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a few more changes on avatar collider

avinationmerge
UbitUmarov 2012-12-11 04:36:27 +00:00
parent c6430b14db
commit 80639ace95
2 changed files with 377 additions and 313 deletions
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345
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
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@ -74,7 +74,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 _position; private Vector3 _position;
private Vector3 _zeroPosition; private Vector3 _zeroPosition;
private bool _zeroFlag = false;
private Vector3 _velocity; private Vector3 _velocity;
private Vector3 _target_velocity; private Vector3 _target_velocity;
private Vector3 _acceleration; private Vector3 _acceleration;
@ -90,11 +89,15 @@ namespace OpenSim.Region.Physics.OdePlugin
public float PID_D; public float PID_D;
public float PID_P; public float PID_P;
private float timeStep;
private float invtimeStep;
private float m_feetOffset = 0; private float m_feetOffset = 0;
private float feetOff = 0; private float feetOff = 0;
private float feetSZ = 0.5f; private float feetSZ = 0.5f;
const float feetScale = 0.8f; const float feetScale = 0.8f;
private float boneOff = 0; private float boneOff = 0;
private float m_lastVelocitySqr = 0;
public float walkDivisor = 1.3f; public float walkDivisor = 1.3f;
public float runDivisor = 0.8f; public float runDivisor = 0.8f;
@ -103,6 +106,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_iscollidingGround = false; private bool m_iscollidingGround = false;
private bool m_iscollidingObj = false; private bool m_iscollidingObj = false;
private bool m_alwaysRun = false; private bool m_alwaysRun = false;
private bool _zeroFlag = false;
private int m_requestedUpdateFrequency = 0; private int m_requestedUpdateFrequency = 0;
private uint m_localID = 0; private uint m_localID = 0;
public bool m_returnCollisions = false; public bool m_returnCollisions = false;
@ -120,6 +126,7 @@ namespace OpenSim.Region.Physics.OdePlugin
int m_colliderfilter = 0; int m_colliderfilter = 0;
int m_colliderGroundfilter = 0; int m_colliderGroundfilter = 0;
int m_colliderObjectfilter = 0; int m_colliderObjectfilter = 0;
bool m_collisionException = false;
// Default we're a Character // Default we're a Character
private CollisionCategories m_collisionCategories = (CollisionCategories.Character); private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
@ -132,10 +139,11 @@ namespace OpenSim.Region.Physics.OdePlugin
// we do land collisions not ode | CollisionCategories.Land); // we do land collisions not ode | CollisionCategories.Land);
public IntPtr Body = IntPtr.Zero; public IntPtr Body = IntPtr.Zero;
private OdeScene _parent_scene; private OdeScene _parent_scene;
public IntPtr topbox = IntPtr.Zero; private IntPtr topbox = IntPtr.Zero;
public IntPtr midbox = IntPtr.Zero; private IntPtr midbox = IntPtr.Zero;
public IntPtr feetbox = IntPtr.Zero; private IntPtr feetbox = IntPtr.Zero;
public IntPtr bonebox = IntPtr.Zero; private IntPtr bbox = IntPtr.Zero;
public IntPtr collider = IntPtr.Zero;
public IntPtr Amotor = IntPtr.Zero; public IntPtr Amotor = IntPtr.Zero;
@ -143,6 +151,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public int m_eventsubscription = 0; public int m_eventsubscription = 0;
private int m_cureventsubscription = 0; private int m_cureventsubscription = 0;
private CollisionEventUpdate CollisionEventsThisFrame = null; private CollisionEventUpdate CollisionEventsThisFrame = null;
@ -160,6 +169,9 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
m_uuid = UUID.Random(); m_uuid = UUID.Random();
timeStep = parent_scene.ODE_STEPSIZE;
invtimeStep = 1 / timeStep;
if (pos.IsFinite()) if (pos.IsFinite())
{ {
if (pos.Z > 99999f) if (pos.Z > 99999f)
@ -208,8 +220,8 @@ namespace OpenSim.Region.Physics.OdePlugin
m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
PID_D = basePID_D * m_mass / parent_scene.ODE_STEPSIZE; PID_D = basePID_D * m_mass * invtimeStep;
