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update ubitOde

avinationmerge
UbitUmarov 2012-03-05 12:37:21 +00:00
parent a647a37683
commit 7377e633c7
4 changed files with 298 additions and 79 deletions
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4
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -72,11 +72,13 @@ namespace OpenSim.Region.Physics.Manager
{
public float mu;
public float bounce;
public bool softcolide;
public ContactData(float _mu, float _bounce)
public ContactData(float _mu, float _bounce, bool _softcolide)
{
mu = _mu;
bounce = _bounce;
softcolide = _softcolide;
}
}
/// <summary>

1
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -195,6 +195,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cdata.mu = mu;
cdata.bounce = bounce;
cdata.softcolide = false;
}
public override bool Building { get; set; }

357
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -114,6 +114,9 @@ namespace OpenSim.Region.Physics.OdePlugin
// private bool m_collidesLand = true;
private bool m_collidesWater;
public bool m_returnCollisions;
private bool m_softcolide;
private bool m_NoColide; // for now only for internal use for bad meshs
// Default we're a Geometry
private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@ -224,6 +227,9 @@ namespace OpenSim.Region.Physics.OdePlugin
cdata.mu = mu;
cdata.bounce = bounce;
// cdata.softcolide = m_softcolide;
cdata.softcolide = false;
if (m_isphysical)
{
ODEDynamics veh;
@ -303,7 +309,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
if (m_colliderfilter == 0)
{
m_softcolide = false;
m_iscolliding = false;
}
else
m_iscolliding = true;
}
@ -859,7 +868,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_size = size;
if (!QuaternionIsFinite(rotation))
{
rotation = Quaternion.Identity;
@ -890,6 +898,8 @@ namespace OpenSim.Region.Physics.OdePlugin
m_iscolliding = false;
m_colliderfilter = 0;
m_softcolide = true;
m_NoColide = false;
hasOOBoffsetFromMesh = false;
_triMeshData = IntPtr.Zero;
@ -1037,34 +1047,42 @@ namespace OpenSim.Region.Physics.OdePlugin
if (vertexCount == 0 || indexCount == 0)
{
m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. It can be a sculp with alpha channel in map. Replacing it by a small box.", Name, _position.X, _position.Y, _position.Z);
_size.X = 0.01f;
_size.Y = 0.01f;
_size.Z = 0.01f;
m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
mesh.releaseSourceMeshData();
return false;
}
primOOBoffset = mesh.GetCentroid();
hasOOBoffsetFromMesh = true;
_triMeshData = d.GeomTriMeshDataCreate();
d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
d.GeomTriMeshDataPreprocess(_triMeshData);
mesh.releaseSourceMeshData();
_parent_scene.waitForSpaceUnlock(m_targetSpace);
IntPtr geo = IntPtr.Zero;
try
{
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
_triMeshData = d.GeomTriMeshDataCreate();
d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
d.GeomTriMeshDataPreprocess(_triMeshData);
_parent_scene.waitForSpaceUnlock(m_targetSpace);
geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
}
catch (Exception e)
{
m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
if (_triMeshData != IntPtr.Zero)
{
d.GeomTriMeshDataDestroy(_triMeshData);
_triMeshData = IntPtr.Zero;
}
return false;
}
SetGeom(geo);
return true;
}
@ -1074,25 +1092,30 @@ namespace OpenSim.Region.Physics.OdePlugin
//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
if (m_isphysical)
{
d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
}
else
{
d.GeomSetCollideBits(prim_geom, 0);
d.GeomDisable(prim_geom);
}
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
CalcPrimBodyData();
_parent_scene.geom_name_map[prim_geom] = Name;
_parent_scene.actor_name_map[prim_geom] = this;
/*
if (childPrim)
{
if (_parent != null && _parent is OdePrim)
{
OdePrim parent = (OdePrim)_parent;
//Console.WriteLine("SetGeom calls ChildSetGeom");
parent.ChildSetGeom(this);
}
}
*/
}
else
m_log.Warn("Setting bad Geom");
@ -1114,10 +1137,13 @@ namespace OpenSim.Region.Physics.OdePlugin
bool haveMesh = false;
hasOOBoffsetFromMesh = false;
m_NoColide = false;
if (_parent_scene.needsMeshing(_pbs))
{
haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
if (!haveMesh)
m_NoColide = true;
}
if (!haveMesh)
@ -1209,12 +1235,46 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (!childPrim && !m_isSelected)
{
if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
if (m_isphysical && Body != IntPtr.Zero)
{
d.GeomEnable(prim_geom);
foreach (OdePrim prm in childrenPrim)
d.GeomEnable(prm.prim_geom);
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
foreach (OdePrim prm in childrenPrim)
{
prm.m_collisionCategories = m_collisionCategories;
