refactor: unindent the OdeScene.Simulate() loop to ignore the long commented out ifs and locks
This is to make it more readable.bulletsim
Justin Clark-Casey (justincc)
parent
8c3eb324c4
commit
9c6227da66
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@ -2687,320 +2687,321 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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//if (!ode.lockquery())
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//{
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// ode.dlock(world);
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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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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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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(timeStep);
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character.ProcessTaints(timeStep);
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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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_taintedActors.Clear();
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}
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processedtaints = true;
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//character.m_collisionscore = 0;
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}
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// Modify other objects in the scene.
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processedtaints = false;
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if (processedtaints)
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_taintedActors.Clear();
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}
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}
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lock (_taintedPrimLock)
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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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{
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if (prim.m_taintremove)
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{
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foreach (OdePrim prim in _taintedPrimL)
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//Console.WriteLine("Simulate calls RemovePrimThreadLocked");
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RemovePrimThreadLocked(prim);
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}
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else
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{
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//Console.WriteLine("Simulate calls ProcessTaints");
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prim.ProcessTaints(timeStep);
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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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// We need to let the Watchdog know that the Heartbeat is not dead
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// NOTE: This is currently commented out, but if things like OAR loading are
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// timing the heartbeat out we will need to uncomment it
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//Watchdog.UpdateThread();
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}
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if (SupportsNINJAJoints)
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{
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// Create pending joints, if possible
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// joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
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// a joint requires specifying the body id of both involved bodies
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if (pendingJoints.Count > 0)
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{
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List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
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//DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
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foreach (PhysicsJoint joint in pendingJoints)
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{
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if (prim.m_taintremove)
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//DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
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string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
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List<IntPtr> jointBodies = new List<IntPtr>();
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bool allJointBodiesAreReady = true;
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foreach (string jointParam in jointParams)
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{
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//Console.WriteLine("Simulate calls RemovePrimThreadLocked");
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RemovePrimThreadLocked(prim);
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}
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else
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{
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//Console.WriteLine("Simulate calls ProcessTaints");
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prim.ProcessTaints(timeStep);
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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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// We need to let the Watchdog know that the Heartbeat is not dead
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// NOTE: This is currently commented out, but if things like OAR loading are
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// timing the heartbeat out we will need to uncomment it
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//Watchdog.UpdateThread();
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}
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if (SupportsNINJAJoints)
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{
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// Create pending joints, if possible
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// joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
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// a joint requires specifying the body id of both involved bodies
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if (pendingJoints.Count > 0)
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{
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List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
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//DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
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foreach (PhysicsJoint joint in pendingJoints)
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if (jointParam == "NULL")
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{
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//DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
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string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
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List<IntPtr> jointBodies = new List<IntPtr>();
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bool allJointBodiesAreReady = true;
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foreach (string jointParam in jointParams)
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//DoJointErrorMessage(joint, "attaching NULL joint to world");
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jointBodies.Add(IntPtr.Zero);
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}
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else
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{
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//DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
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bool foundPrim = false;
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lock (_prims)
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{
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if (jointParam == "NULL")
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foreach (OdePrim prim in _prims) // FIXME: inefficient
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{
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//DoJointErrorMessage(joint, "attaching NULL joint to world");
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jointBodies.Add(IntPtr.Zero);
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}
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else
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{
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//DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
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bool foundPrim = false;
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lock (_prims)
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if (prim.SOPName == jointParam)
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{
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foreach (OdePrim prim in _prims) // FIXME: inefficient
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//DoJointErrorMessage(joint, "found for prim name: " + jointParam);
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if (prim.IsPhysical && prim.Body != IntPtr.Zero)
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{
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if (prim.SOPName == jointParam)
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{
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//DoJointErrorMessage(joint, "found for prim name: " + jointParam);
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if (prim.IsPhysical && prim.Body != IntPtr.Zero)
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{
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jointBodies.Add(prim.Body);
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foundPrim = true;
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break;
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}
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else
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{
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DoJointErrorMessage(joint, "prim name " + jointParam +
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" exists but is not (yet) physical; deferring joint creation. " +
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"IsPhysical property is " + prim.IsPhysical +
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" and body is " + prim.Body);
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foundPrim = false;
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break;
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}
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}
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jointBodies.Add(prim.Body);
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foundPrim = true;
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break;
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}
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else
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{
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DoJointErrorMessage(joint, "prim name " + jointParam +
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" exists but is not (yet) physical; deferring joint creation. " +
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"IsPhysical property is " + prim.IsPhysical +
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" and body is " + prim.Body);
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foundPrim = false;
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break;
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}
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}
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if (foundPrim)
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{
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// all is fine
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}
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else
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{
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allJointBodiesAreReady = false;
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break;
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}
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}
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}
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if (allJointBodiesAreReady)
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if (foundPrim)
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{
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//DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
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if (jointBodies[0] == jointBodies[1])
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{
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DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
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}
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else
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{
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switch (joint.Type)
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{
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case PhysicsJointType.Ball:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating ball joint ");
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odeJoint = d.JointCreateBall(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetBallAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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//DoJointErrorMessage(joint, "ODE joint setting OK");
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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case PhysicsJointType.Hinge:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating hinge joint ");
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odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetHingeAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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// We use the orientation of the x-axis of the joint's coordinate frame
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// as the axis for the hinge.
