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
parent
a492b6f693
commit
62df82b74d
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@ -43,7 +43,8 @@ namespace OpenSim.Region.Physics.Manager
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Unknown = 0,
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Agent = 1,
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Prim = 2,
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Ground = 3
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Ground = 3,
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Water = 4
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}
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public enum PIDHoverType
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@ -202,7 +203,7 @@ namespace OpenSim.Region.Physics.Manager
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/// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or
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/// water. This is not a problem due to the formatting of names given by prims and avatars.
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/// </remarks>
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public string Name { get; protected set; }
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public string Name { get; set; }
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/// <summary>
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/// This is being used by ODE joint code.
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@ -230,11 +231,6 @@ namespace OpenSim.Region.Physics.Manager
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}
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}
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public virtual byte[] Serialize(bool PhysIsRunning)
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{
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return new byte[0];
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}
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public virtual void RaiseOutOfBounds(Vector3 pos)
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{
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// Make a temporary copy of the event to avoid possibility of
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@ -258,10 +254,7 @@ namespace OpenSim.Region.Physics.Manager
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handler(e);
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}
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public virtual void SetMaterial (int material)
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{
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}
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public virtual void SetMaterial (int material) { }
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public virtual float Density { get; set; }
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public virtual float GravModifier { get; set; }
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public virtual float Friction { get; set; }
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@ -373,13 +366,21 @@ namespace OpenSim.Region.Physics.Manager
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public abstract void SubscribeEvents(int ms);
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public abstract void UnSubscribeEvents();
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public abstract bool SubscribedEvents();
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public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
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// Warning in a parent part it returns itself, not null
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public virtual PhysicsActor ParentActor { get { return this; } }
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}
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public class NullPhysicsActor : PhysicsActor
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{
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private ActorTypes m_actorType = ActorTypes.Unknown;
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public override bool Stopped
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{
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get{ return false; }
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get{ return true; }
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}
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public override Vector3 Position
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@ -396,6 +397,7 @@ namespace OpenSim.Region.Physics.Manager
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public override uint LocalID
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{
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get { return 0; }
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set { return; }
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}
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@ -455,49 +457,17 @@ namespace OpenSim.Region.Physics.Manager
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set { return; }
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}
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public override void VehicleFloatParam(int param, float value)
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{
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}
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public override void VehicleFloatParam(int param, float value) {}
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public override void VehicleVectorParam(int param, Vector3 value) { }
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public override void VehicleRotationParam(int param, Quaternion rotation) { }
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public override void VehicleFlags(int param, bool remove) { }
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public override void SetVolumeDetect(int param) {}
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public override void SetMaterial(int material) {}
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public override Vector3 CenterOfMass { get { return Vector3.Zero; }}
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public override void VehicleVectorParam(int param, Vector3 value)
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{
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public override Vector3 GeometricCenter { get { return Vector3.Zero; }}
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}
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public override void VehicleRotationParam(int param, Quaternion rotation)
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{
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}
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public override void VehicleFlags(int param, bool remove)
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{
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}
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public override void SetVolumeDetect(int param)
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{
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}
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public override void SetMaterial(int material)
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{
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}
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public override Vector3 CenterOfMass
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{
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get { return Vector3.Zero; }
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}
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public override Vector3 GeometricCenter
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{
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get { return Vector3.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set { return; }
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}
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public override PrimitiveBaseShape Shape { set { return; }}
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public override Vector3 Velocity
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{
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@ -517,9 +487,7 @@ namespace OpenSim.Region.Physics.Manager
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set { }
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}
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public override void CrossingFailure()
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{
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}
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public override void CrossingFailure() {}
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public override Quaternion Orientation
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{
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@ -559,8 +527,20 @@ namespace OpenSim.Region.Physics.Manager
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public override int PhysicsActorType
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{
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get { return (int) ActorTypes.Unknown; }
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set { return; }
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get { return (int)m_actorType; }
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set {
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ActorTypes type = (ActorTypes)value;
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switch (type)
