ubitODE - several changes...
UbitUmarov
parent
26fd1e3a0c
commit
e0f81e2400
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@ -686,6 +686,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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Body = d.BodyCreate(_parent_scene.world);
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_zeroFlag = false;
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m_pidControllerActive = true;
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d.BodySetAutoDisableFlag(Body, false);
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d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
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@ -98,10 +98,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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private Vector3 m_forceacc;
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private Vector3 m_angularForceacc;
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private float m_invTimeStep = 50.0f;
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private float m_timeStep = .02f;
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private Vector3 m_PIDTarget;
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private float m_PIDTau;
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private float PID_D = 35f;
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private float PID_G = 25f;
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private bool m_usePID;
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// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
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@ -632,7 +634,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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Vector3 pv = Vector3.Zero;
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if (_zeroFlag)
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return pv;
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m_lastUpdateSent = false;
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if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
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return pv;
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@ -686,12 +687,50 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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public override bool PIDActive { set { m_usePID = value; } }
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public override float PIDTau { set { m_PIDTau = value; } }
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public override float PIDTau
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{
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set
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{
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if (value <= 0)
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m_PIDTau = 0;
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else
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{
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float mint = (0.05f > _parent_scene.ODE_STEPSIZE ? 0.05f : _parent_scene.ODE_STEPSIZE);
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if (value < mint)
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m_PIDTau = mint;
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else
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m_PIDTau = value;
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}
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}
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}
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public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
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public override float PIDHoverHeight
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{
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set
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{
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m_PIDHoverHeight = value;
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if (value == 0)
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m_useHoverPID = false;
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}
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}
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public override bool PIDHoverActive { set { m_useHoverPID = value; } }
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public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
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public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
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public override float PIDHoverTau
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{
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set
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{
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if (value <= 0)
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m_PIDHoverTau = 0;
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else
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{
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float mint = (0.05f > _parent_scene.ODE_STEPSIZE ? 0.05f : _parent_scene.ODE_STEPSIZE);
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if (value < mint)
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m_PIDHoverTau = mint;
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else
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m_PIDHoverTau = value;
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}
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}
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}
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public override Quaternion APIDTarget { set { return; } }
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@ -912,8 +951,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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_position = pos;
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givefakepos = 0;
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PID_D = parent_scene.bodyPIDD;
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PID_G = parent_scene.bodyPIDG;
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m_timeStep = parent_scene.ODE_STEPSIZE;
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m_invTimeStep = 1f / m_timeStep;
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m_density = parent_scene.geomDefaultDensity;
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// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
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body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
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@ -2696,12 +2736,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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private void DoSelectedStatus(bool newval)
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{
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if (m_isSelected == newval)
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{
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resetCollisionAccounting();
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return;
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}
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m_isSelected = newval;
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Stop();
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@ -2970,7 +3004,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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givefakeori--;
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if (givefakeori < 0)
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givefakeori = 0;
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resetCollisionAccounting();
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}
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@ -3125,9 +3158,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodyEnable(Body);
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}
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private void changeAddForce(Vector3 force)
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private void changeAddImpulse(Vector3 impulse)
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{
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m_forceacc += force;
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m_forceacc += impulse * m_invTimeStep;
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if (!m_isSelected)
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{
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lock (this)
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@ -3146,9 +3180,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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private void changeAddAngularForce(Vector3 aforce)
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// actually angular impulse
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private void changeAddAngularImpulse(Vector3 aimpulse)
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{
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m_angularForceacc += aforce;
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m_angularForceacc += aimpulse * m_invTimeStep;
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if (!m_isSelected)
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{
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lock (this)
