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authorUbitUmarov2012-02-10 22:43:51 +0000
committerUbitUmarov2012-02-10 22:43:51 +0000
commit7cf73cb92af7d00f9d7a98c1762162d597418a3b (patch)
tree7c3eb5e3492686be05d579b957e51169e3eb6a8b /OpenSim
parentinitial introdution of physics actor building control. (diff)
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Changes to vehicles code etc. Includes some debug aids to remove later.
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs296
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs6
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs85
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs1
4 files changed, 145 insertions, 243 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index 363cbef..6b323fb 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -629,36 +629,31 @@ namespace OpenSim.Region.Physics.OdePlugin
629 629
630 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame 630 Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
631 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in object frame 631 Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in object frame
632 d.Vector3 dtorque = new d.Vector3();// actually angular aceleration until mult by Inertia in object frame 632 d.Vector3 dtorque = new d.Vector3();
633
634 bool doathing = false;
635 633
636 // linear motor 634 // linear motor
637 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) 635 if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
638 { 636 {
639 tmpV = m_linearMotorDirection - curLocalVel; // velocity error 637 tmpV = m_linearMotorDirection - curLocalVel; // velocity error
640 if (tmpV.LengthSquared() > 1e-6f) 638 tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
641 { 639 tmpV *= rotq; // to world
642 tmpV = tmpV * (m_lmEfect / m_linearMotorTimescale); // error to correct in this timestep
643 tmpV *= rotq; // to world
644 640
645 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) 641 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
646 tmpV.Z = 0; 642 tmpV.Z = 0;
647 643
648 if (m_linearMotorOffset.X != 0 && m_linearMotorOffset.Y != 0 && m_linearMotorOffset.Z != 0) 644 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
649 { 645 {
650 // have offset, do it now 646 // have offset, do it now
651 tmpV *= rootPrim.Mass; 647 tmpV *= rootPrim.Mass;
652 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z); 648 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
653 }
654 else
655 {
656 force.X += tmpV.X;
657 force.Y += tmpV.Y;
658 force.Z += tmpV.Z;
659 }
660 } 649 }
661 m_lmEfect *= (1 - 1.0f / m_linearMotorDecayTimescale); 650 else
651 {
652 force.X += tmpV.X;
653 force.Y += tmpV.Y;
654 force.Z += tmpV.Z;
655 }
656 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
662 } 657 }
663 else 658 else
664 m_lmEfect = 0; 659 m_lmEfect = 0;
@@ -719,30 +714,35 @@ namespace OpenSim.Region.Physics.OdePlugin
719 if (m_linearDeflectionEfficiency > 0) 714 if (m_linearDeflectionEfficiency > 0)
720 { 715 {
721 float len = curVel.Length(); 716 float len = curVel.Length();
722 Vector3 atAxis = refAtAxis; 717 Vector3 atAxis;
723 atAxis *= rotq; // at axis rotated to world 718 atAxis = Xrot(rotq); // where are we pointing to
724 atAxis = Xrot(rotq); 719 atAxis *= len; // make it same size as world velocity vector
725 tmpV = atAxis * len; 720 tmpV = -atAxis; // oposite direction
726 tmpV -= curVel; // velocity error 721 atAxis -= curVel; // error to one direction
727 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep 722 len = atAxis.LengthSquared();
728 force.X += tmpV.X; 723 tmpV -= curVel; // error to oposite
729 force.Y += tmpV.Y; 724 float lens = tmpV.LengthSquared();
730 if((m_flags & VehicleFlag.NO_DEFLECTION_UP) ==0) 725 if (len > 0.01 || lens > 0.01) // do nothing if close enougth
731 force.Z += tmpV.Z; 726 {
727 if (len < lens)
728 tmpV = atAxis;
729
730 tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
731 force.X += tmpV.X;
732 force.Y += tmpV.Y;
733 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
734 force.Z += tmpV.Z;
735 }
732 } 736 }
733 737
734 // angular motor 738 // angular motor
735 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) 739 if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
736 { 740 {
737 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error 741 tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
738 if (tmpV.LengthSquared() > 1e-6f) 742 tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
739 { 743 torque.X += tmpV.X;
740 tmpV = tmpV * (m_amEfect / m_angularMotorTimescale); // error to correct in this timestep 744 torque.Y += tmpV.Y;
741 tmpV *= m_referenceFrame; // to object 745 torque.Z += tmpV.Z;
742 dtorque.X += tmpV.X;
743 dtorque.Y += tmpV.Y;
744 dtorque.Z += tmpV.Z;
