refactor: move 3x copy/pasted ode structure removal code in ODECharacter into a DestroyOdeStructures() method
also adds some method doc0.7.2-post-fixes
parent
b342fb9c0a
commit
64c42a729a
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@ -75,8 +75,25 @@ namespace OpenSim.Region.Physics.Manager
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public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
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/// <summary>
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/// Add an avatar
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/// </summary>
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/// <param name="avName"></param>
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/// <param name="position"></param>
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/// <param name="size"></param>
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/// <param name="isFlying"></param>
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/// <returns></returns>
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public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
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/// <summary>
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/// Add an avatar
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/// </summary>
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/// <param name="localID"></param>
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/// <param name="avName"></param>
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/// <param name="position"></param>
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/// <param name="size"></param>
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/// <param name="isFlying"></param>
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/// <returns></returns>
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public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
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{
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PhysicsActor ret = AddAvatar(avName, position, size, isFlying);
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@ -84,10 +101,14 @@ namespace OpenSim.Region.Physics.Manager
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return ret;
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}
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/// <summary>
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/// Remove an avatar.
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/// </summary>
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/// <param name="actor"></param>
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public abstract void RemoveAvatar(PhysicsActor actor);
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/// <summary>
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/// Remove a prim from the physics scene.
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/// Remove a prim.
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/// </summary>
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/// <param name="prim"></param>
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public abstract void RemovePrim(PhysicsActor prim);
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@ -39,7 +39,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// <summary>
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/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
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/// </summary>
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public enum dParam : int
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{
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LowStop = 0,
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@ -64,6 +63,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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StopERP3 = 7 + 512,
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StopCFM3 = 8 + 512
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}
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public class OdeCharacter : PhysicsActor
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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@ -107,9 +107,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
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public float MinimumGroundFlightOffset = 3f;
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private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
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private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
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private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
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/// <summary>
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/// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
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/// </summary>
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private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f;
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private float m_buoyancy = 0f;
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@ -891,12 +894,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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}
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/// <summary>
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/// Called from Simulate
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/// This is the avatar's movement control + PID Controller
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/// </summary>
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/// <param name="timeStep"></param>
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/// <param name="defects">
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/// If there is something wrong with the character (e.g. its position is non-finite)
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/// then it is added to this list. The ODE structures associated with it are also destroyed.</param>
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public void Move(float timeStep, List<OdeCharacter> defects)
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{
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// no lock; for now it's only called from within Simulate()
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@ -918,36 +923,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (!localPos.IsFinite())
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{
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m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
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defects.Add(this);
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// _parent_scene.RemoveCharacter(this);
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// destroy avatar capsule and related ODE data
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if (Amotor != IntPtr.Zero)
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{
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// Kill the Amotor
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d.JointDestroy(Amotor);
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Amotor = IntPtr.Zero;
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}
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//kill the Geometry
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_parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (Body != IntPtr.Zero)
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{
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//kill the body
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d.BodyDestroy(Body);
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Body = IntPtr.Zero;
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}
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if (Shell != IntPtr.Zero)
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{
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d.GeomDestroy(Shell);
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_parent_scene.geom_name_map.Remove(Shell);
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Shell = IntPtr.Zero;
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}
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DestroyOdeStructures();
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return;
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}
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@ -975,6 +956,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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_zeroFlag = true;
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_zeroPosition = d.BodyGetPosition(Body);
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}
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if (m_pidControllerActive)
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{
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// We only want to deactivate the PID Controller if we think we want to have our surrogate
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@ -1005,14 +987,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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else if (m_iscolliding && flying)
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{
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// We're flying and colliding with something
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vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
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vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
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vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
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vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
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}
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else if (!m_iscolliding && flying)
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{
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// we're in mid air suspended
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vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
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vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
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vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
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vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
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}
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if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
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@ -1023,11 +1005,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
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if (_target_velocity.X > 0)
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{
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vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D;
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vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
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}
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if (_target_velocity.Y > 0)
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{
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vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D;
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vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
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}
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}
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else if (!m_iscolliding && !flying)
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@ -1051,9 +1033,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
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}
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}
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if (flying)
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{
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vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
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vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
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//Added for auto fly height. Kitto Flora
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//d.Vector3 pos = d.BodyGetPosition(Body);
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@ -1065,13 +1048,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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// end add Kitto Flora
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}
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if (vec.IsFinite())
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{
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doForce(vec);
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if (!_zeroFlag)
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{
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AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
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}
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AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
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}
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else
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{
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@ -1079,30 +1062,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
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defects.Add(this);
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// _parent_scene.RemoveCharacter(this);
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// destroy avatar capsule and related ODE data
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if (Amotor != IntPtr.Zero)
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{
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// Kill the Amotor
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d.JointDestroy(Amotor);
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Amotor = IntPtr.Zero;
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}
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//kill the Geometry
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_parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (Body != IntPtr.Zero)
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{
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//kill the body
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d.BodyDestroy(Body);
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Body = IntPtr.Zero;
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}
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if (Shell != IntPtr.Zero)
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{
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d.GeomDestroy(Shell);
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_parent_scene.geom_name_map.Remove(Shell);
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Shell = IntPtr.Zero;
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}
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DestroyOdeStructures();
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}
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}
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@ -1125,7 +1086,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
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m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
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}
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// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
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if (vec.X < 0.0f) vec.X = 0.0f;
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@ -1204,6 +1164,38 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.AddPhysicsActorTaint(this);
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}
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/// <summary>
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/// Used internally to destroy the ODE structures associated with this character.
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/// </summary>
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public void DestroyOdeStructures()
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{
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// destroy avatar capsule and related ODE data
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if (Amotor != IntPtr.Zero)
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{
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// Kill the Amotor
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d.JointDestroy(Amotor);
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Amotor = IntPtr.Zero;
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}
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//kill the Geometry
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_parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (Body != IntPtr.Zero)
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{
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//kill the body
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d.BodyDestroy(Body);
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Body = IntPtr.Zero;
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}
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if (Shell != IntPtr.Zero)
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{
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d.GeomDestroy(Shell);
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_parent_scene.geom_name_map.Remove(Shell);
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Shell = IntPtr.Zero;
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}
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}
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public override void CrossingFailure()
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{
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}
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@ -1273,7 +1265,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void ProcessTaints(float timestep)
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{
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if (m_tainted_isPhysical != m_isPhysical)
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{
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if (m_tainted_isPhysical)
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@ -1295,31 +1286,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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else
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{
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_parent_scene.RemoveCharacter(this);
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// destroy avatar capsule and related ODE data
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if (Amotor != IntPtr.Zero)
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{
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// Kill the Amotor
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d.JointDestroy(Amotor);
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Amotor = IntPtr.Zero;
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}
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//kill the Geometry
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_parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (Body != IntPtr.Zero)
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{
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//kill the body
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d.BodyDestroy(Body);
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Body = IntPtr.Zero;
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}
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if (Shell != IntPtr.Zero)
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{
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d.GeomDestroy(Shell);
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_parent_scene.geom_name_map.Remove(Shell);
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Shell = IntPtr.Zero;
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}
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DestroyOdeStructures();
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}
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m_isPhysical = m_tainted_isPhysical;
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