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some reduction on large colision repulsive force on non physical placement of physical prims

httptests
UbitUmarov 2017-04-14 03:14:41 +01:00
parent 040037d713
commit 9d8220ac9f
3 changed files with 254 additions and 123 deletions
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4
OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
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@ -256,6 +256,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
/// </summary>
public string SOPName;
public virtual void CrossingStart() { }
public abstract void CrossingFailure();
public abstract void link(PhysicsActor obj);
@ -462,6 +463,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
public abstract bool SubscribedEvents();
public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
public virtual void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact) { }
public virtual PhysicsInertiaData GetInertiaData()
{
@ -477,6 +479,8 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
{
}
public virtual float SimulationSuspended { get; set; }
// Warning in a parent part it returns itself, not null
public virtual PhysicsActor ParentActor { get { return this; } }

355
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@ -109,8 +109,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float m_waterHeight;
private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
private int body_autodisable_frames;
public int bodydisablecontrol = 0;
private int m_body_autodisable_frames;
public int m_bodydisablecontrol = 0;
public int m_bodyMoveCoolDown = 0;
private float m_gravmod = 1.0f;
// Default we're a Geometry
@ -196,6 +197,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private int m_eventsubscription;
private int m_cureventsubscription;
private CollisionEventUpdate CollisionEventsThisFrame = null;
private CollisionEventUpdate CollisionVDTCEventsThisFrame = null;
private bool SentEmptyCollisionsEvent;
public volatile bool childPrim;
@ -668,7 +670,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (value.IsFinite())
{
AddChange(changes.Velocity, value);
if(m_outbounds)
_velocity = value;
else
AddChange(changes.Velocity, value);
}
else
{
@ -972,31 +977,70 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override void CrossingFailure()
{
if (m_outbounds)
lock(_parent_scene.OdeLock)
{
_position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
_position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
_position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
if (m_outbounds)
{
_position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
_position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
_position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
m_lastposition = _position;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
d.AllocateODEDataForThread(0);
m_lastVelocity = _velocity;
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Stop();
if(Body != IntPtr.Zero)
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
if (prim_geom != IntPtr.Zero)
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
m_outbounds = false;
changeDisable(false);
base.RequestPhysicsterseUpdate();
}
}
}
public override void CrossingStart()
{
lock(_parent_scene.OdeLock)
{
if (m_outbounds || childPrim)
return;
m_outbounds = true;
m_lastposition = _position;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_lastorientation = _orientation;
d.AllocateODEDataForThread(0);
m_lastVelocity = _velocity;
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Stop();
if(Body != IntPtr.Zero)
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
if (prim_geom != IntPtr.Zero)
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
{
if(m_bodyMoveCoolDown >= 0)
{
d.Vector3 dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
m_outbounds = false;
changeDisable(false);
base.RequestPhysicsterseUpdate();
dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
}
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0);
}
