refactor: Simplify ODEPrim.AddChildPrim() by returning early where appropriate.
Justin Clark-Casey (justincc)
parent
77a7de87e1
commit
f609594595
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@ -1042,142 +1042,144 @@ Console.WriteLine("ZProcessTaints for " + Name);
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/// <param name="prim">Child prim</param>
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private void AddChildPrim(OdePrim prim)
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{
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//Console.WriteLine("AddChildPrim " + Name);
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if (LocalID != prim.LocalID)
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if (LocalID == prim.LocalID)
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return;
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if (Body == IntPtr.Zero)
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{
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if (Body == IntPtr.Zero)
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{
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Body = d.BodyCreate(_parent_scene.world);
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setMass();
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}
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if (Body != IntPtr.Zero)
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{
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lock (childrenPrim)
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{
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if (!childrenPrim.Contains(prim))
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{
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Body = d.BodyCreate(_parent_scene.world);
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setMass();
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}
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lock (childrenPrim)
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{
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if (childrenPrim.Contains(prim))
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return;
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//Console.WriteLine("childrenPrim.Add " + prim);
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childrenPrim.Add(prim);
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foreach (OdePrim prm in childrenPrim)
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{
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d.Mass m2;
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d.MassSetZero(out m2);
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d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
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childrenPrim.Add(prim);
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d.Quaternion quat = new d.Quaternion();
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quat.W = prm._orientation.W;
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quat.X = prm._orientation.X;
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quat.Y = prm._orientation.Y;
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quat.Z = prm._orientation.Z;
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foreach (OdePrim prm in childrenPrim)
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{
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d.Mass m2;
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d.MassSetZero(out m2);
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d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
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d.Matrix3 mat = new d.Matrix3();
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d.RfromQ(out mat, ref quat);
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d.MassRotate(ref m2, ref mat);
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d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
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d.MassAdd(ref pMass, ref m2);
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}
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foreach (OdePrim prm in childrenPrim)
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{
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prm.m_collisionCategories |= CollisionCategories.Body;
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prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
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d.Quaternion quat = new d.Quaternion();
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quat.W = prm._orientation.W;
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quat.X = prm._orientation.X;
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quat.Y = prm._orientation.Y;
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quat.Z = prm._orientation.Z;
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d.Matrix3 mat = new d.Matrix3();
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d.RfromQ(out mat, ref quat);
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d.MassRotate(ref m2, ref mat);
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d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
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d.MassAdd(ref pMass, ref m2);
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}
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foreach (OdePrim prm in childrenPrim)
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{
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prm.m_collisionCategories |= CollisionCategories.Body;
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prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
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//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
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d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
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d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
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d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
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d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
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d.Quaternion quat = new d.Quaternion();
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quat.W = prm._orientation.W;
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quat.X = prm._orientation.X;
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quat.Y = prm._orientation.Y;
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quat.Z = prm._orientation.Z;
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d.Quaternion quat = new d.Quaternion();
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quat.W = prm._orientation.W;
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quat.X = prm._orientation.X;
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quat.Y = prm._orientation.Y;
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quat.Z = prm._orientation.Z;
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d.Matrix3 mat = new d.Matrix3();
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d.RfromQ(out mat, ref quat);
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if (Body != IntPtr.Zero)
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{
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d.GeomSetBody(prm.prim_geom, Body);
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prm.childPrim = true;
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d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
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//d.GeomSetOffsetPosition(prim.prim_geom,
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// (Position.X - prm.Position.X) - pMass.c.X,
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// (Position.Y - prm.Position.Y) - pMass.c.Y,
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// (Position.Z - prm.Position.Z) - pMass.c.Z);
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d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
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//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
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d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
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d.BodySetMass(Body, ref pMass);
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}
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else
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{
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m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
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}
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d.Matrix3 mat = new d.Matrix3();
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d.RfromQ(out mat, ref quat);
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if (Body != IntPtr.Zero)
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{
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d.GeomSetBody(prm.prim_geom, Body);
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prm.childPrim = true;
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d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
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//d.GeomSetOffsetPosition(prim.prim_geom,
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// (Position.X - prm.Position.X) - pMass.c.X,
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// (Position.Y - prm.Position.Y) - pMass.c.Y,
