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slightly simplify OdeScene.Simulate() by removing bool processtaints, since we can inspect count of taint lists instead. 

also groups OdeCharacter.CreateOdeStructures() and DestroyOdeStructures() together
iar_mods
Justin Clark-Casey (justincc) 2011-11-22 21:51:00 +00:00
parent b89c48b1be
commit daf99f8c0a
3 changed files with 128 additions and 141 deletions
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234
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -541,123 +541,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
}
/// <summary>
/// This creates the Avatar's physical Surrogate in ODE at the position supplied
/// </summary>
/// <remarks>
/// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
/// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
/// place that is safe to call this routine AvatarGeomAndBodyCreation.
/// </remarks>
/// <param name="npositionX"></param>
/// <param name="npositionY"></param>
/// <param name="npositionZ"></param>
/// <param name="tensor"></param>
private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
{
int dAMotorEuler = 1;
// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (CAPSULE_LENGTH <= 0)
{
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f;
}
if (CAPSULE_RADIUS <= 0)
{
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f;
}
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = d.BodyCreate(_parent_scene.world);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
_position.X = npositionX;
_position.Y = npositionY;
_position.Z = npositionZ;
m_taintPosition = _position;
d.BodySetMass(Body, ref ShellMass);
d.Matrix3 m_caprot;
// 90 Stand up on the cap of the capped cyllinder
if (_parent_scene.IsAvCapsuleTilted)
{
d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
}
else
{
d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
}
d.GeomSetRotation(Shell, ref m_caprot);
d.BodySetRotation(Body, ref m_caprot);
d.GeomSetBody(Shell, Body);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
d.JointAttach(Amotor, Body, IntPtr.Zero);
d.JointSetAMotorMode(Amotor, dAMotorEuler);
d.JointSetAMotorNumAxes(Amotor, 3);
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
d.JointSetAMotorAngle(Amotor, 0, 0);
d.JointSetAMotorAngle(Amotor, 1, 0);
d.JointSetAMotorAngle(Amotor, 2, 0);
// These lowstops and high stops are effectively (no wiggle room)
if (_parent_scene.IsAvCapsuleTilted)
{
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
}
else
{
#region Documentation of capsule motor LowStop and HighStop parameters
// Intentionally introduce some tilt into the capsule by setting
// the motor stops to small epsilon values. This small tilt prevents
// the capsule from falling into the terrain; a straight-up capsule
// (with -0..0 motor stops) falls into the terrain for reasons yet
// to be comprehended in their entirety.
#endregion
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
}
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
// capped cyllinder will fall over
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//d.QfromR(
//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
//
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
//standupStraight();
_parent_scene.geom_name_map[Shell] = Name;
_parent_scene.actor_name_map[Shell] = this;
}
/// <summary>
/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
/// This may be used in calculations in the scene/scenepresence
@ -1125,6 +1008,123 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
/// <summary>
/// This creates the Avatar's physical Surrogate in ODE at the position supplied
/// </summary>
/// <remarks>
/// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
/// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
/// place that is safe to call this routine AvatarGeomAndBodyCreation.
/// </remarks>
/// <param name="npositionX"></param>
/// <param name="npositionY"></param>
/// <param name="npositionZ"></param>
/// <param name="tensor"></param>
private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
{
int dAMotorEuler = 1;
// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (CAPSULE_LENGTH <= 0)
{
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f;
}
if (CAPSULE_RADIUS <= 0)
{
m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f;
}
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = d.BodyCreate(_parent_scene.world);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
_position.X = npositionX;
_position.Y = npositionY;
_position.Z = npositionZ;
m_taintPosition = _position;
d.BodySetMass(Body, ref ShellMass);
d.Matrix3 m_caprot;
// 90 Stand up on the cap of the capped cyllinder
if (_parent_scene.IsAvCapsuleTilted)
{
d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
}
else
{
d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
}
d.GeomSetRotation(Shell, ref m_caprot);
d.BodySetRotation(Body, ref m_caprot);
d.GeomSetBody(Shell, Body);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
d.JointAttach(Amotor, Body, IntPtr.Zero);
d.JointSetAMotorMode(Amotor, dAMotorEuler);
d.JointSetAMotorNumAxes(Amotor, 3);
d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
d.JointSetAMotorAngle(Amotor, 0, 0);
d.JointSetAMotorAngle(Amotor, 1, 0);
d.JointSetAMotorAngle(Amotor, 2, 0);
// These lowstops and high stops are effectively (no wiggle room)
if (_parent_scene.IsAvCapsuleTilted)
{
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
}
else
{
#region Documentation of capsule motor LowStop and HighStop parameters
// Intentionally introduce some tilt into the capsule by setting
// the motor stops to small epsilon values. This small tilt prevents
// the capsule from falling into the terrain; a straight-up capsule
// (with -0..0 motor stops) falls into the terrain for reasons yet
// to be comprehended in their entirety.
#endregion
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
}
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
// capped cyllinder will fall over
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//d.QfromR(
//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
//
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
//standupStraight();
_parent_scene.geom_name_map[Shell] = Name;
_parent_scene.actor_name_map[Shell] = this;
}
/// <summary>
/// Cleanup the things we use in the scene.
/// </summary>

1
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -272,7 +272,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
// don't do .add() here; old geoms get recycled with the same hash
}
public override int PhysicsActorType

34
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
View File

@ -2160,7 +2160,6 @@ namespace OpenSim.Region.Physics.OdePlugin
p.setPrimForRemoval();
AddPhysicsActorTaint(prim);
//RemovePrimThreadLocked(p);
}
}
}
@ -2607,15 +2606,17 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <summary>
/// Called after our prim properties are set Scale, position etc.
/// </summary>
/// <remarks>
/// 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)
/// </remarks>
/// <param name="actor"></param>
public override void AddPhysicsActorTaint(PhysicsActor actor)
{
if (prim is OdePrim)
if (actor is OdePrim)
{
OdePrim taintedprim = ((OdePrim) prim);
OdePrim taintedprim = ((OdePrim)actor);
lock (_taintedPrimLock)
{
if (!(_taintedPrimH.Contains(taintedprim)))
@ -2627,11 +2628,10 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
_taintedPrimL.Add(taintedprim); // List for ordered readout
}
}
return;
}
else if (prim is OdeCharacter)
else if (actor is OdeCharacter)
{
OdeCharacter taintedchar = ((OdeCharacter)prim);
OdeCharacter taintedchar = ((OdeCharacter)actor);
lock (_taintedActors)
{
if (!(_taintedActors.Contains(taintedchar)))
@ -2734,29 +2734,18 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
{
try
{
// Insert, remove Characters
bool processedtaints = false;
lock (_taintedActors)
{
if (_taintedActors.Count > 0)
{
foreach (OdeCharacter character in _taintedActors)
{
character.ProcessTaints();
processedtaints = true;
//character.m_collisionscore = 0;
}
if (processedtaints)
if (_taintedActors.Count > 0)
_taintedActors.Clear();
}
}
// Modify other objects in the scene.
processedtaints = false;
lock (_taintedPrimLock)
{
foreach (OdePrim prim in _taintedPrimL)
@ -2772,7 +2761,6 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
prim.ProcessTaints();
}
processedtaints = true;
prim.m_collisionscore = 0;
// This loop can block up the Heartbeat for a very long time on large regions.
@ -2785,7 +2773,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
if (SupportsNINJAJoints)
SimulatePendingNINJAJoints();
if (processedtaints)
if (_taintedPrimL.Count > 0)
{
//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
_taintedPrimH.Clear();