PID_P = basePID_P * m_mass / parent_scene.ODE_STEPSIZE; PID_P = basePID_P * m_mass * invtimeStep;
m_isPhysical = false; // current status: no ODE information exists m_isPhysical = false; // current status: no ODE information exists
@ -292,7 +304,7 @@ namespace OpenSim.Region.Physics.OdePlugin
set set
{ {
flying = value; flying = value;
// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying); // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
} }
} }
@ -336,25 +348,25 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return m_iscollidingGround; } get { return m_iscollidingGround; }
set set
{ {
/* we now control this /* we now control this
if (value) if (value)
{ {
m_colliderGroundfilter += 2; m_colliderGroundfilter += 2;
if (m_colliderGroundfilter > 2) if (m_colliderGroundfilter > 2)
m_colliderGroundfilter = 2; m_colliderGroundfilter = 2;
} }
else else
{ {
m_colliderGroundfilter--; m_colliderGroundfilter--;
if (m_colliderGroundfilter < 0) if (m_colliderGroundfilter < 0)
m_colliderGroundfilter = 0; m_colliderGroundfilter = 0;
} }
if (m_colliderGroundfilter == 0) if (m_colliderGroundfilter == 0)
m_iscollidingGround = false; m_iscollidingGround = false;
else else
m_iscollidingGround = true; m_iscollidingGround = true;
*/ */
} }
} }
@ -386,7 +398,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
m_iscollidingObj = true; m_iscollidingObj = true;
// m_iscollidingObj = value; // m_iscollidingObj = value;
if (m_iscollidingObj) if (m_iscollidingObj)
m_pidControllerActive = false; m_pidControllerActive = false;
@ -634,8 +646,8 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return m_orientation; } get { return m_orientation; }
set set
{ {
// fakeori = value; // fakeori = value;
// givefakeori++; // givefakeori++;
value.Normalize(); value.Normalize();
AddChange(changes.Orientation, value); AddChange(changes.Orientation, value);
@ -690,6 +702,46 @@ namespace OpenSim.Region.Physics.OdePlugin
AddChange(changes.Momentum, momentum); AddChange(changes.Momentum, momentum);
} }
private void ajustCollider()
{
float vq = _velocity.LengthSquared();
if (m_lastVelocitySqr != vq)
{
m_lastVelocitySqr = vq;
if (vq > 100.0f)
{
Vector3 off = _velocity;
float t = 0.5f * timeStep;
off = off * t;
d.GeomSetOffsetPosition(bbox, off.X, off.Y, off.Z);
off.X = 2.0f * (m_size.X + Math.Abs(off.X));
off.Y = 2.0f * (m_size.Y + Math.Abs(off.Y));
off.Z = m_size.Z + 2.0f * Math.Abs(off.Z);
d.GeomBoxSetLengths(bbox, off.X, off.Y, off.Z);
d.GeomSetCategoryBits(bbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(bbox, (uint)m_collisionFlags);
d.GeomSetCategoryBits(topbox, 0);
d.GeomSetCollideBits(topbox, 0);
d.GeomSetCategoryBits(midbox, 0);
d.GeomSetCollideBits(midbox, 0);
d.GeomSetCategoryBits(feetbox, 0);
d.GeomSetCollideBits(feetbox, 0);
}
else
{
d.GeomSetCategoryBits(bbox, 0);
d.GeomSetCollideBits(bbox, 0);
d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(topbox, (uint)m_collisionFlags);
d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(midbox, (uint)m_collisionFlags);
d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
}
}
}
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{ {
// sizes one day should came from visual parameters // sizes one day should came from visual parameters
@ -697,7 +749,6 @@ namespace OpenSim.Region.Physics.OdePlugin
float sy = m_size.Y; float sy = m_size.Y;
float sz = m_size.Z; float sz = m_size.Z;
float topsx = sx * 0.9f; float topsx = sx * 0.9f;
float midsx = sx; float midsx = sx;
float feetsx = sx * feetScale; float feetsx = sx * feetScale;
@ -732,21 +783,17 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace);
feetbox = d.CreateBox(_parent_scene.CharsSpace, feetsx, feetsy, feetsz); collider = d.HashSpaceCreate(_parent_scene.CharsSpace);
d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories); d.HashSpaceSetLevels(collider, -4, 3);
d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags); d.SpaceSetSublevel(collider, 3);
d.SpaceSetCleanup(collider, false);
