diff

4
OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
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@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
{ {
repData.meshState = MeshState.needMesh; 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) if (mesh == null)
{ {
repData.meshState = MeshState.MeshFailed; repData.meshState = MeshState.MeshFailed;
@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
clod = (int)LevelOfDetail.Low; 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) if (mesh == null)
{ {

52
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
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@ -25,7 +25,7 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * 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.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 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) if (m_targetSpace != IntPtr.Zero)
{ {
@ -2144,7 +2146,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_mass = primMass; // just in case _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, d.MassTranslate(ref primdMass,
m_OBBOffset.X, m_OBBOffset.X,
@ -2362,6 +2364,7 @@ namespace OpenSim.Region.Physics.OdePlugin
MakeBody(); MakeBody();
} }
#region changes #region changes
private void changeadd() private void changeadd()
@ -3214,7 +3217,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (++bodydisablecontrol < 20) if (++bodydisablecontrol < 20)
return; return;
d.BodyEnable(Body); 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 (_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; bool lastZeroFlag = _zeroFlag;
@ -3478,13 +3481,13 @@ namespace OpenSim.Region.Physics.OdePlugin
// tolerance values depende a lot on simulation noise... // tolerance values depende a lot on simulation noise...
// use simple math.abs since we dont need to be exact // use simple math.abs since we dont need to be exact
if ( if (!bodyenabled ||
(Math.Abs(_position.X - lpos.X) < 0.001f) (Math.Abs(_position.X - lpos.X) < 0.005f)
&& (Math.Abs(_position.Y - lpos.Y) < 0.001f) && (Math.Abs(_position.Y - lpos.Y) < 0.005f)
&& (Math.Abs(_position.Z - lpos.Z) < 0.001f) && (Math.Abs(_position.Z - lpos.Z) < 0.005f)
&& (Math.Abs(_orientation.X - ori.X) < 0.0001f) && (Math.Abs(_orientation.X - ori.X) < 0.001f)
&& (Math.Abs(_orientation.Y - ori.Y) < 0.0001f) && (Math.Abs(_orientation.Y - ori.Y) < 0.001f)
&& (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W && (Math.Abs(_orientation.Z - ori.Z) < 0.001f) // ignore W
) )
{ {
_zeroFlag = true; _zeroFlag = true;
@ -3499,9 +3502,9 @@ namespace OpenSim.Region.Physics.OdePlugin
_acceleration = _velocity; _acceleration = _velocity;
if ((Math.Abs(vel.X) < 0.001f) && if ((Math.Abs(vel.X) < 0.005f) &&
(Math.Abs(vel.Y) < 0.001f) && (Math.Abs(vel.Y) < 0.005f) &&
(Math.Abs(vel.Z) < 0.001f)) (Math.Abs(vel.Z) < 0.005f))
{ {
_velocity = Vector3.Zero; _velocity = Vector3.Zero;
float t = -m_invTimeStep; 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 (_zeroFlag)
{ {
if (lastZeroFlag) if (lastZeroFlag)
@ -3556,14 +3568,6 @@ namespace OpenSim.Region.Physics.OdePlugin
return; 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(); base.RequestPhysicsterseUpdate();
m_lastUpdateSent = false; m_lastUpdateSent = false;
} }

2
OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
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@ -1869,7 +1869,7 @@ namespace OdeAPI
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
public static extern void SpaceSetCleanup(IntPtr space, bool mode); 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); public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]

284
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
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@ -25,6 +25,7 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
// Revision 2011/12/13 by Ubit Umarov
//#define SPAM //#define SPAM
using System; using System;
@ -43,25 +44,7 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.OdePlugin namespace OpenSim.Region.Physics.OdePlugin
{ {
public enum StatusIndicators : int // colision flags of things others can colide with
{
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
// rays, sensors, probes removed since can't be colided with // rays, sensors, probes removed since can't be colided with
// The top space where things are placed provided further selection // The top space where things are placed provided further selection
// ie physical are in active space nonphysical in static // ie physical are in active space nonphysical in static
@ -188,12 +171,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool OdeUbitLib = false; public bool OdeUbitLib = false;
// private int threadid = 0; // 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 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.Bounce | d.ContactFlags.Approx1;
const float comumContactERP = 0.7f;
const float comumContactCFM = 0.0001f; const float comumContactCFM = 0.0001f;
const float comumContactSLIP = 0.000001f;
float frictionMovementMult = 0.8f; float frictionMovementMult = 0.8f;
@ -236,8 +221,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public float geomDefaultDensity = 10.000006836f; public float geomDefaultDensity = 10.000006836f;
public int geomContactPointsStartthrottle = 3; // public int geomContactPointsStartthrottle = 3;
public int geomUpdatesPerThrottledUpdate = 15; // public int geomUpdatesPerThrottledUpdate = 15;
public float bodyPIDD = 35f; public float bodyPIDD = 35f;
public float bodyPIDG = 25; public float bodyPIDG = 25;
@ -246,7 +231,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public int bodyFramesAutoDisable = 5; public int bodyFramesAutoDisable = 5;
private d.NearCallback nearCallback; private d.NearCallback nearCallback;
private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
@ -266,11 +250,12 @@ namespace OpenSim.Region.Physics.OdePlugin
// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); // public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
private float contactsurfacelayer = 0.002f; private float contactsurfacelayer = 0.001f;
private int contactsPerCollision = 80; private int contactsPerCollision = 80;