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// Therefore, we must get the joint's coordinate frame based on the
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// joint.Rotation field, which originates from the orientation of the
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// joint's proxy object in the scene.
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// The joint's coordinate frame is defined as the transformation matrix
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// that converts a vector from joint-local coordinates into world coordinates.
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// World coordinates are defined as the XYZ coordinate system of the sim,
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// as shown in the top status-bar of the viewer.
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// Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
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// and use that as the hinge axis.
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//joint.Rotation.Normalize();
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Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
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// Now extract the X axis of the joint's coordinate frame.
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// Do not try to use proxyFrame.AtAxis or you will become mired in the
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// tar pit of transposed, inverted, and generally messed-up orientations.
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// (In other words, Matrix4.AtAxis() is borked.)
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// Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
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// Instead, compute the X axis of the coordinate frame by transforming
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// the (1,0,0) vector. At least that works.
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//m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
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Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
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//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
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//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
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d.JointSetHingeAxis(odeJoint,
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jointAxis.X,
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jointAxis.Y,
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jointAxis.Z);
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//d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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}
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successfullyProcessedPendingJoints.Add(joint);
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}
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// all is fine
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}
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else
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{
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DoJointErrorMessage(joint, "joint could not yet be created; still pending");
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allJointBodiesAreReady = false;
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break;
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}
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}
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foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
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}
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if (allJointBodiesAreReady)
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{
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//DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
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if (jointBodies[0] == jointBodies[1])
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{
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//DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
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//DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
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InternalRemovePendingJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
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InternalAddActiveJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "done");
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DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
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}
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else
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{
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switch (joint.Type)
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{
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case PhysicsJointType.Ball:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating ball joint ");
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odeJoint = d.JointCreateBall(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetBallAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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//DoJointErrorMessage(joint, "ODE joint setting OK");
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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case PhysicsJointType.Hinge:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating hinge joint ");
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odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetHingeAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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// We use the orientation of the x-axis of the joint's coordinate frame
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// as the axis for the hinge.
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// Therefore, we must get the joint's coordinate frame based on the
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// joint.Rotation field, which originates from the orientation of the
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// joint's proxy object in the scene.
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// The joint's coordinate frame is defined as the transformation matrix
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// that converts a vector from joint-local coordinates into world coordinates.
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// World coordinates are defined as the XYZ coordinate system of the sim,
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// as shown in the top status-bar of the viewer.
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// Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
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// and use that as the hinge axis.
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//joint.Rotation.Normalize();
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Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
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// Now extract the X axis of the joint's coordinate frame.
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// Do not try to use proxyFrame.AtAxis or you will become mired in the
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// tar pit of transposed, inverted, and generally messed-up orientations.
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// (In other words, Matrix4.AtAxis() is borked.)
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// Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
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// Instead, compute the X axis of the coordinate frame by transforming
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// the (1,0,0) vector. At least that works.
