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* Tweaks physics so that linked prim are a single body. This will make linked prim more stable and probably the last obstacle to vehicles physics wise. 

* Fixed a bug that caused physics proxies to be scattered when you link an object.
* Single physical prim work exactly the same as before, just linked physical prim will have changed.
0.6.1-post-fixes
Teravus Ovares 2008-12-07 04:03:09 +00:00
parent 6ab09bc139
commit 76e1462dff
5 changed files with 701 additions and 87 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
OpenSim/Region/Environment/Scenes/SceneGraph.cs
View File

@ -1405,6 +1405,10 @@ namespace OpenSim.Region.Environment.Scenes
foreach (SceneObjectGroup sceneObj in children)
{
parenPrim.LinkToGroup(sceneObj);
// this is here so physics gets updated!
// Don't remove! Bad juju! Stay away! or fix physics!
sceneObj.AbsolutePosition = sceneObj.AbsolutePosition;
}
// We need to explicitly resend the newly link prim's object properties since no other actions

6
OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
View File

@ -1247,6 +1247,12 @@ if (m_shape != null) {
if (userExposed)
dupe.UUID = UUID.Random();
//memberwiseclone means it also clones the physics actor reference
// This will make physical prim 'bounce' if not set to null.
if (!userExposed)
dupe.PhysActor = null;
dupe._ownerID = AgentID;
dupe._groupID = GroupID;
dupe.GroupPosition = GroupPosition;

497
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -24,7 +24,6 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Reflection;
@ -118,6 +117,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsActor _parent = null;
private PhysicsActor m_taintparent = null;
private List<OdePrim> childrenPrim = new List<OdePrim>();
private bool iscolliding = false;
private bool m_isphysical = false;
private bool m_isSelected = false;
@ -147,6 +148,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private IntPtr m_linkJoint = (IntPtr)0;
public volatile bool childPrim = false;
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
@ -161,10 +164,10 @@ namespace OpenSim.Region.Physics.OdePlugin
m_density = parent_scene.geomDefaultDensity;
m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = (IntPtr)0;
prev_geom = (IntPtr)0;
prim_geom = IntPtr.Zero;
prev_geom = IntPtr.Zero;
if (size.X <= 0) size.X = 0.01f;
if (size.Y <= 0) size.Y = 0.01f;
@ -247,64 +250,83 @@ namespace OpenSim.Region.Physics.OdePlugin
{
prev_geom = prim_geom;
prim_geom = geom;
if (prim_geom != (IntPtr)0)
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
if (childPrim)
{
if (_parent != null && _parent is OdePrim)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildSetGeom(this);
}
}
//m_log.Warn("Setting Geom to: " + prim_geom);
}
public void enableBodySoft()
{
if (m_isphysical && Body != (IntPtr)0)
d.BodyEnable(Body);
if (!childPrim)
{
if (m_isphysical && Body != IntPtr.Zero)
d.BodyEnable(Body);
m_disabled = false;
m_disabled = false;
}
}
public void disableBodySoft()
{
m_disabled = true;
if (m_isphysical && Body != (IntPtr)0)
if (m_isphysical && Body != IntPtr.Zero)
d.BodyDisable(Body);
}
public void enableBody()
{
// Sets the geom to a body
Body = d.BodyCreate(_parent_scene.world);
setMass();
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.BodySetQuaternion(Body, ref myrot);
d.GeomSetBody(prim_geom, Body);
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0;
m_collisionscore = 0;
m_disabled = false;
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
// Don't enable this body if we're a child prim
// this should be taken care of in the parent function not here
if (!childPrim)
{
createAMotor(m_angularlock);
}
// Sets the geom to a body
Body = d.BodyCreate(_parent_scene.world);
_parent_scene.addActivePrim(this);
setMass();
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.BodySetQuaternion(Body, ref myrot);
d.GeomSetBody(prim_geom, Body);
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0;
m_collisionscore = 0;
m_disabled = false;
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
{
createAMotor(m_angularlock);
}
_parent_scene.addActivePrim(this);
}
}
#region Mass Calculation
@ -627,20 +649,41 @@ namespace OpenSim.Region.Physics.OdePlugin
//this kills the body so things like 'mesh' can re-create it.
