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update ubitODE to current working state

avinationmerge
UbitUmarov 2012-02-29 19:32:23 +00:00
parent a0d75be56b
commit a8f1cd7e86
2 changed files with 199 additions and 113 deletions
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185
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -155,6 +155,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public float m_collisionscore;
int m_colliderfilter = 0;
public IntPtr collide_geom; // for objects: geom if single prim space it linkset
private float m_density = 10.000006836f; // Aluminum g/cm3;
public bool _zeroFlag;
@ -453,8 +455,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
// Averate previous velocity with the new one so
// client object interpolation works a 'little' better
if (_zeroFlag)
return Vector3.Zero;
return _velocity;
@ -833,6 +833,7 @@ namespace OpenSim.Region.Physics.OdePlugin
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
collide_geom = IntPtr.Zero;
Body = IntPtr.Zero;
if (!size.IsFinite())
@ -1367,7 +1368,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
m_collisionscore = 0;
if (m_targetSpace != _parent_scene.ActiveSpace)
// if (m_targetSpace != _parent_scene.ActiveSpace)
{
if (m_targetSpace != IntPtr.Zero)
{
@ -1376,9 +1377,26 @@ namespace OpenSim.Region.Physics.OdePlugin
d.SpaceRemove(m_targetSpace, prim_geom);
}
// m_targetSpace = _parent_scene.ActiveSpace;
// d.SpaceAdd(m_targetSpace, prim_geom);
}
if (childrenPrim.Count == 0)
{
collide_geom = prim_geom;
m_targetSpace = _parent_scene.ActiveSpace;
d.SpaceAdd(m_targetSpace, prim_geom);
}
else
{
m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
d.HashSpaceSetLevels(m_targetSpace, -2, 8);
d.SpaceSetSublevel(m_targetSpace, 3);
d.SpaceSetCleanup(m_targetSpace, false);
d.SpaceAdd(m_targetSpace, prim_geom);
collide_geom = m_targetSpace;
}
lock (childrenPrim)
{
@ -1396,15 +1414,15 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
prm.m_collisionscore = 0;
if (prm.m_targetSpace != _parent_scene.ActiveSpace)
if (prm.m_targetSpace != m_targetSpace)
{
if (prm.m_targetSpace != IntPtr.Zero)
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
_parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
}
prm.m_targetSpace = _parent_scene.ActiveSpace;
prm.m_targetSpace = m_targetSpace;
d.SpaceAdd(m_targetSpace, prm.prim_geom);
}
@ -1427,8 +1445,14 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDisable(prim_geom);
d.BodyDisable(Body);
}
else
{
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
}
_parent_scene.addActivePrim(this);
_parent_scene.addActiveGroups(this);
}
private void DestroyBody()
@ -1473,6 +1497,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
_parent_scene.remActiveGroup(this);
d.BodyDestroy(Body);
}
Body = IntPtr.Zero;
@ -2390,8 +2415,8 @@ namespace OpenSim.Region.Physics.OdePlugin
else
*/
DestroyBody();
Stop();
}
Stop();
}
}
@ -2576,6 +2601,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if ((bool)newbuilding)
{
m_building = true;
if (!childPrim)
DestroyBody();
}
else
@ -2648,12 +2674,95 @@ namespace OpenSim.Region.Physics.OdePlugin
public void Move()
{
if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims.
!m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
// !m_disabled && !m_isSelected && !m_building && !m_outbounds)
{
// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
float timestep = _parent_scene.ODE_STEPSIZE;
// check outside region
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
if (lpos.Z < -100 || lpos.Z > 100000f)
{
m_outbounds = true;
lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); // stop it
d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
m_lastposition = _position;
m_lastorientation = _orientation;
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
disableBodySoft(); // disable it and colisions
base.RaiseOutOfBounds(_position);
return;
}
if (lpos.X < 0f)
{
_position.X = Util.Clip(lpos.X, -2f, -0.1f);
m_outbounds = true;
}
else if(lpos.X > _parent_scene.WorldExtents.X)
{
_position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
m_outbounds = true;
}
if (lpos.Y < 0f)
{
_position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
m_outbounds = true;
}
else if(lpos.Y > _parent_scene.WorldExtents.Y)
{
_position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
m_outbounds = true;
}
if(m_outbounds)
{
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;
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
base.RequestPhysicsterseUpdate();
return;
}
float fx = 0;
float fy = 0;
float fz = 0;
@ -2862,7 +2971,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public void UpdatePositionAndVelocity(float simulatedtime)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
if (_parent == null && !m_disabled && !m_building)
if (_parent == null && !m_disabled && !m_building && !m_outbounds)
{
if (Body != IntPtr.Zero)
{
@ -2872,64 +2981,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
// we need to use root position since that's all the rest of scene uses
if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X
|| lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y
)
{
// we are outside current region
// we can't let it keeping moving and having colisions
// since it can be stucked between something like terrain and edge
// so lets stop and disable it until something else kicks it