d.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
d.GeomSetCollideBits(collider, (uint)m_collisionFlags);
midbox = d.CreateBox(_parent_scene.CharsSpace, midsx, midsy, midsz); feetbox = d.CreateBox(collider, feetsx, feetsy, feetsz);
d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories); midbox = d.CreateBox(collider, midsx, midsy, midsz);
d.GeomSetCollideBits(midbox, (uint)m_collisionFlags); topbox = d.CreateBox(collider, topsx, topsy, topsz);
bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z);
topbox = d.CreateBox(_parent_scene.CharsSpace, topsx, topsy, topsz);
d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(topbox, (uint)m_collisionFlags);
bonebox = d.CreateBox(_parent_scene.CharsSpace, bonesx, bonesy, bonesz);
d.GeomSetCategoryBits(bonebox, (uint)m_collisionCategories);
d.GeomSetCollideBits(bonebox, (uint)m_collisionFlags);
m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass
@ -758,9 +805,13 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = d.BodyCreate(_parent_scene.world); Body = d.BodyCreate(_parent_scene.world);
_zeroFlag = false; _zeroFlag = false;
m_collisionException = false;
m_pidControllerActive = true; m_pidControllerActive = true;
m_freemove = false; m_freemove = false;
_velocity = Vector3.Zero;
m_lastVelocitySqr = 0;
d.BodySetAutoDisableFlag(Body, false); d.BodySetAutoDisableFlag(Body, false);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ); d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
@ -772,12 +823,14 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetBody(feetbox, Body); d.GeomSetBody(feetbox, Body);
d.GeomSetBody(midbox, Body); d.GeomSetBody(midbox, Body);
d.GeomSetBody(topbox, Body); d.GeomSetBody(topbox, Body);
d.GeomSetBody(bonebox, Body); d.GeomSetBody(bbox, Body);
d.GeomSetOffsetPosition(feetbox, 0, 0, feetz); d.GeomSetOffsetPosition(feetbox, 0, 0, feetz);
d.GeomSetOffsetPosition(midbox, 0, 0, midz); d.GeomSetOffsetPosition(midbox, 0, 0, midz);
d.GeomSetOffsetPosition(topbox, 0, 0, topz); d.GeomSetOffsetPosition(topbox, 0, 0, topz);
d.GeomSetOffsetPosition(bonebox, 0, 0, m_feetOffset);
ajustCollider();
// The purpose of the AMotor here is to keep the avatar's physical // The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving // surrogate from rotating while moving
@ -841,44 +894,109 @@ namespace OpenSim.Region.Physics.OdePlugin
if (topbox != IntPtr.Zero) if (topbox != IntPtr.Zero)
{ {
_parent_scene.actor_name_map.Remove(topbox); _parent_scene.actor_name_map.Remove(topbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); _parent_scene.waitForSpaceUnlock(collider);
d.GeomDestroy(topbox); d.GeomDestroy(topbox);
topbox = IntPtr.Zero; topbox = IntPtr.Zero;
} }
if (midbox != IntPtr.Zero) if (midbox != IntPtr.Zero)
{ {
_parent_scene.actor_name_map.Remove(midbox); _parent_scene.actor_name_map.Remove(midbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); _parent_scene.waitForSpaceUnlock(collider);
d.GeomDestroy(midbox); d.GeomDestroy(midbox);
midbox = IntPtr.Zero; midbox = IntPtr.Zero;
} }
if (feetbox != IntPtr.Zero) if (feetbox != IntPtr.Zero)
{ {
_parent_scene.actor_name_map.Remove(feetbox); _parent_scene.actor_name_map.Remove(feetbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); _parent_scene.waitForSpaceUnlock(collider);
d.GeomDestroy(feetbox); d.GeomDestroy(feetbox);
feetbox = IntPtr.Zero; feetbox = IntPtr.Zero;
} }
if (bonebox != IntPtr.Zero) if (bbox != IntPtr.Zero)
{ {
_parent_scene.actor_name_map.Remove(bonebox); _parent_scene.actor_name_map.Remove(bbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); _parent_scene.waitForSpaceUnlock(collider);
d.GeomDestroy(bonebox); d.GeomDestroy(bbox);
bonebox = IntPtr.Zero; bbox = IntPtr.Zero;
}
if (collider != IntPtr.Zero)
{
d.SpaceDestroy(collider);
collider = IntPtr.Zero;
} }
} }
//in place 2D rotation around Z assuming rot is normalised and is a rotation around Z
public void RotateXYonZ(ref float x, ref float y, ref Quaternion rot)
{
