slightly simplify OdeScene.Simulate() by removing bool processtaints, since we can inspect count of taint lists instead.
also groups OdeCharacter.CreateOdeStructures() and DestroyOdeStructures() together0.7.2-post-fixes
Justin Clark-Casey (justincc)
parent
dc8ce9ec5d
commit
8ab2d42143
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@ -547,123 +547,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
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}
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/// <summary>
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/// This creates the Avatar's physical Surrogate in ODE at the position supplied
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/// </summary>
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/// <remarks>
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/// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
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/// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
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/// place that is safe to call this routine AvatarGeomAndBodyCreation.
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/// </remarks>
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/// <param name="npositionX"></param>
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/// <param name="npositionY"></param>
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/// <param name="npositionZ"></param>
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/// <param name="tensor"></param>
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private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
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{
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int dAMotorEuler = 1;
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// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (CAPSULE_LENGTH <= 0)
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{
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m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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CAPSULE_LENGTH = 0.01f;
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}
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if (CAPSULE_RADIUS <= 0)
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{
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m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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CAPSULE_RADIUS = 0.01f;
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}
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Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
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d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
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d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
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_position.X = npositionX;
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_position.Y = npositionY;
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_position.Z = npositionZ;
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m_taintPosition = _position;
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d.BodySetMass(Body, ref ShellMass);
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d.Matrix3 m_caprot;
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// 90 Stand up on the cap of the capped cyllinder
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if (_parent_scene.IsAvCapsuleTilted)
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{
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d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
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}
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else
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{
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d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
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}
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d.GeomSetRotation(Shell, ref m_caprot);
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d.BodySetRotation(Body, ref m_caprot);
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d.GeomSetBody(Shell, Body);
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// The purpose of the AMotor here is to keep the avatar's physical
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// surrogate from rotating while moving
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Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, dAMotorEuler);
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d.JointSetAMotorNumAxes(Amotor, 3);
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d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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d.JointSetAMotorAngle(Amotor, 0, 0);
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d.JointSetAMotorAngle(Amotor, 1, 0);
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d.JointSetAMotorAngle(Amotor, 2, 0);
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// These lowstops and high stops are effectively (no wiggle room)
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if (_parent_scene.IsAvCapsuleTilted)
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{
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
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}
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else
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{
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#region Documentation of capsule motor LowStop and HighStop parameters
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// Intentionally introduce some tilt into the capsule by setting
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// the motor stops to small epsilon values. This small tilt prevents
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// the capsule from falling into the terrain; a straight-up capsule
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// (with -0..0 motor stops) falls into the terrain for reasons yet
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// to be comprehended in their entirety.
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#endregion
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AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
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}
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// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
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// capped cyllinder will fall over
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d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
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//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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//d.QfromR(
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//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
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//
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//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
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//standupStraight();
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_parent_scene.geom_name_map[Shell] = Name;
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_parent_scene.actor_name_map[Shell] = this;
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}
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/// <summary>
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/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
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/// This may be used in calculations in the scene/scenepresence
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@ -1131,6 +1014,123 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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/// <summary>
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/// This creates the Avatar's physical Surrogate in ODE at the position supplied
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/// </summary>
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/// <remarks>
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/// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
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/// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
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/// place that is safe to call this routine AvatarGeomAndBodyCreation.
