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vehicle changes done by simulation thread and not calling one

avinationmerge
UbitUmarov 2012-02-11 15:18:13 +00:00
parent 3f9c390b4d
commit d4e28ed113
2 changed files with 200 additions and 132 deletions
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325
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -25,7 +25,7 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
/* Revision 2011 by Ubit Umarov /* Revision 2011/12 by Ubit Umarov
* *
* *
*/ */
@ -190,7 +190,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public ODEDynamics m_vehicle; public ODEDynamics m_vehicle;
internal int m_material = (int)Material.Wood; internal int m_material = (int)Material.Wood;
protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f}; protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f };
/// <summary> /// <summary>
/// Is this prim subject to physics? Even if not, it's still solid for collision purposes. /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
@ -209,7 +209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
AddChange(changes.Physical, value); AddChange(changes.Physical, value);
} }
} }
public override bool Building // this is not reliable for internal use public override bool Building // this is not reliable for internal use
{ {
get { return m_building; } get { return m_building; }
@ -225,23 +225,10 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
get get
{ {
/* return primContactData;
ODEDynamics v;
if(childPrim && _parent !=null)
{
v =((OdePrim)_parent).m_vehicle;
if(v != null && v.Type != Vehicle.TYPE_NONE)
return v.VehiculeContactData;
return primContactData;
}
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
return m_vehicle.VehiculeContactData;
*/
return primContactData;
} }
} }
public override int PhysicsActorType public override int PhysicsActorType
{ {
get { return (int)ActorTypes.Prim; } get { return (int)ActorTypes.Prim; }
@ -276,11 +263,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
set set
{ {
if(value) if (value)
m_isSelected = value; m_isSelected = value;
AddChange(changes.Selected, value); AddChange(changes.Selected, value);
} }
} }
public override bool Flying public override bool Flying
{ {
@ -400,10 +387,9 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
public override void SetVolumeDetect(int param) public override void SetVolumeDetect(int param)
{ {
AddChange(changes.VolumeDtc,(param != 0)); AddChange(changes.VolumeDtc, (param != 0));
} }
public override Vector3 GeometricCenter public override Vector3 GeometricCenter
@ -483,14 +469,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// client object interpolation works a 'little' better // client object interpolation works a 'little' better
if (_zeroFlag) if (_zeroFlag)
return Vector3.Zero; return Vector3.Zero;
/*
Vector3 returnVelocity = Vector3.Zero;
returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
return returnVelocity;
*/
return _velocity; return _velocity;
} }
set set
@ -498,7 +476,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (value.IsFinite()) if (value.IsFinite())
{ {
AddChange(changes.Velocity, value); AddChange(changes.Velocity, value);
// _velocity = value; // _velocity = value;
} }
else else
@ -548,7 +526,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
get get
{ {
if (givefakeori>0) if (givefakeori > 0)
return fakeori; return fakeori;
else else
@ -603,7 +581,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
public override float Buoyancy public override float Buoyancy
{ {
get { return m_buoyancy; } get { return m_buoyancy; }
@ -652,6 +630,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public override int VehicleType public override int VehicleType
{ {
// we may need to put a fake on this
get get
{ {
if (m_vehicle == null) if (m_vehicle == null)
@ -661,44 +640,32 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
set set
{ {
if (m_vehicle == null) AddChange(changes.VehicleType, value);
{
if (value != (int)Vehicle.TYPE_NONE)
{
m_vehicle = new ODEDynamics(this);
m_vehicle.ProcessTypeChange((Vehicle)value);
}
}
else
m_vehicle.ProcessTypeChange((Vehicle)value);
} }
} }
public override void VehicleFloatParam(int param, float value) public override void VehicleFloatParam(int param, float value)
{ {
if (m_vehicle == null) strVehicleFloatParam fp = new strVehicleFloatParam();
return; fp.param = param;
m_vehicle.ProcessFloatVehicleParam((Vehicle)param, value); fp.value = value;
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) AddChange(changes.VehicleFloatParam, fp);
d.BodyEnable(Body);
} }
public override void VehicleVectorParam(int param, Vector3 value) public override void VehicleVectorParam(int param, Vector3 value)