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
disableBodySoft(); // stop collisions
UnSubscribeEvents();
}
}
@ -1090,11 +1134,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_cureventsubscription = 0;
if (CollisionEventsThisFrame == null)
CollisionEventsThisFrame = new CollisionEventUpdate();
if (CollisionVDTCEventsThisFrame == null)
CollisionVDTCEventsThisFrame = new CollisionEventUpdate();
SentEmptyCollisionsEvent = false;
}
public override void UnSubscribeEvents()
{
if (CollisionVDTCEventsThisFrame != null)
{
CollisionVDTCEventsThisFrame.Clear();
CollisionVDTCEventsThisFrame = null;
}
if (CollisionEventsThisFrame != null)
{
CollisionEventsThisFrame.Clear();
@ -1113,21 +1164,44 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_parent_scene.AddCollisionEventReporting(this);
}
public override void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact)
{
if (CollisionVDTCEventsThisFrame == null)
CollisionVDTCEventsThisFrame = new CollisionEventUpdate();
CollisionVDTCEventsThisFrame.AddCollider(CollidedWith, contact);
_parent_scene.AddCollisionEventReporting(this);
}
internal void SleeperAddCollisionEvents()
{
if (CollisionEventsThisFrame == null)
return;
if(CollisionEventsThisFrame.m_objCollisionList.Count == 0)
return;
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEventsThisFrame.m_objCollisionList)
if(CollisionEventsThisFrame != null && CollisionEventsThisFrame.m_objCollisionList.Count != 0)
{
OdePrim other = _parent_scene.getPrim(kvp.Key);
if(other == null)
continue;
ContactPoint cp = kvp.Value;
cp.SurfaceNormal = - cp.SurfaceNormal;
cp.RelativeSpeed = -cp.RelativeSpeed;
other.AddCollisionEvent(ParentActor.LocalID,cp);
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEventsThisFrame.m_objCollisionList)
{
if(kvp.Key == 0)
continue;
OdePrim other = _parent_scene.getPrim(kvp.Key);
if(other == null)
continue;
ContactPoint cp = kvp.Value;
cp.SurfaceNormal = - cp.SurfaceNormal;
cp.RelativeSpeed = -cp.RelativeSpeed;
other.AddCollisionEvent(ParentActor.LocalID,cp);
}
}
if(CollisionVDTCEventsThisFrame != null && CollisionVDTCEventsThisFrame.m_objCollisionList.Count != 0)
{
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionVDTCEventsThisFrame.m_objCollisionList)
{
OdePrim other = _parent_scene.getPrim(kvp.Key);
if(other == null)
continue;
ContactPoint cp = kvp.Value;
cp.SurfaceNormal = - cp.SurfaceNormal;
cp.RelativeSpeed = -cp.RelativeSpeed;
other.AddCollisionEvent(ParentActor.LocalID,cp);
}
}
}
@ -1160,6 +1234,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
CollisionEventsThisFrame.Clear();
}
}
if(CollisionVDTCEventsThisFrame != null && (Body == IntPtr.Zero || d.BodyIsEnabled(Body)))
CollisionVDTCEventsThisFrame.Clear();
}
public override bool SubscribedEvents()
@ -1192,7 +1268,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_invTimeStep = 1f / m_timeStep;
m_density = parent_scene.geomDefaultDensity;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
m_body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
collide_geom = IntPtr.Zero;
@ -1257,6 +1333,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
m_building = true; // control must set this to false when done
m_bodyMoveCoolDown = 0;
AddChange(changes.Add, null);
@ -1963,7 +2040,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetGravityMode(Body, false);
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
d.BodySetAutoDisableAngularThreshold(Body, 0.05f);
d.BodySetAutoDisableLinearThreshold(Body, 0.05f);
d.BodySetDamping(Body, .004f, .001f);
@ -2055,11 +2132,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
/*
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
*/
_zeroFlag = false;
bodydisablecontrol = 0;
m_bodydisablecontrol = 0;
}
m_bodyMoveCoolDown = -5;
_parent_scene.addActiveGroups(this);
}
@ -2152,6 +2232,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
m_mass = primMass;
m_collisionscore = 0;
m_bodyMoveCoolDown = 0;
}
private void FixInertia(Vector3 NewPos,Quaternion newrot)
@ -2814,6 +2895,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
_zeroFlag = true;