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{
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case ActorTypes.Ground:
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case ActorTypes.Water:
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m_actorType = type;
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break;
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default:
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m_actorType = ActorTypes.Unknown;
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break;
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}
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}
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}
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public override bool Kinematic
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@ -569,26 +549,11 @@ namespace OpenSim.Region.Physics.Manager
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set { return; }
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}
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public override void link(PhysicsActor obj)
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{
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}
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public override void delink()
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{
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}
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public override void LockAngularMotion(Vector3 axis)
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{
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}
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public override void AddForce(Vector3 force, bool pushforce)
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{
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}
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public override void AddAngularForce(Vector3 force, bool pushforce)
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{
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}
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public override void link(PhysicsActor obj) { }
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public override void delink() { }
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public override void LockAngularMotion(Vector3 axis) { }
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public override void AddForce(Vector3 force, bool pushforce) { }
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public override void AddAngularForce(Vector3 force, bool pushforce) { }
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public override Vector3 RotationalVelocity
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{
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@ -610,22 +575,10 @@ namespace OpenSim.Region.Physics.Manager
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public override float APIDStrength { set { return; } }
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public override float APIDDamping { set { return; } }
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public override void SetMomentum(Vector3 momentum)
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{
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}
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public override void SubscribeEvents(int ms)
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{
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}
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public override void UnSubscribeEvents()
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{
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}
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public override bool SubscribedEvents()
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{
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return false;
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}
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public override void SetMomentum(Vector3 momentum) { }
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public override void SubscribeEvents(int ms) { }
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public override void UnSubscribeEvents() { }
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public override bool SubscribedEvents() { return false; }
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}
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}
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@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private bool m_freemove = false;
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// private CollisionLocker ode;
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private string m_name = String.Empty;
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// private string m_name = String.Empty;
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// other filter control
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int m_colliderfilter = 0;
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int m_colliderGroundfilter = 0;
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@ -183,7 +183,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_isPhysical = false; // current status: no ODE information exists
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m_name = avName;
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Name = avName;
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AddChange(changes.Add, null);
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}
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@ -218,6 +218,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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set { m_localID = value; }
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}
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public override PhysicsActor ParentActor
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{
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get { return (PhysicsActor)this; }
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}
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public override bool Grabbed
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{
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set { return; }
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@ -740,7 +745,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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//kill the Geometry
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if (Shell != IntPtr.Zero)
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{
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_parent_scene.geom_name_map.Remove(Shell);
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// _parent_scene.geom_name_map.Remove(Shell);
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_parent_scene.actor_name_map.Remove(Shell);
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_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
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d.GeomDestroy(Shell);
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@ -1115,7 +1120,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_eventsubscription = 0;
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}
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public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
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public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
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{
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if (CollisionEventsThisFrame == null)
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CollisionEventsThisFrame = new CollisionEventUpdate();
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@ -1184,7 +1189,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
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_parent_scene.geom_name_map[Shell] = m_name;
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_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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_parent_scene.AddCharacter(this);
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}
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@ -1236,7 +1241,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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Velocity = Vector3.Zero;
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_parent_scene.geom_name_map[Shell] = m_name;
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_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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}
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else
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@ -176,7 +176,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private bool m_lastUpdateSent;
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public IntPtr Body = IntPtr.Zero;
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public String Name { get; private set; }
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// public String Name { get; private set; }
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private Vector3 _target_velocity;
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public Vector3 primOOBsize; // prim real dimensions from mesh
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@ -295,14 +295,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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set { m_localID = value; }
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}
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public OdePrim Parent
