2259 lines
90 KiB
C#
2259 lines
90 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSim Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using System.Threading;
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using System.IO;
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using Axiom.Math;
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using log4net;
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using Nini.Config;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using libsecondlife;
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//using OpenSim.Region.Physics.OdePlugin.Meshing;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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/// ODE plugin
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/// </summary>
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public class OdePlugin : IPhysicsPlugin
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{
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//private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
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private CollisionLocker ode;
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private OdeScene _mScene;
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public OdePlugin()
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{
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ode = new CollisionLocker();
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}
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public bool Init()
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{
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return true;
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}
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public PhysicsScene GetScene()
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{
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if (_mScene == null)
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{
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_mScene = new OdeScene(ode);
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}
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return (_mScene);
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}
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public string GetName()
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{
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return ("OpenDynamicsEngine");
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}
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public void Dispose()
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{
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}
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}
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public enum StatusIndicators : int
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{
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Generic = 0,
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Start = 1,
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End = 2
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}
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public struct sCollisionData
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{
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public uint ColliderLocalId;
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public uint CollidedWithLocalId;
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public int NumberOfCollisions;
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public int CollisionType;
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public int StatusIndicator;
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public int lastframe;
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}
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[Flags]
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public enum CollisionCategories : int
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{
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Disabled = 0,
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Geom = 0x00000001,
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Body = 0x00000002,
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Space = 0x00000004,
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Character = 0x00000008,
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Land = 0x00000010,
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Water = 0x00000020,
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Wind = 0x00000040,
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Sensor = 0x00000080,
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Selected = 0x00000100
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}
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public class OdeScene : PhysicsScene
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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// private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
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CollisionLocker ode;
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protected Random fluidRandomizer = new Random(Environment.TickCount);
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private const uint m_regionWidth = Constants.RegionSize;
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private const uint m_regionHeight = Constants.RegionSize;
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private float ODE_STEPSIZE = 0.020f;
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private float metersInSpace = 29.9f;
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public float gravityx = 0f;
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public float gravityy = 0f;
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public float gravityz = -9.8f;
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private float contactsurfacelayer = 0.001f;
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private int worldHashspaceLow = -4;
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private int worldHashspaceHigh = 128;
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private int smallHashspaceLow = -4;
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private int smallHashspaceHigh = 66;
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private float waterlevel = 0f;
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private int framecount = 0;
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//private int m_returncollisions = 10;
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private IntPtr contactgroup;
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private IntPtr LandGeom;
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private IntPtr WaterGeom;
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private float nmTerrainContactFriction = 255.0f;
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private float nmTerrainContactBounce = 0.1f;
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private float nmTerrainContactERP = 0.1025f;
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private float mTerrainContactFriction = 75f;
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private float mTerrainContactBounce = 0.1f;
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private float mTerrainContactERP = 0.05025f;
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private float nmAvatarObjectContactFriction = 250f;
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private float nmAvatarObjectContactBounce = 0.1f;
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private float mAvatarObjectContactFriction = 75f;
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private float mAvatarObjectContactBounce = 0.1f;
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private float avPIDD = 3200f;
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private float avPIDP = 1400f;
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private float avCapRadius = 0.37f;
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private float avStandupTensor = 2000000f;
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private float avDensity = 80f;
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private float avHeightFudgeFactor = 0.52f;
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private float avMovementDivisorWalk = 1.3f;
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private float avMovementDivisorRun = 0.8f;
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public bool meshSculptedPrim = true;
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public float meshSculptLOD = 32;
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public float MeshSculptphysicalLOD = 16;
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public float geomDefaultDensity = 10.000006836f;
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public int geomContactPointsStartthrottle = 3;
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public int geomUpdatesPerThrottledUpdate = 15;
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public float bodyPIDD = 35f;
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public float bodyPIDG = 25;
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public int geomCrossingFailuresBeforeOutofbounds = 5;
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public float bodyMotorJointMaxforceTensor = 2;
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public int bodyFramesAutoDisable = 20;
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private float[] _heightmap;
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private float[] _watermap;
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// private float[] _origheightmap;
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private d.NearCallback nearCallback;
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public d.TriCallback triCallback;
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public d.TriArrayCallback triArrayCallback;
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private List<OdeCharacter> _characters = new List<OdeCharacter>();
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private List<OdePrim> _prims = new List<OdePrim>();
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private List<OdePrim> _activeprims = new List<OdePrim>();
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private List<OdePrim> _taintedPrim = new List<OdePrim>();
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private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
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public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
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public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
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private d.ContactGeom[] contacts = new d.ContactGeom[80];
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private d.Contact contact;
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private d.Contact TerrainContact;
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private d.Contact AvatarMovementprimContact;
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private d.Contact AvatarMovementTerrainContact;
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private d.Contact WaterContact;
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//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
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//Ckrinke private int m_randomizeWater = 200;
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private int m_physicsiterations = 10;
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private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
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private PhysicsActor PANull = new NullPhysicsActor();
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private float step_time = 0.0f;
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//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
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//Ckrinke private int ms = 0;
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public IntPtr world;
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//private bool returncollisions = false;
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// private uint obj1LocalID = 0;
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private uint obj2LocalID = 0;
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//private int ctype = 0;
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private OdeCharacter cc1;
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private OdePrim cp1;
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private OdeCharacter cc2;
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private OdePrim cp2;
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//private int cStartStop = 0;
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//private string cDictKey = "";
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public IntPtr space;
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//private IntPtr tmpSpace;
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// split static geometry collision handling into spaces of 30 meters
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public IntPtr[,] staticPrimspace;
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public static Object OdeLock = new Object();
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public IMesher mesher;
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private IConfigSource m_config;
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public bool physics_logging = false;
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public int physics_logging_interval = 0;
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public bool physics_logging_append_existing_logfile = false;
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/// <summary>
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/// Initiailizes the scene
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/// Sets many properties that ODE requires to be stable
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/// These settings need to be tweaked 'exactly' right or weird stuff happens.
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/// </summary>
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public OdeScene(CollisionLocker dode)
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{
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ode = dode;
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nearCallback = near;
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triCallback = TriCallback;
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triArrayCallback = TriArrayCallback;
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lock (OdeLock)
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{
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// Create the world and the first space
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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contactgroup = d.JointGroupCreate(0);
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//contactgroup
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d.WorldSetAutoDisableFlag(world, false);
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}
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// zero out a heightmap array float array (single dimention [flattened]))
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_heightmap = new float[514*514];
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_watermap = new float[258 * 258];
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// Zero out the prim spaces array (we split our space into smaller spaces so
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// we can hit test less.
