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messing around... Let terrain and water have nullphysicsactors, let 

nullphyscisactors have a type water, ground or unknown (default). having
this removed geom to name mapping no longer needed. Made some more methods
comum to prims and characters acessible via PhysActor allowing for a more
uniform access. ...
avinationmerge
UbitUmarov 2012-07-15 00:50:00 +01:00
parent a492b6f693
commit 62df82b74d
6 changed files with 267 additions and 387 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

143
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -43,7 +43,8 @@ namespace OpenSim.Region.Physics.Manager
Unknown = 0, Unknown = 0,
Agent = 1, Agent = 1,
Prim = 2, Prim = 2,
Ground = 3 Ground = 3,
Water = 4
} }
public enum PIDHoverType public enum PIDHoverType
@ -114,7 +115,7 @@ namespace OpenSim.Region.Physics.Manager
m_objCollisionList.Add(localID, contact); m_objCollisionList.Add(localID, contact);
} }
else else
{ {
if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth) if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth)
m_objCollisionList[localID] = contact; m_objCollisionList[localID] = contact;
} }
@ -202,7 +203,7 @@ namespace OpenSim.Region.Physics.Manager
/// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or /// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or
/// water. This is not a problem due to the formatting of names given by prims and avatars. /// water. This is not a problem due to the formatting of names given by prims and avatars.
/// </remarks> /// </remarks>
public string Name { get; protected set; } public string Name { get; set; }
/// <summary> /// <summary>
/// This is being used by ODE joint code. /// This is being used by ODE joint code.
@ -230,11 +231,6 @@ namespace OpenSim.Region.Physics.Manager
} }
} }
public virtual byte[] Serialize(bool PhysIsRunning)
{
return new byte[0];
}
public virtual void RaiseOutOfBounds(Vector3 pos) public virtual void RaiseOutOfBounds(Vector3 pos)
{ {
// Make a temporary copy of the event to avoid possibility of // Make a temporary copy of the event to avoid possibility of
@ -258,10 +254,7 @@ namespace OpenSim.Region.Physics.Manager
handler(e); handler(e);
} }
public virtual void SetMaterial (int material) public virtual void SetMaterial (int material) { }
{
}
public virtual float Density { get; set; } public virtual float Density { get; set; }
public virtual float GravModifier { get; set; } public virtual float GravModifier { get; set; }
public virtual float Friction { get; set; } public virtual float Friction { get; set; }
@ -373,13 +366,21 @@ namespace OpenSim.Region.Physics.Manager
public abstract void SubscribeEvents(int ms); public abstract void SubscribeEvents(int ms);
public abstract void UnSubscribeEvents(); public abstract void UnSubscribeEvents();
public abstract bool SubscribedEvents(); public abstract bool SubscribedEvents();
public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
// Warning in a parent part it returns itself, not null
public virtual PhysicsActor ParentActor { get { return this; } }
} }
public class NullPhysicsActor : PhysicsActor public class NullPhysicsActor : PhysicsActor
{ {
private ActorTypes m_actorType = ActorTypes.Unknown;
public override bool Stopped public override bool Stopped
{ {
get{ return false; } get{ return true; }
} }
public override Vector3 Position public override Vector3 Position
@ -396,6 +397,7 @@ namespace OpenSim.Region.Physics.Manager
public override uint LocalID public override uint LocalID
{ {
get { return 0; }
set { return; } set { return; }
} }
@ -455,49 +457,17 @@ namespace OpenSim.Region.Physics.Manager
set { return; } set { return; }
} }
public override void VehicleFloatParam(int param, float value) public override void VehicleFloatParam(int param, float value) {}
{ public override void VehicleVectorParam(int param, Vector3 value) { }
} public override void VehicleRotationParam(int param, Quaternion rotation) { }
