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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define USE_DRAWSTUFF
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using Ode.NET;
40#if USE_DRAWSTUFF
41using Drawstuff.NET;
42#endif
43using OpenSim.Framework;
44using OpenSim.Region.Physics.Manager;
45using OpenMetaverse;
46
47//using OpenSim.Region.Physics.OdePlugin.Meshing;
48
49namespace OpenSim.Region.Physics.OdePlugin
50{
51 /// <summary>
52 /// ODE plugin
53 /// </summary>
54 public class OdePlugin : IPhysicsPlugin
55 {
56 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
57
58 private CollisionLocker ode;
59 private OdeScene _mScene;
60
61 public OdePlugin()
62 {
63 ode = new CollisionLocker();
64 }
65
66 public bool Init()
67 {
68 return true;
69 }
70
71 public PhysicsScene GetScene(String sceneIdentifier)
72 {
73 if (_mScene == null)
74 {
75 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
76 // http://opensimulator.org/mantis/view.php?id=2750).
77 d.InitODE();
78
79 _mScene = new OdeScene(ode, sceneIdentifier);
80 }
81 return (_mScene);
82 }
83
84 public string GetName()
85 {
86 return ("ChODE");
87 }
88
89 public void Dispose()
90 {
91 }
92 }
93
94 public enum StatusIndicators : int
95 {
96 Generic = 0,
97 Start = 1,
98 End = 2
99 }
100
101 public struct sCollisionData
102 {
103 public uint ColliderLocalId;
104 public uint CollidedWithLocalId;
105 public int NumberOfCollisions;
106 public int CollisionType;
107 public int StatusIndicator;
108 public int lastframe;
109 }
110
111 [Flags]
112 public enum CollisionCategories : int
113 {
114 Disabled = 0,
115 Geom = 0x00000001,
116 Body = 0x00000002,
117 Space = 0x00000004,
118 Character = 0x00000008,
119 Land = 0x00000010,
120 Water = 0x00000020,
121 Wind = 0x00000040,
122 Sensor = 0x00000080,
123 Selected = 0x00000100
124 }
125
126 /// <summary>
127 /// Material type for a primitive
128 /// </summary>
129 public enum Material : int
130 {
131 /// <summary></summary>
132 Stone = 0,
133 /// <summary></summary>
134 Metal = 1,
135 /// <summary></summary>
136 Glass = 2,
137 /// <summary></summary>
138 Wood = 3,
139 /// <summary></summary>
140 Flesh = 4,
141 /// <summary></summary>
142 Plastic = 5,
143 /// <summary></summary>
144 Rubber = 6
145
146 }
147
148 public sealed class OdeScene : PhysicsScene
149 {
150 private readonly ILog m_log;
151 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
152
153 CollisionLocker ode;
154
155 private Random fluidRandomizer = new Random(Environment.TickCount);
156
157 private const uint m_regionWidth = Constants.RegionSize;
158 private const uint m_regionHeight = Constants.RegionSize;
159
160 private float ODE_STEPSIZE = 0.020f;
161 private float metersInSpace = 29.9f;
162 private float m_timeDilation = 1.0f;
163
164 public float gravityx = 0f;
165 public float gravityy = 0f;
166 public float gravityz = -9.8f;
167
168 private float contactsurfacelayer = 0.001f;
169
170 private int worldHashspaceLow = -4;
171 private int worldHashspaceHigh = 128;
172
173 private int smallHashspaceLow = -4;
174 private int smallHashspaceHigh = 66;
175
176 private float waterlevel = 0f;
177 private int framecount = 0;
178 //private int m_returncollisions = 10;
179
180 private readonly IntPtr contactgroup;
181
182 internal IntPtr LandGeom;
183 internal IntPtr WaterGeom;
184
185 private float nmTerrainContactFriction = 255.0f;
186 private float nmTerrainContactBounce = 0.1f;
187 private float nmTerrainContactERP = 0.1025f;
188
189 private float mTerrainContactFriction = 75f;
190 private float mTerrainContactBounce = 0.1f;
191 private float mTerrainContactERP = 0.05025f;
192
193 private float nmAvatarObjectContactFriction = 250f;
194 private float nmAvatarObjectContactBounce = 0.1f;
195
196 private float mAvatarObjectContactFriction = 75f;
197 private float mAvatarObjectContactBounce = 0.1f;
198
199 private float avPIDD = 3200f;
200 private float avPIDP = 1400f;
201 private float avCapRadius = 0.37f;
202 private float avStandupTensor = 2000000f;
203 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
204 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
205 private float avDensity = 80f;
206 private float avHeightFudgeFactor = 0.52f;
207 private float avMovementDivisorWalk = 1.3f;
208 private float avMovementDivisorRun = 0.8f;
209 private float minimumGroundFlightOffset = 3f;
210 public float maximumMassObject = 10000.01f;
211
212 public bool meshSculptedPrim = true;
213 public bool forceSimplePrimMeshing = false;
214
215 public float meshSculptLOD = 32;
216 public float MeshSculptphysicalLOD = 16;
217
218 public float geomDefaultDensity = 10.000006836f;
219
220 public int geomContactPointsStartthrottle = 3;
221 public int geomUpdatesPerThrottledUpdate = 15;
222
223 public float bodyPIDD = 35f;
224 public float bodyPIDG = 25;
225
226 public int geomCrossingFailuresBeforeOutofbounds = 5;
227 public float geomRegionFence = 0.0f;
228
229 public float bodyMotorJointMaxforceTensor = 2;
230
231 public int bodyFramesAutoDisable = 20;
232
233 private DateTime m_lastframe = DateTime.UtcNow;
234
235 private float[] _watermap;
236 private bool m_filterCollisions = true;
237
238 private d.NearCallback nearCallback;
239 public d.TriCallback triCallback;
240 public d.TriArrayCallback triArrayCallback;
241 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
242 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
243 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
244 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
245 private readonly Object _taintedPrimLock = new Object();
246 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
247 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
248 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
249 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
250 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
251 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
252 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
253 private bool m_NINJA_physics_joints_enabled = false;
254 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
255 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
256 private d.ContactGeom[] contacts;
257 private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
258 private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
259 private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
260 private readonly List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
261 private Object externalJointRequestsLock = new Object();
262 private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
263 private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
264 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
265 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
266
267 private d.Contact ContactCopy; // local copy that can be modified
268 private d.Contact TerrainContact;
269 private d.Contact AvatarStaticprimContact; // was 'contact'
270 private d.Contact AvatarMovementprimContact;
271 private d.Contact AvatarMovementTerrainContact;
272 private d.Contact WaterContact;
273 private d.Contact[,] m_materialContacts;
274
275//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
276//Ckrinke private int m_randomizeWater = 200;
277 private int m_physicsiterations = 10;
278 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
279 private readonly PhysicsActor PANull = new NullPhysicsActor();
280 private float step_time = 0.0f;
281//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
282//Ckrinke private int ms = 0;
283 public IntPtr world;
284 //private bool returncollisions = false;
285 // private uint obj1LocalID = 0;
286 private uint obj2LocalID = 0;
287 //private int ctype = 0;
288 private OdeCharacter cc1;
289 private OdePrim cp1;
290 private OdeCharacter cc2;
291 private OdePrim cp2;
292 //private int cStartStop = 0;
293 //private string cDictKey = "";
294
295 public IntPtr space;
296
297 //private IntPtr tmpSpace;
298 // split static geometry collision handling into spaces of 30 meters
299 public IntPtr[,] staticPrimspace;
300
301 public Object OdeLock;
302
303 public IMesher mesher;
304
305 private IConfigSource m_config;
306
307 public bool physics_logging = false;
308 public int physics_logging_interval = 0;
309 public bool physics_logging_append_existing_logfile = false;
310
311 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
312 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
313
314 // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
315 // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
316 // TODO: unused: private uint heightmapWidthSamples;
317 // TODO: unused: private uint heightmapHeightSamples;
318
319 private volatile int m_global_contactcount = 0;
320
321 private Vector3 m_worldOffset = Vector3.Zero;
322 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
323 private PhysicsScene m_parentScene = null;
324
325 private ODERayCastRequestManager m_rayCastManager;
326
327 /// <summary>
328 /// Initiailizes the scene
329 /// Sets many properties that ODE requires to be stable
330 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
331 /// </summary>
332 public OdeScene(CollisionLocker dode, string sceneIdentifier)
333 {
334 m_log
335 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
336
337 OdeLock = new Object();
338 ode = dode;
339 nearCallback = near;
340 triCallback = TriCallback;
341 triArrayCallback = TriArrayCallback;
342 m_rayCastManager = new ODERayCastRequestManager(this);
343 lock (OdeLock)
344 {
345 // Create the world and the first space
346 world = d.WorldCreate();
347 space = d.HashSpaceCreate(IntPtr.Zero);
348
349
350 contactgroup = d.JointGroupCreate(0);
351 //contactgroup
352
353 d.WorldSetAutoDisableFlag(world, false);
354 #if USE_DRAWSTUFF
355
356 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
357 viewthread.Start();
358 #endif
359 }
360
361
362 _watermap = new float[258 * 258];
363
364 // Zero out the prim spaces array (we split our space into smaller spaces so
365 // we can hit test less.
366 }
367
368#if USE_DRAWSTUFF
369 public void startvisualization(object o)
370 {
371 ds.Functions fn;
372 fn.version = ds.VERSION;
373 fn.start = new ds.CallbackFunction(start);
374 fn.step = new ds.CallbackFunction(step);
375 fn.command = new ds.CallbackFunction(command);
376 fn.stop = null;
377 fn.path_to_textures = "./textures";
378 string[] args = new string[0];
379 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
380 }
381#endif
382
383 // Initialize the mesh plugin
384 public override void Initialise(IMesher meshmerizer, IConfigSource config)
385 {
386 mesher = meshmerizer;
387 m_config = config;
388 // Defaults
389
390 if (Environment.OSVersion.Platform == PlatformID.Unix)
391 {
392 avPIDD = 3200.0f;
393 avPIDP = 1400.0f;
394 avStandupTensor = 2000000f;
395 }
396 else
397 {
398 avPIDD = 2200.0f;
399 avPIDP = 900.0f;
400 avStandupTensor = 550000f;
401 }
402
403 int contactsPerCollision = 80;
404
405 if (m_config != null)
406 {
407 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
408 if (physicsconfig != null)
409 {
410 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
411 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
412 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
413
414 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
415 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
416
417 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
418 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
419 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
420
421 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
422
423 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
424 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
425 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
426
427 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
428 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
429 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
430
431 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
432 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
433
434 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
435 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
436
437 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
438 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
439
440 avDensity = physicsconfig.GetFloat("av_density", 80f);
441 avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
442 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
443 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
444 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
445 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
446
447 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
448
449 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
450 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
451 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
452 geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
453
454 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
455 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
456
457 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
458 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
459
460 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
461 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
462 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
463 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
464 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
465
466 if (Environment.OSVersion.Platform == PlatformID.Unix)
467 {
468 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
469 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
470 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
471 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
472 }
473 else
474 {
475 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
476 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
477 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
478 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
479 }
480
481 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
482 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
483 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
484
485 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
486 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
487 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
488 }
489 }
490
491 contacts = new d.ContactGeom[contactsPerCollision];
492
493 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
494
495 // Avatar static on a Prim parameters
496 AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
497 AvatarStaticprimContact.surface.mu = 255.0f;
498 AvatarStaticprimContact.surface.bounce = 0.0f;
499 AvatarStaticprimContact.surface.soft_cfm = 0.0f;
500 AvatarStaticprimContact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
501
502 // Avatar moving on a Prim parameters
503 AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
504 AvatarMovementprimContact.surface.mu = 255.0f;
505 AvatarMovementprimContact.surface.bounce = 0.0f;
506 AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
507 AvatarMovementprimContact.surface.soft_erp = 0.3f;
508
509 // Static Avatar on Terrain parameters
510 // Keeps Avatar in place better
511 TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
512 TerrainContact.surface.mu = 255.0f;
513 TerrainContact.surface.bounce = 0.0f;
514 TerrainContact.surface.soft_cfm = 0.0f;
515 TerrainContact.surface.soft_erp = 0.05f;
516
517 // Moving Avatar on Terrain parameters
518 AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
519 AvatarMovementTerrainContact.surface.mu = 75f;
520 AvatarMovementTerrainContact.surface.bounce = 0.0f;
521 AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
522 AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
523
524 // Avatar or prim the the water, this may not be used, possibly water is same as air?