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/// </remarks>
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/// <param name="npositionX"></param>
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/// <param name="npositionY"></param>
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/// <param name="npositionZ"></param>
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/// <param name="tensor"></param>
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private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
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{
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int dAMotorEuler = 1;
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// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (CAPSULE_LENGTH <= 0)
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{
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m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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CAPSULE_LENGTH = 0.01f;
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}
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if (CAPSULE_RADIUS <= 0)
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{
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m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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CAPSULE_RADIUS = 0.01f;
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}
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Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
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d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
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d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
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_position.X = npositionX;
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_position.Y = npositionY;
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_position.Z = npositionZ;
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m_taintPosition = _position;
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d.BodySetMass(Body, ref ShellMass);
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d.Matrix3 m_caprot;
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// 90 Stand up on the cap of the capped cyllinder
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if (_parent_scene.IsAvCapsuleTilted)
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{
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d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
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}
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else
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{
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d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
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}
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d.GeomSetRotation(Shell, ref m_caprot);
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d.BodySetRotation(Body, ref m_caprot);
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d.GeomSetBody(Shell, Body);
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// The purpose of the AMotor here is to keep the avatar's physical
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// surrogate from rotating while moving
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Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, dAMotorEuler);
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d.JointSetAMotorNumAxes(Amotor, 3);
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d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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d.JointSetAMotorAngle(Amotor, 0, 0);
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d.JointSetAMotorAngle(Amotor, 1, 0);
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d.JointSetAMotorAngle(Amotor, 2, 0);
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// These lowstops and high stops are effectively (no wiggle room)
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if (_parent_scene.IsAvCapsuleTilted)
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{
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
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}
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else
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{
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#region Documentation of capsule motor LowStop and HighStop parameters
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// Intentionally introduce some tilt into the capsule by setting
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// the motor stops to small epsilon values. This small tilt prevents
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// the capsule from falling into the terrain; a straight-up capsule
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// (with -0..0 motor stops) falls into the terrain for reasons yet
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// to be comprehended in their entirety.
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#endregion
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AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
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}
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// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
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// capped cyllinder will fall over
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d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
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//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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//d.QfromR(
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//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
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//
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//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
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//standupStraight();
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_parent_scene.geom_name_map[Shell] = Name;
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_parent_scene.actor_name_map[Shell] = this;
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}
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/// <summary>
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/// Cleanup the things we use in the scene.
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/// </summary>
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@ -274,7 +274,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_taintadd = true;
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_parent_scene.AddPhysicsActorTaint(this);
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// don't do .add() here; old geoms get recycled with the same hash
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}
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public override int PhysicsActorType
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@ -2162,7 +2162,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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p.setPrimForRemoval();
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AddPhysicsActorTaint(prim);
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//RemovePrimThreadLocked(p);
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}
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}
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}
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@ -2609,15 +2608,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// <summary>
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/// Called after our prim properties are set Scale, position etc.
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/// </summary>
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/// <remarks>
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/// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
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/// This assures us that we have no race conditions
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/// </summary>
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/// <param name="prim"></param>
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public override void AddPhysicsActorTaint(PhysicsActor prim)
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/// </remarks>
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/// <param name="actor"></param>
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public override void AddPhysicsActorTaint(PhysicsActor actor)
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{
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if (prim is OdePrim)
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if (actor is OdePrim)
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{
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OdePrim taintedprim = ((OdePrim) prim);
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OdePrim taintedprim = ((OdePrim)actor);
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lock (_taintedPrimLock)
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{
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if (!(_taintedPrimH.Contains(taintedprim)))
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@ -2629,11 +2630,10 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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_taintedPrimL.Add(taintedprim); // List for ordered readout
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}
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}
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return;
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}
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else if (prim is OdeCharacter)
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else if (actor is OdeCharacter)
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{
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OdeCharacter taintedchar = ((OdeCharacter)prim);
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OdeCharacter taintedchar = ((OdeCharacter)actor);
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lock (_taintedActors)
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{
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if (!(_taintedActors.Contains(taintedchar)))
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@ -2720,29 +2720,18 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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{
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try
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{
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// Insert, remove Characters
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bool processedtaints = false;
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lock (_taintedActors)
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{
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if (_taintedActors.Count > 0)
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{
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foreach (OdeCharacter character in _taintedActors)
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{
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character.ProcessTaints();
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processedtaints = true;
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//character.m_collisionscore = 0;
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}
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if (processedtaints)
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if (_taintedActors.Count > 0)
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_taintedActors.Clear();
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}
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}
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// Modify other objects in the scene.
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processedtaints = false;
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lock (_taintedPrimLock)
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{
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foreach (OdePrim prim in _taintedPrimL)
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@ -2758,7 +2747,6 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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prim.ProcessTaints();
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}
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processedtaints = true;
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prim.m_collisionscore = 0;
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// This loop can block up the Heartbeat for a very long time on large regions.
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@ -2771,7 +2759,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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if (SupportsNINJAJoints)
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SimulatePendingNINJAJoints();
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if (processedtaints)
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if (_taintedPrimL.Count > 0)
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{
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//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
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_taintedPrimH.Clear();
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