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}
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// Initialize the mesh plugin
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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{
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mesher = meshmerizer;
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m_config = config;
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// Defaults
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if (Environment.OSVersion.Platform == PlatformID.Unix)
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{
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avPIDD = 3200.0f;
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avPIDP = 1400.0f;
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avStandupTensor = 2000000f;
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}
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else
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{
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avPIDD = 2200.0f;
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avPIDP = 900.0f;
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avStandupTensor = 550000f;
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}
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if (m_config != null)
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{
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IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
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if (physicsconfig != null)
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{
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gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
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gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
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gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
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worldHashspaceLow = physicsconfig.GetInt("world_hashspace_low", -4);
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worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_high", 128);
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metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
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smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
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smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
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contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
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nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
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nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
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nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
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mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
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mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.1f);
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mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
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nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
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nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
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mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
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mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
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ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
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m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
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avDensity = physicsconfig.GetFloat("av_density", 80f);
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avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
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avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
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avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
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avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
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geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
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geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
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geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_faiures_before_outofbounds", 5);
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geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
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bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
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bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
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bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
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meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
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meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
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MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
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if (Environment.OSVersion.Platform == PlatformID.Unix)
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{
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avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 3200.0f);
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avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 1400.0f);
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avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 2000000f);
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bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 2f);
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}
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else
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{
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avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
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avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
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avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
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bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
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}
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physics_logging = physicsconfig.GetBoolean("physics_logging", false);
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physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
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physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
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}
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}
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staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
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// Centeral contact friction and bounce
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contact.surface.mu = nmAvatarObjectContactFriction;
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contact.surface.bounce = nmAvatarObjectContactBounce;
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// Terrain contact friction and Bounce
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// This is the *non* moving version. Use this when an avatar
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// isn't moving to keep it in place better
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TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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TerrainContact.surface.mu = nmTerrainContactFriction;
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TerrainContact.surface.bounce = nmTerrainContactBounce;
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TerrainContact.surface.soft_erp = nmTerrainContactERP;
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WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
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WaterContact.surface.mu = 0f; // No friction
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WaterContact.surface.bounce = 0.0f; // No bounce
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WaterContact.surface.soft_cfm = 0.01f;
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WaterContact.surface.soft_erp = 0.010f;
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// Prim contact friction and bounce
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// THis is the *non* moving version of friction and bounce
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// Use this when an avatar comes in contact with a prim
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// and is moving
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AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
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AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
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// Terrain contact friction bounce and various error correcting calculations
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// Use this when an avatar is in contact with the terrain and moving.
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AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
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AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
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AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
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d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
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// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
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d.WorldSetGravity(world, gravityx, gravityy, gravityz);
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d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
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// Set how many steps we go without running collision testing
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// This is in addition to the step size.
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// Essentially Steps * m_physicsiterations
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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//d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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for (int i = 0; i < staticPrimspace.GetLength(0); i++)
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{
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for (int j = 0; j < staticPrimspace.GetLength(1); j++)
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{
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staticPrimspace[i, j] = IntPtr.Zero;
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}
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}
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}
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internal void waitForSpaceUnlock(IntPtr space)
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{
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//if (space != IntPtr.Zero)
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//while (d.SpaceLockQuery(space)) { } // Wait and do nothing
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}
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/// <summary>
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/// Debug space message for printing the space that a prim/avatar is in.
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/// </summary>
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/// <param name="pos"></param>
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/// <returns>Returns which split up space the given position is in.</returns>
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public string whichspaceamIin(PhysicsVector pos)
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{
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return calculateSpaceForGeom(pos).ToString();
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}
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#region Collision Detection
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/// <summary>
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/// This is our near callback. A geometry is near a body
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/// </summary>
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/// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
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/// <param name="g1">a geometry or space</param>
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/// <param name="g2">another geometry or space</param>
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private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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// no lock here! It's invoked from within Simulate(), which is thread-locked
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// Test if we're colliding a geom with a space.
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// If so we have to drill down into the space recursively
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if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
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{
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if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
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return;
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// Separating static prim geometry spaces.
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// We'll be calling near recursivly if one
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// of them is a space to find all of the
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// contact points in the space
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try
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{
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d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
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}
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catch (AccessViolationException)
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{
|
|
m_log.Warn("[PHYSICS]: Unable to collide test a space");
|
|
return;
|
|
}
|
|
//Colliding a space or a geom with a space or a geom. so drill down
|
|
|
|
//Collide all geoms in each space..
|
|
//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
|
|
//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
|
|
return;
|
|
}
|
|
|
|
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
|
|
return;
|
|
|
|
IntPtr b1 = d.GeomGetBody(g1);
|
|
IntPtr b2 = d.GeomGetBody(g2);
|
|
|
|
// d.GeomClassID id = d.GeomGetClass(g1);
|
|
|
|
String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(g1, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
if (!geom_name_map.TryGetValue(g2, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
//if (id == d.GeomClassId.TriMeshClass)
|
|
//{
|
|
// m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
//}
|
|
|
|
// Figure out how many contact points we have
|
|
int count = 0;
|
|
try
|
|
{
|
|
// Colliding Geom To Geom
|
|
// This portion of the function 'was' blatantly ripped off from BoxStack.cs
|
|
|
|
if (g1 == g2)
|
|
return; // Can't collide with yourself
|
|
|
|
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
|
|
return;
|
|
|
|
lock (contacts)
|
|
{
|
|
count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
|
|
}
|
|
}
|
|
catch (SEHException)
|
|
{
|
|
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
|
|
ode.drelease(world);
|
|
base.TriggerPhysicsBasedRestart();
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
|
|
m_log.Warn("[PHYSICS]: Unable to collide test an object");
|
|
return;
|
|
}
|
|
|
|
PhysicsActor p1;
|
|
PhysicsActor p2;
|
|
|
|
if (!actor_name_map.TryGetValue(g1, out p1))
|
|
{
|
|
p1 = PANull;
|
|
}
|
|
|
|
if (!actor_name_map.TryGetValue(g2, out p2))
|
|
{
|
|
p2 = PANull;
|
|
}
|
|
|
|
float max_collision_depth = 0f;
|
|
if (p1.CollisionScore + count >= float.MaxValue)
|
|
p1.CollisionScore = 0;
|
|
p1.CollisionScore += count;
|
|
|
|
if (p2.CollisionScore + count >= float.MaxValue)
|
|
p2.CollisionScore = 0;
|
|
p2.CollisionScore += count;
|
|
|
|
for (int i = 0; i < count; i++)
|
|
{
|
|
max_collision_depth = (contacts[i].depth > max_collision_depth) ? contacts[i].depth : max_collision_depth;
|
|
//m_log.Warn("[CCOUNT]: " + count);
|
|
IntPtr joint;
|
|
// If we're colliding with terrain, use 'TerrainContact' instead of contact.