public override void VehicleFlags(int param, bool remove) { }
public override void SetVolumeDetect(int param) {}
public override void SetMaterial(int material) {}
public override Vector3 CenterOfMass { get { return Vector3.Zero; }}
public override void VehicleVectorParam(int param, Vector3 value) public override Vector3 GeometricCenter { get { return Vector3.Zero; }}
{
} public override PrimitiveBaseShape Shape { set { return; }}
public override void VehicleRotationParam(int param, Quaternion rotation)
{
}
public override void VehicleFlags(int param, bool remove)
{
}
public override void SetVolumeDetect(int param)
{
}
public override void SetMaterial(int material)
{
}
public override Vector3 CenterOfMass
{
get { return Vector3.Zero; }
}
public override Vector3 GeometricCenter
{
get { return Vector3.Zero; }
}
public override PrimitiveBaseShape Shape
{
set { return; }
}
public override Vector3 Velocity public override Vector3 Velocity
{ {
@ -517,9 +487,7 @@ namespace OpenSim.Region.Physics.Manager
set { } set { }
} }
public override void CrossingFailure() public override void CrossingFailure() {}
{
}
public override Quaternion Orientation public override Quaternion Orientation
{ {
@ -559,8 +527,20 @@ namespace OpenSim.Region.Physics.Manager
public override int PhysicsActorType public override int PhysicsActorType
{ {
get { return (int) ActorTypes.Unknown; } get { return (int)m_actorType; }
set { return; } set {
ActorTypes type = (ActorTypes)value;
switch (type)
{
case ActorTypes.Ground:
case ActorTypes.Water:
m_actorType = type;
break;
default:
m_actorType = ActorTypes.Unknown;
break;
}
}
} }
public override bool Kinematic public override bool Kinematic
@ -569,26 +549,11 @@ namespace OpenSim.Region.Physics.Manager
set { return; } set { return; }
} }
public override void link(PhysicsActor obj) public override void link(PhysicsActor obj) { }
{ public override void delink() { }
} public override void LockAngularMotion(Vector3 axis) { }
public override void AddForce(Vector3 force, bool pushforce) { }
public override void delink() public override void AddAngularForce(Vector3 force, bool pushforce) { }
{
}
public override void LockAngularMotion(Vector3 axis)
{
}
public override void AddForce(Vector3 force, bool pushforce)
{
}
public override void AddAngularForce(Vector3 force, bool pushforce)
{
}
public override Vector3 RotationalVelocity public override Vector3 RotationalVelocity
{ {
@ -610,22 +575,10 @@ namespace OpenSim.Region.Physics.Manager
public override float APIDStrength { set { return; } } public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } } public override float APIDDamping { set { return; } }
public override void SetMomentum(Vector3 momentum) public override void SetMomentum(Vector3 momentum) { }
{
}
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
public override void SubscribeEvents(int ms) { }
public override void UnSubscribeEvents() { }
public override bool SubscribedEvents() { return false; }
} }
} }

16
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_freemove = false; private bool m_freemove = false;
// private CollisionLocker ode; // private CollisionLocker ode;
private string m_name = String.Empty; // private string m_name = String.Empty;
// other filter control // other filter control
int m_colliderfilter = 0; int m_colliderfilter = 0;
int m_colliderGroundfilter = 0; int m_colliderGroundfilter = 0;
@ -183,7 +183,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_isPhysical = false; // current status: no ODE information exists m_isPhysical = false; // current status: no ODE information exists
m_name = avName; Name = avName;
AddChange(changes.Add, null); AddChange(changes.Add, null);
} }
@ -218,6 +218,11 @@ namespace OpenSim.Region.Physics.OdePlugin
set { m_localID = value; } set { m_localID = value; }
} }
public override PhysicsActor ParentActor
{
get { return (PhysicsActor)this; }
}