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@ -3271,9 +3306,18 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
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!m_disabled && !m_isSelected && !m_building && !m_outbounds)
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{
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if (d.BodyIsEnabled(Body))
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if (!d.BodyIsEnabled(Body))
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{
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float timestep = _parent_scene.ODE_STEPSIZE;
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// let vehicles sleep
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if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
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return;
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if (++bodydisablecontrol < 20)
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return;
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bodydisablecontrol = 0;
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d.BodyEnable(Body);
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}
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// check outside region
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d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
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@ -3302,7 +3346,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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base.RequestPhysicsterseUpdate();
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m_throttleUpdates = false;
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throttleCounter = 0;
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_zeroFlag = true;
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@ -3359,156 +3402,109 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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// 'VEHICLES' are dealt with in ODEDynamics.cs
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m_vehicle.Step();
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return;
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}
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else
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{
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float fx = 0;
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float fy = 0;
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float fz = 0;
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float m_mass = _mass;
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// fz = 0f;
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//m_log.Info(m_collisionFlags.ToString());
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if (m_usePID)
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if (m_usePID && m_PIDTau > 0)
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{
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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_PIDTau < 1) && (m_PIDTau != 0))
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{
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//PID_G = PID_G / m_PIDTau;
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m_PIDTau = 1;
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}
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if ((PID_G - m_PIDTau) <= 0)
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{
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PID_G = m_PIDTau + 1;
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}
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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d.Vector3 pos = d.BodyGetPosition(Body);
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// for now position error
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_target_velocity =
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new Vector3(
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(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
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(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
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(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
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(m_PIDTarget.X - lpos.X),
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(m_PIDTarget.Y - lpos.Y),
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(m_PIDTarget.Z - lpos.Z)
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);
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// if velocity is zero, use position control; otherwise, velocity control
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if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
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if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
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{
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// keep track of where we stopped. No more slippin' & slidin'
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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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//fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
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//fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
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//fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
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d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
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d.BodySetLinearVel(Body, 0, 0, 0);
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// d.BodyAddForce(Body, 0, 0, fz);
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return;
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}
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else
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{
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_zeroFlag = false;
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// We're flying and colliding with something
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fx = ((_target_velocity.X) - vel.X) * (PID_D);
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fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
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float tmp = 1 / m_PIDTau;
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_target_velocity *= tmp;
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// vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
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// apply limits
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tmp = _target_velocity.Length();
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if (tmp > 50.0f)
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{
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tmp = 50 / tmp;
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_target_velocity *= tmp;
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}
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else if (tmp < 0.05f)
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{
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tmp = 0.05f / tmp;
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_target_velocity *= tmp;
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}
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fz = ((_target_velocity.Z - vel.Z) * (PID_D));
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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fx = (_target_velocity.X - vel.X) * m_invTimeStep;
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fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
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fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
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}
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} // end if (m_usePID)
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// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
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else if (m_useHoverPID)
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else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
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{
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//Console.WriteLine("Hover " + Name);
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// If we're using the PID controller, then we have no gravity
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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_PIDTau < 1))
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{
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PID_G = PID_G / m_PIDTau;
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}
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if ((PID_G - m_PIDTau) <= 0)
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{
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PID_G = m_PIDTau + 1;
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}
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// Where are we, and where are we headed?
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d.Vector3 pos = d.BodyGetPosition(Body);
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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// Non-Vehicles have a limited set of Hover options.
