diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt
index 246c669f4a..5c1bdf119f 100644
--- a/CONTRIBUTORS.txt
+++ b/CONTRIBUTORS.txt
@@ -111,6 +111,7 @@ what it is today.
* Mircea Kitsune
* mpallari
* MrMonkE
+* Nebadon Izumi (Michael Cerquoni - http://OSgrid.org)
* nornalbion
* Omar Vera Ustariz (IBM)
* openlifegrid.com
diff --git a/OpenSim/Framework/PrimitiveBaseShape.cs b/OpenSim/Framework/PrimitiveBaseShape.cs
index 44f484e73d..83ddf95bff 100644
--- a/OpenSim/Framework/PrimitiveBaseShape.cs
+++ b/OpenSim/Framework/PrimitiveBaseShape.cs
@@ -213,6 +213,8 @@ namespace OpenSim.Framework
///
public PrimitiveBaseShape(Primitive prim)
{
+// m_log.DebugFormat("[PRIMITIVE BASE SHAPE]: Creating from {0}", prim.ID);
+
PCode = (byte)prim.PrimData.PCode;
ExtraParams = new byte[1];
@@ -376,7 +378,7 @@ namespace OpenSim.Framework
_pathEnd = Primitive.PackEndCut(end);
}
- public void SetSculptData(byte sculptType, UUID SculptTextureUUID)
+ public void SetSculptProperties(byte sculptType, UUID SculptTextureUUID)
{
_sculptType = sculptType;
_sculptTexture = SculptTextureUUID;
@@ -613,29 +615,39 @@ namespace OpenSim.Framework
}
}
- public byte SculptType {
- get {
+ public byte SculptType
+ {
+ get
+ {
return _sculptType;
}
- set {
+ set
+ {
_sculptType = value;
}
}
- public byte[] SculptData {
- get {
+ public byte[] SculptData
+ {
+ get
+ {
return _sculptData;
}
- set {
+ set
+ {
+// m_log.DebugFormat("[PRIMITIVE BASE SHAPE]: Setting SculptData to data with length {0}", value.Length);
_sculptData = value;
}
}
- public int FlexiSoftness {
- get {
+ public int FlexiSoftness
+ {
+ get
+ {
return _flexiSoftness;
}
- set {
+ set
+ {
_flexiSoftness = value;
}
}
@@ -869,6 +881,8 @@ namespace OpenSim.Framework
public byte[] ExtraParamsToBytes()
{
+// m_log.DebugFormat("[EXTRAPARAMS]: Called ExtraParamsToBytes()");
+
ushort FlexiEP = 0x10;
ushort LightEP = 0x20;
ushort SculptEP = 0x30;
@@ -884,18 +898,21 @@ namespace OpenSim.Framework
TotalBytesLength += 16;// data
TotalBytesLength += 2 + 4; // type
}
+
if (_lightEntry)
{
ExtraParamsNum++;
TotalBytesLength += 16;// data
TotalBytesLength += 2 + 4; // type
}
+
if (_sculptEntry)
{
ExtraParamsNum++;
TotalBytesLength += 17;// data
TotalBytesLength += 2 + 4; // type
}
+
if (_projectionEntry)
{
ExtraParamsNum++;
@@ -905,7 +922,6 @@ namespace OpenSim.Framework
byte[] returnbytes = new byte[TotalBytesLength];
-
// uint paramlength = ExtraParamsNum;
// Stick in the number of parameters
@@ -925,6 +941,7 @@ namespace OpenSim.Framework
Array.Copy(FlexiData, 0, returnbytes, i, FlexiData.Length);
i += FlexiData.Length;
}
+
if (_lightEntry)
{
byte[] LightData = GetLightBytes();
@@ -939,6 +956,7 @@ namespace OpenSim.Framework
Array.Copy(LightData, 0, returnbytes, i, LightData.Length);
i += LightData.Length;
}
+
if (_sculptEntry)
{
byte[] SculptData = GetSculptBytes();
@@ -953,6 +971,7 @@ namespace OpenSim.Framework
Array.Copy(SculptData, 0, returnbytes, i, SculptData.Length);
i += SculptData.Length;
}
+
if (_projectionEntry)
{
byte[] ProjectionData = GetProjectionBytes();
@@ -966,6 +985,7 @@ namespace OpenSim.Framework
Array.Copy(ProjectionData, 0, returnbytes, i, ProjectionData.Length);
i += ProjectionData.Length;
}
+
if (!_flexiEntry && !_lightEntry && !_sculptEntry && !_projectionEntry)
{
byte[] returnbyte = new byte[1];
@@ -973,10 +993,7 @@ namespace OpenSim.Framework
return returnbyte;
}
-
return returnbytes;
- //m_log.Info("[EXTRAPARAMS]: Length = " + m_shape.ExtraParams.Length.ToString());
-
}
public void ReadInUpdateExtraParam(ushort type, bool inUse, byte[] data)
@@ -1047,7 +1064,6 @@ namespace OpenSim.Framework
extraParamCount = data[i++];
}
-
for (int k = 0; k < extraParamCount; k++)
{
ushort epType = Utils.BytesToUInt16(data, i);
@@ -1091,7 +1107,6 @@ namespace OpenSim.Framework
_sculptEntry = false;
if (!lGotFilter)
_projectionEntry = false;
-
}
public void ReadSculptData(byte[] data, int pos)
@@ -1120,6 +1135,7 @@ namespace OpenSim.Framework
if (_sculptType != (byte)1 && _sculptType != (byte)2 && _sculptType != (byte)3 && _sculptType != (byte)4)
_sculptType = 4;
}
+
_sculptTexture = SculptUUID;
_sculptType = SculptTypel;
//m_log.Info("[SCULPT]:" + SculptUUID.ToString());
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index 5ace351e69..b8b1039cfe 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -324,10 +324,25 @@ namespace OpenSim.Framework
}
///
- /// Debug utility function to convert unbroken strings of XML into something human readable for occasional debugging purposes.
- ///
- /// Please don't delete me even if I appear currently unused!
+ /// Debug utility function to convert OSD into formatted XML for debugging purposes.
///
+ ///
+ /// A
+ ///
+ ///
+ /// A
+ ///
+ public static string GetFormattedXml(OSD osd)
+ {
+ return GetFormattedXml(OSDParser.SerializeLLSDXmlString(osd));
+ }
+
+ ///
+ /// Debug utility function to convert unbroken strings of XML into something human readable for occasional debugging purposes.
+ ///
+ ///
+ /// Please don't delete me even if I appear currently unused!
+ ///
///
///
public static string GetFormattedXml(string rawXml)
@@ -431,26 +446,36 @@ namespace OpenSim.Framework
}
///
- /// Return an SHA1 hash of the given string
+ /// Return an SHA1 hash
///
///
///
- public static string SHA1Hash(string data)
+ public static string SHA1Hash(string data, Encoding enc)
{
- return SHA1Hash(data, Encoding.Default);
+ return SHA1Hash(enc.GetBytes(data));
}
- public static string SHA1Hash(string data, Encoding encoding)
+ public static string SHA1Hash(string data)
{
- byte[] hash = ComputeSHA1Hash(data, encoding);
+ return SHA1Hash(Encoding.Default.GetBytes(data));
+ }
+
+ ///
+ /// Return an SHA1 hash
+ ///
+ ///
+ ///
+ public static string SHA1Hash(byte[] data)
+ {
+ byte[] hash = ComputeSHA1Hash(data);
return BitConverter.ToString(hash).Replace("-", String.Empty);
}
- private static byte[] ComputeSHA1Hash(string src, Encoding encoding)
+ private static byte[] ComputeSHA1Hash(byte[] src)
{
SHA1CryptoServiceProvider SHA1 = new SHA1CryptoServiceProvider();
- return SHA1.ComputeHash(encoding.GetBytes(src));
+ return SHA1.ComputeHash(src);
}
public static int fast_distance2d(int x, int y)
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
index 6786ac56cc..d3bb0bc7fa 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs
@@ -1,4 +1,4 @@
-/*
+/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
@@ -595,21 +595,25 @@ namespace OpenSim.Region.ClientStack.Linden
Vector3 scale = inner_instance_list["scale"].AsVector3();
Quaternion rotation = inner_instance_list["rotation"].AsQuaternion();
+// no longer used - begin ------------------------
// int physicsShapeType = inner_instance_list["physics_shape_type"].AsInteger();
// int material = inner_instance_list["material"].AsInteger();
// int mesh = inner_instance_list["mesh"].AsInteger();
- OSDMap permissions = (OSDMap)inner_instance_list["permissions"];
- int base_mask = permissions["base_mask"].AsInteger();
- int everyone_mask = permissions["everyone_mask"].AsInteger();
- UUID creator_id = permissions["creator_id"].AsUUID();
- UUID group_id = permissions["group_id"].AsUUID();
- int group_mask = permissions["group_mask"].AsInteger();
+// OSDMap permissions = (OSDMap)inner_instance_list["permissions"];
+// int base_mask = permissions["base_mask"].AsInteger();
+// int everyone_mask = permissions["everyone_mask"].AsInteger();
+// UUID creator_id = permissions["creator_id"].AsUUID();
+// UUID group_id = permissions["group_id"].AsUUID();
+// int group_mask = permissions["group_mask"].AsInteger();
// bool is_owner_group = permissions["is_owner_group"].AsBoolean();
// UUID last_owner_id = permissions["last_owner_id"].AsUUID();
- int next_owner_mask = permissions["next_owner_mask"].AsInteger();
- UUID owner_id = permissions["owner_id"].AsUUID();
- int owner_mask = permissions["owner_mask"].AsInteger();
+// int next_owner_mask = permissions["next_owner_mask"].AsInteger();
+// UUID owner_id = permissions["owner_id"].AsUUID();
+// int owner_mask = permissions["owner_mask"].AsInteger();
+// no longer used - end ------------------------
+
+ UUID owner_id = m_HostCapsObj.AgentID;
SceneObjectPart prim
= new SceneObjectPart(owner_id, pbs, position, Quaternion.Identity, Vector3.Zero);
@@ -619,19 +623,19 @@ namespace OpenSim.Region.ClientStack.Linden
rotations.Add(rotation);
positions.Add(position);
prim.UUID = UUID.Random();
- prim.CreatorID = creator_id;
+ prim.CreatorID = owner_id;
prim.OwnerID = owner_id;
- prim.GroupID = group_id;
+ prim.GroupID = UUID.Zero;
prim.LastOwnerID = prim.OwnerID;
prim.CreationDate = Util.UnixTimeSinceEpoch();
prim.Name = assetName;
prim.Description = "";
- prim.BaseMask = (uint)base_mask;
- prim.EveryoneMask = (uint)everyone_mask;
- prim.GroupMask = (uint)group_mask;
- prim.NextOwnerMask = (uint)next_owner_mask;
- prim.OwnerMask = (uint)owner_mask;
+// prim.BaseMask = (uint)base_mask;
+// prim.EveryoneMask = (uint)everyone_mask;
+// prim.GroupMask = (uint)group_mask;
+// prim.NextOwnerMask = (uint)next_owner_mask;
+// prim.OwnerMask = (uint)owner_mask;
if (grp == null)
grp = new SceneObjectGroup(prim);
@@ -1123,4 +1127,4 @@ namespace OpenSim.Region.ClientStack.Linden
}
}
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/MeshUploadFlagModule.cs b/OpenSim/Region/ClientStack/Linden/Caps/MeshUploadFlagModule.cs
new file mode 100644
index 0000000000..c9d7ae1a07
--- /dev/null
+++ b/OpenSim/Region/ClientStack/Linden/Caps/MeshUploadFlagModule.cs
@@ -0,0 +1,149 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the OpenSimulator Project nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections;
+using System.Reflection;
+using log4net;
+using Nini.Config;
+using Mono.Addins;
+using OpenMetaverse;
+using OpenMetaverse.StructuredData;
+using OpenSim.Framework;
+using OpenSim.Framework.Servers.HttpServer;
+using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Services.Interfaces;
+using Caps = OpenSim.Framework.Capabilities.Caps;
+
+namespace OpenSim.Region.ClientStack.Linden
+{
+ ///
+ /// MeshUploadFlag capability. This is required for uploading Mesh.
+ ///
+ [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule")]
+ public class MeshUploadFlagModule : INonSharedRegionModule
+ {
+ private static readonly ILog m_log =
+ LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+ ///
+ /// Is this module enabled?
+ ///
+ public bool Enabled { get; private set; }
+
+ private Scene m_scene;
+ private UUID m_agentID;
+
+ #region ISharedRegionModule Members
+
+ public MeshUploadFlagModule()
+ {
+ Enabled = true;
+ }
+
+ public void Initialise(IConfigSource source)
+ {
+ IConfig config = source.Configs["Mesh"];
+ if (config == null)
+ {
+ return;
+ }
+ else
+ {
+ Enabled = config.GetBoolean("AllowMeshUpload", Enabled);
+ }
+ }
+
+ public void AddRegion(Scene s)
+ {
+ if (!Enabled)
+ return;
+
+ m_scene = s;
+ m_scene.EventManager.OnRegisterCaps += RegisterCaps;
+ }
+
+ public void RemoveRegion(Scene s)
+ {
+ if (!Enabled)
+ return;
+
+ m_scene.EventManager.OnRegisterCaps -= RegisterCaps;
+ }
+
+ public void RegionLoaded(Scene s)
+ {
+ }
+
+ public void PostInitialise()
+ {
+ }
+
+ public void Close() { }
+
+ public string Name { get { return "MeshUploadFlagModule"; } }
+
+ public Type ReplaceableInterface
+ {
+ get { return null; }
+ }
+
+ #endregion
+
+ public void RegisterCaps(UUID agentID, Caps caps)
+ {
+ IRequestHandler reqHandler = new RestHTTPHandler("GET", "/CAPS/" + UUID.Random(), MeshUploadFlag);
+ caps.RegisterHandler("MeshUploadFlag", reqHandler);
+ m_agentID = agentID;
+ }
+
+ private Hashtable MeshUploadFlag(Hashtable mDhttpMethod)
+ {
+ m_log.DebugFormat("[SIMULATOR FEATURES MODULE]: MeshUploadFlag request");
+
+ OSDMap data = new OSDMap();
+ ScenePresence sp = m_scene.GetScenePresence(m_agentID);
+ data["username"] = sp.Firstname + "." + sp.Lastname;
+ data["display_name_next_update"] = new OSDDate(DateTime.Now);
+ data["legacy_first_name"] = sp.Firstname;
+ data["mesh_upload_status"] = "valid";
+ data["display_name"] = sp.Firstname + " " + sp.Lastname;
+ data["legacy_last_name"] = sp.Lastname;
+ data["id"] = m_agentID;
+ data["is_display_name_default"] = true;
+
+ //Send back data
+ Hashtable responsedata = new Hashtable();
+ responsedata["int_response_code"] = 200;
+ responsedata["content_type"] = "text/plain";
+ responsedata["keepalive"] = false;
+ responsedata["str_response_string"] = OSDParser.SerializeLLSDXmlString(data);
+ return responsedata;
+ }
+ }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/ObjectCaps/UploadObjectAssetModule.cs b/OpenSim/Region/ClientStack/Linden/Caps/ObjectCaps/UploadObjectAssetModule.cs
index 3809f84380..15ed3b322c 100644
--- a/OpenSim/Region/ClientStack/Linden/Caps/ObjectCaps/UploadObjectAssetModule.cs
+++ b/OpenSim/Region/ClientStack/Linden/Caps/ObjectCaps/UploadObjectAssetModule.cs
@@ -250,11 +250,9 @@ namespace OpenSim.Region.ClientStack.Linden
case 0x40:
pbs.ReadProjectionData(extraParam.ExtraParamData, 0);
break;
-
}
-
-
}
+
pbs.PathBegin = (ushort) obj.PathBegin;
pbs.PathCurve = (byte) obj.PathCurve;
pbs.PathEnd = (ushort) obj.PathEnd;
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
index ecf10e43ad..99552f18a8 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLClientView.cs
@@ -7614,13 +7614,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
IInventoryAccessModule invAccess = m_scene.RequestModuleInterface();
if (invAccess != null)
{
- if (!invAccess.GetAgentInventoryItem(this, itemID, requestID))
+ if (!invAccess.CanGetAgentInventoryItem(this, itemID, requestID))
return false;
-
}
else
+ {
return false;
-
+ }
}
}
}
@@ -7634,7 +7634,6 @@ namespace OpenSim.Region.ClientStack.LindenUDP
{
AssetUploadRequestPacket request = (AssetUploadRequestPacket)Pack;
-
// m_log.Debug("upload request " + request.ToString());
// m_log.Debug("upload request was for assetid: " + request.AssetBlock.TransactionID.Combine(this.SecureSessionId).ToString());
UUID temp = UUID.Combine(request.AssetBlock.TransactionID, SecureSessionId);
diff --git a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
index a00e240827..90f0ca2b7e 100644
--- a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
@@ -53,7 +53,13 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
///
/// The maximum distance, in standard region units (256m) that an agent is allowed to transfer.
///
- public int MaxTransferDistance { get; set; }
+ private int m_MaxTransferDistance = 4095;
+ public int MaxTransferDistance
+ {
+ get { return m_MaxTransferDistance; }
+ set { m_MaxTransferDistance = value; }
+ }
+
protected bool m_Enabled = false;
protected Scene m_aScene;
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
index 7bad814db4..a98ce850d8 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
@@ -1030,7 +1030,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
{
}
- public virtual bool GetAgentInventoryItem(IClientAPI remoteClient, UUID itemID, UUID requestID)
+ public virtual bool CanGetAgentInventoryItem(IClientAPI remoteClient, UUID itemID, UUID requestID)
{
InventoryItemBase assetRequestItem = GetItem(remoteClient.AgentId, itemID);
if (assetRequestItem == null)
@@ -1109,7 +1109,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
InventoryItemBase item = new InventoryItemBase(itemID, agentID);
item = invService.GetItem(item);
- if (item.CreatorData != null && item.CreatorData != string.Empty)
+ if (item != null && item.CreatorData != null && item.CreatorData != string.Empty)
UserManagementModule.AddUser(item.CreatorIdAsUuid, item.CreatorData);
return item;
@@ -1117,4 +1117,4 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
#endregion
}
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/LocalInventoryServiceConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/LocalInventoryServiceConnector.cs
index 6dd871faa3..0c576183a9 100644
--- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/LocalInventoryServiceConnector.cs
+++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/LocalInventoryServiceConnector.cs
@@ -284,9 +284,9 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Inventory
item = m_InventoryService.GetItem(item);
- if (null == item)
- m_log.ErrorFormat(
- "[LOCAL INVENTORY SERVICES CONNECTOR]: Could not find item with id {0}", requestedItemId);
+// if (null == item)
+// m_log.ErrorFormat(
+// "[LOCAL INVENTORY SERVICES CONNECTOR]: Could not find item with id {0}", requestedItemId);
return item;
}
diff --git a/OpenSim/Region/Framework/Interfaces/IInventoryAccessModule.cs b/OpenSim/Region/Framework/Interfaces/IInventoryAccessModule.cs
index 305975e855..da11e61bcb 100644
--- a/OpenSim/Region/Framework/Interfaces/IInventoryAccessModule.cs
+++ b/OpenSim/Region/Framework/Interfaces/IInventoryAccessModule.cs
@@ -59,7 +59,15 @@ namespace OpenSim.Region.Framework.Interfaces
UUID RayTargetID, byte BypassRayCast, bool RayEndIsIntersection,
bool RezSelected, bool RemoveItem, UUID fromTaskID, bool attachment);
void TransferInventoryAssets(InventoryItemBase item, UUID sender, UUID receiver);
- bool GetAgentInventoryItem(IClientAPI remoteClient, UUID itemID, UUID requestID);
+
+ ///
+ /// Does the client have sufficient permissions to retrieve the inventory item?
+ ///
+ ///
+ ///
+ ///
+ ///
+ bool CanGetAgentInventoryItem(IClientAPI remoteClient, UUID itemID, UUID requestID);
// Must be here because of textures in user's inventory
bool IsForeignUser(UUID userID, out string assetServerURL);
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 0746b06870..980f7a339e 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -1603,6 +1603,8 @@ namespace OpenSim.Region.Framework.Scenes
///
public void ApplyPhysics(uint rootObjectFlags, bool VolumeDetectActive, bool m_physicalPrim)
{
+// m_log.DebugFormat("[SCENE OBJECT PART]: Applying physics to {0} {1} {2}", Name, LocalId, UUID);
+
bool isPhysical = (((rootObjectFlags & (uint) PrimFlags.Physics) != 0) && m_physicalPrim);
bool isPhantom = ((rootObjectFlags & (uint) PrimFlags.Phantom) != 0);
@@ -2974,7 +2976,6 @@ namespace OpenSim.Region.Framework.Scenes
}
}
-
public void SculptTextureCallback(UUID textureID, AssetBase texture)
{
if (m_shape.SculptEntry)
diff --git a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
index 91740707d0..d6e82236cb 100644
--- a/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
+++ b/OpenSim/Region/Framework/Scenes/Serialization/SceneObjectSerializer.cs
@@ -1008,6 +1008,8 @@ namespace OpenSim.Region.Framework.Scenes.Serialization
private static void ProcessShpSculptData(PrimitiveBaseShape shp, XmlTextReader reader)
{
+// m_log.DebugFormat("[SCENE OBJECT SERIALIZER]: Setting sculpt data length {0}", shp.SculptData.Length);
+
shp.SculptData = Convert.FromBase64String(reader.ReadElementString("SculptData"));
}
diff --git a/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs b/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
index faed522899..aa23fee0c5 100644
--- a/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/Minimodule/SOPObject.cs
@@ -801,7 +801,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.Minimodule
// retain pathcurve
shapeBlock.PathCurve = part.Shape.PathCurve;
- part.Shape.SetSculptData((byte)type, sculptId);
+ part.Shape.SetSculptProperties((byte)type, sculptId);
part.Shape.SculptEntry = true;
part.UpdateShape(shapeBlock);
}
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 54c50f8eda..13ea084978 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -86,7 +86,10 @@ namespace OpenSim.Region.Physics.Manager
Vector3 size, Quaternion rotation, bool isPhysical)
{
PhysicsActor ret = AddPrimShape(primName, pbs, position, size, rotation, isPhysical);
- if (ret != null) ret.LocalID = localID;
+
+ if (ret != null)
+ ret.LocalID = localID;
+
return ret;
}
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index a5fe45b216..b79e1a1cf1 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -100,7 +100,6 @@ namespace OpenSim.Region.Physics.Meshing
{
m_log.WarnFormat("[SCULPT]: Unable to create {0} directory: ", decodedSculptMapPath, e.Message);
}
-
}
///
@@ -156,7 +155,6 @@ namespace OpenSim.Region.Physics.Meshing
return box;
}
-
///
/// Creates a simple bounding box mesh for a complex input mesh
///
@@ -193,7 +191,6 @@ namespace OpenSim.Region.Physics.Meshing
m_log.Error(message);
m_log.Error("\nPrim Name: " + primName);
m_log.Error("****** PrimMesh Parameters ******\n" + primMesh.ParamsToDisplayString());
-
}
private ulong GetMeshKey(PrimitiveBaseShape pbs, Vector3 size, float lod)
@@ -257,6 +254,52 @@ namespace OpenSim.Region.Physics.Meshing
return ((hash << 5) + hash) + (ulong)(c >> 8);
}
+ ///
+ /// Add a submesh to an existing list of coords and faces.
+ ///
+ ///
+ /// Size of entire object
+ ///
+ ///
+ private void AddSubMesh(OSDMap subMeshData, Vector3 size, List coords, List faces)
+ {
+ // Console.WriteLine("subMeshMap for {0} - {1}", primName, Util.GetFormattedXml((OSD)subMeshMap));
+
+ // As per http://wiki.secondlife.com/wiki/Mesh/Mesh_Asset_Format, some Mesh Level
+ // of Detail Blocks (maps) contain just a NoGeometry key to signal there is no
+ // geometry for this submesh.
+ if (subMeshData.ContainsKey("NoGeometry") && ((OSDBoolean)subMeshData["NoGeometry"]))
+ return;
+
+ OpenMetaverse.Vector3 posMax = ((OSDMap)subMeshData["PositionDomain"])["Max"].AsVector3();
+ OpenMetaverse.Vector3 posMin = ((OSDMap)subMeshData["PositionDomain"])["Min"].AsVector3();
+ ushort faceIndexOffset = (ushort)coords.Count;
+
+ byte[] posBytes = subMeshData["Position"].AsBinary();
+ for (int i = 0; i < posBytes.Length; i += 6)
+ {
+ ushort uX = Utils.BytesToUInt16(posBytes, i);
+ ushort uY = Utils.BytesToUInt16(posBytes, i + 2);
+ ushort uZ = Utils.BytesToUInt16(posBytes, i + 4);
+
+ Coord c = new Coord(
+ Utils.UInt16ToFloat(uX, posMin.X, posMax.X) * size.X,
+ Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y) * size.Y,
+ Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z) * size.Z);
+
+ coords.Add(c);
+ }
+
+ byte[] triangleBytes = subMeshData["TriangleList"].AsBinary();
+ for (int i = 0; i < triangleBytes.Length; i += 6)
+ {
+ ushort v1 = (ushort)(Utils.BytesToUInt16(triangleBytes, i) + faceIndexOffset);
+ ushort v2 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 2) + faceIndexOffset);
+ ushort v3 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 4) + faceIndexOffset);
+ Face f = new Face(v1, v2, v3);
+ faces.Add(f);
+ }
+ }
private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
{
@@ -304,6 +347,7 @@ namespace OpenSim.Region.Physics.Meshing
{
m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
}
+
start = data.Position;
}
@@ -315,9 +359,10 @@ namespace OpenSim.Region.Physics.Meshing
physicsParms = (OSDMap)map["physics_shape"]; // old asset format
else if (map.ContainsKey("physics_mesh"))
physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
+
if (physicsParms == null)
{
- m_log.Warn("[Mesh]: no recognized physics mesh found in mesh asset");
+ m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
return null;
}
@@ -366,42 +411,13 @@ namespace OpenSim.Region.Physics.Meshing
// physics_shape is an array of OSDMaps, one for each submesh
if (decodedMeshOsd is OSDArray)
{
+// Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
+
decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
foreach (OSD subMeshOsd in decodedMeshOsdArray)
{
if (subMeshOsd is OSDMap)
- {
- OSDMap subMeshMap = (OSDMap)subMeshOsd;
-
- OpenMetaverse.Vector3 posMax = ((OSDMap)subMeshMap["PositionDomain"])["Max"].AsVector3();
- OpenMetaverse.Vector3 posMin = ((OSDMap)subMeshMap["PositionDomain"])["Min"].AsVector3();
- ushort faceIndexOffset = (ushort)coords.Count;
-
- byte[] posBytes = subMeshMap["Position"].AsBinary();
- for (int i = 0; i < posBytes.Length; i += 6)
- {
- ushort uX = Utils.BytesToUInt16(posBytes, i);
- ushort uY = Utils.BytesToUInt16(posBytes, i + 2);
- ushort uZ = Utils.BytesToUInt16(posBytes, i + 4);
-
- Coord c = new Coord(
- Utils.UInt16ToFloat(uX, posMin.X, posMax.X) * size.X,
- Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y) * size.Y,
- Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z) * size.Z);
-
- coords.Add(c);
- }
-
- byte[] triangleBytes = subMeshMap["TriangleList"].AsBinary();
- for (int i = 0; i < triangleBytes.Length; i += 6)
- {
- ushort v1 = (ushort)(Utils.BytesToUInt16(triangleBytes, i) + faceIndexOffset);
- ushort v2 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 2) + faceIndexOffset);
- ushort v3 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 4) + faceIndexOffset);
- Face f = new Face(v1, v2, v3);
- faces.Add(f);
- }
- }
+ AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
}
}
}
@@ -524,7 +540,6 @@ namespace OpenSim.Region.Physics.Meshing
profileBegin = 0.5f * profileBegin + 0.5f;
profileEnd = 0.5f * profileEnd + 0.5f;
-
}
int hollowSides = sides;
@@ -633,6 +648,7 @@ namespace OpenSim.Region.Physics.Meshing
Face f = faces[i];
mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
}
+
return mesh;
}
@@ -643,6 +659,10 @@ namespace OpenSim.Region.Physics.Meshing
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
{
+#if SPAM
+ m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
+#endif
+
Mesh mesh = null;
ulong key = 0;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 243e2d78e1..5fe0775dd4 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -38,6 +38,9 @@
* switch between 'VEHICLE' parameter use and general dynamics
* settings use.
