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-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs90
-rw-r--r--OpenSim/Region/Physics/OdePlugin/drawstuff.cs98
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs (renamed from OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs)4
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs (renamed from OpenSim/Region/Physics/OdePlugin/ODECharacter.cs)6
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments (renamed from OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments)0
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs (renamed from OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs)4
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs (renamed from OpenSim/Region/Physics/OdePlugin/ODEPrim.cs)6
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs (renamed from OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs)10
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs (renamed from OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs)6
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/OdeScene.cs (renamed from OpenSim/Region/Physics/OdePlugin/OdeScene.cs)145
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs (renamed from OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs)67
11 files changed, 183 insertions, 253 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
deleted file mode 100644
index 7e652fc..0000000
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ /dev/null
@@ -1,90 +0,0 @@
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
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Threading;
33using System.IO;
34using System.Diagnostics;
35using log4net;
36using Nini.Config;
37using Ode.NET;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40using OpenMetaverse;
41
42namespace OpenSim.Region.Physics.OdePlugin
43{
44 /// <summary>
45 /// ODE plugin
46 /// </summary>
47 public class OdePlugin : IPhysicsPlugin
48 {
49// private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
50
51 private OdeScene m_scene;
52
53 public bool Init()
54 {
55 return true;
56 }
57
58 public PhysicsScene GetScene(String sceneIdentifier)
59 {
60 if (m_scene == null)
61 {
62 // We do this so that OpenSimulator on Windows loads the correct native ODE library depending on whether
63 // it's running as a 32-bit process or a 64-bit one. By invoking LoadLibary here, later DLLImports
64 // will find it already loaded later on.
65 //
66 // This isn't necessary for other platforms (e.g. Mac OSX and Linux) since the DLL used can be
67 // controlled in Ode.NET.dll.config
68 if (Util.IsWindows())
69 Util.LoadArchSpecificWindowsDll("ode.dll");
70
71 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
72 // http://opensimulator.org/mantis/view.php?id=2750).
73 d.InitODE();
74
75 m_scene = new OdeScene(GetName(), sceneIdentifier);
76 }
77
78 return m_scene;
79 }
80
81 public string GetName()
82 {
83 return ("OpenDynamicsEngine");
84 }
85
86 public void Dispose()
87 {
88 }
89 }
90} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/drawstuff.cs b/OpenSim/Region/Physics/OdePlugin/drawstuff.cs
deleted file mode 100644
index 87ca446..0000000
--- a/OpenSim/Region/Physics/OdePlugin/drawstuff.cs
+++ /dev/null
@@ -1,98 +0,0 @@
1/*
2 * Copyright ODE
3 * Ode.NET - .NET bindings for ODE
4 * Jason Perkins (starkos@industriousone.com)
5 * Licensed under the New BSD
6 * Part of the OpenDynamicsEngine
7Open Dynamics Engine
8Copyright (c) 2001-2007, Russell L. Smith.
9All rights reserved.
10
11Redistribution and use in source and binary forms, with or without
12modification, are permitted provided that the following conditions
13are met:
14
15Redistributions of source code must retain the above copyright notice,
16this list of conditions and the following disclaimer.
17
18Redistributions in binary form must reproduce the above copyright notice,
19this list of conditions and the following disclaimer in the documentation
20and/or other materials provided with the distribution.
21
22Neither the names of ODE's copyright owner nor the names of its
23contributors may be used to endorse or promote products derived from
24this software without specific prior written permission.