public override bool Grabbed public override bool Grabbed
{ {
set { return; } set { return; }
@ -740,7 +745,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//kill the Geometry //kill the Geometry
if (Shell != IntPtr.Zero) if (Shell != IntPtr.Zero)
{ {
_parent_scene.geom_name_map.Remove(Shell); // _parent_scene.geom_name_map.Remove(Shell);
_parent_scene.actor_name_map.Remove(Shell); _parent_scene.actor_name_map.Remove(Shell);
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace); _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
d.GeomDestroy(Shell); d.GeomDestroy(Shell);
@ -1115,7 +1120,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_eventsubscription = 0; m_eventsubscription = 0;
} }
public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
{ {
if (CollisionEventsThisFrame == null) if (CollisionEventsThisFrame == null)
CollisionEventsThisFrame = new CollisionEventUpdate(); CollisionEventsThisFrame = new CollisionEventUpdate();
@ -1184,7 +1189,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this; _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
_parent_scene.AddCharacter(this); _parent_scene.AddCharacter(this);
} }
@ -1236,7 +1241,6 @@ namespace OpenSim.Region.Physics.OdePlugin
Velocity = Vector3.Zero; Velocity = Vector3.Zero;
_parent_scene.geom_name_map[Shell] = m_name;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this; _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
} }
else else

14
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -176,7 +176,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_lastUpdateSent; private bool m_lastUpdateSent;
public IntPtr Body = IntPtr.Zero; public IntPtr Body = IntPtr.Zero;
public String Name { get; private set; } // public String Name { get; private set; }
private Vector3 _target_velocity; private Vector3 _target_velocity;
public Vector3 primOOBsize; // prim real dimensions from mesh public Vector3 primOOBsize; // prim real dimensions from mesh
@ -295,14 +295,14 @@ namespace OpenSim.Region.Physics.OdePlugin
set { m_localID = value; } set { m_localID = value; }
} }
public OdePrim Parent public override PhysicsActor ParentActor
{ {
get get
{ {
if (childPrim) if (childPrim)
return (OdePrim)_parent; return _parent;
else else
return this; return (PhysicsActor)this;
} }
} }
@ -950,7 +950,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.RemoveCollisionEventReporting(this); _parent_scene.RemoveCollisionEventReporting(this);
} }
public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
{ {
if (CollisionEventsThisFrame == null) if (CollisionEventsThisFrame == null)
CollisionEventsThisFrame = new CollisionEventUpdate(); CollisionEventsThisFrame = new CollisionEventUpdate();
@ -1431,6 +1431,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
if (prim_geom != IntPtr.Zero) if (prim_geom != IntPtr.Zero)
{ {
if (m_NoColide) if (m_NoColide)
{ {
d.GeomSetCategoryBits(prim_geom, 0); d.GeomSetCategoryBits(prim_geom, 0);
@ -1452,7 +1453,6 @@ namespace OpenSim.Region.Physics.OdePlugin
CalcPrimBodyData(); CalcPrimBodyData();
_parent_scene.geom_name_map[prim_geom] = Name;
_parent_scene.actor_name_map[prim_geom] = this; _parent_scene.actor_name_map[prim_geom] = this;
} }
@ -1526,7 +1526,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (prim_geom != IntPtr.Zero) if (prim_geom != IntPtr.Zero)
{ {
_parent_scene.geom_name_map.Remove(prim_geom); // _parent_scene.geom_name_map.Remove(prim_geom);
_parent_scene.actor_name_map.Remove(prim_geom); _parent_scene.actor_name_map.Remove(prim_geom);
try try
{ {

97
OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
View File

@ -470,56 +470,77 @@ namespace OpenSim.Region.Physics.OdePlugin
if (p2 == null) if (p2 == null)
{ {
string name; /*
string name;
if (!m_scene.geom_name_map.TryGetValue(g2, out name)) if (!m_scene.geom_name_map.TryGetValue(g2, out name))
return; return;
if (name == "Terrain") if (name == "Terrain")
{ {
// land colision // land colision
