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ubitODE - several changes...

avinationmerge
UbitUmarov 2012-04-23 01:47:11 +01:00
parent 26fd1e3a0c
commit e0f81e2400
3 changed files with 424 additions and 476 deletions
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3
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -686,6 +686,9 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = d.BodyCreate(_parent_scene.world); Body = d.BodyCreate(_parent_scene.world);
_zeroFlag = false;
m_pidControllerActive = true;
d.BodySetAutoDisableFlag(Body, false); d.BodySetAutoDisableFlag(Body, false);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ); d.BodySetPosition(Body, npositionX, npositionY, npositionZ);

766
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -98,10 +98,12 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 m_forceacc; private Vector3 m_forceacc;
private Vector3 m_angularForceacc; private Vector3 m_angularForceacc;
private float m_invTimeStep = 50.0f;
private float m_timeStep = .02f;
private Vector3 m_PIDTarget; private Vector3 m_PIDTarget;
private float m_PIDTau; private float m_PIDTau;
private float PID_D = 35f;
private float PID_G = 25f;
private bool m_usePID; private bool m_usePID;
// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
@ -632,7 +634,6 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 pv = Vector3.Zero; Vector3 pv = Vector3.Zero;
if (_zeroFlag) if (_zeroFlag)
return pv; return pv;
m_lastUpdateSent = false;
if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
return pv; return pv;
@ -686,12 +687,50 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
public override bool PIDActive { set { m_usePID = value; } } public override bool PIDActive { set { m_usePID = value; } }
public override float PIDTau { set { m_PIDTau = value; } } public override float PIDTau
{
set
{
if (value <= 0)
m_PIDTau = 0;
else
{
float mint = (0.05f > _parent_scene.ODE_STEPSIZE ? 0.05f : _parent_scene.ODE_STEPSIZE);
if (value < mint)
m_PIDTau = mint;
else
m_PIDTau = value;
}
}
}
public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } public override float PIDHoverHeight
{
set
{
m_PIDHoverHeight = value;
if (value == 0)
m_useHoverPID = false;
}
}
public override bool PIDHoverActive { set { m_useHoverPID = value; } } public override bool PIDHoverActive { set { m_useHoverPID = value; } }
public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
public override float PIDHoverTau { set { m_PIDHoverTau = value; } } public override float PIDHoverTau
{
set
{
if (value <= 0)
m_PIDHoverTau = 0;
else
{
float mint = (0.05f > _parent_scene.ODE_STEPSIZE ? 0.05f : _parent_scene.ODE_STEPSIZE);
if (value < mint)
m_PIDHoverTau = mint;
else
m_PIDHoverTau = value;
}
}
}
public override Quaternion APIDTarget { set { return; } } public override Quaternion APIDTarget { set { return; } }
@ -912,8 +951,9 @@ namespace OpenSim.Region.Physics.OdePlugin
_position = pos; _position = pos;
givefakepos = 0; givefakepos = 0;
PID_D = parent_scene.bodyPIDD; m_timeStep = parent_scene.ODE_STEPSIZE;
PID_G = parent_scene.bodyPIDG; m_invTimeStep = 1f / m_timeStep;
m_density = parent_scene.geomDefaultDensity; m_density = parent_scene.geomDefaultDensity;
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor; // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable; body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
@ -2696,12 +2736,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private void DoSelectedStatus(bool newval) private void DoSelectedStatus(bool newval)
{ {
if (m_isSelected == newval)
{
resetCollisionAccounting();
return;
}
m_isSelected = newval; m_isSelected = newval;
Stop(); Stop();
@ -2970,7 +3004,6 @@ namespace OpenSim.Region.Physics.OdePlugin
givefakeori--; givefakeori--;
if (givefakeori < 0) if (givefakeori < 0)
givefakeori = 0; givefakeori = 0;
resetCollisionAccounting(); resetCollisionAccounting();
} }
@ -3125,9 +3158,10 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(Body); d.BodyEnable(Body);