|
|
// allows us to have different settings
|
|
|
|
// We only need to test p2 for 'jump crouch purposes'
|
|
p2.IsColliding = true;
|
|
|
|
//if ((framecount % m_returncollisions) == 0)
|
|
|
|
switch (p1.PhysicsActorType)
|
|
{
|
|
case (int)ActorTypes.Agent:
|
|
p2.CollidingObj = true;
|
|
break;
|
|
case (int)ActorTypes.Prim:
|
|
if (p2.Velocity.X > 0 || p2.Velocity.Y > 0 || p2.Velocity.Z > 0)
|
|
p2.CollidingObj = true;
|
|
break;
|
|
case (int)ActorTypes.Unknown:
|
|
p2.CollidingGround = true;
|
|
break;
|
|
default:
|
|
p2.CollidingGround = true;
|
|
break;
|
|
}
|
|
|
|
|
|
// we don't want prim or avatar to explode
|
|
|
|
#region InterPenetration Handling - Unintended physics explosions
|
|
|
|
if (contacts[i].depth >= 0.08f)
|
|
{
|
|
//This is disabled at the moment only because it needs more tweaking
|
|
//It will eventually be uncommented
|
|
|
|
if (contacts[i].depth >= 1.00f)
|
|
{
|
|
//m_log.Debug("[PHYSICS]: " + contacts[i].depth.ToString());
|
|
}
|
|
|
|
//If you interpenetrate a prim with an agent
|
|
if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
|
|
p1.PhysicsActorType == (int) ActorTypes.Prim) ||
|
|
(p1.PhysicsActorType == (int) ActorTypes.Agent &&
|
|
p2.PhysicsActorType == (int) ActorTypes.Prim))
|
|
{
|
|
# region disabled code1
|
|
//contacts[i].depth = contacts[i].depth * 4.15f;
|
|
/*
|
|
if (p2.PhysicsActorType == (int) ActorTypes.Agent)
|
|
{
|
|
p2.CollidingObj = true;
|
|
contacts[i].depth = 0.003f;
|
|
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
|
|
OdeCharacter character = (OdeCharacter) p2;
|
|
character.SetPidStatus(true);
|
|
contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p1.Size.X / 2), contacts[i].pos.Y + (p1.Size.Y / 2), contacts[i].pos.Z + (p1.Size.Z / 2));
|
|
|
|
}
|
|
else
|
|
{
|
|
|
|
//contacts[i].depth = 0.0000000f;
|
|
}
|
|
if (p1.PhysicsActorType == (int) ActorTypes.Agent)
|
|
{
|
|
|
|
p1.CollidingObj = true;
|
|
contacts[i].depth = 0.003f;
|
|
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
|
|
contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p2.Size.X / 2), contacts[i].pos.Y + (p2.Size.Y / 2), contacts[i].pos.Z + (p2.Size.Z / 2));
|
|
OdeCharacter character = (OdeCharacter)p1;
|
|
character.SetPidStatus(true);
|
|
}
|
|
else
|
|
{
|
|
|
|
//contacts[i].depth = 0.0000000f;
|
|
}
|
|
*/
|
|
#endregion
|
|
}
|
|
|
|
// If you interpenetrate a prim with another prim
|
|
if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
|
|
{
|
|
#region disabledcode2
|
|
//OdePrim op1 = (OdePrim)p1;
|
|
//OdePrim op2 = (OdePrim)p2;
|
|
//op1.m_collisionscore++;
|
|
//op2.m_collisionscore++;
|
|
|
|
//if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
|
|
//{
|
|
//op1.m_taintdisable = true;
|
|
//AddPhysicsActorTaint(p1);
|
|
//op2.m_taintdisable = true;
|
|
//AddPhysicsActorTaint(p2);
|
|
//}
|
|
|
|
//if (contacts[i].depth >= 0.25f)
|
|
//{
|
|
// Don't collide, one or both prim will expld.
|
|
|
|
//op1.m_interpenetrationcount++;
|
|
//op2.m_interpenetrationcount++;
|
|
//interpenetrations_before_disable = 200;
|
|
//if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
|
|
//{
|
|
//op1.m_taintdisable = true;
|
|
//AddPhysicsActorTaint(p1);
|
|
//}
|
|
//if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
|
|
//{
|
|
// op2.m_taintdisable = true;
|
|
//AddPhysicsActorTaint(p2);
|
|
//}
|
|
|
|
//contacts[i].depth = contacts[i].depth / 8f;
|
|
//contacts[i].normal = new d.Vector3(0, 0, 1);
|
|
//}
|
|
//if (op1.m_disabled || op2.m_disabled)
|
|
//{
|
|
//Manually disabled objects stay disabled
|
|
//contacts[i].depth = 0f;
|
|
//}
|
|
#endregion
|
|
}
|
|
|
|
if (contacts[i].depth >= 1.00f)
|
|
{
|
|
//m_log.Info("[P]: " + contacts[i].depth.ToString());
|
|
if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
|
|
p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
|
|
(p1.PhysicsActorType == (int) ActorTypes.Agent &&
|
|
p2.PhysicsActorType == (int) ActorTypes.Unknown))
|
|
{
|
|
if (p2.PhysicsActorType == (int) ActorTypes.Agent)
|
|
{
|
|
OdeCharacter character = (OdeCharacter) p2;
|
|
|
|
//p2.CollidingObj = true;
|
|
contacts[i].depth = 0.00000003f;
|
|
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
|
|
contacts[i].pos =
|
|
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
|
|
contacts[i].pos.Y + (p1.Size.Y/2),
|
|
contacts[i].pos.Z + (p1.Size.Z/2));
|
|
character.SetPidStatus(true);
|
|
}
|
|
else
|
|
{
|
|
}
|
|
|
|
if (p1.PhysicsActorType == (int) ActorTypes.Agent)
|
|
{
|
|
OdeCharacter character = (OdeCharacter)p1;
|
|
|
|
//p2.CollidingObj = true;
|
|
contacts[i].depth = 0.00000003f;
|
|
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
|
|
contacts[i].pos =
|
|
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
|
|
contacts[i].pos.Y + (p1.Size.Y/2),
|
|
contacts[i].pos.Z + (p1.Size.Z/2));
|
|
character.SetPidStatus(true);
|
|
}
|
|
else
|
|
{
|
|
//contacts[i].depth = 0.0000000f;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
|
|
if (contacts[i].depth >= 0f)
|
|
{
|
|
// If we're colliding against terrain
|
|
if (name1 == "Terrain" || name2 == "Terrain")
|
|
{
|
|
// If we're moving
|
|
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
|
|
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
|
|
{
|
|
// Use the movement terrain contact
|
|
AvatarMovementTerrainContact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
|
|
}
|
|
else
|
|
{
|
|
// Use the non moving terrain contact
|
|
TerrainContact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
|
|
}
|
|
}
|
|
else if (name1 == "Water" || name2 == "Water")
|
|
{
|
|
if ((p2.PhysicsActorType == (int)ActorTypes.Prim))
|
|
{
|
|
}
|
|
else
|
|
{
|
|
}
|
|
|
|
//WaterContact.surface.soft_cfm = 0.0000f;
|
|
//WaterContact.surface.soft_erp = 0.00000f;
|
|
if (contacts[i].depth > 0.1f)
|
|
{
|
|
contacts[i].depth *= 52;
|
|
//contacts[i].normal = new d.Vector3(0, 0, 1);
|
|
//contacts[i].pos = new d.Vector3(0, 0, contacts[i].pos.Z - 5f);
|
|
}
|
|
WaterContact.geom = contacts[i];
|
|
|
|
joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
|
|
|
|
//m_log.Info("[PHYSICS]: Prim Water Contact" + contacts[i].depth);
|
|
}
|
|
else
|
|
{
|
|
// we're colliding with prim or avatar
|
|
|
|
// check if we're moving
|
|
if ((p2.PhysicsActorType == (int)ActorTypes.Agent) &&
|
|
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
|
|
{
|
|
// Use the Movement prim contact
|
|
AvatarMovementprimContact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
|
|
}
|
|
else
|
|
{
|
|
// Use the non movement contact
|
|
contact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref contact);
|
|
}
|
|
}
|
|
d.JointAttach(joint, b1, b2);
|
|
}
|
|
collision_accounting_events(p1, p2, max_collision_depth);
|
|
if (count > geomContactPointsStartthrottle)
|
|
{
|
|
// If there are more then 3 contact points, it's likely
|
|
// that we've got a pile of objects
|
|
//
|
|
// We don't want to send out hundreds of terse updates over and over again
|
|
// so lets throttle them and send them again after it's somewhat sorted out.