prm.m_collisionFlags = m_collisionFlags;
if (prm.prim_geom != IntPtr.Zero)
{
if (prm.m_NoColide)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
}
d.GeomEnable(prm.prim_geom);
}
}
if (prim_geom != IntPtr.Zero)
{
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
d.GeomEnable(prim_geom);
}
d.BodyEnable(Body);
}
}
@ -1227,11 +1287,47 @@ namespace OpenSim.Region.Physics.OdePlugin
m_disabled = true;
if (!childPrim)
{
if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
if (m_isphysical && Body != IntPtr.Zero)
{
d.GeomDisable(prim_geom);
m_collisionCategories &= ~CollisionCategories.Body;
m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
foreach (OdePrim prm in childrenPrim)
d.GeomDisable(prm.prim_geom);
{
prm.m_collisionCategories = m_collisionCategories;
prm.m_collisionFlags = m_collisionFlags;
if (prm.prim_geom != IntPtr.Zero)
{
if (prm.m_NoColide)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
d.GeomSetCollideBits(prm.prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
}
d.GeomDisable(prm.prim_geom);
}
}
if (prim_geom != IntPtr.Zero)
{
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
d.GeomDisable(prim_geom);
}
d.BodyDisable(Body);
}
}
@ -1310,8 +1406,6 @@ namespace OpenSim.Region.Physics.OdePlugin
continue;
}
DMassCopy(ref prm.primdMass, ref tmpdmass);
// apply prim current rotation to inertia
@ -1373,14 +1467,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// d.BodySetAngularDampingThreshold(Body, 0.001f);
d.BodySetDamping(Body, .002f, .002f);
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
m_collisionscore = 0;
// if (m_targetSpace != _parent_scene.ActiveSpace)
{
if (m_targetSpace != IntPtr.Zero)
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
@ -1388,10 +1475,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.SpaceRemove(m_targetSpace, prim_geom);
}
// m_targetSpace = _parent_scene.ActiveSpace;
// d.SpaceAdd(m_targetSpace, prim_geom);
}
if (childrenPrim.Count == 0)
{
@ -1419,12 +1502,6 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 ppos = prm._position;
d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
prm.m_collisionscore = 0;
if (prm.m_targetSpace != m_targetSpace)
{
if (prm.m_targetSpace != IntPtr.Zero)
@ -1438,9 +1515,32 @@ namespace OpenSim.Region.Physics.OdePlugin
}
if (m_isSelected || m_disabled)
{
prm.m_collisionCategories &= ~CollisionCategories.Body;
prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
d.GeomDisable(prm.prim_geom);
}
else
{
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
}
if (prm.m_NoColide)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
}
prm.m_collisionscore = 0;
if(!m_disabled)
prm.m_disabled = false;
prm.m_disabled = false;
_parent_scene.addActivePrim(prm);
}
}
@ -1453,15 +1553,35 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_isSelected || m_disabled)
{
m_collisionCategories &= ~CollisionCategories.Body;
m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
d.GeomDisable(prim_geom);
d.BodyDisable(Body);
}
else
{
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
}
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
m_collisionscore = 0;
m_softcolide = true;
_parent_scene.addActivePrim(this);
_parent_scene.addActiveGroups(this);
}
@ -1475,8 +1595,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
UpdateDataFromGeom();
d.GeomSetBody(prim_geom, IntPtr.Zero);
SetInStaticSpace(this);
@ -1489,12 +1617,20 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (OdePrim prm in childrenPrim)
{
_parent_scene.remActivePrim(prm);
prm.m_collisionCategories &= ~CollisionCategories.Body;
prm.m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
prm.m_collisionCategories = m_collisionCategories;
prm.m_collisionFlags = m_collisionFlags;
if (prm.prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
if (prm.m_NoColide)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
d.GeomSetCollideBits(prm.prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
}
prm.UpdateDataFromGeom();
SetInStaticSpace(prm);
}
@ -2044,23 +2180,14 @@ namespace OpenSim.Region.Physics.OdePlugin
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.GeomSetQuaternion(prim_geom, ref myrot);
// _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
if (!m_isphysical)
SetInStaticSpace(this);
}
if (m_isphysical && Body == IntPtr.Zero)
{
/*
if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
{
changeShape(_pbs);
}
else
{
*/
MakeBody();
// }
}
}
@ -2169,17 +2296,52 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!childPrim && Body != IntPtr.Zero)
d.BodyDisable(Body);
if (m_delaySelect)
if (m_delaySelect || m_isphysical)
{
m_collisionCategories = CollisionCategories.Selected;
