diff options
author | Justin Clark-Casey (justincc) | 2012-04-21 03:23:51 +0100 |
---|---|---|
committer | Justin Clark-Casey (justincc) | 2012-04-21 03:23:51 +0100 |
commit | f60959459574b1473dbe35d780aa0fbe4d688580 (patch) | |
tree | 859f36e7b957565bc880650befdd4c3fc032e8fa | |
parent | Add test for setting physics in a linkset (diff) | |
download | opensim-SC-f60959459574b1473dbe35d780aa0fbe4d688580.zip opensim-SC-f60959459574b1473dbe35d780aa0fbe4d688580.tar.gz opensim-SC-f60959459574b1473dbe35d780aa0fbe4d688580.tar.bz2 opensim-SC-f60959459574b1473dbe35d780aa0fbe4d688580.tar.xz |
refactor: Simplify ODEPrim.AddChildPrim() by returning early where appropriate.
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 232 |
1 files changed, 117 insertions, 115 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 0a8cf75..cbb49ac 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -1042,142 +1042,144 @@ Console.WriteLine("ZProcessTaints for " + Name); | |||
1042 | /// <param name="prim">Child prim</param> | 1042 | /// <param name="prim">Child prim</param> |
1043 | private void AddChildPrim(OdePrim prim) | 1043 | private void AddChildPrim(OdePrim prim) |
1044 | { | 1044 | { |
1045 | //Console.WriteLine("AddChildPrim " + Name); | 1045 | if (LocalID == prim.LocalID) |
1046 | if (LocalID != prim.LocalID) | 1046 | return; |
1047 | |||
1048 | if (Body == IntPtr.Zero) | ||
1047 | { | 1049 | { |
1048 | if (Body == IntPtr.Zero) | 1050 | Body = d.BodyCreate(_parent_scene.world); |
1051 | setMass(); | ||
1052 | } | ||
1053 | |||
1054 | lock (childrenPrim) | ||
1055 | { | ||
1056 | if (childrenPrim.Contains(prim)) | ||
1057 | return; | ||
1058 | |||
1059 | //Console.WriteLine("childrenPrim.Add " + prim); | ||
1060 | childrenPrim.Add(prim); | ||
1061 | |||
1062 | foreach (OdePrim prm in childrenPrim) | ||
1049 | { | 1063 | { |
1050 | Body = d.BodyCreate(_parent_scene.world); | 1064 | d.Mass m2; |
1051 | setMass(); | 1065 | d.MassSetZero(out m2); |
1066 | d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); | ||
1067 | |||
1068 | d.Quaternion quat = new d.Quaternion(); | ||
1069 | quat.W = prm._orientation.W; | ||
1070 | quat.X = prm._orientation.X; | ||
1071 | quat.Y = prm._orientation.Y; | ||
1072 | quat.Z = prm._orientation.Z; | ||
1073 | |||
1074 | d.Matrix3 mat = new d.Matrix3(); | ||
1075 | d.RfromQ(out mat, ref quat); | ||
1076 | d.MassRotate(ref m2, ref mat); | ||
1077 | d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); | ||
1078 | d.MassAdd(ref pMass, ref m2); | ||
1052 | } | 1079 | } |
1053 | if (Body != IntPtr.Zero) | 1080 | |
1081 | foreach (OdePrim prm in childrenPrim) | ||
1054 | { | 1082 | { |
1055 | lock (childrenPrim) | 1083 | prm.m_collisionCategories |= CollisionCategories.Body; |
1056 | { | 1084 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1057 | if (!childrenPrim.Contains(prim)) | ||
1058 | { | ||
1059 | //Console.WriteLine("childrenPrim.Add " + prim); | ||
1060 | childrenPrim.Add(prim); | ||
1061 | |||
1062 | foreach (OdePrim prm in childrenPrim) | ||
1063 | { | ||
1064 | d.Mass m2; | ||
1065 | d.MassSetZero(out m2); | ||
1066 | d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); | ||
1067 | |||
1068 | d.Quaternion quat = new d.Quaternion(); | ||
1069 | quat.W = prm._orientation.W; | ||
1070 | quat.X = prm._orientation.X; | ||
1071 | quat.Y = prm._orientation.Y; | ||
1072 | quat.Z = prm._orientation.Z; | ||
1073 | |||
1074 | d.Matrix3 mat = new d.Matrix3(); | ||
1075 | d.RfromQ(out mat, ref quat); | ||
1076 | d.MassRotate(ref m2, ref mat); | ||
1077 | d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); | ||
1078 | d.MassAdd(ref pMass, ref m2); | ||
1079 | } | ||
1080 | |||
1081 | foreach (OdePrim prm in childrenPrim) | ||
1082 | { | ||
1083 | prm.m_collisionCategories |= CollisionCategories.Body; | ||
1084 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | ||