} }
private void changeAddForce(Vector3 force)
private void changeAddImpulse(Vector3 impulse)
{ {
m_forceacc += force; m_forceacc += impulse * m_invTimeStep;
if (!m_isSelected) if (!m_isSelected)
{ {
lock (this) lock (this)
@ -3146,9 +3180,10 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
private void changeAddAngularForce(Vector3 aforce) // actually angular impulse
private void changeAddAngularImpulse(Vector3 aimpulse)
{ {
m_angularForceacc += aforce; m_angularForceacc += aimpulse * m_invTimeStep;
if (!m_isSelected) if (!m_isSelected)
{ {
lock (this) lock (this)
@ -3271,319 +3306,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!childPrim && m_isphysical && Body != IntPtr.Zero && if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && !m_building && !m_outbounds) !m_disabled && !m_isSelected && !m_building && !m_outbounds)
{ {
if (d.BodyIsEnabled(Body)) if (!d.BodyIsEnabled(Body))
{
float timestep = _parent_scene.ODE_STEPSIZE;
// check outside region
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
if (lpos.Z < -100 || lpos.Z > 100000f)
{
m_outbounds = true;
lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); // stop it
d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
m_lastposition = _position;
m_lastorientation = _orientation;
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
disableBodySoft(); // disable it and colisions
base.RaiseOutOfBounds(_position);
return;
}
if (lpos.X < 0f)
{
_position.X = Util.Clip(lpos.X, -2f, -0.1f);
m_outbounds = true;
}
else if (lpos.X > _parent_scene.WorldExtents.X)
{
_position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
m_outbounds = true;
}
if (lpos.Y < 0f)
{
_position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
m_outbounds = true;
}
else if (lpos.Y > _parent_scene.WorldExtents.Y)
{
_position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
m_outbounds = true;
}
if (m_outbounds)
{
m_lastposition = _position;
m_lastorientation = _orientation;
d.Vector3 dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
disableBodySoft(); // stop collisions
base.RequestPhysicsterseUpdate();
return;
}
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
{
// 'VEHICLES' are dealt with in ODEDynamics.cs
m_vehicle.Step();
}
else
{
float fx = 0;
float fy = 0;
float fz = 0;
float m_mass = _mass;
// fz = 0f;
//m_log.Info(m_collisionFlags.ToString());
if (m_usePID)
{
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if ((m_PIDTau < 1) && (m_PIDTau != 0))
{
//PID_G = PID_G / m_PIDTau;
m_PIDTau = 1;
}
if ((PID_G - m_PIDTau) <= 0)
{
PID_G = m_PIDTau + 1;
}
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 pos = d.BodyGetPosition(Body);
_target_velocity =
new Vector3(
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
);
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
{
// keep track of where we stopped. No more slippin' & slidin'
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
//fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
//fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
//fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
d.BodySetLinearVel(Body, 0, 0, 0);
// d.BodyAddForce(Body, 0, 0, fz);
return;
}
else
{
_zeroFlag = false;
// We're flying and colliding with something
fx = ((_target_velocity.X) - vel.X) * (PID_D);
fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
// vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
fz = ((_target_velocity.Z - vel.Z) * (PID_D));
}
} // end if (m_usePID)
// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
else if (m_useHoverPID)
{
//Console.WriteLine("Hover " + Name);
// If we're using the PID controller, then we have no gravity
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if ((m_PIDTau < 1))
{
PID_G = PID_G / m_PIDTau;
}
if ((PID_G - m_PIDTau) <= 0)
{
PID_G = m_PIDTau + 1;
}
// Where are we, and where are we headed?
d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
// Non-Vehicles have a limited set of Hover options.