lock (this)
{
if (Body != (IntPtr)0)
if (!childPrim)
{
if (Body != IntPtr.Zero)
{
_parent_scene.remActivePrim(this);
m_collisionCategories &= ~CollisionCategories.Body;
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);
}
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
}
else
{
_parent_scene.remActivePrim(this);
m_collisionCategories &= ~CollisionCategories.Body;
m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
if (prim_geom != (IntPtr)0)
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
_parent_scene.remActivePrim(this);
d.BodyDestroy(Body);
Body = (IntPtr)0;
Body = IntPtr.Zero;
}
}
m_disabled = true;
@ -655,9 +698,20 @@ namespace OpenSim.Region.Physics.OdePlugin
Thread.Sleep(10);
//Kill Body so that mesh can re-make the geom
if (IsPhysical && Body != (IntPtr) 0)
if (IsPhysical && Body != IntPtr.Zero)
{
disableBody();
if (childPrim)
{
if (_parent != null)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildDelink(this);
}
}
else
{
disableBody();
}
}
IMesh oldMesh = primMesh;
@ -682,7 +736,7 @@ namespace OpenSim.Region.Physics.OdePlugin
try
{
if (prim_geom == (IntPtr)0)
if (prim_geom == IntPtr.Zero)
{
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
}
@ -715,7 +769,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
changeadd(timestep);
}
if (prim_geom != (IntPtr)0)
if (prim_geom != IntPtr.Zero)
{
if (!_position.IsIdentical(m_taintposition,0f))
changemove(timestep);
@ -724,7 +778,7 @@ namespace OpenSim.Region.Physics.OdePlugin
rotate(timestep);
//
if (m_taintPhysics != m_isphysical)
if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
changePhysicsStatus(timestep);
//
@ -783,7 +837,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Amotor != IntPtr.Zero)
{
d.JointDestroy(Amotor);
Amotor = (IntPtr)0;
Amotor = IntPtr.Zero;
}
}
}
@ -794,11 +848,18 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changelink(float timestep)
{
// If the newly set parent is not null
// create link
if (_parent == null && m_taintparent != null)
{
if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim)
{
OdePrim obj = (OdePrim)m_taintparent;
//obj.disableBody();
obj.ParentPrim(this);
/*
if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body)
{
_linkJointGroup = d.JointGroupCreate(0);
@ -806,18 +867,245 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointAttach(m_linkJoint, obj.Body, Body);
d.JointSetFixed(m_linkJoint);
}
*/
}
}
// If the newly set parent is null
// destroy link
else if (_parent != null && m_taintparent == null)
{
if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0)
if (_parent is OdePrim)
{
OdePrim obj = (OdePrim)_parent;
obj.ChildDelink(this);
childPrim = false;
//_parent = null;
}
/*
if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0)
d.JointGroupDestroy(_linkJointGroup);
_linkJointGroup = (IntPtr)0;
m_linkJoint = (IntPtr)0;
_linkJointGroup = (IntPtr)0;
m_linkJoint = (IntPtr)0;
*/
}
_parent = m_taintparent;
m_taintPhysics = m_isphysical;
}
// I'm the parent
// prim is the child
public void ParentPrim(OdePrim prim)
{
if (this.m_localID != prim.m_localID)
{
if (Body == IntPtr.Zero)
{
Body = d.BodyCreate(_parent_scene.world);
}
if (Body != IntPtr.Zero)
{
lock (childrenPrim)
{
if (!childrenPrim.Contains(prim))
{
childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
{
d.Mass m2;
d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(out m2, ref mat);
d.MassTranslate(out m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
}
