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ubitODE: - character managed ode was only getting position etc from unmanaged at heartbeat rate like core ode. Now do it at ODE rate in move(..). UpdatePositionAndVelocity() called once per heartbeat is now empty.

avinationmerge
UbitUmarov 2012-04-17 15:50:14 +01:00
parent d7e2454281
commit 9132c9e499
2 changed files with 48 additions and 119 deletions
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162
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -771,16 +771,10 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="timeStep"></param> /// <param name="timeStep"></param>
public void Move(float timeStep, List<OdeCharacter> defects) public void Move(float timeStep, List<OdeCharacter> defects)
{ {
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if (Body == IntPtr.Zero) if (Body == IntPtr.Zero)
return; return;
d.Vector3 dtmp; d.Vector3 dtmp = d.BodyGetPosition(Body);
d.BodyCopyPosition(Body, out dtmp);
Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
// the Amotor still lets avatar rotation to drift during colisions // the Amotor still lets avatar rotation to drift during colisions
@ -797,22 +791,43 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
_zeroPosition = localpos; _zeroPosition = localpos;
} }
//PidStatus = true;
if (!localpos.IsFinite()) if (!localpos.IsFinite())
{ {
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this); defects.Add(this);
// _parent_scene.RemoveCharacter(this); // _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data // destroy avatar capsule and related ODE data
AvatarGeomAndBodyDestroy(); AvatarGeomAndBodyDestroy();
return; return;
} }
// check outbounds forcing to be in world
bool fixbody = false;
if (localpos.X < 0.0f)
{
fixbody = true;
localpos.X = 0.1f;
}
else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
{
fixbody = true;
localpos.X = _parent_scene.WorldExtents.X - 0.1f;
}
if (localpos.Y < 0.0f)
{
fixbody = true;
localpos.Y = 0.1f;
}
else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
{
fixbody = true;
localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
}
if (fixbody)
d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
Vector3 vec = Vector3.Zero; Vector3 vec = Vector3.Zero;
dtmp = d.BodyGetLinearVel(Body); dtmp = d.BodyGetLinearVel(Body);
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
@ -820,16 +835,12 @@ namespace OpenSim.Region.Physics.OdePlugin
float movementdivisor = 1f; float movementdivisor = 1f;
//Ubit change divisions into multiplications below //Ubit change divisions into multiplications below
if (!m_alwaysRun) if (!m_alwaysRun)
{
movementdivisor = 1 / walkDivisor; movementdivisor = 1 / walkDivisor;
}
else else
{
movementdivisor = 1 / runDivisor; movementdivisor = 1 / runDivisor;
}
//******************************************
// colide with land // colide with land
d.AABB aabb; d.AABB aabb;
d.GeomGetAABB(Shell, out aabb); d.GeomGetAABB(Shell, out aabb);
float chrminZ = aabb.MinZ; float chrminZ = aabb.MinZ;
@ -856,26 +867,6 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
vec.Z = depth * PID_P * 30; vec.Z = depth * PID_P * 30;
/*
Vector3 vtmp;
vtmp.X = _target_velocity.X * timeStep;
vtmp.Y = _target_velocity.Y * timeStep;
// fake and avoid squares
float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y));
if (k > 0)
{
posch.X += vtmp.X;
posch.Y += vtmp.Y;
terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
k = 1 + Math.Abs(terrainheight) / k;
movementdivisor /= k;
if (k < 1)
k = 1;
}
*/
if (depth < 0.1f) if (depth < 0.1f)
{ {
m_iscolliding = true; m_iscolliding = true;
@ -901,6 +892,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
m_iscollidingGround = false; m_iscollidingGround = false;
//******************************************
// if velocity is zero, use position control; otherwise, velocity control // if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
@ -1012,97 +1004,31 @@ namespace OpenSim.Region.Physics.OdePlugin
// _parent_scene.RemoveCharacter(this); // _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data // destroy avatar capsule and related ODE data
AvatarGeomAndBodyDestroy(); AvatarGeomAndBodyDestroy();
return;
} }
// update our local ideia of position velocity and aceleration
_position = localpos;
_acceleration = _velocity; // previus velocity
_velocity = vel;
_acceleration = (vel - _acceleration) / timeStep;
} }
/// <summary> /// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. /// Updates the reported position and velocity.
/// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
/// also outbounds checking
/// copy and outbounds now done in move(..) at ode rate
///
/// </summary> /// </summary>
public void UpdatePositionAndVelocity() public void UpdatePositionAndVelocity()
{ {
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! return;
if (Body == IntPtr.Zero)
return;
d.Vector3 vec; // if (Body == IntPtr.Zero)
try // return;
{
d.BodyCopyPosition(Body, out vec);
}
catch (NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
vec = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
}
_position.X = vec.X;
_position.Y = vec.Y;
_position.Z = vec.Z;
bool fixbody = false;
if (_position.X < 0.0f)
{
fixbody = true;
_position.X = 0.1f;
}
else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f)
{
fixbody = true;
_position.X = (int)_parent_scene.WorldExtents.X - 0.1f;
}
if (_position.Y < 0.0f)
{
fixbody = true;
_position.Y = 0.1f;
}
else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1)
{
fixbody = true;
_position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f;
}
if (fixbody)
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
// Did we move last? = zeroflag
// This helps keep us from sliding all over
/*
if (_zeroFlag)
{
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
// Did we send out the 'stopped' message?
if (!m_lastUpdateSent)
{
m_lastUpdateSent = true;
base.RequestPhysicsterseUpdate();
}
}
else
{
m_lastUpdateSent = false;
*/
try
{
vec = d.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
vec.X = _velocity.X;
vec.Y = _velocity.Y;
vec.Z = _velocity.Z;
}
_velocity.X = (vec.X);
_velocity.Y = (vec.Y);
_velocity.Z = (vec.Z);
// }
} }
/// <summary> /// <summary>

5
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -1861,6 +1861,9 @@ namespace OpenSim.Region.Physics.OdePlugin
statstart = Util.EnvironmentTickCount(); statstart = Util.EnvironmentTickCount();
/*
// now included in characters move() and done at ode rate
// maybe be needed later if we need to do any extra work at hearbeat rate
lock (_characters) lock (_characters)
{ {
foreach (OdeCharacter actor in _characters) foreach (OdeCharacter actor in _characters)
@ -1874,7 +1877,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
} }
*/
lock (_badCharacter) lock (_badCharacter)
{ {
if (_badCharacter.Count > 0) if (_badCharacter.Count > 0)