// determine what our target height really is based on HoverType
switch (m_PIDHoverType)
{
case PIDHoverType.Ground:
m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
break;
case PIDHoverType.GroundAndWater:
m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
m_waterHeight = _parent_scene.GetWaterLevel();
if (m_groundHeight > m_waterHeight)
{
if (m_PIDHoverHeight > 0 || m_isVolumeDetect)
m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
else
m_targetHoverHeight = m_groundHeight;
}
else
{
m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
}
break;
} // end switch (m_PIDHoverType)
// don't go underground unless volumedetector
if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
{
fz = (m_targetHoverHeight - pos.Z) * (PID_G - m_PIDHoverTau) * timestep;
// if velocity is zero, use position control; otherwise, velocity control
if (Math.Abs(fz) < 0.1f)
{
// keep track of where we stopped. No more slippin' & slidin'
// We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
// ? d.BodyAddForce(Body, 0, 0, fz);
return;
}
else
{
_zeroFlag = false;
// We're flying and colliding with something
fz = ((fz - vel.Z) * (PID_D));
}
}
}
else
{
float b = (1.0f - m_buoyancy);
fx = _parent_scene.gravityx * b;
fy = _parent_scene.gravityy * b;
fz = _parent_scene.gravityz * b;
}
fx *= m_mass;
fy *= m_mass;
fz *= m_mass;
// constant force
fx += m_force.X;
fy += m_force.Y;
fz += m_force.Z;
fx += m_forceacc.X;
fy += m_forceacc.Y;
fz += m_forceacc.Z;
m_forceacc = Vector3.Zero;
//m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
if (fx != 0 || fy != 0 || fz != 0)
{
d.BodyAddForce(Body, fx, fy, fz);
//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
}
Vector3 trq;
trq = _torque;
trq += m_angularForceacc;
m_angularForceacc = Vector3.Zero;
if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
{
d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
}
}
// update our ideia of velocities and acelerations
d.Quaternion ori;
d.Vector3 dtmpu;
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
d.GeomCopyQuaternion(prim_geom, out ori);
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
_acceleration = _velocity;
dtmpu = d.BodyGetLinearVel(Body);
_velocity.X = dtmpu.X;
_velocity.Y = dtmpu.Y;
_velocity.Z = dtmpu.Z;
float invts = 1 / timestep;
_acceleration = (_velocity - _acceleration) * invts;
dtmpu = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmpu.X;
m_rotationalVelocity.Y = dtmpu.Y;
m_rotationalVelocity.Z = dtmpu.Z;
}
else // body disabled/sleeping
{ {
// let vehicles sleep // let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
@ -3594,8 +3317,236 @@ namespace OpenSim.Region.Physics.OdePlugin
bodydisablecontrol = 0; bodydisablecontrol = 0;
d.BodyEnable(Body); d.BodyEnable(Body);
}
// check outside region
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
if (lpos.Z < -100 || lpos.Z > 100000f)
{
m_outbounds = true;
lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); // stop it
d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
m_lastposition = _position;
m_lastorientation = _orientation;
base.RequestPhysicsterseUpdate();
throttleCounter = 0;
_zeroFlag = true;
disableBodySoft(); // disable it and colisions
base.RaiseOutOfBounds(_position);
return; return;
} }
if (lpos.X < 0f)
{
_position.X = Util.Clip(lpos.X, -2f, -0.1f);
m_outbounds = true;
}
else if (lpos.X > _parent_scene.WorldExtents.X)
{
_position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
m_outbounds = true;
}
if (lpos.Y < 0f)
{
_position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
m_outbounds = true;
}
else if (lpos.Y > _parent_scene.WorldExtents.Y)
{
_position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
m_outbounds = true;
}
if (m_outbounds)
{
m_lastposition = _position;
m_lastorientation = _orientation;
d.Vector3 dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
disableBodySoft(); // stop collisions
base.RequestPhysicsterseUpdate();
return;
}
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
{
// 'VEHICLES' are dealt with in ODEDynamics.cs
m_vehicle.Step();
return;
}
float fx = 0;
float fy = 0;
float fz = 0;
float m_mass = _mass;
if (m_usePID && m_PIDTau > 0)
{
// for now position error
_target_velocity =
new Vector3(
(m_PIDTarget.X - lpos.X),
(m_PIDTarget.Y - lpos.Y),
(m_PIDTarget.Z - lpos.Z)
);
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
{
d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
d.BodySetLinearVel(Body, 0, 0, 0);
return;
}
else
{
_zeroFlag = false;
float tmp = 1 / m_PIDTau;
_target_velocity *= tmp;
// apply limits
tmp = _target_velocity.Length();
if (tmp > 50.0f)
{
tmp = 50 / tmp;
_target_velocity *= tmp;
}
else if (tmp < 0.05f)
{
tmp = 0.05f / tmp;
_target_velocity *= tmp;
}
d.Vector3 vel = d.BodyGetLinearVel(Body);
fx = (_target_velocity.X - vel.X) * m_invTimeStep;
fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
}
} // end if (m_usePID)
// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
{
// Non-Vehicles have a limited set of Hover options.
