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ubOde: slow down collision events to attachments

0.9.1.0-post-fixes
UbitUmarov 2018-12-06 18:50:42 +00:00
parent d2bfe986bf
commit 66f46c6846
2 changed files with 52 additions and 25 deletions
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64
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@ -86,6 +86,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public float m_density = 60f; public float m_density = 60f;
private bool m_pidControllerActive = true; private bool m_pidControllerActive = true;
public int m_bodydisablecontrol = 0;
const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80)) const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80))
const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80)) const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80))
public float PID_D; public float PID_D;
@ -803,6 +805,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
m_pidControllerActive = true; m_pidControllerActive = true;
_acceleration = accel; _acceleration = accel;
if (Body != IntPtr.Zero)
SafeNativeMethods.BodyEnable(Body);
} }
/// <summary> /// <summary>
@ -894,7 +898,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_velocity = Vector3.Zero; _velocity = Vector3.Zero;
SafeNativeMethods.BodySetAutoDisableFlag(Body,false); // SafeNativeMethods.BodySetAutoDisableFlag(Body,false);
SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
m_bodydisablecontrol = 0;
SafeNativeMethods.BodySetPosition(Body,npositionX,npositionY,npositionZ); SafeNativeMethods.BodySetPosition(Body,npositionX,npositionY,npositionZ);
_position.X = npositionX; _position.X = npositionX;
@ -973,7 +980,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if(collider != IntPtr.Zero) if(collider != IntPtr.Zero)
{ {
m_parent_scene.actor_name_map.Remove(collider);
SafeNativeMethods.SpaceDestroy(collider); SafeNativeMethods.SpaceDestroy(collider);
collider = IntPtr.Zero; collider = IntPtr.Zero;
} }
@ -1142,6 +1148,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if(Body == IntPtr.Zero) if(Body == IntPtr.Zero)
return; return;
if (!SafeNativeMethods.BodyIsEnabled(Body))
{
if (++m_bodydisablecontrol < 50)
return;
// clear residuals
SafeNativeMethods.BodySetAngularVel(Body, 0f, 0f, 0f);
SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
_zeroFlag = true;
SafeNativeMethods.BodyEnable(Body);
}
m_bodydisablecontrol = 0;
SafeNativeMethods.Vector3 dtmp = SafeNativeMethods.BodyGetPosition(Body); SafeNativeMethods.Vector3 dtmp = SafeNativeMethods.BodyGetPosition(Body);
Vector3 localpos = new Vector3(dtmp.X,dtmp.Y,dtmp.Z); Vector3 localpos = new Vector3(dtmp.X,dtmp.Y,dtmp.Z);
@ -1780,6 +1800,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if(m_cureventsubscription < m_eventsubscription) if(m_cureventsubscription < m_eventsubscription)
return; return;
if(Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
return;
lock(CollisionEventsThisFrame) lock(CollisionEventsThisFrame)
{ {
int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
@ -1820,7 +1843,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
AvatarGeomAndBodyCreation(_position.X,_position.Y,_position.Z); AvatarGeomAndBodyCreation(_position.X,_position.Y,_position.Z);
m_parent_scene.actor_name_map[collider] = (PhysicsActor)this;
m_parent_scene.actor_name_map[capsule] = (PhysicsActor)this; m_parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
m_parent_scene.AddCharacter(this); m_parent_scene.AddCharacter(this);
} }
@ -1874,7 +1896,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// Velocity = Vector3.Zero; // Velocity = Vector3.Zero;
m_targetVelocity = Vector3.Zero; m_targetVelocity = Vector3.Zero;
m_parent_scene.actor_name_map[collider] = (PhysicsActor)this;
m_parent_scene.actor_name_map[capsule] = (PhysicsActor)this; m_parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