525 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
526 WaterContact.surface.mu = 0.0f; // No friction
527 WaterContact.surface.bounce = 0.0f; // No bounce
528 WaterContact.surface.soft_cfm = 0.010f;
529 WaterContact.surface.soft_erp = 0.010f;
530
531
532 // Prim static or moving on a prim, depends on material type
533 m_materialContacts = new d.Contact[7,2];
534 // V 1 = Sliding; 0 = static or fell onto
535 m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
536 m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
537 m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f; // friction, 1 = slippery, 255 = no slip
538 m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;
539 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
540 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; // erp also changes friction, more erp=less friction
541
542 m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
543 m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
544 m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
545 m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
546 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
547 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
548
549 m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
550 m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
551 m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
552 m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
553 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
554 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
555
556 m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
557 m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
558 m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
559 m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
560 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
561 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
562
563 m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
564 m_materialContacts[(int)Material.Glass, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
565 m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
566 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
567 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
568 m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
569
570 m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
571 m_materialContacts[(int)Material.Glass, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
572 m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
573 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
574 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
575 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
576
577 m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
578 m_materialContacts[(int)Material.Wood, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
579 m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
580 m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
581 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
582 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
583
584 m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
585 m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
586 m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
587 m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
588 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
589 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
590
591 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
592 m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
593 m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
594 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
595 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
596 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
597
598 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
599 m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
600 m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
601 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
602 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
603 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
604
605 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
606 m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
607 m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
608 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
609 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
610 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
611
612 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
613 m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
614 m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
615 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
616 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
617 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
618
619 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
620 m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
621 m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
622 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
623 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
624 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
625
626 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
627 m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
628 m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
629 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
630 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
631 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
632
633 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
634
635 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
636
637 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
638 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
639
640
641 d.WorldSetLinearDampingThreshold(world, 256f);
642 d.WorldSetLinearDamping(world, 256f);
643// d.WorldSetLinearDampingThreshold(world, 0.01f);
644// d.WorldSetLinearDamping(world, 0.1f);
645 d.WorldSetAngularDampingThreshold(world, 256f);
646 d.WorldSetAngularDamping(world, 256f);
647 d.WorldSetMaxAngularSpeed(world, 256f);
648
649 // Set how many steps we go without running collision testing
650 // This is in addition to the step size.
651 // Essentially Steps * m_physicsiterations
652 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
653 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
654
655
656
657 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
658 {
659 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
660 {
661 staticPrimspace[i, j] = IntPtr.Zero;
662 }
663 }
664 }
665
666 internal void waitForSpaceUnlock(IntPtr space)
667 {
668 //if (space != IntPtr.Zero)
669 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
670 }
671
672 /// <summary>
673 /// Debug space message for printing the space that a prim/avatar is in.
674 /// </summary>
675 /// <param name="pos"></param>
676 /// <returns>Returns which split up space the given position is in.</returns>
677 public string whichspaceamIin(Vector3 pos)
678 {
679 return calculateSpaceForGeom(pos).ToString();
680 }
681
682 #region Collision Detection
683
684 /// <summary>
685 /// This is our near callback. A geometry is near a body
686 /// </summary>
687 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
688 /// <param name="g1">a geometry or space</param>
689 /// <param name="g2">another geometry or space</param>
690 private void near(IntPtr space, IntPtr g1, IntPtr g2)
691 {
692 // no lock here! It's invoked from within Simulate(), which is thread-locked
693
694 // Test if we're colliding a geom with a space.
695 // If so we have to drill down into the space recursively
696//Console.WriteLine("near -----------"); //##
697 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
698 {
699 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
700 return;
701
702 // Separating static prim geometry spaces.
703 // We'll be calling near recursivly if one
704 // of them is a space to find all of the
705 // contact points in the space
706 try
707 {
708 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
709 }
710 catch (AccessViolationException)
711 {
712 m_log.Warn("[PHYSICS]: Unable to collide test a space");
713 return;
714 }
715 //Colliding a space or a geom with a space or a geom. so drill down
716
717 //Collide all geoms in each space..
718 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
719 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
720 return;
721 }
722
723 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
724 return;
725
726 IntPtr b1 = d.GeomGetBody(g1);
727 IntPtr b2 = d.GeomGetBody(g2);
728
729 // d.GeomClassID id = d.GeomGetClass(g1);
730
731 String name1 = null;
732 String name2 = null;
733
734 if (!geom_name_map.TryGetValue(g1, out name1))
735 {
736 name1 = "null";
737 }
738 if (!geom_name_map.TryGetValue(g2, out name2))
739 {
740 name2 = "null";
741 }
742
743 //if (id == d.GeomClassId.TriMeshClass)
744 //{
745 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
746 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
747 //}
748
749 // Figure out how many contact points we have
750 int count = 0;
751 try
752 {
753 // Colliding Geom To Geom
754 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
755
756 if (g1 == g2)
757 return; // Can't collide with yourself
758
759 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
760 return;
761
762 lock (contacts)
763 {
764 count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
765 if (count > contacts.Length)
766 m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
767 }
768 }
769 catch (SEHException)
770 {
771 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.");
772 ode.drelease(world);
773 base.TriggerPhysicsBasedRestart();
774 }
775 catch (Exception e)
776 {
777 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
778 return;
779 }
780
781 PhysicsActor p1;
782 PhysicsActor p2;
783
784 if (!actor_name_map.TryGetValue(g1, out p1))
785 {
786 p1 = PANull;
787 }
788
789 if (!actor_name_map.TryGetValue(g2, out p2))
790 {
791 p2 = PANull;
792 }
793
794 ContactPoint maxDepthContact = new ContactPoint();
795 if (p1.CollisionScore + count >= float.MaxValue)
796 p1.CollisionScore = 0;
797 p1.CollisionScore += count;
798
799 if (p2.CollisionScore + count >= float.MaxValue)
800 p2.CollisionScore = 0;
801 p2.CollisionScore += count;
802 for (int i = 0; i < count; i++)
803 {
804 d.ContactGeom curContact = contacts[i];
805
806 if (curContact.depth > maxDepthContact.PenetrationDepth)
807 {
808 maxDepthContact = new ContactPoint(
809 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
810 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
811 curContact.depth
812 );
813 }
814
815 //m_log.Warn("[CCOUNT]: " + count);
816 IntPtr joint;
817 // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
818 // allows us to have different settings
819
820 // We only need to test p2 for 'jump crouch purposes'
821 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
822 {
823 // Testing if the collision is at the feet of the avatar
824
825 //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f));
826//#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
827//#@ p2.IsColliding = true;
828 if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //##
829 p2.IsColliding = true; //##
830 }else{
831
832 } //##
833 }
834 else
835 {
836 p2.IsColliding = true;
837 }
838
839 //if ((framecount % m_returncollisions) == 0)
840
841 switch (p1.PhysicsActorType)
842 {
843 case (int)ActorTypes.Agent:
844 p2.CollidingObj = true;
845 break;
846 case (int)ActorTypes.Prim:
847 if (p2.Velocity.LengthSquared() > 0.0f)
848 p2.CollidingObj = true;
849 break;
850 case (int)ActorTypes.Unknown:
851 p2.CollidingGround = true;
852 break;
853 default:
854 p2.CollidingGround = true;
855 break;
856 }
857
858 // we don't want prim or avatar to explode
859
860 #region InterPenetration Handling - Unintended physics explosions
861# region disabled code1
862
863 if (curContact.depth >= 0.08f)
864 {
865 //This is disabled at the moment only because it needs more tweaking
866 //It will eventually be uncommented
867 /*
868 if (AvatarStaticprimContact.depth >= 1.00f)
869 {
870 //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
871 }
872
873 //If you interpenetrate a prim with an agent
874 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
875 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
876 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
877 p2.PhysicsActorType == (int) ActorTypes.Prim))
878 {
879
880 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
881 /*
882 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
883 {
884 p2.CollidingObj = true;
885 AvatarStaticprimContact.depth = 0.003f;
886 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
887 OdeCharacter character = (OdeCharacter) p2;
888 character.SetPidStatus(true);
889 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
890
891 }
892 else
893 {
894
895 //AvatarStaticprimContact.depth = 0.0000000f;
896 }
897 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
898 {
899
900 p1.CollidingObj = true;
901 AvatarStaticprimContact.depth = 0.003f;
902 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
903 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
904 OdeCharacter character = (OdeCharacter)p1;
905 character.SetPidStatus(true);
906 }
907 else
908 {
909
910 //AvatarStaticprimContact.depth = 0.0000000f;
911 }
912
913
914
915 }
916*/
917 // If you interpenetrate a prim with another prim
918 /*
919 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
920 {
921 #region disabledcode2
922 //OdePrim op1 = (OdePrim)p1;
923 //OdePrim op2 = (OdePrim)p2;
924 //op1.m_collisionscore++;
925 //op2.m_collisionscore++;
926
927 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
928 //{
929 //op1.m_taintdisable = true;
930 //AddPhysicsActorTaint(p1);
931 //op2.m_taintdisable = true;
932 //AddPhysicsActorTaint(p2);
933 //}
934
935 //if (AvatarStaticprimContact.depth >= 0.25f)
936 //{
937 // Don't collide, one or both prim will expld.
938
939 //op1.m_interpenetrationcount++;
940 //op2.m_interpenetrationcount++;
941 //interpenetrations_before_disable = 200;
942 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
943 //{
944 //op1.m_taintdisable = true;
945 //AddPhysicsActorTaint(p1);
946 //}
947 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
948 //{
949 // op2.m_taintdisable = true;
950 //AddPhysicsActorTaint(p2);
951 //}
952
953 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
954 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
955 //}
956 //if (op1.m_disabled || op2.m_disabled)
957 //{
958 //Manually disabled objects stay disabled
959 //AvatarStaticprimContact.depth = 0f;
960 //}
961 #endregion
962 }
963 */
964#endregion
965 if (curContact.depth >= 1.00f)
966 {
967 //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
968 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
969 p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
970 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
971 p2.PhysicsActorType == (int) ActorTypes.Unknown))
972 {
973 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
974 {
975 if (p2 is OdeCharacter)
976 {
977 OdeCharacter character = (OdeCharacter) p2;
978
979 //p2.CollidingObj = true;
980 curContact.depth = 0.00000003f;
981 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
982 curContact.pos =
983 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
984 curContact.pos.Y + (p1.Size.Y/2),
985 curContact.pos.Z + (p1.Size.Z/2));
986 character.SetPidStatus(true);
987 }
988 }
989
990
991 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
992 {
993 if (p1 is OdeCharacter)
994 {
995 OdeCharacter character = (OdeCharacter) p1;
996
997 //p2.CollidingObj = true;
998 curContact.depth = 0.00000003f;
999 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1000 curContact.pos =
1001 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1002 curContact.pos.Y + (p1.Size.Y/2),
1003 curContact.pos.Z + (p1.Size.Z/2));
1004 character.SetPidStatus(true);
1005 }
1006 }
1007 }
1008 }
1009 }
1010
1011 #endregion
1012
1013 // Logic for collision handling
1014 // Note, that if *all* contacts are skipped (VolumeDetect)
1015 // The prim still detects (and forwards) collision events but
1016 // appears to be phantom for the world
1017 Boolean skipThisContact = false;
1018
1019 if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
1020 skipThisContact = true; // No collision on volume detect prims
1021
1022 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
1023 skipThisContact = true; // No collision on volume detect prims
1024
1025 if (!skipThisContact && curContact.depth < 0f)
1026 skipThisContact = true;
1027
1028 if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
1029 skipThisContact = true;
1030
1031 const int maxContactsbeforedeath = 4000;
1032 joint = IntPtr.Zero;
1033
1034 if (!skipThisContact)
1035 {
1036 // Add contact joints with materials params----------------------------------
1037 // p1 is what is being hit, p2 is the physical object doing the hitting
1038 int material = (int) Material.Wood;
1039 int movintYN = 0; // 1 = Sliding; 0 = static or fell onto
1040 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
1041
1042 // If we're colliding against terrain
1043 if (name1 == "Terrain" || name2 == "Terrain")
1044 {
1045 // If we're moving
1046 if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
1047 {
1048 //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
1049 AvatarMovementTerrainContact.geom = curContact;
1050 _perloopContact.Add(curContact);
1051 if (m_global_contactcount < maxContactsbeforedeath)
1052 {
1053 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1054 m_global_contactcount++;
1055 }
1056 }
1057 else
1058 {
1059 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
1060 {
1061 //$ Av standing on terrain, Use the non moving Avata terrain contact
1062 TerrainContact.geom = curContact;
1063 _perloopContact.Add(curContact);
1064 if (m_global_contactcount < maxContactsbeforedeath)
1065 {
1066 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
1067 m_global_contactcount++;
1068 }
1069 }
1070 else
1071 {
1072 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
1073 {
1074 //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
1075 // int pj294950 = 0;
1076 // prim terrain contact
1077
1078 if (p2 is OdePrim)
1079 material = ((OdePrim)p2).m_material;
1080 //m_log.DebugFormat("Material: {0}", material);
1081 m_materialContacts[material, movintYN].geom = curContact;
1082 _perloopContact.Add(curContact);
1083
1084 if (m_global_contactcount < maxContactsbeforedeath)
1085 {
1086 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1087 m_global_contactcount++;
1088
1089 }
1090
1091 }
1092 else
1093 {
1094 //$ prim on terrain contact
1095 if (p2 is OdePrim)
1096 material = ((OdePrim)p2).m_material;
1097 //m_log.DebugFormat("Material: {0}", material);
1098 m_materialContacts[material, movintYN].geom = curContact;
1099 _perloopContact.Add(curContact);
1100
1101 ContactCopy = m_materialContacts[material, movintYN];
1102 if(movintYN == 1)
1103 {
1104 // prevent excessive slide on terrain
1105 ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
1106 }
1107
1108 if (m_global_contactcount < maxContactsbeforedeath)
1109 {
1110 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1111 m_global_contactcount++;
1112 }
1113 }
1114 }
1115 }
1116 }
1117 else if (name1 == "Water" || name2 == "Water")
1118 {
1119 //$ This never happens! Perhaps water is treated like air?