foreach (OdePrim prm in childrenPrim)
{
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);
d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
if (Body != IntPtr.Zero)
{
d.GeomSetBody(prm.prim_geom, Body);
prm.childPrim = true;
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(out pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
}
else
{
m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
}
prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0;
prm.m_disabled = false;
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
{
prm.createAMotor(m_angularlock);
}
prm.Body = Body;
_parent_scene.addActivePrim(prm);
}
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
d.Quaternion quat2 = new d.Quaternion();
quat2.W = _orientation.W;
quat2.X = _orientation.X;
quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z;
d.Matrix3 mat2 = new d.Matrix3();
d.RfromQ(out mat2, ref quat2);
d.GeomSetBody(prim_geom, Body);
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(out pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0;
m_collisionscore = 0;
m_disabled = false;
// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
{
createAMotor(m_angularlock);
}
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
_parent_scene.addActivePrim(this);
}
}
}
}
}
private void ChildSetGeom(OdePrim odePrim)
{
//if (m_isphysical && Body != IntPtr.Zero)
lock (childrenPrim)
{
foreach (OdePrim prm in childrenPrim)
{
//prm.childPrim = true;
prm.disableBody();
//prm.m_taintparent = null;
//prm._parent = null;
//prm.m_taintPhysics = false;
//prm.m_disabled = true;
//prm.childPrim = false;
}
}
disableBody();
if (Body != IntPtr.Zero)
{
_parent_scene.remActivePrim(this);
}
lock (childrenPrim)
{
foreach (OdePrim prm in childrenPrim)
{
ParentPrim(prm);
}
}
}
private void ChildDelink(OdePrim odePrim)
{
// Okay, we have a delinked child.. need to rebuild the body.
lock (childrenPrim)
{
foreach (OdePrim prm in childrenPrim)
{
prm.childPrim = true;
prm.disableBody();
//prm.m_taintparent = null;
//prm._parent = null;
//prm.m_taintPhysics = false;
//prm.m_disabled = true;
//prm.childPrim = false;
}
}
disableBody();
lock (childrenPrim)
{
childrenPrim.Remove(odePrim);
}
if (Body != IntPtr.Zero)
{
_parent_scene.remActivePrim(this);
}
lock (childrenPrim)
{
foreach (OdePrim prm in childrenPrim)
{
ParentPrim(prm);
}
}
}
private void changeSelectedStatus(float timestep)
@ -837,7 +1125,7 @@ namespace OpenSim.Region.Physics.OdePlugin
disableBodySoft();
}
if (prim_geom != (IntPtr)0)
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
@ -862,7 +1150,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_collidesWater)
m_collisionFlags |= CollisionCategories.Water;
if (prim_geom != (IntPtr)0)
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
@ -993,7 +1281,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
CreateGeom(m_targetSpace, _mesh);
if (prim_geom != (IntPtr) 0)
if (prim_geom != IntPtr.Zero)
{
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
@ -1004,7 +1292,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetQuaternion(prim_geom, ref myrot);
}
if (m_isphysical && Body == (IntPtr)0)
if (m_isphysical && Body == IntPtr.Zero)
{
enableBody();
}
@ -1023,16 +1311,16 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_isphysical)
{
// This is a fallback.. May no longer be necessary.
if (Body == (IntPtr) 0)
if (Body == IntPtr.Zero)
enableBody();
//Prim auto disable after 20 frames,
//if you move it, re-enable the prim manually.