745 }
746 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale); 746 m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
747 } 747 }
748 else 748 else
@@ -751,85 +751,64 @@ namespace OpenSim.Region.Physics.OdePlugin
751 // angular friction 751 // angular friction
752 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0) 752 if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
753 { 753 {
754 tmpV.X = -curLocalAngVel.X / m_angularFrictionTimescale.X; 754 torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
755 tmpV.Y = -curLocalAngVel.Y / m_angularFrictionTimescale.Y; 755 torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
756 tmpV.Z = -curLocalAngVel.Z / m_angularFrictionTimescale.Z; 756 torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
757 tmpV *= m_referenceFrame; // to object
758 dtorque.X += tmpV.X;
759 dtorque.Y += tmpV.Y;
760 dtorque.Z += tmpV.Z;
761 } 757 }
762 758
763 // angular deflection 759 // angular deflection
764 if (m_angularDeflectionEfficiency > 0) 760 if (m_angularDeflectionEfficiency > 0)
765 { 761 {
766 doathing = false; 762 Vector3 dirv;
767 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale / m_angularDeflectionTimescale /_pParentScene.ODE_STEPSIZE; 763
768 tmpV.X = 0; 764 if (curLocalVel.X > 0.01f)
769 if (Math.Abs(curLocalVel.Z) > 0.01) 765 dirv = curLocalVel;
766 else if (curLocalVel.X < -0.01f)
767 // use oposite
768 dirv = -curLocalVel;
769 else
770 { 770 {
771 tmpV.Y = -(float)Math.Atan2(curLocalVel.Z, curLocalVel.X) * ftmp; 771 // make it fall into small positive x case
772 doathing = true; 772 dirv.X = 0.01f;
773 dirv.Y = curLocalVel.Y;
774 dirv.Z = curLocalVel.Z;
773 } 775 }
774 else 776
775 tmpV.Y = 0; 777 float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
776 if (Math.Abs(curLocalVel.Y) > 0.01) 778
779 if (Math.Abs(dirv.Z) > 0.01)
777 { 780 {
778 tmpV.Z = (float)Math.Atan2(curLocalVel.Y, curLocalVel.X) * ftmp; 781 torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
779 doathing = true;
780 } 782 }
781 else
782 tmpV.Z = 0;
783 783
784 if (doathing) 784 if (Math.Abs(dirv.Y) > 0.01)
785 { 785 {
786 tmpV *= m_referenceFrame; // to object 786 torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
787 dtorque.X += tmpV.X;
788 dtorque.Y += tmpV.Y;
789 dtorque.Z += tmpV.Z;
790 } 787 }
791 } 788 }
792 789
793 // vertical atractor 790 // vertical atractor
794 if (m_verticalAttractionTimescale < 300) 791 if (m_verticalAttractionTimescale < 300)
795 { 792 {
796 doathing = false;
797 float roll; 793 float roll;
798 float pitch; 794 float pitch;
799 795
800 GetRollPitch(rotq, out roll, out pitch); 796 GetRollPitch(rotq, out roll, out pitch);
801 797
802
803 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE; 798 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
804 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE; 799 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
805 800
806 if (Math.Abs(roll) > 0.01) // roll 801 if (Math.Abs(roll) > 0.01) // roll
807 { 802 {
808 tmpV.X = -roll * ftmp; 803 torque.X -= roll * ftmp + curLocalAngVel.X * ftmp2;
809 tmpV.X -= curLocalAngVel.X * ftmp2;
810 doathing = true;
811 }
812 else
813 {
814 tmpV.X = 0;
815 } 804 }
816 805
817 if (Math.Abs(pitch) > 0.01 && ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)) // pitch 806 if (Math.Abs(pitch) > 0.01 && ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)) // pitch
818 { 807 {
819 tmpV.Y = -pitch * ftmp; 808 torque.Y -= pitch * ftmp + curLocalAngVel.Y * ftmp2;
820 tmpV.Y -= curLocalAngVel.Y * ftmp2;
821 doathing = true;
822 }
823 else
824 {
825 tmpV.Y = 0;
826 } 809 }
827 810
828 tmpV.Z = 0; 811 if (m_bankingEfficiency != 0 && Math.Abs(roll) < 0.01)
829
830 if (m_bankingEfficiency == 0 || Math.Abs(roll) < 0.01)
831 tmpV.Z = 0;
832 else
833 { 812 {
834 float broll = -roll * m_bankingEfficiency; ; 813 float broll = -roll * m_bankingEfficiency; ;
835 if (m_bankingMix != 0) 814 if (m_bankingMix != 0)
@@ -839,146 +818,10 @@ namespace OpenSim.Region.Physics.OdePlugin
839 broll *= ((1 - m_bankingMix) + vfact); 818 broll *= ((1 - m_bankingMix) + vfact);
840 } 819 }
841 820
842 tmpV.Z = (broll - curLocalAngVel.Z) / m_bankingTimescale; 821 torque.Z += (broll - curLocalAngVel.Z) / m_bankingTimescale;
843 doathing = true;
844 }
845
846 if (doathing)
847 {
848
849 tmpV *= m_referenceFrame; // to object
850 dtorque.X += tmpV.X;
851 dtorque.Y += tmpV.Y;
852 dtorque.Z += tmpV.Z;
853 } 822 }
854 } 823 }
855 /*
856 d.Vector3 pos = d.BodyGetPosition(Body);
857 // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
858 Vector3 posChange = new Vector3();
859 posChange.X = pos.X - m_lastPositionVector.X;
860 posChange.Y = pos.Y - m_lastPositionVector.Y;
861 posChange.Z = pos.Z - m_lastPositionVector.Z;
862 double Zchange = Math.Abs(posChange.Z);