if ((CurrentRayFilter & RayFilterFlags.land) == 0) if ((CurrentRayFilter & RayFilterFlags.land) == 0)
return; return;
} }
else if (name == "Water") else if (name == "Water")
{ {
if ((CurrentRayFilter & RayFilterFlags.water) == 0) if ((CurrentRayFilter & RayFilterFlags.water) == 0)
return; return;
} }
else else
return; return;
*/
return;
} }
else else
{ {
if (p2 is OdePrim) switch (p2.PhysicsActorType)
{ {
RayFilterFlags thisFlags; case (int)ActorTypes.Prim:
if (p2.IsPhysical) RayFilterFlags thisFlags;
thisFlags = RayFilterFlags.physical;
else
thisFlags = RayFilterFlags.nonphysical;
if (p2.Phantom) if (p2.IsPhysical)
thisFlags |= RayFilterFlags.phantom; thisFlags = RayFilterFlags.physical;
else
thisFlags = RayFilterFlags.nonphysical;
if (p2.IsVolumeDtc) if (p2.Phantom)
thisFlags |= RayFilterFlags.volumedtc; thisFlags |= RayFilterFlags.phantom;
if ((thisFlags & CurrentRayFilter) == 0) if (p2.IsVolumeDtc)
thisFlags |= RayFilterFlags.volumedtc;
if ((thisFlags & CurrentRayFilter) == 0)
return;
ID = ((OdePrim)p2).LocalID;
break;
case (int)ActorTypes.Agent:
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
return;
else
ID = ((OdeCharacter)p2).LocalID;
break;
case (int)ActorTypes.Ground:
if ((CurrentRayFilter & RayFilterFlags.land) == 0)
return;
break;
case (int)ActorTypes.Water:
if ((CurrentRayFilter & RayFilterFlags.water) == 0)
return;
break;
default:
return; return;
break;
ID = ((OdePrim)p2).LocalID;
} }
else if (p2 is OdeCharacter)
{
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
return;
else
ID = ((OdeCharacter)p2).LocalID;
}
else //??
return;
} }
d.ContactGeom curcontact = new d.ContactGeom(); d.ContactGeom curcontact = new d.ContactGeom();

6
OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
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@ -903,7 +903,7 @@ namespace OdeAPI
public static extern GeomClassID GeomGetClass(IntPtr geom); public static extern GeomClassID GeomGetClass(IntPtr geom);
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GeomGetData(IntPtr geom); public static extern IntPtr GeomGetData(IntPtr geom);
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
@ -1096,8 +1096,8 @@ namespace OdeAPI
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
public static extern void GeomSetData(IntPtr geom, IntPtr data); public static extern void GeomSetData(IntPtr geom, IntPtr data);
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);

378
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -251,7 +251,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>(); private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
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 = 0.002f;
@ -274,7 +274,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private int m_physicsiterations = 10; private int m_physicsiterations = 10;
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;
public IntPtr world; public IntPtr world;
@ -713,6 +713,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return; return;
if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc)
{ {
@ -738,7 +739,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return; return;
} }
// id contacts done // contacts done
if (count == 0) if (count == 0)
return; return;
@ -748,12 +749,14 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!actor_name_map.TryGetValue(g1, out p1)) if (!actor_name_map.TryGetValue(g1, out p1))
{ {
p1 = PANull; m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1");
return;
} }
if (!actor_name_map.TryGetValue(g2, out p2)) if (!actor_name_map.TryGetValue(g2, out p2))
{ {
p2 = PANull; m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
return;
} }
// update actors collision score // update actors collision score
@ -765,7 +768,6 @@ namespace OpenSim.Region.Physics.OdePlugin
p2.CollisionScore = 0; p2.CollisionScore = 0;
p2.CollisionScore += count; p2.CollisionScore += count;
// get first contact // get first contact