*/
+
+//#define SPAM
+
using System;
using System.Collections.Generic;
using System.Reflection;
@@ -54,7 +57,6 @@ namespace OpenSim.Region.Physics.OdePlugin
///
/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
///
-
public class OdePrim : PhysicsActor
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -279,14 +281,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public override bool Selected
{
- set {
-
-
+ set
+ {
// This only makes the object not collidable if the object
// is physical or the object is modified somehow *IN THE FUTURE*
// without this, if an avatar selects prim, they can walk right
// through it while it's selected
m_collisionscore = 0;
+
if ((m_isphysical && !_zeroFlag) || !value)
{
m_taintselected = value;
@@ -297,7 +299,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintselected = value;
m_isSelected = value;
}
- if (m_isSelected) disableBodySoft();
+
+ if (m_isSelected)
+ disableBodySoft();
}
}
@@ -324,8 +328,6 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_log.Warn("Setting Geom to: " + prim_geom);
}
-
-
public void enableBodySoft()
{
if (!childPrim)
@@ -626,8 +628,6 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
-
-
float taperX1;
float taperY1;
float taperX;
@@ -682,9 +682,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// else if (returnMass > _parent_scene.maximumMassObject)
// returnMass = _parent_scene.maximumMassObject;
-
-
-
// Recursively calculate mass
bool HasChildPrim = false;
lock (childrenPrim)
@@ -693,8 +690,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{
HasChildPrim = true;
}
-
}
+
if (HasChildPrim)
{
OdePrim[] childPrimArr = new OdePrim[0];
@@ -711,10 +708,12 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
+
if (returnMass > _parent_scene.maximumMassObject)
returnMass = _parent_scene.maximumMassObject;
+
return returnMass;
- }// end CalculateMass
+ }
#endregion
@@ -750,7 +749,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
-
d.BodyDestroy(Body);
lock (childrenPrim)
{
@@ -779,7 +777,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
-
Body = IntPtr.Zero;
}
}
@@ -791,6 +788,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public void setMesh(OdeScene parent_scene, IMesh mesh)
{
+// m_log.DebugFormat("[ODE PRIM]: Setting mesh on {0} to {1}", Name, mesh);
+
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
@@ -860,7 +859,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public void ProcessTaints(float timestep)
{
-//Console.WriteLine("ProcessTaints for " + Name);
+Console.WriteLine("ProcessTaints for " + Name);
if (m_taintadd)
{
changeadd(timestep);
@@ -869,7 +868,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim_geom != IntPtr.Zero)
{
if (!_position.ApproxEquals(m_taintposition, 0f))
- changemove(timestep);
+ changemove(timestep);
if (m_taintrot != _orientation)
{
@@ -887,19 +886,15 @@ namespace OpenSim.Region.Physics.OdePlugin
rotate(timestep);
}
}
- //
if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
changePhysicsStatus(timestep);
- //
- if (!_size.ApproxEquals(m_taintsize,0f))
+ if (!_size.ApproxEquals(m_taintsize, 0f))
changesize(timestep);
- //
if (m_taintshape)
changeshape(timestep);
- //
if (m_taintforce)
changeAddForce(timestep);
@@ -927,7 +922,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
changeAngularLock(timestep);
-
}
else
{
@@ -935,7 +929,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
-
private void changeAngularLock(float timestep)
{
// do we have a Physical object?
@@ -963,7 +956,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// Store this for later in case we get turned into a separate body
m_angularlock = m_taintAngularLock;
-
}
private void changelink(float timestep)
@@ -1102,7 +1094,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
}
-
prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0;
prm.m_disabled = false;
@@ -1162,7 +1153,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
-
}
private void ChildSetGeom(OdePrim odePrim)
@@ -1223,17 +1213,12 @@ namespace OpenSim.Region.Physics.OdePlugin
//Console.WriteLine("childrenPrim.Remove " + odePrim);
childrenPrim.Remove(odePrim);
}
-
-
-
if (Body != IntPtr.Zero)
{
_parent_scene.remActivePrim(this);
}
-
-
lock (childrenPrim)
{
foreach (OdePrim prm in childrenPrim)
@@ -1242,8 +1227,6 @@ namespace OpenSim.Region.Physics.OdePlugin
ParentPrim(prm);
}
}
-
-
}
private void changeSelectedStatus(float timestep)
@@ -1398,7 +1381,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
-
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
@@ -1438,10 +1420,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
-
lock (_parent_scene.OdeLock)
{
-//Console.WriteLine("changeadd 1");
+#if SPAM
+Console.WriteLine("changeadd 1");
+#endif
CreateGeom(m_targetSpace, _mesh);
if (prim_geom != IntPtr.Zero)
@@ -1684,13 +1667,11 @@ Console.WriteLine(" JointCreateFixed");
{
PID_G = m_PIDTau + 1;
}
-
// Where are we, and where are we headed?
d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
-
// Non-Vehicles have a limited set of Hover options.
// determine what our target height really is based on HoverType
switch (m_PIDHoverType)
@@ -1796,8 +1777,6 @@ Console.WriteLine(" JointCreateFixed");
}
}
-
-
public void rotate(float timestep)
{
d.Quaternion myrot = new d.Quaternion();
@@ -1908,7 +1887,10 @@ Console.WriteLine(" JointCreateFixed");
public void changesize(float timestamp)
{
-
+#if SPAM
+ m_log.DebugFormat("[ODE PRIM]: Called changesize");
+#endif
+
string oldname = _parent_scene.geom_name_map[prim_geom];
if (_size.X <= 0) _size.X = 0.01f;
@@ -1918,8 +1900,9 @@ Console.WriteLine(" JointCreateFixed");
// Cleanup of old prim geometry
if (_mesh != null)
{
- // Cleanup meshing here
+ // TODO: Cleanup meshing here
}
+
//kill body to rebuild
if (IsPhysical && Body != IntPtr.Zero)
{
@@ -1936,11 +1919,13 @@ Console.WriteLine(" JointCreateFixed");
disableBody();
}
}
+
if (d.SpaceQuery(m_targetSpace, prim_geom))
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
d.SpaceRemove(m_targetSpace, prim_geom);
}
+
d.GeomDestroy(prim_geom);
prim_geom = IntPtr.Zero;
// we don't need to do space calculation because the client sends a position update also.
@@ -1960,15 +1945,19 @@ Console.WriteLine(" JointCreateFixed");
mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
//IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
-//Console.WriteLine("changesize 1");
+#if SPAM
+Console.WriteLine("changesize 1");
+#endif
CreateGeom(m_targetSpace, mesh);
-
-
}
else
{
_mesh = null;
-//Console.WriteLine("changesize 2");
+
+#if SPAM
+Console.WriteLine("changesize 2");
+#endif
+
CreateGeom(m_targetSpace, _mesh);
}
@@ -2004,8 +1993,6 @@ Console.WriteLine(" JointCreateFixed");
m_taintsize = _size;
}
-
-
public void changefloatonwater(float timestep)
{
m_collidesWater = m_taintCollidesWater;
@@ -2053,6 +2040,7 @@ Console.WriteLine(" JointCreateFixed");
prim_geom = IntPtr.Zero;
m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
}
+
prim_geom = IntPtr.Zero;
// we don't need to do space calculation because the client sends a position update also.
if (_size.X <= 0) _size.X = 0.01f;
@@ -2062,7 +2050,7 @@ Console.WriteLine(" JointCreateFixed");
if (_parent_scene.needsMeshing(_pbs))
{
- // Don't need to re-enable body.. it's done in SetMesh
+ // Don't need to re-enable body.. it's done in CreateMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
@@ -2070,12 +2058,18 @@ Console.WriteLine(" JointCreateFixed");
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
+#if SPAM
+Console.WriteLine("changeshape needed meshing");
+#endif
CreateGeom(m_targetSpace, mesh);
}
else
{
_mesh = null;
-//Console.WriteLine("changeshape");
+
+#if SPAM
+Console.WriteLine("changeshape not need meshing");
+#endif
CreateGeom(m_targetSpace, null);
}
@@ -2160,11 +2154,8 @@ Console.WriteLine(" JointCreateFixed");
}
m_taintforce = false;
-
}
-
-
public void changeSetTorque(float timestamp)
{
if (!m_isSelected)
@@ -2833,7 +2824,6 @@ Console.WriteLine(" JointCreateFixed");
public override float APIDDamping{ set { return; } }
-
private void createAMotor(Vector3 axis)
{
if (Body == IntPtr.Zero)
@@ -2953,7 +2943,6 @@ Console.WriteLine(" JointCreateFixed");
//d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 9000f);
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, Mass * 50f);//
-
}
public Matrix4 FromDMass(d.Mass pMass)
@@ -3038,8 +3027,6 @@ Console.WriteLine(" JointCreateFixed");
return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
}
-
-
return (Adjoint(pMat) / determinant3x3(pMat));
}
@@ -3076,6 +3063,7 @@ Console.WriteLine(" JointCreateFixed");
}
m++;
}
+
return minor;
}
@@ -3178,7 +3166,6 @@ Console.WriteLine(" JointCreateFixed");
det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
return det;
-
}
private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
@@ -3203,6 +3190,5 @@ Console.WriteLine(" JointCreateFixed");
{
m_material = pMaterial;
}
-
}
}
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 8d9f5f14d6..ebd46ab83d 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -25,8 +25,6 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
-//#define USE_DRAWSTUFF
-
using System;
using System.Collections.Generic;
using System.Reflection;
@@ -37,15 +35,10 @@ using System.Diagnostics;
using log4net;
using Nini.Config;
using Ode.NET;
-#if USE_DRAWSTUFF
-using Drawstuff.NET;
-#endif
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
-//using OpenSim.Region.Physics.OdePlugin.Meshing;
-
namespace OpenSim.Region.Physics.OdePlugin
{
///
@@ -55,12 +48,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
//private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
- private CollisionLocker ode;
- private OdeScene _mScene;
+ private CollisionLocker m_ode;
+ private OdeScene m_scene;
public OdePlugin()
{
- ode = new CollisionLocker();
+ m_ode = new CollisionLocker();
}
public bool Init()
@@ -70,15 +63,15 @@ namespace OpenSim.Region.Physics.OdePlugin
public PhysicsScene GetScene(String sceneIdentifier)
{
- if (_mScene == null)
+ if (m_scene == null)
{
// Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
// http://opensimulator.org/mantis/view.php?id=2750).
d.InitODE();
- _mScene = new OdeScene(ode, sceneIdentifier);
+ m_scene = new OdeScene(m_ode, sceneIdentifier);
}
- return (_mScene);
+ return (m_scene);
}
public string GetName()
@@ -90,3813 +83,4 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
}
-
- public enum StatusIndicators : int
- {
- Generic = 0,
- Start = 1,
- End = 2
- }
-
- public struct sCollisionData
- {
- public uint ColliderLocalId;
- public uint CollidedWithLocalId;
- public int NumberOfCollisions;
- public int CollisionType;
- public int StatusIndicator;
- public int lastframe;
- }
-
- [Flags]
- public enum CollisionCategories : int
- {
- Disabled = 0,
- Geom = 0x00000001,
- Body = 0x00000002,
- Space = 0x00000004,
- Character = 0x00000008,
- Land = 0x00000010,
- Water = 0x00000020,
- Wind = 0x00000040,
- Sensor = 0x00000080,
- Selected = 0x00000100
- }
-
- ///
- /// Material type for a primitive
- ///
- public enum Material : int
- {
- ///
- Stone = 0,
- ///
- Metal = 1,
- ///
- Glass = 2,
- ///
- Wood = 3,
- ///
- Flesh = 4,
- ///
- Plastic = 5,
- ///
- Rubber = 6
-
- }
-
- public sealed class OdeScene : PhysicsScene
- {
- private readonly ILog m_log;
- // private Dictionary m_storedCollisions = new Dictionary();
-
- CollisionLocker ode;
-
- private Random fluidRandomizer = new Random(Environment.TickCount);
-
- private const uint m_regionWidth = Constants.RegionSize;
- private const uint m_regionHeight = Constants.RegionSize;
-
- private float ODE_STEPSIZE = 0.020f;
- private float metersInSpace = 29.9f;
- private float m_timeDilation = 1.0f;
-
- public float gravityx = 0f;
- public float gravityy = 0f;
- public float gravityz = -9.8f;
-
- private float contactsurfacelayer = 0.001f;
-
- private int worldHashspaceLow = -4;
- private int worldHashspaceHigh = 128;
-
- private int smallHashspaceLow = -4;
- private int smallHashspaceHigh = 66;
-
- private float waterlevel = 0f;
- private int framecount = 0;
- //private int m_returncollisions = 10;
-
- private readonly IntPtr contactgroup;
-
- internal IntPtr LandGeom;
- internal IntPtr WaterGeom;
-
- private float nmTerrainContactFriction = 255.0f;
- private float nmTerrainContactBounce = 0.1f;
- private float nmTerrainContactERP = 0.1025f;
-
- private float mTerrainContactFriction = 75f;
- private float mTerrainContactBounce = 0.1f;
- private float mTerrainContactERP = 0.05025f;
-
- private float nmAvatarObjectContactFriction = 250f;
- private float nmAvatarObjectContactBounce = 0.1f;
-
- private float mAvatarObjectContactFriction = 75f;
- private float mAvatarObjectContactBounce = 0.1f;
-
- private float avPIDD = 3200f;
- private float avPIDP = 1400f;
- private float avCapRadius = 0.37f;
- private float avStandupTensor = 2000000f;
- private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
- public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
- private float avDensity = 80f;
- private float avHeightFudgeFactor = 0.52f;
- private float avMovementDivisorWalk = 1.3f;
- private float avMovementDivisorRun = 0.8f;
- private float minimumGroundFlightOffset = 3f;
- public float maximumMassObject = 10000.01f;
-
- public bool meshSculptedPrim = true;
- public bool forceSimplePrimMeshing = false;
-
- public float meshSculptLOD = 32;
- public float MeshSculptphysicalLOD = 16;
-
- public float geomDefaultDensity = 10.000006836f;
-
- public int geomContactPointsStartthrottle = 3;
- public int geomUpdatesPerThrottledUpdate = 15;
-
- public float bodyPIDD = 35f;
- public float bodyPIDG = 25;
-
- public int geomCrossingFailuresBeforeOutofbounds = 5;
-
- public float bodyMotorJointMaxforceTensor = 2;
-
- public int bodyFramesAutoDisable = 20;
-
-
-
- private float[] _watermap;
- private bool m_filterCollisions = true;
-
- private d.NearCallback nearCallback;
- public d.TriCallback triCallback;
- public d.TriArrayCallback triArrayCallback;
- private readonly HashSet _characters = new HashSet();
- private readonly HashSet _prims = new HashSet();
- private readonly HashSet _activeprims = new HashSet();
- private readonly HashSet _taintedPrimH = new HashSet();
- private readonly Object _taintedPrimLock = new Object();
- private readonly List _taintedPrimL = new List();
- private readonly HashSet _taintedActors = new HashSet();
- private readonly List _perloopContact = new List();
- private readonly List _collisionEventPrim = new List();
- private readonly HashSet _badCharacter = new HashSet();
- public Dictionary geom_name_map = new Dictionary();
- public Dictionary actor_name_map = new Dictionary();
- private bool m_NINJA_physics_joints_enabled = false;
- //private Dictionary jointpart_name_map = new Dictionary();
- private readonly Dictionary> joints_connecting_actor = new Dictionary>();
- private d.ContactGeom[] contacts;
- private readonly List requestedJointsToBeCreated = new List(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
- private readonly List pendingJoints = new List(); // can lock for longer. accessed only by OdeScene.
- private readonly List activeJoints = new List(); // can lock for longer. accessed only by OdeScene.
- private readonly List requestedJointsToBeDeleted = new List(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
- private Object externalJointRequestsLock = new Object();
- private readonly Dictionary SOPName_to_activeJoint = new Dictionary();
- private readonly Dictionary SOPName_to_pendingJoint = new Dictionary();
- private readonly DoubleDictionary RegionTerrain = new DoubleDictionary();
- private readonly Dictionary TerrainHeightFieldHeights = new Dictionary();
-
- private d.Contact contact;
- private d.Contact TerrainContact;
- private d.Contact AvatarMovementprimContact;
- private d.Contact AvatarMovementTerrainContact;
- private d.Contact WaterContact;
- private d.Contact[,] m_materialContacts;
-
-//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
-//Ckrinke private int m_randomizeWater = 200;
- private int m_physicsiterations = 10;
- private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
- private readonly PhysicsActor PANull = new NullPhysicsActor();
- private float step_time = 0.0f;
-//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
-//Ckrinke private int ms = 0;
- public IntPtr world;
- //private bool returncollisions = false;
- // private uint obj1LocalID = 0;
- private uint obj2LocalID = 0;
- //private int ctype = 0;
- private OdeCharacter cc1;
- private OdePrim cp1;
- private OdeCharacter cc2;
- private OdePrim cp2;
- private int tickCountFrameRun;
-
- private int latertickcount=0;
- //private int cStartStop = 0;
- //private string cDictKey = "";
-
- public IntPtr space;
-
- //private IntPtr tmpSpace;
- // split static geometry collision handling into spaces of 30 meters
- public IntPtr[,] staticPrimspace;
-
- public Object OdeLock;
-
- public IMesher mesher;
-
- private IConfigSource m_config;
-
- public bool physics_logging = false;
- public int physics_logging_interval = 0;
- public bool physics_logging_append_existing_logfile = false;
-
- public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
- public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
-
- // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
- // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
- // TODO: unused: private uint heightmapWidthSamples;
- // TODO: unused: private uint heightmapHeightSamples;
-
- private volatile int m_global_contactcount = 0;
-
- private Vector3 m_worldOffset = Vector3.Zero;
- public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
- private PhysicsScene m_parentScene = null;
-
- private ODERayCastRequestManager m_rayCastManager;
-
- ///
- /// Initiailizes the scene
- /// Sets many properties that ODE requires to be stable
- /// These settings need to be tweaked 'exactly' right or weird stuff happens.
- ///
- public OdeScene(CollisionLocker dode, string sceneIdentifier)
- {
- m_log
- = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
-
- OdeLock = new Object();
- ode = dode;
- nearCallback = near;
- triCallback = TriCallback;
- triArrayCallback = TriArrayCallback;
- m_rayCastManager = new ODERayCastRequestManager(this);
- lock (OdeLock)
- {
- // Create the world and the first space
- world = d.WorldCreate();
- space = d.HashSpaceCreate(IntPtr.Zero);
-
-
- contactgroup = d.JointGroupCreate(0);
- //contactgroup
-
- d.WorldSetAutoDisableFlag(world, false);
- #if USE_DRAWSTUFF
-
- Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
- viewthread.Start();
- #endif
- }
-
-
- _watermap = new float[258 * 258];
-
- // Zero out the prim spaces array (we split our space into smaller spaces so
- // we can hit test less.
- }
-
-#if USE_DRAWSTUFF
- public void startvisualization(object o)
- {
- ds.Functions fn;
- fn.version = ds.VERSION;
- fn.start = new ds.CallbackFunction(start);
- fn.step = new ds.CallbackFunction(step);
- fn.command = new ds.CallbackFunction(command);
- fn.stop = null;
- fn.path_to_textures = "./textures";
- string[] args = new string[0];
- ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
- }
-#endif
-
- // Initialize the mesh plugin
- public override void Initialise(IMesher meshmerizer, IConfigSource config)
- {
- mesher = meshmerizer;
- m_config = config;
- // Defaults
-
- if (Environment.OSVersion.Platform == PlatformID.Unix)
- {
- avPIDD = 3200.0f;
- avPIDP = 1400.0f;
- avStandupTensor = 2000000f;
- }
- else
- {
- avPIDD = 2200.0f;
- avPIDP = 900.0f;
- avStandupTensor = 550000f;
- }
-
- int contactsPerCollision = 80;
-
- if (m_config != null)
- {
- IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
- if (physicsconfig != null)
- {
- gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
- gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
- gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
-
- worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
- worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
-
- metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
- smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
- smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
-
- contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
-
- nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
- nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
- nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
-
- mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
- mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
- mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
-
- nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
- nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
-
- mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
- mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
-
- ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
- m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
-
- avDensity = physicsconfig.GetFloat("av_density", 80f);
- avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
- avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
- avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
- avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
- avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
-
- contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
-
- geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
- geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
- geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
-
- geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
- bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
-
- bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
- bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
-
- forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
- meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
- meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
- MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
- m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
-
- if (Environment.OSVersion.Platform == PlatformID.Unix)
- {
- avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
- avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
- avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
- bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
- }
- else
- {
- avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
- avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
- avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
- bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
- }
-
- 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);
-
- m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
- minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
- maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
- }
- }
-
- contacts = new d.ContactGeom[contactsPerCollision];
-
- staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
-
- // Centeral contact friction and bounce
- // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
- // an avatar falls through in Z but not in X or Y when walking on a prim.
- contact.surface.mode |= d.ContactFlags.SoftERP;
- contact.surface.mu = nmAvatarObjectContactFriction;
- contact.surface.bounce = nmAvatarObjectContactBounce;
- contact.surface.soft_cfm = 0.010f;
- contact.surface.soft_erp = 0.010f;
-
- // Terrain contact friction and Bounce
- // This is the *non* moving version. Use this when an avatar
- // isn't moving to keep it in place better
- TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
- TerrainContact.surface.mu = nmTerrainContactFriction;
- TerrainContact.surface.bounce = nmTerrainContactBounce;
- TerrainContact.surface.soft_erp = nmTerrainContactERP;
-
- WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
- WaterContact.surface.mu = 0f; // No friction
- WaterContact.surface.bounce = 0.0f; // No bounce
- WaterContact.surface.soft_cfm = 0.010f;
- WaterContact.surface.soft_erp = 0.010f;
-
- // Prim contact friction and bounce
- // THis is the *non* moving version of friction and bounce
- // Use this when an avatar comes in contact with a prim
- // and is moving
- AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
- AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
-
- // Terrain contact friction bounce and various error correcting calculations
- // Use this when an avatar is in contact with the terrain and moving.
- AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
- AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
- AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
- AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
-
-
- /*
-
- Stone = 0,
- ///
- Metal = 1,
- ///
- Glass = 2,
- ///
- Wood = 3,
- ///
- Flesh = 4,
- ///
- Plastic = 5,
- ///
- Rubber = 6
- */
-
- m_materialContacts = new d.Contact[7,2];
-
- m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
- m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
- m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
- m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
- m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
- m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
- m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
- m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
-
- /*
- private float nmAvatarObjectContactFriction = 250f;
- private float nmAvatarObjectContactBounce = 0.1f;
-
- private float mAvatarObjectContactFriction = 75f;
- private float mAvatarObjectContactBounce = 0.1f;
- */
- m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
- m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
- m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
- m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
- m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
- m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
- m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
- m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
- m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
- m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
- m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
-
- m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
- m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
- m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
- m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
- m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
- m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
-
- d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
-
- // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
-
- d.WorldSetGravity(world, gravityx, gravityy, gravityz);
- d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
-
- d.WorldSetLinearDamping(world, 256f);
- d.WorldSetAngularDamping(world, 256f);
- d.WorldSetAngularDampingThreshold(world, 256f);
- d.WorldSetLinearDampingThreshold(world, 256f);
- d.WorldSetMaxAngularSpeed(world, 256f);
-
- // Set how many steps we go without running collision testing
- // This is in addition to the step size.
- // Essentially Steps * m_physicsiterations
- d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
- //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
-
-
-
- for (int i = 0; i < staticPrimspace.GetLength(0); i++)
- {
- for (int j = 0; j < staticPrimspace.GetLength(1); j++)
- {
- staticPrimspace[i, j] = IntPtr.Zero;
- }
- }
- }
-
- internal void waitForSpaceUnlock(IntPtr space)
- {
- //if (space != IntPtr.Zero)
- //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
- }
-
- ///
- /// Debug space message for printing the space that a prim/avatar is in.
- ///
- ///
- /// Returns which split up space the given position is in.
- public string whichspaceamIin(Vector3 pos)
- {
- return calculateSpaceForGeom(pos).ToString();
- }
-
- #region Collision Detection
-
- ///
- /// This is our near callback. A geometry is near a body
- ///
- /// The space that contains the geoms. Remember, spaces are also geoms
- /// a geometry or space
- /// another geometry or space
- private void near(IntPtr space, IntPtr g1, IntPtr g2)
- {
- // no lock here! It's invoked from within Simulate(), which is thread-locked
-
- // Test if we're colliding a geom with a space.
- // If so we have to drill down into the space recursively
-
- if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
- {
- if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
- return;
-
- // Separating static prim geometry spaces.
- // We'll be calling near recursivly if one
- // of them is a space to find all of the
- // contact points in the space
- try
- {
- d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
- }
- catch (AccessViolationException)
- {
- m_log.Warn("[PHYSICS]: Unable to collide test a space");
- return;
- }
- //Colliding a space or a geom with a space or a geom. so drill down
-
- //Collide all geoms in each space..