863 if (m_BlockingEndPoint != Vector3.Zero)
864 {
865 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
866 {
867 pos.X -= posChange.X + 1;
868 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
869 }
870 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
871 {
872 pos.Y -= posChange.Y + 1;
873 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
874 }
875 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
876 {
877 pos.Z -= posChange.Z + 1;
878 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
879 }
880 if (pos.X <= 0)
881 {
882 pos.X += posChange.X + 1;
883 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
884 }
885 if (pos.Y <= 0)
886 {
887 pos.Y += posChange.Y + 1;
888 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
889 }
890 }
891 if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
892 {
893 pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
894 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
895 }
896
897 }
898 if ((m_flags & (VehicleFlag.NO_X)) != 0)
899 {
900 m_dir.X = 0;
901 }
902 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
903 {
904 m_dir.Y = 0;
905 }
906 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
907 {
908 m_dir.Z = 0;
909 }
910
911
912 */
913 // angular part
914 /*
915
916 // Get what the body is doing, this includes 'external' influences
917/*
918 Vector3 angularVelocity = Vector3.Zero;
919
920 // Vertical attractor section
921 Vector3 vertattr = Vector3.Zero;
922
923 if (m_verticalAttractionTimescale < 300)
924 {
925 float VAservo = 0.2f / m_verticalAttractionTimescale;
926 // get present body rotation
927 // make a vector pointing up
928 Vector3 verterr = Vector3.Zero;
929 verterr.Z = 1.0f;
930 // rotate it to Body Angle
931 verterr = verterr * rotq;
932 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
933 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
934 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
935 if (verterr.Z < 0.0f)
936 {
937 verterr.X = 2.0f - verterr.X;
938 verterr.Y = 2.0f - verterr.Y;
939 }
940 // Error is 0 (no error) to +/- 2 (max error)
941 // scale it by VAservo
942 verterr = verterr * VAservo;
943//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
944
945 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
946 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
947 vertattr.X = verterr.Y;
948 vertattr.Y = - verterr.X;
949 vertattr.Z = 0f;
950
951 // scaling appears better usingsquare-law
952 float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
953 vertattr.X += bounce * angularVelocity.X;
954 vertattr.Y += bounce * angularVelocity.Y;
955
956 } // else vertical attractor is off
957
958 // m_lastVertAttractor = vertattr;
959
960 // Bank section tba
961 // Deflection section tba
962
963 // Sum velocities
964 m_lastAngularVelocity = angularVelocity + vertattr; // + bank + deflection
965 824
966 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
967 {
968 m_lastAngularVelocity.X = 0;
969 m_lastAngularVelocity.Y = 0;
970 }
971
972 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
973 {
974 if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
975 }
976 else
977 {
978 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
979 }
980*/
981
982 d.Mass dmass; 825 d.Mass dmass;
983 d.BodyGetMass(Body,out dmass); 826 d.BodyGetMass(Body,out dmass);
984 827
@@ -988,8 +831,13 @@ namespace OpenSim.Region.Physics.OdePlugin
988 d.BodySetForce(Body, force.X, force.Y, force.Z); 831 d.BodySetForce(Body, force.X, force.Y, force.Z);
989 } 832 }
990 833
991 if (dtorque.X != 0 || dtorque.Y != 0 || dtorque.Z != 0) 834 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
992 { 835 {
836 torque *= m_referenceFrame; // to object frame
837 dtorque.X = torque.X;
838 dtorque.Y = torque.Y;
839 dtorque.Z = torque.Z;
840
993 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque); 841 d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
994 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame 842 d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
995 } 843 }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 490c178..7718a29 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -1198,7 +1198,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1198 } 1198 }
1199 Body = IntPtr.Zero; 1199 Body = IntPtr.Zero;
1200 hasOOBoffsetFromMesh = false; 1200 hasOOBoffsetFromMesh = false;
1201// CalcPrimBodyData(); 1201 CalcPrimBodyData();
1202 } 1202 }
1203 1203
1204 private void ChildSetGeom(OdePrim odePrim) 1204 private void ChildSetGeom(OdePrim odePrim)
@@ -1223,7 +1223,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1223 { 1223 {
1224 if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) 1224 if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
1225 { 1225 {
1226 /*