if (_parent != null)
{
if (m_linkJoint != (IntPtr)0)
if (m_linkJoint != IntPtr.Zero)
{
d.JointDestroy(m_linkJoint);
m_linkJoint = (IntPtr)0;
m_linkJoint = IntPtr.Zero;
}
}
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
@ -1058,7 +1346,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_targetSpace = tempspace;
_parent_scene.waitForSpaceUnlock(m_targetSpace);
if (prim_geom != (IntPtr) 0)
if (prim_geom != IntPtr.Zero)
{
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
@ -1079,7 +1367,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float fy = 0;
float fz = 0;
if (IsPhysical && Body != (IntPtr)0 && !m_isSelected)
if (IsPhysical && Body != IntPtr.Zero && !m_isSelected)
{
//float PID_P = 900.0f;
@ -1201,7 +1489,7 @@ namespace OpenSim.Region.Physics.OdePlugin
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.GeomSetQuaternion(prim_geom, ref myrot);
if (m_isphysical && Body != (IntPtr) 0)
if (m_isphysical && Body != IntPtr.Zero)
{
d.BodySetQuaternion(Body, ref myrot);
if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
@ -1222,10 +1510,10 @@ namespace OpenSim.Region.Physics.OdePlugin
public void changedisable(float timestep)
{
m_disabled = true;
if (Body != (IntPtr)0)
if (Body != IntPtr.Zero)
{
d.BodyDisable(Body);
Body = (IntPtr)0;
Body = IntPtr.Zero;
}
m_taintdisable = false;
@ -1235,7 +1523,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (m_isphysical == true)
{
if (Body == (IntPtr)0)
if (Body == IntPtr.Zero)
{
if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
{
@ -1249,7 +1537,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
if (Body != (IntPtr)0)
if (Body != IntPtr.Zero)
{
if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
{
@ -1272,7 +1560,18 @@ namespace OpenSim.Region.Physics.OdePlugin
changeadd(2f);
}
disableBody();
if (childPrim)
{
if (_parent != null)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildDelink(this);
}
}
else
{
disableBody();
}
}
}
@ -1301,9 +1600,20 @@ namespace OpenSim.Region.Physics.OdePlugin
// Cleanup meshing here
}
//kill body to rebuild
if (IsPhysical && Body != (IntPtr)0)
if (IsPhysical && Body != IntPtr.Zero)
{
disableBody();
if (childPrim)
{
if (_parent != null)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildDelink(this);
}
}
else
{
disableBody();
}
}
if (d.SpaceQuery(m_targetSpace, prim_geom))
{
@ -1311,7 +1621,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.SpaceRemove(m_targetSpace, prim_geom);
}
d.GeomDestroy(prim_geom);
prim_geom = (IntPtr)0;
prim_geom = IntPtr.Zero;
// we don't need to do space calculation because the client sends a position update also.
// Construction of new prim
@ -1349,7 +1659,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetQuaternion(prim_geom, ref myrot);
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
if (IsPhysical && Body == (IntPtr)0)
if (IsPhysical && Body == IntPtr.Zero && !childPrim)
{
// Re creates body on size.
// EnableBody also does setMass()
@ -1360,7 +1670,14 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.geom_name_map[prim_geom] = oldname;
changeSelectedStatus(timestamp);
if (childPrim)
{
if (_parent is OdePrim)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildSetGeom(this);
}
}
resetCollisionAccounting();
m_taintsize = _size;
}
@ -1541,7 +1858,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
m_collidesWater = m_taintCollidesWater;
if (prim_geom != (IntPtr)0)
if (prim_geom != IntPtr.Zero)
{
if (m_collidesWater)
{
@ -1560,9 +1877,20 @@ namespace OpenSim.Region.Physics.OdePlugin
string oldname = _parent_scene.geom_name_map[prim_geom];
// Cleanup of old prim geometry and Bodies
if (IsPhysical && Body != (IntPtr) 0)
if (IsPhysical && Body != IntPtr.Zero)
{
disableBody();
if (childPrim)
{
if (_parent != null)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildDelink(this);
}
}
else
{
disableBody();
}
}
try
{
@ -1573,7 +1901,7 @@ namespace OpenSim.Region.Physics.OdePlugin
prim_geom = IntPtr.Zero;
m_log.Error("[PHYSICS]: PrimGeom dead");
}
prim_geom = (IntPtr) 0;
prim_geom = IntPtr.Zero;
// we don't need to do space calculation because the client sends a position update also.
if (_size.X <= 0) _size.X = 0.01f;
if (_size.Y <= 0) _size.Y = 0.01f;
@ -1608,7 +1936,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetQuaternion(prim_geom, ref myrot);
//d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
if (IsPhysical && Body == (IntPtr)0)
if (IsPhysical && Body == IntPtr.Zero)
{
// Re creates body on size.