|
|
p2.ThrottleUpdates = true;
|
|
}
|
|
//System.Console.WriteLine(count.ToString());
|
|
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
}
|
|
}
|
|
|
|
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, float collisiondepth)
|
|
{
|
|
// obj1LocalID = 0;
|
|
//returncollisions = false;
|
|
obj2LocalID = 0;
|
|
//ctype = 0;
|
|
//cStartStop = 0;
|
|
if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
|
|
return;
|
|
|
|
switch ((ActorTypes)p2.PhysicsActorType)
|
|
{
|
|
case ActorTypes.Agent:
|
|
cc2 = (OdeCharacter)p2;
|
|
|
|
// obj1LocalID = cc2.m_localID;
|
|
switch ((ActorTypes)p1.PhysicsActorType)
|
|
{
|
|
case ActorTypes.Agent:
|
|
cc1 = (OdeCharacter)p1;
|
|
obj2LocalID = cc1.m_localID;
|
|
cc1.AddCollisionEvent(cc2.m_localID, collisiondepth);
|
|
//ctype = (int)CollisionCategories.Character;
|
|
|
|
//if (cc1.CollidingObj)
|
|
//cStartStop = (int)StatusIndicators.Generic;
|
|
//else
|
|
//cStartStop = (int)StatusIndicators.Start;
|
|
|
|
//returncollisions = true;
|
|
break;
|
|
case ActorTypes.Prim:
|
|
cp1 = (OdePrim)p1;
|
|
obj2LocalID = cp1.m_localID;
|
|
cp1.AddCollisionEvent(cc2.m_localID, collisiondepth);
|
|
//ctype = (int)CollisionCategories.Geom;
|
|
|
|
//if (cp1.CollidingObj)
|
|
//cStartStop = (int)StatusIndicators.Generic;
|
|
//else
|
|
//cStartStop = (int)StatusIndicators.Start;
|
|
|
|
//returncollisions = true;
|
|
break;
|
|
|
|
case ActorTypes.Ground:
|
|
case ActorTypes.Unknown:
|
|
obj2LocalID = 0;
|
|
//ctype = (int)CollisionCategories.Land;
|
|
//returncollisions = true;
|
|
break;
|
|
}
|
|
|
|
cc2.AddCollisionEvent(obj2LocalID, collisiondepth);
|
|
break;
|
|
case ActorTypes.Prim:
|
|
cp2 = (OdePrim)p2;
|
|
|
|
// obj1LocalID = cp2.m_localID;
|
|
switch ((ActorTypes)p1.PhysicsActorType)
|
|
{
|
|
case ActorTypes.Agent:
|
|
cc1 = (OdeCharacter)p1;
|
|
obj2LocalID = cc1.m_localID;
|
|
cc1.AddCollisionEvent(cp2.m_localID, collisiondepth);
|
|
//ctype = (int)CollisionCategories.Character;
|
|
|
|
//if (cc1.CollidingObj)
|
|
//cStartStop = (int)StatusIndicators.Generic;
|
|
//else
|
|
//cStartStop = (int)StatusIndicators.Start;
|
|
//returncollisions = true;
|
|
|
|
break;
|
|
case ActorTypes.Prim:
|
|
cp1 = (OdePrim)p1;
|
|
obj2LocalID = cp1.m_localID;
|
|
cp1.AddCollisionEvent(cp2.m_localID, collisiondepth);
|
|
//ctype = (int)CollisionCategories.Geom;
|
|
|
|
//if (cp1.CollidingObj)
|
|
//cStartStop = (int)StatusIndicators.Generic;
|
|
//else
|
|
//cStartStop = (int)StatusIndicators.Start;
|
|
|
|
//returncollisions = true;
|
|
break;
|
|
|
|
case ActorTypes.Ground:
|
|
case ActorTypes.Unknown:
|
|
obj2LocalID = 0;
|
|
//ctype = (int)CollisionCategories.Land;
|
|
|
|
//returncollisions = true;
|
|
break;
|
|
}
|
|
|
|
cp2.AddCollisionEvent(obj2LocalID, collisiondepth);
|
|
break;
|
|
}
|
|
//if (returncollisions)
|
|
//{
|
|
|
|
//lock (m_storedCollisions)
|
|
//{
|
|
//cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
|
|
//if (m_storedCollisions.ContainsKey(cDictKey))
|
|
//{
|
|
//sCollisionData objd = m_storedCollisions[cDictKey];
|
|
//objd.NumberOfCollisions += 1;
|
|
//objd.lastframe = framecount;
|
|
//m_storedCollisions[cDictKey] = objd;
|
|
//}
|
|
//else
|
|
//{
|
|
//sCollisionData objd = new sCollisionData();
|
|
//objd.ColliderLocalId = obj1LocalID;
|
|
//objd.CollidedWithLocalId = obj2LocalID;
|
|
//objd.CollisionType = ctype;
|
|
//objd.NumberOfCollisions = 1;
|
|
//objd.lastframe = framecount;
|
|
//objd.StatusIndicator = cStartStop;
|
|
//m_storedCollisions.Add(cDictKey, objd);
|
|
//}
|
|
//}
|
|
// }
|
|
}
|
|
|
|
public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
|
|
{
|
|
/* String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
if (!geom_name_map.TryGetValue(refObject, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
*/
|
|
return 1;
|
|
}
|
|
|
|
public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
|
|
{
|
|
String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
|
|
if (!geom_name_map.TryGetValue(refObject, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
// m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
|
|
|
|
d.Vector3 v0 = new d.Vector3();
|
|
d.Vector3 v1 = new d.Vector3();
|
|
d.Vector3 v2 = new d.Vector3();
|
|
|
|
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
|
|
// m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
|
|
|
|
return 1;
|
|
}
|
|
|
|
/// <summary>
|
|
/// This is our collision testing routine in ODE
|
|
/// </summary>
|
|
/// <param name="timeStep"></param>
|
|
private void collision_optimized(float timeStep)
|
|
{
|
|
|
|
foreach (OdeCharacter chr in _characters)
|
|
{
|
|
// Reset the collision values to false
|
|
// since we don't know if we're colliding yet
|
|
|
|
chr.IsColliding = false;
|
|
chr.CollidingGround = false;
|
|
chr.CollidingObj = false;
|
|
|
|
// test the avatar's geometry for collision with the space
|
|
// This will return near and the space that they are the closest to
|
|
// And we'll run this again against the avatar and the space segment
|
|
// This will return with a bunch of possible objects in the space segment
|
|
// and we'll run it again on all of them.