d.BodyEnable(Body);
m_bodyMoveCoolDown = -5;
}
}
// else if (_parent != null)
@ -2856,6 +2938,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
m_bodyMoveCoolDown = -5;
}
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{
@ -2915,8 +2998,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
myrot.W = newOri.W;
d.GeomSetQuaternion(prim_geom, ref myrot);
_orientation = newOri;
if (Body != IntPtr.Zero && m_angularlocks != 0)
createAMotor(m_angularlocks);
if (Body != IntPtr.Zero)
{
if(m_angularlocks != 0)
createAMotor(m_angularlocks);
m_bodyMoveCoolDown = -5;
}
}
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{
@ -3212,7 +3300,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void changeSetTorque(Vector3 newtorque)
{
if (!m_isSelected)
if (!m_isSelected && !m_outbounds)
{
if (m_isphysical && Body != IntPtr.Zero)
{
@ -3229,14 +3317,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void changeForce(Vector3 force)
{
m_force = force;
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
if (!m_isSelected && !m_outbounds && Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
private void changeAddForce(Vector3 theforce)
{
m_forceacc += theforce;
if (!m_isSelected)
if (!m_isSelected && !m_outbounds)
{
lock (this)
{
@ -3257,7 +3345,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void changeAddAngularImpulse(Vector3 aimpulse)
{
m_angularForceacc += aimpulse * m_invTimeStep;
if (!m_isSelected)
if (!m_isSelected && !m_outbounds)
{
lock (this)
{
@ -3282,7 +3370,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
newVel *= len;
}
if (!m_isSelected)
if (!m_isSelected && !m_outbounds)
{
if (Body != IntPtr.Zero)
{
@ -3290,8 +3378,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
enableBodySoft();
else if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
if(m_bodyMoveCoolDown >= 0)
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
}
//resetCollisionAccounting();
}
@ -3307,7 +3395,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
newAngVel *= len;
}
if (!m_isSelected)
if (!m_isSelected && !m_outbounds)
{
if (Body != IntPtr.Zero)
{
@ -3316,8 +3404,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
else if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
if(m_bodyMoveCoolDown >= 0);
d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
}
//resetCollisionAccounting();
}
@ -3468,13 +3556,33 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && !m_building && !m_outbounds)
{
if(m_bodyMoveCoolDown < 0)
{
m_bodyMoveCoolDown++;
// if(!IsColliding)
// m_bodyCoolDown +=2;
if(m_bodyMoveCoolDown >= 0)
{
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
}
else
{
d.BodySetAngularVel(Body, 0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
m_forceacc = Vector3.Zero;
m_angularForceacc = Vector3.Zero;
_zeroFlag = false;
return;
}
}
if (!d.BodyIsEnabled(Body))
{
// let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
return;
if (++bodydisablecontrol < 50)
if (++m_bodydisablecontrol < 50)
return;
// clear residuals
@ -3482,11 +3590,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetLinearVel(Body,0f,0f,0f);
_zeroFlag = true;
d.BodyEnable(Body);
bodydisablecontrol = -4;
m_bodydisablecontrol = -4;
}
if(bodydisablecontrol < 0)
bodydisablecontrol ++;
if(m_bodydisablecontrol < 0)
m_bodydisablecontrol ++;
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
@ -3655,7 +3763,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
bool bodyenabled = d.BodyIsEnabled(Body);
if(bodydisablecontrol < 0)
if(m_bodydisablecontrol < 0)
return;
if (bodyenabled || !_zeroFlag)
@ -3723,15 +3831,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_lastposition = _position;
m_lastorientation = _orientation;
d.Vector3 dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
if(m_bodyMoveCoolDown >= 0)
{
d.Vector3 dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
}
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0);
@ -3756,30 +3867,33 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
float poserror;
float angerror;
if(_zeroFlag)
if(m_bodyMoveCoolDown >= 0)