25
26THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
27"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
28LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
29FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
30OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
31SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
32TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
33PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
34LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
35NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
36SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
37 *
38 *
39 */
40
41using System;
42using System.Runtime.InteropServices;
43using Ode.NET;
44
45namespace Drawstuff.NET
46{
47#if dDOUBLE
48 using dReal = System.Double;
49#else
50 using dReal = System.Single;
51#endif
52
53 public static class ds
54 {
55 public const int VERSION = 2;
56
57 public enum Texture
58 {
59 None,
60 Wood
61 }
62
63 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
64 public delegate void CallbackFunction(int arg);
65
66 [StructLayout(LayoutKind.Sequential)]
67 public struct Functions
68 {
69 public int version;
70 public CallbackFunction start;
71 public CallbackFunction step;
72 public CallbackFunction command;
73 public CallbackFunction stop;
74 public string path_to_textures;
75 }
76
77 [DllImport("drawstuff", EntryPoint = "dsDrawBox")]
78 public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);
79
80 [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]
81 public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);
82
83 [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]
84 public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);
85
86 [DllImport("drawstuff", EntryPoint = "dsSetColor")]
87 public static extern void SetColor(float red, float green, float blue);
88
89 [DllImport("drawstuff", EntryPoint = "dsSetTexture")]
90 public static extern void SetTexture(Texture texture);
91
92 [DllImport("drawstuff", EntryPoint = "dsSetViewpoint")]
93 public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);
94
95 [DllImport("drawstuff", EntryPoint = "dsSimulationLoop")]
96 public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);
97 }
98}
diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs
index 076da78..7869739 100644
--- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/AssemblyInfo.cs
@@ -27,6 +27,7 @@
27 27
28using System.Reflection; 28using System.Reflection;
29using System.Runtime.InteropServices; 29using System.Runtime.InteropServices;
30using Mono.Addins;
30 31
31// Information about this assembly is defined by the following 32// Information about this assembly is defined by the following
32// attributes. 33// attributes.
@@ -56,3 +57,6 @@ using System.Runtime.InteropServices;
56// numbers with the '*' character (the default): 57// numbers with the '*' character (the default):
57 58
58[assembly : AssemblyVersion("0.8.2.*")] 59[assembly : AssemblyVersion("0.8.2.*")]
60
61[assembly: Addin("OpenSim.Region.PhysicsModule.ODE", OpenSim.VersionInfo.VersionNumber)]
62[assembly: AddinDependency("OpenSim.Region.Framework", OpenSim.VersionInfo.VersionNumber)]
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
index 05eaf2a..b35c299 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
@@ -31,10 +31,10 @@ using System.Reflection;
31using OpenMetaverse; 31using OpenMetaverse;
32using Ode.NET; 32using Ode.NET;
33using OpenSim.Framework; 33using OpenSim.Framework;
34using OpenSim.Region.Physics.Manager; 34using OpenSim.Region.PhysicsModules.SharedBase;
35using log4net; 35using log4net;
36 36
37namespace OpenSim.Region.Physics.OdePlugin 37namespace OpenSim.Region.PhysicsModule.ODE
38{ 38{
39 /// <summary> 39 /// <summary>
40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. 40 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
@@ -511,7 +511,7 @@ namespace OpenSim.Region.Physics.OdePlugin
511 } 511 }
512 else 512 else
513 { 513 {
514 m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.Name); 514 m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size for {0} in {1}", Name, _parent_scene.PhysicsSceneName);
515 } 515 }
516 } 516 }
517 517
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments
index 1060aa6..1060aa6 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.c_comments
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
index 2342bfa..8f8e2bd 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEDynamics.cs
@@ -46,9 +46,9 @@ using log4net;
46using OpenMetaverse; 46using OpenMetaverse;
47using Ode.NET; 47using Ode.NET;
48using OpenSim.Framework; 48using OpenSim.Framework;
49using OpenSim.Region.Physics.Manager; 49using OpenSim.Region.PhysicsModules.SharedBase;
50 50
51namespace OpenSim.Region.Physics.OdePlugin 51namespace OpenSim.Region.PhysicsModule.ODE
52{ 52{
53 public class ODEDynamics 53 public class ODEDynamics
54 { 54 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index bf003a8..54a2033 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -50,9 +50,9 @@ using log4net;
50using OpenMetaverse; 50using OpenMetaverse;
51using Ode.NET; 51using Ode.NET;
52using OpenSim.Framework; 52using OpenSim.Framework;
53using OpenSim.Region.Physics.Manager; 53using OpenSim.Region.PhysicsModules.SharedBase;
54 54
55namespace OpenSim.Region.Physics.OdePlugin 55namespace OpenSim.Region.PhysicsModule.ODE
56{ 56{
57 /// <summary> 57 /// <summary>
58 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. 58 /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
@@ -3428,7 +3428,7 @@ Console.WriteLine(" JointCreateFixed");
3428 { 3428 {
3429 m_log.WarnFormat( 3429 m_log.WarnFormat(
3430 "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}", 3430 "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}",
3431 _pbs.SculptTexture, Name, _position, _parent_scene.Name); 3431 _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName);
3432 } 3432 }
3433 } 3433 }
3434 } 3434 }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
index fa2ed3e..80f0fcf 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -31,11 +31,11 @@ using System.Reflection;
31using System.Runtime.InteropServices; 31using System.Runtime.InteropServices;
32using System.Text; 32using System.Text;
33using OpenMetaverse; 33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager; 34using OpenSim.Region.PhysicsModules.SharedBase;
35using Ode.NET; 35using Ode.NET;
36using log4net; 36using log4net;
37 37
38namespace OpenSim.Region.Physics.OdePlugin 38namespace OpenSim.Region.PhysicsModule.ODE
39{ 39{
40 /// <summary> 40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them. 41 /// Processes raycast requests as ODE is in a state to be able to do them.
