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mantis 8420: ubOde awake up lazy body

0.9.1.0-post-fixes
UbitUmarov 2018-12-11 17:23:55 +00:00
parent 5e9fa5e7f5
commit af2a9d9508
2 changed files with 73 additions and 57 deletions
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66
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@ -3504,6 +3504,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changeVehicleVectorParam(strVehicleVectorParam vp)
@ -3511,6 +3516,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_vehicle == null)
return;
m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changeVehicleRotationParam(strVehicleQuatParam qp)
@ -3518,6 +3528,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_vehicle == null)
return;
m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changeVehicleFlags(strVehicleBoolParam bp)
@ -3525,48 +3540,93 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_vehicle == null)
return;
m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changeBuoyancy(float b)
{
m_buoyancy = b;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDTarget(Vector3 trg)
{
m_PIDTarget = trg;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDTau(float tau)
{
m_PIDTau = tau;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDActive(bool val)
{
m_usePID = val;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDHoverHeight(float val)
{
m_PIDHoverHeight = val;
if (val == 0)
m_useHoverPID = false;
m_PIDHoverHeight = val;
if (val == 0)
m_useHoverPID = false;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDHoverType(PIDHoverType type)
{
m_PIDHoverType = type;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDHoverTau(float tau)
{
m_PIDHoverTau = tau;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changePIDHoverActive(bool active)
{
m_useHoverPID = active;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
{
SafeNativeMethods.BodySetAutoDisableSteps(Body, m_body_autodisable_frames);
SafeNativeMethods.BodyEnable(Body);
}
}
private void changeInertia(PhysicsInertiaData inertia)

62
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
View File

@ -288,10 +288,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public IConfigSource m_config;
public bool physics_logging = false;
public int physics_logging_interval = 0;
public bool physics_logging_append_existing_logfile = false;
public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
private ODERayCastRequestManager m_rayCastManager;
@ -469,10 +465,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
// bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
physics_logging = physicsconfig.GetBoolean("physics_logging", false);
physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
@ -633,51 +625,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
}
// get geom bodies to check if we already a joint contact
// guess this shouldn't happen now
IntPtr b1 = SafeNativeMethods.GeomGetBody(g1);
IntPtr b2 = SafeNativeMethods.GeomGetBody(g2);
// d.GeomClassID id = d.GeomGetClass(g1);
// Figure out how many contact points we have
int count = 0;
try
{
// Colliding Geom To Geom
// This portion of the function 'was' blatantly ripped off from BoxStack.cs
if (g1 == g2)
return; // Can't collide with yourself
// if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
// return;
/*
// debug
PhysicsActor dp2;
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
{
d.AABB aabb;
d.GeomGetAABB(g2, out aabb);
float x = aabb.MaxX - aabb.MinX;
float y = aabb.MaxY - aabb.MinY;
float z = aabb.MaxZ - aabb.MinZ;
if (x > 60.0f || y > 60.0f || z > 60.0f)
{
if (!actor_name_map.TryGetValue(g2, out dp2))
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
else
m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})",
dp2.Name, dp2.Size, x, y, z,
dp2.Position.ToString(),
dp2.Orientation.ToString(),
dp2.Orientation.Length());
return;
}
}
//
*/
if (SafeNativeMethods.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
SafeNativeMethods.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc)
{
@ -707,29 +663,26 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (count == 0)
return;
// get first contact
SafeNativeMethods.ContactGeom curContact = new SafeNativeMethods.ContactGeom();
if (!GetCurContactGeom(0, ref curContact))
return;
// try get physical actors
PhysicsActor p1;
PhysicsActor p2;
if (!actor_name_map.TryGetValue(g1, out p1))
{
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1");
return;
}
PhysicsActor p2;
if (!actor_name_map.TryGetValue(g2, out p2))
{
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
return;
}
// get first contact
SafeNativeMethods.ContactGeom curContact = new SafeNativeMethods.ContactGeom();
if (!GetCurContactGeom(0, ref curContact))
return;
ContactPoint maxDepthContact = new ContactPoint();
// do volume detection case
@ -879,6 +832,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if(dop1ava || dop2ava)
smoothMesh = false;
IntPtr b1 = SafeNativeMethods.GeomGetBody(g1);
IntPtr b2 = SafeNativeMethods.GeomGetBody(g2);
while (true)
{
noskip = true;