|
|
try
|
|
{
|
|
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to space collide");
|
|
}
|
|
//float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
|
|
//if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
|
|
//{
|
|
//chr.Position.Z = terrainheight + 10.0f;
|
|
//forcedZ = true;
|
|
//}
|
|
}
|
|
|
|
lock (_activeprims)
|
|
{
|
|
foreach (OdePrim chr in _activeprims)
|
|
{
|
|
if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
|
|
{
|
|
try
|
|
{
|
|
lock (chr)
|
|
{
|
|
if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
|
|
{
|
|
d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
|
|
}
|
|
else
|
|
{
|
|
m_log.Debug("[PHYSICS]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed");
|
|
}
|
|
}
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to space collide");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
|
|
// TODO: unused
|
|
// private float GetTerrainHeightAtXY(float x, float y)
|
|
// {
|
|
// return (float)_origheightmap[(int)y * Constants.RegionSize + (int)x];
|
|
// }
|
|
|
|
public void addCollisionEventReporting(PhysicsActor obj)
|
|
{
|
|
lock (_collisionEventPrim)
|
|
{
|
|
if (!_collisionEventPrim.Contains(obj))
|
|
_collisionEventPrim.Add(obj);
|
|
}
|
|
}
|
|
|
|
public void remCollisionEventReporting(PhysicsActor obj)
|
|
{
|
|
lock (_collisionEventPrim)
|
|
{
|
|
if (!_collisionEventPrim.Contains(obj))
|
|
_collisionEventPrim.Remove(obj);
|
|
}
|
|
}
|
|
|
|
#region Add/Remove Entities
|
|
|
|
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
|
|
_characters.Add(newAv);
|
|
return newAv;
|
|
}
|
|
|
|
public override void RemoveAvatar(PhysicsActor actor)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
//m_log.Debug("[PHYSICS]:ODELOCK");
|
|
((OdeCharacter) actor).Destroy();
|
|
_characters.Remove((OdeCharacter) actor);
|
|
}
|
|
}
|
|
|
|
private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
|
|
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
|
|
//pos.X = position.X;
|
|
//pos.Y = position.Y;
|
|
//pos.Z = position.Z;
|
|
PhysicsVector siz = new PhysicsVector();
|
|
siz.X = size.X;
|
|
siz.Y = size.Y;
|
|
siz.Z = size.Z;
|
|
Quaternion rot = new Quaternion();
|
|
rot.w = rotation.w;
|
|
rot.x = rotation.x;
|
|
rot.y = rotation.y;
|
|
rot.z = rotation.z;
|
|
|
|
OdePrim newPrim;
|
|
lock (OdeLock)
|
|
{
|
|
newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
|
|
|
|
_prims.Add(newPrim);
|
|
}
|
|
|
|
return newPrim;
|
|
}
|
|
|
|
public void addActivePrim(OdePrim activatePrim)
|
|
{
|
|
// adds active prim.. (ones that should be iterated over in collisions_optimized
|
|
|
|
_activeprims.Add(activatePrim);
|
|
}
|
|
|
|
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
|
|
PhysicsVector size, Quaternion rotation) //To be removed
|
|
{
|
|
return AddPrimShape(primName, pbs, position, size, rotation, false);
|
|
}
|
|
|
|
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
|
|
PhysicsVector size, Quaternion rotation, bool isPhysical)
|
|
{
|
|
PhysicsActor result;
|
|
IMesh mesh = null;
|
|
|
|
//switch (pbs.ProfileShape)
|
|
//{
|
|
// case ProfileShape.Square:
|
|
/// support simple box & hollow box now; later, more shapes
|
|
//if (needsMeshing(pbs))
|
|
//{
|
|
// mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
|
|
//}
|
|
|
|
// break;
|
|
//}
|
|
|
|
mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
|
|
|
|
result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
|
|
|
|
return result;
|
|
}
|
|
|
|
public void remActivePrim(OdePrim deactivatePrim)
|
|
{
|
|
lock (_activeprims)
|
|
{
|
|
_activeprims.Remove(deactivatePrim);
|
|
}
|
|
}
|
|
|
|
public override void RemovePrim(PhysicsActor prim)
|
|
{
|
|
if (prim is OdePrim)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
OdePrim p = (OdePrim) prim;
|
|
|
|
p.setPrimForRemoval();
|
|
AddPhysicsActorTaint(prim);
|
|
//RemovePrimThreadLocked(p);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// This is called from within simulate but outside the locked portion
|
|
/// We need to do our own locking here
|
|
/// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
|
|
///
|
|
/// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
|
|
/// that the space was using.
|
|
/// </summary>
|
|
/// <param name="prim"></param>
|
|
public void RemovePrimThreadLocked(OdePrim prim)
|
|
{
|
|
lock (prim)
|
|
{
|
|
remCollisionEventReporting(prim);
|
|
lock (ode)
|
|
{
|
|
if (prim.prim_geom != IntPtr.Zero)
|
|
{
|
|
prim.ResetTaints();
|
|
|
|
if (prim.IsPhysical)
|
|
{
|
|
prim.disableBody();
|
|
}
|
|
// we don't want to remove the main space
|
|
|
|
// If the geometry is in the targetspace, remove it from the target space
|
|
//m_log.Warn(prim.m_targetSpace);
|
|
|
|
//if (prim.m_targetSpace != IntPtr.Zero)
|
|
//{
|
|
//if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
|
|
//{
|
|
|
|
//if (d.GeomIsSpace(prim.m_targetSpace))
|
|
//{
|
|
//waitForSpaceUnlock(prim.m_targetSpace);
|
|
//d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
|
|
prim.m_targetSpace = IntPtr.Zero;
|
|
//}
|
|
//else
|
|
//{
|
|
// m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
|
|
//((OdePrim)prim).m_targetSpace.ToString());
|
|
//}
|
|
|
|
//}
|
|
//}
|
|
//m_log.Warn(prim.prim_geom);
|
|
try
|
|
{
|
|
if (prim.prim_geom != IntPtr.Zero)
|
|
{
|
|
d.GeomDestroy(prim.prim_geom);
|
|
prim.prim_geom = IntPtr.Zero;
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
|
|
}
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
|
|
}
|
|
_prims.Remove(prim);
|
|
|
|
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
|
|
//if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
|
|
//{
|
|
//if (prim.m_targetSpace != null)
|
|
//{
|
|
//if (d.GeomIsSpace(prim.m_targetSpace))
|
|
//{
|
|
//waitForSpaceUnlock(prim.m_targetSpace);
|
|
//d.SpaceRemove(space, prim.m_targetSpace);
|
|
// free up memory used by the space.
|
|
//d.SpaceDestroy(prim.m_targetSpace);
|
|
//int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
|
|
//resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
|
|
//}
|
|
//else
|
|
//{
|
|
//m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
|
|
//((OdePrim) prim).m_targetSpace.ToString());
|
|
//}
|
|
//}
|
|
//}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
|
|
#region Space Separation Calculation
|
|
|
|
/// <summary>
|
|
/// Takes a space pointer and zeros out the array we're using to hold the spaces
|
|
/// </summary>
|
|
/// <param name="space"></param>
|
|
public void resetSpaceArrayItemToZero(IntPtr space)
|
|
{
|
|
for (int x = 0; x < staticPrimspace.GetLength(0); x++)
|
|
{
|
|
for (int y = 0; y < staticPrimspace.GetLength(1); y++)
|
|
{
|
|
if (staticPrimspace[x, y] == space)
|
|
staticPrimspace[x, y] = IntPtr.Zero;
|
|
}
|
|
}
|
|
}
|
|
|
|
public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
|
|
{
|
|
staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Called when a static prim moves. Allocates a space for the prim based on it's position
|
|
/// </summary>
|
|
/// <param name="geom">the pointer to the geom that moved</param>
|
|
/// <param name="pos">the position that the geom moved to</param>
|
|
/// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
|
|
/// <returns>a pointer to the new space it's in</returns>
|
|
public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
|
|
{
|
|
// Called from setting the Position and Size of an ODEPrim so
|
|
// it's already in locked space.
|
|
|
|
// we don't want to remove the main space
|
|
// we don't need to test physical here because this function should
|
|
// never be called if the prim is physical(active)
|
|
|
|
// All physical prim end up in the root space
|
|
//Thread.Sleep(20);
|
|
if (currentspace != space)
|
|
{
|
|
//m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
|
|
//if (currentspace == IntPtr.Zero)
|
|
//{
|
|
//int adfadf = 0;
|
|
//}
|
|
if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(currentspace);
|
|
d.SpaceRemove(currentspace, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() +
|
|
" Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
|
|
if (sGeomIsIn != IntPtr.Zero)
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(sGeomIsIn);
|
|
d.SpaceRemove(sGeomIsIn, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
sGeomIsIn.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
}
|
|
|
|
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
|
|
if (d.SpaceGetNumGeoms(currentspace) == 0)
|
|
{
|
|
if (currentspace != IntPtr.Zero)
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(currentspace);
|
|
waitForSpaceUnlock(space);
|
|
d.SpaceRemove(space, currentspace);
|
|
// free up memory used by the space.