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public override PhysicsActor ParentActor
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{
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get
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{
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if (childPrim)
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return (OdePrim)_parent;
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return _parent;
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else
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return this;
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return (PhysicsActor)this;
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}
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}
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@ -950,7 +950,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.RemoveCollisionEventReporting(this);
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}
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public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
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public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
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{
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if (CollisionEventsThisFrame == null)
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CollisionEventsThisFrame = new CollisionEventUpdate();
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@ -1431,6 +1431,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
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if (prim_geom != IntPtr.Zero)
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{
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if (m_NoColide)
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{
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d.GeomSetCategoryBits(prim_geom, 0);
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@ -1452,7 +1453,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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CalcPrimBodyData();
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_parent_scene.geom_name_map[prim_geom] = Name;
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_parent_scene.actor_name_map[prim_geom] = this;
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}
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@ -1526,7 +1526,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if (prim_geom != IntPtr.Zero)
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{
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_parent_scene.geom_name_map.Remove(prim_geom);
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// _parent_scene.geom_name_map.Remove(prim_geom);
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_parent_scene.actor_name_map.Remove(prim_geom);
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try
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{
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@ -470,56 +470,77 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (p2 == null)
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{
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string name;
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/*
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string name;
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if (!m_scene.geom_name_map.TryGetValue(g2, out name))
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return;
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if (!m_scene.geom_name_map.TryGetValue(g2, out name))
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return;
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if (name == "Terrain")
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{
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// land colision
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if ((CurrentRayFilter & RayFilterFlags.land) == 0)
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return;
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}
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else if (name == "Water")
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{
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if ((CurrentRayFilter & RayFilterFlags.water) == 0)
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return;
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}
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else
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return;
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if (name == "Terrain")
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{
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// land colision
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if ((CurrentRayFilter & RayFilterFlags.land) == 0)
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return;
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}
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else if (name == "Water")
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{
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if ((CurrentRayFilter & RayFilterFlags.water) == 0)
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return;
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}
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else
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return;
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*/
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return;
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}
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else
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{
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if (p2 is OdePrim)
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switch (p2.PhysicsActorType)
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{
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RayFilterFlags thisFlags;
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case (int)ActorTypes.Prim:
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if (p2.IsPhysical)
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thisFlags = RayFilterFlags.physical;
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else
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thisFlags = RayFilterFlags.nonphysical;
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RayFilterFlags thisFlags;
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if (p2.Phantom)
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thisFlags |= RayFilterFlags.phantom;
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if (p2.IsPhysical)
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thisFlags = RayFilterFlags.physical;
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else
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thisFlags = RayFilterFlags.nonphysical;
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if (p2.IsVolumeDtc)
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thisFlags |= RayFilterFlags.volumedtc;
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if (p2.Phantom)
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thisFlags |= RayFilterFlags.phantom;
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if ((thisFlags & CurrentRayFilter) == 0)
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if (p2.IsVolumeDtc)
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thisFlags |= RayFilterFlags.volumedtc;
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if ((thisFlags & CurrentRayFilter) == 0)
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return;
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ID = ((OdePrim)p2).LocalID;
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break;
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case (int)ActorTypes.Agent:
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if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
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return;
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else
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ID = ((OdeCharacter)p2).LocalID;
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break;
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case (int)ActorTypes.Ground:
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if ((CurrentRayFilter & RayFilterFlags.land) == 0)
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return;
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break;
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case (int)ActorTypes.Water:
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if ((CurrentRayFilter & RayFilterFlags.water) == 0)
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return;
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break;
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default:
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return;
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ID = ((OdePrim)p2).LocalID;
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break;
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}
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else if (p2 is OdeCharacter)
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{
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if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
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return;
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else
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ID = ((OdeCharacter)p2).LocalID;
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}
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else //??