} }
m_freemove = false; m_freemove = false;
@ -1889,7 +1910,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void changePosition(Vector3 newPos) private void changePosition(Vector3 newPos)
{ {
if(Body != IntPtr.Zero) if(Body != IntPtr.Zero)
SafeNativeMethods.BodySetPosition(Body,newPos.X,newPos.Y,newPos.Z); {
SafeNativeMethods.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
SafeNativeMethods.BodyEnable(Body);
}
_position = newPos; _position = newPos;
m_freemove = false; m_freemove = false;
m_pidControllerActive = true; m_pidControllerActive = true;
@ -1920,12 +1945,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_orientation2D.Y = 0f; m_orientation2D.Y = 0f;
m_orientation2D.X = 0f; m_orientation2D.X = 0f;
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion(); if (Body != IntPtr.Zero)
myrot.X = m_orientation2D.X; {
myrot.Y = m_orientation2D.Y; SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.Z = m_orientation2D.Z; myrot.X = m_orientation2D.X;
myrot.W = m_orientation2D.W; myrot.Y = m_orientation2D.Y;
SafeNativeMethods.BodySetQuaternion(Body,ref myrot); myrot.Z = m_orientation2D.Z;
myrot.W = m_orientation2D.W;
SafeNativeMethods.BodySetQuaternion(Body,ref myrot);
SafeNativeMethods.BodyEnable(Body);
}
} }
} }
@ -1934,8 +1963,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_velocity = newVel; _velocity = newVel;
setFreeMove(); setFreeMove();
if(Body != IntPtr.Zero) if (Body != IntPtr.Zero)
SafeNativeMethods.BodySetLinearVel(Body,newVel.X,newVel.Y,newVel.Z); {
SafeNativeMethods.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
SafeNativeMethods.BodyEnable(Body);
}
} }
private void changeTargetVelocity(Vector3 newVel) private void changeTargetVelocity(Vector3 newVel)
@ -1943,6 +1975,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_pidControllerActive = true; m_pidControllerActive = true;
m_freemove = false; m_freemove = false;
_target_velocity = newVel; _target_velocity = newVel;
if (Body != IntPtr.Zero)
SafeNativeMethods.BodyEnable(Body);
} }
private void changeSetTorque(Vector3 newTorque) private void changeSetTorque(Vector3 newTorque)
@ -2006,6 +2040,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
if(newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0) if(newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
SafeNativeMethods.BodyAddForce(Body,newForce.X,newForce.Y,newForce.Z); SafeNativeMethods.BodyAddForce(Body,newForce.X,newForce.Y,newForce.Z);
SafeNativeMethods.BodyEnable(Body);
} }
} }
@ -2016,7 +2051,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
setFreeMove(); setFreeMove();
if(Body != IntPtr.Zero) if(Body != IntPtr.Zero)
{
SafeNativeMethods.BodySetLinearVel(Body,newmomentum.X,newmomentum.Y,newmomentum.Z); SafeNativeMethods.BodySetLinearVel(Body,newmomentum.X,newmomentum.Y,newmomentum.Z);
SafeNativeMethods.BodyEnable(Body);
}
} }
private void changePIDHoverHeight(float val) private void changePIDHoverHeight(float val)

13
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
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@ -221,7 +221,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public float bodyPIDD = 35f; public float bodyPIDD = 35f;
public float bodyPIDG = 25; public float bodyPIDG = 25;
public int bodyFramesAutoDisable = 5; public int bodyFramesAutoDisable = 10;
private SafeNativeMethods.NearCallback nearCallback; private SafeNativeMethods.NearCallback nearCallback;
@ -1858,17 +1858,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return fps; return fps;
} }
/// <summary>
public override void GetResults()
{
}
public override bool IsThreaded
{
// for now we won't be multithreaded
get { return (false); }
}
public float GetTerrainHeightAtXY(float x, float y) public float GetTerrainHeightAtXY(float x, float y)
{ {
if (m_terrainGeom == IntPtr.Zero) if (m_terrainGeom == IntPtr.Zero)