1227 if (m_targetSpace != _parent_scene.ActiveSpace) 1226 if (m_targetSpace != _parent_scene.ActiveSpace)
1228 { 1227 {
1229 m_targetSpace = _parent_scene.ActiveSpace; 1228 m_targetSpace = _parent_scene.ActiveSpace;
@@ -1238,7 +1237,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1238 } 1237 }
1239 d.SpaceAdd(m_targetSpace, prim_geom); 1238 d.SpaceAdd(m_targetSpace, prim_geom);
1240 } 1239 }
1241 */
1242 d.GeomEnable(prim_geom); 1240 d.GeomEnable(prim_geom);
1243 foreach (OdePrim prm in childrenPrim) 1241 foreach (OdePrim prm in childrenPrim)
1244 d.GeomEnable(prm.prim_geom); 1242 d.GeomEnable(prm.prim_geom);
@@ -1256,7 +1254,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1256 { 1254 {
1257 if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) 1255 if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
1258 { 1256 {
1259 /*
1260 if (m_targetSpace == _parent_scene.ActiveSpace) 1257 if (m_targetSpace == _parent_scene.ActiveSpace)
1261 { 1258 {
1262 foreach (OdePrim prm in childrenPrim) 1259 foreach (OdePrim prm in childrenPrim)
@@ -1270,7 +1267,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1270 d.SpaceRemove(m_targetSpace, prim_geom); 1267 d.SpaceRemove(m_targetSpace, prim_geom);
1271 m_targetSpace = IntPtr.Zero; 1268 m_targetSpace = IntPtr.Zero;
1272 } 1269 }
1273 */
1274 d.GeomDisable(prim_geom); 1270 d.GeomDisable(prim_geom);
1275 foreach (OdePrim prm in childrenPrim) 1271 foreach (OdePrim prm in childrenPrim)
1276 d.GeomDisable(prm.prim_geom); 1272 d.GeomDisable(prm.prim_geom);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
index c0c7ff3..2b6bc59 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -59,6 +59,7 @@ namespace OdeAPI
59 { 59 {
60 public static dReal Infinity = dReal.MaxValue; 60 public static dReal Infinity = dReal.MaxValue;
61 public static int NTotalBodies = 0; 61 public static int NTotalBodies = 0;
62 public static int NTotalGeoms = 0;
62 63
63 #region Flags and Enumerations 64 #region Flags and Enumerations
64 65
@@ -420,7 +421,7 @@ namespace OdeAPI
420 421
421 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] 422 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]
422 public static extern IntPtr BodyiCreate(IntPtr world); 423 public static extern IntPtr BodyiCreate(IntPtr world);
423 public static IntPtr BodyCreate(IntPtr world) 424 public static IntPtr BodyCreate(IntPtr world)
424 { 425 {
425 NTotalBodies++; 426 NTotalBodies++;
426 return BodyiCreate(world); 427 return BodyiCreate(world);
@@ -689,22 +690,52 @@ namespace OdeAPI
689 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); 690 public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);
690 691
691 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] 692 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]
692 public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz); 693 public static extern IntPtr CreateiBox(IntPtr space, dReal lx, dReal ly, dReal lz);
694 public static IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz)
695 {
696 NTotalGeoms++;
697 return CreateiBox(space, lx, ly, lz);
698 }
693 699
694 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] 700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]
695 public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length); 701 public static extern IntPtr CreateiCapsule(IntPtr space, dReal radius, dReal length);
702 public static IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length)
703 {
704 NTotalGeoms++;
705 return CreateiCapsule(space, radius, length);
706 }
696 707
697 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] 708 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]
698 public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); 709 public static extern IntPtr CreateiConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
710 public static IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons)
711 {
712 NTotalGeoms++;
713 return CreateiConvex(space, planes, planeCount, points, pointCount, polygons);
714 }
699 715
700 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] 716 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]
701 public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length); 717 public static extern IntPtr CreateiCylinder(IntPtr space, dReal radius, dReal length);
718 public static IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length)
719 {
720 NTotalGeoms++;
721 return CreateiCylinder(space, radius, length);
722 }
702 723
703 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] 724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]
704 public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable); 725 public static extern IntPtr CreateiHeightfield(IntPtr space, IntPtr data, int bPlaceable);
726 public static IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable)