@@ -172,7 +172,9 @@ namespace OpenSim.Region.Physics.OdePlugin
172 /// <param name="req"></param> 172 /// <param name="req"></param>
173 private void RayCast(ODERayCastRequest req) 173 private void RayCast(ODERayCastRequest req)
174 { 174 {
175 // limit ray lenght or collisions will take all avaiable stack space 175 // NOTE: limit ray lenght or collisions will take all avaiable stack space
176 // this value may still be too large, depending on machine configuration
177 // of maximum stack
176 float len = req.length; 178 float len = req.length;
177 if (len > 250f) 179 if (len > 250f)
178 len = 250f; 180 len = 250f;
@@ -441,4 +443,4 @@ namespace OpenSim.Region.Physics.OdePlugin
441 public float length; 443 public float length;
442 public RayCallback callbackMethod; 444 public RayCallback callbackMethod;
443 } 445 }
444} \ No newline at end of file 446}
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs b/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
index b4a3c48..2eb7ba6 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdePhysicsJoint.cs
@@ -29,10 +29,10 @@ using System;
29using OpenMetaverse; 29using OpenMetaverse;
30using Ode.NET; 30using Ode.NET;
31using OpenSim.Framework; 31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager; 32using OpenSim.Region.PhysicsModules.SharedBase;
33using OpenSim.Region.Physics.OdePlugin; 33using OpenSim.Region.PhysicsModule.ODE;
34 34
35namespace OpenSim.Region.Physics.OdePlugin 35namespace OpenSim.Region.PhysicsModule.ODE
36{ 36{
37 class OdePhysicsJoint : PhysicsJoint 37 class OdePhysicsJoint : PhysicsJoint
38 { 38 {
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index 812b469..b00a5ab 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -25,13 +25,11 @@
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27 27
28// Ubit changes for varsize regions 28// changes for varsize regions
29// using a large Heightfield geometry for terrain 29// note that raycasts need to have limited range
30// ODE ode should handle it fine
31// EXCEPT raycasts, those need to have limited range
32// (even in normal regions) 30// (even in normal regions)
33// or aplication stack will just blowup 31// or aplication thread stack may just blowup
34 32// see RayCast(ODERayCastRequest req)
35 33
36//#define USE_DRAWSTUFF 34//#define USE_DRAWSTUFF
37//#define SPAM 35//#define SPAM
@@ -46,15 +44,19 @@ using System.Runtime.InteropServices;
46using System.Threading; 44using System.Threading;
47using log4net; 45using log4net;
48using Nini.Config; 46using Nini.Config;
47using Mono.Addins;
49using Ode.NET; 48using Ode.NET;
50using OpenMetaverse; 49using OpenMetaverse;
51#if USE_DRAWSTUFF 50#if USE_DRAWSTUFF
52using Drawstuff.NET; 51using Drawstuff.NET;
53#endif 52#endif
54using OpenSim.Framework; 53using OpenSim.Framework;
55using OpenSim.Region.Physics.Manager; 54using OpenSim.Region.PhysicsModules.SharedBase;
55using OpenSim.Region.Framework.Scenes;
56using OpenSim.Region.Framework.Interfaces;
57
56 58
57namespace OpenSim.Region.Physics.OdePlugin 59namespace OpenSim.Region.PhysicsModule.ODE
58{ 60{
59 public enum StatusIndicators : int 61 public enum StatusIndicators : int
60 { 62 {
@@ -109,9 +111,12 @@ namespace OpenSim.Region.Physics.OdePlugin
109 Rubber = 6 111 Rubber = 6
110 } 112 }
111 113
112 public class OdeScene : PhysicsScene 114 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")]
115 public class OdeScene : PhysicsScene, INonSharedRegionModule
113 { 116 {
114 private readonly ILog m_log; 117 private readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString());
118 private bool m_Enabled = false;
119
115 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); 120 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
116 121
117 /// <summary> 122 /// <summary>
@@ -298,7 +303,7 @@ namespace OpenSim.Region.Physics.OdePlugin