1120 /*
1121 if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
1122 {
1123 }
1124 else
1125 {
1126 }
1127 */
1128 //WaterContact.surface.soft_cfm = 0.0000f;
1129 //WaterContact.surface.soft_erp = 0.00000f;
1130 if (curContact.depth > 0.1f)
1131 {
1132 curContact.depth *= 52;
1133 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
1134 //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
1135 }
1136 WaterContact.geom = curContact;
1137 _perloopContact.Add(curContact);
1138 if (m_global_contactcount < maxContactsbeforedeath)
1139 {
1140 joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
1141 m_global_contactcount++;
1142 }
1143 //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
1144 }
1145 else
1146 {
1147
1148 // no terrain and no water, we're colliding with prim or avatar
1149 // check if we're moving
1150 if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
1151 {
1152 //$ Avatar on Prim or other Avatar
1153 if (movintYN == 1)
1154 {
1155 // Use the AV Movement / prim contact
1156 AvatarMovementprimContact.geom = curContact;
1157 _perloopContact.Add(curContact);
1158 if (m_global_contactcount < maxContactsbeforedeath)
1159 {
1160 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1161 m_global_contactcount++;
1162 }
1163 }
1164 else
1165 {
1166 // Use the Av non movement / prim contact
1167 AvatarStaticprimContact.geom = curContact;
1168 _perloopContact.Add(curContact);
1169 ContactCopy = AvatarStaticprimContact; // local copy so we can change locally
1170
1171 if (m_global_contactcount < maxContactsbeforedeath)
1172 {
1173 if (curContact.depth > 0.2)
1174 { // embedded, eject slowly
1175 ContactCopy.surface.soft_erp = 0.1f;
1176 ContactCopy.surface.soft_cfm = 0.1f;
1177 }
1178 else
1179 { // keep on the surface
1180 ContactCopy.surface.soft_erp = 0.3f;
1181 ContactCopy.surface.soft_cfm = 0.0f;
1182 }
1183 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1184 m_global_contactcount++;
1185 }
1186 }
1187 }
1188 else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1189 {
1190 //$ Prim on Prim
1191 //p1.PhysicsActorType
1192
1193 if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
1194 //m_log.DebugFormat("Material: {0}", material);
1195
1196 m_materialContacts[material, movintYN].geom = curContact;
1197 _perloopContact.Add(curContact);
1198
1199 if (m_global_contactcount < maxContactsbeforedeath)
1200 {
1201 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1202 m_global_contactcount++;
1203 }
1204 }
1205 }
1206
1207 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1208 {
1209 d.JointAttach(joint, b1, b2);
1210 m_global_contactcount++;
1211 }
1212
1213 }
1214 collision_accounting_events(p1, p2, maxDepthContact);
1215 if (count > geomContactPointsStartthrottle)
1216 {
1217 // If there are more then 3 contact points, it's likely
1218 // that we've got a pile of objects, so ...
1219 // We don't want to send out hundreds of terse updates over and over again
1220 // so lets throttle them and send them again after it's somewhat sorted out.
1221 p2.ThrottleUpdates = true;
1222 }
1223 //m_log.Debug(count.ToString());
1224 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1225 } // end for i.. loop
1226 } // end near
1227
1228 private bool checkDupe(d.ContactGeom contactGeom, int atype)
1229 {
1230 bool result = false;
1231 //return result;
1232 if (!m_filterCollisions)
1233 return false;
1234
1235 ActorTypes at = (ActorTypes)atype;
1236 lock (_perloopContact)
1237 {
1238 foreach (d.ContactGeom contact in _perloopContact)
1239 {
1240 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1241 //{
1242 // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
1243 if (at == ActorTypes.Agent)
1244 {
1245 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1246 {
1247
1248 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1249 {
1250 //contactGeom.depth *= .00005f;
1251 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1252 // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1253 result = true;
1254 break;
1255 }
1256 else
1257 {
1258 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1259 }
1260 }
1261 else
1262 {
1263 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1264 //int i = 0;
1265 }
1266 }
1267 else if (at == ActorTypes.Prim)
1268 {
1269 //d.AABB aabb1 = new d.AABB();
1270 //d.AABB aabb2 = new d.AABB();
1271
1272 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1273 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1274 //aabb1.
1275 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1276 {
1277 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
1278 {
1279 if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
1280 {
1281 result = true;
1282 break;
1283 }
1284 }
1285 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1286 //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1287 }
1288
1289 }
1290
1291 //}
1292
1293 }
1294 }
1295 return result;
1296 }
1297
1298 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1299 {
1300 // obj1LocalID = 0;
1301 //returncollisions = false;
1302 obj2LocalID = 0;
1303 //ctype = 0;
1304 //cStartStop = 0;
1305 if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1306 return;
1307
1308 switch ((ActorTypes)p2.PhysicsActorType)
1309 {
1310 case ActorTypes.Agent:
1311 cc2 = (OdeCharacter)p2;
1312
1313 // obj1LocalID = cc2.m_localID;
1314 switch ((ActorTypes)p1.PhysicsActorType)
1315 {
1316 case ActorTypes.Agent:
1317 cc1 = (OdeCharacter)p1;
1318 obj2LocalID = cc1.m_localID;
1319 cc1.AddCollisionEvent(cc2.m_localID, contact);
1320 //ctype = (int)CollisionCategories.Character;
1321
1322 //if (cc1.CollidingObj)
1323 //cStartStop = (int)StatusIndicators.Generic;
1324 //else
1325 //cStartStop = (int)StatusIndicators.Start;
1326
1327 //returncollisions = true;
1328 break;
1329 case ActorTypes.Prim:
1330 if (p1 is OdePrim)
1331 {
1332 cp1 = (OdePrim) p1;
1333 obj2LocalID = cp1.m_localID;
1334 cp1.AddCollisionEvent(cc2.m_localID, contact);
1335 }
1336 //ctype = (int)CollisionCategories.Geom;
1337
1338 //if (cp1.CollidingObj)
1339 //cStartStop = (int)StatusIndicators.Generic;
1340 //else
1341 //cStartStop = (int)StatusIndicators.Start;
1342
1343 //returncollisions = true;
1344 break;
1345
1346 case ActorTypes.Ground:
1347 case ActorTypes.Unknown:
1348 obj2LocalID = 0;
1349 //ctype = (int)CollisionCategories.Land;
1350 //returncollisions = true;
1351 break;
1352 }
1353
1354 cc2.AddCollisionEvent(obj2LocalID, contact);
1355 break;
1356 case ActorTypes.Prim:
1357
1358 if (p2 is OdePrim)
1359 {
1360 cp2 = (OdePrim) p2;
1361
1362 // obj1LocalID = cp2.m_localID;
1363 switch ((ActorTypes) p1.PhysicsActorType)
1364 {
1365 case ActorTypes.Agent:
1366 if (p1 is OdeCharacter)
1367 {
1368 cc1 = (OdeCharacter) p1;
1369 obj2LocalID = cc1.m_localID;
1370 cc1.AddCollisionEvent(cp2.m_localID, contact);
1371 //ctype = (int)CollisionCategories.Character;
1372
1373 //if (cc1.CollidingObj)
1374 //cStartStop = (int)StatusIndicators.Generic;
1375 //else
1376 //cStartStop = (int)StatusIndicators.Start;
1377 //returncollisions = true;
1378 }
1379 break;
1380 case ActorTypes.Prim:
1381
1382 if (p1 is OdePrim)
1383 {
1384 cp1 = (OdePrim) p1;
1385 obj2LocalID = cp1.m_localID;
1386 cp1.AddCollisionEvent(cp2.m_localID, contact);
1387 //ctype = (int)CollisionCategories.Geom;
1388
1389 //if (cp1.CollidingObj)
1390 //cStartStop = (int)StatusIndicators.Generic;
1391 //else
1392 //cStartStop = (int)StatusIndicators.Start;
1393
1394 //returncollisions = true;
1395 }
1396 break;
1397
1398 case ActorTypes.Ground:
1399 case ActorTypes.Unknown:
1400 obj2LocalID = 0;
1401 //ctype = (int)CollisionCategories.Land;
1402
1403 //returncollisions = true;
1404 break;
1405 }
1406
1407 cp2.AddCollisionEvent(obj2LocalID, contact);
1408 }
1409 break;
1410 }
1411 //if (returncollisions)
1412 //{
1413
1414 //lock (m_storedCollisions)
1415 //{
1416 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1417 //if (m_storedCollisions.ContainsKey(cDictKey))
1418 //{
1419 //sCollisionData objd = m_storedCollisions[cDictKey];
1420 //objd.NumberOfCollisions += 1;
1421 //objd.lastframe = framecount;
1422 //m_storedCollisions[cDictKey] = objd;
1423 //}
1424 //else
1425 //{
1426 //sCollisionData objd = new sCollisionData();
1427 //objd.ColliderLocalId = obj1LocalID;
1428 //objd.CollidedWithLocalId = obj2LocalID;
1429 //objd.CollisionType = ctype;
1430 //objd.NumberOfCollisions = 1;
1431 //objd.lastframe = framecount;
1432 //objd.StatusIndicator = cStartStop;
1433 //m_storedCollisions.Add(cDictKey, objd);
1434 //}
1435 //}
1436 // }
1437 }
1438
1439 public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1440 {
1441 /* String name1 = null;
1442 String name2 = null;
1443
1444 if (!geom_name_map.TryGetValue(trimesh, out name1))
1445 {
1446 name1 = "null";
1447 }
1448 if (!geom_name_map.TryGetValue(refObject, out name2))
1449 {
1450 name2 = "null";
1451 }
1452
1453 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1454 */
1455 return 1;
1456 }
1457
1458 public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1459 {
1460 String name1 = null;
1461 String name2 = null;
1462
1463 if (!geom_name_map.TryGetValue(trimesh, out name1))
1464 {
1465 name1 = "null";
1466 }
1467
1468 if (!geom_name_map.TryGetValue(refObject, out name2))
1469 {
1470 name2 = "null";
1471 }
1472
1473 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1474
1475 d.Vector3 v0 = new d.Vector3();
1476 d.Vector3 v1 = new d.Vector3();
1477 d.Vector3 v2 = new d.Vector3();
1478
1479 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1480 // 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);
1481
1482 return 1;
1483 }
1484
1485 /// <summary>
1486 /// This is our collision testing routine in ODE
1487 /// </summary>
1488 /// <param name="timeStep"></param>
1489 private void collision_optimized(float timeStep)
1490 {
1491 _perloopContact.Clear();
1492
1493 lock (_characters)
1494 {
1495 foreach (OdeCharacter chr in _characters)
1496 {
1497 // Reset the collision values to false
1498 // since we don't know if we're colliding yet
1499
1500 // For some reason this can happen. Don't ask...
