* Fixed an overflow in the land manager
* Did some goofy math undoing in the Sim Stats Reporter * More reduction to the amount of calls per second to UnManaged ODE code * Added a significant amount of comments to ODEThreadPoolClientBranch
Teravus Ovares
parent
fa83249db8
commit
d9e4533202
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@ -243,8 +243,18 @@ namespace OpenSim.Region.Environment.LandManagement
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/// <returns>Land object at the point supplied</returns>
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public Land getLandObject(float x_float, float y_float)
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{
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int x = Convert.ToInt32(Math.Floor(Convert.ToDouble(x_float)/Convert.ToDouble(4.0)));
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int y = Convert.ToInt32(Math.Floor(Convert.ToDouble(y_float)/Convert.ToDouble(4.0)));
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int x;
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int y;
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try
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{
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x = Convert.ToInt32(Math.Floor(Convert.ToDouble(x_float) / Convert.ToDouble(4.0)));
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y = Convert.ToInt32(Math.Floor(Convert.ToDouble(y_float) / Convert.ToDouble(4.0)));
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}
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catch (System.OverflowException)
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{
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return null;
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}
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if (x >= 64 || y >= 64 || x < 0 || y < 0)
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{
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@ -111,8 +111,8 @@ namespace OpenSim.Region.Environment.Scenes
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float physfps = (m_pfps/statsUpdatesEveryMS);
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if (physfps > 500)
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physfps = physfps - (physfps - 500);
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//if (physfps > 600)
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//physfps = physfps - (physfps - 600);
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if (physfps < 0)
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physfps = 0;
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@ -34,6 +34,26 @@ using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
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/// </summary>
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public enum dParam : int
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{
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LowStop = 0,
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HiStop = 1,
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Vel = 2,
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FMax = 3,
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FudgeFactor = 4,
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Bounce = 5,
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CFM = 6,
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ERP = 7,
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StopCFM = 8,
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LoStop2 = 256,
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HiStop2 = 257,
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LoStop3 = 512,
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HiStop3 = 513
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}
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public class OdeCharacter : PhysicsActor
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{
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private PhysicsVector _position;
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@ -45,7 +65,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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private PhysicsVector _target_velocity;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity;
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private float m_density = 50f;
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private float m_mass = 80f;
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private float m_density = 60f;
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private bool m_pidControllerActive = true;
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private static float PID_D = 3020.0f;
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private static float PID_P = 7000.0f;
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@ -96,34 +117,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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lock (OdeScene.OdeLock)
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{
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int dAMotorEuler = 1;
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Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
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d.GeomSetBody(Shell, Body);
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d.BodySetRotation(Body, ref m_StandUpRotation);
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//Amotor = d.JointCreateAMotor(parent_scene.world, IntPtr.Zero);
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//d.JointAttach(Amotor, Body, IntPtr.Zero);
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//d.JointSetAMotorMode(Amotor, dAMotorEuler);
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//d.JointSetAMotorNumAxes(Amotor, 3);
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//d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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//d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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///d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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//d.JointSetAMotorAngle(Amotor, 0, 0);
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//d.JointSetAMotorAngle(Amotor, 1, 0);
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//d.JointSetAMotorAngle(Amotor, 2, 0);
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//d.JointSetAMotorParam(Amotor, 0, -0);
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//d.JointSetAMotorParam(Amotor, 0x200, -0);
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//d.JointSetAMotorParam(Amotor, 0x100, -0);
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// d.JointSetAMotorParam(Amotor, 0, 0);
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// d.JointSetAMotorParam(Amotor, 3, 0);
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// d.JointSetAMotorParam(Amotor, 2, 0);
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AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z);
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}
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m_name = avName;
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parent_scene.geom_name_map[Shell] = avName;
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@ -136,6 +130,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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set { return; }
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}
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/// <summary>
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/// If this is set, the avatar will move faster
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/// </summary>
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public override bool SetAlwaysRun
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{
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get { return m_alwaysRun; }
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@ -160,6 +157,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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set { flying = value; }
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}
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/// <summary>
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/// Returns if the avatar is colliding in general.