{ {
if (m_vehicle == null) strVehicleVectorParam fp = new strVehicleVectorParam();
return; fp.param = param;
m_vehicle.ProcessVectorVehicleParam((Vehicle)param, value); fp.value = value;
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) AddChange(changes.VehicleVectorParam, fp);
d.BodyEnable(Body);
} }
public override void VehicleRotationParam(int param, Quaternion rotation) public override void VehicleRotationParam(int param, Quaternion value)
{ {
if (m_vehicle == null) strVehicleQuatParam fp = new strVehicleQuatParam();
return; fp.param = param;
m_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); fp.value = value;
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) AddChange(changes.VehicleVectorParam, fp);
d.BodyEnable(Body);
} }
public override void VehicleFlags(int param, bool remove) public override void VehicleFlags(int param, bool remove)
@ -829,7 +796,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return false; return false;
} }
public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
{ {
@ -866,7 +833,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (size.Z <= 0) size.Z = 0.01f; if (size.Z <= 0) size.Z = 0.01f;
_size = size; _size = size;
if (!QuaternionIsFinite(rotation)) if (!QuaternionIsFinite(rotation))
{ {
@ -1023,7 +990,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (_parent != null) if (_parent != null)
{ {
OdePrim parent = (OdePrim)_parent; OdePrim parent = (OdePrim)_parent;
parent.ChildDelink(this,false); parent.ChildDelink(this, false);
} }
} }
else else
@ -1093,23 +1060,23 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.geom_name_map[prim_geom] = Name; _parent_scene.geom_name_map[prim_geom] = Name;
_parent_scene.actor_name_map[prim_geom] = this; _parent_scene.actor_name_map[prim_geom] = this;
/* /*
if (childPrim) if (childPrim)
{ {
if (_parent != null && _parent is OdePrim) if (_parent != null && _parent is OdePrim)
{ {
OdePrim parent = (OdePrim)_parent; OdePrim parent = (OdePrim)_parent;
//Console.WriteLine("SetGeom calls ChildSetGeom"); //Console.WriteLine("SetGeom calls ChildSetGeom");
parent.ChildSetGeom(this); parent.ChildSetGeom(this);
} }
} }
*/ */
} }
else else
m_log.Warn("Setting bad Geom"); m_log.Warn("Setting bad Geom");
} }
/// <summary> /// <summary>
/// Create a geometry for the given mesh in the given target space. /// Create a geometry for the given mesh in the given target space.
/// </summary> /// </summary>
@ -1128,10 +1095,10 @@ namespace OpenSim.Region.Physics.OdePlugin
if (_parent_scene.needsMeshing(_pbs)) if (_parent_scene.needsMeshing(_pbs))
{ {
haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
} }
if(!haveMesh) if (!haveMesh)
{ {
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
&& _size.X == _size.Y && _size.Y == _size.Z) && _size.X == _size.Y && _size.Y == _size.Z)
@ -1186,7 +1153,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// catch (System.AccessViolationException) // catch (System.AccessViolationException)
catch (Exception e) catch (Exception e)
{ {
m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name,e); m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e);
} }
prim_geom = IntPtr.Zero; prim_geom = IntPtr.Zero;
@ -1526,7 +1493,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
#region Mass Calculation #region Mass Calculation
private float CalculatePrimVolume() private float CalculatePrimVolume()
{ {
float volume = _size.X * _size.Y * _size.Z; // default float volume = _size.X * _size.Y * _size.Z; // default
@ -1885,7 +1852,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (prm.prim_geom != IntPtr.Zero) if (prm.prim_geom != IntPtr.Zero)
d.GeomSetBody(prm.prim_geom, IntPtr.Zero); d.GeomSetBody(prm.prim_geom, IntPtr.Zero);
if(prm.Body != prim.Body) if (prm.Body != prim.Body)
prm.DestroyBody(); // don't loose bodies around prm.DestroyBody(); // don't loose bodies around
prm.Body = IntPtr.Zero; prm.Body = IntPtr.Zero;
} }
@ -2057,21 +2024,21 @@ namespace OpenSim.Region.Physics.OdePlugin
SetInStaticSpace(this); SetInStaticSpace(this);
} }
// m_building = false; // REMOVE THIS LATER // m_building = false; // REMOVE THIS LATER
if (m_isphysical && Body == IntPtr.Zero) if (m_isphysical && Body == IntPtr.Zero)
{ {
/* /*
if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
{ {
changeShape(_pbs); changeShape(_pbs);
} }
else else
{ {
*/ */
MakeBody(); MakeBody();
// } // }
} }
} }
@ -2114,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (NewParent != _parent) if (NewParent != _parent)
{ {
(_parent as OdePrim).ChildDelink(this,false); // for now... (_parent as OdePrim).ChildDelink(this, false); // for now...