|
|
|
|
//d.SpaceDestroy(currentspace);
|
|
resetSpaceArrayItemToZero(currentspace);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
currentspace.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// this is a physical object that got disabled. ;.;
|
|
if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
|
|
{
|
|
if (d.SpaceQuery(currentspace, geom))
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(currentspace);
|
|
d.SpaceRemove(currentspace, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
currentspace.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
|
|
if (sGeomIsIn != IntPtr.Zero)
|
|
{
|
|
if (d.GeomIsSpace(sGeomIsIn))
|
|
{
|
|
waitForSpaceUnlock(sGeomIsIn);
|
|
d.SpaceRemove(sGeomIsIn, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
sGeomIsIn.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// The routines in the Position and Size sections do the 'inserting' into the space,
|
|
// so all we have to do is make sure that the space that we're putting the prim into
|
|
// is in the 'main' space.
|
|
int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
|
|
IntPtr newspace = calculateSpaceForGeom(pos);
|
|
|
|
if (newspace == IntPtr.Zero)
|
|
{
|
|
newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
|
|
d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
|
|
}
|
|
|
|
return newspace;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates a new space at X Y
|
|
/// </summary>
|
|
/// <param name="iprimspaceArrItemX"></param>
|
|
/// <param name="iprimspaceArrItemY"></param>
|
|
/// <returns>A pointer to the created space</returns>
|
|
public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
|
|
{
|
|
// creating a new space for prim and inserting it into main space.
|
|
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
|
|
d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
|
|
waitForSpaceUnlock(space);
|
|
d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
|
|
return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
|
|
}
|
|
|
|
/// <summary>
|
|
/// Calculates the space the prim should be in by its position
|
|
/// </summary>
|
|
/// <param name="pos"></param>
|
|
/// <returns>a pointer to the space. This could be a new space or reused space.</returns>
|
|
public IntPtr calculateSpaceForGeom(PhysicsVector pos)
|
|
{
|
|
int[] xyspace = calculateSpaceArrayItemFromPos(pos);
|
|
//m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
|
|
return staticPrimspace[xyspace[0], xyspace[1]];
|
|
}
|
|
|
|
/// <summary>
|
|
/// Holds the space allocation logic
|
|
/// </summary>
|
|
/// <param name="pos"></param>
|
|
/// <returns>an array item based on the position</returns>
|
|
public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
|
|
{
|
|
int[] returnint = new int[2];
|
|
|
|
returnint[0] = (int) (pos.X/metersInSpace);
|
|
|
|
if (returnint[0] > ((int) (259f/metersInSpace)))
|
|
returnint[0] = ((int) (259f/metersInSpace));
|
|
if (returnint[0] < 0)
|
|
returnint[0] = 0;
|
|
|
|
returnint[1] = (int) (pos.Y/metersInSpace);
|
|
if (returnint[1] > ((int) (259f/metersInSpace)))
|
|
returnint[1] = ((int) (259f/metersInSpace));
|
|
if (returnint[1] < 0)
|
|
returnint[1] = 0;
|
|
|
|
return returnint;
|
|
}
|
|
|
|
#endregion
|
|
|
|
/// <summary>
|
|
/// Routine to figure out if we need to mesh this prim with our mesher
|
|
/// </summary>
|
|
/// <param name="pbs"></param>
|
|
/// <returns></returns>
|
|
//public bool needsMeshing(PrimitiveBaseShape pbs)
|
|
//{
|
|
// //if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle && pbs.ProfileCurve == (byte)LLObject.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
|
|
// //Console.WriteLine("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + LLObject.UnpackPathScale(pbs.PathScaleY).ToString());
|
|
// if (pbs.SculptEntry && !meshSculptedPrim)
|
|
// {
|
|
// return false;
|
|
// }
|
|
|
|
// if (pbs.ProfileHollow != 0)
|
|
// return true;
|
|
|
|
// if (((Int16)pbs.PathTwistBegin != 0) || ((Int16)pbs.PathTwist != 0))
|
|
// return true;
|
|
|
|
// if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
|
|
// return true;
|
|
|
|
// if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
|
|
// return true;
|
|
|
|
// if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
|
|
// return true;
|
|
|
|
// if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
// return true;
|
|
// //if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
|
|
// // return true;
|
|
|
|
// if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
|
|
// return true;
|
|
|
|
// // test for torus
|
|
// if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle
|
|
// && (pbs.ProfileCurve & 0x07) == (byte)LLObject.ProfileCurve.Circle
|
|
// && LLObject.UnpackPathScale(pbs.PathScaleY) <= 0.75f)
|
|
// return true;
|
|
|
|
// // test for tube
|
|
// if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle
|
|
// && (pbs.ProfileCurve & 0x07) == (byte)LLObject.ProfileCurve.EqualTriangle)
|
|
// return true;
|
|
|
|
// // test for ring
|
|
// if (pbs.PathCurve == (byte)LLObject.PathCurve.Circle
|
|
// && (pbs.ProfileCurve & 0x07) == (byte)LLObject.ProfileCurve.EqualTriangle)
|
|
// return true;
|
|
|
|
// if (pbs.ProfileShape == ProfileShape.EquilateralTriangle)
|
|
// return true;
|
|
|
|
|
|
|
|
// return false;
|
|
//}
|
|
|
|
/// <summary>
|
|
/// Called after our prim properties are set Scale, position etc.
|
|
/// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
|
|
/// This assures us that we have no race conditions
|
|
/// </summary>
|
|
/// <param name="prim"></param>
|
|
public override void AddPhysicsActorTaint(PhysicsActor prim)
|
|
{
|
|
if (prim is OdePrim)
|
|
{
|
|
OdePrim taintedprim = ((OdePrim) prim);
|
|
lock (_taintedPrim)
|
|
{
|
|
if (!(_taintedPrim.Contains(taintedprim)))
|
|
_taintedPrim.Add(taintedprim);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// This is our main simulate loop
|
|
/// It's thread locked by a Mutex in the scene.
|
|
/// It holds Collisions, it instructs ODE to step through the physical reactions
|
|
/// It moves the objects around in memory
|
|
/// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
|
|
/// </summary>
|
|
/// <param name="timeStep"></param>
|
|
/// <returns></returns>
|
|
public override float Simulate(float timeStep)
|
|
{
|
|
if (framecount >= int.MaxValue)
|
|
framecount = 0;
|
|
|
|
framecount++;
|
|
|
|
float fps = 0;
|
|
//m_log.Info(timeStep.ToString());
|
|
step_time += timeStep;
|
|
|
|
|
|
// If We're loaded down by something else,
|
|
// or debugging with the Visual Studio project on pause
|
|
// skip a few frames to catch up gracefully.
|
|
// without shooting the physicsactors all over the place
|
|
|
|
if (step_time >= m_SkipFramesAtms)
|
|
{
|
|
// Instead of trying to catch up, it'll do 5 physics frames only
|
|
step_time = ODE_STEPSIZE;
|
|
m_physicsiterations = 5;
|
|
}
|
|
else
|
|
{
|
|
m_physicsiterations = 10;
|
|
}
|
|
lock (OdeLock)
|
|
{
|
|
// Process 10 frames if the sim is running normal..