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/// This includes the ground and objects and avatar.
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/// </summary>
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public override bool IsColliding
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{
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get { return m_iscolliding; }
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@ -208,11 +209,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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/// <summary>
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/// Returns if an avatar is colliding with the ground
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/// </summary>
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public override bool CollidingGround
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{
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get { return m_iscollidingGround; }
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set
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{
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// Collisions against the ground are not really reliable
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// So, to get a consistant value we have to average the current result over time
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// Currently we use 1 second = 10 calls to this.
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int i;
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int truecount = 0;
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int falsecount = 0;
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@ -256,6 +263,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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/// <summary>
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/// Returns if the avatar is colliding with an object
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/// </summary>
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public override bool CollidingObj
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{
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get { return m_iscollidingObj; }
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@ -269,11 +279,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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/// <summary>
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/// turn the PID controller on or off.
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/// The PID Controller will turn on all by itself in many situations
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/// </summary>
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/// <param name="status"></param>
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public void SetPidStatus(bool status)
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{
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m_pidControllerActive = status;
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}
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/// <summary>
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/// This 'puts' an avatar somewhere in the physics space.
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/// Not really a good choice unless you 'know' it's a good
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/// spot otherwise you're likely to orbit the avatar.
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/// </summary>
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public override PhysicsVector Position
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{
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get { return _position; }
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@ -293,6 +313,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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set { m_rotationalVelocity = value; }
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}
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/// <summary>
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/// This property sets the height of the avatar only. We use the height to make sure the avatar stands up straight
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/// and use it to offset landings properly
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/// </summary>
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
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@ -301,6 +325,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_pidControllerActive = true;
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lock (OdeScene.OdeLock)
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{
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d.JointDestroy(Amotor);
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PhysicsVector SetSize = value;
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float prevCapsule = CAPSULE_LENGTH;
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float capsuleradius = CAPSULE_RADIUS;
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@ -309,20 +334,91 @@ namespace OpenSim.Region.Physics.OdePlugin
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CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z*0.43f))); // subtract 43% of the size
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d.BodyDestroy(Body);
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d.GeomDestroy(Shell);
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//MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
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Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, _position.X, _position.Y,
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_position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
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d.GeomSetBody(Shell, Body);
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AvatarGeomAndBodyCreation(_position.X, _position.Y,
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_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule)*2));
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Velocity = new PhysicsVector(0f, 0f, 0f);
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}
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_parent_scene.geom_name_map[Shell] = m_name;
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_parent_scene.actor_name_map[Shell] = (PhysicsActor) this;
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}
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}
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/// <summary>
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/// This creates the Avatar's physical Surrogate at the position supplied
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/// </summary>
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/// <param name="npositionX"></param>
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/// <param name="npositionY"></param>
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/// <param name="npositionZ"></param>
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private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
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{
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int dAMotorEuler = 1;
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Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
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d.BodySetMass(Body, ref ShellMass);
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// 90 Stand up on the cap of the capped cyllinder
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d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 0, (float)(Math.PI / 2));
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d.GeomSetRotation(Shell, ref m_StandUpRotation);
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d.BodySetRotation(Body, ref m_StandUpRotation);
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d.GeomSetBody(Shell, Body);
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// The purpose of the AMotor here is to keep the avatar's physical
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// surrogate from rotating while moving
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Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, dAMotorEuler);
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d.JointSetAMotorNumAxes(Amotor, 3);
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d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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d.JointSetAMotorAngle(Amotor, 0, 0);
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d.JointSetAMotorAngle(Amotor, 1, 0);
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d.JointSetAMotorAngle(Amotor, 2, 0);
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// These lowstops and high stops are effectively (no wiggle room)
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
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// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
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// capped cyllinder will fall over
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d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f);
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// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
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// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
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// change appearance and when you enter the simulator
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// After this routine is done, the amotor stabilizes much quicker
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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}
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//
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/// <summary>
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/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
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/// This may be used in calculations in the scene/scenepresence
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/// </summary>
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public override float Mass
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{
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get
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@ -385,6 +481,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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_acceleration = accel;
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}
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/// <summary>
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/// Adds the force supplied to the Target Velocity
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/// The PID controller takes this target velocity and tries to make it a reality
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/// </summary>
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/// <param name="force"></param>
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public override void AddForce(PhysicsVector force)
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{
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m_pidControllerActive = true;
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@ -395,29 +496,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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//m_lastUpdateSent = false;
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}
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/// <summary>
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/// After all of the forces add up with 'add force' we apply them with doForce
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/// </summary>
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/// <param name="force"></param>
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public void doForce(PhysicsVector force)
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{
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if (!collidelock)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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// ok -- let's stand up straight!