childPrim = false; childPrim = false;
if (NewParent != null) if (NewParent != null)
@ -2130,7 +2097,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void Stop() private void Stop()
{ {
if(!childPrim) if (!childPrim)
{ {
m_force = Vector3.Zero; m_force = Vector3.Zero;
m_forceacc = Vector3.Zero; m_forceacc = Vector3.Zero;
@ -2138,7 +2105,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_torque = Vector3.Zero; _torque = Vector3.Zero;
_velocity = Vector3.Zero; _velocity = Vector3.Zero;
_acceleration = Vector3.Zero; _acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero; m_rotationalVelocity = Vector3.Zero;
_target_velocity = Vector3.Zero; _target_velocity = Vector3.Zero;
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Stop(); m_vehicle.Stop();
@ -2150,7 +2117,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetTorque(Body, 0f, 0f, 0f); d.BodySetTorque(Body, 0f, 0f, 0f);
d.BodySetLinearVel(Body, 0f, 0f, 0f); d.BodySetLinearVel(Body, 0f, 0f, 0f);
d.BodySetAngularVel(Body, 0f, 0f, 0f); d.BodySetAngularVel(Body, 0f, 0f, 0f);
} }
} }
@ -2236,7 +2203,7 @@ namespace OpenSim.Region.Physics.OdePlugin
givefakepos--; givefakepos--;
if (givefakepos < 0) if (givefakepos < 0)
givefakepos = 0; givefakepos = 0;
// changeSelectedStatus(); // changeSelectedStatus();
resetCollisionAccounting(); resetCollisionAccounting();
} }
@ -2381,17 +2348,17 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!childPrim) if (!childPrim)
{ {
if (NewStatus) if (NewStatus)
{ {
if (Body == IntPtr.Zero) if (Body == IntPtr.Zero)
{ {
/* /*
if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
{ {
changeShape(_pbs); changeShape(_pbs);
} }
else else
*/ */
{ {
MakeBody(); MakeBody();
} }
@ -2402,13 +2369,13 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
{ {
// UpdateChildsfromgeom(); // UpdateChildsfromgeom();
/* if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) /* if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
{ {
changeShape(_pbs); changeShape(_pbs);
} }
else else
*/ */
DestroyBody(); DestroyBody();
} }
} }
} }
@ -2417,7 +2384,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
private void changeprimsizeshape() private void changeprimsizeshape()
{ {
OdePrim parent = (OdePrim)_parent; OdePrim parent = (OdePrim)_parent;
bool chp = childPrim; bool chp = childPrim;
@ -2609,6 +2576,57 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
private void changeVehicleType(int value)
{
if (m_vehicle == null)
{
if (value != (int)Vehicle.TYPE_NONE)
{
m_vehicle = new ODEDynamics(this);
m_vehicle.ProcessTypeChange((Vehicle)value);
}
}
else
m_vehicle.ProcessTypeChange((Vehicle)value);
}
private void changeVehicleFloatParam(strVehicleFloatParam fp)
{
if (m_vehicle == null)
return;
m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
private void changeVehicleVectorParam(strVehicleVectorParam vp)
{
if (m_vehicle == null)
return;
m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
private void changeVehicleRotationParam(strVehicleQuatParam qp)
{
if (m_vehicle == null)
return;
m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
private void changeVehicleFlags(strVehicleBoolParam bp)
{
if (m_vehicle == null)
return;
m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
#endregion #endregion
public void Move() public void Move()
@ -2616,10 +2634,10 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!childPrim && m_isphysical && Body != IntPtr.Zero && if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims. !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims.