// EnableBody also does setMass()
@ -1618,7 +1946,14 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.geom_name_map[prim_geom] = oldname;
changeSelectedStatus(timestamp);
if (childPrim)
{
if (_parent is OdePrim)
{
OdePrim parent = (OdePrim)_parent;
parent.ChildSetGeom(this);
}
}
resetCollisionAccounting();
m_taintshape = false;
}
@ -1658,7 +1993,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Thread.Sleep(20);
if (IsPhysical)
{
if (Body != (IntPtr)0)
if (Body != IntPtr.Zero)
{
d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
}

183
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -24,6 +24,7 @@
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
//#define USE_DRAWSTUFF
using System;
using System.Collections.Generic;
@ -34,6 +35,9 @@ using System.IO;
using log4net;
using Nini.Config;
using Ode.NET;
#if USE_DRAWSTUFF
using Drawstuff.NET;
#endif
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
@ -257,6 +261,9 @@ namespace OpenSim.Region.Physics.OdePlugin
public int physics_logging_interval = 0;
public bool physics_logging_append_existing_logfile = false;
public d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f);
public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
@ -280,6 +287,11 @@ namespace OpenSim.Region.Physics.OdePlugin
//contactgroup
d.WorldSetAutoDisableFlag(world, false);
#if USE_DRAWSTUFF
Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
viewthread.Start();
#endif
}
// zero out a heightmap array float array (single dimention [flattened]))
@ -290,6 +302,21 @@ namespace OpenSim.Region.Physics.OdePlugin
// we can hit test less.
}
#if USE_DRAWSTUFF
public void startvisualization(object o)
{
ds.Functions fn;
fn.version = ds.VERSION;
fn.start = new ds.CallbackFunction(start);
fn.step = new ds.CallbackFunction(step);
fn.command = new ds.CallbackFunction(command);
fn.stop = null;
fn.path_to_textures = "./textures";
string[] args = new string[0];
ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
}
#endif
// Initialize the mesh plugin
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
@ -787,6 +814,10 @@ namespace OpenSim.Region.Physics.OdePlugin
_perloopContact.Add(contacts[i]);
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
}
//if (p2.PhysicsActorType == (int)ActorTypes.Prim)
//{
//m_log.Debug("[PHYSICS]: prim contacting with ground");
//}
}
else if (name1 == "Water" || name2 == "Water")
{
@ -1137,7 +1168,7 @@ namespace OpenSim.Region.Physics.OdePlugin
List<OdePrim> removeprims = null;
foreach (OdePrim chr in _activeprims)
{
if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
{
try
{
@ -1243,7 +1274,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{
newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
_prims.Add(newPrim);
lock (_prims)
_prims.Add(newPrim);
}
return newPrim;
@ -1252,8 +1284,13 @@ namespace OpenSim.Region.Physics.OdePlugin
public void addActivePrim(OdePrim activatePrim)
{
// adds active prim.. (ones that should be iterated over in collisions_optimized
_activeprims.Add(activatePrim);
lock (_activeprims)
{
if (!_activeprims.Contains(activatePrim))
_activeprims.Add(activatePrim);
//else
// m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
}
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
@ -1334,6 +1371,15 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim.IsPhysical)
{
prim.disableBody();
if (prim.childPrim)
{
prim.childPrim = false;
prim.Body = IntPtr.Zero;
prim.m_disabled = true;
prim.IsPhysical = false;
}
}
// we don't want to remove the main space
@ -1376,6 +1422,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
}
lock (_prims)
_prims.Remove(prim);
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
@ -2376,9 +2423,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
lock (OdeLock)