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//d.Matrix3 StandUpRotationalMatrix = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f);
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//d.BodySetRotation(Body, ref StandUpRotationalMatrix);
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//d.BodySetRotation(Body, ref m_StandUpRotation);
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// The above matrix was generated with the amazing standup routine below by danX0r *cheer*
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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//m_lastUpdateSent = false;
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}
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}
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@ -425,9 +512,19 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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}
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/// <summary>
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/// Called from Simulate
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/// This is the avatar's movement control + PID Controller
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/// </summary>
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/// <param name="timeStep"></param>
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public void Move(float timeStep)
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{
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// no lock; for now it's only called from within Simulate()
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// If the PID Controller isn't active then we set our force
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// calculating base velocity to the current position
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if (m_pidControllerActive == false)
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{
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_zeroPosition = d.BodyGetPosition(Body);
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@ -458,6 +555,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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if (m_pidControllerActive)
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{
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// We only want to deactivate the PID Controller if we think we want to have our surrogate
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// react to the physics scene by moving it's position.
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// Avatar to Avatar collisions
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// Prim to avatar collisions
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P;
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vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P;
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@ -474,11 +576,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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_zeroFlag = false;
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if (m_iscolliding || flying)
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{
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// We're flying and colliding with something
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vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*PID_D;
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vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*PID_D;
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}
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if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
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{
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// We're colliding with something and we're not flying but we're moving
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// This means we're walking or running.
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d.Vector3 pos = d.BodyGetPosition(Body);
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vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
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if (_target_velocity.X > 0)
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@ -492,6 +597,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else if (!m_iscolliding && !flying)
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{
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// we're not colliding and we're not flying so that means we're falling!
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// m_iscolliding includes collisions with the ground.
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d.Vector3 pos = d.BodyGetPosition(Body);
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if (_target_velocity.X > 0)
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{
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@ -518,6 +625,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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doForce(vec);
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}
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/// <summary>
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/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
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/// </summary>
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public void UpdatePositionAndVelocity()
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{
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// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
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|
|
@ -533,25 +643,21 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
_position.Y = vec.Y;
|
||||
_position.Z = vec.Z;
|
||||
|
||||
// Did we move last? = zeroflag
|
||||
// This helps keep us from sliding all over
|
||||
|
||||
if (_zeroFlag)
|
||||
{
|
||||
_velocity.X = 0.0f;
|
||||
_velocity.Y = 0.0f;
|
||||
_velocity.Z = 0.0f;
|
||||
|
||||
// Did we send out the 'stopped' message?
|
||||
if (!m_lastUpdateSent)
|
||||
{
|
||||
m_lastUpdateSent = true;
|
||||
base.RequestPhysicsterseUpdate();
|
||||
//string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
|
||||
//int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
|
||||
//if (primScenAvatarIn == "0")
|
||||
//{
|
||||
//MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
//}
|
||||
//else
|
||||
//{
|
||||
// MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString());
|
||||
//}
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
|
|
@ -564,6 +670,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
_velocity.Z = (vec.Z);
|
||||
if (_velocity.Z < -6 && !m_hackSentFall)
|
||||
{
|
||||
// Collisionupdates will be used in the future, right now the're not being used.
|
||||
m_hackSentFall = true;
|
||||
//base.SendCollisionUpdate(new CollisionEventUpdate());
|
||||
m_pidControllerActive = false;
|
||||
|
|
@ -581,13 +688,21 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Cleanup the things we use in the scene.