298 private int framecount = 0; 303 private int framecount = 0;
299 //private int m_returncollisions = 10; 304 //private int m_returncollisions = 10;
300 305
301 private readonly IntPtr contactgroup; 306 private IntPtr contactgroup;
302 307
303// internal IntPtr WaterGeom; 308// internal IntPtr WaterGeom;
304 309
@@ -530,19 +535,103 @@ namespace OpenSim.Region.Physics.OdePlugin
530 535
531 private ODERayCastRequestManager m_rayCastManager; 536 private ODERayCastRequestManager m_rayCastManager;
532 537
538
539 #region INonSharedRegionModule
540 public string Name
541 {
542 get { return "OpenDynamicsEngine"; }
543 }
544
545 public Type ReplaceableInterface
546 {
547 get { return null; }
548 }
549
550 public void Initialise(IConfigSource source)
551 {
552 // TODO: Move this out of Startup
553 IConfig config = source.Configs["Startup"];
554 if (config != null)
555 {
556 string physics = config.GetString("physics", string.Empty);
557 if (physics == Name)
558 {
559 m_Enabled = true;
560 m_config = source;
561
562 // We do this so that OpenSimulator on Windows loads the correct native ODE library depending on whether
563 // it's running as a 32-bit process or a 64-bit one. By invoking LoadLibary here, later DLLImports
564 // will find it already loaded later on.
565 //
566 // This isn't necessary for other platforms (e.g. Mac OSX and Linux) since the DLL used can be
567 // controlled in Ode.NET.dll.config
568 if (Util.IsWindows())
569 Util.LoadArchSpecificWindowsDll("ode.dll");
570
571 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
572 // http://opensimulator.org/mantis/view.php?id=2750).
573 d.InitODE();
574
575 }
576 }
577
578 }
579
580 public void Close()
581 {
582 }
583
584 public void AddRegion(Scene scene)
585 {
586 if (!m_Enabled)
587 return;
588
589 EngineType = Name;
590 PhysicsSceneName = EngineType + "/" + scene.RegionInfo.RegionName;
591
592 scene.RegisterModuleInterface<PhysicsScene>(this);
593 Vector3 extent = new Vector3(scene.RegionInfo.RegionSizeX, scene.RegionInfo.RegionSizeY, scene.RegionInfo.RegionSizeZ);
594 Initialise(extent);
595 InitialiseFromConfig(m_config);
596
597 // This may not be that good since terrain may not be avaiable at this point
598 base.Initialise(scene.PhysicsRequestAsset,
599 (scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]),
600 (float)scene.RegionInfo.RegionSettings.WaterHeight);
601
602 }
603
604 public void RemoveRegion(Scene scene)
605 {
606 if (!m_Enabled)
607 return;
608 }
609
610 public void RegionLoaded(Scene scene)
611 {
612 if (!m_Enabled)
613 return;
614
615 mesher = scene.RequestModuleInterface<IMesher>();
616 if (mesher == null)
617 m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName);
618 }
619 #endregion
620
533 /// <summary> 621 /// <summary>
534 /// Initiailizes the scene 622 /// Initiailizes the scene
535 /// Sets many properties that ODE requires to be stable 623 /// Sets many properties that ODE requires to be stable
536 /// These settings need to be tweaked 'exactly' right or weird stuff happens. 624 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
537 /// </summary> 625 /// </summary>
538 /// <param value="name">Name of the scene. Useful in debug messages.</param> 626 private void Initialise(Vector3 regionExtent)
539 public OdeScene(string engineType, string name)
540 { 627 {
541 m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + name); 628 WorldExtents.X = regionExtent.X;
542 629 m_regionWidth = (uint)regionExtent.X;
543 Name = name; 630 WorldExtents.Y = regionExtent.Y;
544 EngineType = engineType; 631 m_regionHeight = (uint)regionExtent.Y;
545 632
633 m_suportCombine = false;
634
546 nearCallback = near; 635 nearCallback = near;
547 triCallback = TriCallback; 636 triCallback = TriCallback;
548 triArrayCallback = TriArrayCallback; 637 triArrayCallback = TriArrayCallback;
@@ -582,7 +671,7 @@ namespace OpenSim.Region.Physics.OdePlugin