1085 | 1085 | ||
1086 | //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); | 1086 | //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); |
1087 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); | 1087 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); |
1088 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); | 1088 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); |
1089 | |||
1090 | d.Quaternion quat = new d.Quaternion(); | ||
1091 | quat.W = prm._orientation.W; | ||
1092 | quat.X = prm._orientation.X; | ||
1093 | quat.Y = prm._orientation.Y; | ||
1094 | quat.Z = prm._orientation.Z; | ||
1095 | |||
1096 | d.Matrix3 mat = new d.Matrix3(); | ||
1097 | d.RfromQ(out mat, ref quat); | ||
1098 | if (Body != IntPtr.Zero) | ||
1099 | { | ||
1100 | d.GeomSetBody(prm.prim_geom, Body); | ||
1101 | prm.childPrim = true; | ||
1102 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); | ||
1103 | //d.GeomSetOffsetPosition(prim.prim_geom, | ||
1104 | // (Position.X - prm.Position.X) - pMass.c.X, | ||
1105 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | ||
1106 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | ||
1107 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); | ||
1108 | //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); | ||
1109 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1110 | d.BodySetMass(Body, ref pMass); | ||
1111 | } | ||
1112 | else | ||
1113 | { | ||
1114 | m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); | ||
1115 | } | ||
1116 | 1089 | ||
1117 | prm.m_interpenetrationcount = 0; | 1090 | d.Quaternion quat = new d.Quaternion(); |
1118 | prm.m_collisionscore = 0; | 1091 | quat.W = prm._orientation.W; |
1119 | prm.m_disabled = false; | 1092 | quat.X = prm._orientation.X; |
1093 | quat.Y = prm._orientation.Y; | ||
1094 | quat.Z = prm._orientation.Z; | ||
1120 | 1095 | ||
1121 | // The body doesn't already have a finite rotation mode set here | 1096 | d.Matrix3 mat = new d.Matrix3(); |
1122 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | 1097 | d.RfromQ(out mat, ref quat); |
1123 | { | 1098 | if (Body != IntPtr.Zero) |
1124 | prm.createAMotor(m_angularlock); | 1099 | { |
1125 | } | 1100 | d.GeomSetBody(prm.prim_geom, Body); |
1126 | prm.Body = Body; | 1101 | prm.childPrim = true; |
1127 | _parent_scene.ActivatePrim(prm); | 1102 | d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); |
1128 | } | 1103 | //d.GeomSetOffsetPosition(prim.prim_geom, |
1104 | // (Position.X - prm.Position.X) - pMass.c.X, | ||
1105 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | ||
1106 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | ||
1107 | d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); | ||
1108 | //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); | ||
1109 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1110 | d.BodySetMass(Body, ref pMass); | ||
1111 | } | ||
1112 | else | ||
1113 | { | ||
1114 | m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); | ||
1115 | } | ||
1116 | |||
1117 | prm.m_interpenetrationcount = 0; | ||
1118 | prm.m_collisionscore = 0; | ||
1119 | prm.m_disabled = false; | ||
1120 | |||
1121 | // The body doesn't already have a finite rotation mode set here | ||
1122 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | ||
1123 | { | ||
1124 | prm.createAMotor(m_angularlock); | ||
1125 | } | ||
1126 | prm.Body = Body; | ||
1127 | _parent_scene.ActivatePrim(prm); | ||
1128 | } | ||
1129 | 1129 | ||
1130 | m_collisionCategories |= CollisionCategories.Body; | 1130 | m_collisionCategories |= CollisionCategories.Body; |
1131 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1131 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1132 | 1132 | ||
1133 | //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); | 1133 | //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); |