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// determine what our target height really is based on HoverType
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m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
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switch (m_PIDHoverType)
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{
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case PIDHoverType.Ground:
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m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
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m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
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break;
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case PIDHoverType.GroundAndWater:
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m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
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m_waterHeight = _parent_scene.GetWaterLevel();
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if (m_groundHeight > m_waterHeight)
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{
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if (m_PIDHoverHeight > 0 || m_isVolumeDetect)
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m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
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else
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m_targetHoverHeight = m_groundHeight;
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}
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else
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{
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m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
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}
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break;
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} // end switch (m_PIDHoverType)
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// don't go underground unless volumedetector
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if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
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{
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fz = (m_targetHoverHeight - pos.Z) * (PID_G - m_PIDHoverTau) * timestep;
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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// if velocity is zero, use position control; otherwise, velocity control
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fz = (m_targetHoverHeight - lpos.Z);
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if (Math.Abs(fz) < 0.1f)
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// if error is zero, use position control; otherwise, velocity control
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if (Math.Abs(fz) < 0.01f)
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{
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// keep track of where we stopped. No more slippin' & slidin'
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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.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
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d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
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d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
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// ? d.BodyAddForce(Body, 0, 0, fz);
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return;
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}
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else
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{
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_zeroFlag = false;
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fz /= m_PIDHoverTau;
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// We're flying and colliding with something
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fz = ((fz - vel.Z) * (PID_D));
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float tmp = Math.Abs(fz);
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if (tmp > 50)
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fz = 50 * Math.Sign(fz);
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else if (tmp < 0.1)
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fz = 0.1f * Math.Sign(fz);
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fz = ((fz - vel.Z) * m_invTimeStep);
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}
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}
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}
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@ -3552,51 +3548,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
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}
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}
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// update our ideia of velocities and acelerations
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d.Quaternion ori;
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d.Vector3 dtmpu;
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_position.X = lpos.X;
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_position.Y = lpos.Y;
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_position.Z = lpos.Z;
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d.GeomCopyQuaternion(prim_geom, out ori);
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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_acceleration = _velocity;
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dtmpu = d.BodyGetLinearVel(Body);
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_velocity.X = dtmpu.X;
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_velocity.Y = dtmpu.Y;
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_velocity.Z = dtmpu.Z;
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float invts = 1 / timestep;
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_acceleration = (_velocity - _acceleration) * invts;
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dtmpu = d.BodyGetAngularVel(Body);
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m_rotationalVelocity.X = dtmpu.X;
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m_rotationalVelocity.Y = dtmpu.Y;
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m_rotationalVelocity.Z = dtmpu.Z;
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}
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else // body disabled/sleeping
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{
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// let vehicles sleep
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if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
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return;
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if (++bodydisablecontrol < 20)
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return;
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bodydisablecontrol = 0;
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d.BodyEnable(Body);
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return;
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}
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}