// determine what our target height really is based on HoverType
m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
switch (m_PIDHoverType)
{
case PIDHoverType.Ground:
m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
break;
case PIDHoverType.GroundAndWater:
m_waterHeight = _parent_scene.GetWaterLevel();
if (m_groundHeight > m_waterHeight)
m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
else
m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
break;
} // end switch (m_PIDHoverType)
// don't go underground unless volumedetector
if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
{
d.Vector3 vel = d.BodyGetLinearVel(Body);
fz = (m_targetHoverHeight - lpos.Z);
// if error is zero, use position control; otherwise, velocity control
if (Math.Abs(fz) < 0.01f)
{
d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
return;
}
else
{
_zeroFlag = false;
fz /= m_PIDHoverTau;
float tmp = Math.Abs(fz);
if (tmp > 50)
fz = 50 * Math.Sign(fz);
else if (tmp < 0.1)
fz = 0.1f * Math.Sign(fz);
fz = ((fz - vel.Z) * m_invTimeStep);
}
}
}
else
{
float b = (1.0f - m_buoyancy);
fx = _parent_scene.gravityx * b;
fy = _parent_scene.gravityy * b;
fz = _parent_scene.gravityz * b;
}
fx *= m_mass;
fy *= m_mass;
fz *= m_mass;
// constant force
fx += m_force.X;
fy += m_force.Y;
fz += m_force.Z;
fx += m_forceacc.X;
fy += m_forceacc.Y;
fz += m_forceacc.Z;
m_forceacc = Vector3.Zero;
//m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
if (fx != 0 || fy != 0 || fz != 0)
{
d.BodyAddForce(Body, fx, fy, fz);
//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
}
Vector3 trq;
trq = _torque;
trq += m_angularForceacc;
m_angularForceacc = Vector3.Zero;
if (trq.X != 0 || trq.Y != 0 || trq.Z != 0)
{
d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
}
} }
else else
{ // is not physical, or is not a body or is selected { // is not physical, or is not a body or is selected
@ -3606,92 +3557,113 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
public void UpdatePositionAndVelocity()
public void UpdatePositionAndVelocity(float simulatedtime)
{ {
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
if (_parent == null && !m_disabled && !m_building && !m_outbounds)
{ {
if (Body != IntPtr.Zero) if (d.BodyIsEnabled(Body) || !_zeroFlag)
{ {
bool lastZeroFlag = _zeroFlag; bool lastZeroFlag = _zeroFlag;
if ((Math.Abs(m_lastposition.X - _position.X) < 0.01) d.Vector3 lpos;
&& (Math.Abs(m_lastposition.Y - _position.Y) < 0.01) d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
&& (Math.Abs(m_lastposition.Z - _position.Z) < 0.01)
&& (Math.Abs(m_lastorientation.X - _orientation.X) < 0.0001) d.Quaternion ori;
&& (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001) d.GeomCopyQuaternion(prim_geom, out ori);
&& (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)
// decide if moving
// use positions since this are integrated quantities
// tolerance values depende a lot on simulation noise...