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// (Position.Z - prm.Position.Z) - pMass.c.Z);
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d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
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//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
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d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
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d.BodySetMass(Body, ref pMass);
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}
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else
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{
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m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
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}
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prm.m_interpenetrationcount = 0;
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prm.m_collisionscore = 0;
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prm.m_disabled = false;
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prm.m_interpenetrationcount = 0;
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prm.m_collisionscore = 0;
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prm.m_disabled = false;
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// The body doesn't already have a finite rotation mode set here
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if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
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{
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prm.createAMotor(m_angularlock);
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}
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prm.Body = Body;
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_parent_scene.ActivatePrim(prm);
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}
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// The body doesn't already have a finite rotation mode set here
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if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
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{
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prm.createAMotor(m_angularlock);
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}
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prm.Body = Body;
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_parent_scene.ActivatePrim(prm);
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}
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m_collisionCategories |= CollisionCategories.Body;
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m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
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m_collisionCategories |= CollisionCategories.Body;
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m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
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//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
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d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
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d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
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//Console.WriteLine(" Post GeomSetCategoryBits 2");
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d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
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d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
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d.Quaternion quat2 = new d.Quaternion();
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quat2.W = _orientation.W;
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quat2.X = _orientation.X;
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quat2.Y = _orientation.Y;
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quat2.Z = _orientation.Z;
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d.Quaternion quat2 = new d.Quaternion();
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quat2.W = _orientation.W;
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quat2.X = _orientation.X;
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quat2.Y = _orientation.Y;
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quat2.Z = _orientation.Z;
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d.Matrix3 mat2 = new d.Matrix3();
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d.RfromQ(out mat2, ref quat2);
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d.GeomSetBody(prim_geom, Body);
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d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
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//d.GeomSetOffsetPosition(prim.prim_geom,
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// (Position.X - prm.Position.X) - pMass.c.X,
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// (Position.Y - prm.Position.Y) - pMass.c.Y,
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// (Position.Z - prm.Position.Z) - pMass.c.Z);
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//d.GeomSetOffsetRotation(prim_geom, ref mat2);
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d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
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d.BodySetMass(Body, ref pMass);
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d.Matrix3 mat2 = new d.Matrix3();
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d.RfromQ(out mat2, ref quat2);
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d.GeomSetBody(prim_geom, Body);
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d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
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//d.GeomSetOffsetPosition(prim.prim_geom,
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// (Position.X - prm.Position.X) - pMass.c.X,
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// (Position.Y - prm.Position.Y) - pMass.c.Y,
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// (Position.Z - prm.Position.Z) - pMass.c.Z);
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//d.GeomSetOffsetRotation(prim_geom, ref mat2);
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d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
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d.BodySetMass(Body, ref pMass);
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d.BodySetAutoDisableFlag(Body, true);
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d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
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d.BodySetAutoDisableFlag(Body, true);
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d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
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m_interpenetrationcount = 0;
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m_collisionscore = 0;
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m_disabled = false;
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m_interpenetrationcount = 0;
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m_collisionscore = 0;
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m_disabled = false;
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// The body doesn't already have a finite rotation mode set here
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if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
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{
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createAMotor(m_angularlock);
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}
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d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
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if (m_vehicle.Type != Vehicle.TYPE_NONE)
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m_vehicle.Enable(Body, _parent_scene);
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_parent_scene.ActivatePrim(this);
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}
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}
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// The body doesn't already have a finite rotation mode set here
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if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
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{
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createAMotor(m_angularlock);
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}
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d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
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if (m_vehicle.Type != Vehicle.TYPE_NONE)
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m_vehicle.Enable(Body, _parent_scene);
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_parent_scene.ActivatePrim(this);
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}
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}
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private void ChildSetGeom(OdePrim odePrim)
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{
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// m_log.DebugFormat(
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// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);
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//if (IsPhysical && Body != IntPtr.Zero)
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lock (childrenPrim)
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{
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