m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
if (!childPrim)
{
foreach (OdePrim prm in childrenPrim)
{
d.GeomDisable(prm.prim_geom);
prm.m_collisionCategories = m_collisionCategories;
prm.m_collisionFlags = m_collisionFlags;
if (prm.prim_geom != null)
{
if (prm.m_NoColide)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
d.GeomSetCollideBits(prm.prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
}
d.GeomDisable(prm.prim_geom);
}
prm.m_delaySelect = false;
}
}
d.GeomDisable(prim_geom);
if (prim_geom != null)
{
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
d.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
d.GeomDisable(prim_geom);
}
m_delaySelect = false;
}
else
@ -2192,19 +2354,64 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!childPrim && Body != IntPtr.Zero && !m_disabled)
d.BodyEnable(Body);
m_collisionCategories = CollisionCategories.Geom;
if (m_isphysical)
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
if (m_collidesWater)
m_collisionFlags |= CollisionCategories.Water;
if (!childPrim)
{
foreach (OdePrim prm in childrenPrim)
{
if(!prm.m_disabled)
prm.m_collisionCategories = m_collisionCategories;
prm.m_collisionFlags = m_collisionFlags;
if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
{
if (prm.m_NoColide)
{
d.GeomSetCategoryBits(prm.prim_geom, 0);
if (m_isphysical)
d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
else
d.GeomSetCollideBits(prm.prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
}
d.GeomEnable(prm.prim_geom);
}
prm.m_delaySelect = false;
prm.m_softcolide = true;
}
}
if(!m_disabled)
if (!m_disabled && prim_geom != IntPtr.Zero)
{
if (m_NoColide)
{
d.GeomSetCategoryBits(prim_geom, 0);
if (m_isphysical)
d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
else
d.GeomSetCollideBits(prim_geom, 0);
}
else
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
d.GeomEnable(prim_geom);
}
m_delaySelect = false;
m_softcolide = true;
}
resetCollisionAccounting();
@ -2250,6 +2457,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (givefakepos < 0)
givefakepos = 0;
// changeSelectedStatus();
m_softcolide = true;
resetCollisionAccounting();
}
@ -2302,6 +2510,7 @@ namespace OpenSim.Region.Physics.OdePlugin
givefakeori--;
if (givefakeori < 0)
givefakeori = 0;
m_softcolide = true;
resetCollisionAccounting();
}
@ -2372,6 +2581,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (givefakeori < 0)
givefakeori = 0;
m_softcolide = true;
resetCollisionAccounting();
}
@ -2488,6 +2698,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
MakeBody();
m_softcolide = true;
resetCollisionAccounting();
}

15
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -693,8 +693,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// big messy collision analises
float mu = 0;
float bounce = 0;
ContactData contactdata1 = new ContactData(0, 0);
ContactData contactdata2 = new ContactData(0, 0);
ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false);
bool erpSoft = false;
String name = null;
@ -718,6 +718,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
mu *= frictionMovementMult;
erpSoft = contactdata1.softcolide | contactdata2.softcolide;
p1.CollidingObj = true;
p2.CollidingObj = true;
break;
@ -732,6 +733,9 @@ namespace OpenSim.Region.Physics.OdePlugin
mu *= frictionMovementMult;
if (p2.Velocity.LengthSquared() > 0.0f)
p2.CollidingObj = true;
erpSoft = contactdata1.softcolide | contactdata2.softcolide;
dop1foot = true;
break;
default:
@ -753,6 +757,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
mu *= frictionMovementMult;
erpSoft = contactdata1.softcolide | contactdata2.softcolide;
dop2foot = true;
if (p1.Velocity.LengthSquared() > 0.0f)
p1.CollidingObj = true;
@ -766,7 +771,7 @@ namespace OpenSim.Region.Physics.OdePlugin
p1.getContactData(ref contactdata1);
p2.getContactData(ref contactdata2);
bounce = contactdata1.bounce * contactdata2.bounce;
erpSoft = true;
erpSoft = contactdata1.softcolide | contactdata2.softcolide;
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))
@ -778,12 +783,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (name == "Terrain")
{
erpSoft = 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;
erpSoft = contactdata1.softcolide;
p1.CollidingGround = true;
}
else if (name == "Water")
@ -804,11 +809,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (p2.PhysicsActorType == (int)ActorTypes.Prim)
{
erpSoft = true;
p2.CollidingGround = true;
p2.getContactData(ref contactdata2);
bounce = contactdata2.bounce * TerrainBounce;
mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
erpSoft = contactdata2.softcolide;
if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
mu *= frictionMovementMult;