_position.X = Util.Clip(lpos.X, -0.2f, _parent_scene.WorldExtents.X + 0.2f);
_position.Y = Util.Clip(lpos.Y, -0.2f, _parent_scene.WorldExtents.Y + 0.2f);
_position.Z = Util.Clip(lpos.Z, -100f, 50000f);
m_lastposition = _position;
// m_lastorientation = _orientation;
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
m_outbounds = true;
base.RequestPhysicsterseUpdate();
return;
}
if (lpos.Z < -100 || lpos.Z > 100000f)
{
lpos.Z = Util.Clip(lpos.Z, -100f, 50000f);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); // stop it
d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
m_lastposition = _position;
m_lastorientation = _orientation;
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
disableBodySoft(); // disable it and colisions
base.RaiseOutOfBounds(_position);
return;
}
d.Quaternion ori;
d.GeomCopyQuaternion(prim_geom, out ori);

123
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -224,6 +224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
@ -1013,15 +1014,24 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// collide active prims with static enviroment
lock (_activeprims)
{
foreach (OdePrim aprim in _activeprims)
{
aprim.CollisionScore = 0;
aprim.IsColliding = false;
}
}
// collide active prims with static enviroment
lock (_activegroups)
{
try
{
foreach (OdePrim prm in _activeprims)
foreach (OdePrim prm in _activegroups)
{
if (d.BodyIsEnabled(prm.Body))
d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback);
if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
}
}
catch (AccessViolationException)
@ -1029,7 +1039,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
}
}
// finally colide active things amoung them
try
{
@ -1039,7 +1048,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
m_log.Warn("[PHYSICS]: Unable to collide in Active space");
}
// _perloopContact.Clear();
}
@ -1148,13 +1156,20 @@ namespace OpenSim.Region.Physics.OdePlugin
public void addActivePrim(OdePrim activatePrim)
{
// adds active prim.. (ones that should be iterated over in collisions_optimized
// adds active prim..
lock (_activeprims)
{
if (!_activeprims.Contains(activatePrim))
_activeprims.Add(activatePrim);
//else
// m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
}
}
public void addActiveGroups(OdePrim activatePrim)
{
lock (_activegroups)
{
if (!_activegroups.Contains(activatePrim))
_activegroups.Add(activatePrim);
}
}
@ -1186,6 +1201,13 @@ namespace OpenSim.Region.Physics.OdePlugin
_activeprims.Remove(deactivatePrim);
}
}
public void remActiveGroup(OdePrim deactivatePrim)
{
lock (_activegroups)
{
_activegroups.Remove(deactivatePrim);
}
}
public override void RemovePrim(PhysicsActor prim)
{
@ -1258,6 +1280,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{
waitForSpaceUnlock(currentspace);
d.SpaceRemove(currentspace, geom);
if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
{
d.SpaceDestroy(currentspace);
}
}
else
{
@ -1274,6 +1301,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
waitForSpaceUnlock(currentspace);
d.SpaceRemove(currentspace, geom);
if (d.SpaceGetSublevel(currentspace) > 1 && d.SpaceGetNumGeoms(currentspace) == 0)
{
d.SpaceDestroy(currentspace);
}
}
}
}
@ -1577,42 +1610,14 @@ namespace OpenSim.Region.Physics.OdePlugin
statchanges += Util.EnvironmentTickCountSubtract(statstart);
// Move characters
lock (_characters)
{
List<OdeCharacter> defects = new List<OdeCharacter>();
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
actor.Move(ODE_STEPSIZE, defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter defect in defects)
{
RemoveCharacter(defect);
}
}
}
statchmove += Util.EnvironmentTickCountSubtract(statstart);
// Move other active objects
lock (_activeprims)
{
foreach (OdePrim aprim in _activeprims)
{
aprim.CollisionScore = 0;
aprim.IsColliding = false;
aprim.Move();
}
}
statactmove += Util.EnvironmentTickCountSubtract(statstart);
//if ((framecount % m_randomizeWater) == 0)
// randomizeWater(waterlevel);
m_rayCastManager.ProcessQueuedRequests();
statray += Util.EnvironmentTickCountSubtract(statstart);
collision_optimized();
statcol += Util.EnvironmentTickCountSubtract(statstart);
@ -1642,8 +1647,35 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldQuickStep(world, ODE_STEPSIZE);
statstep += Util.EnvironmentTickCountSubtract(statstart);
d.JointGroupEmpty(contactgroup);
totjcontact += m_global_contactcount;
// Move characters
lock (_characters)
{
List<OdeCharacter> defects = new List<OdeCharacter>();
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
actor.Move(ODE_STEPSIZE, defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter defect in defects)
{
RemoveCharacter(defect);
}
}
}
statchmove += Util.EnvironmentTickCountSubtract(statstart);
// Move other active objects
lock (_activegroups)
{
foreach (OdePrim aprim in _activegroups)
{
aprim.Move();
}
}
//ode.dunlock(world);
}
catch (Exception e)
@ -1652,6 +1684,9 @@ namespace OpenSim.Region.Physics.OdePlugin
// ode.dunlock(world);
}
d.JointGroupEmpty(contactgroup);
totjcontact += m_global_contactcount;
step_time -= ODE_STEPSIZE;
nodeframes++;
}
@ -1686,10 +1721,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
statmovchar = Util.EnvironmentTickCountSubtract(statstart);
lock (_activeprims)
lock (_activegroups)
{
{
foreach (OdePrim actor in _activeprims)
foreach (OdePrim actor in _activegroups)
{
if (actor.IsPhysical)
{
@ -1966,7 +2001,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);