float sin = 2.0f * rot.Z * rot.W;
float cos = rot.W * rot.W - rot.Z * rot.Z;
float tx = x;
x = tx * cos - y * sin;
y = tx * sin + y * cos;
}
public void RotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
{
float tx = x;
x = tx * cos - y * sin;
y = tx * sin + y * cos;
}
public void invRotateXYonZ(ref float x, ref float y, ref float sin, ref float cos)
{
float tx = x;
x = tx * cos + y * sin;
y = -tx * sin + y * cos;
}
public void invRotateXYonZ(ref float x, ref float y, ref Quaternion rot)
{
float sin = - 2.0f * rot.Z * rot.W;
float cos = rot.W * rot.W - rot.Z * rot.Z;
float tx = x;
x = tx * cos - y * sin;
y = tx * sin + y * cos;
}
public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision) public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
{ {
feetcollision = false; feetcollision = false;
if (m_collisionException)
return false;
if (me == bonebox) // inner bone if (me == bbox) // if moving fast
{ {
if (contact.pos.Z - _position.Z < boneOff) // force a full inelastic collision
IsColliding = true; m_collisionException = true;
return true;
Vector3 off = m_size * 0.5f;
off.X += contact.depth;
off.Y += contact.depth;
off.Z += contact.depth;
if (reverse)
{
off.X *= -contact.normal.X;
off.Y *= -contact.normal.Y;
off.Z *= -contact.normal.Z;
}
else
{
off.X *= contact.normal.X;
off.Y *= contact.normal.Y;
off.Z *= contact.normal.Z;
}
off.X += contact.pos.X;
off.Y += contact.pos.Y;
off.Z += contact.pos.Z;
_position = off;
return false;
} }
if (me == topbox) // keep a box head if (me == topbox) // keep a box head
@ -890,6 +1008,21 @@ namespace OpenSim.Region.Physics.OdePlugin
if (me == midbox) if (me == midbox)
{ {
if (Math.Abs(contact.normal.Z) > 0.95f)
{
float nz = contact.normal.Z;
if (!reverse)
nz = -nz;
if (nz > 0)
return true; // missed head TODO
// missed feet collision?
return true;
}
t = offx * offx + offy * offy; t = offx * offx + offy * offy;
t = (float)Math.Sqrt(t); t = (float)Math.Sqrt(t);
t = 1 / t; t = 1 / t;
@ -917,12 +1050,19 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Math.Abs(contact.normal.Z) > 0.95f) if (Math.Abs(contact.normal.Z) > 0.95f)
{ {
if (contact.normal.Z > 0)
contact.normal.Z = 1.0f;
else
contact.normal.Z = -1.0f;
contact.normal.X = 0.0f;
contact.normal.Y = 0.0f;
feetcollision = true; feetcollision = true;
if (h < boneOff) if (h < boneOff)
IsColliding = true; IsColliding = true;
return true; return true;
} }
float offz = h - feetOff; // distance from top of feetbox float offz = h - feetOff; // distance from top of feetbox
if (offz > 0) if (offz > 0)
@ -971,11 +1111,28 @@ namespace OpenSim.Region.Physics.OdePlugin
/// This is the avatar's movement control + PID Controller /// This is the avatar's movement control + PID Controller
/// </summary> /// </summary>
/// <param name="timeStep"></param> /// <param name="timeStep"></param>
public void Move(float timeStep, List<OdeCharacter> defects) public void Move(List<OdeCharacter> defects)
{ {
if (Body == IntPtr.Zero) if (Body == IntPtr.Zero)
return; return;
if (m_collisionException)
{
d.BodySetPosition(Body,_position.X, _position.Y, _position.Z);
d.BodySetLinearVel(Body, 0, 0, 0);
float v = _velocity.Length();
if (v != 0)
{
v = 6.0f / v;
_velocity = _velocity * v;
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
}
ajustCollider();
m_collisionException = false;
return;
}
d.Vector3 dtmp = d.BodyGetPosition(Body); d.Vector3 dtmp = d.BodyGetPosition(Body);
Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
@ -1049,6 +1206,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//****************************************** //******************************************
// colide with land // colide with land
d.AABB aabb; d.AABB aabb;
d.GeomGetAABB(feetbox, out aabb); d.GeomGetAABB(feetbox, out aabb);
float chrminZ = aabb.MinZ - 0.02f; // move up a bit float chrminZ = aabb.MinZ - 0.02f; // move up a bit
@ -1095,8 +1253,8 @@ namespace OpenSim.Region.Physics.OdePlugin
contact.Position.X = localpos.X; contact.Position.X = localpos.X;