- //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
- //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
- return;
- }
-
- if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
- return;
-
- IntPtr b1 = d.GeomGetBody(g1);
- IntPtr b2 = d.GeomGetBody(g2);
-
- // d.GeomClassID id = d.GeomGetClass(g1);
-
- String name1 = null;
- String name2 = null;
-
- if (!geom_name_map.TryGetValue(g1, out name1))
- {
- name1 = "null";
- }
- if (!geom_name_map.TryGetValue(g2, out name2))
- {
- name2 = "null";
- }
-
- //if (id == d.GeomClassId.TriMeshClass)
- //{
- // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
- //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
- //}
-
- // 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;
-
- lock (contacts)
- {
- count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
- if (count > contacts.Length)
- m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
- }
- }
- catch (SEHException)
- {
- m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
- ode.drelease(world);
- base.TriggerPhysicsBasedRestart();
- }
- catch (Exception e)
- {
- m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
- return;
- }
-
- PhysicsActor p1;
- PhysicsActor p2;
-
- if (!actor_name_map.TryGetValue(g1, out p1))
- {
- p1 = PANull;
- }
-
- if (!actor_name_map.TryGetValue(g2, out p2))
- {
- p2 = PANull;
- }
-
- ContactPoint maxDepthContact = new ContactPoint();
- if (p1.CollisionScore + count >= float.MaxValue)
- p1.CollisionScore = 0;
- p1.CollisionScore += count;
-
- if (p2.CollisionScore + count >= float.MaxValue)
- p2.CollisionScore = 0;
- p2.CollisionScore += count;
-
- for (int i = 0; i < count; i++)
- {
- d.ContactGeom curContact = contacts[i];
-
- if (curContact.depth > maxDepthContact.PenetrationDepth)
- {
- maxDepthContact = new ContactPoint(
- new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
- new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
- curContact.depth
- );
- }
-
- //m_log.Warn("[CCOUNT]: " + count);
- IntPtr joint;
- // If we're colliding with terrain, use 'TerrainContact' instead of contact.
- // allows us to have different settings
-
- // We only need to test p2 for 'jump crouch purposes'
- if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
- {
- // Testing if the collision is at the feet of the avatar
-
- //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
- if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
- p2.IsColliding = true;
- }
- else
- {
- p2.IsColliding = true;
- }
-
- //if ((framecount % m_returncollisions) == 0)
-
- switch (p1.PhysicsActorType)
- {
- case (int)ActorTypes.Agent:
- p2.CollidingObj = true;
- break;
- case (int)ActorTypes.Prim:
- if (p2.Velocity.LengthSquared() > 0.0f)
- p2.CollidingObj = true;
- break;
- case (int)ActorTypes.Unknown:
- p2.CollidingGround = true;
- break;
- default:
- p2.CollidingGround = true;
- break;
- }
-
- // we don't want prim or avatar to explode
-
- #region InterPenetration Handling - Unintended physics explosions
-# region disabled code1
-
- if (curContact.depth >= 0.08f)
- {
- //This is disabled at the moment only because it needs more tweaking
- //It will eventually be uncommented
- /*
- if (contact.depth >= 1.00f)
- {
- //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
- }
-
- //If you interpenetrate a prim with an agent
- if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
- p1.PhysicsActorType == (int) ActorTypes.Prim) ||
- (p1.PhysicsActorType == (int) ActorTypes.Agent &&
- p2.PhysicsActorType == (int) ActorTypes.Prim))
- {
-
- //contact.depth = contact.depth * 4.15f;
- /*
- if (p2.PhysicsActorType == (int) ActorTypes.Agent)
- {
- p2.CollidingObj = true;
- contact.depth = 0.003f;
- p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
- OdeCharacter character = (OdeCharacter) p2;
- character.SetPidStatus(true);
- contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
-
- }
- else
- {
-
- //contact.depth = 0.0000000f;
- }
- if (p1.PhysicsActorType == (int) ActorTypes.Agent)
- {
-
- p1.CollidingObj = true;
- contact.depth = 0.003f;
- p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
- contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
- OdeCharacter character = (OdeCharacter)p1;
- character.SetPidStatus(true);
- }
- else
- {
-
- //contact.depth = 0.0000000f;
- }
-
-
-
- }
-*/
- // If you interpenetrate a prim with another prim
- /*
- if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
- {
- #region disabledcode2
- //OdePrim op1 = (OdePrim)p1;
- //OdePrim op2 = (OdePrim)p2;
- //op1.m_collisionscore++;
- //op2.m_collisionscore++;
-
- //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
- //{
- //op1.m_taintdisable = true;
- //AddPhysicsActorTaint(p1);
- //op2.m_taintdisable = true;
- //AddPhysicsActorTaint(p2);
- //}
-
- //if (contact.depth >= 0.25f)
- //{
- // Don't collide, one or both prim will expld.
-
- //op1.m_interpenetrationcount++;
- //op2.m_interpenetrationcount++;
- //interpenetrations_before_disable = 200;
- //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
- //{
- //op1.m_taintdisable = true;
- //AddPhysicsActorTaint(p1);
- //}
- //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
- //{
- // op2.m_taintdisable = true;
- //AddPhysicsActorTaint(p2);
- //}
-
- //contact.depth = contact.depth / 8f;
- //contact.normal = new d.Vector3(0, 0, 1);
- //}
- //if (op1.m_disabled || op2.m_disabled)
- //{
- //Manually disabled objects stay disabled
- //contact.depth = 0f;
- //}
- #endregion
- }
- */
-#endregion
- if (curContact.depth >= 1.00f)
- {
- //m_log.Info("[P]: " + contact.depth.ToString());
- if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
- p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
- (p1.PhysicsActorType == (int) ActorTypes.Agent &&
- p2.PhysicsActorType == (int) ActorTypes.Unknown))
- {
- if (p2.PhysicsActorType == (int) ActorTypes.Agent)
- {
- if (p2 is OdeCharacter)
- {
- OdeCharacter character = (OdeCharacter) p2;
-
- //p2.CollidingObj = true;
- curContact.depth = 0.00000003f;
- p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
- curContact.pos =
- new d.Vector3(curContact.pos.X + (p1.Size.X/2),
- curContact.pos.Y + (p1.Size.Y/2),
- curContact.pos.Z + (p1.Size.Z/2));
- character.SetPidStatus(true);
- }
- }
-
-
- if (p1.PhysicsActorType == (int) ActorTypes.Agent)
- {
- if (p1 is OdeCharacter)
- {
- OdeCharacter character = (OdeCharacter) p1;
-
- //p2.CollidingObj = true;
- curContact.depth = 0.00000003f;
- p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
- curContact.pos =
- new d.Vector3(curContact.pos.X + (p1.Size.X/2),
- curContact.pos.Y + (p1.Size.Y/2),
- curContact.pos.Z + (p1.Size.Z/2));
- character.SetPidStatus(true);
- }
- }
- }
- }
- }
-
- #endregion
-
- // Logic for collision handling
- // Note, that if *all* contacts are skipped (VolumeDetect)
- // The prim still detects (and forwards) collision events but
- // appears to be phantom for the world
- Boolean skipThisContact = false;
-
- if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
- skipThisContact = true; // No collision on volume detect prims
-
- if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
- skipThisContact = true; // No collision on volume detect prims
-
- if (!skipThisContact && curContact.depth < 0f)
- skipThisContact = true;
-
- if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
- skipThisContact = true;
-
- const int maxContactsbeforedeath = 4000;
- joint = IntPtr.Zero;
-
- if (!skipThisContact)
- {
- // If we're colliding against terrain
- if (name1 == "Terrain" || name2 == "Terrain")
- {
- // If we're moving
- if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
- (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
- {
- // Use the movement terrain contact
- AvatarMovementTerrainContact.geom = curContact;
- _perloopContact.Add(curContact);
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
- m_global_contactcount++;
- }
- }
- else
- {
- if (p2.PhysicsActorType == (int)ActorTypes.Agent)
- {
- // Use the non moving terrain contact
- TerrainContact.geom = curContact;
- _perloopContact.Add(curContact);
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
- m_global_contactcount++;
- }
- }
- else
- {
- if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
- {
- // prim prim contact
- // int pj294950 = 0;
- int movintYN = 0;
- int material = (int) Material.Wood;
- // prim terrain contact
- if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
- {
- movintYN = 1;
- }
-
- if (p2 is OdePrim)
- material = ((OdePrim)p2).m_material;
-
- //m_log.DebugFormat("Material: {0}", material);
- m_materialContacts[material, movintYN].geom = curContact;
- _perloopContact.Add(curContact);
-
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
- m_global_contactcount++;
-
- }
-
- }
- else
- {
-
- int movintYN = 0;
- // prim terrain contact
- if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
- {
- movintYN = 1;
- }
-
- int material = (int)Material.Wood;
-
- if (p2 is OdePrim)
- material = ((OdePrim)p2).m_material;
- //m_log.DebugFormat("Material: {0}", material);
- m_materialContacts[material, movintYN].geom = curContact;
- _perloopContact.Add(curContact);
-
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
- m_global_contactcount++;
-
- }
- }
- }
- }
- //if (p2.PhysicsActorType == (int)ActorTypes.Prim)
- //{
- //m_log.Debug("[PHYSICS]: prim contacting with ground");
- //}
- }
- else if (name1 == "Water" || name2 == "Water")
- {
- /*
- if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
- {
- }
- else
- {
- }
- */
- //WaterContact.surface.soft_cfm = 0.0000f;
- //WaterContact.surface.soft_erp = 0.00000f;
- if (curContact.depth > 0.1f)
- {
- curContact.depth *= 52;
- //contact.normal = new d.Vector3(0, 0, 1);
- //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
- }
- WaterContact.geom = curContact;
- _perloopContact.Add(curContact);
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
- m_global_contactcount++;
- }
- //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
- }
- else
- {
- // we're colliding with prim or avatar
- // check if we're moving
- if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
- {
- if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
- {
- // Use the Movement prim contact
- AvatarMovementprimContact.geom = curContact;
- _perloopContact.Add(curContact);
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
- m_global_contactcount++;
- }
- }
- else
- {
- // Use the non movement contact
- contact.geom = curContact;
- _perloopContact.Add(curContact);
-
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref contact);
- m_global_contactcount++;
- }
- }
- }
- else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
- {
- //p1.PhysicsActorType
- int material = (int)Material.Wood;
-
- if (p2 is OdePrim)
- material = ((OdePrim)p2).m_material;
-
- //m_log.DebugFormat("Material: {0}", material);
- m_materialContacts[material, 0].geom = curContact;
- _perloopContact.Add(curContact);
-
- if (m_global_contactcount < maxContactsbeforedeath)
- {
- joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
- m_global_contactcount++;
-
- }
- }
- }
-
- if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
- {
- d.JointAttach(joint, b1, b2);
- m_global_contactcount++;
- }
-
- }
- collision_accounting_events(p1, p2, maxDepthContact);
- if (count > geomContactPointsStartthrottle)
- {
- // If there are more then 3 contact points, it's likely
- // that we've got a pile of objects, so ...
- // We don't want to send out hundreds of terse updates over and over again
- // so lets throttle them and send them again after it's somewhat sorted out.
- p2.ThrottleUpdates = true;
- }
- //m_log.Debug(count.ToString());
- //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
- }
- }
-
- private bool checkDupe(d.ContactGeom contactGeom, int atype)
- {
- bool result = false;
- //return result;
- if (!m_filterCollisions)
- return false;
-
- ActorTypes at = (ActorTypes)atype;
- lock (_perloopContact)
- {
- foreach (d.ContactGeom contact in _perloopContact)
- {
- //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
- //{
- // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
- if (at == ActorTypes.Agent)
- {
- if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
- {
-
- if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
- {
- //contactGeom.depth *= .00005f;
- //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
- // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
- result = true;
- break;
- }
- else
- {
- //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
- }
- }
- else
- {
- //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
- //int i = 0;
- }
- }
- else if (at == ActorTypes.Prim)
- {
- //d.AABB aabb1 = new d.AABB();
- //d.AABB aabb2 = new d.AABB();
-
- //d.GeomGetAABB(contactGeom.g2, out aabb2);
- //d.GeomGetAABB(contactGeom.g1, out aabb1);
- //aabb1.
- if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
- {
- if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
- {
- if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
- {
- result = true;
- break;
- }
- }
- //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
- //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
- }
-
- }
-
- //}
-
- }
- }
- return result;
- }
-
- private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
- {
- // obj1LocalID = 0;
- //returncollisions = false;
- obj2LocalID = 0;
- //ctype = 0;
- //cStartStop = 0;
- if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
- return;
-
- switch ((ActorTypes)p2.PhysicsActorType)
- {
- case ActorTypes.Agent:
- cc2 = (OdeCharacter)p2;
-
- // obj1LocalID = cc2.m_localID;
- switch ((ActorTypes)p1.PhysicsActorType)
- {
- case ActorTypes.Agent:
- cc1 = (OdeCharacter)p1;
- obj2LocalID = cc1.m_localID;
- cc1.AddCollisionEvent(cc2.m_localID, contact);
- //ctype = (int)CollisionCategories.Character;
-
- //if (cc1.CollidingObj)
- //cStartStop = (int)StatusIndicators.Generic;
- //else
- //cStartStop = (int)StatusIndicators.Start;
-
- //returncollisions = true;
- break;
- case ActorTypes.Prim:
- if (p1 is OdePrim)
- {
- cp1 = (OdePrim) p1;
- obj2LocalID = cp1.m_localID;
- cp1.AddCollisionEvent(cc2.m_localID, contact);
- }
- //ctype = (int)CollisionCategories.Geom;
-
- //if (cp1.CollidingObj)
- //cStartStop = (int)StatusIndicators.Generic;
- //else
- //cStartStop = (int)StatusIndicators.Start;
-
- //returncollisions = true;
- break;
-
- case ActorTypes.Ground:
- case ActorTypes.Unknown:
- obj2LocalID = 0;
- //ctype = (int)CollisionCategories.Land;
- //returncollisions = true;
- break;
- }
-
- cc2.AddCollisionEvent(obj2LocalID, contact);
- break;
- case ActorTypes.Prim:
-
- if (p2 is OdePrim)
- {
- cp2 = (OdePrim) p2;
-
- // obj1LocalID = cp2.m_localID;
- switch ((ActorTypes) p1.PhysicsActorType)
- {
- case ActorTypes.Agent:
- if (p1 is OdeCharacter)
- {
- cc1 = (OdeCharacter) p1;
- obj2LocalID = cc1.m_localID;
- cc1.AddCollisionEvent(cp2.m_localID, contact);
- //ctype = (int)CollisionCategories.Character;
-
- //if (cc1.CollidingObj)
- //cStartStop = (int)StatusIndicators.Generic;
- //else
- //cStartStop = (int)StatusIndicators.Start;
- //returncollisions = true;
- }
- break;
- case ActorTypes.Prim:
-
- if (p1 is OdePrim)
- {
- cp1 = (OdePrim) p1;
- obj2LocalID = cp1.m_localID;
- cp1.AddCollisionEvent(cp2.m_localID, contact);
- //ctype = (int)CollisionCategories.Geom;
-
- //if (cp1.CollidingObj)
- //cStartStop = (int)StatusIndicators.Generic;
- //else
- //cStartStop = (int)StatusIndicators.Start;
-
- //returncollisions = true;
- }
- break;
-
- case ActorTypes.Ground:
- case ActorTypes.Unknown:
- obj2LocalID = 0;
- //ctype = (int)CollisionCategories.Land;
-
- //returncollisions = true;
- break;
- }
-
- cp2.AddCollisionEvent(obj2LocalID, contact);
- }
- break;
- }
- //if (returncollisions)
- //{
-
- //lock (m_storedCollisions)
- //{
- //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
- //if (m_storedCollisions.ContainsKey(cDictKey))
- //{
- //sCollisionData objd = m_storedCollisions[cDictKey];
- //objd.NumberOfCollisions += 1;
- //objd.lastframe = framecount;
- //m_storedCollisions[cDictKey] = objd;
- //}
- //else
- //{
- //sCollisionData objd = new sCollisionData();
- //objd.ColliderLocalId = obj1LocalID;
- //objd.CollidedWithLocalId = obj2LocalID;
- //objd.CollisionType = ctype;
- //objd.NumberOfCollisions = 1;
- //objd.lastframe = framecount;
- //objd.StatusIndicator = cStartStop;
- //m_storedCollisions.Add(cDictKey, objd);
- //}
- //}
- // }
- }
-
- public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
- {
- /* String name1 = null;
- String name2 = null;
-
- if (!geom_name_map.TryGetValue(trimesh, out name1))
- {
- name1 = "null";
- }
- if (!geom_name_map.TryGetValue(refObject, out name2))
- {
- name2 = "null";
- }
-
- m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
- */
- return 1;
- }
-
- public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
- {
- String name1 = null;
- String name2 = null;
-
- if (!geom_name_map.TryGetValue(trimesh, out name1))
- {
- name1 = "null";
- }
-
- if (!geom_name_map.TryGetValue(refObject, out name2))
- {
- name2 = "null";
- }
-
- // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
-
- d.Vector3 v0 = new d.Vector3();
- d.Vector3 v1 = new d.Vector3();
- d.Vector3 v2 = new d.Vector3();
-
- d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
- // m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
-
- return 1;
- }
-
- ///
- /// This is our collision testing routine in ODE
- ///
- ///
- private void collision_optimized(float timeStep)
- {
- _perloopContact.Clear();
-
- lock (_characters)
- {
- foreach (OdeCharacter chr in _characters)
- {
- // Reset the collision values to false
- // since we don't know if we're colliding yet
-
- // For some reason this can happen. Don't ask...
- //
- if (chr == null)
- continue;
-
- if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
- continue;
-
- chr.IsColliding = false;
- chr.CollidingGround = false;
- chr.CollidingObj = false;
-
- // test the avatar's geometry for collision with the space
- // This will return near and the space that they are the closest to
- // And we'll run this again against the avatar and the space segment
- // This will return with a bunch of possible objects in the space segment
- // and we'll run it again on all of them.
- try
- {
- d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
- }
- catch (AccessViolationException)
- {
- m_log.Warn("[PHYSICS]: Unable to space collide");
- }
- //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
- //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
- //{
- //chr.Position.Z = terrainheight + 10.0f;
- //forcedZ = true;
- //}
- }
- }
-
- lock (_activeprims)
- {
- List removeprims = null;
- foreach (OdePrim chr in _activeprims)
- {
- if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
- {
- try
- {
- lock (chr)
- {
- if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
- {
- d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
- }
- else
- {
- if (removeprims == null)
- {
- removeprims = new List();
- }
- removeprims.Add(chr);
- m_log.Debug("[PHYSICS]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!");
- }
- }
- }
- catch (AccessViolationException)
- {
- m_log.Warn("[PHYSICS]: Unable to space collide");
- }
- }
- }
- if (removeprims != null)
- {
- foreach (OdePrim chr in removeprims)
- {
- _activeprims.Remove(chr);
- }
- }
- }
-
- _perloopContact.Clear();
- }
-
- #endregion
-
- public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
- {
- m_worldOffset = offset;
- WorldExtents = new Vector2(extents.X, extents.Y);
- m_parentScene = pScene;
-
- }
-
- // Recovered for use by fly height. Kitto Flora
- public float GetTerrainHeightAtXY(float x, float y)
- {
-
- int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
-
- IntPtr heightFieldGeom = IntPtr.Zero;
-
- if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
- {
- if (heightFieldGeom != IntPtr.Zero)
- {
- if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
- {
-
- int index;
-
-
- if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
- (int)x < 0.001f || (int)y < 0.001f)
- return 0;
-
- x = x - offsetX;
- y = y - offsetY;
-
- index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
-
- if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
- {
- //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
- return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
- }
-
- else
- return 0f;
- }
- else
- {
- return 0f;
- }
-
- }
- else
- {
- return 0f;
- }
-
- }
- else
- {
- return 0f;
- }
-
-
- }
-// End recovered. Kitto Flora
-
- public void addCollisionEventReporting(PhysicsActor obj)
- {
- lock (_collisionEventPrim)
- {
- if (!_collisionEventPrim.Contains(obj))
- _collisionEventPrim.Add(obj);
- }
- }
-
- public void remCollisionEventReporting(PhysicsActor obj)
- {
- lock (_collisionEventPrim)
- {
- if (!_collisionEventPrim.Contains(obj))
- _collisionEventPrim.Remove(obj);
- }
- }
-
- #region Add/Remove Entities
-
- public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
- {
- Vector3 pos;
- pos.X = position.X;
- pos.Y = position.Y;
- pos.Z = position.Z;
- OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
- newAv.Flying = isFlying;
- newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
-
- return newAv;
- }
-
- public void AddCharacter(OdeCharacter chr)
- {
- lock (_characters)
- {
- if (!_characters.Contains(chr))
- {
- _characters.Add(chr);
- if (chr.bad)
- m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
- }
- }
- }
-
- public void RemoveCharacter(OdeCharacter chr)
- {
- lock (_characters)
- {
- if (_characters.Contains(chr))
- {
- _characters.Remove(chr);
- }
- }
- }
- public void BadCharacter(OdeCharacter chr)
- {
- lock (_badCharacter)
- {
- if (!_badCharacter.Contains(chr))
- _badCharacter.Add(chr);
- }
- }
-
- public override void RemoveAvatar(PhysicsActor actor)
- {
- //m_log.Debug("[PHYSICS]:ODELOCK");
- ((OdeCharacter) actor).Destroy();
-
- }
-
- private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
- IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
- {
-
- Vector3 pos = position;
- Vector3 siz = size;
- Quaternion rot = rotation;
-
- OdePrim newPrim;
- lock (OdeLock)
- {
- newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
-
- lock (_prims)
- _prims.Add(newPrim);
- }
-
- return newPrim;
- }
-
- public void addActivePrim(OdePrim activatePrim)
- {
- // adds active prim.. (ones that should be iterated over in collisions_optimized
- lock (_activeprims)
- {
- if (!_activeprims.Contains(activatePrim))
- _activeprims.Add(activatePrim);
- //else
- // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
- }
- }
-
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
- Vector3 size, Quaternion rotation) //To be removed
- {
- return AddPrimShape(primName, pbs, position, size, rotation, false);
- }
-
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
- Vector3 size, Quaternion rotation, bool isPhysical)
- {
- PhysicsActor result;
- IMesh mesh = null;
-
- if (needsMeshing(pbs))
- {
- try
- {
- mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
- }
- catch(Exception e)
- {
- m_log.ErrorFormat("[PHYSICS]: Exception while meshing prim {0}.", primName);
- m_log.Debug(e.ToString());
- mesh = null;
- return null;
- }
- }
-
- result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
-
- return result;
- }
-
- public override float TimeDilation
- {
- get { return m_timeDilation; }
- }
-
- public override bool SupportsNINJAJoints
- {
- get { return m_NINJA_physics_joints_enabled; }
- }
-
- // internal utility function: must be called within a lock (OdeLock)
- private void InternalAddActiveJoint(PhysicsJoint joint)
- {
- activeJoints.Add(joint);
- SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
- }
-
- // internal utility function: must be called within a lock (OdeLock)
- private void InternalAddPendingJoint(OdePhysicsJoint joint)
- {
- pendingJoints.Add(joint);
- SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
- }
-
- // internal utility function: must be called within a lock (OdeLock)
- private void InternalRemovePendingJoint(PhysicsJoint joint)
- {
- pendingJoints.Remove(joint);
- SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
- }
-
- // internal utility function: must be called within a lock (OdeLock)
- private void InternalRemoveActiveJoint(PhysicsJoint joint)
- {
- activeJoints.Remove(joint);
- SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
- }
-
- public override void DumpJointInfo()
- {
- string hdr = "[NINJA] JOINTINFO: ";
- foreach (PhysicsJoint j in pendingJoints)
- {
- m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
- }
- m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
- foreach (string jointName in SOPName_to_pendingJoint.Keys)
- {
- m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
- }
- m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
- foreach (PhysicsJoint j in activeJoints)
- {
- m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
- }
- m_log.Debug(hdr + activeJoints.Count + " total active joints");
- foreach (string jointName in SOPName_to_activeJoint.Keys)
- {
- m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
- }
- m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
-
- m_log.Debug(hdr + " Per-body joint connectivity information follows.");
- m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
- foreach (string actorName in joints_connecting_actor.Keys)
- {
- m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
- foreach (PhysicsJoint j in joints_connecting_actor[actorName])
- {
- m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
- }
- m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
- }
- }
-
- public override void RequestJointDeletion(string ObjectNameInScene)
- {
- lock (externalJointRequestsLock)
- {
- if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
- {
- requestedJointsToBeDeleted.Add(ObjectNameInScene);
- }
- }
- }
-
- private void DeleteRequestedJoints()
- {
- List myRequestedJointsToBeDeleted;
- lock (externalJointRequestsLock)
- {
- // make a local copy of the shared list for processing (threading issues)
- myRequestedJointsToBeDeleted = new List(requestedJointsToBeDeleted);
- }
-
- foreach (string jointName in myRequestedJointsToBeDeleted)
- {
- lock (OdeLock)
- {
- //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
- if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
- {
- OdePhysicsJoint joint = null;
- if (SOPName_to_activeJoint.ContainsKey(jointName))
- {
- joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
- InternalRemoveActiveJoint(joint);
- }
- else if (SOPName_to_pendingJoint.ContainsKey(jointName))
- {
- joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
- InternalRemovePendingJoint(joint);
- }
-
- if (joint != null)
- {
- //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
- for (int iBodyName = 0; iBodyName < 2; iBodyName++)
- {
- string bodyName = joint.BodyNames[iBodyName];
- if (bodyName != "NULL")
- {
- joints_connecting_actor[bodyName].Remove(joint);
- if (joints_connecting_actor[bodyName].Count == 0)
- {
- joints_connecting_actor.Remove(bodyName);
- }
- }
- }
-
- DoJointDeactivated(joint);
- if (joint.jointID != IntPtr.Zero)
- {
- d.JointDestroy(joint.jointID);
- joint.jointID = IntPtr.Zero;
- //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
- }
- else
- {
- //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
- }
- }
- else
- {
- // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
- }
- }
- else
- {
- // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
- }
- }
- }
-
- // remove processed joints from the shared list
- lock (externalJointRequestsLock)
- {
- foreach (string jointName in myRequestedJointsToBeDeleted)
- {
- requestedJointsToBeDeleted.Remove(jointName);
- }
- }
- }
-
- // for pending joints we don't know if their associated bodies exist yet or not.