582 } 671 }
583#endif 672#endif
584 673
585 public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent) 674 public void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
586 { 675 {
587 WorldExtents.X = regionExtent.X; 676 WorldExtents.X = regionExtent.X;
588 m_regionWidth = (uint)regionExtent.X; 677 m_regionWidth = (uint)regionExtent.X;
@@ -593,11 +682,10 @@ namespace OpenSim.Region.Physics.OdePlugin
593 } 682 }
594 683
595 // Initialize the mesh plugin 684 // Initialize the mesh plugin
596 public override void Initialise(IMesher meshmerizer, IConfigSource config) 685 public void Initialise(IMesher meshmerizer, IConfigSource config)
597 { 686 {
598 InitializeExtraStats(); 687 InitializeExtraStats();
599 688
600 mesher = meshmerizer;
601 m_config = config; 689 m_config = config;
602 // Defaults 690 // Defaults
603 691
@@ -725,11 +813,11 @@ namespace OpenSim.Region.Physics.OdePlugin
725 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX); 813 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
726 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY); 814 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
727 815
728 // ubit: limit number of spaces 816 // note: limit number of spaces
729 if (spaceGridMaxX > 24) 817 if (spaceGridMaxX > 24)
730 { 818 {
731 spaceGridMaxX = 24; 819 spaceGridMaxX = 24;
732 spacesPerMeterX = spaceGridMaxX / WorldExtents.X ; 820 spacesPerMeterX = spaceGridMaxX / WorldExtents.X;
733 } 821 }
734 if (spaceGridMaxY > 24) 822 if (spaceGridMaxY > 24)
735 { 823 {
@@ -1862,7 +1950,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1862 } 1950 }
1863 catch (AccessViolationException) 1951 catch (AccessViolationException)
1864 { 1952 {
1865 m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", Name); 1953 m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName);
1866 } 1954 }
1867 1955
1868 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); 1956 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
@@ -3119,7 +3207,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3119 { 3207 {
3120 m_log.ErrorFormat( 3208 m_log.ErrorFormat(
3121 "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when moving", 3209 "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when moving",
3122 actor.Name, actor.LocalID, Name); 3210 actor.Name, actor.LocalID, PhysicsSceneName);
3123 3211
3124 RemoveCharacter(actor); 3212 RemoveCharacter(actor);
3125 actor.DestroyOdeStructures(); 3213 actor.DestroyOdeStructures();
@@ -3236,7 +3324,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3236 { 3324 {
3237 m_log.ErrorFormat( 3325 m_log.ErrorFormat(
3238 "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when updating position and velocity", 3326 "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when updating position and velocity",
3239 actor.Name, actor.LocalID, Name); 3327 actor.Name, actor.LocalID, PhysicsSceneName);
3240 3328
3241 RemoveCharacter(actor); 3329 RemoveCharacter(actor);
3242 actor.DestroyOdeStructures(); 3330 actor.DestroyOdeStructures();
@@ -3835,7 +3923,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3835 private void SetTerrain(float[] heightMap, Vector3 pOffset) 3923 private void SetTerrain(float[] heightMap, Vector3 pOffset)
3836 { 3924 {
3837 int startTime = Util.EnvironmentTickCount(); 3925 int startTime = Util.EnvironmentTickCount();
3838 m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset); 3926 m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset);
3839 3927
3840 3928
3841 float[] _heightmap; 3929 float[] _heightmap;
@@ -3873,6 +3961,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3873 uint xt = 0; 3961 uint xt = 0;
3874 xx = 0; 3962 xx = 0;
3875 3963
3964
3876 for (uint x = 0; x < heightmapWidthSamples; x++) 3965 for (uint x = 0; x < heightmapWidthSamples; x++)
3877 { 3966 {