1501 //
1502 if (chr == null)
1503 continue;
1504
1505 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1506 continue;
1507
1508 chr.IsColliding = false;
1509 chr.CollidingGround = false;
1510 chr.CollidingObj = false;
1511
1512 // test the avatar's geometry for collision with the space
1513 // This will return near and the space that they are the closest to
1514 // And we'll run this again against the avatar and the space segment
1515 // This will return with a bunch of possible objects in the space segment
1516 // and we'll run it again on all of them.
1517 try
1518 {
1519 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
1520 }
1521 catch (AccessViolationException)
1522 {
1523 m_log.Warn("[PHYSICS]: Unable to space collide");
1524 }
1525 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1526 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1527 //{
1528 //chr.Position.Z = terrainheight + 10.0f;
1529 //forcedZ = true;
1530 //}
1531 }
1532 }
1533
1534 lock (_activeprims)
1535 {
1536 List<OdePrim> removeprims = null;
1537 foreach (OdePrim chr in _activeprims)
1538 {
1539 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
1540 {
1541 try
1542 {
1543 lock (chr)
1544 {
1545 if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
1546 {
1547 d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
1548 }
1549 else
1550 {
1551 if (removeprims == null)
1552 {
1553 removeprims = new List<OdePrim>();
1554 }
1555 removeprims.Add(chr);
1556 /// Commented this because it triggers on every bullet
1557 //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. Removed it from the active prim list. This needs to be fixed!");
1558 }
1559 }
1560 }
1561 catch (AccessViolationException)
1562 {
1563 m_log.Warn("[PHYSICS]: Unable to space collide");
1564 }
1565 }
1566 }
1567 if (removeprims != null)
1568 {
1569 foreach (OdePrim chr in removeprims)
1570 {
1571 _activeprims.Remove(chr);
1572 }
1573 }
1574 }
1575
1576 _perloopContact.Clear();
1577 }
1578
1579 #endregion
1580
1581 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
1582 {
1583 m_worldOffset = offset;
1584 WorldExtents = new Vector2(extents.X, extents.Y);
1585 m_parentScene = pScene;
1586
1587 }
1588
1589 // Recovered for use by fly height. Kitto Flora
1590 public float GetTerrainHeightAtXY(float x, float y)
1591 {
1592
1593 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1594 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1595
1596 IntPtr heightFieldGeom = IntPtr.Zero;
1597
1598 if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
1599 {
1600 if (heightFieldGeom != IntPtr.Zero)
1601 {
1602 if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1603 {
1604
1605 int index;
1606
1607
1608 if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
1609 (int)x < 0.001f || (int)y < 0.001f)
1610 return 0;
1611
1612 x = x - offsetX;
1613 y = y - offsetY;
1614
1615 index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
1616
1617 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
1618 {
1619 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1620 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1621 }
1622
1623 else
1624 return 0f;
1625 }
1626 else
1627 {
1628 return 0f;
1629 }
1630
1631 }
1632 else
1633 {
1634 return 0f;
1635 }
1636
1637 }
1638 else
1639 {
1640 return 0f;
1641 }
1642
1643
1644 }
1645// End recovered. Kitto Flora
1646
1647 public void addCollisionEventReporting(PhysicsActor obj)
1648 {
1649 lock (_collisionEventPrim)
1650 {
1651 if (!_collisionEventPrim.Contains(obj))
1652 _collisionEventPrim.Add(obj);
1653 }
1654 }
1655
1656 public void remCollisionEventReporting(PhysicsActor obj)
1657 {
1658 lock (_collisionEventPrim)
1659 {
1660 if (!_collisionEventPrim.Contains(obj))
1661 _collisionEventPrim.Remove(obj);
1662 }
1663 }
1664
1665 #region Add/Remove Entities
1666
1667 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1668 {
1669 Vector3 pos;
1670 pos.X = position.X;
1671 pos.Y = position.Y;
1672 pos.Z = position.Z;
1673 OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
1674 newAv.Flying = isFlying;
1675 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1676
1677 return newAv;
1678 }
1679
1680 public void AddCharacter(OdeCharacter chr)
1681 {
1682 lock (_characters)
1683 {
1684 if (!_characters.Contains(chr))
1685 {
1686 _characters.Add(chr);
1687 if (chr.bad)
1688 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1689 }
1690 }
1691 }
1692
1693 public void RemoveCharacter(OdeCharacter chr)
1694 {
1695 lock (_characters)
1696 {
1697 if (_characters.Contains(chr))
1698 {
1699 _characters.Remove(chr);
1700 }
1701 }
1702 }
1703 public void BadCharacter(OdeCharacter chr)
1704 {
1705 lock (_badCharacter)
1706 {
1707 if (!_badCharacter.Contains(chr))
1708 _badCharacter.Add(chr);
1709 }
1710 }
1711
1712 public override void RemoveAvatar(PhysicsActor actor)
1713 {
1714 //m_log.Debug("[PHYSICS]:ODELOCK");
1715 ((OdeCharacter) actor).Destroy();
1716
1717 }
1718
1719 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1720 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, uint localid)
1721 {
1722
1723 Vector3 pos = position;
1724 Vector3 siz = size;
1725 Quaternion rot = rotation;
1726
1727 OdePrim newPrim;
1728 lock (OdeLock)
1729 {
1730 newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode, localid);
1731
1732 lock (_prims)
1733 _prims.Add(newPrim);
1734 }
1735
1736 return newPrim;
1737 }
1738
1739 public void addActivePrim(OdePrim activatePrim)
1740 {
1741 // adds active prim.. (ones that should be iterated over in collisions_optimized
1742 lock (_activeprims)
1743 {
1744 if (!_activeprims.Contains(activatePrim))
1745 _activeprims.Add(activatePrim);
1746 //else
1747 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
1748 }
1749 }
1750
1751 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1752 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1753 {
1754 PhysicsActor result;
1755 IMesh mesh = null;
1756
1757 if (needsMeshing(pbs))
1758 mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
1759
1760 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, localid);
1761
1762 return result;
1763 }
1764
1765 public override float TimeDilation
1766 {
1767 get { return m_timeDilation; }
1768 }
1769
1770 public override bool SupportsNINJAJoints
1771 {
1772 get { return m_NINJA_physics_joints_enabled; }
1773 }
1774
1775 // internal utility function: must be called within a lock (OdeLock)
1776 private void InternalAddActiveJoint(PhysicsJoint joint)
1777 {
1778 activeJoints.Add(joint);
1779 SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
1780 }
1781
1782 // internal utility function: must be called within a lock (OdeLock)
1783 private void InternalAddPendingJoint(OdePhysicsJoint joint)
1784 {
1785 pendingJoints.Add(joint);
1786 SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
1787 }
1788
1789 // internal utility function: must be called within a lock (OdeLock)
1790 private void InternalRemovePendingJoint(PhysicsJoint joint)
1791 {
1792 pendingJoints.Remove(joint);
1793 SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
1794 }
1795
1796 // internal utility function: must be called within a lock (OdeLock)
1797 private void InternalRemoveActiveJoint(PhysicsJoint joint)
1798 {
1799 activeJoints.Remove(joint);
1800 SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
1801 }
1802
1803 public override void DumpJointInfo()
1804 {
1805 string hdr = "[NINJA] JOINTINFO: ";
1806 foreach (PhysicsJoint j in pendingJoints)
1807 {
1808 m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1809 }
1810 m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
1811 foreach (string jointName in SOPName_to_pendingJoint.Keys)
1812 {
1813 m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
1814 }
1815 m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
1816 foreach (PhysicsJoint j in activeJoints)
1817 {
1818 m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1819 }
1820 m_log.Debug(hdr + activeJoints.Count + " total active joints");
1821 foreach (string jointName in SOPName_to_activeJoint.Keys)
1822 {
1823 m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
1824 }
1825 m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
1826
1827 m_log.Debug(hdr + " Per-body joint connectivity information follows.");
1828 m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
1829 foreach (string actorName in joints_connecting_actor.Keys)
1830 {
1831 m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
1832 foreach (PhysicsJoint j in joints_connecting_actor[actorName])
1833 {
1834 m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1835 }
1836 m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
1837 }
1838 }
1839
1840 public override void RequestJointDeletion(string ObjectNameInScene)
1841 {
1842 lock (externalJointRequestsLock)
1843 {
1844 if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
1845 {
1846 requestedJointsToBeDeleted.Add(ObjectNameInScene);
1847 }
1848 }
1849 }
1850
1851 private void DeleteRequestedJoints()
1852 {
1853 List<string> myRequestedJointsToBeDeleted;
1854 lock (externalJointRequestsLock)
1855 {
1856 // make a local copy of the shared list for processing (threading issues)
1857 myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
1858 }
1859
1860 foreach (string jointName in myRequestedJointsToBeDeleted)
1861 {
1862 lock (OdeLock)
1863 {
1864 //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
1865 if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
1866 {
1867 OdePhysicsJoint joint = null;
1868 if (SOPName_to_activeJoint.ContainsKey(jointName))
1869 {
1870 joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
1871 InternalRemoveActiveJoint(joint);
1872 }
1873 else if (SOPName_to_pendingJoint.ContainsKey(jointName))
1874 {
1875 joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
1876 InternalRemovePendingJoint(joint);
1877 }
1878
1879 if (joint != null)
1880 {
1881 //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
1882 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1883 {
1884 string bodyName = joint.BodyNames[iBodyName];
1885 if (bodyName != "NULL")
1886 {
1887 joints_connecting_actor[bodyName].Remove(joint);
1888 if (joints_connecting_actor[bodyName].Count == 0)
1889 {
1890 joints_connecting_actor.Remove(bodyName);
1891 }
1892 }
1893 }
1894
1895 DoJointDeactivated(joint);
1896 if (joint.jointID != IntPtr.Zero)
1897 {
1898 d.JointDestroy(joint.jointID);
1899 joint.jointID = IntPtr.Zero;
1900 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1901 }
1902 else
1903 {
1904 //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
1905 }
1906 }
1907 else
1908 {
1909 // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
1910 }
1911 }
1912 else
1913 {
1914 // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
1915 }
1916 }
1917 }
1918
1919 // remove processed joints from the shared list
1920 lock (externalJointRequestsLock)
1921 {
1922 foreach (string jointName in myRequestedJointsToBeDeleted)
1923 {
1924 requestedJointsToBeDeleted.Remove(jointName);
1925 }
1926 }
1927 }
1928
1929 // for pending joints we don't know if their associated bodies exist yet or not.
1930 // the joint is actually created during processing of the taints
1931 private void CreateRequestedJoints()
1932 {
1933 List<PhysicsJoint> myRequestedJointsToBeCreated;
1934 lock (externalJointRequestsLock)
1935 {
1936 // make a local copy of the shared list for processing (threading issues)
1937 myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
1938 }
1939
1940 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1941 {
1942 lock (OdeLock)
1943 {
1944 if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
1945 {
1946 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1947 continue;
1948 }
1949 if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
1950 {
1951 DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
1952 continue;
1953 }
1954
1955 InternalAddPendingJoint(joint as OdePhysicsJoint);
1956
1957 if (joint.BodyNames.Count >= 2)
1958 {
1959 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1960 {
1961 string bodyName = joint.BodyNames[iBodyName];
1962 if (bodyName != "NULL")
1963 {
1964 if (!joints_connecting_actor.ContainsKey(bodyName))
1965 {
1966 joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
1967 }
1968 joints_connecting_actor[bodyName].Add(joint);
1969 }
1970 }
1971 }
1972 }
1973 }
1974
1975 // remove processed joints from shared list
1976 lock (externalJointRequestsLock)
1977 {
1978 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1979 {
1980 requestedJointsToBeCreated.Remove(joint);
1981 }
1982 }
1983
1984 }
1985
1986 // public function to add an request for joint creation
1987 // this joint will just be added to a waiting list that is NOT processed during the main
1988 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
1989
1990 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
1991 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
1992
1993 {
1994
1995 OdePhysicsJoint joint = new OdePhysicsJoint();
1996 joint.ObjectNameInScene = objectNameInScene;
1997 joint.Type = jointType;
1998 joint.Position = position;
1999 joint.Rotation = rotation;
2000 joint.RawParams = parms;
2001 joint.BodyNames = new List<string>(bodyNames);
2002 joint.TrackedBodyName = trackedBodyName;
2003 joint.LocalRotation = localRotation;
2004 joint.jointID = IntPtr.Zero;
2005 joint.ErrorMessageCount = 0;
2006
2007 lock (externalJointRequestsLock)
2008 {
2009 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2010 {
2011 requestedJointsToBeCreated.Add(joint);
2012 }
2013 }
2014 return joint;
2015 }
2016
2017 private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
2018 {
2019 //m_log.Debug("RemoveAllJointsConnectedToActor: start");
2020 if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
2021 {
2022
2023 List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
2024 //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
2025 foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
2026 {
2027 jointsToRemove.Add(j);
2028 }
2029 foreach (PhysicsJoint j in jointsToRemove)
2030 {
2031 //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
2032 RequestJointDeletion(j.ObjectNameInScene);
2033 //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
2034 j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
2035 }
2036 }
2037 }
2038
2039 public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
2040 {
2041 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
2042 lock (OdeLock)
2043 {
2044 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
2045 RemoveAllJointsConnectedToActor(actor);
2046 }
2047 }
2048
2049 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2050 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2051 {
2052 Debug.Assert(joint.IsInPhysicsEngine);
2053 d.Vector3 pos = new d.Vector3();
2054
2055 if (!(joint is OdePhysicsJoint))
2056 {
2057 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2058 }
2059 else
2060 {
2061 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2062 switch (odeJoint.Type)
2063 {
2064 case PhysicsJointType.Ball:
2065 d.JointGetBallAnchor(odeJoint.jointID, out pos);
2066 break;
2067 case PhysicsJointType.Hinge:
2068 d.JointGetHingeAnchor(odeJoint.jointID, out pos);
2069 break;
2070 }
2071 }
2072 return new Vector3(pos.X, pos.Y, pos.Z);
2073 }
2074
2075 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2076 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2077 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2078 // keeping track of the joint's original orientation relative to one of the involved bodies.