- // the joint is actually created during processing of the taints
- private void CreateRequestedJoints()
- {
- List myRequestedJointsToBeCreated;
- lock (externalJointRequestsLock)
- {
- // make a local copy of the shared list for processing (threading issues)
- myRequestedJointsToBeCreated = new List(requestedJointsToBeCreated);
- }
-
- foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
- {
- lock (OdeLock)
- {
- if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
- {
- DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
- continue;
- }
- if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
- {
- DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
- continue;
- }
-
- InternalAddPendingJoint(joint as OdePhysicsJoint);
-
- if (joint.BodyNames.Count >= 2)
- {
- for (int iBodyName = 0; iBodyName < 2; iBodyName++)
- {
- string bodyName = joint.BodyNames[iBodyName];
- if (bodyName != "NULL")
- {
- if (!joints_connecting_actor.ContainsKey(bodyName))
- {
- joints_connecting_actor.Add(bodyName, new List());
- }
- joints_connecting_actor[bodyName].Add(joint);
- }
- }
- }
- }
- }
-
- // remove processed joints from shared list
- lock (externalJointRequestsLock)
- {
- foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
- {
- requestedJointsToBeCreated.Remove(joint);
- }
- }
-
- }
-
- // public function to add an request for joint creation
- // this joint will just be added to a waiting list that is NOT processed during the main
- // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
-
- public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
- Quaternion rotation, string parms, List bodyNames, string trackedBodyName, Quaternion localRotation)
-
- {
-
- OdePhysicsJoint joint = new OdePhysicsJoint();
- joint.ObjectNameInScene = objectNameInScene;
- joint.Type = jointType;
- joint.Position = position;
- joint.Rotation = rotation;
- joint.RawParams = parms;
- joint.BodyNames = new List(bodyNames);
- joint.TrackedBodyName = trackedBodyName;
- joint.LocalRotation = localRotation;
- joint.jointID = IntPtr.Zero;
- joint.ErrorMessageCount = 0;
-
- lock (externalJointRequestsLock)
- {
- if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
- {
- requestedJointsToBeCreated.Add(joint);
- }
- }
- return joint;
- }
-
- private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
- {
- //m_log.Debug("RemoveAllJointsConnectedToActor: start");
- if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
- {
-
- List jointsToRemove = new List();
- //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
- foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
- {
- jointsToRemove.Add(j);
- }
- foreach (PhysicsJoint j in jointsToRemove)
- {
- //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
- RequestJointDeletion(j.ObjectNameInScene);
- //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
- j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
- }
- }
- }
-
- public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
- {
- //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
- lock (OdeLock)
- {
- //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
- RemoveAllJointsConnectedToActor(actor);
- }
- }
-
- // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
- public override Vector3 GetJointAnchor(PhysicsJoint joint)
- {
- Debug.Assert(joint.IsInPhysicsEngine);
- d.Vector3 pos = new d.Vector3();
-
- if (!(joint is OdePhysicsJoint))
- {
- DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
- }
- else
- {
- OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
- switch (odeJoint.Type)
- {
- case PhysicsJointType.Ball:
- d.JointGetBallAnchor(odeJoint.jointID, out pos);
- break;
- case PhysicsJointType.Hinge:
- d.JointGetHingeAnchor(odeJoint.jointID, out pos);
- break;
- }
- }
- return new Vector3(pos.X, pos.Y, pos.Z);
- }
-
- // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
- // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
- // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
- // keeping track of the joint's original orientation relative to one of the involved bodies.
- public override Vector3 GetJointAxis(PhysicsJoint joint)
- {
- Debug.Assert(joint.IsInPhysicsEngine);
- d.Vector3 axis = new d.Vector3();
-
- if (!(joint is OdePhysicsJoint))
- {
- DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
- }
- else
- {
- OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
- switch (odeJoint.Type)
- {
- case PhysicsJointType.Ball:
- DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
- break;
- case PhysicsJointType.Hinge:
- d.JointGetHingeAxis(odeJoint.jointID, out axis);
- break;
- }
- }
- return new Vector3(axis.X, axis.Y, axis.Z);
- }
-
-
- public void remActivePrim(OdePrim deactivatePrim)
- {
- lock (_activeprims)
- {
- _activeprims.Remove(deactivatePrim);
- }
- }
-
- public override void RemovePrim(PhysicsActor prim)
- {
- if (prim is OdePrim)
- {
- lock (OdeLock)
- {
- OdePrim p = (OdePrim) prim;
-
- p.setPrimForRemoval();
- AddPhysicsActorTaint(prim);
- //RemovePrimThreadLocked(p);
- }
- }
- }
-
- ///
- /// This is called from within simulate but outside the locked portion
- /// We need to do our own locking here
- /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
- ///
- /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
- /// that the space was using.
- ///
- ///
- public void RemovePrimThreadLocked(OdePrim prim)
- {
-//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
- lock (prim)
- {
- remCollisionEventReporting(prim);
- lock (ode)
- {
- if (prim.prim_geom != IntPtr.Zero)
- {
- prim.ResetTaints();
-
- if (prim.IsPhysical)
- {
- prim.disableBody();
- if (prim.childPrim)
- {
- prim.childPrim = false;
- prim.Body = IntPtr.Zero;
- prim.m_disabled = true;
- prim.IsPhysical = false;
- }
-
-
- }
- // we don't want to remove the main space
-
- // If the geometry is in the targetspace, remove it from the target space
- //m_log.Warn(prim.m_targetSpace);
-
- //if (prim.m_targetSpace != IntPtr.Zero)
- //{
- //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
- //{
-
- //if (d.GeomIsSpace(prim.m_targetSpace))
- //{
- //waitForSpaceUnlock(prim.m_targetSpace);
- //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
- prim.m_targetSpace = IntPtr.Zero;
- //}
- //else
- //{
- // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
- //((OdePrim)prim).m_targetSpace.ToString());
- //}
-
- //}
- //}
- //m_log.Warn(prim.prim_geom);
- try
- {
- if (prim.prim_geom != IntPtr.Zero)
- {
- d.GeomDestroy(prim.prim_geom);
- prim.prim_geom = IntPtr.Zero;
- }
- else
- {
- m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
- }
- }
- catch (AccessViolationException)
- {
- m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
- }
- lock (_prims)
- _prims.Remove(prim);
-
- //If there are no more geometries in the sub-space, we don't need it in the main space anymore
- //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
- //{
- //if (prim.m_targetSpace != null)
- //{
- //if (d.GeomIsSpace(prim.m_targetSpace))
- //{
- //waitForSpaceUnlock(prim.m_targetSpace);
- //d.SpaceRemove(space, prim.m_targetSpace);
- // free up memory used by the space.
- //d.SpaceDestroy(prim.m_targetSpace);
- //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
- //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
- //}
- //else
- //{
- //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
- //((OdePrim) prim).m_targetSpace.ToString());
- //}
- //}
- //}
-
- if (SupportsNINJAJoints)
- {
- RemoveAllJointsConnectedToActorThreadLocked(prim);
- }
- }
- }
- }
- }
-
- #endregion
-
- #region Space Separation Calculation
-
- ///
- /// Takes a space pointer and zeros out the array we're using to hold the spaces
- ///
- ///
- public void resetSpaceArrayItemToZero(IntPtr pSpace)
- {
- for (int x = 0; x < staticPrimspace.GetLength(0); x++)
- {
- for (int y = 0; y < staticPrimspace.GetLength(1); y++)
- {
- if (staticPrimspace[x, y] == pSpace)
- staticPrimspace[x, y] = IntPtr.Zero;
- }
- }
- }
-
- public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
- {
- staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
- }
-
- ///
- /// Called when a static prim moves. Allocates a space for the prim based on its position
- ///
- /// the pointer to the geom that moved
- /// the position that the geom moved to
- /// a pointer to the space it was in before it was moved.
- /// a pointer to the new space it's in
- public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
- {
- // Called from setting the Position and Size of an ODEPrim so
- // it's already in locked space.
-
- // we don't want to remove the main space
- // we don't need to test physical here because this function should
- // never be called if the prim is physical(active)
-
- // All physical prim end up in the root space
- //Thread.Sleep(20);
- if (currentspace != space)
- {
- //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
- //if (currentspace == IntPtr.Zero)
- //{
- //int adfadf = 0;
- //}
- if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
- {
- if (d.GeomIsSpace(currentspace))
- {
- waitForSpaceUnlock(currentspace);
- d.SpaceRemove(currentspace, geom);
- }
- else
- {
- m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
- " Geom:" + geom);
- }
- }
- else
- {
- IntPtr sGeomIsIn = d.GeomGetSpace(geom);
- if (sGeomIsIn != IntPtr.Zero)
- {
- if (d.GeomIsSpace(currentspace))
- {
- waitForSpaceUnlock(sGeomIsIn);
- d.SpaceRemove(sGeomIsIn, geom);
- }
- else
- {
- m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
- sGeomIsIn + " Geom:" + geom);
- }
- }
- }
-
- //If there are no more geometries in the sub-space, we don't need it in the main space anymore
- if (d.SpaceGetNumGeoms(currentspace) == 0)
- {
- if (currentspace != IntPtr.Zero)
- {
- if (d.GeomIsSpace(currentspace))
- {
- waitForSpaceUnlock(currentspace);
- waitForSpaceUnlock(space);
- d.SpaceRemove(space, currentspace);
- // free up memory used by the space.
-
- //d.SpaceDestroy(currentspace);
- resetSpaceArrayItemToZero(currentspace);
- }
- else
- {
- m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
- currentspace + " Geom:" + geom);
- }
- }
- }
- }
- else
- {
- // this is a physical object that got disabled. ;.;
- if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
- {
- if (d.SpaceQuery(currentspace, geom))
- {
- if (d.GeomIsSpace(currentspace))
- {
- waitForSpaceUnlock(currentspace);
- d.SpaceRemove(currentspace, geom);
- }
- else
- {
- m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
- currentspace + " Geom:" + geom);
- }
- }
- else
- {
- IntPtr sGeomIsIn = d.GeomGetSpace(geom);
- if (sGeomIsIn != IntPtr.Zero)
- {
- if (d.GeomIsSpace(sGeomIsIn))
- {
- waitForSpaceUnlock(sGeomIsIn);
- d.SpaceRemove(sGeomIsIn, geom);
- }
- else
- {
- m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
- sGeomIsIn + " Geom:" + geom);
- }
- }
- }
- }
- }
-
- // The routines in the Position and Size sections do the 'inserting' into the space,
- // so all we have to do is make sure that the space that we're putting the prim into
- // is in the 'main' space.
- int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
- IntPtr newspace = calculateSpaceForGeom(pos);
-
- if (newspace == IntPtr.Zero)
- {
- newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
- d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
- }
-
- return newspace;
- }
-
- ///
- /// Creates a new space at X Y
- ///
- ///
- ///
- /// A pointer to the created space
- public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
- {
- // creating a new space for prim and inserting it into main space.
- staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
- d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
- waitForSpaceUnlock(space);
- d.SpaceSetSublevel(space, 1);
- d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
- return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
- }
-
- ///
- /// Calculates the space the prim should be in by its position
- ///
- ///
- /// a pointer to the space. This could be a new space or reused space.
- public IntPtr calculateSpaceForGeom(Vector3 pos)
- {
- int[] xyspace = calculateSpaceArrayItemFromPos(pos);
- //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
- return staticPrimspace[xyspace[0], xyspace[1]];
- }
-
- ///
- /// Holds the space allocation logic
- ///
- ///
- /// an array item based on the position
- public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
- {
- int[] returnint = new int[2];
-
- returnint[0] = (int) (pos.X/metersInSpace);
-
- if (returnint[0] > ((int) (259f/metersInSpace)))
- returnint[0] = ((int) (259f/metersInSpace));
- if (returnint[0] < 0)
- returnint[0] = 0;
-
- returnint[1] = (int) (pos.Y/metersInSpace);
- if (returnint[1] > ((int) (259f/metersInSpace)))
- returnint[1] = ((int) (259f/metersInSpace));
- if (returnint[1] < 0)
- returnint[1] = 0;
-
- return returnint;
- }
-
- #endregion
-
- ///
- /// Routine to figure out if we need to mesh this prim with our mesher
- ///
- ///
- ///
- public bool needsMeshing(PrimitiveBaseShape pbs)
- {
- // most of this is redundant now as the mesher will return null if it cant mesh a prim
- // but we still need to check for sculptie meshing being enabled so this is the most
- // convenient place to do it for now...
-
- // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
- // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
- int iPropertiesNotSupportedDefault = 0;
-
- if (pbs.SculptEntry && !meshSculptedPrim)
- {
-#if SPAM
- m_log.Warn("NonMesh");
-#endif
- return false;
- }
-
- // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
- if (!forceSimplePrimMeshing && !pbs.SculptEntry)
- {
- if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
- || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
- && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
- {
-
- if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
- && pbs.ProfileHollow == 0
- && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
- && pbs.PathBegin == 0 && pbs.PathEnd == 0
- && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
- && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
- && pbs.PathShearX == 0 && pbs.PathShearY == 0)
- {
-#if SPAM
- m_log.Warn("NonMesh");
-#endif
- return false;
- }
- }
- }
-
- if (pbs.ProfileHollow != 0)
- iPropertiesNotSupportedDefault++;
-
- if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
- iPropertiesNotSupportedDefault++;
-
- if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
- iPropertiesNotSupportedDefault++;
-
- if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
- iPropertiesNotSupportedDefault++;
-
- if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
- iPropertiesNotSupportedDefault++;
-
- if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
- iPropertiesNotSupportedDefault++;
-
- if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
- iPropertiesNotSupportedDefault++;
-
- if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
- iPropertiesNotSupportedDefault++;
-
- if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
- iPropertiesNotSupportedDefault++;
-
- // test for torus
- if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
- {
- if (pbs.PathCurve == (byte)Extrusion.Curve1)
- {
- iPropertiesNotSupportedDefault++;
- }
- }
- else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
- {
- if (pbs.PathCurve == (byte)Extrusion.Straight)
- {
- iPropertiesNotSupportedDefault++;
- }
-
- // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
- else if (pbs.PathCurve == (byte)Extrusion.Curve1)
- {
- iPropertiesNotSupportedDefault++;
- }
- }
- else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
- {
- if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
- {
- iPropertiesNotSupportedDefault++;
- }
- }
- else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
- {
- if (pbs.PathCurve == (byte)Extrusion.Straight)
- {
- iPropertiesNotSupportedDefault++;
- }
- else if (pbs.PathCurve == (byte)Extrusion.Curve1)
- {
- iPropertiesNotSupportedDefault++;
- }
- }
-
- if (pbs.SculptEntry && meshSculptedPrim)
- iPropertiesNotSupportedDefault++;
-
-
- if (iPropertiesNotSupportedDefault == 0)
- {
-#if SPAM
- m_log.Warn("NonMesh");
-#endif
- return false;
- }
-#if SPAM
- m_log.Debug("Mesh");
-#endif
- return true;
- }
-
- ///
- /// Called after our prim properties are set Scale, position etc.
- /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
- /// This assures us that we have no race conditions
- ///
- ///
- public override void AddPhysicsActorTaint(PhysicsActor prim)
- {
-
- if (prim is OdePrim)
- {
- OdePrim taintedprim = ((OdePrim) prim);
- lock (_taintedPrimLock)
- {
- if (!(_taintedPrimH.Contains(taintedprim)))
- {
-//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
- _taintedPrimH.Add(taintedprim); // HashSet for searching
- _taintedPrimL.Add(taintedprim); // List for ordered readout
- }
- }
- return;
- }
- else if (prim is OdeCharacter)
- {
- OdeCharacter taintedchar = ((OdeCharacter)prim);
- lock (_taintedActors)
- {
- if (!(_taintedActors.Contains(taintedchar)))
- {
- _taintedActors.Add(taintedchar);
- if (taintedchar.bad)
- m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
- }
- }
- }
- }
-
- ///
- /// This is our main simulate loop
- /// It's thread locked by a Mutex in the scene.
- /// It holds Collisions, it instructs ODE to step through the physical reactions
- /// It moves the objects around in memory
- /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
- ///
- ///
- ///
- public override float Simulate(float timeStep)
- {
- if (framecount >= int.MaxValue)
- framecount = 0;
-
- //if (m_worldOffset != Vector3.Zero)
- // return 0;
-
- framecount++;
-
- float fps = 0;
- //m_log.Info(timeStep.ToString());
- step_time += timeStep;
-
- // If We're loaded down by something else,
- // or debugging with the Visual Studio project on pause
- // skip a few frames to catch up gracefully.
- // without shooting the physicsactors all over the place
-
- if (step_time >= m_SkipFramesAtms)
- {
- // Instead of trying to catch up, it'll do 5 physics frames only
- step_time = ODE_STEPSIZE;
- m_physicsiterations = 5;
- }
- else
- {
- m_physicsiterations = 10;
- }
-
- if (SupportsNINJAJoints)
- {
- DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
- CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
- }
-
- lock (OdeLock)
- {
- // Process 10 frames if the sim is running normal..
- // process 5 frames if the sim is running slow
- //try
- //{
- //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
- //}
- //catch (StackOverflowException)
- //{
- // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
- // ode.drelease(world);
- //base.TriggerPhysicsBasedRestart();
- //}
-
- int i = 0;
-
- // Figure out the Frames Per Second we're going at.
- //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
-
- fps = (step_time / ODE_STEPSIZE) * 1000;
- // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
- //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
-
- step_time = 0.09375f;
-
- while (step_time > 0.0f)
- {
- //lock (ode)
- //{
- //if (!ode.lockquery())
- //{
- // ode.dlock(world);
- try
- {
- // Insert, remove Characters
- bool processedtaints = false;
-
- lock (_taintedActors)
- {
- if (_taintedActors.Count > 0)
- {
- foreach (OdeCharacter character in _taintedActors)
- {
-
- character.ProcessTaints(timeStep);
-
- processedtaints = true;
- //character.m_collisionscore = 0;
- }
-
- if (processedtaints)
- _taintedActors.Clear();
- }
- }
-
- // Modify other objects in the scene.
- processedtaints = false;
-
- lock (_taintedPrimLock)
- {
- foreach (OdePrim prim in _taintedPrimL)
- {
- if (prim.m_taintremove)
- {
- //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
- RemovePrimThreadLocked(prim);
- }
- else
- {
- //Console.WriteLine("Simulate calls ProcessTaints");
- prim.ProcessTaints(timeStep);
- }
- processedtaints = true;
- prim.m_collisionscore = 0;
-
- // This loop can block up the Heartbeat for a very long time on large regions.
- // We need to let the Watchdog know that the Heartbeat is not dead
- // NOTE: This is currently commented out, but if things like OAR loading are
- // timing the heartbeat out we will need to uncomment it
- //Watchdog.UpdateThread();
- }
-
- if (SupportsNINJAJoints)
- {
- // Create pending joints, if possible
-
- // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
- // a joint requires specifying the body id of both involved bodies
- if (pendingJoints.Count > 0)
- {
- List successfullyProcessedPendingJoints = new List();
- //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
- foreach (PhysicsJoint joint in pendingJoints)
- {
- //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
- string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
- List jointBodies = new List();
- bool allJointBodiesAreReady = true;
- foreach (string jointParam in jointParams)
- {
- if (jointParam == "NULL")
- {
- //DoJointErrorMessage(joint, "attaching NULL joint to world");
- jointBodies.Add(IntPtr.Zero);
- }
- else
- {
- //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
- bool foundPrim = false;
- lock (_prims)
- {
- foreach (OdePrim prim in _prims) // FIXME: inefficient
- {
- if (prim.SOPName == jointParam)
- {
- //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
- if (prim.IsPhysical && prim.Body != IntPtr.Zero)
- {
- jointBodies.Add(prim.Body);
- foundPrim = true;
- break;
- }
- else
- {
- DoJointErrorMessage(joint, "prim name " + jointParam +
- " exists but is not (yet) physical; deferring joint creation. " +
- "IsPhysical property is " + prim.IsPhysical +
- " and body is " + prim.Body);
- foundPrim = false;
- break;
- }
- }
- }
- }
- if (foundPrim)
- {
- // all is fine
- }
- else
- {
- allJointBodiesAreReady = false;
- break;
- }
- }
- }
- if (allJointBodiesAreReady)
- {
- //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
- if (jointBodies[0] == jointBodies[1])
- {
- DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
- }
- else
- {
- switch (joint.Type)
- {
- case PhysicsJointType.Ball:
- {
- IntPtr odeJoint;
- //DoJointErrorMessage(joint, "ODE creating ball joint ");
- odeJoint = d.JointCreateBall(world, IntPtr.Zero);
- //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
- d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
- //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
- d.JointSetBallAnchor(odeJoint,
- joint.Position.X,
- joint.Position.Y,
- joint.Position.Z);
- //DoJointErrorMessage(joint, "ODE joint setting OK");
- //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
- //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
- //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
- //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
-
- if (joint is OdePhysicsJoint)
- {
- ((OdePhysicsJoint)joint).jointID = odeJoint;
- }
- else
- {
- DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
- }
- }
- break;
- case PhysicsJointType.Hinge:
- {
- IntPtr odeJoint;
- //DoJointErrorMessage(joint, "ODE creating hinge joint ");
- odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
- //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
- d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
- //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
- d.JointSetHingeAnchor(odeJoint,
- joint.Position.X,
- joint.Position.Y,
- joint.Position.Z);
- // We use the orientation of the x-axis of the joint's coordinate frame
- // as the axis for the hinge.
-
- // Therefore, we must get the joint's coordinate frame based on the
- // joint.Rotation field, which originates from the orientation of the
- // joint's proxy object in the scene.
-
- // The joint's coordinate frame is defined as the transformation matrix
- // that converts a vector from joint-local coordinates into world coordinates.
- // World coordinates are defined as the XYZ coordinate system of the sim,
- // as shown in the top status-bar of the viewer.
-
- // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
- // and use that as the hinge axis.
-
- //joint.Rotation.Normalize();
- Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
-
- // Now extract the X axis of the joint's coordinate frame.
-
- // Do not try to use proxyFrame.AtAxis or you will become mired in the
- // tar pit of transposed, inverted, and generally messed-up orientations.
- // (In other words, Matrix4.AtAxis() is borked.)
- // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
-
- // Instead, compute the X axis of the coordinate frame by transforming
- // the (1,0,0) vector. At least that works.
-
- //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
- Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
- //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
- //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
- d.JointSetHingeAxis(odeJoint,
- jointAxis.X,
- jointAxis.Y,
- jointAxis.Z);
- //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
- if (joint is OdePhysicsJoint)
- {
- ((OdePhysicsJoint)joint).jointID = odeJoint;
- }
- else
- {
- DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
- }
- }
- break;
- }
- successfullyProcessedPendingJoints.Add(joint);
- }
- }
- else
- {
- DoJointErrorMessage(joint, "joint could not yet be created; still pending");
- }
- }
- foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
- {
- //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
- //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
- InternalRemovePendingJoint(successfullyProcessedJoint);
- //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
- InternalAddActiveJoint(successfullyProcessedJoint);
- //DoJointErrorMessage(successfullyProcessedJoint, "done");
- }
- }
- }
-
- if (processedtaints)
-//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
- _taintedPrimH.Clear();
- _taintedPrimL.Clear();
- }
-
- // Move characters
- lock (_characters)
- {
- List defects = new List();
- 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)
- {
- m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
- ode.dunlock(world);
- }
-
- step_time -= ODE_STEPSIZE;
- i++;
- //}
- //else
- //{
- //fps = 0;
- //}
- //}
- }
-
- lock (_characters)
- {
- foreach (OdeCharacter actor in _characters)
- {
- if (actor != null)
- {
- if (actor.bad)
- m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
- actor.UpdatePositionAndVelocity();
- }
- }
- }
-
- lock (_badCharacter)
- {
- if (_badCharacter.Count > 0)
- {
- foreach (OdeCharacter chr in _badCharacter)
- {
- RemoveCharacter(chr);
- }
- _badCharacter.Clear();
- }
- }
-
- lock (_activeprims)
- {
- //if (timeStep < 0.2f)
- {
- foreach (OdePrim actor in _activeprims)
- {
- if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
- {
- actor.UpdatePositionAndVelocity();
-
- if (SupportsNINJAJoints)
- {
- // If an actor moved, move its joint proxy objects as well.
- // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
- // for this purpose but it is never called! So we just do the joint
- // movement code here.
-
- if (actor.SOPName != null &&
- joints_connecting_actor.ContainsKey(actor.SOPName) &&
- joints_connecting_actor[actor.SOPName] != null &&
- joints_connecting_actor[actor.SOPName].Count > 0)
- {
- foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
- {
- if (affectedJoint.IsInPhysicsEngine)
- {
- DoJointMoved(affectedJoint);
- }
- else
- {
- DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
- }
- }
- }
- }
- }
- }
- }
- }
-
- //DumpJointInfo();
-
- // Finished with all sim stepping. If requested, dump world state to file for debugging.
- // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
- // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
- if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
- {
- string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
- string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
-
- if (physics_logging_append_existing_logfile)
- {
- string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
- TextWriter fwriter = File.AppendText(fname);
- 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
- // has a max of 100 ms to run theoretically.
- // If the main loop stalls, it calls Simulate later which makes the tick count ms larger.
- // If Physics stalls, it takes longer which makes the tick count ms larger.
-
- if (latertickcount < 100)
- m_timeDilation = 1.0f;
- else
- {
- m_timeDilation = 100f / latertickcount;
- //m_timeDilation = Math.Min((Math.Max(100 - (Util.EnvironmentTickCount() - tickCountFrameRun), 1) / 100f), 1.0f);
- }
-
- tickCountFrameRun = Util.EnvironmentTickCount();
- }
-
- return fps;
- }
-
- public override void GetResults()
- {
- }
-
- public override bool IsThreaded
- {
- // for now we won't be multithreaded
- get { return (false); }
- }
-
- #region ODE Specific Terrain Fixes
- public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
- {
- float[] returnarr = new float[262144];
- float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
-
- // Filling out the array into its multi-dimensional components
- for (int y = 0; y < WorldExtents.Y; y++)
- {
- for (int x = 0; x < WorldExtents.X; x++)
- {
- resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
- }
- }
-
- // Resize using Nearest Neighbour
-
- // This particular way is quick but it only works on a multiple of the original
-
- // The idea behind this method can be described with the following diagrams
- // second pass and third pass happen in the same loop really.. just separated
- // them to show what this does.
-
- // First Pass
- // ResultArr:
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
-
- // Second Pass
- // ResultArr2:
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
-
- // Third pass fills in the blanks
- // ResultArr2:
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
-
- // X,Y = .
- // X+1,y = ^
- // X,Y+1 = *
- // X+1,Y+1 = #
-
- // Filling in like this;
- // .*
- // ^#
- // 1st .
- // 2nd *
- // 3rd ^
- // 4th #
- // on single loop.
-
- float[,] resultarr2 = new float[512, 512];
- for (int y = 0; y < WorldExtents.Y; y++)
- {
- for (int x = 0; x < WorldExtents.X; x++)
- {
- resultarr2[y * 2, x * 2] = resultarr[y, x];
-
- if (y < WorldExtents.Y)
- {
- resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
- }
- if (x < WorldExtents.X)
- {
- resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
- }
- if (x < WorldExtents.X && y < WorldExtents.Y)
- {
- resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
- }
- }
- }
-
- //Flatten out the array
- int i = 0;
- for (int y = 0; y < 512; y++)
- {
- for (int x = 0; x < 512; x++)
- {
- if (resultarr2[y, x] <= 0)
- returnarr[i] = 0.0000001f;
- else
- returnarr[i] = resultarr2[y, x];
-
- i++;
- }
- }
-
- return returnarr;
- }
-
- public float[] ResizeTerrain512Interpolation(float[] heightMap)
- {
- float[] returnarr = new float[262144];
- float[,] resultarr = new float[512,512];
-
- // Filling out the array into its multi-dimensional components
- for (int y = 0; y < 256; y++)
- {
- for (int x = 0; x < 256; x++)
- {
- resultarr[y, x] = heightMap[y * 256 + x];
- }
- }
-
- // Resize using interpolation
-
- // This particular way is quick but it only works on a multiple of the original
-
- // The idea behind this method can be described with the following diagrams
- // second pass and third pass happen in the same loop really.. just separated
- // them to show what this does.
-
- // First Pass
- // ResultArr:
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
-
- // Second Pass
- // ResultArr2:
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
-
- // Third pass fills in the blanks
- // ResultArr2:
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
-
- // X,Y = .
- // X+1,y = ^
- // X,Y+1 = *
- // X+1,Y+1 = #
-
- // Filling in like this;
- // .*
- // ^#
- // 1st .
- // 2nd *
- // 3rd ^
- // 4th #
- // on single loop.