|
||||
/// </summary>
|
||||
public void Destroy()
|
||||
{
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
// d.JointDestroy(Amotor);
|
||||
// Kill the Amotor
|
||||
d.JointDestroy(Amotor);
|
||||
|
||||
//kill the Geometry
|
||||
d.GeomDestroy(Shell);
|
||||
_parent_scene.geom_name_map.Remove(Shell);
|
||||
|
||||
//kill the body
|
||||
d.BodyDestroy(Body);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -86,6 +86,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
private IntPtr contactgroup;
|
||||
private IntPtr LandGeom = (IntPtr) 0;
|
||||
private double[] _heightmap;
|
||||
private float[] _origheightmap;
|
||||
private d.NearCallback nearCallback;
|
||||
public d.TriCallback triCallback;
|
||||
public d.TriArrayCallback triArrayCallback;
|
||||
|
|
@ -115,6 +116,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
public IMesher mesher;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Initiailizes the scene
|
||||
/// Sets many properties that ODE requires to be stable
|
||||
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
|
||||
/// </summary>
|
||||
public OdeScene()
|
||||
{
|
||||
nearCallback = near;
|
||||
|
|
@ -128,17 +135,27 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
contact.surface.soft_cfm = 0.00003f;
|
||||
*/
|
||||
|
||||
// Centeral contact friction and bounce
|
||||
contact.surface.mu = 250.0f;
|
||||
contact.surface.bounce = 0.2f;
|
||||
|
||||
// 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 = 550.0f;
|
||||
TerrainContact.surface.bounce = 0.1f;
|
||||
TerrainContact.surface.soft_erp = 0.1025f;
|
||||
|
||||
// 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 = 150.0f;
|
||||
AvatarMovementprimContact.surface.bounce = 0.1f;
|
||||
|
||||
// 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 = 150.0f;
|
||||
AvatarMovementTerrainContact.surface.bounce = 0.1f;
|
||||
|
|
@ -146,6 +163,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
lock (OdeLock)
|
||||
{
|
||||
// Creat the world and the first space
|
||||
world = d.WorldCreate();
|
||||
space = d.HashSpaceCreate(IntPtr.Zero);
|
||||
d.HashSpaceSetLevels(space, -4, 128);
|
||||
|
|
@ -153,15 +171,25 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
//contactgroup
|
||||
|
||||
|
||||
// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
|
||||
|
||||
d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
|
||||
d.WorldSetAutoDisableFlag(world, false);
|
||||
d.WorldSetContactSurfaceLayer(world, 0.001f);
|
||||
|
||||
// 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);
|
||||
///d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
|
||||
}
|
||||
|
||||
// zero out a heightmap array float array (single dimention [flattened]))
|
||||
_heightmap = new double[514*514];
|
||||
|
||||
|
||||
// Zero out the prim spaces array (we split our space into smaller spaces so
|
||||
// we can hit test less.
|
||||
for (int i = 0; i < staticPrimspace.GetLength(0); i++)
|
||||
{
|
||||
for (int j = 0; j < staticPrimspace.GetLength(1); j++)
|
||||
|
|
@ -171,19 +199,35 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
// Initialize the mesh plugin
|
||||
public override void Initialise(IMesher meshmerizer)
|
||||
{
|
||||
mesher = meshmerizer;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Debug space message for printing the space that a prim/avatar is in.
|
||||
/// </summary>
|
||||
/// <param name="pos"></param>
|
||||
/// <returns>Returns which split up space the given position is in.</returns>
|
||||
public string whichspaceamIin(PhysicsVector pos)
|
||||
{
|
||||
return calculateSpaceForGeom(pos).ToString();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// This is our near callback. A geometry is near a body
|
||||
/// </summary>
|
||||
/// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
|
||||
/// <param name="g1">a geometry or space</param>
|
||||
/// <param name="g2">another geometry or space</param>
|
||||
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 collidng a geom with a space.
|
||||
// If so we have to drill down into the space recursively
|
||||
|
||||
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
|
||||
{
|
||||
// Separating static prim geometry spaces.
|
||||
|
|
@ -192,7 +236,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// contact points in the space
|
||||
|
||||
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
|
||||
//Colliding a space or a geom with a space or a geom.