contact.Position.Y = localpos.Y; contact.Position.Y = localpos.Y;
contact.Position.Z = chrminZ; contact.Position.Z = chrminZ;
contact.SurfaceNormal.X = 0f; contact.SurfaceNormal.X = 0.0f;
contact.SurfaceNormal.Y = 0f; contact.SurfaceNormal.Y = 0.0f;
contact.SurfaceNormal.Z = -1f; contact.SurfaceNormal.Z = -1f;
contact.RelativeSpeed = -vel.Z; contact.RelativeSpeed = -vel.Z;
contact.CharacterFeet = true; contact.CharacterFeet = true;
@ -1118,6 +1276,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_iscollidingGround = false; m_iscollidingGround = false;
} }
//****************************************** //******************************************
bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f); bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
@ -1253,21 +1412,58 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
// update our local ideia of position velocity and aceleration // update our local ideia of position velocity and aceleration
// _position = localpos;
_position = localpos; _position = localpos;
if (_zeroFlag) if (_zeroFlag)
{ {
_velocity = Vector3.Zero; _velocity = Vector3.Zero;
_acceleration = Vector3.Zero; _acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
} }
else else
{ {
_acceleration = _velocity; // previus velocity Vector3 a =_velocity; // previus velocity
_velocity = vel; SetSmooth(ref _velocity, ref vel, 2);
_acceleration = (vel - _acceleration) / timeStep; a = (_velocity - a) * invtimeStep;
SetSmooth(ref _acceleration, ref a, 2);
dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = 0f;
m_rotationalVelocity.Y = 0f;
m_rotationalVelocity.Z = dtmp.Z;
Math.Round(m_rotationalVelocity.Z,3);
} }
ajustCollider();
} }
public void round(ref Vector3 v, int digits)
{
v.X = (float)Math.Round(v.X, digits);
v.Y = (float)Math.Round(v.Y, digits);
v.Z = (float)Math.Round(v.Z, digits);
}
public void SetSmooth(ref Vector3 dst, ref Vector3 value)
{
dst.X = 0.1f * dst.X + 0.9f * value.X;
dst.Y = 0.1f * dst.Y + 0.9f * value.Y;
dst.Z = 0.1f * dst.Z + 0.9f * value.Z;
}
public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits)
{
dst.X = 0.4f * dst.X + 0.6f * value.X;
dst.X = (float)Math.Round(dst.X, rounddigits);
dst.Y = 0.4f * dst.Y + 0.6f * value.Y;
dst.Y = (float)Math.Round(dst.Y, rounddigits);
dst.Z = 0.4f * dst.Z + 0.6f * value.Z;
dst.Z = (float)Math.Round(dst.Z, rounddigits);
}
/// <summary> /// <summary>
/// Updates the reported position and velocity. /// Updates the reported position and velocity.
/// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
@ -1394,10 +1590,11 @@ namespace OpenSim.Region.Physics.OdePlugin
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this; _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
_parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[feetbox] = (PhysicsActor)this; _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bonebox] = (PhysicsActor)this; _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
_parent_scene.AddCharacter(this); _parent_scene.AddCharacter(this);
} }
else else
@ -1450,13 +1647,16 @@ namespace OpenSim.Region.Physics.OdePlugin
_position.Z + (m_size.Z - oldsz) * 0.5f); _position.Z + (m_size.Z - oldsz) * 0.5f);
Velocity = Vector3.Zero; Velocity = Vector3.Zero;
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this; _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
_parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[feetbox] = (PhysicsActor)this; _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bonebox] = (PhysicsActor)this; _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
} }
m_freemove = false; m_freemove = false;
m_collisionException = false;
m_pidControllerActive = true; m_pidControllerActive = true;
} }
else else
@ -1565,6 +1765,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
ajustCollider();
} }
private void donullchange() private void donullchange()
@ -1573,7 +1774,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool DoAChange(changes what, object arg) public bool DoAChange(changes what, object arg)