// use simple math.abs since we dont need to be exact
if (
(Math.Abs(_position.X - lpos.X) < 0.001f)
&& (Math.Abs(_position.Y - lpos.Y) < 0.001f)
&& (Math.Abs(_position.Z - lpos.Z) < 0.001f)
&& (Math.Abs(_orientation.X - ori.X) < 0.0001f)
&& (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
&& (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
) )
{ {
_zeroFlag = true; _zeroFlag = true;
m_throttleUpdates = false;
} }
else else
{
_zeroFlag = false; _zeroFlag = false;
m_lastUpdateSent = false;
// update velocities and aceleration
if (!(_zeroFlag && lastZeroFlag))
{
d.Vector3 vel = d.BodyGetLinearVel(Body);
_acceleration = _velocity;
if ((Math.Abs(vel.X) < 0.001f) &&
(Math.Abs(vel.Y) < 0.001f) &&
(Math.Abs(vel.Z) < 0.001f))
{
_velocity = Vector3.Zero;
float t = -m_invTimeStep;
_acceleration = _acceleration * t;
}
else
{
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
_acceleration = (_velocity - _acceleration) * m_invTimeStep;
}
if ((Math.Abs(_acceleration.X) < 0.01f) &&
(Math.Abs(_acceleration.Y) < 0.01f) &&
(Math.Abs(_acceleration.Z) < 0.01f))
{
_acceleration = Vector3.Zero;
}
if ((Math.Abs(_orientation.X - ori.X) < 0.0001) &&
(Math.Abs(_orientation.Y - ori.Y) < 0.0001) &&
(Math.Abs(_orientation.Z - ori.Z) < 0.0001)
)
{
m_rotationalVelocity = Vector3.Zero;
}
else
{
vel = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = vel.X;
m_rotationalVelocity.Y = vel.Y;
m_rotationalVelocity.Z = vel.Z;
}
} }
if (_zeroFlag) if (_zeroFlag)
{ {
m_lastposition = _position; if (lastZeroFlag)
m_lastorientation = _orientation; {
_velocity = Vector3.Zero;
_velocity = Vector3.Zero; _acceleration = Vector3.Zero;
_acceleration = Vector3.Zero; m_rotationalVelocity = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero; }
if (!m_lastUpdateSent) if (!m_lastUpdateSent)
{ {
m_throttleUpdates = false;
throttleCounter = 0;
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
if (lastZeroFlag)
m_lastUpdateSent = true; m_lastUpdateSent = true;
} }
return;
} }
else
{
if (lastZeroFlag != _zeroFlag)
{
base.RequestPhysicsterseUpdate();
}
m_lastUpdateSent = false; _position.X = lpos.X;
if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) _position.Y = lpos.Y;
{ _position.Z = lpos.Z;
m_lastposition = _position;
m_lastorientation = _orientation;
m_lastVelocity = _velocity;
base.RequestPhysicsterseUpdate();
}
else
{
throttleCounter++;
}
}
}
else if (!m_lastUpdateSent || !_zeroFlag)
{
// Not a body.. so Make sure the client isn't interpolating
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
m_lastVelocity = Vector3.Zero;
_zeroFlag = true; _orientation.X = ori.X;
_orientation.Y = ori.Y;
if (!m_lastUpdateSent) _orientation.Z = ori.Z;
{ _orientation.W = ori.W;
m_throttleUpdates = false; base.RequestPhysicsterseUpdate();
throttleCounter = 0; m_lastUpdateSent = false;
base.RequestPhysicsterseUpdate();
m_lastUpdateSent = true;
}
} }
} }
} }
@ -3849,11 +3821,11 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case changes.AddForce: case changes.AddForce:
changeAddForce((Vector3)arg); changeAddImpulse((Vector3)arg);
break; break;
case changes.AddAngForce: case changes.AddAngForce:
changeAddAngularForce((Vector3)arg); changeAddAngularImpulse((Vector3)arg);
break; break;
case changes.AngLock: case changes.AngLock:

131
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -521,7 +521,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldSetAngularDamping(world, 0.001f); d.WorldSetAngularDamping(world, 0.001f);
d.WorldSetAngularDampingThreshold(world, 0f); d.WorldSetAngularDampingThreshold(world, 0f);
d.WorldSetLinearDampingThreshold(world, 0f); d.WorldSetLinearDampingThreshold(world, 0f);
d.WorldSetMaxAngularSpeed(world, 256f); d.WorldSetMaxAngularSpeed(world, 100f);
d.WorldSetCFM(world,1e-6f); // a bit harder than default d.WorldSetCFM(world,1e-6f); // a bit harder than default
//d.WorldSetCFM(world, 1e-4f); // a bit harder than default //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
@ -1685,17 +1685,6 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <returns></returns> /// <returns></returns>