|
||||
//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);
|
||||
|
|
@ -226,12 +270,13 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
name2 = "null";
|
||||
}
|
||||
|
||||
if (id == d.GeomClassID.TriMeshClass)
|
||||
{
|
||||
//if (id == d.GeomClassID.TriMeshClass)
|
||||
//{
|
||||
// MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
||||
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
||||
}
|
||||
//}
|
||||
|
||||
// Figure out how many contact points we have
|
||||
int count = 0;
|
||||
try
|
||||
{
|
||||
|
|
@ -244,13 +289,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
base.TriggerPhysicsBasedRestart();
|
||||
}
|
||||
|
||||
PhysicsActor p1;
|
||||
PhysicsActor p2;
|
||||
|
||||
for (int i = 0; i < count; i++)
|
||||
{
|
||||
IntPtr joint;
|
||||
// If we're colliding with terrain, use 'TerrainContact' instead of contact.
|
||||
// allows us to have different settings
|
||||
PhysicsActor p1;
|
||||
PhysicsActor p2;
|
||||
|
||||
|
||||
if (!actor_name_map.TryGetValue(g1, out p1))
|
||||
{
|
||||
|
|
@ -288,10 +335,14 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
if (contacts[i].depth >= 0.08f)
|
||||
{
|
||||
/* This is disabled at the moment only because it needs more tweaking
|
||||
It will eventually be uncommented
|
||||
|
||||
if (contacts[i].depth >= 1.00f)
|
||||
{
|
||||
//MainLog.Instance.Debug("PHYSICS",contacts[i].depth.ToString());
|
||||
}
|
||||
|
||||
//If you interpenetrate a prim with an agent
|
||||
if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
|
||||
p1.PhysicsActorType == (int) ActorTypes.Prim) ||
|
||||
|
|
@ -300,35 +351,37 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
if (p2.PhysicsActorType == (int) ActorTypes.Agent)
|
||||
{
|
||||
//p2.CollidingObj = true;
|
||||
//contacts[i].depth = 0.003f;
|
||||
//p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
|
||||
//OdeCharacter character = (OdeCharacter) p2;
|
||||
//character.SetPidStatus(true);
|
||||
//contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p1.Size.X / 2), contacts[i].pos.Y + (p1.Size.Y / 2), contacts[i].pos.Z + (p1.Size.Z / 2));
|
||||
p2.CollidingObj = true;
|
||||
contacts[i].depth = 0.003f;
|
||||
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
|
||||
OdeCharacter character = (OdeCharacter) p2;
|
||||
character.SetPidStatus(true);
|
||||
contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p1.Size.X / 2), contacts[i].pos.Y + (p1.Size.Y / 2), contacts[i].pos.Z + (p1.Size.Z / 2));
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
//contacts[i].depth = 0.0000000f;
|
||||
contacts[i].depth = 0.0000000f;
|
||||
}
|
||||
if (p1.PhysicsActorType == (int) ActorTypes.Agent)
|
||||
{
|
||||
|
||||
//p1.CollidingObj = true;
|
||||
//contacts[i].depth = 0.003f;
|
||||
//p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
|
||||
//contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p2.Size.X / 2), contacts[i].pos.Y + (p2.Size.Y / 2), contacts[i].pos.Z + (p2.Size.Z / 2));
|
||||
//OdeCharacter character = (OdeCharacter)p1;
|
||||
//character.SetPidStatus(true);
|
||||
p1.CollidingObj = true;
|
||||
contacts[i].depth = 0.003f;
|
||||
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
|
||||
contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p2.Size.X / 2), contacts[i].pos.Y + (p2.Size.Y / 2), contacts[i].pos.Z + (p2.Size.Z / 2));
|
||||
OdeCharacter character = (OdeCharacter)p1;
|
||||
character.SetPidStatus(true);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
//contacts[i].depth = 0.0000000f;
|
||||
contacts[i].depth = 0.0000000f;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
// If you interpenetrate a prim with another prim
|
||||
if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
|
||||
{
|
||||
|
|
@ -337,6 +390,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
if (contacts[i].depth >= 1.00f)
|
||||
{
|
||||
OpenSim.Framework.Console.MainLog.Instance.Verbose("P", contacts[i].depth.ToString());
|
||||
if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
|
||||
p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
|
||||
(p1.PhysicsActorType == (int) ActorTypes.Agent &&
|
||||
|
|
@ -347,7 +401,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
OdeCharacter character = (OdeCharacter) p2;
|
||||
|
||||
//p2.CollidingObj = true;
|
||||
contacts[i].depth = 0.003f;
|
||||
contacts[i].depth = 0.00000003f;
|