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return;
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}
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d.ContactGeom curcontact = new d.ContactGeom();
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@ -903,7 +903,7 @@ namespace OdeAPI
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public static extern GeomClassID GeomGetClass(IntPtr geom);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GeomGetData(IntPtr geom);
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public static extern IntPtr GeomGetData(IntPtr geom);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]
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public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);
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@ -1096,8 +1096,8 @@ namespace OdeAPI
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomSetData(IntPtr geom, IntPtr data);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomSetData(IntPtr geom, IntPtr data);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);
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|
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@ -251,7 +251,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
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private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
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public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
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// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
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public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
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private float contactsurfacelayer = 0.002f;
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@ -274,7 +274,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
private int m_physicsiterations = 10;
|
||||
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;
|
||||
|
||||
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))
|
||||
return;
|
||||
|
||||
if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
|
||||
d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc)
|
||||
{
|
||||
|
|
@ -738,7 +739,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return;
|
||||
}
|
||||
|
||||
// id contacts done
|
||||
// contacts done
|
||||
if (count == 0)
|
||||
return;
|
||||
|
||||
|
|
@ -748,12 +749,14 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
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))
|
||||
{
|
||||
p2 = PANull;
|
||||
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
|
||||
return;
|
||||
}
|
||||
|
||||
// update actors collision score
|
||||
|
|
@ -765,7 +768,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
p2.CollisionScore = 0;
|
||||
p2.CollisionScore += count;
|
||||
|
||||
|
||||
// get first contact
|
||||
d.ContactGeom curContact = new d.ContactGeom();
|
||||
if (!GetCurContactGeom(0, ref curContact))
|
||||
|
|
@ -798,7 +800,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
ContactData contactdata1 = new ContactData(0, 0, false);
|
||||
ContactData contactdata2 = new ContactData(0, 0, false);
|
||||
|
||||
String name = null;
|
||||
bool dop1foot = false;
|
||||
bool dop2foot = false;
|
||||
bool ignore = false;
|
||||
|
|
@ -830,34 +831,16 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
switch (p2.PhysicsActorType)
|
||||
{
|
||||
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;
|
||||
p2.CollidingObj = true;
|
||||
break;
|
||||
|
||||
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)
|
||||
p2.CollidingObj = true;
|
||||
|
||||
dop1foot = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
ignore = true; // avatar to terrain and water ignored
|
||||
break;
|
||||
|
|
@ -869,9 +852,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
switch (p2.PhysicsActorType)
|
||||
{
|
||||
case (int)ActorTypes.Agent:
|
||||
// p1.getContactData(ref contactdata1);
|
||||
// p2.getContactData(ref contactdata2);
|
||||
|
||||
AvanormOverride = true;
|
||||
|
||||
Vector3 tmp = p2.Position - p1.Position;
|
||||
|
|
@ -894,16 +874,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
bounce = 0;
|
||||
mu = 0;
|
||||
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;
|
||||
if (p1.Velocity.LengthSquared() > 0.0f)
|
||||
p1.CollidingObj = true;
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Prim:
|
||||
if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
|
||||
{
|
||||
|
|
@ -933,95 +909,77 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
mu *= frictionMovementMult;
|
||||
|
||||
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")
|
||||
{
|
||||
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;
|
||||
}
|
||||
if (curContact.side1 > 0)
|
||||
IgnoreNegSides = true;
|
||||
}
|
||||
else
|
||||
ignore = true;
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Water:
|
||||
default:
|
||||
ignore = true;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
if (geom_name_map.TryGetValue(g1, out name))
|
||||
case (int)ActorTypes.Ground:
|
||||
if (p2.PhysicsActorType == (int)ActorTypes.Prim)