|
|
// process 5 frames if the sim is running slow
|
|
//try
|
|
//{
|
|
//d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
|
//}
|
|
//catch (StackOverflowException)
|
|
//{
|
|
// m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
|
|
// ode.drelease(world);
|
|
//base.TriggerPhysicsBasedRestart();
|
|
//}
|
|
|
|
int i = 0;
|
|
|
|
// Figure out the Frames Per Second we're going at.
|
|
//(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
|
|
step_time = 0.09375f;
|
|
fps = (step_time/ODE_STEPSIZE) * 1000;
|
|
|
|
while (step_time > 0.0f)
|
|
{
|
|
//lock (ode)
|
|
//{
|
|
//if (!ode.lockquery())
|
|
//{
|
|
// ode.dlock(world);
|
|
try
|
|
{
|
|
lock (_characters)
|
|
{
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
if (actor != null)
|
|
actor.Move(timeStep);
|
|
}
|
|
}
|
|
|
|
bool processedtaints = false;
|
|
|
|
lock (_taintedPrim)
|
|
{
|
|
foreach (OdePrim prim in _taintedPrim)
|
|
{
|
|
if (prim.m_taintremove)
|
|
{
|
|
RemovePrimThreadLocked(prim);
|
|
}
|
|
else
|
|
{
|
|
prim.ProcessTaints(timeStep);
|
|
}
|
|
processedtaints = true;
|
|
prim.m_collisionscore = 0;
|
|
}
|
|
|
|
if (processedtaints)
|
|
_taintedPrim = new List<OdePrim>();
|
|
}
|
|
|
|
lock (_activeprims)
|
|
{
|
|
foreach (OdePrim prim in _activeprims)
|
|
{
|
|
prim.m_collisionscore = 0;
|
|
prim.Move(timeStep);
|
|
}
|
|
}
|
|
|
|
//if ((framecount % m_randomizeWater) == 0)
|
|
// randomizeWater(waterlevel);
|
|
|
|
collision_optimized(timeStep);
|
|
|
|
lock (_collisionEventPrim)
|
|
{
|
|
foreach (PhysicsActor obj in _collisionEventPrim)
|
|
{
|
|
if (obj == null)
|
|
continue;
|
|
|
|
switch ((ActorTypes)obj.PhysicsActorType)
|
|
{
|
|
case ActorTypes.Agent:
|
|
OdeCharacter cobj = (OdeCharacter)obj;
|
|
cobj.SendCollisions();
|
|
break;
|
|
case ActorTypes.Prim:
|
|
OdePrim pobj = (OdePrim)obj;
|
|
pobj.SendCollisions();
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
d.WorldQuickStep(world, ODE_STEPSIZE);
|
|
|
|
d.JointGroupEmpty(contactgroup);
|
|
//ode.dunlock(world);
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
m_log.Error("[PHYSICS]: " + e.Message.ToString() + e.TargetSite.ToString());
|
|
ode.dunlock(world);
|
|
}
|
|
|
|
step_time -= ODE_STEPSIZE;
|
|
i++;
|
|
//}
|
|
//else
|
|
//{
|
|
//fps = 0;
|
|
//}
|
|
//}
|
|
}
|
|
|
|
lock (_characters)
|
|
{
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
if (actor != null)
|
|
actor.UpdatePositionAndVelocity();
|
|
}
|
|
}
|
|
|
|
lock (_activeprims)
|
|
{
|
|
if (timeStep < 0.2f)
|
|
{
|
|
foreach (OdePrim actor in _activeprims)
|
|
{
|
|
if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
|
|
{
|
|
actor.UpdatePositionAndVelocity();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Finished with all sim stepping. If requested, dump world state to file for debugging.
|
|
// TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
|
|
// TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
|
|
if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
|
|
{
|
|
string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
|
|
string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
|
|
|
|
if (physics_logging_append_existing_logfile)
|
|
{
|
|
string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
|
|
TextWriter fwriter = File.AppendText(fname);
|
|
fwriter.WriteLine(header);
|
|
fwriter.Close();
|
|
}
|
|
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
|
|
}
|
|
}
|
|
|
|
return fps;
|
|
}
|
|
|
|
public override void GetResults()
|
|
{
|
|
}
|
|
|
|
public override bool IsThreaded
|
|
{
|
|
// for now we won't be multithreaded
|
|
get { return (false); }
|
|
}
|
|
|
|
#region ODE Specific Terrain Fixes
|
|
public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
|
|
{
|
|
float[] returnarr = new float[262144];
|
|
float[,] resultarr = new float[m_regionWidth, m_regionHeight];
|
|
|
|
// Filling out the array into it's multi-dimentional components
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr[y, x] = heightMap[y * m_regionWidth + x];
|
|
}
|
|
}
|
|
|
|
// Resize using Nearest Neighbour
|
|
|
|
// This particular way is quick but it only works on a multiple of the original
|
|
|
|
// The idea behind this method can be described with the following diagrams
|
|
// second pass and third pass happen in the same loop really.. just separated
|
|
// them to show what this does.
|
|
|
|
// First Pass
|
|
// ResultArr:
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
|
|
// Second Pass
|
|
// ResultArr2:
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
|
|
// Third pass fills in the blanks
|
|
// ResultArr2:
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
|
|
// X,Y = .
|
|
// X+1,y = ^
|
|
// X,Y+1 = *
|
|
// X+1,Y+1 = #
|
|
|
|
// Filling in like this;
|
|
// .*
|
|
// ^#
|
|
// 1st .
|
|
// 2nd *
|
|
// 3rd ^
|
|
// 4th #
|
|
// on single loop.
|
|
|
|
float[,] resultarr2 = new float[512, 512];
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr2[y * 2, x * 2] = resultarr[y, x];
|
|
|
|
if (y < m_regionHeight)
|
|
{
|
|
resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
|
|
}
|
|
if (x < m_regionWidth)
|
|
{
|
|
resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
|
|
}
|
|
if (x < m_regionWidth && y < m_regionHeight)
|
|
{
|
|
resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
|
|
}
|
|
}
|
|
}
|
|
|
|
//Flatten out the array
|
|
int i = 0;
|
|
for (int y = 0; y < 512; y++)
|
|
{
|
|
for (int x = 0; x < 512; x++)
|
|
{
|
|
if (resultarr2[y, x] <= 0)
|
|
returnarr[i] = 0.0000001f;
|
|
else
|
|
returnarr[i] = resultarr2[y, x];
|
|
|
|
i++;
|
|
}
|
|
}
|
|
|
|
return returnarr;
|
|
}
|
|
|
|
public float[] ResizeTerrain512Interpolation(float[] heightMap)
|
|
{
|
|
float[] returnarr = new float[262144];
|
|
float[,] resultarr = new float[m_regionWidth,m_regionHeight];
|
|
|
|
// Filling out the array into it's multi-dimentional components
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr[y, x] = heightMap[y*m_regionWidth + x];
|
|
}
|
|
}
|
|
|
|
// Resize using interpolation
|
|
|
|
// This particular way is quick but it only works on a multiple of the original
|
|
|
|
// The idea behind this method can be described with the following diagrams
|
|
// second pass and third pass happen in the same loop really.. just separated
|
|
// them to show what this does.
|
|
|
|
// First Pass
|
|
// ResultArr:
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
|
|
// Second Pass
|
|
// ResultArr2:
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
|
|
// Third pass fills in the blanks
|
|
// ResultArr2:
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
|
|
// X,Y = .
|
|
// X+1,y = ^
|
|
// X,Y+1 = *
|
|
// X+1,Y+1 = #
|
|
|
|
// Filling in like this;
|
|
// .*
|
|
// ^#
|
|
// 1st .