{
poserror = 0.01f;
angerror = 0.001f;
}
else
{
poserror = 0.005f;
angerror = 0.0005f;
}
float poserror;
float angerror;
if(_zeroFlag)
{
poserror = 0.01f;
angerror = 0.001f;
}
else
{
poserror = 0.005f;
angerror = 0.0005f;
}
if (
(Math.Abs(_position.X - lpos.X) < poserror)
&& (Math.Abs(_position.Y - lpos.Y) < poserror)
&& (Math.Abs(_position.Z - lpos.Z) < poserror)
&& (Math.Abs(_orientation.X - ori.X) < angerror)
&& (Math.Abs(_orientation.Y - ori.Y) < angerror)
&& (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
)
_zeroFlag = true;
else
_zeroFlag = false;
if (
(Math.Abs(_position.X - lpos.X) < poserror)
&& (Math.Abs(_position.Y - lpos.Y) < poserror)
&& (Math.Abs(_position.Z - lpos.Z) < poserror)
&& (Math.Abs(_orientation.X - ori.X) < angerror)
&& (Math.Abs(_orientation.Y - ori.Y) < angerror)
&& (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
)
_zeroFlag = true;
else
_zeroFlag = false;
}
}
// update position
@ -3805,46 +3919,49 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
d.Vector3 vel = d.BodyGetLinearVel(Body);
if(m_bodyMoveCoolDown >= 0)
{
d.Vector3 vel = d.BodyGetLinearVel(Body);
_acceleration = _velocity;
_acceleration = _velocity;
if ((Math.Abs(vel.X) < 0.005f) &&
(Math.Abs(vel.Y) < 0.005f) &&
(Math.Abs(vel.Z) < 0.005f))
{
_velocity = Vector3.Zero;
float t = -m_invTimeStep;
_acceleration = _acceleration * t;
}
else
{
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
_acceleration = (_velocity - _acceleration) * m_invTimeStep;
}
if ((Math.Abs(vel.X) < 0.005f) &&
(Math.Abs(vel.Y) < 0.005f) &&
(Math.Abs(vel.Z) < 0.005f))
{
_velocity = Vector3.Zero;
float t = -m_invTimeStep;
_acceleration = _acceleration * t;
}
else
{
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
_acceleration = (_velocity - _acceleration) * m_invTimeStep;
}
if ((Math.Abs(_acceleration.X) < 0.01f) &&
(Math.Abs(_acceleration.Y) < 0.01f) &&
(Math.Abs(_acceleration.Z) < 0.01f))
{
_acceleration = Vector3.Zero;
}
if ((Math.Abs(_acceleration.X) < 0.01f) &&
(Math.Abs(_acceleration.Y) < 0.01f) &&
(Math.Abs(_acceleration.Z) < 0.01f))
{
_acceleration = Vector3.Zero;
}
vel = d.BodyGetAngularVel(Body);
if ((Math.Abs(vel.X) < 0.0001) &&
(Math.Abs(vel.Y) < 0.0001) &&
(Math.Abs(vel.Z) < 0.0001)
)
{
m_rotationalVelocity = Vector3.Zero;
}
else
{
m_rotationalVelocity.X = vel.X;
m_rotationalVelocity.Y = vel.Y;
m_rotationalVelocity.Z = vel.Z;
vel = d.BodyGetAngularVel(Body);
if ((Math.Abs(vel.X) < 0.0001) &&
(Math.Abs(vel.Y) < 0.0001) &&
(Math.Abs(vel.Z) < 0.0001)
)
{
m_rotationalVelocity = Vector3.Zero;
}
else
{
m_rotationalVelocity.X = vel.X;
m_rotationalVelocity.Y = vel.Y;
m_rotationalVelocity.Z = vel.Z;
}
}
}

18
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
View File

@ -186,7 +186,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float frictionMovementMult = 0.8f;
float TerrainBounce = 0.1f;
float TerrainBounce = 0.001f;
float TerrainFriction = 0.3f;
public float AvatarFriction = 0;// 0.9f * 0.5f;
@ -1083,9 +1083,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
case ActorTypes.Prim:
if (p2events)
{
AddCollisionEventReporting(p2);
//AddCollisionEventReporting(p2);
p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
}
else if(p1.IsVolumeDtc)
p2.AddVDTCCollisionEvent(p1.ParentActor.LocalID, contact);
obj2LocalID = p2.ParentActor.LocalID;
break;
@ -1099,9 +1102,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
contact.SurfaceNormal = -contact.SurfaceNormal;
contact.RelativeSpeed = -contact.RelativeSpeed;
AddCollisionEventReporting(p1);
//AddCollisionEventReporting(p1);
p1.AddCollisionEvent(obj2LocalID, contact);
}
else if(p2.IsVolumeDtc)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
contact.RelativeSpeed = -contact.RelativeSpeed;
//AddCollisionEventReporting(p1);
p1.AddVDTCCollisionEvent(obj2LocalID, contact);
}
break;
}
case ActorTypes.Ground:
@ -1110,7 +1120,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (p2events && !p2.IsVolumeDtc)
{
AddCollisionEventReporting(p2);
//AddCollisionEventReporting(p2);
p2.AddCollisionEvent(0, contact);
}
break;