-
- float[,] resultarr2 = new float[512,512];
- for (int y = 0; y < (int)Constants.RegionSize; y++)
- {
- for (int x = 0; x < (int)Constants.RegionSize; x++)
- {
- resultarr2[y*2, x*2] = resultarr[y, x];
-
- if (y < (int)Constants.RegionSize)
- {
- if (y + 1 < (int)Constants.RegionSize)
- {
- if (x + 1 < (int)Constants.RegionSize)
- {
- resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
- resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
- }
- else
- {
- resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
- }
- }
- else
- {
- resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
- }
- }
- if (x < (int)Constants.RegionSize)
- {
- if (x + 1 < (int)Constants.RegionSize)
- {
- if (y + 1 < (int)Constants.RegionSize)
- {
- resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
- resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
- }
- else
- {
- resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
- }
- }
- else
- {
- resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
- }
- }
- if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
- {
- if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
- {
- resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
- resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
- }
- else
- {
- resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
- }
- }
- }
- }
- //Flatten out the array
- int i = 0;
- for (int y = 0; y < 512; y++)
- {
- for (int x = 0; x < 512; x++)
- {
- if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
- {
- m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
- resultarr2[y, x] = 0;
- }
- returnarr[i] = resultarr2[y, x];
- i++;
- }
- }
-
- return returnarr;
- }
-
- #endregion
-
- public override void SetTerrain(float[] heightMap)
- {
- if (m_worldOffset != Vector3.Zero && m_parentScene != null)
- {
- if (m_parentScene is OdeScene)
- {
- ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
- }
- }
- else
- {
- SetTerrain(heightMap, m_worldOffset);
- }
- }
-
- public void SetTerrain(float[] heightMap, Vector3 pOffset)
- {
- // this._heightmap[i] = (double)heightMap[i];
- // dbm (danx0r) -- creating a buffer zone of one extra sample all around
- //_origheightmap = heightMap;
-
- float[] _heightmap;
-
- // zero out a heightmap array float array (single dimension [flattened]))
- //if ((int)Constants.RegionSize == 256)
- // _heightmap = new float[514 * 514];
- //else
-
- _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
-
- uint heightmapWidth = Constants.RegionSize + 1;
- uint heightmapHeight = Constants.RegionSize + 1;
-
- uint heightmapWidthSamples;
-
- uint heightmapHeightSamples;
-
- //if (((int)Constants.RegionSize) == 256)
- //{
- // heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
- // heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
- // heightmapWidth++;
- // heightmapHeight++;
- //}
- //else
- //{
-
- heightmapWidthSamples = (uint)Constants.RegionSize + 1;
- heightmapHeightSamples = (uint)Constants.RegionSize + 1;
- //}
-
- const float scale = 1.0f;
- const float offset = 0.0f;
- const float thickness = 0.2f;
- const int wrap = 0;
-
- int regionsize = (int) Constants.RegionSize + 2;
- //Double resolution
- //if (((int)Constants.RegionSize) == 256)
- // heightMap = ResizeTerrain512Interpolation(heightMap);
-
-
- // if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
- // regionsize = 512;
-
- float hfmin = 2000;
- float hfmax = -2000;
-
- for (int x = 0; x < heightmapWidthSamples; x++)
- {
- for (int y = 0; y < heightmapHeightSamples; y++)
- {
- int xx = Util.Clip(x - 1, 0, regionsize - 1);
- int yy = Util.Clip(y - 1, 0, regionsize - 1);
-
-
- float val= heightMap[yy * (int)Constants.RegionSize + xx];
- _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
-
- hfmin = (val < hfmin) ? val : hfmin;
- hfmax = (val > hfmax) ? val : hfmax;
- }
- }
-
-
-
-
- lock (OdeLock)
- {
- IntPtr GroundGeom = IntPtr.Zero;
- if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
- {
- RegionTerrain.Remove(pOffset);
- if (GroundGeom != IntPtr.Zero)
- {
- if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
- {
- TerrainHeightFieldHeights.Remove(GroundGeom);
- }
- d.SpaceRemove(space, GroundGeom);
- d.GeomDestroy(GroundGeom);
- }
-
- }
- IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
- d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1,
- (int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale,
- offset, thickness, wrap);
- d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
- GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
- if (GroundGeom != IntPtr.Zero)
- {
- d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
- d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
-
- }
- geom_name_map[GroundGeom] = "Terrain";
-
- d.Matrix3 R = new d.Matrix3();
-
- Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
- Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
- //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
-
- q1 = q1 * q2;
- //q1 = q1 * q3;
- Vector3 v3;
- float angle;
- q1.GetAxisAngle(out v3, out angle);
-
- d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
- d.GeomSetRotation(GroundGeom, ref R);
- d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)) - 1, (pOffset.Y + ((int)Constants.RegionSize * 0.5f)) - 1, 0);
- IntPtr testGround = IntPtr.Zero;
- if (RegionTerrain.TryGetValue(pOffset, out testGround))
- {
- RegionTerrain.Remove(pOffset);
- }
- RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
- TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
-
- }
- }
-
- public override void DeleteTerrain()
- {
- }
-
- public float GetWaterLevel()
- {
- return waterlevel;
- }
-
- public override bool SupportsCombining()
- {
- return true;
- }
-
- public override void UnCombine(PhysicsScene pScene)
- {
- IntPtr localGround = IntPtr.Zero;
-// float[] localHeightfield;
- bool proceed = false;
- List geomDestroyList = new List();
-
- lock (OdeLock)
- {
- if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
- {
- foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
- {
- if (geom == localGround)
- {
-// localHeightfield = TerrainHeightFieldHeights[geom];
- proceed = true;
- }
- else
- {
- geomDestroyList.Add(geom);
- }
- }
-
- if (proceed)
- {
- m_worldOffset = Vector3.Zero;
- WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
- m_parentScene = null;
-
- foreach (IntPtr g in geomDestroyList)
- {
- // removingHeightField needs to be done or the garbage collector will
- // collect the terrain data before we tell ODE to destroy it causing
- // memory corruption
- if (TerrainHeightFieldHeights.ContainsKey(g))
- {
-// float[] removingHeightField = TerrainHeightFieldHeights[g];
- TerrainHeightFieldHeights.Remove(g);
-
- if (RegionTerrain.ContainsKey(g))
- {
- RegionTerrain.Remove(g);
- }
-
- d.GeomDestroy(g);
- //removingHeightField = new float[0];
- }
- }
-
- }
- else
- {
- m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
-
- }
- }
- }
- }
-
- public override void SetWaterLevel(float baseheight)
- {
- waterlevel = baseheight;
- randomizeWater(waterlevel);
- }
-
- public void randomizeWater(float baseheight)
- {
- const uint heightmapWidth = m_regionWidth + 2;
- const uint heightmapHeight = m_regionHeight + 2;
- const uint heightmapWidthSamples = m_regionWidth + 2;
- const uint heightmapHeightSamples = m_regionHeight + 2;
- const float scale = 1.0f;
- const float offset = 0.0f;
- const float thickness = 2.9f;
- const int wrap = 0;
-
- for (int i = 0; i < (258 * 258); i++)
- {
- _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
- // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
- }
-
- lock (OdeLock)
- {
- if (WaterGeom != IntPtr.Zero)
- {
- d.SpaceRemove(space, WaterGeom);
- }
- IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
- d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
- (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
- offset, thickness, wrap);
- d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
- WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
- if (WaterGeom != IntPtr.Zero)
- {
- d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
- d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
-
- }
- geom_name_map[WaterGeom] = "Water";
-
- d.Matrix3 R = new d.Matrix3();
-
- Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
- Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
- //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
-
- q1 = q1 * q2;
- //q1 = q1 * q3;
- Vector3 v3;
- float angle;
- q1.GetAxisAngle(out v3, out angle);
-
- d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
- d.GeomSetRotation(WaterGeom, ref R);
- d.GeomSetPosition(WaterGeom, 128, 128, 0);
-
- }
-
- }
-
- public override void Dispose()
- {
- m_rayCastManager.Dispose();
- m_rayCastManager = null;
-
- lock (OdeLock)
- {
- lock (_prims)
- {
- foreach (OdePrim prm in _prims)
- {
- RemovePrim(prm);
- }
- }
-
- //foreach (OdeCharacter act in _characters)
- //{
- //RemoveAvatar(act);
- //}
- d.WorldDestroy(world);
- //d.CloseODE();
- }
- }
- public override Dictionary GetTopColliders()
- {
- Dictionary returncolliders = new Dictionary();
- int cnt = 0;
- lock (_prims)
- {
- foreach (OdePrim prm in _prims)
- {
- if (prm.CollisionScore > 0)
- {
- returncolliders.Add(prm.m_localID, prm.CollisionScore);
- cnt++;
- prm.CollisionScore = 0f;
- if (cnt > 25)
- {
- break;
- }
- }
- }
- }
- return returncolliders;
- }
-
- public override bool SupportsRayCast()
- {
- return true;
- }
-
- public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
- {
- if (retMethod != null)
- {
- m_rayCastManager.QueueRequest(position, direction, length, retMethod);
- }
- }
-
-#if USE_DRAWSTUFF
- // Keyboard callback
- public void command(int cmd)
- {
- IntPtr geom;
- d.Mass mass;
- d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
-
-
-
- Char ch = Char.ToLower((Char)cmd);
- switch ((Char)ch)
- {
- case 'w':
- try
- {
- Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
-
- xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
- ds.SetViewpoint(ref xyz, ref hpr);
- }
- catch (ArgumentException)
- { hpr.X = 0; }
- break;
-
- case 'a':
- hpr.X++;
- ds.SetViewpoint(ref xyz, ref hpr);
- break;
-
- case 's':
- try
- {
- Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
-
- xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
- ds.SetViewpoint(ref xyz, ref hpr);
- }
- catch (ArgumentException)
- { hpr.X = 0; }
- break;
- case 'd':
- hpr.X--;
- ds.SetViewpoint(ref xyz, ref hpr);
- break;
- case 'r':
- xyz.Z++;
- ds.SetViewpoint(ref xyz, ref hpr);
- break;
- case 'f':
- xyz.Z--;
- ds.SetViewpoint(ref xyz, ref hpr);
- break;
- case 'e':
- xyz.Y++;
- ds.SetViewpoint(ref xyz, ref hpr);
- break;
- case 'q':
- xyz.Y--;
- ds.SetViewpoint(ref xyz, ref hpr);
- break;
- }
- }
-
- public void step(int pause)
- {
-
- ds.SetColor(1.0f, 1.0f, 0.0f);
- ds.SetTexture(ds.Texture.Wood);
- lock (_prims)
- {
- foreach (OdePrim prm in _prims)
- {
- //IntPtr body = d.GeomGetBody(prm.prim_geom);
- if (prm.prim_geom != IntPtr.Zero)
- {
- d.Vector3 pos;
- d.GeomCopyPosition(prm.prim_geom, out pos);
- //d.BodyCopyPosition(body, out pos);
-
- d.Matrix3 R;
- d.GeomCopyRotation(prm.prim_geom, out R);
- //d.BodyCopyRotation(body, out R);
-
-
- d.Vector3 sides = new d.Vector3();
- sides.X = prm.Size.X;
- sides.Y = prm.Size.Y;
- sides.Z = prm.Size.Z;
-
- ds.DrawBox(ref pos, ref R, ref sides);
- }
- }
- }
- ds.SetColor(1.0f, 0.0f, 0.0f);
- lock (_characters)
- {
- foreach (OdeCharacter chr in _characters)
- {
- if (chr.Shell != IntPtr.Zero)
- {
- IntPtr body = d.GeomGetBody(chr.Shell);
-
- d.Vector3 pos;
- d.GeomCopyPosition(chr.Shell, out pos);
- //d.BodyCopyPosition(body, out pos);
-
- d.Matrix3 R;
- d.GeomCopyRotation(chr.Shell, out R);
- //d.BodyCopyRotation(body, out R);
-
- ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
- d.Vector3 sides = new d.Vector3();
- sides.X = 0.5f;
- sides.Y = 0.5f;
- sides.Z = 0.5f;
-
- ds.DrawBox(ref pos, ref R, ref sides);
- }
- }
- }
- }
-
- public void start(int unused)
- {
- ds.SetViewpoint(ref xyz, ref hpr);
- }
-#endif
- }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
new file mode 100644
index 0000000000..f5172aad5b
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -0,0 +1,3865 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the OpenSimulator Project nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+//#define USE_DRAWSTUFF
+#define SPAM
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Threading;
+using System.IO;
+using System.Diagnostics;
+using log4net;
+using Nini.Config;
+using Ode.NET;
+#if USE_DRAWSTUFF
+using Drawstuff.NET;
+#endif
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+ public enum StatusIndicators : int
+ {
+ Generic = 0,
+ Start = 1,
+ End = 2
+ }
+
+ public struct sCollisionData
+ {
+ public uint ColliderLocalId;
+ public uint CollidedWithLocalId;
+ public int NumberOfCollisions;
+ public int CollisionType;
+ public int StatusIndicator;
+ public int lastframe;
+ }
+
+ [Flags]
+ public enum CollisionCategories : int
+ {
+ Disabled = 0,
+ Geom = 0x00000001,
+ Body = 0x00000002,
+ Space = 0x00000004,
+ Character = 0x00000008,
+ Land = 0x00000010,
+ Water = 0x00000020,
+ Wind = 0x00000040,
+ Sensor = 0x00000080,
+ Selected = 0x00000100
+ }
+
+ ///
+ /// Material type for a primitive
+ ///
+ public enum Material : int
+ {
+ ///
+ Stone = 0,
+ ///
+ Metal = 1,
+ ///
+ Glass = 2,
+ ///
+ Wood = 3,
+ ///
+ Flesh = 4,
+ ///
+ Plastic = 5,
+ ///
+ Rubber = 6
+ }
+
+ public sealed class OdeScene : PhysicsScene
+ {
+ private readonly ILog m_log;
+ // private Dictionary m_storedCollisions = new Dictionary();
+
+ CollisionLocker ode;
+
+ private Random fluidRandomizer = new Random(Environment.TickCount);
+
+ private const uint m_regionWidth = Constants.RegionSize;
+ private const uint m_regionHeight = Constants.RegionSize;
+
+ private float ODE_STEPSIZE = 0.020f;
+ private float metersInSpace = 29.9f;
+ private float m_timeDilation = 1.0f;
+
+ public float gravityx = 0f;
+ public float gravityy = 0f;
+ public float gravityz = -9.8f;
+
+ private float contactsurfacelayer = 0.001f;
+
+ private int worldHashspaceLow = -4;
+ private int worldHashspaceHigh = 128;
+
+ private int smallHashspaceLow = -4;
+ private int smallHashspaceHigh = 66;
+
+ private float waterlevel = 0f;
+ private int framecount = 0;
+ //private int m_returncollisions = 10;
+
+ private readonly IntPtr contactgroup;
+
+ internal IntPtr LandGeom;
+ internal IntPtr WaterGeom;
+
+ private float nmTerrainContactFriction = 255.0f;
+ private float nmTerrainContactBounce = 0.1f;
+ private float nmTerrainContactERP = 0.1025f;
+
+ private float mTerrainContactFriction = 75f;
+ private float mTerrainContactBounce = 0.1f;
+ private float mTerrainContactERP = 0.05025f;
+
+ private float nmAvatarObjectContactFriction = 250f;
+ private float nmAvatarObjectContactBounce = 0.1f;
+
+ private float mAvatarObjectContactFriction = 75f;
+ private float mAvatarObjectContactBounce = 0.1f;
+
+ private float avPIDD = 3200f;
+ private float avPIDP = 1400f;
+ private float avCapRadius = 0.37f;
+ private float avStandupTensor = 2000000f;
+ private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
+ public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
+ private float avDensity = 80f;
+ private float avHeightFudgeFactor = 0.52f;
+ private float avMovementDivisorWalk = 1.3f;
+ private float avMovementDivisorRun = 0.8f;
+ private float minimumGroundFlightOffset = 3f;
+ public float maximumMassObject = 10000.01f;
+
+ public bool meshSculptedPrim = true;
+ public bool forceSimplePrimMeshing = false;
+
+ public float meshSculptLOD = 32;
+ public float MeshSculptphysicalLOD = 16;
+
+ public float geomDefaultDensity = 10.000006836f;
+
+ public int geomContactPointsStartthrottle = 3;
+ public int geomUpdatesPerThrottledUpdate = 15;
+
+ public float bodyPIDD = 35f;
+ public float bodyPIDG = 25;
+
+ public int geomCrossingFailuresBeforeOutofbounds = 5;
+
+ public float bodyMotorJointMaxforceTensor = 2;
+
+ public int bodyFramesAutoDisable = 20;
+
+ private float[] _watermap;
+ private bool m_filterCollisions = true;
+
+ private d.NearCallback nearCallback;
+ public d.TriCallback triCallback;
+ public d.TriArrayCallback triArrayCallback;
+ private readonly HashSet _characters = new HashSet();
+ private readonly HashSet _prims = new HashSet();
+ private readonly HashSet _activeprims = new HashSet();
+ private readonly HashSet _taintedPrimH = new HashSet();
+ private readonly Object _taintedPrimLock = new Object();
+ private readonly List _taintedPrimL = new List();
+ private readonly HashSet _taintedActors = new HashSet();
+ private readonly List _perloopContact = new List();
+ private readonly List _collisionEventPrim = new List();
+ private readonly HashSet _badCharacter = new HashSet();
+ public Dictionary geom_name_map = new Dictionary();
+ public Dictionary actor_name_map = new Dictionary();
+ private bool m_NINJA_physics_joints_enabled = false;
+ //private Dictionary jointpart_name_map = new Dictionary();
+ private readonly Dictionary> joints_connecting_actor = new Dictionary>();
+ private d.ContactGeom[] contacts;
+ private readonly List requestedJointsToBeCreated = new List(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
+ private readonly List pendingJoints = new List(); // can lock for longer. accessed only by OdeScene.
+ private readonly List activeJoints = new List(); // can lock for longer. accessed only by OdeScene.
+ private readonly List requestedJointsToBeDeleted = new List(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
+ private Object externalJointRequestsLock = new Object();
+ private readonly Dictionary SOPName_to_activeJoint = new Dictionary();
+ private readonly Dictionary SOPName_to_pendingJoint = new Dictionary();
+ private readonly DoubleDictionary RegionTerrain = new DoubleDictionary();
+ private readonly Dictionary TerrainHeightFieldHeights = new Dictionary();
+
+ private d.Contact contact;
+ private d.Contact TerrainContact;
+ private d.Contact AvatarMovementprimContact;
+ private d.Contact AvatarMovementTerrainContact;
+ private d.Contact WaterContact;
+ private d.Contact[,] m_materialContacts;
+
+//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
+//Ckrinke private int m_randomizeWater = 200;
+ private int m_physicsiterations = 10;
+ private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
+ private readonly PhysicsActor PANull = new NullPhysicsActor();
+ private float step_time = 0.0f;
+//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
+//Ckrinke private int ms = 0;
+ public IntPtr world;
+ //private bool returncollisions = false;
+ // private uint obj1LocalID = 0;
+ private uint obj2LocalID = 0;
+ //private int ctype = 0;
+ private OdeCharacter cc1;
+ private OdePrim cp1;
+ private OdeCharacter cc2;
+ private OdePrim cp2;
+ private int tickCountFrameRun;
+
+ private int latertickcount=0;
+ //private int cStartStop = 0;
+ //private string cDictKey = "";
+
+ public IntPtr space;
+
+ //private IntPtr tmpSpace;
+ // split static geometry collision handling into spaces of 30 meters
+ public IntPtr[,] staticPrimspace;
+
+ public Object OdeLock;
+
+ public IMesher mesher;
+
+ private IConfigSource m_config;
+
+ public bool physics_logging = false;
+ public int physics_logging_interval = 0;
+ public bool physics_logging_append_existing_logfile = false;
+
+ public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
+ public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
+
+ // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
+ // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
+ // TODO: unused: private uint heightmapWidthSamples;
+ // TODO: unused: private uint heightmapHeightSamples;
+
+ private volatile int m_global_contactcount = 0;
+
+ private Vector3 m_worldOffset = Vector3.Zero;
+ public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+ private PhysicsScene m_parentScene = null;
+
+ private ODERayCastRequestManager m_rayCastManager;
+
+ ///
+ /// Initiailizes the scene
+ /// Sets many properties that ODE requires to be stable
+ /// These settings need to be tweaked 'exactly' right or weird stuff happens.
+ ///
+ public OdeScene(CollisionLocker dode, string sceneIdentifier)
+ {
+ m_log
+ = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
+
+ OdeLock = new Object();
+ ode = dode;
+ nearCallback = near;
+ triCallback = TriCallback;
+ triArrayCallback = TriArrayCallback;
+ m_rayCastManager = new ODERayCastRequestManager(this);
+ lock (OdeLock)
+ {
+ // Create the world and the first space
+ world = d.WorldCreate();
+ space = d.HashSpaceCreate(IntPtr.Zero);
+
+
+ contactgroup = d.JointGroupCreate(0);
+ //contactgroup
+
+ d.WorldSetAutoDisableFlag(world, false);
+ #if USE_DRAWSTUFF
+
+ Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
+ viewthread.Start();
+ #endif
+ }
+
+ _watermap = new float[258 * 258];
+
+ // Zero out the prim spaces array (we split our space into smaller spaces so
+ // we can hit test less.
+ }
+
+#if USE_DRAWSTUFF
+ public void startvisualization(object o)
+ {
+ ds.Functions fn;
+ fn.version = ds.VERSION;
+ fn.start = new ds.CallbackFunction(start);
+ fn.step = new ds.CallbackFunction(step);
+ fn.command = new ds.CallbackFunction(command);
+ fn.stop = null;
+ fn.path_to_textures = "./textures";
+ string[] args = new string[0];
+ ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
+ }
+#endif
+
+ // Initialize the mesh plugin
+ public override void Initialise(IMesher meshmerizer, IConfigSource config)
+ {
+ mesher = meshmerizer;
+ m_config = config;
+ // Defaults
+
+ if (Environment.OSVersion.Platform == PlatformID.Unix)
+ {
+ avPIDD = 3200.0f;
+ avPIDP = 1400.0f;
+ avStandupTensor = 2000000f;
+ }
+ else
+ {
+ avPIDD = 2200.0f;
+ avPIDP = 900.0f;
+ avStandupTensor = 550000f;
+ }
+
+ int contactsPerCollision = 80;
+
+ if (m_config != null)
+ {
+ IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
+ if (physicsconfig != null)
+ {
+ gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
+ gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
+ gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
+
+ worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
+ worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
+
+ metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
+ smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
+ smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
+
+ contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
+
+ nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
+ nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
+ nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
+
+ mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
+ mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
+ mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
+
+ nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
+ nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
+
+ mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
+ mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
+
+ ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
+ m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
+
+ avDensity = physicsconfig.GetFloat("av_density", 80f);
+ avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
+ avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
+ avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
+ avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
+ avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
+
+ contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
+
+ geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
+ geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
+ geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
+
+ geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
+ bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
+
+ bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
+ bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
+
+ forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
+ meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
+ meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
+ MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
+ m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
+
+ if (Environment.OSVersion.Platform == PlatformID.Unix)
+ {
+ avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
+ avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
+ avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
+ bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
+ }
+ else
+ {
+ avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
+ avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
+ avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
+ bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
+ }
+
+ 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);
+
+ m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
+ minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
+ maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
+ }
+ }
+
+ contacts = new d.ContactGeom[contactsPerCollision];
+
+ staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
+
+ // Centeral contact friction and bounce
+ // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
+ // an avatar falls through in Z but not in X or Y when walking on a prim.
+ contact.surface.mode |= d.ContactFlags.SoftERP;
+ contact.surface.mu = nmAvatarObjectContactFriction;
+ contact.surface.bounce = nmAvatarObjectContactBounce;
+ contact.surface.soft_cfm = 0.010f;
+ contact.surface.soft_erp = 0.010f;
+
+ // Terrain contact friction and Bounce
+ // This is the *non* moving version. Use this when an avatar
+ // isn't moving to keep it in place better
+ TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
+ TerrainContact.surface.mu = nmTerrainContactFriction;
+ TerrainContact.surface.bounce = nmTerrainContactBounce;
+ TerrainContact.surface.soft_erp = nmTerrainContactERP;
+
+ WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
+ WaterContact.surface.mu = 0f; // No friction
+ WaterContact.surface.bounce = 0.0f; // No bounce
+ WaterContact.surface.soft_cfm = 0.010f;
+ WaterContact.surface.soft_erp = 0.010f;
+
+ // Prim contact friction and bounce
+ // THis is the *non* moving version of friction and bounce
+ // Use this when an avatar comes in contact with a prim
+ // and is moving
+ AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
+ AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
+
+ // Terrain contact friction bounce and various error correcting calculations
+ // Use this when an avatar is in contact with the terrain and moving.
+ AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
+ AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
+ AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
+ AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
+
+ /*
+
+ Stone = 0,
+ ///
+ Metal = 1,
+ ///
+ Glass = 2,
+ ///
+ Wood = 3,
+ ///
+ Flesh = 4,
+ ///
+ Plastic = 5,
+ ///
+ Rubber = 6
+ */
+
+ m_materialContacts = new d.Contact[7,2];
+
+ m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
+ m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
+ m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
+
+ /*
+ private float nmAvatarObjectContactFriction = 250f;
+ private float nmAvatarObjectContactBounce = 0.1f;
+
+ private float mAvatarObjectContactFriction = 75f;
+ private float mAvatarObjectContactBounce = 0.1f;
+ */
+ m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
+ m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
+ m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
+ m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
+
+ m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
+ m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
+ m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
+ m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
+ m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
+ m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
+
+ d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
+
+ // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
+
+ d.WorldSetGravity(world, gravityx, gravityy, gravityz);
+ d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
+
+ d.WorldSetLinearDamping(world, 256f);
+ d.WorldSetAngularDamping(world, 256f);
+ d.WorldSetAngularDampingThreshold(world, 256f);
+ d.WorldSetLinearDampingThreshold(world, 256f);
+ d.WorldSetMaxAngularSpeed(world, 256f);
+
+ // Set how many steps we go without running collision testing
+ // This is in addition to the step size.
+ // Essentially Steps * m_physicsiterations
+ d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+ //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
+
+ for (int i = 0; i < staticPrimspace.GetLength(0); i++)
+ {
+ for (int j = 0; j < staticPrimspace.GetLength(1); j++)
+ {
+ staticPrimspace[i, j] = IntPtr.Zero;
+ }
+ }
+ }
+
+ internal void waitForSpaceUnlock(IntPtr space)
+ {
+ //if (space != IntPtr.Zero)
+ //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
+ }
+
+ ///
+ /// Debug space message for printing the space that a prim/avatar is in.
+ ///
+ ///
+ /// Returns which split up space the given position is in.
+ public string whichspaceamIin(Vector3 pos)
+ {
+ return calculateSpaceForGeom(pos).ToString();
+ }
+
+ #region Collision Detection
+
+ ///
+ /// This is our near callback. A geometry is near a body
+ ///
+ /// The space that contains the geoms. Remember, spaces are also geoms
+ /// a geometry or space
+ /// another geometry or space
+ private void near(IntPtr space, IntPtr g1, IntPtr g2)
+ {
+ // no lock here! It's invoked from within Simulate(), which is thread-locked
+
+ // Test if we're colliding a geom with a space.