{ {
if (topbox == IntPtr.Zero && what != changes.Add && what != changes.Remove) if (collider == IntPtr.Zero && what != changes.Add && what != changes.Remove)
{ {
return false; return false;
} }

345
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -178,7 +178,9 @@ namespace OpenSim.Region.Physics.OdePlugin
public changes what; public changes what;
public Object arg; public Object arg;
} }
public class OdeScene : PhysicsScene public class OdeScene : PhysicsScene
{ {
private readonly ILog m_log; private readonly ILog m_log;
@ -301,6 +303,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public IntPtr StaticSpace; // space for the static things around public IntPtr StaticSpace; // space for the static things around
public IntPtr GroundSpace; // space for ground public IntPtr GroundSpace; // space for ground
public IntPtr SharedRay;
// some speedup variables // some speedup variables
private int spaceGridMaxX; private int spaceGridMaxX;
private int spaceGridMaxY; private int spaceGridMaxY;
@ -428,6 +432,8 @@ namespace OpenSim.Region.Physics.OdePlugin
contactgroup = d.JointGroupCreate(0); contactgroup = d.JointGroupCreate(0);
//contactgroup //contactgroup
SharedRay = d.CreateRay(TopSpace, 1.0f);
d.WorldSetAutoDisableFlag(world, false); d.WorldSetAutoDisableFlag(world, false);
} }
} }
@ -733,35 +739,35 @@ namespace OpenSim.Region.Physics.OdePlugin
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return; return;
/* /*
// debug // debug
PhysicsActor dp2; PhysicsActor dp2;
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
{ {
d.AABB aabb; d.AABB aabb;
d.GeomGetAABB(g2, out aabb); d.GeomGetAABB(g2, out aabb);
float x = aabb.MaxX - aabb.MinX; float x = aabb.MaxX - aabb.MinX;
float y = aabb.MaxY - aabb.MinY; float y = aabb.MaxY - aabb.MinY;
float z = aabb.MaxZ - aabb.MinZ; float z = aabb.MaxZ - aabb.MinZ;
if (x > 60.0f || y > 60.0f || z > 60.0f) if (x > 60.0f || y > 60.0f || z > 60.0f)
{ {
if (!actor_name_map.TryGetValue(g2, out dp2)) if (!actor_name_map.TryGetValue(g2, out dp2))
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
else else
m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})", m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})",
dp2.Name, dp2.Size, x, y, z, dp2.Name, dp2.Size, x, y, z,
dp2.Position.ToString(), dp2.Position.ToString(),
dp2.Orientation.ToString(), dp2.Orientation.ToString(),
dp2.Orientation.Length()); dp2.Orientation.Length());
return; return;
} }
} }
// //
*/ */
if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || if (d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) d.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc)
{ {
int cflags; int cflags;
unchecked unchecked
@ -776,7 +782,7 @@ namespace OpenSim.Region.Physics.OdePlugin
catch (SEHException) catch (SEHException)
{ {
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
// ode.drelease(world); // ode.drelease(world);
base.TriggerPhysicsBasedRestart(); base.TriggerPhysicsBasedRestart();
} }
catch (Exception e) catch (Exception e)
@ -816,26 +822,25 @@ namespace OpenSim.Region.Physics.OdePlugin
// get first contact // get first contact
d.ContactGeom curContact = new d.ContactGeom(); d.ContactGeom curContact = new d.ContactGeom();
if (!GetCurContactGeom(0, ref curContact)) if (!GetCurContactGeom(0, ref curContact))
return; return;
// for now it's the one with max depth
ContactPoint maxDepthContact = new ContactPoint(
new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
curContact.depth
);
// do volume detection case // do volume detection case
if ( if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
(p1.IsVolumeDtc || p2.IsVolumeDtc))
{ {
ContactPoint maxDepthContact = new ContactPoint(
new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
curContact.depth, false
);
collision_accounting_events(p1, p2, maxDepthContact); collision_accounting_events(p1, p2, maxDepthContact);
return; return;
} }
// big messy collision analises // big messy collision analises