2079 public override Vector3 GetJointAxis(PhysicsJoint joint)
2080 {
2081 Debug.Assert(joint.IsInPhysicsEngine);
2082 d.Vector3 axis = new d.Vector3();
2083
2084 if (!(joint is OdePhysicsJoint))
2085 {
2086 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2087 }
2088 else
2089 {
2090 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2091 switch (odeJoint.Type)
2092 {
2093 case PhysicsJointType.Ball:
2094 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2095 break;
2096 case PhysicsJointType.Hinge:
2097 d.JointGetHingeAxis(odeJoint.jointID, out axis);
2098 break;
2099 }
2100 }
2101 return new Vector3(axis.X, axis.Y, axis.Z);
2102 }
2103
2104
2105 public void remActivePrim(OdePrim deactivatePrim)
2106 {
2107 lock (_activeprims)
2108 {
2109 _activeprims.Remove(deactivatePrim);
2110 }
2111 }
2112
2113 public override void RemovePrim(PhysicsActor prim)
2114 {
2115 if (prim is OdePrim)
2116 {
2117 lock (OdeLock)
2118 {
2119 OdePrim p = (OdePrim) prim;
2120
2121 p.setPrimForRemoval();
2122 AddPhysicsActorTaint(prim);
2123 //RemovePrimThreadLocked(p);
2124 }
2125 }
2126 }
2127
2128 /// <summary>
2129 /// This is called from within simulate but outside the locked portion
2130 /// We need to do our own locking here
2131 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
2132 ///
2133 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
2134 /// that the space was using.
2135 /// </summary>
2136 /// <param name="prim"></param>
2137 public void RemovePrimThreadLocked(OdePrim prim)
2138 {
2139//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
2140 lock (prim)
2141 {
2142 remCollisionEventReporting(prim);
2143 lock (ode)
2144 {
2145 if (prim.prim_geom != IntPtr.Zero)
2146 {
2147 prim.ResetTaints();
2148
2149 if (prim.IsPhysical)
2150 {
2151 prim.disableBody();
2152 if (prim.childPrim)
2153 {
2154 prim.childPrim = false;
2155 prim.Body = IntPtr.Zero;
2156 prim.m_disabled = true;
2157 prim.IsPhysical = false;
2158 }
2159
2160
2161 }
2162 // we don't want to remove the main space
2163
2164 // If the geometry is in the targetspace, remove it from the target space
2165 //m_log.Warn(prim.m_targetSpace);
2166
2167 //if (prim.m_targetSpace != IntPtr.Zero)
2168 //{
2169 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2170 //{
2171
2172 //if (d.GeomIsSpace(prim.m_targetSpace))
2173 //{
2174 //waitForSpaceUnlock(prim.m_targetSpace);
2175 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2176 prim.m_targetSpace = IntPtr.Zero;
2177 //}
2178 //else
2179 //{
2180 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2181 //((OdePrim)prim).m_targetSpace.ToString());
2182 //}
2183
2184 //}
2185 //}
2186 //m_log.Warn(prim.prim_geom);
2187 try
2188 {
2189 if (prim.prim_geom != IntPtr.Zero)
2190 {
2191
2192//string tPA;
2193//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
2194//Console.WriteLine("**** Remove {0}", tPA);
2195 if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
2196 if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
2197 d.GeomDestroy(prim.prim_geom);
2198 prim.prim_geom = IntPtr.Zero;
2199 }
2200 else
2201 {
2202 m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
2203 }
2204 }
2205 catch (AccessViolationException)
2206 {
2207 m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
2208 }
2209 lock (_prims)
2210 _prims.Remove(prim);
2211
2212 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2213 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2214 //{
2215 //if (prim.m_targetSpace != null)
2216 //{
2217 //if (d.GeomIsSpace(prim.m_targetSpace))
2218 //{
2219 //waitForSpaceUnlock(prim.m_targetSpace);
2220 //d.SpaceRemove(space, prim.m_targetSpace);
2221 // free up memory used by the space.
2222 //d.SpaceDestroy(prim.m_targetSpace);
2223 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2224 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2225 //}
2226 //else
2227 //{
2228 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2229 //((OdePrim) prim).m_targetSpace.ToString());
2230 //}
2231 //}
2232 //}
2233
2234 if (SupportsNINJAJoints)
2235 {
2236 RemoveAllJointsConnectedToActorThreadLocked(prim);
2237 }
2238 }
2239 }
2240 }
2241 }
2242
2243 #endregion
2244
2245 #region Space Separation Calculation
2246
2247 /// <summary>
2248 /// Takes a space pointer and zeros out the array we're using to hold the spaces
2249 /// </summary>
2250 /// <param name="pSpace"></param>
2251 public void resetSpaceArrayItemToZero(IntPtr pSpace)
2252 {
2253 for (int x = 0; x < staticPrimspace.GetLength(0); x++)
2254 {
2255 for (int y = 0; y < staticPrimspace.GetLength(1); y++)
2256 {
2257 if (staticPrimspace[x, y] == pSpace)
2258 staticPrimspace[x, y] = IntPtr.Zero;
2259 }
2260 }
2261 }
2262
2263 public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
2264 {
2265 staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
2266 }
2267
2268 /// <summary>
2269 /// Called when a static prim moves. Allocates a space for the prim based on its position
2270 /// </summary>
2271 /// <param name="geom">the pointer to the geom that moved</param>
2272 /// <param name="pos">the position that the geom moved to</param>
2273 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2274 /// <returns>a pointer to the new space it's in</returns>
2275 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2276 {
2277 // Called from setting the Position and Size of an ODEPrim so
2278 // it's already in locked space.
2279
2280 // we don't want to remove the main space
2281 // we don't need to test physical here because this function should
2282 // never be called if the prim is physical(active)
2283
2284 // All physical prim end up in the root space
2285 //Thread.Sleep(20);
2286 if (currentspace != space)
2287 {
2288 //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
2289 //if (currentspace == IntPtr.Zero)
2290 //{
2291 //int adfadf = 0;
2292 //}
2293 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2294 {
2295 if (d.GeomIsSpace(currentspace))
2296 {
2297 waitForSpaceUnlock(currentspace);
2298 d.SpaceRemove(currentspace, geom);
2299 }
2300 else
2301 {
2302 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
2303 " Geom:" + geom);
2304 }
2305 }
2306 else
2307 {
2308 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2309 if (sGeomIsIn != IntPtr.Zero)
2310 {
2311 if (d.GeomIsSpace(currentspace))
2312 {
2313 waitForSpaceUnlock(sGeomIsIn);
2314 d.SpaceRemove(sGeomIsIn, geom);
2315 }
2316 else
2317 {
2318 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2319 sGeomIsIn + " Geom:" + geom);
2320 }
2321 }
2322 }
2323
2324 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2325 if (d.SpaceGetNumGeoms(currentspace) == 0)
2326 {
2327 if (currentspace != IntPtr.Zero)
2328 {
2329 if (d.GeomIsSpace(currentspace))
2330 {
2331 waitForSpaceUnlock(currentspace);
2332 waitForSpaceUnlock(space);
2333 d.SpaceRemove(space, currentspace);
2334 // free up memory used by the space.
2335
2336 //d.SpaceDestroy(currentspace);
2337 resetSpaceArrayItemToZero(currentspace);
2338 }
2339 else
2340 {
2341 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2342 currentspace + " Geom:" + geom);
2343 }
2344 }
2345 }
2346 }
2347 else
2348 {
2349 // this is a physical object that got disabled. ;.;
2350 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2351 {
2352 if (d.SpaceQuery(currentspace, geom))
2353 {
2354 if (d.GeomIsSpace(currentspace))
2355 {
2356 waitForSpaceUnlock(currentspace);
2357 d.SpaceRemove(currentspace, geom);
2358 }
2359 else
2360 {
2361 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2362 currentspace + " Geom:" + geom);
2363 }
2364 }
2365 else
2366 {
2367 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2368 if (sGeomIsIn != IntPtr.Zero)
2369 {
2370 if (d.GeomIsSpace(sGeomIsIn))
2371 {
2372 waitForSpaceUnlock(sGeomIsIn);
2373 d.SpaceRemove(sGeomIsIn, geom);
2374 }
2375 else
2376 {
2377 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2378 sGeomIsIn + " Geom:" + geom);
2379 }
2380 }
2381 }
2382 }
2383 }
2384
2385 // The routines in the Position and Size sections do the 'inserting' into the space,
2386 // so all we have to do is make sure that the space that we're putting the prim into
2387 // is in the 'main' space.
2388 int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
2389 IntPtr newspace = calculateSpaceForGeom(pos);
2390
2391 if (newspace == IntPtr.Zero)
2392 {
2393 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2394 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
2395 }
2396
2397 return newspace;
2398 }
2399
2400 /// <summary>
2401 /// Creates a new space at X Y
2402 /// </summary>
2403 /// <param name="iprimspaceArrItemX"></param>
2404 /// <param name="iprimspaceArrItemY"></param>
2405 /// <returns>A pointer to the created space</returns>
2406 public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2407 {
2408 // creating a new space for prim and inserting it into main space.
2409 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
2410 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2411 waitForSpaceUnlock(space);
2412 d.SpaceSetSublevel(space, 1);
2413 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2414 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2415 }
2416
2417 /// <summary>
2418 /// Calculates the space the prim should be in by its position
2419 /// </summary>
2420 /// <param name="pos"></param>
2421 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2422 public IntPtr calculateSpaceForGeom(Vector3 pos)
2423 {
2424 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2425 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
2426 return staticPrimspace[xyspace[0], xyspace[1]];
2427 }
2428
2429 /// <summary>
2430 /// Holds the space allocation logic
2431 /// </summary>
2432 /// <param name="pos"></param>
2433 /// <returns>an array item based on the position</returns>
2434 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2435 {
2436 int[] returnint = new int[2];
2437
2438 returnint[0] = (int) (pos.X/metersInSpace);
2439
2440 if (returnint[0] > ((int) (259f/metersInSpace)))
2441 returnint[0] = ((int) (259f/metersInSpace));
2442 if (returnint[0] < 0)
2443 returnint[0] = 0;
2444
2445 returnint[1] = (int) (pos.Y/metersInSpace);
2446 if (returnint[1] > ((int) (259f/metersInSpace)))
2447 returnint[1] = ((int) (259f/metersInSpace));
2448 if (returnint[1] < 0)
2449 returnint[1] = 0;
2450
2451 return returnint;
2452 }
2453
2454 #endregion
2455
2456 /// <summary>
2457 /// Routine to figure out if we need to mesh this prim with our mesher
2458 /// </summary>
2459 /// <param name="pbs"></param>
2460 /// <returns></returns>
2461 public bool needsMeshing(PrimitiveBaseShape pbs)
2462 {
2463 // most of this is redundant now as the mesher will return null if it cant mesh a prim
2464 // but we still need to check for sculptie meshing being enabled so this is the most
2465 // convenient place to do it for now...