3878 if (x > 1 && xx < maxXX) 3967 if (x > 1 && xx < maxXX)
@@ -3951,7 +4040,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3951 } 4040 }
3952 4041
3953 m_log.DebugFormat( 4042 m_log.DebugFormat(
3954 "[ODE SCENE]: Setting terrain for {0} took {1}ms", Name, Util.EnvironmentTickCountSubtract(startTime)); 4043 "[ODE SCENE]: Setting terrain for {0} took {1}ms", PhysicsSceneName, Util.EnvironmentTickCountSubtract(startTime));
3955 } 4044 }
3956 4045
3957 public override void DeleteTerrain() 4046 public override void DeleteTerrain()
diff --git a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs b/OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs
index 16404c6..6dc22bd 100644
--- a/OpenSim/Region/Physics/OdePlugin/Tests/ODETestClass.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/Tests/ODETestClass.cs
@@ -30,51 +30,74 @@ using Nini.Config;
30using NUnit.Framework; 30using NUnit.Framework;
31using OpenMetaverse; 31using OpenMetaverse;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager; 33using OpenSim.Region.PhysicsModules.SharedBase;
34using OpenSim.Region.Physics.OdePlugin; 34using OpenSim.Region.PhysicsModule.ODE;
35using OpenSim.Region.Framework.Scenes;
36using OpenSim.Region.Framework.Interfaces;
35using OpenSim.Tests.Common; 37using OpenSim.Tests.Common;
36using log4net; 38using log4net;
37using System.Reflection; 39using System.Reflection;
38 40
39namespace OpenSim.Region.Physics.OdePlugin.Tests 41namespace OpenSim.Region.PhysicsModule.ODE.Tests
40{ 42{
41 [TestFixture] 43 [TestFixture]
42 public class ODETestClass : OpenSimTestCase 44 public class ODETestClass : OpenSimTestCase
43 { 45 {
44 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 46 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
45 47
46 private OpenSim.Region.Physics.OdePlugin.OdePlugin cbt; 48 //private OpenSim.Region.PhysicsModule.ODE.OdePlugin cbt;
47 private PhysicsScene ps; 49 private PhysicsScene pScene;
48 private IMeshingPlugin imp;
49 50
50 [SetUp] 51 [SetUp]
51 public void Initialize() 52 public void Initialize()
52 { 53 {
53 IConfigSource TopConfig = new IniConfigSource(); 54 IConfigSource openSimINI = new IniConfigSource();
54 IConfig config = TopConfig.AddConfig("Startup"); 55 IConfig startupConfig = openSimINI.AddConfig("Startup");
55 config.Set("DecodedSculptMapPath","j2kDecodeCache"); 56 startupConfig.Set("physics", "OpenDynamicsEngine");
57 startupConfig.Set("DecodedSculptMapPath", "j2kDecodeCache");
58
59 Vector3 regionExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
60
61 //PhysicsScene pScene = physicsPluginManager.GetPhysicsScene(
62 // "BulletSim", "Meshmerizer", openSimINI, "BSTestRegion", regionExtent);
63 RegionInfo info = new RegionInfo();
64 info.RegionName = "ODETestRegion";
65 info.RegionSizeX = info.RegionSizeY = info.RegionSizeZ = Constants.RegionSize;
66 OpenSim.Region.Framework.Scenes.Scene scene = new OpenSim.Region.Framework.Scenes.Scene(info);
67
68 //IMesher mesher = new OpenSim.Region.PhysicsModules.Meshing.Meshmerizer();
69 //INonSharedRegionModule mod = mesher as INonSharedRegionModule;
70 //mod.Initialise(openSimINI);
71 //mod.AddRegion(scene);
72 //mod.RegionLoaded(scene);
73
74 pScene = new OdeScene();
75 Console.WriteLine("HERE " + (pScene == null ? "Null" : "Not null"));
76 INonSharedRegionModule mod = (pScene as INonSharedRegionModule);
77 Console.WriteLine("HERE " + (mod == null ? "Null" : "Not null"));
78 mod.Initialise(openSimINI);
79 mod.AddRegion(scene);
80 mod.RegionLoaded(scene);
56 81
57 // Loading ODEPlugin 82 // Loading ODEPlugin
58 cbt = new OdePlugin(); 83 //cbt = new OdePlugin();
59 // Loading Zero Mesher
60 imp = new ZeroMesherPlugin();
61 // Getting Physics Scene 84 // Getting Physics Scene
62 ps = cbt.GetScene("test"); 85 //ps = cbt.GetScene("test");
63 // Initializing Physics Scene. 86 // Initializing Physics Scene.