Vector3 normoverride = Vector3.Zero; //damm c#
float mu = 0; float mu = 0;
float bounce = 0; float bounce = 0;
float cfm = 0.0001f; float cfm = 0.0001f;
@ -846,36 +851,15 @@ namespace OpenSim.Region.Physics.OdePlugin
ContactData contactdata1 = new ContactData(0, 0, false); ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false); ContactData contactdata2 = new ContactData(0, 0, false);
bool dop1foot = false; bool dop1ava = false;
bool dop2foot = false; bool dop2ava = false;
bool ignore = false; bool ignore = false;
bool AvanormOverride = false;
switch (p1.PhysicsActorType) switch (p1.PhysicsActorType)
{ {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
{ {
dop1foot = true; dop1ava = true;
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
normoverride = p2.Velocity - p1.Velocity;
mu = normoverride.LengthSquared();
if (mu > 1e-6)
{
mu = 1.0f / (float)Math.Sqrt(mu);
normoverride *= mu;
mu = Vector3.Dot(tmp, normoverride);
if (mu > 0)
normoverride *= -1;
}
else
{
tmp.Normalize();
normoverride = -tmp;
}
switch (p2.PhysicsActorType) switch (p2.PhysicsActorType)
{ {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
@ -886,7 +870,6 @@ namespace OpenSim.Region.Physics.OdePlugin
case (int)ActorTypes.Prim: case (int)ActorTypes.Prim:
if (p2.Velocity.LengthSquared() > 0.0f) if (p2.Velocity.LengthSquared() > 0.0f)
p2.CollidingObj = true; p2.CollidingObj = true;
dop1foot = true;
break; break;
default: default:
@ -901,33 +884,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
dop2ava = true;
dop2foot = true;
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
normoverride = p2.Velocity - p1.Velocity;
mu = normoverride.LengthSquared();
if (mu > 1e-6)
{
mu = 1.0f / (float)Math.Sqrt(mu);
normoverride *= mu;
mu = Vector3.Dot(tmp, normoverride);
if (mu > 0)
normoverride *= -1;
}
else
{
tmp.Normalize();
normoverride = -tmp;
}
bounce = 0;
mu = 0;
cfm = 0.0001f;
dop2foot = true;
if (p1.Velocity.LengthSquared() > 0.0f) if (p1.Velocity.LengthSquared() > 0.0f)
p1.CollidingObj = true; p1.CollidingObj = true;
break; break;
@ -1032,170 +990,78 @@ namespace OpenSim.Region.Physics.OdePlugin
default: default:
break; break;
} }
if (ignore) if (ignore)
return; return;
d.ContactGeom maxContact = curContact;
// if (IgnoreNegSides && curContact.side1 < 0)
// maxContact.depth = float.MinValue;
d.ContactGeom minContact = curContact;
// if (IgnoreNegSides && curContact.side1 < 0)
// minContact.depth = float.MaxValue;
IntPtr Joint; IntPtr Joint;
bool FeetCollision = false; bool FeetCollision = false;
int i = 0;
int ncontacts = 0; int ncontacts = 0;
while(true)
{
if (IgnoreNegSides && curContact.side1 < 0)
int i = 0;
while (true)
{ {
if (m_global_contactcount >= maxContactsbeforedeath)
break;
// if (!(IgnoreNegSides && curContact.side1 < 0))
{
bool noskip = true;
if (dop1ava)
{
if (!(((OdeCharacter)p1).Collide(g1,false, ref curContact, ref FeetCollision)))
noskip = false;
}
else if (dop2ava)
{
if (!(((OdeCharacter)p2).Collide(g2,true, ref curContact, ref FeetCollision)))
noskip = false;
}
if (noskip)
{
m_global_contactcount++;
ncontacts++;
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
d.JointAttach(Joint, b1, b2);
if (curContact.depth > maxContact.depth)
maxContact = curContact;
if (curContact.depth < minContact.depth)
minContact = curContact;
}
}
if (++i >= count) if (++i >= count)
break; break;
if (!GetCurContactGeom(i, ref curContact)) if (!GetCurContactGeom(i, ref curContact))
break; break;
} }
else
{
if(dop1foot)
{
if (!(((OdeCharacter)p1).Collide(g1, false, ref curContact, ref FeetCollision)))
{
if (++i >= count)
break;
else
continue;
}
}
else if(dop2foot)
{
if (!(((OdeCharacter)p2).Collide(g2, true, ref curContact, ref FeetCollision)))
{
if (++i >= count)
break;
else
continue;
}
}
/*
if (AvanormOverride)
{
if (curContact.depth > 0.3f)
{
if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
p1.IsColliding = true;
if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
p2.IsColliding = true;