1134 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1134 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1135 | //Console.WriteLine(" Post GeomSetCategoryBits 2"); | 1135 | //Console.WriteLine(" Post GeomSetCategoryBits 2"); |
1136 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1136 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1137 | |||
1138 | d.Quaternion quat2 = new d.Quaternion(); | ||
1139 | quat2.W = _orientation.W; | ||
1140 | quat2.X = _orientation.X; | ||
1141 | quat2.Y = _orientation.Y; | ||
1142 | quat2.Z = _orientation.Z; | ||
1143 | |||
1144 | d.Matrix3 mat2 = new d.Matrix3(); | ||
1145 | d.RfromQ(out mat2, ref quat2); | ||
1146 | d.GeomSetBody(prim_geom, Body); | ||
1147 | d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); | ||
1148 | //d.GeomSetOffsetPosition(prim.prim_geom, | ||
1149 | // (Position.X - prm.Position.X) - pMass.c.X, | ||
1150 | // (Position.Y - prm.Position.Y) - pMass.c.Y, | ||
1151 | // (Position.Z - prm.Position.Z) - pMass.c.Z); | ||
1152 | //d.GeomSetOffsetRotation(prim_geom, ref mat2); | ||
1153 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1154 | d.BodySetMass(Body, ref pMass); | ||
1155 | |||
1156 | d.BodySetAutoDisableFlag(Body, true); | ||
1157 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | ||
1158 | 1137 | ||
1159 | m_interpenetrationcount = 0; | 1138 | d.Quaternion quat2 = new d.Quaternion(); |
1160 | m_collisionscore = 0; | 1139 | quat2.W = _orientation.W; |
1161 | m_disabled = false; | 1140 | quat2.X = _orientation.X; |
1141 | quat2.Y = _orientation.Y; | ||
1142 | quat2.Z = _orientation.Z; | ||
1162 | 1143 | ||
1163 | // The body doesn't already have a finite rotation mode set here | 1144 | d.Matrix3 mat2 = new d.Matrix3(); |
1164 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | 1145 | d.RfromQ(out mat2, ref quat2); |
1165 | { | 1146 | d.GeomSetBody(prim_geom, Body); |
1166 | createAMotor(m_angularlock); | 1147 | d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); |
1167 | } | 1148 | //d.GeomSetOffsetPosition(prim.prim_geom, |
1168 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); | 1149 | // (Position.X - prm.Position.X) - pMass.c.X, |
1169 | if (m_vehicle.Type != Vehicle.TYPE_NONE) | 1150 | // (Position.Y - prm.Position.Y) - pMass.c.Y, |
1170 | m_vehicle.Enable(Body, _parent_scene); | 1151 | // (Position.Z - prm.Position.Z) - pMass.c.Z); |
1152 | //d.GeomSetOffsetRotation(prim_geom, ref mat2); | ||
1153 | d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); | ||
1154 | d.BodySetMass(Body, ref pMass); | ||
1171 | 1155 | ||
1172 | _parent_scene.ActivatePrim(this); | 1156 | d.BodySetAutoDisableFlag(Body, true); |
1173 | } | 1157 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
1174 | } | 1158 | |
1159 | m_interpenetrationcount = 0; | ||
1160 | m_collisionscore = 0; | ||
1161 | m_disabled = false; | ||
1162 | |||
1163 | // The body doesn't already have a finite rotation mode set here | ||
1164 | if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) | ||
1165 | { | ||
1166 | createAMotor(m_angularlock); | ||
1175 | } | 1167 | } |
1168 | |||
1169 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); | ||
1170 | |||
1171 | if (m_vehicle.Type != Vehicle.TYPE_NONE) | ||
1172 | m_vehicle.Enable(Body, _parent_scene); | ||
1173 | |||
1174 | _parent_scene.ActivatePrim(this); | ||
1176 | } | 1175 | } |
1177 | } | 1176 | } |
1178 | 1177 | ||
1179 | private void ChildSetGeom(OdePrim odePrim) | 1178 | private void ChildSetGeom(OdePrim odePrim) |
1180 | { | 1179 | { |
1180 | // m_log.DebugFormat( | ||
1181 | // "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); | ||
1182 | |||
1181 | //if (IsPhysical && Body != IntPtr.Zero) | 1183 | //if (IsPhysical && Body != IntPtr.Zero) |
1182 | lock (childrenPrim) | 1184 | lock (childrenPrim) |
1183 | { | 1185 | { |