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Merge commit '227db07f2ff8a1ba840a0d3018bb242a34d6038f' into bigmerge

avinationmerge
Melanie 2011-10-25 01:42:56 +01:00
parent a8cc81a37e 227db07f2f
commit d68b73bfba
2 changed files with 79 additions and 91 deletions
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23
OpenSim/Region/Physics/Manager/PhysicsScene.cs
View File

@ -75,8 +75,25 @@ namespace OpenSim.Region.Physics.Manager
public abstract void Initialise(IMesher meshmerizer, IConfigSource config); public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
/// <summary>
/// Add an avatar
/// </summary>
/// <param name="avName"></param>
/// <param name="position"></param>
/// <param name="size"></param>
/// <param name="isFlying"></param>
/// <returns></returns>
public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying); public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
/// <summary>
/// Add an avatar
/// </summary>
/// <param name="localID"></param>
/// <param name="avName"></param>
/// <param name="position"></param>
/// <param name="size"></param>
/// <param name="isFlying"></param>
/// <returns></returns>
public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
{ {
PhysicsActor ret = AddAvatar(avName, position, size, isFlying); PhysicsActor ret = AddAvatar(avName, position, size, isFlying);
@ -84,10 +101,14 @@ namespace OpenSim.Region.Physics.Manager
return ret; return ret;
} }
/// <summary>
/// Remove an avatar.
/// </summary>
/// <param name="actor"></param>
public abstract void RemoveAvatar(PhysicsActor actor); public abstract void RemoveAvatar(PhysicsActor actor);
/// <summary> /// <summary>
/// Remove a prim from the physics scene. /// Remove a prim.
/// </summary> /// </summary>
/// <param name="prim"></param> /// <param name="prim"></param>
public abstract void RemovePrim(PhysicsActor prim); public abstract void RemovePrim(PhysicsActor prim);

147
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -39,7 +39,6 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <summary> /// <summary>
/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
/// </summary> /// </summary>
public enum dParam : int public enum dParam : int
{ {
LowStop = 0, LowStop = 0,
@ -64,6 +63,7 @@ namespace OpenSim.Region.Physics.OdePlugin
StopERP3 = 7 + 512, StopERP3 = 7 + 512,
StopCFM3 = 8 + 512 StopCFM3 = 8 + 512
} }
public class OdeCharacter : PhysicsActor public class OdeCharacter : PhysicsActor
{ {
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@ -107,9 +107,12 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing) public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing)
public float MinimumGroundFlightOffset = 3f; public float MinimumGroundFlightOffset = 3f;
private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
/// <summary>
/// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
/// </summary>
private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f;
private float m_buoyancy = 0f; private float m_buoyancy = 0f;
@ -891,12 +894,14 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
} }
/// <summary> /// <summary>
/// Called from Simulate /// Called from Simulate
/// This is the avatar's movement control + PID Controller /// This is the avatar's movement control + PID Controller
/// </summary> /// </summary>
/// <param name="timeStep"></param> /// <param name="timeStep"></param>
/// <param name="defects">
/// If there is something wrong with the character (e.g. its position is non-finite)
/// then it is added to this list. The ODE structures associated with it are also destroyed.</param>
public void Move(float timeStep, List<OdeCharacter> defects) public void Move(float timeStep, List<OdeCharacter> defects)
{ {
// no lock; for now it's only called from within Simulate() // no lock; for now it's only called from within Simulate()
@ -918,36 +923,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!localPos.IsFinite()) if (!localPos.IsFinite())
{ {
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this); defects.Add(this);
// _parent_scene.RemoveCharacter(this); // _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data DestroyOdeStructures();
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
return; return;
} }
@ -975,6 +956,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_zeroFlag = true; _zeroFlag = true;
_zeroPosition = d.BodyGetPosition(Body); _zeroPosition = d.BodyGetPosition(Body);
} }
if (m_pidControllerActive) if (m_pidControllerActive)
{ {
// We only want to deactivate the PID Controller if we think we want to have our surrogate // We only want to deactivate the PID Controller if we think we want to have our surrogate
@ -1005,14 +987,14 @@ namespace OpenSim.Region.Physics.OdePlugin
else if (m_iscolliding && flying) else if (m_iscolliding && flying)
{ {
// We're flying and colliding with something // We're flying and colliding with something
vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16); vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16);
vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16); vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16);
} }
else if (!m_iscolliding && flying) else if (!m_iscolliding && flying)
{ {
// we're in mid air suspended // we're in mid air suspended
vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6); vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6);
vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6); vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6);
} }
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f) if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
@ -1023,11 +1005,11 @@ namespace OpenSim.Region.Physics.OdePlugin
vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P; vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
if (_target_velocity.X > 0) if (_target_velocity.X > 0)
{ {
vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D; vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
} }
if (_target_velocity.Y > 0) if (_target_velocity.Y > 0)
{ {
vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D; vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
} }
} }
else if (!m_iscolliding && !flying) else if (!m_iscolliding && !flying)
@ -1051,9 +1033,10 @@ namespace OpenSim.Region.Physics.OdePlugin
vec.Z = (_target_velocity.Z - vel.Z) * (PID_D); vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
} }
} }
if (flying) if (flying)
{ {
vec.Z += ((-1 * _parent_scene.gravityz)*m_mass); vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
//Added for auto fly height. Kitto Flora //Added for auto fly height. Kitto Flora
//d.Vector3 pos = d.BodyGetPosition(Body); //d.Vector3 pos = d.BodyGetPosition(Body);
@ -1065,13 +1048,13 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
// end add Kitto Flora // end add Kitto Flora
} }
if (vec.IsFinite()) if (vec.IsFinite())
{ {
doForce(vec); doForce(vec);
if (!_zeroFlag) if (!_zeroFlag)
{ AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
}
} }
else else
{ {
@ -1079,30 +1062,8 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this); defects.Add(this);
// _parent_scene.RemoveCharacter(this); // _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero) DestroyOdeStructures();
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
} }
} }
@ -1125,7 +1086,6 @@ namespace OpenSim.Region.Physics.OdePlugin
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid); m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
} }
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < 0.0f) vec.X = 0.0f; if (vec.X < 0.0f) vec.X = 0.0f;
@ -1204,6 +1164,38 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.AddPhysicsActorTaint(this); _parent_scene.AddPhysicsActorTaint(this);
} }
/// <summary>
/// Used internally to destroy the ODE structures associated with this character.
/// </summary>
public void DestroyOdeStructures()
{
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
}
public override void CrossingFailure() public override void CrossingFailure()
{ {
} }
@ -1272,7 +1264,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public void ProcessTaints(float timestep) public void ProcessTaints(float timestep)
{ {
if (m_tainted_isPhysical != m_isPhysical) if (m_tainted_isPhysical != m_isPhysical)
{ {
if (m_tainted_isPhysical) if (m_tainted_isPhysical)
@ -1294,31 +1285,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
{ {
_parent_scene.RemoveCharacter(this); _parent_scene.RemoveCharacter(this);
// destroy avatar capsule and related ODE data DestroyOdeStructures();
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
//kill the Geometry
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (Body != IntPtr.Zero)
{
//kill the body
d.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
d.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
Shell = IntPtr.Zero;
}
} }
m_isPhysical = m_tainted_isPhysical; m_isPhysical = m_tainted_isPhysical;