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//m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
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Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
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//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
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//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
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d.JointSetHingeAxis(odeJoint,
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jointAxis.X,
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jointAxis.Y,
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jointAxis.Z);
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//d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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}
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successfullyProcessedPendingJoints.Add(joint);
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}
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}
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else
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{
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DoJointErrorMessage(joint, "joint could not yet be created; still pending");
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}
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}
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foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
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{
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//DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
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//DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
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InternalRemovePendingJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
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InternalAddActiveJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "done");
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}
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}
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}
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if (processedtaints)
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if (processedtaints)
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//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
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_taintedPrimH.Clear();
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_taintedPrimL.Clear();
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||||
}
|
||||
_taintedPrimH.Clear();
|
||||
_taintedPrimL.Clear();
|
||||
}
|
||||
|
||||
// Move characters
|
||||
lock (_characters)
|
||||
{
|
||||
List<OdeCharacter> defects = new List<OdeCharacter>();
|
||||
foreach (OdeCharacter actor in _characters)
|
||||
{
|
||||
if (actor != null)
|
||||
actor.Move(timeStep, defects);
|
||||
}
|
||||
if (0 != defects.Count)
|
||||
{
|
||||
foreach (OdeCharacter defect in defects)
|
||||
{
|
||||
RemoveCharacter(defect);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Move other active objects
|
||||
lock (_activeprims)
|
||||
{
|
||||
foreach (OdePrim prim in _activeprims)
|
||||
{
|
||||
prim.m_collisionscore = 0;
|
||||
prim.Move(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
//if ((framecount % m_randomizeWater) == 0)
|
||||
// randomizeWater(waterlevel);
|
||||
|
||||
//int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
|
||||
m_rayCastManager.ProcessQueuedRequests();
|
||||
|
||||
collision_optimized(timeStep);
|
||||
|
||||
lock (_collisionEventPrim)
|
||||
{
|
||||
foreach (PhysicsActor obj in _collisionEventPrim)
|
||||
{
|
||||
if (obj == null)
|
||||
continue;
|
||||
|
||||
switch ((ActorTypes)obj.PhysicsActorType)
|
||||
{
|
||||
case ActorTypes.Agent:
|
||||
OdeCharacter cobj = (OdeCharacter)obj;
|
||||
cobj.AddCollisionFrameTime(100);
|
||||
cobj.SendCollisions();
|
||||
break;
|
||||
case ActorTypes.Prim:
|
||||
OdePrim pobj = (OdePrim)obj;
|
||||
pobj.SendCollisions();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//if (m_global_contactcount > 5)
|
||||
//{
|
||||
// m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
|
||||
//}
|
||||
|
||||
m_global_contactcount = 0;
|
||||
|
||||
d.WorldQuickStep(world, ODE_STEPSIZE);
|
||||
d.JointGroupEmpty(contactgroup);
|
||||
//ode.dunlock(world);
|
||||
}
|
||||
catch (Exception e)
|
||||
// Move characters
|
||||
lock (_characters)
|
||||
{
|
||||
List<OdeCharacter> defects = new List<OdeCharacter>();
|
||||
foreach (OdeCharacter actor in _characters)
|
||||
{
|
||||
m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
|
||||
ode.dunlock(world);
|
||||
if (actor != null)
|
||||
actor.Move(timeStep, defects);
|
||||
}
|
||||
if (0 != defects.Count)
|
||||
{
|
||||
foreach (OdeCharacter defect in defects)
|
||||
{
|
||||
RemoveCharacter(defect);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
step_time -= ODE_STEPSIZE;
|
||||
i++;
|
||||
// Move other active objects
|
||||
lock (_activeprims)
|
||||
{
|
||||
foreach (OdePrim prim in _activeprims)
|
||||
{
|
||||
prim.m_collisionscore = 0;
|
||||
prim.Move(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
//if ((framecount % m_randomizeWater) == 0)
|
||||
// randomizeWater(waterlevel);
|
||||
|
||||
//int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
|
||||
m_rayCastManager.ProcessQueuedRequests();
|
||||
|
||||
collision_optimized(timeStep);
|
||||
|
||||
lock (_collisionEventPrim)
|
||||
{
|
||||
foreach (PhysicsActor obj in _collisionEventPrim)
|
||||
{
|
||||
if (obj == null)
|
||||
continue;
|
||||
|
||||
switch ((ActorTypes)obj.PhysicsActorType)
|
||||
{
|
||||
case ActorTypes.Agent:
|
||||
OdeCharacter cobj = (OdeCharacter)obj;
|
||||
cobj.AddCollisionFrameTime(100);
|
||||
cobj.SendCollisions();
|
||||
break;
|
||||
case ActorTypes.Prim:
|
||||
OdePrim pobj = (OdePrim)obj;
|
||||
pobj.SendCollisions();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//if (m_global_contactcount > 5)
|
||||
//{
|
||||
// m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
|
||||
//}
|
||||
|
||||
m_global_contactcount = 0;
|
||||
|
||||
d.WorldQuickStep(world, ODE_STEPSIZE);
|
||||
d.JointGroupEmpty(contactgroup);
|
||||
//ode.dunlock(world);
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
|
||||
ode.dunlock(world);
|
||||
}
|
||||
|
||||
step_time -= ODE_STEPSIZE;
|
||||
i++;
|
||||
//}
|
||||
//else
|
||||
//{
|
||||
|
|
@ -3091,8 +3092,10 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
|
|||
fwriter.WriteLine(header);
|
||||
fwriter.Close();
|
||||
}
|
||||
|
||||
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
|
||||
}
|
||||
|
||||
latertickcount = Util.EnvironmentTickCount() - tickCountFrameRun;
|
||||
|
||||
// OpenSimulator above does 10 fps. 10 fps = means that the main thread loop and physics
|
||||
|
|
@ -3694,6 +3697,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
|
|||
//d.CloseODE();
|
||||
}
|
||||
}
|
||||
|
||||
public override Dictionary<uint, float> GetTopColliders()
|
||||
{
|
||||
Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
|
||||
|
|
|
|||
Loading…
Reference in New Issue