|
|
// 2nd *
|
|
// 3rd ^
|
|
// 4th #
|
|
// on single loop.
|
|
|
|
float[,] resultarr2 = new float[512,512];
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr2[y*2, x*2] = resultarr[y, x];
|
|
|
|
if (y < m_regionHeight)
|
|
{
|
|
if (y + 1 < m_regionHeight)
|
|
{
|
|
if (x + 1 < m_regionWidth)
|
|
{
|
|
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
|
|
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
|
|
}
|
|
else
|
|
{
|
|
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
|
|
}
|
|
}
|
|
if (x < m_regionWidth)
|
|
{
|
|
if (x + 1 < m_regionWidth)
|
|
{
|
|
if (y + 1 < m_regionHeight)
|
|
{
|
|
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
|
|
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
|
|
}
|
|
else
|
|
{
|
|
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
|
|
}
|
|
}
|
|
if (x < m_regionWidth && y < m_regionHeight)
|
|
{
|
|
if ((x + 1 < m_regionWidth) && (y + 1 < m_regionHeight))
|
|
{
|
|
resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
|
|
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
|
|
}
|
|
else
|
|
{
|
|
resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
//Flatten out the array
|
|
int i = 0;
|
|
for (int y = 0; y < 512; y++)
|
|
{
|
|
for (int x = 0; x < 512; x++)
|
|
{
|
|
if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
|
|
{
|
|
m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
|
|
resultarr2[y, x] = 0;
|
|
}
|
|
|
|
if (resultarr2[y, x] <= 0)
|
|
{
|
|
returnarr[i] = 0.0000001f;
|
|
|
|
}
|
|
else
|
|
returnarr[i] = resultarr2[y, x];
|
|
|
|
i++;
|
|
}
|
|
}
|
|
|
|
return returnarr;
|
|
}
|
|
|
|
#endregion
|
|
|
|
public override void SetTerrain(float[] heightMap)
|
|
{
|
|
// this._heightmap[i] = (double)heightMap[i];
|
|
// dbm (danx0r) -- creating a buffer zone of one extra sample all around
|
|
// _origheightmap = heightMap;
|
|
const uint heightmapWidth = m_regionWidth + 2;
|
|
const uint heightmapHeight = m_regionHeight + 2;
|
|
const uint heightmapWidthSamples = 2*m_regionWidth + 2;
|
|
const uint heightmapHeightSamples = 2*m_regionHeight + 2;
|
|
const float scale = 1.0f;
|
|
const float offset = 0.0f;
|
|
const float thickness = 0.2f;
|
|
const int wrap = 0;
|
|
|
|
//Double resolution
|
|
heightMap = ResizeTerrain512Interpolation(heightMap);
|
|
|
|
for (int x = 0; x < heightmapWidthSamples; x++)
|
|
{
|
|
for (int y = 0; y < heightmapHeightSamples; y++)
|
|
{
|
|
int xx = Util.Clip(x - 1, 0, 511);
|
|
int yy = Util.Clip(y - 1, 0, 511);
|
|
|
|
float val = heightMap[yy*512 + xx];
|
|
_heightmap[x*heightmapHeightSamples + y] = val;
|
|
}
|
|
}
|
|
|
|
lock (OdeLock)
|
|
{
|
|
if (LandGeom != IntPtr.Zero)
|
|
{
|
|
d.SpaceRemove(space, LandGeom);
|
|
}
|
|
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
|
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
|
|
(int) heightmapWidthSamples, (int) heightmapHeightSamples, scale,
|
|
offset, thickness, wrap);
|
|
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
|
|
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
|
if (LandGeom != IntPtr.Zero)
|
|
{
|
|
d.GeomSetCategoryBits(LandGeom, (int)(CollisionCategories.Land));
|
|
d.GeomSetCollideBits(LandGeom, (int)(CollisionCategories.Space));
|
|
|
|
}
|
|
geom_name_map[LandGeom] = "Terrain";
|
|
|
|
d.Matrix3 R = new d.Matrix3();
|
|
|
|
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
|
|
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
|
|
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
|
|
|
|
q1 = q1*q2;
|
|
//q1 = q1 * q3;
|
|
Vector3 v3 = new Vector3();
|
|
float angle = 0;
|
|
q1.ToAngleAxis(ref angle, ref v3);
|
|
|
|
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
|
|
d.GeomSetRotation(LandGeom, ref R);
|
|
d.GeomSetPosition(LandGeom, 128, 128, 0);
|
|
}
|
|
}
|
|
|
|
public override void DeleteTerrain()
|
|
{
|
|
}
|
|
|
|
public override void SetWaterLevel(float baseheight)
|
|
{
|
|
waterlevel = baseheight;
|
|
randomizeWater(waterlevel);
|
|
}
|
|
|
|
public void randomizeWater(float baseheight)
|
|
{
|
|
const uint heightmapWidth = m_regionWidth + 2;
|
|
const uint heightmapHeight = m_regionHeight + 2;
|
|
const uint heightmapWidthSamples = m_regionWidth + 2;
|
|
const uint heightmapHeightSamples = m_regionHeight + 2;
|
|
const float scale = 1.0f;
|
|
const float offset = 0.0f;
|
|
const float thickness = 2.9f;
|
|
const int wrap = 0;
|
|
|
|
for (int i = 0; i < (258 * 258); i++)
|
|
{
|
|
_watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
|
|
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
|
|
}
|
|
|
|
lock (OdeLock)
|
|
{
|
|
if (WaterGeom != IntPtr.Zero)
|
|
{
|
|
d.SpaceRemove(space, WaterGeom);
|
|
}
|
|
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
|
d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
|
|
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
|
|
offset, thickness, wrap);
|
|
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
|
|
WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
|
if (WaterGeom != IntPtr.Zero)
|
|
{
|
|
d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
|
|
d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
|
|
|
|
}
|
|
geom_name_map[WaterGeom] = "Water";
|
|
|
|
d.Matrix3 R = new d.Matrix3();
|
|
|
|
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
|
|
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
|
|
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
|
|
|
|
q1 = q1 * q2;
|
|
//q1 = q1 * q3;
|
|
Vector3 v3 = new Vector3();
|
|
float angle = 0;
|
|
q1.ToAngleAxis(ref angle, ref v3);
|
|
|
|
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
|
|
d.GeomSetRotation(WaterGeom, ref R);
|
|
d.GeomSetPosition(WaterGeom, 128, 128, 0);
|
|
}
|
|
|
|
}
|
|
|
|
public override void Dispose()
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
foreach (OdePrim prm in _prims)
|
|
{
|
|
RemovePrim(prm);
|
|
}
|
|
|
|
//foreach (OdeCharacter act in _characters)
|
|
//{
|
|
//RemoveAvatar(act);
|
|
//}
|
|
d.WorldDestroy(world);
|
|
//d.CloseODE();
|
|
}
|
|
}
|
|
public override Dictionary<uint, float> GetTopColliders()
|
|
{
|
|
Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
|
|
int cnt = 0;
|
|
lock (_prims)
|
|
{
|
|
foreach (OdePrim prm in _prims)
|
|
{
|
|
if (prm.CollisionScore > 0)
|
|
{
|
|
returncolliders.Add(prm.m_localID, prm.CollisionScore);
|
|
cnt++;
|
|
prm.CollisionScore = 0f;
|
|
if (cnt > 25)
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return returncolliders;
|
|
}
|
|
}
|
|
}
|