2466
2467 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
2468 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
2469 int iPropertiesNotSupportedDefault = 0;
2470
2471 if (pbs.SculptEntry && !meshSculptedPrim)
2472 {
2473#if SPAM
2474 m_log.Warn("NonMesh");
2475#endif
2476 return false;
2477 }
2478
2479 // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
2480 if (!forceSimplePrimMeshing)
2481 {
2482 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
2483 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
2484 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
2485 {
2486
2487 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
2488 && pbs.ProfileHollow == 0
2489 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
2490 && pbs.PathBegin == 0 && pbs.PathEnd == 0
2491 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
2492 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
2493 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
2494 {
2495#if SPAM
2496 m_log.Warn("NonMesh");
2497#endif
2498 return false;
2499 }
2500 }
2501 }
2502
2503 if (pbs.ProfileHollow != 0)
2504 iPropertiesNotSupportedDefault++;
2505
2506 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2507 iPropertiesNotSupportedDefault++;
2508
2509 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2510 iPropertiesNotSupportedDefault++;
2511
2512 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
2513 iPropertiesNotSupportedDefault++;
2514
2515 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
2516 iPropertiesNotSupportedDefault++;
2517
2518 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
2519 iPropertiesNotSupportedDefault++;
2520
2521 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))
2522 iPropertiesNotSupportedDefault++;
2523
2524 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
2525 iPropertiesNotSupportedDefault++;
2526
2527 // test for torus
2528 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
2529 {
2530 if (pbs.PathCurve == (byte)Extrusion.Curve1)
2531 {
2532 iPropertiesNotSupportedDefault++;
2533 }
2534 }
2535 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
2536 {
2537 if (pbs.PathCurve == (byte)Extrusion.Straight)
2538 {
2539 iPropertiesNotSupportedDefault++;
2540 }
2541
2542 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
2543 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2544 {
2545 iPropertiesNotSupportedDefault++;
2546 }
2547 }
2548 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
2549 {
2550 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
2551 {
2552 iPropertiesNotSupportedDefault++;
2553 }
2554 }
2555 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
2556 {
2557 if (pbs.PathCurve == (byte)Extrusion.Straight)
2558 {
2559 iPropertiesNotSupportedDefault++;
2560 }
2561 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2562 {
2563 iPropertiesNotSupportedDefault++;
2564 }
2565 }
2566
2567
2568 if (iPropertiesNotSupportedDefault == 0)
2569 {
2570#if SPAM
2571 m_log.Warn("NonMesh");
2572#endif
2573 return false;
2574 }
2575#if SPAM
2576 m_log.Debug("Mesh");
2577#endif
2578 return true;
2579 }
2580
2581 /// <summary>
2582 /// Called after our prim properties are set Scale, position etc.
2583 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
2584 /// This assures us that we have no race conditions
2585 /// </summary>
2586 /// <param name="prim"></param>
2587 public override void AddPhysicsActorTaint(PhysicsActor prim)
2588 {
2589
2590 if (prim is OdePrim)
2591 {
2592 OdePrim taintedprim = ((OdePrim) prim);
2593 lock (_taintedPrimLock)
2594 {
2595 if (!(_taintedPrimH.Contains(taintedprim)))
2596 {
2597//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
2598 _taintedPrimH.Add(taintedprim); // HashSet for searching
2599 _taintedPrimL.Add(taintedprim); // List for ordered readout
2600 }
2601 }
2602 return;
2603 }
2604 else if (prim is OdeCharacter)
2605 {
2606 OdeCharacter taintedchar = ((OdeCharacter)prim);
2607 lock (_taintedActors)
2608 {
2609 if (!(_taintedActors.Contains(taintedchar)))
2610 {
2611 _taintedActors.Add(taintedchar);
2612 if (taintedchar.bad)
2613 m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
2614 }
2615 }
2616 }
2617 }
2618
2619 /// <summary>
2620 /// This is our main simulate loop
2621 /// It's thread locked by a Mutex in the scene.
2622 /// It holds Collisions, it instructs ODE to step through the physical reactions
2623 /// It moves the objects around in memory
2624 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
2625 /// </summary>
2626 /// <param name="timeStep"></param>
2627 /// <returns></returns>
2628 public override float Simulate(float timeStep)
2629 {
2630 if (framecount >= int.MaxValue)
2631 framecount = 0;
2632 //if (m_worldOffset != Vector3.Zero)
2633 // return 0;
2634
2635 framecount++;
2636
2637 DateTime now = DateTime.UtcNow;
2638 TimeSpan SinceLastFrame = now - m_lastframe;
2639 m_lastframe = now;
2640 float realtime = (float)SinceLastFrame.TotalSeconds;
2641// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
2642 timeStep = realtime;
2643
2644 // float fps = 1.0f / realtime;
2645 float fps = 0.0f; // number of ODE steps in this Simulate step
2646 //m_log.Info(timeStep.ToString());
2647 step_time += timeStep;
2648
2649 // If We're loaded down by something else,
2650 // or debugging with the Visual Studio project on pause
2651 // skip a few frames to catch up gracefully.
2652 // without shooting the physicsactors all over the place
2653
2654 if (step_time >= m_SkipFramesAtms)
2655 {
2656 // Instead of trying to catch up, it'll do 5 physics frames only
2657 step_time = ODE_STEPSIZE;
2658 m_physicsiterations = 5;
2659 }
2660 else
2661 {
2662 m_physicsiterations = 10;
2663 }
2664
2665 if (SupportsNINJAJoints)
2666 {
2667 DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2668 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2669 }
2670
2671 lock (OdeLock)
2672 {
2673 // Process 10 frames if the sim is running normal..
2674 // process 5 frames if the sim is running slow
2675 //try
2676 //{
2677 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2678 //}
2679 //catch (StackOverflowException)
2680 //{
2681 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
2682 // ode.drelease(world);
2683 //base.TriggerPhysicsBasedRestart();
2684 //}
2685
2686 int i = 0;
2687
2688 // Figure out the Frames Per Second we're going at.
2689 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
2690
2691 // fps = (step_time / ODE_STEPSIZE) * 1000;
2692 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
2693 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
2694
2695 // step_time = 0.09375f;
2696
2697 while (step_time > 0.0f)
2698 {
2699 //lock (ode)
2700 //{
2701 //if (!ode.lockquery())
2702 //{
2703 // ode.dlock(world);
2704 try
2705 {
2706 // Insert, remove Characters
2707 bool processedtaints = false;
2708
2709 lock (_taintedActors)
2710 {
2711 if (_taintedActors.Count > 0)
2712 {
2713 foreach (OdeCharacter character in _taintedActors)
2714 {
2715
2716 character.ProcessTaints(ODE_STEPSIZE);
2717
2718 processedtaints = true;
2719 //character.m_collisionscore = 0;
2720 }
2721
2722 if (processedtaints)
2723 _taintedActors.Clear();
2724 }
2725 } // end lock _taintedActors
2726
2727 // Modify other objects in the scene.
2728 processedtaints = false;
2729
2730 lock (_taintedPrimLock)
2731 {
2732 foreach (OdePrim prim in _taintedPrimL)
2733 {
2734 if (prim.m_taintremove)
2735 {
2736 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2737 RemovePrimThreadLocked(prim);
2738 }
2739 else
2740 {
2741 //Console.WriteLine("Simulate calls ProcessTaints");
2742 prim.ProcessTaints(ODE_STEPSIZE);
2743 }
2744 processedtaints = true;
2745 prim.m_collisionscore = 0;
2746
2747 // This loop can block up the Heartbeat for a very long time on large regions.
2748 // We need to let the Watchdog know that the Heartbeat is not dead
2749 // NOTE: This is currently commented out, but if things like OAR loading are
2750 // timing the heartbeat out we will need to uncomment it
2751 //Watchdog.UpdateThread();
2752 }
2753
2754 if (SupportsNINJAJoints)
2755 {
2756 // Create pending joints, if possible
2757
2758 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2759 // a joint requires specifying the body id of both involved bodies
2760 if (pendingJoints.Count > 0)
2761 {
2762 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2763 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2764 foreach (PhysicsJoint joint in pendingJoints)
2765 {
2766 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2767 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
2768 System.StringSplitOptions.RemoveEmptyEntries);
2769 List<IntPtr> jointBodies = new List<IntPtr>();
2770 bool allJointBodiesAreReady = true;
2771 foreach (string jointParam in jointParams)
2772 {
2773 if (jointParam == "NULL")
2774 {
2775 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2776 jointBodies.Add(IntPtr.Zero);
2777 }
2778 else
2779 {
2780 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2781 bool foundPrim = false;
2782 lock (_prims)
2783 {
2784 foreach (OdePrim prim in _prims) // FIXME: inefficient
2785 {
2786 if (prim.SOPName == jointParam)
2787 {
2788 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2789 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2790 {
2791 jointBodies.Add(prim.Body);
2792 foundPrim = true;
2793 break;
2794 }
2795 else
2796 {
2797 DoJointErrorMessage(joint, "prim name " + jointParam +
2798 " exists but is not (yet) physical; deferring joint creation. " +
2799 "IsPhysical property is " + prim.IsPhysical +
2800 " and body is " + prim.Body);
2801 foundPrim = false;
2802 break;
2803 }
2804 }
2805 }
2806 }
2807 if (foundPrim)
2808 {
2809 // all is fine
2810 }
2811 else
2812 {
2813 allJointBodiesAreReady = false;
2814 break;
2815 }
2816 }
2817 }
2818 if (allJointBodiesAreReady)
2819 {
2820 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2821 if (jointBodies[0] == jointBodies[1])
2822 {
2823 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2824 }
2825 else
2826 {
2827 switch (joint.Type)
2828 {
2829 case PhysicsJointType.Ball:
2830 {
2831 IntPtr odeJoint;
2832 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2833 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2834 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2835 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2836 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2837 d.JointSetBallAnchor(odeJoint,
2838 joint.Position.X,
2839 joint.Position.Y,
2840 joint.Position.Z);
2841 //DoJointErrorMessage(joint, "ODE joint setting OK");
2842 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2843 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2844 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2845 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2846
2847 if (joint is OdePhysicsJoint)
2848 {
2849 ((OdePhysicsJoint)joint).jointID = odeJoint;
2850 }
2851 else
2852 {
2853 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2854 }
2855 }
2856 break;
2857 case PhysicsJointType.Hinge:
2858 {
2859 IntPtr odeJoint;
2860 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2861 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2862 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2863 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2864 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2865 d.JointSetHingeAnchor(odeJoint,
2866 joint.Position.X,
2867 joint.Position.Y,
2868 joint.Position.Z);
2869 // We use the orientation of the x-axis of the joint's coordinate frame
2870 // as the axis for the hinge.
2871
2872 // Therefore, we must get the joint's coordinate frame based on the
2873 // joint.Rotation field, which originates from the orientation of the
2874 // joint's proxy object in the scene.
2875
2876 // The joint's coordinate frame is defined as the transformation matrix
2877 // that converts a vector from joint-local coordinates into world coordinates.
2878 // World coordinates are defined as the XYZ coordinate system of the sim,
2879 // as shown in the top status-bar of the viewer.
2880
2881 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2882 // and use that as the hinge axis.
2883
2884 //joint.Rotation.Normalize();
2885 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2886
2887 // Now extract the X axis of the joint's coordinate frame.
2888
2889 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2890 // tar pit of transposed, inverted, and generally messed-up orientations.
2891 // (In other words, Matrix4.AtAxis() is borked.)
2892 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2893
2894 // Instead, compute the X axis of the coordinate frame by transforming
2895 // the (1,0,0) vector. At least that works.
2896
2897 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2898 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2899 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2900 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2901 d.JointSetHingeAxis(odeJoint,
2902 jointAxis.X,
2903 jointAxis.Y,
2904 jointAxis.Z);
2905 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2906 if (joint is OdePhysicsJoint)
2907 {
2908 ((OdePhysicsJoint)joint).jointID = odeJoint;
2909 }
2910 else
2911 {
2912 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2913 }
2914 }
2915 break;
2916 }
2917 successfullyProcessedPendingJoints.Add(joint);
2918 }
2919 }
2920 else
2921 {
2922 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2923 }
2924 }
2925 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2926 {
2927 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2928 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2929 InternalRemovePendingJoint(successfullyProcessedJoint);
2930 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2931 InternalAddActiveJoint(successfullyProcessedJoint);
2932 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2933 }
2934 }
2935 } // end SupportsNINJAJoints
2936
2937 if (processedtaints)
2938//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2939 _taintedPrimH.Clear(); // ??? if this only ???