{ {
// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
float timestep = _parent_scene.ODE_STEPSIZE; float timestep = _parent_scene.ODE_STEPSIZE;
float fx = 0; float fx = 0;
float fy = 0; float fy = 0;
float fz = 0; float fz = 0;
@ -2631,13 +2649,13 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
float m_mass = _mass; float m_mass = _mass;
// fz = 0f; // fz = 0f;
//m_log.Info(m_collisionFlags.ToString()); //m_log.Info(m_collisionFlags.ToString());
if (m_usePID) if (m_usePID)
{ {
// If the PID Controller isn't active then we set our force // If the PID Controller isn't active then we set our force
// calculating base velocity to the current position // calculating base velocity to the current position
@ -2795,7 +2813,7 @@ namespace OpenSim.Region.Physics.OdePlugin
fz += m_forceacc.Z; fz += m_forceacc.Z;
m_forceacc = Vector3.Zero; m_forceacc = Vector3.Zero;
//m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
if (fx != 0 || fy != 0 || fz != 0) if (fx != 0 || fy != 0 || fz != 0)
{ {
@ -2871,10 +2889,10 @@ namespace OpenSim.Region.Physics.OdePlugin
bool lastZeroFlag = _zeroFlag; bool lastZeroFlag = _zeroFlag;
d.Vector3 lpos; d.Vector3 lpos;
d.GeomCopyPosition(prim_geom,out lpos); // root position that is seem by rest of simulator d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
// we need to use root position since that's all the rest of scene uses // we need to use root position since that's all the rest of scene uses
if ( lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X
|| lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y || lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y
) )
{ {
@ -3137,10 +3155,10 @@ namespace OpenSim.Region.Physics.OdePlugin
if (_parent != null) if (_parent != null)
{ {
OdePrim parent = (OdePrim)_parent; OdePrim parent = (OdePrim)_parent;
parent.ChildRemove(this,false); parent.ChildRemove(this, false);
} }
else else
ChildRemove(this,false); ChildRemove(this, false);
RemoveGeom(); RemoveGeom();
m_targetSpace = IntPtr.Zero; m_targetSpace = IntPtr.Zero;
@ -3177,12 +3195,12 @@ namespace OpenSim.Region.Physics.OdePlugin
changevelocity((Vector3)arg); changevelocity((Vector3)arg);
break; break;
// case changes.Acceleration: // case changes.Acceleration:
// changeacceleration((Vector3)arg); // changeacceleration((Vector3)arg);
// break; // break;
// case changes.AngVelocity: // case changes.AngVelocity:
// changeangvelocity((Vector3)arg); // changeangvelocity((Vector3)arg);
// break; // break;
case changes.Force: case changes.Force:
changeForce((Vector3)arg); changeForce((Vector3)arg);
@ -3209,7 +3227,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case changes.Shape: case changes.Shape:
changeShape((PrimitiveBaseShape) arg); changeShape((PrimitiveBaseShape)arg);
break; break;
case changes.CollidesWater: case changes.CollidesWater:
@ -3229,13 +3247,33 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case changes.disabled: case changes.disabled:
changeDisable((bool) arg); changeDisable((bool)arg);
break; break;
case changes.building: case changes.building:
changeBuilding((bool)arg); changeBuilding((bool)arg);
break; break;
case changes.VehicleType:
changeVehicleType((int)arg);
break;
case changes.VehicleFlags:
changeVehicleFlags((strVehicleBoolParam) arg);
break;
case changes.VehicleFloatParam:
changeVehicleFloatParam((strVehicleFloatParam) arg);
break;
case changes.VehicleVectorParam:
changeVehicleVectorParam((strVehicleVectorParam) arg);
break;
case changes.VehicleRotationParam:
changeVehicleRotationParam((strVehicleQuatParam) arg);
break;
case changes.Null: case changes.Null:
donullchange(); donullchange();
break; break;
@ -3251,5 +3289,30 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
_parent_scene.AddChange(this, what, arg); _parent_scene.AddChange(this, what, arg);
} }
private struct strVehicleBoolParam
{
public int param;
public bool value;
}
private struct strVehicleFloatParam
{
public int param;
public float value;
}
private struct strVehicleQuatParam
{
public int param;
public Quaternion value;
}
private struct strVehicleVectorParam
{
public int param;
public Vector3 value;
}
} }
} }

7
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -1,4 +1,3 @@
/* /*
* Copyright (c) Contributors, http://opensimulator.org/ * Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders. * See CONTRIBUTORS.TXT for a full list of copyright holders.
@ -137,6 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin
disabled, disabled,
building, building,
VehicleType,
VehicleFloatParam,
VehicleVectorParam,
VehicleRotationParam,
VehicleFlags,
Null //keep this last used do dim the methods array. does nothing but pulsing the prim Null //keep this last used do dim the methods array. does nothing but pulsing the prim
} }