+ // If so we have to drill down into the space recursively
+
+ if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
+ {
+ if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+ return;
+
+ // Separating static prim geometry spaces.
+ // We'll be calling near recursivly if one
+ // of them is a space to find all of the
+ // contact points in the space
+ try
+ {
+ d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+ }
+ catch (AccessViolationException)
+ {
+ m_log.Warn("[PHYSICS]: Unable to collide test a space");
+ return;
+ }
+ //Colliding a space or a geom with a space or a geom. so drill down
+
+ //Collide all geoms in each space..
+ //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
+ //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
+ return;
+ }
+
+ if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
+ return;
+
+ IntPtr b1 = d.GeomGetBody(g1);
+ IntPtr b2 = d.GeomGetBody(g2);
+
+ // d.GeomClassID id = d.GeomGetClass(g1);
+
+ String name1 = null;
+ String name2 = null;
+
+ if (!geom_name_map.TryGetValue(g1, out name1))
+ {
+ name1 = "null";
+ }
+ if (!geom_name_map.TryGetValue(g2, out name2))
+ {
+ name2 = "null";
+ }
+
+ //if (id == d.GeomClassId.TriMeshClass)
+ //{
+ // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
+ //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
+ //}
+
+ // 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;
+
+ lock (contacts)
+ {
+ count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
+ if (count > contacts.Length)
+ m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
+ }
+ }
+ catch (SEHException)
+ {
+ m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
+ ode.drelease(world);
+ base.TriggerPhysicsBasedRestart();
+ }
+ catch (Exception e)
+ {
+ m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
+ return;
+ }
+
+ PhysicsActor p1;
+ PhysicsActor p2;
+
+ if (!actor_name_map.TryGetValue(g1, out p1))
+ {
+ p1 = PANull;
+ }
+
+ if (!actor_name_map.TryGetValue(g2, out p2))
+ {
+ p2 = PANull;
+ }
+
+ ContactPoint maxDepthContact = new ContactPoint();
+ if (p1.CollisionScore + count >= float.MaxValue)
+ p1.CollisionScore = 0;
+ p1.CollisionScore += count;
+
+ if (p2.CollisionScore + count >= float.MaxValue)
+ p2.CollisionScore = 0;
+ p2.CollisionScore += count;
+
+ for (int i = 0; i < count; i++)
+ {
+ d.ContactGeom curContact = contacts[i];
+
+ if (curContact.depth > maxDepthContact.PenetrationDepth)
+ {
+ maxDepthContact = new ContactPoint(
+ new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
+ new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
+ curContact.depth
+ );
+ }
+
+ //m_log.Warn("[CCOUNT]: " + count);
+ IntPtr joint;
+ // If we're colliding with terrain, use 'TerrainContact' instead of contact.
+ // allows us to have different settings
+
+ // We only need to test p2 for 'jump crouch purposes'
+ if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
+ {
+ // Testing if the collision is at the feet of the avatar
+
+ //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
+ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
+ p2.IsColliding = true;
+ }
+ else
+ {
+ p2.IsColliding = true;
+ }
+
+ //if ((framecount % m_returncollisions) == 0)
+
+ switch (p1.PhysicsActorType)
+ {
+ case (int)ActorTypes.Agent:
+ p2.CollidingObj = true;
+ break;
+ case (int)ActorTypes.Prim:
+ if (p2.Velocity.LengthSquared() > 0.0f)
+ p2.CollidingObj = true;
+ break;
+ case (int)ActorTypes.Unknown:
+ p2.CollidingGround = true;
+ break;
+ default:
+ p2.CollidingGround = true;
+ break;
+ }
+
+ // we don't want prim or avatar to explode
+
+ #region InterPenetration Handling - Unintended physics explosions
+# region disabled code1
+
+ if (curContact.depth >= 0.08f)
+ {
+ //This is disabled at the moment only because it needs more tweaking
+ //It will eventually be uncommented
+ /*
+ if (contact.depth >= 1.00f)
+ {
+ //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
+ }
+
+ //If you interpenetrate a prim with an agent
+ if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
+ p1.PhysicsActorType == (int) ActorTypes.Prim) ||
+ (p1.PhysicsActorType == (int) ActorTypes.Agent &&
+ p2.PhysicsActorType == (int) ActorTypes.Prim))
+ {
+
+ //contact.depth = contact.depth * 4.15f;
+ /*
+ if (p2.PhysicsActorType == (int) ActorTypes.Agent)
+ {
+ p2.CollidingObj = true;
+ contact.depth = 0.003f;
+ p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
+ OdeCharacter character = (OdeCharacter) p2;
+ character.SetPidStatus(true);
+ contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
+
+ }
+ else
+ {
+
+ //contact.depth = 0.0000000f;
+ }
+ if (p1.PhysicsActorType == (int) ActorTypes.Agent)
+ {
+
+ p1.CollidingObj = true;
+ contact.depth = 0.003f;
+ p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
+ contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
+ OdeCharacter character = (OdeCharacter)p1;
+ character.SetPidStatus(true);
+ }
+ else
+ {
+
+ //contact.depth = 0.0000000f;
+ }
+
+
+
+ }
+*/
+ // If you interpenetrate a prim with another prim
+ /*
+ if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
+ {
+ #region disabledcode2
+ //OdePrim op1 = (OdePrim)p1;
+ //OdePrim op2 = (OdePrim)p2;
+ //op1.m_collisionscore++;
+ //op2.m_collisionscore++;
+
+ //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
+ //{
+ //op1.m_taintdisable = true;
+ //AddPhysicsActorTaint(p1);
+ //op2.m_taintdisable = true;
+ //AddPhysicsActorTaint(p2);
+ //}
+
+ //if (contact.depth >= 0.25f)
+ //{
+ // Don't collide, one or both prim will expld.
+
+ //op1.m_interpenetrationcount++;
+ //op2.m_interpenetrationcount++;
+ //interpenetrations_before_disable = 200;
+ //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
+ //{
+ //op1.m_taintdisable = true;
+ //AddPhysicsActorTaint(p1);
+ //}
+ //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
+ //{
+ // op2.m_taintdisable = true;
+ //AddPhysicsActorTaint(p2);
+ //}
+
+ //contact.depth = contact.depth / 8f;
+ //contact.normal = new d.Vector3(0, 0, 1);
+ //}
+ //if (op1.m_disabled || op2.m_disabled)
+ //{
+ //Manually disabled objects stay disabled
+ //contact.depth = 0f;
+ //}
+ #endregion
+ }
+ */
+#endregion
+ if (curContact.depth >= 1.00f)
+ {
+ //m_log.Info("[P]: " + contact.depth.ToString());
+ if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
+ p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
+ (p1.PhysicsActorType == (int) ActorTypes.Agent &&
+ p2.PhysicsActorType == (int) ActorTypes.Unknown))
+ {
+ if (p2.PhysicsActorType == (int) ActorTypes.Agent)
+ {
+ if (p2 is OdeCharacter)
+ {
+ OdeCharacter character = (OdeCharacter) p2;
+
+ //p2.CollidingObj = true;
+ curContact.depth = 0.00000003f;
+ p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
+ curContact.pos =
+ new d.Vector3(curContact.pos.X + (p1.Size.X/2),
+ curContact.pos.Y + (p1.Size.Y/2),
+ curContact.pos.Z + (p1.Size.Z/2));
+ character.SetPidStatus(true);
+ }
+ }
+
+
+ if (p1.PhysicsActorType == (int) ActorTypes.Agent)
+ {
+ if (p1 is OdeCharacter)
+ {
+ OdeCharacter character = (OdeCharacter) p1;
+
+ //p2.CollidingObj = true;
+ curContact.depth = 0.00000003f;
+ p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
+ curContact.pos =
+ new d.Vector3(curContact.pos.X + (p1.Size.X/2),
+ curContact.pos.Y + (p1.Size.Y/2),
+ curContact.pos.Z + (p1.Size.Z/2));
+ character.SetPidStatus(true);
+ }
+ }
+ }
+ }
+ }
+
+ #endregion
+
+ // Logic for collision handling
+ // Note, that if *all* contacts are skipped (VolumeDetect)
+ // The prim still detects (and forwards) collision events but
+ // appears to be phantom for the world
+ Boolean skipThisContact = false;
+
+ if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
+ skipThisContact = true; // No collision on volume detect prims
+
+ if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
+ skipThisContact = true; // No collision on volume detect prims
+
+ if (!skipThisContact && curContact.depth < 0f)
+ skipThisContact = true;
+
+ if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
+ skipThisContact = true;
+
+ const int maxContactsbeforedeath = 4000;
+ joint = IntPtr.Zero;
+
+ if (!skipThisContact)
+ {
+ // If we're colliding against terrain
+ if (name1 == "Terrain" || name2 == "Terrain")
+ {
+ // If we're moving
+ if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
+ (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
+ {
+ // Use the movement terrain contact
+ AvatarMovementTerrainContact.geom = curContact;
+ _perloopContact.Add(curContact);
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
+ m_global_contactcount++;
+ }
+ }
+ else
+ {
+ if (p2.PhysicsActorType == (int)ActorTypes.Agent)
+ {
+ // Use the non moving terrain contact
+ TerrainContact.geom = curContact;
+ _perloopContact.Add(curContact);
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
+ m_global_contactcount++;
+ }
+ }
+ else
+ {
+ if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
+ {
+ // prim prim contact
+ // int pj294950 = 0;
+ int movintYN = 0;
+ int material = (int) Material.Wood;
+ // prim terrain contact
+ if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
+ {
+ movintYN = 1;
+ }
+
+ if (p2 is OdePrim)
+ material = ((OdePrim)p2).m_material;
+
+ //m_log.DebugFormat("Material: {0}", material);
+ m_materialContacts[material, movintYN].geom = curContact;
+ _perloopContact.Add(curContact);
+
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+ m_global_contactcount++;
+
+ }
+
+ }
+ else
+ {
+ int movintYN = 0;
+ // prim terrain contact
+ if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
+ {
+ movintYN = 1;
+ }
+
+ int material = (int)Material.Wood;
+
+ if (p2 is OdePrim)
+ material = ((OdePrim)p2).m_material;
+ //m_log.DebugFormat("Material: {0}", material);
+ m_materialContacts[material, movintYN].geom = curContact;
+ _perloopContact.Add(curContact);
+
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+ m_global_contactcount++;
+
+ }
+ }
+ }
+ }
+ //if (p2.PhysicsActorType == (int)ActorTypes.Prim)
+ //{
+ //m_log.Debug("[PHYSICS]: prim contacting with ground");
+ //}
+ }
+ else if (name1 == "Water" || name2 == "Water")
+ {
+ /*
+ if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
+ {
+ }
+ else
+ {
+ }
+ */
+ //WaterContact.surface.soft_cfm = 0.0000f;
+ //WaterContact.surface.soft_erp = 0.00000f;
+ if (curContact.depth > 0.1f)
+ {
+ curContact.depth *= 52;
+ //contact.normal = new d.Vector3(0, 0, 1);
+ //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
+ }
+ WaterContact.geom = curContact;
+ _perloopContact.Add(curContact);
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
+ m_global_contactcount++;
+ }
+ //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
+ }
+ else
+ {
+ // we're colliding with prim or avatar
+ // check if we're moving
+ if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
+ {
+ if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
+ {
+ // Use the Movement prim contact
+ AvatarMovementprimContact.geom = curContact;
+ _perloopContact.Add(curContact);
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
+ m_global_contactcount++;
+ }
+ }
+ else
+ {
+ // Use the non movement contact
+ contact.geom = curContact;
+ _perloopContact.Add(curContact);
+
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref contact);
+ m_global_contactcount++;
+ }
+ }
+ }
+ else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
+ {
+ //p1.PhysicsActorType
+ int material = (int)Material.Wood;
+
+ if (p2 is OdePrim)
+ material = ((OdePrim)p2).m_material;
+
+ //m_log.DebugFormat("Material: {0}", material);
+ m_materialContacts[material, 0].geom = curContact;
+ _perloopContact.Add(curContact);
+
+ if (m_global_contactcount < maxContactsbeforedeath)
+ {
+ joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
+ m_global_contactcount++;
+
+ }
+ }
+ }
+
+ if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
+ {
+ d.JointAttach(joint, b1, b2);
+ m_global_contactcount++;
+ }
+ }
+
+ collision_accounting_events(p1, p2, maxDepthContact);
+
+ if (count > geomContactPointsStartthrottle)
+ {
+ // If there are more then 3 contact points, it's likely
+ // that we've got a pile of objects, so ...
+ // We don't want to send out hundreds of terse updates over and over again
+ // so lets throttle them and send them again after it's somewhat sorted out.
+ p2.ThrottleUpdates = true;
+ }
+ //m_log.Debug(count.ToString());
+ //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
+ }
+ }
+
+ private bool checkDupe(d.ContactGeom contactGeom, int atype)
+ {
+ bool result = false;
+ //return result;
+ if (!m_filterCollisions)
+ return false;
+
+ ActorTypes at = (ActorTypes)atype;
+ lock (_perloopContact)
+ {
+ foreach (d.ContactGeom contact in _perloopContact)
+ {
+ //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
+ //{
+ // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
+ if (at == ActorTypes.Agent)
+ {
+ if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
+ {
+
+ if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
+ {
+ //contactGeom.depth *= .00005f;
+ //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
+ // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
+ result = true;
+ break;
+ }
+ else
+ {
+ //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
+ }
+ }
+ else
+ {
+ //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
+ //int i = 0;
+ }
+ }
+ else if (at == ActorTypes.Prim)
+ {
+ //d.AABB aabb1 = new d.AABB();
+ //d.AABB aabb2 = new d.AABB();
+
+ //d.GeomGetAABB(contactGeom.g2, out aabb2);
+ //d.GeomGetAABB(contactGeom.g1, out aabb1);
+ //aabb1.
+ if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
+ {
+ if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
+ {
+ if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
+ {
+ result = true;
+ break;
+ }
+ }
+ //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
+ //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
+ }
+
+ }
+
+ //}
+
+ }
+ }
+
+ return result;
+ }
+
+ private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
+ {
+ // obj1LocalID = 0;
+ //returncollisions = false;
+ obj2LocalID = 0;
+ //ctype = 0;
+ //cStartStop = 0;
+ if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
+ return;
+
+ switch ((ActorTypes)p2.PhysicsActorType)
+ {
+ case ActorTypes.Agent:
+ cc2 = (OdeCharacter)p2;
+
+ // obj1LocalID = cc2.m_localID;
+ switch ((ActorTypes)p1.PhysicsActorType)
+ {
+ case ActorTypes.Agent:
+ cc1 = (OdeCharacter)p1;
+ obj2LocalID = cc1.m_localID;
+ cc1.AddCollisionEvent(cc2.m_localID, contact);
+ //ctype = (int)CollisionCategories.Character;
+
+ //if (cc1.CollidingObj)
+ //cStartStop = (int)StatusIndicators.Generic;
+ //else
+ //cStartStop = (int)StatusIndicators.Start;
+
+ //returncollisions = true;
+ break;
+ case ActorTypes.Prim:
+ if (p1 is OdePrim)
+ {
+ cp1 = (OdePrim) p1;
+ obj2LocalID = cp1.m_localID;
+ cp1.AddCollisionEvent(cc2.m_localID, contact);
+ }
+ //ctype = (int)CollisionCategories.Geom;
+
+ //if (cp1.CollidingObj)
+ //cStartStop = (int)StatusIndicators.Generic;
+ //else
+ //cStartStop = (int)StatusIndicators.Start;
+
+ //returncollisions = true;
+ break;
+
+ case ActorTypes.Ground:
+ case ActorTypes.Unknown:
+ obj2LocalID = 0;
+ //ctype = (int)CollisionCategories.Land;
+ //returncollisions = true;
+ break;
+ }
+
+ cc2.AddCollisionEvent(obj2LocalID, contact);
+ break;
+ case ActorTypes.Prim:
+
+ if (p2 is OdePrim)
+ {
+ cp2 = (OdePrim) p2;
+
+ // obj1LocalID = cp2.m_localID;
+ switch ((ActorTypes) p1.PhysicsActorType)
+ {
+ case ActorTypes.Agent:
+ if (p1 is OdeCharacter)
+ {
+ cc1 = (OdeCharacter) p1;
+ obj2LocalID = cc1.m_localID;
+ cc1.AddCollisionEvent(cp2.m_localID, contact);
+ //ctype = (int)CollisionCategories.Character;
+
+ //if (cc1.CollidingObj)
+ //cStartStop = (int)StatusIndicators.Generic;
+ //else
+ //cStartStop = (int)StatusIndicators.Start;
+ //returncollisions = true;
+ }
+ break;
+ case ActorTypes.Prim:
+
+ if (p1 is OdePrim)
+ {
+ cp1 = (OdePrim) p1;
+ obj2LocalID = cp1.m_localID;
+ cp1.AddCollisionEvent(cp2.m_localID, contact);
+ //ctype = (int)CollisionCategories.Geom;
+
+ //if (cp1.CollidingObj)
+ //cStartStop = (int)StatusIndicators.Generic;
+ //else
+ //cStartStop = (int)StatusIndicators.Start;
+
+ //returncollisions = true;
+ }
+ break;
+
+ case ActorTypes.Ground:
+ case ActorTypes.Unknown:
+ obj2LocalID = 0;
+ //ctype = (int)CollisionCategories.Land;
+
+ //returncollisions = true;
+ break;
+ }
+
+ cp2.AddCollisionEvent(obj2LocalID, contact);
+ }
+ break;
+ }
+ //if (returncollisions)
+ //{
+
+ //lock (m_storedCollisions)
+ //{
+ //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
+ //if (m_storedCollisions.ContainsKey(cDictKey))
+ //{
+ //sCollisionData objd = m_storedCollisions[cDictKey];
+ //objd.NumberOfCollisions += 1;
+ //objd.lastframe = framecount;
+ //m_storedCollisions[cDictKey] = objd;
+ //}
+ //else
+ //{
+ //sCollisionData objd = new sCollisionData();
+ //objd.ColliderLocalId = obj1LocalID;
+ //objd.CollidedWithLocalId = obj2LocalID;
+ //objd.CollisionType = ctype;
+ //objd.NumberOfCollisions = 1;
+ //objd.lastframe = framecount;
+ //objd.StatusIndicator = cStartStop;
+ //m_storedCollisions.Add(cDictKey, objd);
+ //}
+ //}
+ // }
+ }
+
+ public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
+ {
+ /* String name1 = null;
+ String name2 = null;
+
+ if (!geom_name_map.TryGetValue(trimesh, out name1))
+ {
+ name1 = "null";
+ }
+ if (!geom_name_map.TryGetValue(refObject, out name2))
+ {
+ name2 = "null";
+ }
+
+ m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
+ */
+ return 1;
+ }
+
+ public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
+ {
+ String name1 = null;
+ String name2 = null;
+
+ if (!geom_name_map.TryGetValue(trimesh, out name1))
+ {
+ name1 = "null";
+ }
+
+ if (!geom_name_map.TryGetValue(refObject, out name2))
+ {
+ name2 = "null";
+ }
+
+ // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
+
+ d.Vector3 v0 = new d.Vector3();
+ d.Vector3 v1 = new d.Vector3();
+ d.Vector3 v2 = new d.Vector3();
+
+ d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
+ // m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
+
+ return 1;
+ }
+
+ ///
+ /// This is our collision testing routine in ODE
+ ///
+ ///
+ private void collision_optimized(float timeStep)
+ {
+ _perloopContact.Clear();
+
+ lock (_characters)
+ {
+ foreach (OdeCharacter chr in _characters)
+ {
+ // Reset the collision values to false
+ // since we don't know if we're colliding yet
+
+ // For some reason this can happen. Don't ask...
+ //
+ if (chr == null)
+ continue;
+
+ if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
+ continue;
+
+ chr.IsColliding = false;
+ chr.CollidingGround = false;
+ chr.CollidingObj = false;
+
+ // test the avatar's geometry for collision with the space
+ // This will return near and the space that they are the closest to
+ // And we'll run this again against the avatar and the space segment
+ // This will return with a bunch of possible objects in the space segment
+ // and we'll run it again on all of them.
+ try
+ {
+ d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
+ }
+ catch (AccessViolationException)
+ {
+ m_log.Warn("[PHYSICS]: Unable to space collide");
+ }
+ //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
+ //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
+ //{
+ //chr.Position.Z = terrainheight + 10.0f;
+ //forcedZ = true;
+ //}
+ }
+ }
+
+ lock (_activeprims)
+ {
+ List removeprims = null;
+ foreach (OdePrim chr in _activeprims)
+ {
+ if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
+ {
+ try
+ {
+ lock (chr)
+ {
+ if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
+ {
+ d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
+ }
+ else
+ {
+ if (removeprims == null)
+ {
+ removeprims = new List();
+ }
+ removeprims.Add(chr);
+ m_log.Debug("[PHYSICS]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!");
+ }
+ }
+ }
+ catch (AccessViolationException)
+ {
+ m_log.Warn("[PHYSICS]: Unable to space collide");
+ }
+ }
+ }
+
+ if (removeprims != null)
+ {
+ foreach (OdePrim chr in removeprims)
+ {
+ _activeprims.Remove(chr);
+ }
+ }
+ }
+
+ _perloopContact.Clear();
+ }
+
+ #endregion
+
+ public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
+ {
+ m_worldOffset = offset;
+ WorldExtents = new Vector2(extents.X, extents.Y);
+ m_parentScene = pScene;
+ }
+
+ // Recovered for use by fly height. Kitto Flora
+ public float GetTerrainHeightAtXY(float x, float y)
+ {
+ int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+ int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+
+ IntPtr heightFieldGeom = IntPtr.Zero;
+
+ if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
+ {
+ if (heightFieldGeom != IntPtr.Zero)
+ {
+ if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+ {
+
+ int index;
+
+
+ if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
+ (int)x < 0.001f || (int)y < 0.001f)
+ return 0;
+
+ x = x - offsetX;
+ y = y - offsetY;
+
+ index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
+
+ if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
+ {
+ //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
+ return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
+ }
+
+ else
+ return 0f;
+ }
+ else
+ {
+ return 0f;
+ }
+
+ }
+ else
+ {
+ return 0f;
+ }
+
+ }
+ else
+ {
+ return 0f;
+ }
+ }
+// End recovered. Kitto Flora
+
+ public void addCollisionEventReporting(PhysicsActor obj)
+ {
+ lock (_collisionEventPrim)
+ {
+ if (!_collisionEventPrim.Contains(obj))
+ _collisionEventPrim.Add(obj);
+ }
+ }
+
+ public void remCollisionEventReporting(PhysicsActor obj)
+ {
+ lock (_collisionEventPrim)
+ {
+ if (!_collisionEventPrim.Contains(obj))
+ _collisionEventPrim.Remove(obj);
+ }
+ }
+
+ #region Add/Remove Entities
+
+ public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
+ {
+ Vector3 pos;
+ pos.X = position.X;
+ pos.Y = position.Y;
+ pos.Z = position.Z;
+ OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
+ newAv.Flying = isFlying;
+ newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
+
+ return newAv;
+ }
+
+ public void AddCharacter(OdeCharacter chr)
+ {
+ lock (_characters)
+ {
+ if (!_characters.Contains(chr))
+ {
+ _characters.Add(chr);
+ if (chr.bad)
+ m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
+ }
+ }
+ }
+
+ public void RemoveCharacter(OdeCharacter chr)
+ {
+ lock (_characters)
+ {
+ if (_characters.Contains(chr))
+ {
+ _characters.Remove(chr);
+ }
+ }
+ }
+
+ public void BadCharacter(OdeCharacter chr)
+ {
+ lock (_badCharacter)
+ {
+ if (!_badCharacter.Contains(chr))
+ _badCharacter.Add(chr);
+ }
+ }
+
+ public override void RemoveAvatar(PhysicsActor actor)
+ {
+ //m_log.Debug("[PHYSICS]:ODELOCK");
+ ((OdeCharacter) actor).Destroy();
+ }
+
+ private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
+ IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
+ {
+ Vector3 pos = position;
+ Vector3 siz = size;
+ Quaternion rot = rotation;
+
+ OdePrim newPrim;
+ lock (OdeLock)
+ {
+ newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
+
+ lock (_prims)
+ _prims.Add(newPrim);
+ }
+
+ return newPrim;
+ }
+
+ public void addActivePrim(OdePrim activatePrim)
+ {
+ // adds active prim.. (ones that should be iterated over in collisions_optimized
+ lock (_activeprims)
+ {
+ if (!_activeprims.Contains(activatePrim))
+ _activeprims.Add(activatePrim);
+ //else
+ // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
+ }
+ }
+
+ public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+ Vector3 size, Quaternion rotation) //To be removed
+ {
+ return AddPrimShape(primName, pbs, position, size, rotation, false);
+ }
+
+ public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+ Vector3 size, Quaternion rotation, bool isPhysical)
+ {
+#if SPAM
+ m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName);
+#endif
+
+ PhysicsActor result;
+ IMesh mesh = null;
+
+ if (needsMeshing(pbs))
+ {
+ try
+ {
+ mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
+ }
+ catch(Exception e)
+ {
+ m_log.ErrorFormat("[PHYSICS]: Exception while meshing prim {0}.", primName);
+ m_log.Debug(e.ToString());
+ mesh = null;
+ return null;
+ }
+ }
+
+ result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
+
+ return result;
+ }
+
+ public override float TimeDilation
+ {
+ get { return m_timeDilation; }
+ }
+
+ public override bool SupportsNINJAJoints
+ {
+ get { return m_NINJA_physics_joints_enabled; }
+ }
+
+ // internal utility function: must be called within a lock (OdeLock)
+ private void InternalAddActiveJoint(PhysicsJoint joint)
+ {
+ activeJoints.Add(joint);
+ SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
+ }
+
+ // internal utility function: must be called within a lock (OdeLock)
+ private void InternalAddPendingJoint(OdePhysicsJoint joint)
+ {
+ pendingJoints.Add(joint);
+ SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
+ }
+
+ // internal utility function: must be called within a lock (OdeLock)
+ private void InternalRemovePendingJoint(PhysicsJoint joint)
+ {
+ pendingJoints.Remove(joint);
+ SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
+ }
+
+ // internal utility function: must be called within a lock (OdeLock)
+ private void InternalRemoveActiveJoint(PhysicsJoint joint)
+ {
+ activeJoints.Remove(joint);
+ SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
+ }
+
+ public override void DumpJointInfo()
+ {
+ string hdr = "[NINJA] JOINTINFO: ";
+ foreach (PhysicsJoint j in pendingJoints)
+ {
+ m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
+ }
+ m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
+ foreach (string jointName in SOPName_to_pendingJoint.Keys)
+ {
+ m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
+ }
+ m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
+ foreach (PhysicsJoint j in activeJoints)
+ {
+ m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
+ }
+ m_log.Debug(hdr + activeJoints.Count + " total active joints");
+ foreach (string jointName in SOPName_to_activeJoint.Keys)
+ {
+ m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
+ }
+ m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
+
+ m_log.Debug(hdr + " Per-body joint connectivity information follows.");
+ m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
+ foreach (string actorName in joints_connecting_actor.Keys)
+ {
+ m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
+ foreach (PhysicsJoint j in joints_connecting_actor[actorName])
+ {
+ m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
+ }
+ m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
+ }
+ }
+
+ public override void RequestJointDeletion(string ObjectNameInScene)
+ {
+ lock (externalJointRequestsLock)
+ {
+ if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
+ {
+ requestedJointsToBeDeleted.Add(ObjectNameInScene);
+ }
+ }
+ }
+
+ private void DeleteRequestedJoints()
+ {
+ List myRequestedJointsToBeDeleted;
+ lock (externalJointRequestsLock)
+ {
+ // make a local copy of the shared list for processing (threading issues)
+ myRequestedJointsToBeDeleted = new List(requestedJointsToBeDeleted);
+ }
+
+ foreach (string jointName in myRequestedJointsToBeDeleted)
+ {
+ lock (OdeLock)
+ {
+ //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
+ if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
+ {
+ OdePhysicsJoint joint = null;
+ if (SOPName_to_activeJoint.ContainsKey(jointName))
+ {
+ joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
+ InternalRemoveActiveJoint(joint);
+ }
+ else if (SOPName_to_pendingJoint.ContainsKey(jointName))
+ {
+ joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
+ InternalRemovePendingJoint(joint);
+ }
+
+ if (joint != null)
+ {
+ //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
+ for (int iBodyName = 0; iBodyName < 2; iBodyName++)
+ {
+ string bodyName = joint.BodyNames[iBodyName];
+ if (bodyName != "NULL")
+ {
+ joints_connecting_actor[bodyName].Remove(joint);
+ if (joints_connecting_actor[bodyName].Count == 0)
+ {
+ joints_connecting_actor.Remove(bodyName);
+ }
+ }
+ }
+
+ DoJointDeactivated(joint);
+ if (joint.jointID != IntPtr.Zero)
+ {
+ d.JointDestroy(joint.jointID);
+ joint.jointID = IntPtr.Zero;
+ //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
+ }
+ else
+ {
+ //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
+ }
+ }
+ else
+ {
+ // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
+ }
+ }
+ else
+ {
+ // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
+ }
+ }
+ }
+
+ // remove processed joints from the shared list
+ lock (externalJointRequestsLock)
+ {
+ foreach (string jointName in myRequestedJointsToBeDeleted)
+ {
+ requestedJointsToBeDeleted.Remove(jointName);
+ }
+ }
+ }
+
+ // for pending joints we don't know if their associated bodies exist yet or not.