d.ContactGeom curContact = new d.ContactGeom(); d.ContactGeom curContact = new d.ContactGeom();
if (!GetCurContactGeom(0, ref curContact)) if (!GetCurContactGeom(0, ref curContact))
@ -798,7 +800,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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);
String name = null;
bool dop1foot = false; bool dop1foot = false;
bool dop2foot = false; bool dop2foot = false;
bool ignore = false; bool ignore = false;
@ -830,34 +831,16 @@ namespace OpenSim.Region.Physics.OdePlugin
switch (p2.PhysicsActorType) switch (p2.PhysicsActorType)
{ {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
/*
p1.getContactData(ref contactdata1);
p2.getContactData(ref contactdata2);
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
mu *= frictionMovementMult;
*/
p1.CollidingObj = true; p1.CollidingObj = true;
p2.CollidingObj = true; p2.CollidingObj = true;
break; break;
case (int)ActorTypes.Prim: case (int)ActorTypes.Prim:
/*
p1.getContactData(ref contactdata1);
p2.getContactData(ref contactdata2);
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
mu *= frictionMovementMult;
*/
if (p2.Velocity.LengthSquared() > 0.0f) if (p2.Velocity.LengthSquared() > 0.0f)
p2.CollidingObj = true; p2.CollidingObj = true;
dop1foot = true; dop1foot = true;
break; break;
default: default:
ignore = true; // avatar to terrain and water ignored ignore = true; // avatar to terrain and water ignored
break; break;
@ -869,9 +852,6 @@ namespace OpenSim.Region.Physics.OdePlugin
switch (p2.PhysicsActorType) switch (p2.PhysicsActorType)
{ {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
// p1.getContactData(ref contactdata1);
// p2.getContactData(ref contactdata2);
AvanormOverride = true; AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position; Vector3 tmp = p2.Position - p1.Position;
@ -894,16 +874,12 @@ namespace OpenSim.Region.Physics.OdePlugin
bounce = 0; bounce = 0;
mu = 0; mu = 0;
cfm = 0.0001f; cfm = 0.0001f;
/*
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
mu *= frictionMovementMult;
*/
dop2foot = true; dop2foot = true;
if (p1.Velocity.LengthSquared() > 0.0f) if (p1.Velocity.LengthSquared() > 0.0f)
p1.CollidingObj = true; p1.CollidingObj = true;
break; break;
case (int)ActorTypes.Prim: case (int)ActorTypes.Prim:
if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
{ {
@ -933,95 +909,77 @@ namespace OpenSim.Region.Physics.OdePlugin
mu *= frictionMovementMult; mu *= frictionMovementMult;
break; break;
default:
if (geom_name_map.TryGetValue(g2, out name)) case (int)ActorTypes.Ground:
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 (name == "Terrain") if (curContact.side1 > 0)
{ IgnoreNegSides = true;
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;
}
}
else if (name == "Water")
{
ignore = true;
}
} }
else break;
ignore = true;
case (int)ActorTypes.Water:
default:
ignore = true;
break; break;
} }
break; break;
default: case (int)ActorTypes.Ground:
if (geom_name_map.TryGetValue(g1, out name)) if (p2.PhysicsActorType == (int)ActorTypes.Prim)
{ {
if (name == "Terrain") p2.CollidingGround = true;
{ p2.getContactData(ref contactdata2);
if (p2.PhysicsActorType == (int)ActorTypes.Prim) bounce = contactdata2.bounce * TerrainBounce;
{ mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
p2.CollidingGround = true;
p2.getContactData(ref contactdata2);
bounce = contactdata2.bounce * TerrainBounce;
mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
cfm = p2.Mass; cfm = p2.Mass;
dscale = 10 / cfm; dscale = 10 / cfm;
dscale = (float)Math.Sqrt(dscale); dscale = (float)Math.Sqrt(dscale);
if (dscale > 1.0f) if (dscale > 1.0f)
dscale = 1.0f; dscale = 1.0f;
erpscale = cfm * 0.01f; erpscale = cfm * 0.01f;
cfm = 0.0001f / cfm; cfm = 0.0001f / cfm;
if (cfm > 0.01f) if (cfm > 0.01f)
cfm = 0.01f; cfm = 0.01f;
else if (cfm < 0.00001f) else if (cfm < 0.00001f)
cfm = 0.00001f; cfm = 0.00001f;
if (curContact.side1 > 0) // should be 2 ? if (curContact.side1 > 0) // should be 2 ?