public override float Simulate(float timeStep) public override float Simulate(float timeStep)
{ {
int statstart;
int statchanges = 0;
int statchmove = 0;
int statactmove = 0;
int statray = 0;
int statcol = 0;
int statstep = 0;
int statmovchar = 0;
int statmovprim;
int totjcontact = 0;
// acumulate time so we can reduce error // acumulate time so we can reduce error
step_time += timeStep; step_time += timeStep;
@ -1738,8 +1727,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
try try
{ {
statstart = Util.EnvironmentTickCount();
// clear pointer/counter to contacts to pass into joints // clear pointer/counter to contacts to pass into joints
m_global_contactcount = 0; m_global_contactcount = 0;
@ -1778,17 +1765,39 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
statchanges += Util.EnvironmentTickCountSubtract(statstart); // Move characters
lock (_characters)
{
List<OdeCharacter> defects = new List<OdeCharacter>();
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
actor.Move(ODE_STEPSIZE, defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter defect in defects)
{
RemoveCharacter(defect);
}
}
}
// Move other active objects
lock (_activegroups)
{
foreach (OdePrim aprim in _activegroups)
{
aprim.Move();
}
}
statactmove += Util.EnvironmentTickCountSubtract(statstart);
//if ((framecount % m_randomizeWater) == 0) //if ((framecount % m_randomizeWater) == 0)
// randomizeWater(waterlevel); // randomizeWater(waterlevel);
m_rayCastManager.ProcessQueuedRequests(); m_rayCastManager.ProcessQueuedRequests();
statray += Util.EnvironmentTickCountSubtract(statstart);
collision_optimized(); collision_optimized();
statcol += Util.EnvironmentTickCountSubtract(statstart);
lock (_collisionEventPrim) lock (_collisionEventPrim)
{ {
@ -1813,38 +1822,39 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
// do a ode simulation step
d.WorldQuickStep(world, ODE_STEPSIZE); d.WorldQuickStep(world, ODE_STEPSIZE);
statstep += Util.EnvironmentTickCountSubtract(statstart); d.JointGroupEmpty(contactgroup);
// Move characters // update managed ideia of physical data and do updates to core
lock (_characters) /*
lock (_characters)
{
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
{
if (actor.bad)
m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
actor.UpdatePositionAndVelocity();
}
}
}
*/
lock (_activegroups)
{ {
List<OdeCharacter> defects = new List<OdeCharacter>();
foreach (OdeCharacter actor in _characters)
{ {
if (actor != null) foreach (OdePrim actor in _activegroups)
actor.Move(ODE_STEPSIZE, defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter defect in defects)
{ {
RemoveCharacter(defect); if (actor.IsPhysical)
{
actor.UpdatePositionAndVelocity();
}
} }
} }
} }
statchmove += Util.EnvironmentTickCountSubtract(statstart);
// Move other active objects
lock (_activegroups)
{
foreach (OdePrim aprim in _activegroups)
{
aprim.Move();
}
}
//ode.dunlock(world);
} }
catch (Exception e) catch (Exception e)
{ {
@ -1852,32 +1862,11 @@ namespace OpenSim.Region.Physics.OdePlugin
// ode.dunlock(world); // ode.dunlock(world);
} }
d.JointGroupEmpty(contactgroup);
totjcontact += m_global_contactcount;
step_time -= ODE_STEPSIZE; step_time -= ODE_STEPSIZE;
nodeframes++; nodeframes++;
} }
statstart = Util.EnvironmentTickCount();
/*
// now included in characters move() and done at ode rate
// maybe be needed later if we need to do any extra work at hearbeat rate
lock (_characters)
{
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
{
if (actor.bad)
m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
actor.UpdatePositionAndVelocity();
}
}
}
*/
lock (_badCharacter) lock (_badCharacter)
{ {
if (_badCharacter.Count > 0) if (_badCharacter.Count > 0)
@ -1890,22 +1879,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_badCharacter.Clear(); _badCharacter.Clear();
} }
} }
statmovchar = Util.EnvironmentTickCountSubtract(statstart);
lock (_activegroups)
{
{
foreach (OdePrim actor in _activegroups)
{
if (actor.IsPhysical)
{
actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
}
}
}
}
statmovprim = Util.EnvironmentTickCountSubtract(statstart);
int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);