+ // the joint is actually created during processing of the taints
+ private void CreateRequestedJoints()
+ {
+ List myRequestedJointsToBeCreated;
+ lock (externalJointRequestsLock)
+ {
+ // make a local copy of the shared list for processing (threading issues)
+ myRequestedJointsToBeCreated = new List(requestedJointsToBeCreated);
+ }
+
+ foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
+ {
+ lock (OdeLock)
+ {
+ if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
+ {
+ DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
+ continue;
+ }
+ if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
+ {
+ DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
+ continue;
+ }
+
+ InternalAddPendingJoint(joint as OdePhysicsJoint);
+
+ if (joint.BodyNames.Count >= 2)
+ {
+ for (int iBodyName = 0; iBodyName < 2; iBodyName++)
+ {
+ string bodyName = joint.BodyNames[iBodyName];
+ if (bodyName != "NULL")
+ {
+ if (!joints_connecting_actor.ContainsKey(bodyName))
+ {
+ joints_connecting_actor.Add(bodyName, new List());
+ }
+ joints_connecting_actor[bodyName].Add(joint);
+ }
+ }
+ }
+ }
+ }
+
+ // remove processed joints from shared list
+ lock (externalJointRequestsLock)
+ {
+ foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
+ {
+ requestedJointsToBeCreated.Remove(joint);
+ }
+ }
+ }
+
+ ///
+ /// Add a request for joint creation.
+ ///
+ ///
+ /// this joint will just be added to a waiting list that is NOT processed during the main
+ /// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ public override PhysicsJoint RequestJointCreation(
+ string objectNameInScene, PhysicsJointType jointType, Vector3 position,
+ Quaternion rotation, string parms, List bodyNames, string trackedBodyName, Quaternion localRotation)
+ {
+ OdePhysicsJoint joint = new OdePhysicsJoint();
+ joint.ObjectNameInScene = objectNameInScene;
+ joint.Type = jointType;
+ joint.Position = position;
+ joint.Rotation = rotation;
+ joint.RawParams = parms;
+ joint.BodyNames = new List(bodyNames);
+ joint.TrackedBodyName = trackedBodyName;
+ joint.LocalRotation = localRotation;
+ joint.jointID = IntPtr.Zero;
+ joint.ErrorMessageCount = 0;
+
+ lock (externalJointRequestsLock)
+ {
+ if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
+ {
+ requestedJointsToBeCreated.Add(joint);
+ }
+ }
+
+ return joint;
+ }
+
+ private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
+ {
+ //m_log.Debug("RemoveAllJointsConnectedToActor: start");
+ if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
+ {
+
+ List jointsToRemove = new List();
+ //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
+ foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
+ {
+ jointsToRemove.Add(j);
+ }
+ foreach (PhysicsJoint j in jointsToRemove)
+ {
+ //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
+ RequestJointDeletion(j.ObjectNameInScene);
+ //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
+ j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
+ }
+ }
+ }
+
+ public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
+ {
+ //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
+ lock (OdeLock)
+ {
+ //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
+ RemoveAllJointsConnectedToActor(actor);
+ }
+ }
+
+ // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
+ public override Vector3 GetJointAnchor(PhysicsJoint joint)
+ {
+ Debug.Assert(joint.IsInPhysicsEngine);
+ d.Vector3 pos = new d.Vector3();
+
+ if (!(joint is OdePhysicsJoint))
+ {
+ DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
+ }
+ else
+ {
+ OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
+ switch (odeJoint.Type)
+ {
+ case PhysicsJointType.Ball:
+ d.JointGetBallAnchor(odeJoint.jointID, out pos);
+ break;
+ case PhysicsJointType.Hinge:
+ d.JointGetHingeAnchor(odeJoint.jointID, out pos);
+ break;
+ }
+ }
+ return new Vector3(pos.X, pos.Y, pos.Z);
+ }
+
+ ///
+ /// Get joint axis.
+ ///
+ ///
+ /// normally called from within OnJointMoved, which is called from within a lock (OdeLock)
+ /// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
+ /// appears to be unreliable. Fortunately we can compute the joint axis ourselves by
+ /// keeping track of the joint's original orientation relative to one of the involved bodies.
+ ///
+ ///
+ ///
+ public override Vector3 GetJointAxis(PhysicsJoint joint)
+ {
+ Debug.Assert(joint.IsInPhysicsEngine);
+ d.Vector3 axis = new d.Vector3();
+
+ if (!(joint is OdePhysicsJoint))
+ {
+ DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
+ }
+ else
+ {
+ OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
+ switch (odeJoint.Type)
+ {
+ case PhysicsJointType.Ball:
+ DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
+ break;
+ case PhysicsJointType.Hinge:
+ d.JointGetHingeAxis(odeJoint.jointID, out axis);
+ break;
+ }
+ }
+ return new Vector3(axis.X, axis.Y, axis.Z);
+ }
+
+ public void remActivePrim(OdePrim deactivatePrim)
+ {
+ lock (_activeprims)
+ {
+ _activeprims.Remove(deactivatePrim);
+ }
+ }
+
+ public override void RemovePrim(PhysicsActor prim)
+ {
+ if (prim is OdePrim)
+ {
+ lock (OdeLock)
+ {
+ OdePrim p = (OdePrim) prim;
+
+ p.setPrimForRemoval();
+ AddPhysicsActorTaint(prim);
+ //RemovePrimThreadLocked(p);
+ }
+ }
+ }
+
+ ///
+ /// This is called from within simulate but outside the locked portion
+ /// We need to do our own locking here
+ /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
+ ///
+ /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
+ /// that the space was using.
+ ///
+ ///
+ public void RemovePrimThreadLocked(OdePrim prim)
+ {
+//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
+ lock (prim)
+ {
+ remCollisionEventReporting(prim);
+ lock (ode)
+ {
+ if (prim.prim_geom != IntPtr.Zero)
+ {
+ prim.ResetTaints();
+
+ if (prim.IsPhysical)
+ {
+ prim.disableBody();
+ if (prim.childPrim)
+ {
+ prim.childPrim = false;
+ prim.Body = IntPtr.Zero;
+ prim.m_disabled = true;
+ prim.IsPhysical = false;
+ }
+
+
+ }
+ // we don't want to remove the main space
+
+ // If the geometry is in the targetspace, remove it from the target space
+ //m_log.Warn(prim.m_targetSpace);
+
+ //if (prim.m_targetSpace != IntPtr.Zero)
+ //{
+ //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
+ //{
+
+ //if (d.GeomIsSpace(prim.m_targetSpace))
+ //{
+ //waitForSpaceUnlock(prim.m_targetSpace);
+ //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
+ prim.m_targetSpace = IntPtr.Zero;
+ //}
+ //else
+ //{
+ // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
+ //((OdePrim)prim).m_targetSpace.ToString());
+ //}
+
+ //}
+ //}
+ //m_log.Warn(prim.prim_geom);
+ try
+ {
+ if (prim.prim_geom != IntPtr.Zero)
+ {
+ d.GeomDestroy(prim.prim_geom);
+ prim.prim_geom = IntPtr.Zero;
+ }
+ else
+ {
+ m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
+ }
+ }
+ catch (AccessViolationException)
+ {
+ m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
+ }
+ lock (_prims)
+ _prims.Remove(prim);
+
+ //If there are no more geometries in the sub-space, we don't need it in the main space anymore
+ //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
+ //{
+ //if (prim.m_targetSpace != null)
+ //{
+ //if (d.GeomIsSpace(prim.m_targetSpace))
+ //{
+ //waitForSpaceUnlock(prim.m_targetSpace);
+ //d.SpaceRemove(space, prim.m_targetSpace);
+ // free up memory used by the space.
+ //d.SpaceDestroy(prim.m_targetSpace);
+ //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
+ //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
+ //}
+ //else
+ //{
+ //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
+ //((OdePrim) prim).m_targetSpace.ToString());
+ //}
+ //}
+ //}
+
+ if (SupportsNINJAJoints)
+ {
+ RemoveAllJointsConnectedToActorThreadLocked(prim);
+ }
+ }
+ }
+ }
+ }
+
+ #endregion
+
+ #region Space Separation Calculation
+
+ ///
+ /// Takes a space pointer and zeros out the array we're using to hold the spaces
+ ///
+ ///
+ public void resetSpaceArrayItemToZero(IntPtr pSpace)
+ {
+ for (int x = 0; x < staticPrimspace.GetLength(0); x++)
+ {
+ for (int y = 0; y < staticPrimspace.GetLength(1); y++)
+ {
+ if (staticPrimspace[x, y] == pSpace)
+ staticPrimspace[x, y] = IntPtr.Zero;
+ }
+ }
+ }
+
+ public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
+ {
+ staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
+ }
+
+ ///
+ /// Called when a static prim moves. Allocates a space for the prim based on its position
+ ///
+ /// the pointer to the geom that moved
+ /// the position that the geom moved to
+ /// a pointer to the space it was in before it was moved.
+ /// a pointer to the new space it's in
+ public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
+ {
+ // Called from setting the Position and Size of an ODEPrim so
+ // it's already in locked space.
+
+ // we don't want to remove the main space
+ // we don't need to test physical here because this function should
+ // never be called if the prim is physical(active)
+
+ // All physical prim end up in the root space
+ //Thread.Sleep(20);
+ if (currentspace != space)
+ {
+ //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
+ //if (currentspace == IntPtr.Zero)
+ //{
+ //int adfadf = 0;
+ //}
+ if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
+ {
+ if (d.GeomIsSpace(currentspace))
+ {
+ waitForSpaceUnlock(currentspace);
+ d.SpaceRemove(currentspace, geom);
+ }
+ else
+ {
+ m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
+ " Geom:" + geom);
+ }
+ }
+ else
+ {
+ IntPtr sGeomIsIn = d.GeomGetSpace(geom);
+ if (sGeomIsIn != IntPtr.Zero)
+ {
+ if (d.GeomIsSpace(currentspace))
+ {
+ waitForSpaceUnlock(sGeomIsIn);
+ d.SpaceRemove(sGeomIsIn, geom);
+ }
+ else
+ {
+ m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+ sGeomIsIn + " Geom:" + geom);
+ }
+ }
+ }
+
+ //If there are no more geometries in the sub-space, we don't need it in the main space anymore
+ if (d.SpaceGetNumGeoms(currentspace) == 0)
+ {
+ if (currentspace != IntPtr.Zero)
+ {
+ if (d.GeomIsSpace(currentspace))
+ {
+ waitForSpaceUnlock(currentspace);
+ waitForSpaceUnlock(space);
+ d.SpaceRemove(space, currentspace);
+ // free up memory used by the space.
+
+ //d.SpaceDestroy(currentspace);
+ resetSpaceArrayItemToZero(currentspace);
+ }
+ else
+ {
+ m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+ currentspace + " Geom:" + geom);
+ }
+ }
+ }
+ }
+ else
+ {
+ // this is a physical object that got disabled. ;.;
+ if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
+ {
+ if (d.SpaceQuery(currentspace, geom))
+ {
+ if (d.GeomIsSpace(currentspace))
+ {
+ waitForSpaceUnlock(currentspace);
+ d.SpaceRemove(currentspace, geom);
+ }
+ else
+ {
+ m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+ currentspace + " Geom:" + geom);
+ }
+ }
+ else
+ {
+ IntPtr sGeomIsIn = d.GeomGetSpace(geom);
+ if (sGeomIsIn != IntPtr.Zero)
+ {
+ if (d.GeomIsSpace(sGeomIsIn))
+ {
+ waitForSpaceUnlock(sGeomIsIn);
+ d.SpaceRemove(sGeomIsIn, geom);
+ }
+ else
+ {
+ m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
+ sGeomIsIn + " Geom:" + geom);
+ }
+ }
+ }
+ }
+ }
+
+ // The routines in the Position and Size sections do the 'inserting' into the space,
+ // so all we have to do is make sure that the space that we're putting the prim into
+ // is in the 'main' space.
+ int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
+ IntPtr newspace = calculateSpaceForGeom(pos);
+
+ if (newspace == IntPtr.Zero)
+ {
+ newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
+ d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
+ }
+
+ return newspace;
+ }
+
+ ///
+ /// Creates a new space at X Y
+ ///
+ ///
+ ///
+ /// A pointer to the created space
+ public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
+ {
+ // creating a new space for prim and inserting it into main space.
+ staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
+ d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
+ waitForSpaceUnlock(space);
+ d.SpaceSetSublevel(space, 1);
+ d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
+ return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
+ }
+
+ ///
+ /// Calculates the space the prim should be in by its position
+ ///
+ ///
+ /// a pointer to the space. This could be a new space or reused space.
+ public IntPtr calculateSpaceForGeom(Vector3 pos)
+ {
+ int[] xyspace = calculateSpaceArrayItemFromPos(pos);
+ //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
+ return staticPrimspace[xyspace[0], xyspace[1]];
+ }
+
+ ///
+ /// Holds the space allocation logic
+ ///
+ ///
+ /// an array item based on the position
+ public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
+ {
+ int[] returnint = new int[2];
+
+ returnint[0] = (int) (pos.X/metersInSpace);
+
+ if (returnint[0] > ((int) (259f/metersInSpace)))
+ returnint[0] = ((int) (259f/metersInSpace));
+ if (returnint[0] < 0)
+ returnint[0] = 0;
+
+ returnint[1] = (int) (pos.Y/metersInSpace);
+ if (returnint[1] > ((int) (259f/metersInSpace)))
+ returnint[1] = ((int) (259f/metersInSpace));
+ if (returnint[1] < 0)
+ returnint[1] = 0;
+
+ return returnint;
+ }
+
+ #endregion
+
+ ///
+ /// Routine to figure out if we need to mesh this prim with our mesher
+ ///
+ ///
+ ///
+ public bool needsMeshing(PrimitiveBaseShape pbs)
+ {
+ // most of this is redundant now as the mesher will return null if it cant mesh a prim
+ // but we still need to check for sculptie meshing being enabled so this is the most
+ // convenient place to do it for now...
+
+ // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
+ // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
+ int iPropertiesNotSupportedDefault = 0;
+
+ if (pbs.SculptEntry && !meshSculptedPrim)
+ {
+#if SPAM
+ m_log.Warn("NonMesh");
+#endif
+ return false;
+ }
+
+ // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
+ if (!forceSimplePrimMeshing && !pbs.SculptEntry)
+ {
+ if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+ || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
+ && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
+ {
+
+ if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
+ && pbs.ProfileHollow == 0
+ && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
+ && pbs.PathBegin == 0 && pbs.PathEnd == 0
+ && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
+ && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
+ && pbs.PathShearX == 0 && pbs.PathShearY == 0)
+ {
+#if SPAM
+ m_log.Warn("NonMesh");
+#endif
+ return false;
+ }
+ }
+ }
+
+ if (pbs.ProfileHollow != 0)
+ iPropertiesNotSupportedDefault++;
+
+ if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
+ iPropertiesNotSupportedDefault++;
+
+ if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
+ iPropertiesNotSupportedDefault++;
+
+ if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
+ iPropertiesNotSupportedDefault++;
+
+ if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
+ iPropertiesNotSupportedDefault++;
+
+ if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
+ iPropertiesNotSupportedDefault++;
+
+ if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
+ iPropertiesNotSupportedDefault++;
+
+ if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
+ iPropertiesNotSupportedDefault++;
+
+ if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
+ iPropertiesNotSupportedDefault++;
+
+ // test for torus
+ if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
+ {
+ if (pbs.PathCurve == (byte)Extrusion.Curve1)
+ {
+ iPropertiesNotSupportedDefault++;
+ }
+ }
+ else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
+ {
+ if (pbs.PathCurve == (byte)Extrusion.Straight)
+ {
+ iPropertiesNotSupportedDefault++;
+ }
+
+ // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
+ else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+ {
+ iPropertiesNotSupportedDefault++;
+ }
+ }
+ else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
+ {
+ if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
+ {
+ iPropertiesNotSupportedDefault++;
+ }
+ }
+ else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
+ {
+ if (pbs.PathCurve == (byte)Extrusion.Straight)
+ {
+ iPropertiesNotSupportedDefault++;
+ }
+ else if (pbs.PathCurve == (byte)Extrusion.Curve1)
+ {
+ iPropertiesNotSupportedDefault++;
+ }
+ }
+
+ if (pbs.SculptEntry && meshSculptedPrim)
+ iPropertiesNotSupportedDefault++;
+
+ if (iPropertiesNotSupportedDefault == 0)
+ {
+#if SPAM
+ m_log.Warn("NonMesh");
+#endif
+ return false;
+ }
+#if SPAM
+ m_log.Debug("Mesh");
+#endif
+ return true;
+ }
+
+ ///
+ /// Called after our prim properties are set Scale, position etc.
+ /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
+ /// This assures us that we have no race conditions
+ ///
+ ///
+ public override void AddPhysicsActorTaint(PhysicsActor prim)
+ {
+ if (prim is OdePrim)
+ {
+ OdePrim taintedprim = ((OdePrim) prim);
+ lock (_taintedPrimLock)
+ {
+ if (!(_taintedPrimH.Contains(taintedprim)))
+ {
+//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
+ _taintedPrimH.Add(taintedprim); // HashSet for searching
+ _taintedPrimL.Add(taintedprim); // List for ordered readout
+ }
+ }
+ return;
+ }
+ else if (prim is OdeCharacter)
+ {
+ OdeCharacter taintedchar = ((OdeCharacter)prim);
+ lock (_taintedActors)
+ {
+ if (!(_taintedActors.Contains(taintedchar)))
+ {
+ _taintedActors.Add(taintedchar);
+ if (taintedchar.bad)
+ m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
+ }
+ }
+ }
+ }
+
+ ///
+ /// This is our main simulate loop
+ /// It's thread locked by a Mutex in the scene.
+ /// It holds Collisions, it instructs ODE to step through the physical reactions
+ /// It moves the objects around in memory
+ /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
+ ///
+ ///
+ ///
+ public override float Simulate(float timeStep)
+ {
+ if (framecount >= int.MaxValue)
+ framecount = 0;
+
+ //if (m_worldOffset != Vector3.Zero)
+ // return 0;
+
+ framecount++;
+
+ float fps = 0;
+ //m_log.Info(timeStep.ToString());
+ step_time += timeStep;
+
+ // If We're loaded down by something else,
+ // or debugging with the Visual Studio project on pause
+ // skip a few frames to catch up gracefully.
+ // without shooting the physicsactors all over the place
+
+ if (step_time >= m_SkipFramesAtms)
+ {
+ // Instead of trying to catch up, it'll do 5 physics frames only
+ step_time = ODE_STEPSIZE;
+ m_physicsiterations = 5;
+ }
+ else
+ {
+ m_physicsiterations = 10;
+ }
+
+ if (SupportsNINJAJoints)
+ {
+ DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
+ CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
+ }
+
+ lock (OdeLock)
+ {
+ // Process 10 frames if the sim is running normal..
+ // process 5 frames if the sim is running slow
+ //try
+ //{
+ //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
+ //}
+ //catch (StackOverflowException)
+ //{
+ // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
+ // ode.drelease(world);
+ //base.TriggerPhysicsBasedRestart();
+ //}
+
+ int i = 0;
+
+ // Figure out the Frames Per Second we're going at.
+ //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
+
+ fps = (step_time / ODE_STEPSIZE) * 1000;
+ // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
+ //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
+
+ step_time = 0.09375f;
+
+ while (step_time > 0.0f)
+ {
+ //lock (ode)
+ //{
+ //if (!ode.lockquery())
+ //{
+ // ode.dlock(world);
+ try
+ {
+ // Insert, remove Characters
+ bool processedtaints = false;
+
+ lock (_taintedActors)
+ {
+ if (_taintedActors.Count > 0)
+ {
+ foreach (OdeCharacter character in _taintedActors)
+ {
+ character.ProcessTaints(timeStep);
+
+ processedtaints = true;
+ //character.m_collisionscore = 0;
+ }
+
+ if (processedtaints)
+ _taintedActors.Clear();
+ }
+ }
+
+ // Modify other objects in the scene.
+ processedtaints = false;
+
+ lock (_taintedPrimLock)
+ {
+ foreach (OdePrim prim in _taintedPrimL)
+ {
+ if (prim.m_taintremove)
+ {
+ //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
+ RemovePrimThreadLocked(prim);
+ }
+ else
+ {
+ //Console.WriteLine("Simulate calls ProcessTaints");
+ prim.ProcessTaints(timeStep);
+ }
+ processedtaints = true;
+ prim.m_collisionscore = 0;
+
+ // This loop can block up the Heartbeat for a very long time on large regions.
+ // We need to let the Watchdog know that the Heartbeat is not dead
+ // NOTE: This is currently commented out, but if things like OAR loading are
+ // timing the heartbeat out we will need to uncomment it
+ //Watchdog.UpdateThread();
+ }
+
+ if (SupportsNINJAJoints)
+ {
+ // Create pending joints, if possible
+
+ // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
+ // a joint requires specifying the body id of both involved bodies
+ if (pendingJoints.Count > 0)
+ {
+ List successfullyProcessedPendingJoints = new List();
+ //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
+ foreach (PhysicsJoint joint in pendingJoints)
+ {
+ //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
+ string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
+ List jointBodies = new List();
+ bool allJointBodiesAreReady = true;
+ foreach (string jointParam in jointParams)
+ {
+ if (jointParam == "NULL")
+ {
+ //DoJointErrorMessage(joint, "attaching NULL joint to world");
+ jointBodies.Add(IntPtr.Zero);
+ }
+ else
+ {
+ //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
+ bool foundPrim = false;
+ lock (_prims)
+ {
+ foreach (OdePrim prim in _prims) // FIXME: inefficient
+ {
+ if (prim.SOPName == jointParam)
+ {
+ //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
+ if (prim.IsPhysical && prim.Body != IntPtr.Zero)
+ {
+ jointBodies.Add(prim.Body);
+ foundPrim = true;
+ break;
+ }
+ else
+ {
+ DoJointErrorMessage(joint, "prim name " + jointParam +
+ " exists but is not (yet) physical; deferring joint creation. " +
+ "IsPhysical property is " + prim.IsPhysical +
+ " and body is " + prim.Body);
+ foundPrim = false;
+ break;
+ }
+ }
+ }
+ }
+ if (foundPrim)
+ {
+ // all is fine
+ }
+ else
+ {
+ allJointBodiesAreReady = false;
+ break;
+ }
+ }
+ }
+ if (allJointBodiesAreReady)
+ {
+ //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
+ if (jointBodies[0] == jointBodies[1])
+ {
+ DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
+ }
+ else
+ {
+ switch (joint.Type)
+ {
+ case PhysicsJointType.Ball:
+ {
+ IntPtr odeJoint;
+ //DoJointErrorMessage(joint, "ODE creating ball joint ");
+ odeJoint = d.JointCreateBall(world, IntPtr.Zero);
+ //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+ d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+ //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
+ d.JointSetBallAnchor(odeJoint,
+ joint.Position.X,
+ joint.Position.Y,
+ joint.Position.Z);
+ //DoJointErrorMessage(joint, "ODE joint setting OK");
+ //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
+ //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
+ //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
+ //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
+
+ if (joint is OdePhysicsJoint)
+ {
+ ((OdePhysicsJoint)joint).jointID = odeJoint;
+ }
+ else
+ {
+ DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+ }
+ }
+ break;
+ case PhysicsJointType.Hinge:
+ {
+ IntPtr odeJoint;
+ //DoJointErrorMessage(joint, "ODE creating hinge joint ");
+ odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
+ //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
+ d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
+ //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
+ d.JointSetHingeAnchor(odeJoint,
+ joint.Position.X,
+ joint.Position.Y,
+ joint.Position.Z);
+ // We use the orientation of the x-axis of the joint's coordinate frame
+ // as the axis for the hinge.
+
+ // Therefore, we must get the joint's coordinate frame based on the
+ // joint.Rotation field, which originates from the orientation of the
+ // joint's proxy object in the scene.
+
+ // The joint's coordinate frame is defined as the transformation matrix
+ // that converts a vector from joint-local coordinates into world coordinates.
+ // World coordinates are defined as the XYZ coordinate system of the sim,
+ // as shown in the top status-bar of the viewer.
+
+ // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
+ // and use that as the hinge axis.
+
+ //joint.Rotation.Normalize();
+ Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
+
+ // Now extract the X axis of the joint's coordinate frame.
+
+ // Do not try to use proxyFrame.AtAxis or you will become mired in the
+ // tar pit of transposed, inverted, and generally messed-up orientations.
+ // (In other words, Matrix4.AtAxis() is borked.)
+ // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
+
+ // Instead, compute the X axis of the coordinate frame by transforming
+ // the (1,0,0) vector. At least that works.