internal IntPtr ContactgeomsArray = IntPtr.Zero; internal IntPtr ContactgeomsArray = IntPtr.Zero;
private IntPtr GlobalContactsArray = IntPtr.Zero; private IntPtr GlobalContactsArray = IntPtr.Zero;
private d.Contact SharedTmpcontact = new d.Contact();
const int maxContactsbeforedeath = 4000; const int maxContactsbeforedeath = 4000;
private volatile int m_global_contactcount = 0; private volatile int m_global_contactcount = 0;
@ -283,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>(); private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>(); private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
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 const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
// private PhysicsActor PANull = new NullPhysicsActor(); // private PhysicsActor PANull = new NullPhysicsActor();
private float step_time = 0.0f; 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 StaticSpace; // space for the static things around
public IntPtr GroundSpace; // space for ground public IntPtr GroundSpace; // space for ground
public IntPtr SharedRay;
// some speedup variables // some speedup variables
private int spaceGridMaxX; private int spaceGridMaxX;
private int spaceGridMaxY; private int spaceGridMaxY;
@ -431,8 +414,6 @@ namespace OpenSim.Region.Physics.OdePlugin
contactgroup = d.JointGroupCreate(0); contactgroup = d.JointGroupCreate(0);
//contactgroup //contactgroup
SharedRay = d.CreateRay(TopSpace, 1.0f);
d.WorldSetAutoDisableFlag(world, false); d.WorldSetAutoDisableFlag(world, false);
} }
} }
@ -481,10 +462,10 @@ namespace OpenSim.Region.Physics.OdePlugin
metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); 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); 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); avDensity = physicsconfig.GetFloat("av_density", avDensity);
avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
@ -492,8 +473,8 @@ namespace OpenSim.Region.Physics.OdePlugin
contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); // geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); // geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); // geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); 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); m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig);
HalfOdeStep = ODE_STEPSIZE * 0.5f; HalfOdeStep = ODE_STEPSIZE * 0.5f;
@ -516,6 +514,20 @@ namespace OpenSim.Region.Physics.OdePlugin
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.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].mu = 0.8f;
m_materialContactsData[(int)Material.Stone].bounce = 0.4f; 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].mu = 0.0f;
m_materialContactsData[(int)Material.light].bounce = 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; spacesPerMeter = 1 / metersInSpace;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); 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) // 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; return IntPtr.Zero;
float erp = contactGeom.depth; m_global_contactcount++;
erp *= erpscale;
if (erp < minERP)
erp = minERP;
else if (erp > MaxERP)
erp = MaxERP;
float depth = contactGeom.depth * dscale; SharedTmpcontact.geom.depth = contactGeom.depth;
if (depth > 0.5f) SharedTmpcontact.geom.pos = contactGeom.pos;
depth = 0.5f; SharedTmpcontact.geom.normal = contactGeom.normal;
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;
IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); 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); return d.JointCreateContactPtr(world, contactgroup, contact);
} }
@ -825,10 +797,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!GetCurContactGeom(0, ref curContact)) if (!GetCurContactGeom(0, ref curContact))
return; return;
ContactPoint maxDepthContact = new ContactPoint();
// do volume detection case // do volume detection case
if ((p1.IsVolumeDtc || p2.IsVolumeDtc)) 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.pos.X, curContact.pos.Y, curContact.pos.Z),
new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
curContact.depth, false curContact.depth, false
@ -842,10 +816,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float mu = 0; float mu = 0;
float bounce = 0; float bounce = 0;
float cfm = 0.0001f; // bool IgnoreNegSides = false;
float erpscale = 1.0f;
float dscale = 1.0f;
bool IgnoreNegSides = false;
ContactData contactdata1 = new ContactData(0, 0, false); ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false); ContactData contactdata2 = new ContactData(0, 0, false);
@ -890,7 +861,9 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case (int)ActorTypes.Prim: 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; p1.CollidingObj = true;
p2.CollidingObj = true; p2.CollidingObj = true;
@ -900,21 +873,7 @@ namespace OpenSim.Region.Physics.OdePlugin
bounce = contactdata1.bounce * contactdata2.bounce; bounce = contactdata1.bounce * contactdata2.bounce;
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
cfm = p1.Mass; if (relVlenSQ > 0.01f)
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))
mu *= frictionMovementMult; mu *= frictionMovementMult;
break; break;
@ -923,27 +882,17 @@ namespace OpenSim.Region.Physics.OdePlugin
p1.getContactData(ref contactdata1); p1.getContactData(ref contactdata1);
bounce = contactdata1.bounce * TerrainBounce; bounce = contactdata1.bounce * TerrainBounce;
mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
mu *= frictionMovementMult; mu *= frictionMovementMult;
p1.CollidingGround = true; 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 (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
{ {
if (curContact.side1 > 0) if (curContact.side1 > 0)
IgnoreNegSides = true; IgnoreNegSides = true;
} }
*/
break; break;
case (int)ActorTypes.Water: case (int)ActorTypes.Water:
@ -961,22 +910,8 @@ namespace OpenSim.Region.Physics.OdePlugin
bounce = contactdata2.bounce * TerrainBounce; bounce = contactdata2.bounce * TerrainBounce;
mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
cfm = p2.Mass; // if (curContact.side1 > 0) // should be 2 ?