64 ps.Initialise(imp.GetMesher(TopConfig),null); 87 //ps.Initialise(imp.GetMesher(TopConfig), null, Vector3.Zero);
65 float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize]; 88 float[] _heightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
66 for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++) 89 for (int i = 0; i < ((int)Constants.RegionSize * (int)Constants.RegionSize); i++)
67 { 90 {
68 _heightmap[i] = 21f; 91 _heightmap[i] = 21f;
69 } 92 }
70 ps.SetTerrain(_heightmap); 93 pScene.SetTerrain(_heightmap);
71 } 94 }
72 95
73 [TearDown] 96 [TearDown]
74 public void Terminate() 97 public void Terminate()
75 { 98 {
76 ps.DeleteTerrain(); 99 pScene.DeleteTerrain();
77 ps.Dispose(); 100 pScene.Dispose();
78 101
79 } 102 }
80 103
@@ -85,9 +108,9 @@ namespace OpenSim.Region.Physics.OdePlugin.Tests
85 Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f); 108 Vector3 position = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), 128f);
86 Vector3 size = new Vector3(0.5f, 0.5f, 0.5f); 109 Vector3 size = new Vector3(0.5f, 0.5f, 0.5f);
87 Quaternion rot = Quaternion.Identity; 110 Quaternion rot = Quaternion.Identity;
88 PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true, 0); 111 PhysicsActor prim = pScene.AddPrimShape("CoolShape", newcube, position, size, rot, true, 0);
89 OdePrim oprim = (OdePrim)prim; 112 OdePrim oprim = (OdePrim)prim;
90 OdeScene pscene = (OdeScene) ps; 113 OdeScene pscene = (OdeScene)pScene;
91 114
92 Assert.That(oprim.m_taintadd); 115 Assert.That(oprim.m_taintadd);
93 116
@@ -95,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin.Tests
95 118
96 for (int i = 0; i < 58; i++) 119 for (int i = 0; i < 58; i++)
97 { 120 {
98 ps.Simulate(0.133f); 121 pScene.Simulate(0.133f);
99 122
100 Assert.That(oprim.prim_geom != (IntPtr)0); 123 Assert.That(oprim.prim_geom != (IntPtr)0);
101 124
@@ -119,9 +142,9 @@ namespace OpenSim.Region.Physics.OdePlugin.Tests
119 // Make sure we're not somewhere above the ground 142 // Make sure we're not somewhere above the ground
120 Assert.That(prim.Position.Z < 21.5f); 143 Assert.That(prim.Position.Z < 21.5f);
121 144
122 ps.RemovePrim(prim); 145 pScene.RemovePrim(prim);
123 Assert.That(oprim.m_taintremove); 146 Assert.That(oprim.m_taintremove);
124 ps.Simulate(0.133f); 147 pScene.Simulate(0.133f);
125 Assert.That(oprim.Body == (IntPtr)0); 148 Assert.That(oprim.Body == (IntPtr)0);
126 } 149 }
127 } 150 }
generated by cgit v1.1 at 2025-01-10 12:49:36 +0000