2940 _taintedPrimL.Clear();
2941 } // end lock _taintedPrimLock
2942
2943 // Move characters
2944 lock (_characters)
2945 {
2946 List<OdeCharacter> defects = new List<OdeCharacter>();
2947 foreach (OdeCharacter actor in _characters)
2948 {
2949 if (actor != null)
2950 actor.Move(ODE_STEPSIZE, defects);
2951 }
2952 if (0 != defects.Count)
2953 {
2954 foreach (OdeCharacter defect in defects)
2955 {
2956 RemoveCharacter(defect);
2957 }
2958 }
2959 } // end lock _characters
2960
2961 // Move other active objects
2962 lock (_activeprims)
2963 {
2964 foreach (OdePrim prim in _activeprims)
2965 {
2966 prim.m_collisionscore = 0;
2967 prim.Move(ODE_STEPSIZE);
2968 }
2969 } // end lock _activeprims
2970
2971 //if ((framecount % m_randomizeWater) == 0)
2972 // randomizeWater(waterlevel);
2973
2974 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
2975 m_rayCastManager.ProcessQueuedRequests();
2976
2977 collision_optimized(ODE_STEPSIZE);
2978
2979 lock (_collisionEventPrim)
2980 {
2981 foreach (PhysicsActor obj in _collisionEventPrim)
2982 {
2983 if (obj == null)
2984 continue;
2985
2986 switch ((ActorTypes)obj.PhysicsActorType)
2987 {
2988 case ActorTypes.Agent:
2989 OdeCharacter cobj = (OdeCharacter)obj;
2990 cobj.AddCollisionFrameTime(100);
2991 cobj.SendCollisions();
2992 break;
2993 case ActorTypes.Prim:
2994 OdePrim pobj = (OdePrim)obj;
2995 pobj.SendCollisions();
2996 break;
2997 }
2998 }
2999 } // end lock _collisionEventPrim
3000
3001 //if (m_global_contactcount > 5)
3002 //{
3003 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
3004 //}
3005
3006 m_global_contactcount = 0;
3007
3008 d.WorldQuickStep(world, ODE_STEPSIZE);
3009 d.JointGroupEmpty(contactgroup);
3010 fps++;
3011 //ode.dunlock(world);
3012 } // end try
3013 catch (Exception e)
3014 {
3015 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3016 ode.dunlock(world);
3017 }
3018
3019 step_time -= ODE_STEPSIZE;
3020 i++;
3021 //}
3022 //else
3023 //{
3024 //fps = 0;
3025 //}
3026 //}
3027 } // end while (step_time > 0.0f)
3028
3029 lock (_characters)
3030 {
3031 foreach (OdeCharacter actor in _characters)
3032 {
3033 if (actor != null)
3034 {
3035 if (actor.bad)
3036 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
3037 actor.UpdatePositionAndVelocity();
3038 }
3039 }
3040 }
3041
3042 lock (_badCharacter)
3043 {
3044 if (_badCharacter.Count > 0)
3045 {
3046 foreach (OdeCharacter chr in _badCharacter)
3047 {
3048 RemoveCharacter(chr);
3049 }
3050 _badCharacter.Clear();
3051 }
3052 }
3053
3054 lock (_activeprims)
3055 {
3056 //if (timeStep < 0.2f)
3057 {
3058 foreach (OdePrim actor in _activeprims)
3059 {
3060 if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
3061 {
3062 actor.UpdatePositionAndVelocity();
3063
3064 if (SupportsNINJAJoints)
3065 {
3066 // If an actor moved, move its joint proxy objects as well.
3067 // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
3068 // for this purpose but it is never called! So we just do the joint
3069 // movement code here.
3070
3071 if (actor.SOPName != null &&
3072 joints_connecting_actor.ContainsKey(actor.SOPName) &&
3073 joints_connecting_actor[actor.SOPName] != null &&
3074 joints_connecting_actor[actor.SOPName].Count > 0)
3075 {
3076 foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
3077 {
3078 if (affectedJoint.IsInPhysicsEngine)
3079 {
3080 DoJointMoved(affectedJoint);
3081 }
3082 else
3083 {
3084 DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
3085 }
3086 }
3087 }
3088 }
3089 }
3090 }
3091 }
3092 } // end lock _activeprims
3093
3094 //DumpJointInfo();
3095
3096 // Finished with all sim stepping. If requested, dump world state to file for debugging.
3097 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
3098 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
3099 if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
3100 {
3101 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
3102 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
3103
3104 if (physics_logging_append_existing_logfile)
3105 {
3106 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
3107 TextWriter fwriter = File.AppendText(fname);
3108 fwriter.WriteLine(header);
3109 fwriter.Close();
3110 }
3111 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3112 }
3113 } // end lock OdeLock
3114
3115 return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
3116 } // end Simulate
3117
3118 public override void GetResults()
3119 {
3120 }
3121
3122 public override bool IsThreaded
3123 {
3124 // for now we won't be multithreaded
3125 get { return (false); }
3126 }
3127
3128 #region ODE Specific Terrain Fixes
3129 public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
3130 {
3131 float[] returnarr = new float[262144];
3132 float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
3133
3134 // Filling out the array into its multi-dimensional components
3135 for (int y = 0; y < WorldExtents.Y; y++)
3136 {
3137 for (int x = 0; x < WorldExtents.X; x++)
3138 {
3139 resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
3140 }
3141 }
3142
3143 // Resize using Nearest Neighbour
3144
3145 // This particular way is quick but it only works on a multiple of the original
3146
3147 // The idea behind this method can be described with the following diagrams
3148 // second pass and third pass happen in the same loop really.. just separated
3149 // them to show what this does.
3150
3151 // First Pass
3152 // ResultArr:
3153 // 1,1,1,1,1,1
3154 // 1,1,1,1,1,1
3155 // 1,1,1,1,1,1
3156 // 1,1,1,1,1,1
3157 // 1,1,1,1,1,1
3158 // 1,1,1,1,1,1
3159
3160 // Second Pass
3161 // ResultArr2:
3162 // 1,,1,,1,,1,,1,,1,
3163 // ,,,,,,,,,,
3164 // 1,,1,,1,,1,,1,,1,
3165 // ,,,,,,,,,,
3166 // 1,,1,,1,,1,,1,,1,
3167 // ,,,,,,,,,,
3168 // 1,,1,,1,,1,,1,,1,
3169 // ,,,,,,,,,,
3170 // 1,,1,,1,,1,,1,,1,
3171 // ,,,,,,,,,,
3172 // 1,,1,,1,,1,,1,,1,
3173
3174 // Third pass fills in the blanks
3175 // ResultArr2:
3176 // 1,1,1,1,1,1,1,1,1,1,1,1
3177 // 1,1,1,1,1,1,1,1,1,1,1,1
3178 // 1,1,1,1,1,1,1,1,1,1,1,1
3179 // 1,1,1,1,1,1,1,1,1,1,1,1
3180 // 1,1,1,1,1,1,1,1,1,1,1,1
3181 // 1,1,1,1,1,1,1,1,1,1,1,1
3182 // 1,1,1,1,1,1,1,1,1,1,1,1
3183 // 1,1,1,1,1,1,1,1,1,1,1,1
3184 // 1,1,1,1,1,1,1,1,1,1,1,1
3185 // 1,1,1,1,1,1,1,1,1,1,1,1
3186 // 1,1,1,1,1,1,1,1,1,1,1,1
3187
3188 // X,Y = .
3189 // X+1,y = ^
3190 // X,Y+1 = *
3191 // X+1,Y+1 = #
3192
3193 // Filling in like this;
3194 // .*
3195 // ^#
3196 // 1st .
3197 // 2nd *
3198 // 3rd ^
3199 // 4th #
3200 // on single loop.
3201
3202 float[,] resultarr2 = new float[512, 512];
3203 for (int y = 0; y < WorldExtents.Y; y++)
3204 {
3205 for (int x = 0; x < WorldExtents.X; x++)
3206 {
3207 resultarr2[y * 2, x * 2] = resultarr[y, x];
3208
3209 if (y < WorldExtents.Y)
3210 {
3211 resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
3212 }
3213 if (x < WorldExtents.X)
3214 {
3215 resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
3216 }
3217 if (x < WorldExtents.X && y < WorldExtents.Y)
3218 {
3219 resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
3220 }
3221 }
3222 }
3223
3224 //Flatten out the array
3225 int i = 0;
3226 for (int y = 0; y < 512; y++)
3227 {
3228 for (int x = 0; x < 512; x++)
3229 {
3230 if (resultarr2[y, x] <= 0)
3231 returnarr[i] = 0.0000001f;
3232 else
3233 returnarr[i] = resultarr2[y, x];
3234
3235 i++;
3236 }
3237 }
3238
3239 return returnarr;
3240 }
3241
3242 public float[] ResizeTerrain512Interpolation(float[] heightMap)
3243 {
3244 float[] returnarr = new float[262144];
3245 float[,] resultarr = new float[512,512];
3246
3247 // Filling out the array into its multi-dimensional components
3248 for (int y = 0; y < 256; y++)
3249 {
3250 for (int x = 0; x < 256; x++)
3251 {
3252 resultarr[y, x] = heightMap[y * 256 + x];
3253 }
3254 }
3255
3256 // Resize using interpolation
3257
3258 // This particular way is quick but it only works on a multiple of the original
3259
3260 // The idea behind this method can be described with the following diagrams
3261 // second pass and third pass happen in the same loop really.. just separated
3262 // them to show what this does.
3263
3264 // First Pass
3265 // ResultArr:
3266 // 1,1,1,1,1,1
3267 // 1,1,1,1,1,1
3268 // 1,1,1,1,1,1
3269 // 1,1,1,1,1,1
3270 // 1,1,1,1,1,1
3271 // 1,1,1,1,1,1
3272
3273 // Second Pass
3274 // ResultArr2:
3275 // 1,,1,,1,,1,,1,,1,
3276 // ,,,,,,,,,,
3277 // 1,,1,,1,,1,,1,,1,
3278 // ,,,,,,,,,,
3279 // 1,,1,,1,,1,,1,,1,
3280 // ,,,,,,,,,,
3281 // 1,,1,,1,,1,,1,,1,
3282 // ,,,,,,,,,,
3283 // 1,,1,,1,,1,,1,,1,
3284 // ,,,,,,,,,,
3285 // 1,,1,,1,,1,,1,,1,
3286
3287 // Third pass fills in the blanks
3288 // ResultArr2:
3289 // 1,1,1,1,1,1,1,1,1,1,1,1
3290 // 1,1,1,1,1,1,1,1,1,1,1,1
3291 // 1,1,1,1,1,1,1,1,1,1,1,1
3292 // 1,1,1,1,1,1,1,1,1,1,1,1
3293 // 1,1,1,1,1,1,1,1,1,1,1,1
3294 // 1,1,1,1,1,1,1,1,1,1,1,1
3295 // 1,1,1,1,1,1,1,1,1,1,1,1
3296 // 1,1,1,1,1,1,1,1,1,1,1,1
3297 // 1,1,1,1,1,1,1,1,1,1,1,1
3298 // 1,1,1,1,1,1,1,1,1,1,1,1
3299 // 1,1,1,1,1,1,1,1,1,1,1,1
3300
3301 // X,Y = .
3302 // X+1,y = ^
3303 // X,Y+1 = *
3304 // X+1,Y+1 = #
3305
3306 // Filling in like this;
3307 // .*
3308 // ^#
3309 // 1st .
3310 // 2nd *
3311 // 3rd ^
3312 // 4th #
3313 // on single loop.