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else
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{ // is not physical, or is not a body or is selected
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// _zeroPosition = d.BodyGetPosition(Body);
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@ -3606,92 +3557,113 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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public void UpdatePositionAndVelocity(float simulatedtime)
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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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if (_parent == null && !m_disabled && !m_building && !m_outbounds)
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if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
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{
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if (Body != IntPtr.Zero)
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if (d.BodyIsEnabled(Body) || !_zeroFlag)
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{
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bool lastZeroFlag = _zeroFlag;
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if ((Math.Abs(m_lastposition.X - _position.X) < 0.01)
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&& (Math.Abs(m_lastposition.Y - _position.Y) < 0.01)
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&& (Math.Abs(m_lastposition.Z - _position.Z) < 0.01)
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&& (Math.Abs(m_lastorientation.X - _orientation.X) < 0.0001)
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&& (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001)
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&& (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)
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d.Vector3 lpos;
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d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
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d.Quaternion ori;
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d.GeomCopyQuaternion(prim_geom, out ori);
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// decide if moving
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// use positions since this are integrated quantities
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// tolerance values depende a lot on simulation noise...
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// use simple math.abs since we dont need to be exact
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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;
|
||||
m_throttleUpdates = false;
|
||||
}
|
||||
else
|
||||
_zeroFlag = 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
|
||||
{
|
||||
_zeroFlag = false;
|
||||
m_lastUpdateSent = false;
|
||||
_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)
|
||||
{
|
||||
m_lastposition = _position;
|
||||
m_lastorientation = _orientation;
|
||||
|
||||
if (lastZeroFlag)
|
||||
{
|
||||
_velocity = Vector3.Zero;
|
||||
_acceleration = Vector3.Zero;
|
||||
m_rotationalVelocity = Vector3.Zero;
|
||||
}
|
||||
|
||||
if (!m_lastUpdateSent)
|
||||
{
|
||||
m_throttleUpdates = false;
|
||||
throttleCounter = 0;
|
||||
|
||||
base.RequestPhysicsterseUpdate();
|
||||
|
||||
if (lastZeroFlag)
|
||||
m_lastUpdateSent = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (lastZeroFlag != _zeroFlag)
|
||||
{
|
||||
base.RequestPhysicsterseUpdate();
|
||||
return;
|
||||
}
|
||||
|
||||
_position.X = lpos.X;
|
||||
_position.Y = lpos.Y;
|
||||
_position.Z = lpos.Z;
|
||||
|
||||
_orientation.X = ori.X;
|
||||
_orientation.Y = ori.Y;
|
||||
_orientation.Z = ori.Z;
|
||||
_orientation.W = ori.W;
|
||||
base.RequestPhysicsterseUpdate();
|
||||
m_lastUpdateSent = false;
|
||||
if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
|
||||
{
|
||||
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;
|
||||
|
||||
if (!m_lastUpdateSent)
|
||||
{
|
||||
m_throttleUpdates = false;
|
||||
throttleCounter = 0;
|
||||
|
||||
base.RequestPhysicsterseUpdate();
|
||||
|
||||
m_lastUpdateSent = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -3849,11 +3821,11 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
break;
|
||||
|
||||
case changes.AddForce:
|
||||
changeAddForce((Vector3)arg);
|
||||
changeAddImpulse((Vector3)arg);
|
||||
break;
|
||||
|
||||
case changes.AddAngForce:
|
||||
changeAddAngularForce((Vector3)arg);
|
||||
changeAddAngularImpulse((Vector3)arg);
|
||||
break;
|
||||
|
||||
case changes.AngLock:
|
||||
|
|
|
|||
|
|
@ -521,7 +521,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.WorldSetAngularDamping(world, 0.001f);
|
||||
d.WorldSetAngularDampingThreshold(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-4f); // a bit harder than default
|
||||
|
|
@ -1685,17 +1685,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
/// <returns></returns>
|
||||
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
|
||||
step_time += timeStep;
|
||||
|
||||
|
|
@ -1738,8 +1727,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
try
|
||||
{
|
||||
statstart = Util.EnvironmentTickCount();
|
||||
|
||||
// clear pointer/counter to contacts to pass into joints
|
||||
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)
|
||||
// randomizeWater(waterlevel);
|
||||
|
||||
m_rayCastManager.ProcessQueuedRequests();
|
||||
|
||||
statray += Util.EnvironmentTickCountSubtract(statstart);
|
||||
collision_optimized();
|
||||
statcol += Util.EnvironmentTickCountSubtract(statstart);
|
||||
|
||||
lock (_collisionEventPrim)
|
||||
{
|
||||
|
|
@ -1813,57 +1822,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
// do a ode simulation step
|
||||
d.WorldQuickStep(world, ODE_STEPSIZE);
|
||||
statstep += 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
statchmove += Util.EnvironmentTickCountSubtract(statstart);
|
||||
|
||||
// Move other active objects
|
||||
lock (_activegroups)
|
||||
{
|
||||
foreach (OdePrim aprim in _activegroups)
|
||||
{
|
||||
aprim.Move();
|
||||
}
|
||||
}
|
||||
|
||||
//ode.dunlock(world);
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
|
||||
// ode.dunlock(world);
|
||||
}
|
||||
|
||||
d.JointGroupEmpty(contactgroup);
|
||||
totjcontact += m_global_contactcount;
|
||||
|
||||
step_time -= ODE_STEPSIZE;
|
||||
nodeframes++;
|
||||
}
|
||||
|
||||
statstart = Util.EnvironmentTickCount();
|
||||
|
||||
// update managed ideia of physical data and do updates to core
|
||||
/*
|
||||
// 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)
|
||||
|
|
@ -1878,6 +1842,31 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
*/
|
||||
|
||||
lock (_activegroups)
|
||||
{
|
||||
{
|
||||
foreach (OdePrim actor in _activegroups)
|
||||
{
|
||||
if (actor.IsPhysical)
|
||||
{
|
||||
actor.UpdatePositionAndVelocity();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
|
||||
// ode.dunlock(world);
|
||||
}
|
||||
|
||||
|
||||
step_time -= ODE_STEPSIZE;
|
||||
nodeframes++;
|
||||
}
|
||||
|
||||
lock (_badCharacter)
|
||||
{
|
||||
if (_badCharacter.Count > 0)
|
||||
|
|
@ -1890,22 +1879,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
_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 nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
|
||||
|
|
|
|||
Loading…
Reference in New Issue