||||
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
|
||||
contacts[i].pos =
|
||||
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
|
||||
|
|
@ -363,7 +417,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
OdeCharacter character = (OdeCharacter)p1;
|
||||
|
||||
//p2.CollidingObj = true;
|
||||
contacts[i].depth = 0.003f;
|
||||
contacts[i].depth = 0.00000003f;
|
||||
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
|
||||
contacts[i].pos =
|
||||
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
|
||||
|
|
@ -383,30 +437,39 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
if (contacts[i].depth >= 0f)
|
||||
{
|
||||
// If we're collidng 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 = contacts[i];
|
||||
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Use the non moving terrain contact
|
||||
TerrainContact.geom = contacts[i];
|
||||
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// we're colliding with prim or avatar
|
||||
|
||||
// check 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 prim contact
|
||||
AvatarMovementprimContact.geom = contacts[i];
|
||||
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Use the non movement contact
|
||||
contact.geom = contacts[i];
|
||||
joint = d.JointCreateContact(world, contactgroup, ref contact);
|
||||
}
|
||||
|
|
@ -416,6 +479,11 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
if (count > 3)
|
||||
{
|
||||
// If there are more then 3 contact points, it's likely
|
||||
// that we've got a pile of objects
|
||||
//
|
||||
// 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;
|
||||
}
|
||||
//System.Console.WriteLine(count.ToString());
|
||||
|
|
@ -423,16 +491,43 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
}
|
||||
private float GetTerrainHeightAtXY(float x, float y)
|
||||
{
|
||||
return (float)_origheightmap[(int) y*256 + (int) x];
|
||||
|
||||
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// This is our collision testing routine in ODE
|
||||
/// </summary>
|
||||
/// <param name="timeStep"></param>
|
||||
private void collision_optimized(float timeStep)
|
||||
{
|
||||
foreach (OdeCharacter chr in _characters)
|
||||
{
|
||||
// Reset the collision values to false
|
||||
// since we don't know if we're colliding yet
|
||||
|
||||
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.
|
||||
|
||||
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
|
||||
//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;
|
||||
//}
|
||||
}
|
||||
|
||||
// If the sim is running slow this frame,
|
||||
// don't process collision for prim!
|
||||
if (timeStep < (m_SkipFramesAtms/3))
|
||||
|
|
@ -469,6 +564,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// This if may not need to be there.. it might be skipped anyway.
|
||||
if (d.BodyIsEnabled(chr.Body))
|
||||
{
|
||||
// Collide test the prims with the terrain.. since if you don't do this,
|
||||
// next frame, all of the physical prim in the scene will awaken and explode upwards
|
||||
d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
|
||||
}
|
||||
}
|
||||
|
|
@ -509,6 +606,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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.
|
||||
/// </summary>
|
||||
/// <param name="prim"></param>
|
||||
public void RemovePrimThreadLocked(OdePrim prim)
|
||||
{
|
||||
lock (OdeLock)
|
||||
|
|
@ -567,7 +673,10 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
_prims.Remove(prim);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Takes a space pointer and zeros out the array we're using to hold the spaces
|
||||
/// </summary>
|
||||
/// <param name="space"></param>
|
||||
public void resetSpaceArrayItemToZero(IntPtr space)
|
||||
{
|
||||
for (int x = 0; x < staticPrimspace.GetLength(0); x++)
|
||||
|
|
@ -585,15 +694,25 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Called when a static prim moves. Allocates a space for the prim based on it's position
|
||||
/// </summary>
|
||||
/// <param name="geom">the pointer to the geom that moved</param>
|
||||
/// <param name="pos">the position that the geom moved to</param>
|
||||
/// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
|
||||
/// <returns>a pointer to the new space it's in</returns>
|
||||
public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
|
||||
{
|
||||
//Todo recalculate space the prim is in.