3314
3315 float[,] resultarr2 = new float[512,512];
3316 for (int y = 0; y < (int)Constants.RegionSize; y++)
3317 {
3318 for (int x = 0; x < (int)Constants.RegionSize; x++)
3319 {
3320 resultarr2[y*2, x*2] = resultarr[y, x];
3321
3322 if (y < (int)Constants.RegionSize)
3323 {
3324 if (y + 1 < (int)Constants.RegionSize)
3325 {
3326 if (x + 1 < (int)Constants.RegionSize)
3327 {
3328 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
3329 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3330 }
3331 else
3332 {
3333 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
3334 }
3335 }
3336 else
3337 {
3338 resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
3339 }
3340 }
3341 if (x < (int)Constants.RegionSize)
3342 {
3343 if (x + 1 < (int)Constants.RegionSize)
3344 {
3345 if (y + 1 < (int)Constants.RegionSize)
3346 {
3347 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3348 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3349 }
3350 else
3351 {
3352 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
3353 }
3354 }
3355 else
3356 {
3357 resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
3358 }
3359 }
3360 if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
3361 {
3362 if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
3363 {
3364 resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3365 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3366 }
3367 else
3368 {
3369 resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
3370 }
3371 }
3372 }
3373 }
3374 //Flatten out the array
3375 int i = 0;
3376 for (int y = 0; y < 512; y++)
3377 {
3378 for (int x = 0; x < 512; x++)
3379 {
3380 if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
3381 {
3382 m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
3383 resultarr2[y, x] = 0;
3384 }
3385 returnarr[i] = resultarr2[y, x];
3386 i++;
3387 }
3388 }
3389
3390 return returnarr;
3391 }
3392
3393 #endregion
3394
3395 public override void SetTerrain(float[] heightMap)
3396 {
3397 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
3398 {
3399 if (m_parentScene is OdeScene)
3400 {
3401 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
3402 }
3403 }
3404 else
3405 {
3406 SetTerrain(heightMap, m_worldOffset);
3407 }
3408 }
3409
3410 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3411 {
3412
3413 uint regionsize = (uint) Constants.RegionSize; // visible region size eg. 256(M)
3414
3415 uint heightmapWidth = regionsize + 1; // ODE map size 257 x 257 (Meters) (1 extra
3416 uint heightmapHeight = regionsize + 1;
3417
3418 uint heightmapWidthSamples = (uint)regionsize + 2; // Sample file size, 258 x 258 samples
3419 uint heightmapHeightSamples = (uint)regionsize + 2;
3420
3421 // Array of height samples for ODE
3422 float[] _heightmap;
3423 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
3424
3425 // Other ODE parameters
3426 const float scale = 1.0f;
3427 const float offset = 0.0f;
3428 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3429 const int wrap = 0;
3430
3431 float hfmin = 2000f;
3432 float hfmax = -2000f;
3433 float minele = 0.0f; // Dont allow -ve heights
3434
3435 uint x = 0;
3436 uint y = 0;
3437 uint xx = 0;
3438 uint yy = 0;
3439
3440 // load the height samples array from the heightMap
3441 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3442 {
3443 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3444 {
3445 xx = x - 1;
3446 if (xx < 0) xx = 0;
3447 if (xx > (regionsize - 1)) xx = regionsize - 1;
3448
3449 yy = y - 1;
3450 if (yy < 0) yy = 0;
3451 if (yy > (regionsize - 1)) yy = regionsize - 1;
3452 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3453 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3454 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3455 if (val < minele) val = minele;
3456 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3457 hfmin = (val < hfmin) ? val : hfmin;
3458 hfmax = (val > hfmax) ? val : hfmax;
3459 }
3460 }
3461
3462 lock (OdeLock)
3463 {
3464 IntPtr GroundGeom = IntPtr.Zero;
3465 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3466 {
3467 RegionTerrain.Remove(pOffset);
3468 if (GroundGeom != IntPtr.Zero)
3469 {
3470 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3471 {
3472 TerrainHeightFieldHeights.Remove(GroundGeom);
3473 }
3474 d.SpaceRemove(space, GroundGeom);
3475 d.GeomDestroy(GroundGeom);
3476 }
3477 }
3478 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3479 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3480 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3481 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3482 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3483 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3484 if (GroundGeom != IntPtr.Zero)
3485 {
3486 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3487 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3488 }
3489 geom_name_map[GroundGeom] = "Terrain";
3490
3491 d.Matrix3 R = new d.Matrix3();
3492
3493 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3494 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3495 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3496
3497 q1 = q1 * q2;
3498 //q1 = q1 * q3;
3499 Vector3 v3;
3500 float angle;
3501 q1.GetAxisAngle(out v3, out angle);
3502
3503 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3504 d.GeomSetRotation(GroundGeom, ref R);
3505 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3506 IntPtr testGround = IntPtr.Zero;
3507 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3508 {
3509 RegionTerrain.Remove(pOffset);
3510 }
3511 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3512 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3513 }
3514 }
3515
3516 public override void DeleteTerrain()
3517 {
3518 }
3519
3520 public float GetWaterLevel()
3521 {
3522 return waterlevel;
3523 }
3524
3525 public override bool SupportsCombining()
3526 {
3527 return true;
3528 }
3529
3530 public override void UnCombine(PhysicsScene pScene)
3531 {
3532 IntPtr localGround = IntPtr.Zero;
3533// float[] localHeightfield;
3534 bool proceed = false;
3535 List<IntPtr> geomDestroyList = new List<IntPtr>();
3536
3537 lock (OdeLock)
3538 {
3539 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
3540 {
3541 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
3542 {
3543 if (geom == localGround)
3544 {
3545// localHeightfield = TerrainHeightFieldHeights[geom];
3546 proceed = true;
3547 }
3548 else
3549 {
3550 geomDestroyList.Add(geom);
3551 }
3552 }
3553
3554 if (proceed)
3555 {
3556 m_worldOffset = Vector3.Zero;
3557 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
3558 m_parentScene = null;
3559
3560 foreach (IntPtr g in geomDestroyList)
3561 {
3562 // removingHeightField needs to be done or the garbage collector will
3563 // collect the terrain data before we tell ODE to destroy it causing
3564 // memory corruption
3565 if (TerrainHeightFieldHeights.ContainsKey(g))
3566 {
3567// float[] removingHeightField = TerrainHeightFieldHeights[g];
3568 TerrainHeightFieldHeights.Remove(g);
3569
3570 if (RegionTerrain.ContainsKey(g))
3571 {
3572 RegionTerrain.Remove(g);
3573 }
3574
3575 d.GeomDestroy(g);
3576 //removingHeightField = new float[0];
3577 }
3578 }
3579
3580 }
3581 else
3582 {
3583 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3584
3585 }
3586 }
3587 }
3588 }
3589
3590 public override void SetWaterLevel(float baseheight)
3591 {
3592 waterlevel = baseheight;
3593 randomizeWater(waterlevel);
3594 }
3595
3596 public void randomizeWater(float baseheight)
3597 {
3598 const uint heightmapWidth = m_regionWidth + 2;
3599 const uint heightmapHeight = m_regionHeight + 2;
3600 const uint heightmapWidthSamples = m_regionWidth + 2;
3601 const uint heightmapHeightSamples = m_regionHeight + 2;
3602 const float scale = 1.0f;
3603 const float offset = 0.0f;
3604 const float thickness = 2.9f;
3605 const int wrap = 0;
3606
3607 for (int i = 0; i < (258 * 258); i++)
3608 {
3609 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3610 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3611 }
3612
3613 lock (OdeLock)
3614 {
3615 if (WaterGeom != IntPtr.Zero)
3616 {
3617 d.SpaceRemove(space, WaterGeom);
3618 }
3619 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3620 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3621 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3622 offset, thickness, wrap);
3623 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3624 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3625 if (WaterGeom != IntPtr.Zero)
3626 {
3627 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3628 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3629
3630 }
3631 geom_name_map[WaterGeom] = "Water";
3632
3633 d.Matrix3 R = new d.Matrix3();
3634
3635 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3636 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3637 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3638
3639 q1 = q1 * q2;
3640 //q1 = q1 * q3;
3641 Vector3 v3;
3642 float angle;
3643 q1.GetAxisAngle(out v3, out angle);
3644
3645 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3646 d.GeomSetRotation(WaterGeom, ref R);
3647 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3648
3649 }
3650
3651 }
3652
3653 public override void Dispose()
3654 {
3655 m_rayCastManager.Dispose();
3656 m_rayCastManager = null;
3657
3658 lock (OdeLock)
3659 {
3660 lock (_prims)
3661 {
3662 foreach (OdePrim prm in _prims)
3663 {
3664 RemovePrim(prm);
3665 }
3666 }
3667
3668 //foreach (OdeCharacter act in _characters)
3669 //{
3670 //RemoveAvatar(act);
3671 //}
3672 d.WorldDestroy(world);
3673 //d.CloseODE();
3674 }
3675 }
3676 public override Dictionary<uint, float> GetTopColliders()
3677 {
3678 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
3679 int cnt = 0;
3680 lock (_prims)
3681 {
3682 foreach (OdePrim prm in _prims)
3683 {
3684 if (prm.CollisionScore > 0)
3685 {
3686 returncolliders.Add(prm.m_localID, prm.CollisionScore);
3687 cnt++;
3688 prm.CollisionScore = 0f;
3689 if (cnt > 25)
3690 {
3691 break;
3692 }
3693 }
3694 }
3695 }
3696 return returncolliders;
3697 }
3698
3699 public override bool SupportsRayCast()
3700 {
3701 return true;
3702 }
3703
3704 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
3705 {
3706 if (retMethod != null)
3707 {
3708 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
3709 }
3710 }
3711
3712#if USE_DRAWSTUFF
3713 // Keyboard callback
3714 public void command(int cmd)
3715 {
3716 IntPtr geom;
3717 d.Mass mass;
3718 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3719
3720
3721
3722 Char ch = Char.ToLower((Char)cmd);
3723 switch ((Char)ch)
3724 {
3725 case 'w':
3726 try
3727 {
3728 Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3729
3730 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3731 ds.SetViewpoint(ref xyz, ref hpr);
3732 }
3733 catch (ArgumentException)
3734 { hpr.X = 0; }
3735 break;
3736
3737 case 'a':
3738 hpr.X++;
3739 ds.SetViewpoint(ref xyz, ref hpr);
3740 break;
3741
3742 case 's':
3743 try
3744 {
3745 Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3746
3747 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3748 ds.SetViewpoint(ref xyz, ref hpr);
3749 }
3750 catch (ArgumentException)
3751 { hpr.X = 0; }
3752 break;
3753 case 'd':
3754 hpr.X--;
3755 ds.SetViewpoint(ref xyz, ref hpr);
3756 break;
3757 case 'r':
3758 xyz.Z++;
3759 ds.SetViewpoint(ref xyz, ref hpr);
3760 break;
3761 case 'f':
3762 xyz.Z--;
3763 ds.SetViewpoint(ref xyz, ref hpr);
3764 break;
3765 case 'e':
3766 xyz.Y++;
3767 ds.SetViewpoint(ref xyz, ref hpr);
3768 break;
3769 case 'q':
3770 xyz.Y--;
3771 ds.SetViewpoint(ref xyz, ref hpr);
3772 break;
3773 }
3774 }
3775
3776 public void step(int pause)
3777 {
3778
3779 ds.SetColor(1.0f, 1.0f, 0.0f);
3780 ds.SetTexture(ds.Texture.Wood);
3781 lock (_prims)
3782 {
3783 foreach (OdePrim prm in _prims)
3784 {
3785 //IntPtr body = d.GeomGetBody(prm.prim_geom);
3786 if (prm.prim_geom != IntPtr.Zero)
3787 {
3788 d.Vector3 pos;
3789 d.GeomCopyPosition(prm.prim_geom, out pos);
3790 //d.BodyCopyPosition(body, out pos);
3791
3792 d.Matrix3 R;
3793 d.GeomCopyRotation(prm.prim_geom, out R);
3794 //d.BodyCopyRotation(body, out R);
3795
3796
3797 d.Vector3 sides = new d.Vector3();
3798 sides.X = prm.Size.X;
3799 sides.Y = prm.Size.Y;
3800 sides.Z = prm.Size.Z;
3801
3802 ds.DrawBox(ref pos, ref R, ref sides);
3803 }
3804 }
3805 }
3806 ds.SetColor(1.0f, 0.0f, 0.0f);
3807 lock (_characters)
3808 {
3809 foreach (OdeCharacter chr in _characters)
3810 {
3811 if (chr.Shell != IntPtr.Zero)
3812 {
3813 IntPtr body = d.GeomGetBody(chr.Shell);
3814
3815 d.Vector3 pos;
3816 d.GeomCopyPosition(chr.Shell, out pos);
3817 //d.BodyCopyPosition(body, out pos);
3818
3819 d.Matrix3 R;
3820 d.GeomCopyRotation(chr.Shell, out R);
3821 //d.BodyCopyRotation(body, out R);
3822
3823 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
3824 d.Vector3 sides = new d.Vector3();
3825 sides.X = 0.5f;
3826 sides.Y = 0.5f;
3827 sides.Z = 0.5f;
3828
3829 ds.DrawBox(ref pos, ref R, ref sides);
3830 }
3831 }
3832 }
3833 }
3834
3835 public void start(int unused)
3836 {
3837 ds.SetViewpoint(ref xyz, ref hpr);
3838 }
3839#endif
3840 }
3841}
generated by cgit v1.1 at 2024-12-18 12:29:34 +0000