{
foreach (OdePrim prm in _prims)
lock (_prims)
{
RemovePrim(prm);
foreach (OdePrim prm in _prims)
{
RemovePrim(prm);
}
}
//foreach (OdeCharacter act in _characters)
@ -2411,5 +2461,126 @@ namespace OpenSim.Region.Physics.OdePlugin
}
return returncolliders;
}
#if USE_DRAWSTUFF
// Keyboard callback
public void command(int cmd)
{
IntPtr geom;
d.Mass mass;
d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
Char ch = Char.ToLower((Char)cmd);
switch ((Char)ch)
{
case 'w':
Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'a':
hpr.X++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 's':
Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'd':
hpr.X--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'r':
xyz.Z++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'f':
xyz.Z--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'e':
xyz.Y++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'q':
xyz.Y--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
}
}
public void step(int pause)
{
ds.SetColor(1.0f, 1.0f, 0.0f);
ds.SetTexture(ds.Texture.Wood);
lock (_prims)
{
foreach (OdePrim prm in _prims)
{
//IntPtr body = d.GeomGetBody(prm.prim_geom);
if (prm.prim_geom != IntPtr.Zero)
{
d.Vector3 pos;
d.GeomCopyPosition(prm.prim_geom, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(prm.prim_geom, out R);
//d.BodyCopyRotation(body, out R);
d.Vector3 sides = new d.Vector3();
sides.X = prm.Size.X;
sides.Y = prm.Size.Y;
sides.Z = prm.Size.Z;
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}
ds.SetColor(1.0f, 0.0f, 0.0f);
lock (_characters)
{
foreach (OdeCharacter chr in _characters)
{
if (chr.Shell != IntPtr.Zero)
{
IntPtr body = d.GeomGetBody(chr.Shell);
d.Vector3 pos;
d.GeomCopyPosition(chr.Shell, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(chr.Shell, out R);
//d.BodyCopyRotation(body, out R);
ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
d.Vector3 sides = new d.Vector3();
sides.X = 0.5f;
sides.Y = 0.5f;
sides.Z = 0.5f;
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}
}
public void start(int unused)
{
ds.SetViewpoint(ref xyz, ref hpr);
}
#endif
}
}

98
OpenSim/Region/Physics/OdePlugin/drawstuff.cs Normal file
View File

@ -0,0 +1,98 @@
/*
* Copyright ODE
* Ode.NET - .NET bindings for ODE
* Jason Perkins (starkos@industriousone.com)
* Licensed under the New BSD
* Part of the OpenDynamicsEngine
Open Dynamics Engine
Copyright (c) 2001-2007, Russell L. Smith.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
Neither the names of ODE's copyright owner nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
*/
using System;
using System.Runtime.InteropServices;
using Ode.NET;
namespace Drawstuff.NET
{
#if dDOUBLE
using dReal = System.Double;
#else
using dReal = System.Single;
#endif
public static class ds
{
public const int VERSION = 2;
public enum Texture
{
None,
Wood
}
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void CallbackFunction(int arg);
[StructLayout(LayoutKind.Sequential)]
public struct Functions
{
public int version;
public CallbackFunction start;
public CallbackFunction step;
public CallbackFunction command;
public CallbackFunction stop;
public string path_to_textures;
}
[DllImport("drawstuff", EntryPoint = "dsDrawBox")]
public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
[DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
[DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
[DllImport("drawstuff", EntryPoint = "dsSetColor")]
public static extern void SetColor(float red, float green, float blue);
[DllImport("drawstuff", EntryPoint = "dsSetTexture")]
public static extern void SetTexture(Texture texture);
[DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
[DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
}
}