|
||||
|
||||
// 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
|
||||
|
||||
if (currentspace != space)
|
||||
{
|
||||
if (d.SpaceQuery(currentspace, geom) && currentspace != (IntPtr) 0)
|
||||
|
|
@ -707,6 +826,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return newspace;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Creates a new space at X Y
|
||||
/// </summary>
|
||||
/// <param name="iprimspaceArrItemX"></param>
|
||||
/// <param name="iprimspaceArrItemY"></param>
|
||||
/// <returns>A pointer to the created space</returns>
|
||||
public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
|
||||
{
|
||||
// creating a new space for prim and inserting it into main space.
|
||||
|
|
@ -715,6 +840,11 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Calculates the space the prim should be in by it's position
|
||||
/// </summary>
|
||||
/// <param name="pos"></param>
|
||||
/// <returns>a pointer to the space. This could be a new space or reused space.</returns>
|
||||
public IntPtr calculateSpaceForGeom(PhysicsVector pos)
|
||||
{
|
||||
int[] xyspace = calculateSpaceArrayItemFromPos(pos);
|
||||
|
|
@ -725,6 +855,11 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return locationbasedspace;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Holds the space allocation logic
|
||||
/// </summary>
|
||||
/// <param name="pos"></param>
|
||||
/// <returns>an array item based on the position</returns>
|
||||
public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
|
||||
{
|
||||
int[] returnint = new int[2];
|
||||
|
|
@ -837,7 +972,11 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return 1;
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Routine to figure out if we need to mesh this prim with our mesher
|
||||
/// </summary>
|
||||
/// <param name="pbs"></param>
|
||||
/// <returns></returns>
|
||||
public bool needsMeshing(PrimitiveBaseShape pbs)
|
||||
{
|
||||
if (pbs.ProfileHollow != 0)
|
||||
|
|
@ -879,6 +1018,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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
|
||||
/// </summary>
|
||||
/// <param name="prim"></param>
|
||||
public override void AddPhysicsActorTaint(PhysicsActor prim)
|
||||
{
|
||||
if (prim is OdePrim)
|
||||
|
|
@ -889,6 +1034,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 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)
|
||||
/// </summary>
|
||||
/// <param name="timeStep"></param>
|
||||
/// <returns></returns>
|
||||
public override float Simulate(float timeStep)
|
||||
{
|
||||
float fps = 0;
|
||||
|
|
@ -904,7 +1058,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
if (step_time >= m_SkipFramesAtms)
|
||||
{
|
||||
// Instead of trying to catch up, it'll do one physics frame only
|
||||
// Instead of trying to catch up, it'll do 5 physics frames only
|
||||
step_time = ODE_STEPSIZE;
|
||||
m_physicsiterations = 5;
|
||||
}
|
||||
|
|
@ -960,6 +1114,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
actor.UpdatePositionAndVelocity();
|
||||
}
|
||||
|
||||
bool processedtaints = false;
|
||||
foreach (OdePrim prim in _taintedPrim)
|
||||
{
|
||||
|
|
@ -970,6 +1125,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
processedtaints = true;
|
||||
}
|
||||
|
||||
if (processedtaints)
|
||||
_taintedPrim = new List<OdePrim>();
|
||||
|
||||
|
|
@ -1152,7 +1308,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// this._heightmap[i] = (double)heightMap[i];
|
||||
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
|
||||
// also, creating a buffer zone of one extra sample all around
|
||||
|
||||
_origheightmap = heightMap;
|
||||
const uint heightmapWidth = m_regionWidth + 2;
|
||||
const uint heightmapHeight = m_regionHeight + 2;
|
||||
const uint heightmapWidthSamples = 2*m_regionWidth + 2;
|
||||
|
|
|
|||
Loading…
Reference in New Issue