727 {
728 NTotalGeoms++;
729 return CreateiHeightfield(space, data, bPlaceable);
730 }
705 731
706 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] 732 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
707 public static extern IntPtr CreateGeom(int classnum); 733 public static extern IntPtr CreateiGeom(int classnum);
734 public static IntPtr CreateGeom(int classnum)
735 {
736 NTotalGeoms++;
737 return CreateiGeom(classnum);
738 }
708 739
709 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] 740 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]
710 public static extern int CreateGeomClass(ref GeomClass classptr); 741 public static extern int CreateGeomClass(ref GeomClass classptr);
@@ -713,19 +744,39 @@ namespace OdeAPI
713 public static extern IntPtr CreateGeomTransform(IntPtr space); 744 public static extern IntPtr CreateGeomTransform(IntPtr space);
714 745
715 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] 746 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]
716 public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); 747 public static extern IntPtr CreateiPlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);
748 public static IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d)
749 {
750 NTotalGeoms++;
751 return CreateiPlane(space, a, b, c, d);
752 }
717 753
718 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] 754 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]
719 public static extern IntPtr CreateRay(IntPtr space, dReal length); 755 public static extern IntPtr CreateiRay(IntPtr space, dReal length);
756 public static IntPtr CreateRay(IntPtr space, dReal length)
757 {
758 NTotalGeoms++;
759 return CreateiRay(space, length);
760 }
720 761
721 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] 762 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]
722 public static extern IntPtr CreateSphere(IntPtr space, dReal radius); 763 public static extern IntPtr CreateiSphere(IntPtr space, dReal radius);
764 public static IntPtr CreateSphere(IntPtr space, dReal radius)
765 {
766 NTotalGeoms++;
767 return CreateiSphere(space, radius);
768 }
723 769
724 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] 770 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]
725 public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data, 771 public static extern IntPtr CreateiTriMesh(IntPtr space, IntPtr data,
726 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); 772 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);
727 773 public static IntPtr CreateTriMesh(IntPtr space, IntPtr data,
728 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] 774 TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback)
775 {
776 NTotalGeoms++;
777 return CreateiTriMesh(space, data, callback, arrayCallback, rayCallback);
778 }
779 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]
729 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); 780 public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);
730 781
731 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] 782 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]
@@ -798,7 +849,13 @@ namespace OdeAPI
798 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); 849 public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);
799 850
800 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] 851 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]
801 public static extern void GeomDestroy(IntPtr geom); 852 public static extern void GeomiDestroy(IntPtr geom);
853 public static void GeomDestroy(IntPtr geom)
854 {
855 NTotalGeoms--;
856 GeomiDestroy(geom);
857 }
858
802 859
803 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] 860 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]
804 public static extern void GeomDisable(IntPtr geom); 861 public static extern void GeomDisable(IntPtr geom);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 74de2ee..e60b006 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -1860,6 +1860,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1860 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); 1860 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1861 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); 1861 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1862 int nbodies = d.NTotalBodies; 1862 int nbodies = d.NTotalBodies;
1863 int ngeoms = d.NTotalGeoms;
1863 1864
1864 // Finished with all sim stepping. If requested, dump world state to file for debugging. 1865 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1865 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? 1866 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
generated by cgit v1.1 at 2024-12-22 01:48:24 +0000