dscale = 10 / cfm; // IgnoreNegSides = true;
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 (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
mu *= frictionMovementMult; mu *= frictionMovementMult;
@ -993,26 +928,24 @@ namespace OpenSim.Region.Physics.OdePlugin
if (ignore) if (ignore)
return; 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; IntPtr Joint;
bool FeetCollision = false; bool FeetCollision = false;
int ncontacts = 0; int ncontacts = 0;
int i = 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) while (true)
{ {
// if (!(IgnoreNegSides && curContact.side1 < 0))
// if (!(IgnoreNegSides && curContact.side1 < 0))
{ {
bool noskip = true; bool noskip = true;
if (dop1ava) if (dop1ava)
@ -1029,26 +962,32 @@ namespace OpenSim.Region.Physics.OdePlugin
if (noskip) if (noskip)
{ {
m_global_contactcount++; Joint = CreateContacJoint(ref curContact);
if (m_global_contactcount >= maxContactsbeforedeath)
break;
ncontacts++;
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
if (Joint == IntPtr.Zero) if (Joint == IntPtr.Zero)
break; break;
d.JointAttach(Joint, b1, b2); d.JointAttach(Joint, b1, b2);
if (curContact.depth > maxContact.depth) ncontacts++;
maxContact = curContact;
if (curContact.depth < minContact.depth) if (curContact.depth > maxDepthContact.PenetrationDepth)
minContact = curContact; {
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) if (++i >= count)
break; break;
@ -1058,11 +997,10 @@ namespace OpenSim.Region.Physics.OdePlugin
if (ncontacts > 0) if (ncontacts > 0)
{ {
ContactPoint maxDepthContact = new ContactPoint( maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X;
new Vector3(maxContact.pos.X, maxContact.pos.Y, maxContact.pos.Z), maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y;
new Vector3(minContact.normal.X, minContact.normal.Y, minContact.normal.Z), maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z;
maxContact.depth, FeetCollision
);
collision_accounting_events(p1, p2, maxDepthContact); collision_accounting_events(p1, p2, maxDepthContact);
} }
} }
@ -1629,16 +1567,15 @@ namespace OpenSim.Region.Physics.OdePlugin
if (framecount < 0) if (framecount < 0)
framecount = 0; framecount = 0;
framecount++; framecount++;
int curphysiteractions; // int curphysiteractions;
// if in trouble reduce step resolution // if in trouble reduce step resolution
if (step_time >= m_SkipFramesAtms) // if (step_time >= m_SkipFramesAtms)
curphysiteractions = m_physicsiterations / 2; // curphysiteractions = m_physicsiterations / 2;
else // else
curphysiteractions = m_physicsiterations; // curphysiteractions = m_physicsiterations;
// checkThread(); // checkThread();
int nodeframes = 0; int nodeframes = 0;
@ -1654,9 +1591,7 @@ namespace OpenSim.Region.Physics.OdePlugin
ODEchangeitem item; ODEchangeitem item;
// d.WorldSetQuickStepNumIterations(world, curphysiteractions);
d.WorldSetQuickStepNumIterations(world, curphysiteractions);
int loopstartMS = Util.EnvironmentTickCount(); int loopstartMS = Util.EnvironmentTickCount();
int looptimeMS = 0; int looptimeMS = 0;
@ -1763,6 +1698,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// do a ode simulation step // do a ode simulation step
d.WorldQuickStep(world, ODE_STEPSIZE); d.WorldQuickStep(world, ODE_STEPSIZE);
// d.WorldStep(world, ODE_STEPSIZE);
d.JointGroupEmpty(contactgroup); d.JointGroupEmpty(contactgroup);
// update managed ideia of physical data and do updates to core // update managed ideia of physical data and do updates to core
@ -1789,7 +1725,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (actor.IsPhysical) if (actor.IsPhysical)
{ {
actor.UpdatePositionAndVelocity(); actor.UpdatePositionAndVelocity(framecount);
} }
} }
} }