curContact.normal.X = normoverride.X;
curContact.normal.Y = normoverride.Y;
curContact.normal.Z = normoverride.Z;
}
else
{
if (dop1foot)
{
float sz = p1.Size.Z;
Vector3 vtmp = p1.Position;
float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f;
if (ppos > 0f)
{
if (!p1.Flying)
{
d.AABB aabb;
d.GeomGetAABB(g2, out aabb);
float tmp = vtmp.Z - sz * .18f;
if (aabb.MaxZ < tmp)
{
vtmp.X = curContact.pos.X - vtmp.X;
vtmp.Y = curContact.pos.Y - vtmp.Y;
vtmp.Z = -0.2f;
vtmp.Normalize();
curContact.normal.X = vtmp.X;
curContact.normal.Y = vtmp.Y;
curContact.normal.Z = vtmp.Z;
}
}
}
else
p1.IsColliding = true;
}
if (dop2foot)
{
float sz = p2.Size.Z;
Vector3 vtmp = p2.Position;
vtmp.Z -= sz * 0.5f;
vtmp.Z += 0.5f;
float ppos = vtmp.Z - curContact.pos.Z;
if (ppos > 0f)
{
if (!p2.Flying)
{
float tmp = vtmp.Z - sz * .18f;
vtmp.X = curContact.pos.X - vtmp.X;
vtmp.Y = curContact.pos.Y - vtmp.Y;
vtmp.Z = curContact.pos.Z - vtmp.Z;
vtmp.Normalize();
curContact.normal.X = vtmp.X;
curContact.normal.Y = vtmp.Y;
curContact.normal.Z = vtmp.Z;
}
}
// else
p2.IsColliding = true;
}
}
}
*/
ncontacts++;
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
d.JointAttach(Joint, b1, b2);
if (++m_global_contactcount >= maxContactsbeforedeath)
break;
if (++i >= count)
break;
if (!GetCurContactGeom(i, ref curContact))
break;
if (curContact.depth > maxDepthContact.PenetrationDepth)
{
maxDepthContact.Position.X = curContact.pos.X;
maxDepthContact.Position.Y = curContact.pos.Y;
maxDepthContact.Position.Z = curContact.pos.Z;
maxDepthContact.SurfaceNormal.X = curContact.normal.X;
maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
maxDepthContact.PenetrationDepth = curContact.depth;
}
}
}
if (ncontacts > 0) if (ncontacts > 0)
{ {
maxDepthContact.CharacterFeet = FeetCollision; ContactPoint maxDepthContact = new ContactPoint(
new Vector3(maxContact.pos.X, maxContact.pos.Y, maxContact.pos.Z),
new Vector3(minContact.normal.X, minContact.normal.Y, minContact.normal.Z),
maxContact.depth, FeetCollision
);
collision_accounting_events(p1, p2, maxDepthContact); collision_accounting_events(p1, p2, maxDepthContact);
} }
/*
if (notskipedcount > geomContactPointsStartthrottle)
{
// If there are more then 3 contact points, it's likely
// that we've got a pile of objects, so ...
// We don't want to send out hundreds of terse updates over and over again
// so lets throttle them and send them again after it's somewhat sorted out.
this needs checking so out for now
if (b1 != IntPtr.Zero)
p1.ThrottleUpdates = true;
if (b2 != IntPtr.Zero)
p2.ThrottleUpdates = true;
}
*/
} }
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
@ -1286,10 +1152,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// chr.CollidingGround = false; not done here // chr.CollidingGround = false; not done here
chr.CollidingObj = false; chr.CollidingObj = false;
// do colisions with static space // do colisions with static space
d.SpaceCollide2(StaticSpace, chr.topbox, IntPtr.Zero, nearCallback); d.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.midbox, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.feetbox, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.bonebox, IntPtr.Zero, nearCallback);
// chars with chars // chars with chars
d.SpaceCollide(CharsSpace, IntPtr.Zero, nearCallback); d.SpaceCollide(CharsSpace, IntPtr.Zero, nearCallback);
@ -1346,7 +1209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// and with chars // and with chars
try try
{ {
d.SpaceCollide2(ActiveSpace, CharsSpace,IntPtr.Zero, nearCallback); d.SpaceCollide2(CharsSpace,ActiveSpace, IntPtr.Zero, nearCallback);
} }
catch (AccessViolationException) catch (AccessViolationException)
{ {
@ -1837,7 +1700,7 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (OdeCharacter actor in _characters) foreach (OdeCharacter actor in _characters)
{ {
if (actor != null) if (actor != null)
actor.Move(ODE_STEPSIZE, defects); actor.Move(defects);
} }
if (defects.Count != 0) if (defects.Count != 0)
{ {