IgnoreNegSides = true; 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;
}
else
ignore = true;
}
else if (name == "Water" &&
(p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
{
ignore = true;
}
} }
else else
ignore = true; ignore = true;
break; break;
}
case (int)ActorTypes.Water:
default:
break;
}
if (ignore) if (ignore)
return; return;
@ -1162,36 +1120,23 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
*/ */
} }
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
{ {
OdeCharacter cc1;
OdePrim cp1;
OdeCharacter cc2;
OdePrim cp2;
OdePrim cp1Parent;
OdePrim cp2Parent;
uint obj2LocalID = 0; uint obj2LocalID = 0;
bool p1events = p1.SubscribedEvents(); bool p1events = p1.SubscribedEvents();
bool p2events = p2.SubscribedEvents(); bool p2events = p2.SubscribedEvents();
if (p1.IsVolumeDtc) if (p1.IsVolumeDtc)
p2events = false; p2events = false;
if (p2.IsVolumeDtc) if (p2.IsVolumeDtc)
p1events = false; p1events = false;
if (!(p2events || p1events)) if (!p2events && !p1events)
return; return;
if (p1events)
AddCollisionEventReporting(p1);
if (p2events)
AddCollisionEventReporting(p2);
Vector3 vel = Vector3.Zero; Vector3 vel = Vector3.Zero;
if (p2 != null && p2.IsPhysical) if (p2 != null && p2.IsPhysical)
vel = p2.Velocity; vel = p2.Velocity;
@ -1200,71 +1145,22 @@ namespace OpenSim.Region.Physics.OdePlugin
vel -= p1.Velocity; vel -= p1.Velocity;
contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal); contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
switch ((ActorTypes)p1.PhysicsActorType) switch ((ActorTypes)p1.PhysicsActorType)
{ {
case ActorTypes.Agent: case ActorTypes.Agent:
cc1 = (OdeCharacter)p1;
switch ((ActorTypes)p2.PhysicsActorType)
{
case ActorTypes.Agent:
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.LocalID;
if (p2events)
cc2.AddCollisionEvent(cc1.LocalID, contact);
break;
case ActorTypes.Prim:
if (p2 is OdePrim)
{
cp2 = (OdePrim)p2;
if (p2events)
cp2.AddCollisionEvent(cc1.LocalID, contact);
cp2 = cp2.Parent;
obj2LocalID = cp2.LocalID;
}
break;
case ActorTypes.Ground:
case ActorTypes.Unknown:
default:
obj2LocalID = 0;
break;
}
if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
cc1.AddCollisionEvent(obj2LocalID, contact);
}
break;
case ActorTypes.Prim: case ActorTypes.Prim:
{
if (p1 is OdePrim)
{
cp1 = (OdePrim)p1;
cp1Parent = cp1.Parent;
switch ((ActorTypes)p2.PhysicsActorType) switch ((ActorTypes)p2.PhysicsActorType)
{ {
case ActorTypes.Agent: case ActorTypes.Agent:
if (p2 is OdeCharacter)
{
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.LocalID;
if (p2events)
cc2.AddCollisionEvent(cp1Parent.LocalID, contact);
}
break;
case ActorTypes.Prim: case ActorTypes.Prim:
if (p2events)
if (p2 is OdePrim) {
{ AddCollisionEventReporting(p2);
cp2 = (OdePrim)p2; p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
if (p2events) }
cp2.AddCollisionEvent(cp1Parent.LocalID, contact); obj2LocalID = p2.ParentActor.LocalID;
cp2 = cp2.Parent;
obj2LocalID = cp2.LocalID;
}
break; break;
case ActorTypes.Ground: case ActorTypes.Ground:
@ -1272,41 +1168,28 @@ namespace OpenSim.Region.Physics.OdePlugin
default: default:
obj2LocalID = 0; obj2LocalID = 0;
break; break;
}
if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
cp1.AddCollisionEvent(obj2LocalID, contact);
}
} }
break; if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
AddCollisionEventReporting(p1);
p1.AddCollisionEvent(obj2LocalID, contact);
}
break;
}
case ActorTypes.Ground: case ActorTypes.Ground:
case ActorTypes.Unknown: case ActorTypes.Unknown:
default: default:
switch ((ActorTypes)p2.PhysicsActorType) {
if (p2events && !p2.IsVolumeDtc)
{ {
case ActorTypes.Agent: AddCollisionEventReporting(p2);
if (p2 is OdeCharacter) p2.AddCollisionEvent(0, contact);
{
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.LocalID;
if (p2events)
cc2.AddCollisionEvent(0, contact);
}
break;
case ActorTypes.Prim:
if (p2 is OdePrim)
{
cp2 = (OdePrim)p2;
obj2LocalID = cp2.LocalID;
if (p2events)
cp2.AddCollisionEvent(0, contact);
}
break;
} }
break; break;
} }
} }
}
/// <summary> /// <summary>
/// This is our collision testing routine in ODE /// This is our collision testing routine in ODE
@ -2369,6 +2252,7 @@ namespace OpenSim.Region.Physics.OdePlugin
RegionTerrain.Remove(pOffset); RegionTerrain.Remove(pOffset);
if (GroundGeom != IntPtr.Zero) if (GroundGeom != IntPtr.Zero)
{ {
actor_name_map.Remove(GroundGeom);
d.GeomDestroy(GroundGeom); d.GeomDestroy(GroundGeom);
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
@ -2394,27 +2278,32 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
d.GeomSetCollideBits(GroundGeom, 0); d.GeomSetCollideBits(GroundGeom, 0);
PhysicsActor pa = new NullPhysicsActor();
pa.Name = "Terrain";
pa.PhysicsActorType = (int)ActorTypes.Ground;
actor_name_map[GroundGeom] = pa;
// geom_name_map[GroundGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
q1 = q1 * q2;
Vector3 v3;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
RegionTerrain.Add(pOffset, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
} }
geom_name_map[GroundGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
q1 = q1 * q2;
Vector3 v3;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
RegionTerrain.Add(pOffset, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
} }
} }
@ -2478,6 +2367,7 @@ namespace OpenSim.Region.Physics.OdePlugin
RegionTerrain.Remove(pOffset); RegionTerrain.Remove(pOffset);
if (GroundGeom != IntPtr.Zero) if (GroundGeom != IntPtr.Zero)
{ {
actor_name_map.Remove(GroundGeom);
d.GeomDestroy(GroundGeom); d.GeomDestroy(GroundGeom);
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
@ -2509,13 +2399,18 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
d.GeomSetCollideBits(GroundGeom, 0); d.GeomSetCollideBits(GroundGeom, 0);
} PhysicsActor pa = new NullPhysicsActor();
geom_name_map[GroundGeom] = "Terrain"; pa.Name = "Terrain";
pa.PhysicsActorType = (int)ActorTypes.Ground;
actor_name_map[GroundGeom] = pa;
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); // geom_name_map[GroundGeom] = "Terrain";
RegionTerrain.Add(pOffset, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); RegionTerrain.Add(pOffset, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
}
} }
} }
@ -2632,6 +2527,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (WaterGeom != IntPtr.Zero) if (WaterGeom != IntPtr.Zero)
{ {
actor_name_map.Remove(WaterGeom);
d.GeomDestroy(WaterGeom); d.GeomDestroy(WaterGeom);
d.GeomHeightfieldDataDestroy(WaterHeightmapData); d.GeomHeightfieldDataDestroy(WaterHeightmapData);
WaterGeom = IntPtr.Zero; WaterGeom = IntPtr.Zero;
@ -2654,7 +2550,13 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water)); d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water));
d.GeomSetCollideBits(WaterGeom, 0); d.GeomSetCollideBits(WaterGeom, 0);
geom_name_map[WaterGeom] = "Water";
PhysicsActor pa = new NullPhysicsActor();
pa.Name = "Water";
pa.PhysicsActorType = (int)ActorTypes.Water;
actor_name_map[WaterGeom] = pa;
// geom_name_map[WaterGeom] = "Water";
d.Matrix3 R = new d.Matrix3(); d.Matrix3 R = new d.Matrix3();