+
+ //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
+ Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
+ //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
+ //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
+ d.JointSetHingeAxis(odeJoint,
+ jointAxis.X,
+ jointAxis.Y,
+ jointAxis.Z);
+ //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
+ if (joint is OdePhysicsJoint)
+ {
+ ((OdePhysicsJoint)joint).jointID = odeJoint;
+ }
+ else
+ {
+ DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
+ }
+ }
+ break;
+ }
+ successfullyProcessedPendingJoints.Add(joint);
+ }
+ }
+ else
+ {
+ DoJointErrorMessage(joint, "joint could not yet be created; still pending");
+ }
+ }
+ foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
+ {
+ //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
+ //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
+ InternalRemovePendingJoint(successfullyProcessedJoint);
+ //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
+ InternalAddActiveJoint(successfullyProcessedJoint);
+ //DoJointErrorMessage(successfullyProcessedJoint, "done");
+ }
+ }
+ }
+
+ if (processedtaints)
+//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
+ _taintedPrimH.Clear();
+ _taintedPrimL.Clear();
+ }
+
+ // Move characters
+ lock (_characters)
+ {
+ List defects = new List();
+ 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)
+ {
+ m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
+ ode.dunlock(world);
+ }
+
+ step_time -= ODE_STEPSIZE;
+ i++;
+ //}
+ //else
+ //{
+ //fps = 0;
+ //}
+ //}
+ }
+
+ lock (_characters)
+ {
+ foreach (OdeCharacter actor in _characters)
+ {
+ if (actor != null)
+ {
+ if (actor.bad)
+ m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
+ actor.UpdatePositionAndVelocity();
+ }
+ }
+ }
+
+ lock (_badCharacter)
+ {
+ if (_badCharacter.Count > 0)
+ {
+ foreach (OdeCharacter chr in _badCharacter)
+ {
+ RemoveCharacter(chr);
+ }
+ _badCharacter.Clear();
+ }
+ }
+
+ lock (_activeprims)
+ {
+ //if (timeStep < 0.2f)
+ {
+ foreach (OdePrim actor in _activeprims)
+ {
+ if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
+ {
+ actor.UpdatePositionAndVelocity();
+
+ if (SupportsNINJAJoints)
+ {
+ // If an actor moved, move its joint proxy objects as well.
+ // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
+ // for this purpose but it is never called! So we just do the joint
+ // movement code here.
+
+ if (actor.SOPName != null &&
+ joints_connecting_actor.ContainsKey(actor.SOPName) &&
+ joints_connecting_actor[actor.SOPName] != null &&
+ joints_connecting_actor[actor.SOPName].Count > 0)
+ {
+ foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
+ {
+ if (affectedJoint.IsInPhysicsEngine)
+ {
+ DoJointMoved(affectedJoint);
+ }
+ else
+ {
+ DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+
+ //DumpJointInfo();
+
+ // Finished with all sim stepping. If requested, dump world state to file for debugging.
+ // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
+ // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
+ if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
+ {
+ string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
+ string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
+
+ if (physics_logging_append_existing_logfile)
+ {
+ string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
+ TextWriter fwriter = File.AppendText(fname);
+ 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
+ // has a max of 100 ms to run theoretically.
+ // If the main loop stalls, it calls Simulate later which makes the tick count ms larger.
+ // If Physics stalls, it takes longer which makes the tick count ms larger.
+
+ if (latertickcount < 100)
+ m_timeDilation = 1.0f;
+ else
+ {
+ m_timeDilation = 100f / latertickcount;
+ //m_timeDilation = Math.Min((Math.Max(100 - (Util.EnvironmentTickCount() - tickCountFrameRun), 1) / 100f), 1.0f);
+ }
+
+ tickCountFrameRun = Util.EnvironmentTickCount();
+ }
+
+ return fps;
+ }
+
+ public override void GetResults()
+ {
+ }
+
+ public override bool IsThreaded
+ {
+ // for now we won't be multithreaded
+ get { return (false); }
+ }
+
+ #region ODE Specific Terrain Fixes
+ public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
+ {
+ float[] returnarr = new float[262144];
+ float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
+
+ // Filling out the array into its multi-dimensional components
+ for (int y = 0; y < WorldExtents.Y; y++)
+ {
+ for (int x = 0; x < WorldExtents.X; x++)
+ {
+ resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
+ }
+ }
+
+ // Resize using Nearest Neighbour
+
+ // This particular way is quick but it only works on a multiple of the original
+
+ // The idea behind this method can be described with the following diagrams
+ // second pass and third pass happen in the same loop really.. just separated
+ // them to show what this does.
+
+ // First Pass
+ // ResultArr:
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+
+ // Second Pass
+ // ResultArr2:
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+
+ // Third pass fills in the blanks
+ // ResultArr2:
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+
+ // X,Y = .
+ // X+1,y = ^
+ // X,Y+1 = *
+ // X+1,Y+1 = #
+
+ // Filling in like this;
+ // .*
+ // ^#
+ // 1st .
+ // 2nd *
+ // 3rd ^
+ // 4th #
+ // on single loop.
+
+ float[,] resultarr2 = new float[512, 512];
+ for (int y = 0; y < WorldExtents.Y; y++)
+ {
+ for (int x = 0; x < WorldExtents.X; x++)
+ {
+ resultarr2[y * 2, x * 2] = resultarr[y, x];
+
+ if (y < WorldExtents.Y)
+ {
+ resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
+ }
+ if (x < WorldExtents.X)
+ {
+ resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
+ }
+ if (x < WorldExtents.X && y < WorldExtents.Y)
+ {
+ resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
+ }
+ }
+ }
+
+ //Flatten out the array
+ int i = 0;
+ for (int y = 0; y < 512; y++)
+ {
+ for (int x = 0; x < 512; x++)
+ {
+ if (resultarr2[y, x] <= 0)
+ returnarr[i] = 0.0000001f;
+ else
+ returnarr[i] = resultarr2[y, x];
+
+ i++;
+ }
+ }
+
+ return returnarr;
+ }
+
+ public float[] ResizeTerrain512Interpolation(float[] heightMap)
+ {
+ float[] returnarr = new float[262144];
+ float[,] resultarr = new float[512,512];
+
+ // Filling out the array into its multi-dimensional components
+ for (int y = 0; y < 256; y++)
+ {
+ for (int x = 0; x < 256; x++)
+ {
+ resultarr[y, x] = heightMap[y * 256 + x];
+ }
+ }
+
+ // Resize using interpolation
+
+ // This particular way is quick but it only works on a multiple of the original
+
+ // The idea behind this method can be described with the following diagrams
+ // second pass and third pass happen in the same loop really.. just separated
+ // them to show what this does.
+
+ // First Pass
+ // ResultArr:
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+ // 1,1,1,1,1,1
+
+ // Second Pass
+ // ResultArr2:
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+ // ,,,,,,,,,,
+ // 1,,1,,1,,1,,1,,1,
+
+ // Third pass fills in the blanks
+ // ResultArr2:
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+ // 1,1,1,1,1,1,1,1,1,1,1,1
+
+ // X,Y = .
+ // X+1,y = ^
+ // X,Y+1 = *
+ // X+1,Y+1 = #
+
+ // Filling in like this;
+ // .*
+ // ^#
+ // 1st .
+ // 2nd *
+ // 3rd ^
+ // 4th #
+ // on single loop.
+
+ float[,] resultarr2 = new float[512,512];
+ for (int y = 0; y < (int)Constants.RegionSize; y++)
+ {
+ for (int x = 0; x < (int)Constants.RegionSize; x++)
+ {
+ resultarr2[y*2, x*2] = resultarr[y, x];
+
+ if (y < (int)Constants.RegionSize)
+ {
+ if (y + 1 < (int)Constants.RegionSize)
+ {
+ if (x + 1 < (int)Constants.RegionSize)
+ {
+ resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
+ resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
+ }
+ else
+ {
+ resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
+ }
+ }
+ else
+ {
+ resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
+ }
+ }
+ if (x < (int)Constants.RegionSize)
+ {
+ if (x + 1 < (int)Constants.RegionSize)
+ {
+ if (y + 1 < (int)Constants.RegionSize)
+ {
+ resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
+ resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
+ }
+ else
+ {
+ resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
+ }
+ }
+ else
+ {
+ resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
+ }
+ }
+ if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
+ {
+ if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
+ {
+ resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
+ resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
+ }
+ else
+ {
+ resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
+ }
+ }
+ }
+ }
+ //Flatten out the array
+ int i = 0;
+ for (int y = 0; y < 512; y++)
+ {
+ for (int x = 0; x < 512; x++)
+ {
+ if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
+ {
+ m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
+ resultarr2[y, x] = 0;
+ }
+ returnarr[i] = resultarr2[y, x];
+ i++;
+ }
+ }
+
+ return returnarr;
+ }
+
+ #endregion
+
+ public override void SetTerrain(float[] heightMap)
+ {
+ if (m_worldOffset != Vector3.Zero && m_parentScene != null)
+ {
+ if (m_parentScene is OdeScene)
+ {
+ ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
+ }
+ }
+ else
+ {
+ SetTerrain(heightMap, m_worldOffset);
+ }
+ }
+
+ public void SetTerrain(float[] heightMap, Vector3 pOffset)
+ {
+ // this._heightmap[i] = (double)heightMap[i];
+ // dbm (danx0r) -- creating a buffer zone of one extra sample all around
+ //_origheightmap = heightMap;
+
+ float[] _heightmap;
+
+ // zero out a heightmap array float array (single dimension [flattened]))
+ //if ((int)Constants.RegionSize == 256)
+ // _heightmap = new float[514 * 514];
+ //else
+
+ _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
+
+ uint heightmapWidth = Constants.RegionSize + 1;
+ uint heightmapHeight = Constants.RegionSize + 1;
+
+ uint heightmapWidthSamples;
+
+ uint heightmapHeightSamples;
+
+ //if (((int)Constants.RegionSize) == 256)
+ //{
+ // heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
+ // heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
+ // heightmapWidth++;
+ // heightmapHeight++;
+ //}
+ //else
+ //{
+
+ heightmapWidthSamples = (uint)Constants.RegionSize + 1;
+ heightmapHeightSamples = (uint)Constants.RegionSize + 1;
+ //}
+
+ const float scale = 1.0f;
+ const float offset = 0.0f;
+ const float thickness = 0.2f;
+ const int wrap = 0;
+
+ int regionsize = (int) Constants.RegionSize + 2;
+ //Double resolution
+ //if (((int)Constants.RegionSize) == 256)
+ // heightMap = ResizeTerrain512Interpolation(heightMap);
+
+
+ // if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
+ // regionsize = 512;
+
+ float hfmin = 2000;
+ float hfmax = -2000;
+
+ for (int x = 0; x < heightmapWidthSamples; x++)
+ {
+ for (int y = 0; y < heightmapHeightSamples; y++)
+ {
+ int xx = Util.Clip(x - 1, 0, regionsize - 1);
+ int yy = Util.Clip(y - 1, 0, regionsize - 1);
+
+
+ float val= heightMap[yy * (int)Constants.RegionSize + xx];
+ _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
+
+ hfmin = (val < hfmin) ? val : hfmin;
+ hfmax = (val > hfmax) ? val : hfmax;
+ }
+ }
+
+
+
+
+ lock (OdeLock)
+ {
+ IntPtr GroundGeom = IntPtr.Zero;
+ if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+ {
+ RegionTerrain.Remove(pOffset);
+ if (GroundGeom != IntPtr.Zero)
+ {
+ if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
+ {
+ TerrainHeightFieldHeights.Remove(GroundGeom);
+ }
+ d.SpaceRemove(space, GroundGeom);
+ d.GeomDestroy(GroundGeom);
+ }
+
+ }
+ IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+ d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1,
+ (int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale,
+ offset, thickness, wrap);
+ d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
+ GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
+ if (GroundGeom != IntPtr.Zero)
+ {
+ d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
+ d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
+
+ }
+ geom_name_map[GroundGeom] = "Terrain";
+
+ d.Matrix3 R = new d.Matrix3();
+
+ Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+ Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+ //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
+
+ q1 = q1 * q2;
+ //q1 = q1 * q3;
+ Vector3 v3;
+ float angle;
+ q1.GetAxisAngle(out v3, out angle);
+
+ d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+ d.GeomSetRotation(GroundGeom, ref R);
+ d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)) - 1, (pOffset.Y + ((int)Constants.RegionSize * 0.5f)) - 1, 0);
+ IntPtr testGround = IntPtr.Zero;
+ if (RegionTerrain.TryGetValue(pOffset, out testGround))
+ {
+ RegionTerrain.Remove(pOffset);
+ }
+ RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
+ TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
+
+ }
+ }
+
+ public override void DeleteTerrain()
+ {
+ }
+
+ public float GetWaterLevel()
+ {
+ return waterlevel;
+ }
+
+ public override bool SupportsCombining()
+ {
+ return true;
+ }
+
+ public override void UnCombine(PhysicsScene pScene)
+ {
+ IntPtr localGround = IntPtr.Zero;
+// float[] localHeightfield;
+ bool proceed = false;
+ List geomDestroyList = new List();
+
+ lock (OdeLock)
+ {
+ if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
+ {
+ foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
+ {
+ if (geom == localGround)
+ {
+// localHeightfield = TerrainHeightFieldHeights[geom];
+ proceed = true;
+ }
+ else
+ {
+ geomDestroyList.Add(geom);
+ }
+ }
+
+ if (proceed)
+ {
+ m_worldOffset = Vector3.Zero;
+ WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
+ m_parentScene = null;
+
+ foreach (IntPtr g in geomDestroyList)
+ {
+ // removingHeightField needs to be done or the garbage collector will
+ // collect the terrain data before we tell ODE to destroy it causing
+ // memory corruption
+ if (TerrainHeightFieldHeights.ContainsKey(g))
+ {
+// float[] removingHeightField = TerrainHeightFieldHeights[g];
+ TerrainHeightFieldHeights.Remove(g);
+
+ if (RegionTerrain.ContainsKey(g))
+ {
+ RegionTerrain.Remove(g);
+ }
+
+ d.GeomDestroy(g);
+ //removingHeightField = new float[0];
+ }
+ }
+
+ }
+ else
+ {
+ m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
+ }
+ }
+ }
+ }
+
+ public override void SetWaterLevel(float baseheight)
+ {
+ waterlevel = baseheight;
+ randomizeWater(waterlevel);
+ }
+
+ public void randomizeWater(float baseheight)
+ {
+ const uint heightmapWidth = m_regionWidth + 2;
+ const uint heightmapHeight = m_regionHeight + 2;
+ const uint heightmapWidthSamples = m_regionWidth + 2;
+ const uint heightmapHeightSamples = m_regionHeight + 2;
+ const float scale = 1.0f;
+ const float offset = 0.0f;
+ const float thickness = 2.9f;
+ const int wrap = 0;
+
+ for (int i = 0; i < (258 * 258); i++)
+ {
+ _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
+ // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
+ }
+
+ lock (OdeLock)
+ {
+ if (WaterGeom != IntPtr.Zero)
+ {
+ d.SpaceRemove(space, WaterGeom);
+ }
+ IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
+ d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
+ (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
+ offset, thickness, wrap);
+ d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
+ WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
+ if (WaterGeom != IntPtr.Zero)
+ {
+ d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
+ d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
+
+ }
+ geom_name_map[WaterGeom] = "Water";
+
+ d.Matrix3 R = new d.Matrix3();
+
+ Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
+ Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
+ //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
+
+ q1 = q1 * q2;
+ //q1 = q1 * q3;
+ Vector3 v3;
+ float angle;
+ q1.GetAxisAngle(out v3, out angle);
+
+ d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
+ d.GeomSetRotation(WaterGeom, ref R);
+ d.GeomSetPosition(WaterGeom, 128, 128, 0);
+
+ }
+
+ }
+
+ public override void Dispose()
+ {
+ m_rayCastManager.Dispose();
+ m_rayCastManager = null;
+
+ lock (OdeLock)
+ {
+ lock (_prims)
+ {
+ foreach (OdePrim prm in _prims)
+ {
+ RemovePrim(prm);
+ }
+ }
+
+ //foreach (OdeCharacter act in _characters)
+ //{
+ //RemoveAvatar(act);
+ //}
+ d.WorldDestroy(world);
+ //d.CloseODE();
+ }
+ }
+ public override Dictionary GetTopColliders()
+ {
+ Dictionary returncolliders = new Dictionary();
+ int cnt = 0;
+ lock (_prims)
+ {
+ foreach (OdePrim prm in _prims)
+ {
+ if (prm.CollisionScore > 0)
+ {
+ returncolliders.Add(prm.m_localID, prm.CollisionScore);
+ cnt++;
+ prm.CollisionScore = 0f;
+ if (cnt > 25)
+ {
+ break;
+ }
+ }
+ }
+ }
+ return returncolliders;
+ }
+
+ public override bool SupportsRayCast()
+ {
+ return true;
+ }
+
+ public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
+ {
+ if (retMethod != null)
+ {
+ m_rayCastManager.QueueRequest(position, direction, length, retMethod);
+ }
+ }
+
+#if USE_DRAWSTUFF
+ // Keyboard callback
+ public void command(int cmd)
+ {
+ IntPtr geom;
+ d.Mass mass;
+ d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
+
+
+
+ Char ch = Char.ToLower((Char)cmd);
+ switch ((Char)ch)
+ {
+ case 'w':
+ try
+ {
+ Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
+
+ xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ }
+ catch (ArgumentException)
+ { hpr.X = 0; }
+ break;
+
+ case 'a':
+ hpr.X++;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ break;
+
+ case 's':
+ try
+ {
+ Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
+
+ xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ }
+ catch (ArgumentException)
+ { hpr.X = 0; }
+ break;
+ case 'd':
+ hpr.X--;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ break;
+ case 'r':
+ xyz.Z++;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ break;
+ case 'f':
+ xyz.Z--;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ break;
+ case 'e':
+ xyz.Y++;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ break;
+ case 'q':
+ xyz.Y--;
+ ds.SetViewpoint(ref xyz, ref hpr);
+ break;
+ }
+ }
+
+ public void step(int pause)
+ {
+
+ ds.SetColor(1.0f, 1.0f, 0.0f);
+ ds.SetTexture(ds.Texture.Wood);
+ lock (_prims)
+ {
+ foreach (OdePrim prm in _prims)
+ {
+ //IntPtr body = d.GeomGetBody(prm.prim_geom);
+ if (prm.prim_geom != IntPtr.Zero)
+ {
+ d.Vector3 pos;
+ d.GeomCopyPosition(prm.prim_geom, out pos);
+ //d.BodyCopyPosition(body, out pos);
+
+ d.Matrix3 R;
+ d.GeomCopyRotation(prm.prim_geom, out R);
+ //d.BodyCopyRotation(body, out R);
+
+
+ d.Vector3 sides = new d.Vector3();
+ sides.X = prm.Size.X;
+ sides.Y = prm.Size.Y;
+ sides.Z = prm.Size.Z;
+
+ ds.DrawBox(ref pos, ref R, ref sides);
+ }
+ }
+ }
+ ds.SetColor(1.0f, 0.0f, 0.0f);
+ lock (_characters)
+ {
+ foreach (OdeCharacter chr in _characters)
+ {
+ if (chr.Shell != IntPtr.Zero)
+ {
+ IntPtr body = d.GeomGetBody(chr.Shell);
+
+ d.Vector3 pos;
+ d.GeomCopyPosition(chr.Shell, out pos);
+ //d.BodyCopyPosition(body, out pos);
+
+ d.Matrix3 R;
+ d.GeomCopyRotation(chr.Shell, out R);
+ //d.BodyCopyRotation(body, out R);
+
+ ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
+ d.Vector3 sides = new d.Vector3();
+ sides.X = 0.5f;
+ sides.Y = 0.5f;
+ sides.Z = 0.5f;
+
+ ds.DrawBox(ref pos, ref R, ref sides);
+ }
+ }
+ }
+ }
+
+ public void start(int unused)
+ {
+ ds.SetViewpoint(ref xyz, ref hpr);
+ }
+#endif
+ }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 3f480802b3..ecfac6ff0c 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -7382,7 +7382,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
// retain pathcurve
shapeBlock.PathCurve = part.Shape.PathCurve;
- part.Shape.SetSculptData((byte)type, sculptId);
+ part.Shape.SetSculptProperties((byte)type, sculptId);
part.Shape.SculptEntry = true;
part.UpdateShape(shapeBlock);
}
@@ -7945,7 +7945,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
UUID[] anims;
anims = av.Animator.GetAnimationArray();
foreach (UUID foo in anims)
- l.Add(foo.ToString());
+ l.Add(new LSL_Key(foo.ToString()));
return l;
}
@@ -8551,17 +8551,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
break;
case (int)ScriptBaseClass.PRIM_TEXT:
Color4 textColor = part.GetTextColor();
- res.Add(part.Text);
+ res.Add(new LSL_String(part.Text));
res.Add(new LSL_Vector(textColor.R,
textColor.G,
textColor.B));
res.Add(new LSL_Float(textColor.A));
break;
case (int)ScriptBaseClass.PRIM_NAME:
- res.Add(part.Name);
+ res.Add(new LSL_String(part.Name));
break;
case (int)ScriptBaseClass.PRIM_DESC:
- res.Add(part.Description);
+ res.Add(new LSL_String(part.Description));
break;
case (int)ScriptBaseClass.PRIM_ROT_LOCAL:
res.Add(new LSL_Rotation(part.RotationOffset.X, part.RotationOffset.Y, part.RotationOffset.Z, part.RotationOffset.W));
@@ -10579,7 +10579,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
foreach (KeyValuePair detectedParams in land.GetLandObjectOwners())
{
ret.Add(new LSL_String(detectedParams.Key.ToString()));
- ret.Add(detectedParams.Value);
+ ret.Add(new LSL_Integer(detectedParams.Value));
}
}
ScriptSleep(2000);
@@ -10629,25 +10629,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
switch (o.ToString())
{
case "0":
- ret = ret + new LSL_List(land.Name);
+ ret.Add(new LSL_String(land.Name));
break;
case "1":
- ret = ret + new LSL_List(land.Description);
+ ret.Add(new LSL_String(land.Description));
break;
case "2":
- ret = ret + new LSL_List(land.OwnerID.ToString());
+ ret.Add(new LSL_Key(land.OwnerID.ToString()));
break;
case "3":
- ret = ret + new LSL_List(land.GroupID.ToString());
+ ret.Add(new LSL_Key(land.GroupID.ToString()));
break;
case "4":
- ret = ret + new LSL_List(land.Area);
+ ret.Add(new LSL_Integer(land.Area));
break;
case "5":
- ret = ret + new LSL_List(land.GlobalID);
+ ret.Add(new LSL_Key(land.GlobalID.ToString()));
break;
default:
- ret = ret + new LSL_List(0);
+ ret.Add(new LSL_Integer(0));
break;
}
}
@@ -10679,10 +10679,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
switch (o.ToString())
{
case "1":
- ret.Add(av.Firstname + " " + av.Lastname);
+ ret.Add(new LSL_String(av.Firstname + " " + av.Lastname));
break;
case "2":
- ret.Add("");
+ ret.Add(new LSL_String(""));
break;
case "3":
ret.Add(new LSL_Vector((double)av.AbsolutePosition.X, (double)av.AbsolutePosition.Y, (double)av.AbsolutePosition.Z));
@@ -10694,13 +10694,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
ret.Add(new LSL_Vector(av.Velocity.X, av.Velocity.Y, av.Velocity.Z));
break;
case "6":
- ret.Add(id);
+ ret.Add(new LSL_String(id));
break;
case "7":
- ret.Add(UUID.Zero.ToString());
+ ret.Add(new LSL_String(UUID.Zero.ToString()));
break;
case "8":
- ret.Add(UUID.Zero.ToString());
+ ret.Add(new LSL_String(UUID.Zero.ToString()));
break;
}
}
@@ -10714,10 +10714,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
switch (o.ToString())
{
case "1":
- ret.Add(obj.Name);
+ ret.Add(new LSL_String(obj.Name));
break;
case "2":
- ret.Add(obj.Description);
+ ret.Add(new LSL_String(obj.Description));
break;
case "3":
ret.Add(new LSL_Vector(obj.AbsolutePosition.X, obj.AbsolutePosition.Y, obj.AbsolutePosition.Z));
@@ -10729,13 +10729,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
ret.Add(new LSL_Vector(obj.Velocity.X, obj.Velocity.Y, obj.Velocity.Z));
break;
case "6":
- ret.Add(obj.OwnerID.ToString());
+ ret.Add(new LSL_String(obj.OwnerID.ToString()));
break;
case "7":
- ret.Add(obj.GroupID.ToString());
+ ret.Add(new LSL_String(obj.GroupID.ToString()));
break;
case "8":
- ret.Add(obj.CreatorID.ToString());
+ ret.Add(new LSL_String(obj.CreatorID.ToString()));
break;
}
}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 31222fff54..6d2efced61 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -820,7 +820,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
World.ForEachScenePresence(delegate(ScenePresence sp)
{
if (!sp.IsChildAgent)
- result.Add(sp.Name);
+ result.Add(new LSL_String(sp.Name));
});
return result;
}
@@ -2043,8 +2043,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
{
if (g.Success)
{
- result.Add(g.Value);
- result.Add(g.Index);
+ result.Add(new LSL_String(g.Value));
+ result.Add(new LSL_Integer(g.Index));
}
}
}
@@ -2378,8 +2378,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
{
if (avatar.IsChildAgent == false)
{
- result.Add(new LSL_Key(avatar.UUID.ToString()));
- result.Add(new LSL_Vector(avatar.AbsolutePosition.X, avatar.AbsolutePosition.Y, avatar.AbsolutePosition.Z));
+ result.Add(new LSL_String(avatar.UUID.ToString()));
+ OpenMetaverse.Vector3 ap = avatar.AbsolutePosition;
+ result.Add(new LSL_Vector(ap.X, ap.Y, ap.Z));
result.Add(new LSL_String(avatar.Name));
}
}
diff --git a/OpenSim/Services/AssetService/AssetService.cs b/OpenSim/Services/AssetService/AssetService.cs
index 005051a34a..ffdaa6074e 100644
--- a/OpenSim/Services/AssetService/AssetService.cs
+++ b/OpenSim/Services/AssetService/AssetService.cs
@@ -84,11 +84,20 @@ namespace OpenSim.Services.AssetService
if (assetLoaderEnabled)
{
m_log.InfoFormat("[ASSET]: Loading default asset set from {0}", loaderArgs);
- m_AssetLoader.ForEachDefaultXmlAsset(loaderArgs,
- delegate(AssetBase a)
+
+ m_AssetLoader.ForEachDefaultXmlAsset(
+ loaderArgs,
+ delegate(AssetBase a)
+ {
+ AssetBase existingAsset = Get(a.ID);
+// AssetMetadata existingMetadata = GetMetadata(a.ID);
+
+ if (existingAsset == null || Util.SHA1Hash(existingAsset.Data) != Util.SHA1Hash(a.Data))
{
+// m_log.DebugFormat("[ASSET]: Storing {0} {1}", a.Name, a.ID);
Store(a);
- });
+ }
+ });
}
m_log.Info("[ASSET SERVICE]: Local asset service enabled");
diff --git a/bin/addon-modules/README b/bin/addon-modules/README
deleted file mode 100644
index 120dbc9c7e..0000000000
--- a/bin/addon-modules/README
+++ /dev/null
@@ -1 +0,0 @@
-Place .ini files here to have them picked up automatically