|
||||
{
|
||||
if (name == "Terrain")
|
||||
{
|
||||
if (p2.PhysicsActorType == (int)ActorTypes.Prim)
|
||||
{
|
||||
p2.CollidingGround = true;
|
||||
p2.getContactData(ref contactdata2);
|
||||
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;
|
||||
dscale = 10 / cfm;
|
||||
dscale = (float)Math.Sqrt(dscale);
|
||||
cfm = p2.Mass;
|
||||
dscale = 10 / cfm;
|
||||
dscale = (float)Math.Sqrt(dscale);
|
||||
|
||||
if (dscale > 1.0f)
|
||||
dscale = 1.0f;
|
||||
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;
|
||||
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;
|
||||
}
|
||||
else
|
||||
ignore = true;
|
||||
|
||||
}
|
||||
else if (name == "Water" &&
|
||||
(p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
|
||||
{
|
||||
ignore = true;
|
||||
}
|
||||
if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
|
||||
mu *= frictionMovementMult;
|
||||
}
|
||||
else
|
||||
ignore = true;
|
||||
break;
|
||||
}
|
||||
|
||||
case (int)ActorTypes.Water:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (ignore)
|
||||
return;
|
||||
|
||||
|
|
@ -1165,16 +1123,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
|
||||
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;
|
||||
|
||||
bool p1events = p1.SubscribedEvents();
|
||||
bool p2events = p2.SubscribedEvents();
|
||||
|
||||
|
|
@ -1183,15 +1134,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (p2.IsVolumeDtc)
|
||||
p1events = false;
|
||||
|
||||
if (!(p2events || p1events))
|
||||
if (!p2events && !p1events)
|
||||
return;
|
||||
|
||||
if (p1events)
|
||||
AddCollisionEventReporting(p1);
|
||||
|
||||
if (p2events)
|
||||
AddCollisionEventReporting(p2);
|
||||
|
||||
Vector3 vel = Vector3.Zero;
|
||||
if (p2 != null && p2.IsPhysical)
|
||||
vel = p2.Velocity;
|
||||
|
|
@ -1202,69 +1147,20 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
|
||||
|
||||
switch ((ActorTypes)p1.PhysicsActorType)
|
||||
{
|
||||
{
|
||||
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:
|
||||
|
||||
if (p1 is OdePrim)
|
||||
{
|
||||
cp1 = (OdePrim)p1;
|
||||
cp1Parent = cp1.Parent;
|
||||
{
|
||||
switch ((ActorTypes)p2.PhysicsActorType)
|
||||
{
|
||||
{
|
||||
case ActorTypes.Agent:
|
||||
if (p2 is OdeCharacter)
|
||||
{
|
||||
cc2 = (OdeCharacter)p2;
|
||||
obj2LocalID = cc2.LocalID;
|
||||
if (p2events)
|
||||
cc2.AddCollisionEvent(cp1Parent.LocalID, contact);
|
||||
}
|
||||
break;
|
||||
case ActorTypes.Prim:
|
||||
|
||||
if (p2 is OdePrim)
|
||||
{
|
||||
cp2 = (OdePrim)p2;
|
||||
if (p2events)
|
||||
cp2.AddCollisionEvent(cp1Parent.LocalID, contact);
|
||||
cp2 = cp2.Parent;
|
||||
obj2LocalID = cp2.LocalID;
|
||||
}
|
||||
if (p2events)
|
||||
{
|
||||
AddCollisionEventReporting(p2);
|
||||
p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
|
||||
}
|
||||
obj2LocalID = p2.ParentActor.LocalID;
|
||||
break;
|
||||
|
||||
case ActorTypes.Ground:
|
||||
|
|
@ -1272,41 +1168,28 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
default:
|
||||
obj2LocalID = 0;
|
||||
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.Unknown:
|
||||
default:
|
||||
switch ((ActorTypes)p2.PhysicsActorType)
|
||||
{
|
||||
if (p2events && !p2.IsVolumeDtc)
|
||||
{
|
||||
case ActorTypes.Agent:
|
||||
if (p2 is OdeCharacter)
|
||||
{
|
||||
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;
|
||||
AddCollisionEventReporting(p2);
|
||||
p2.AddCollisionEvent(0, contact);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// This is our collision testing routine in ODE
|
||||
|
|
@ -2369,6 +2252,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
RegionTerrain.Remove(pOffset);
|
||||
if (GroundGeom != IntPtr.Zero)
|
||||
{
|
||||
actor_name_map.Remove(GroundGeom);
|
||||
d.GeomDestroy(GroundGeom);
|
||||
|
||||
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
|
||||
|
|
@ -2394,27 +2278,32 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
|
||||
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);
|
||||
if (GroundGeom != IntPtr.Zero)
|
||||
{
|
||||
actor_name_map.Remove(GroundGeom);
|
||||
d.GeomDestroy(GroundGeom);
|
||||
|
||||
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
|
||||
|
|
@ -2509,13 +2399,18 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
|
||||
d.GeomSetCollideBits(GroundGeom, 0);
|
||||
|
||||
}
|
||||
geom_name_map[GroundGeom] = "Terrain";
|
||||
PhysicsActor pa = new NullPhysicsActor();
|
||||
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);
|
||||
RegionTerrain.Add(pOffset, GroundGeom);
|
||||
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
|
||||
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
|
||||
// geom_name_map[GroundGeom] = "Terrain";
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -2632,6 +2527,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
if (WaterGeom != IntPtr.Zero)
|
||||
{
|
||||
actor_name_map.Remove(WaterGeom);
|
||||
d.GeomDestroy(WaterGeom);
|
||||
d.GeomHeightfieldDataDestroy(WaterHeightmapData);
|
||||
WaterGeom = IntPtr.Zero;
|
||||
|
|
@ -2654,7 +2550,13 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water));
|
||||
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();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue