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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 SPAM
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 OdeAPI;
40using OpenSim.Framework;
41using OpenSim.Region.Physics.Manager;
42using OpenMetaverse;
43
44namespace OpenSim.Region.Physics.OdePlugin
45{
46 public enum StatusIndicators : int
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63
64 // colision flags of things others can colide with
65 // rays, sensors, probes removed since can't be colided with
66 // The top space where things are placed provided further selection
67 // ie physical are in active space nonphysical in static
68 // this should be exclusive as possible
69
70 [Flags]
71 public enum CollisionCategories : uint
72 {
73 Disabled = 0,
74 //by 'things' types
75 Space = 0x01,
76 Geom = 0x02, // aka prim/part
77 Character = 0x04,
78 Land = 0x08,
79 Water = 0x010,
80
81 // by state
82 Phantom = 0x01000,
83 VolumeDtc = 0x02000,
84 Selected = 0x04000,
85 NoShape = 0x08000,
86
87
88 All = 0xffffffff
89 }
90
91 /// <summary>
92 /// Material type for a primitive
93 /// </summary>
94 public enum Material : int
95 {
96 /// <summary></summary>
97 Stone = 0,
98 /// <summary></summary>
99 Metal = 1,
100 /// <summary></summary>
101 Glass = 2,
102 /// <summary></summary>
103 Wood = 3,
104 /// <summary></summary>
105 Flesh = 4,
106 /// <summary></summary>
107 Plastic = 5,
108 /// <summary></summary>
109 Rubber = 6,
110
111 light = 7 // compatibility with old viewers
112 }
113
114 public enum changes : int
115 {
116 Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?)
117 Remove,
118 Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root
119 // or removes from a object if arg is null
120 DeLink,
121 Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child
122 Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child
123 PosOffset, // not in use
124 // arg Vector3 new position in local coords. Changes prim position in object
125 OriOffset, // not in use
126 // arg Vector3 new position in local coords. Changes prim position in object
127 Velocity,
128 AngVelocity,
129 Acceleration,
130 Force,
131 Torque,
132 Momentum,
133
134 AddForce,
135 AddAngForce,
136 AngLock,
137
138 Buoyancy,
139
140 PIDTarget,
141 PIDTau,
142 PIDActive,
143
144 PIDHoverHeight,
145 PIDHoverType,
146 PIDHoverTau,
147 PIDHoverActive,
148
149 Size,
150 Shape,
151 PhysRepData,
152 AddPhysRep,
153
154 CollidesWater,
155 VolumeDtc,
156
157 Physical,
158 Phantom,
159 Selected,
160 disabled,
161 building,
162
163 VehicleType,
164 VehicleFloatParam,
165 VehicleVectorParam,
166 VehicleRotationParam,
167 VehicleFlags,
168 SetVehicle,
169
170 Null //keep this last used do dim the methods array. does nothing but pulsing the prim
171 }
172
173 public struct ODEchangeitem
174 {
175 public PhysicsActor actor;
176 public OdeCharacter character;
177 public changes what;
178 public Object arg;
179 }
180
181 public class OdeScene : PhysicsScene
182 {
183 private readonly ILog m_log;
184 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
185
186 public bool OdeUbitLib = false;
187// private int threadid = 0;
188 private Random fluidRandomizer = new Random(Environment.TickCount);
189
190 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
191 const float MaxERP = 0.8f;
192 const float minERP = 0.1f;
193 const float comumContactCFM = 0.0001f;
194
195 float frictionMovementMult = 0.8f;
196
197 float TerrainBounce = 0.1f;
198 float TerrainFriction = 0.3f;
199
200 public float AvatarFriction = 0;// 0.9f * 0.5f;
201
202 private const uint m_regionWidth = Constants.RegionSize;
203 private const uint m_regionHeight = Constants.RegionSize;
204
205 public float ODE_STEPSIZE = 0.020f;
206 public float HalfOdeStep = 0.01f;
207 public int odetimestepMS = 20; // rounded
208 private float metersInSpace = 25.6f;
209 private float m_timeDilation = 1.0f;
210
211 private DateTime m_lastframe;
212 private DateTime m_lastMeshExpire;
213
214 public float gravityx = 0f;
215 public float gravityy = 0f;
216 public float gravityz = -9.8f;
217
218 private float waterlevel = 0f;
219 private int framecount = 0;
220
221 private int m_meshExpireCntr;
222
223// private IntPtr WaterGeom = IntPtr.Zero;
224// private IntPtr WaterHeightmapData = IntPtr.Zero;
225// private GCHandle WaterMapHandler = new GCHandle();
226
227 public float avPIDD = 2200f; // make it visible
228 public float avPIDP = 900f; // make it visible
229 private float avCapRadius = 0.37f;
230 private float avDensity = 3f;
231 private float avMovementDivisorWalk = 1.3f;
232 private float avMovementDivisorRun = 0.8f;
233 private float minimumGroundFlightOffset = 3f;
234 public float maximumMassObject = 10000.01f;
235
236
237 public float geomDefaultDensity = 10.000006836f;
238
239 public int geomContactPointsStartthrottle = 3;
240 public int geomUpdatesPerThrottledUpdate = 15;
241
242 public float bodyPIDD = 35f;
243 public float bodyPIDG = 25;
244
245// public int geomCrossingFailuresBeforeOutofbounds = 6;
246
247 public int bodyFramesAutoDisable = 5;
248
249
250 private d.NearCallback nearCallback;
251
252 private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
253 private HashSet<OdePrim> _prims = new HashSet<OdePrim>();
254 private HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
255 private HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
256
257 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
258
259 /// <summary>
260 /// A list of actors that should receive collision events.
261 /// </summary>
262 private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
263 private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
264
265 private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
266// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
267 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
268
269 private float contactsurfacelayer = 0.002f;
270
271 private int contactsPerCollision = 80;
272 internal IntPtr ContactgeomsArray = IntPtr.Zero;
273 private IntPtr GlobalContactsArray = IntPtr.Zero;
274
275 const int maxContactsbeforedeath = 4000;
276 private volatile int m_global_contactcount = 0;
277
278 private IntPtr contactgroup;
279
280 public ContactData[] m_materialContactsData = new ContactData[8];
281
282 private Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
283 private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
284 private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
285
286 private int m_physicsiterations = 10;
287 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
288// private PhysicsActor PANull = new NullPhysicsActor();
289 private float step_time = 0.0f;
290
291 public IntPtr world;
292
293
294 // split the spaces acording to contents type
295 // ActiveSpace contains characters and active prims
296 // StaticSpace contains land and other that is mostly static in enviroment
297 // this can contain subspaces, like the grid in staticspace
298 // as now space only contains this 2 top spaces
299
300 public IntPtr TopSpace; // the global space
301 public IntPtr ActiveSpace; // space for active prims
302 public IntPtr StaticSpace; // space for the static things around
303 public IntPtr GroundSpace; // space for ground
304
305 // some speedup variables
306 private int spaceGridMaxX;
307 private int spaceGridMaxY;
308 private float spacesPerMeter;
309
310 // split static geometry collision into a grid as before
311 private IntPtr[,] staticPrimspace;
312 private IntPtr[] staticPrimspaceOffRegion;
313
314 public Object OdeLock;
315 public static Object SimulationLock;
316
317 public IMesher mesher;
318
319 private IConfigSource m_config;
320
321 public bool physics_logging = false;
322 public int physics_logging_interval = 0;
323 public bool physics_logging_append_existing_logfile = false;
324
325 private Vector3 m_worldOffset = Vector3.Zero;
326 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
327 private PhysicsScene m_parentScene = null;
328
329 private ODERayCastRequestManager m_rayCastManager;
330 public ODEMeshWorker m_meshWorker;
331
332/* maybe needed if ode uses tls
333 private void checkThread()
334 {
335
336 int th = Thread.CurrentThread.ManagedThreadId;
337 if(th != threadid)
338 {
339 threadid = th;
340 d.AllocateODEDataForThread(~0U);
341 }
342 }
343 */
344 /// <summary>
345 /// Initiailizes the scene
346 /// Sets many properties that ODE requires to be stable
347 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
348 /// </summary>
349 public OdeScene(string sceneIdentifier)
350 {
351 m_log
352 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
353
354// checkThread();
355 Name = sceneIdentifier;
356
357 OdeLock = new Object();
358 SimulationLock = new Object();
359
360 nearCallback = near;
361
362 m_rayCastManager = new ODERayCastRequestManager(this);
363
364
365 lock (OdeLock)
366 {
367 // Create the world and the first space
368 try
369 {
370 world = d.WorldCreate();
371 TopSpace = d.HashSpaceCreate(IntPtr.Zero);
372
373 // now the major subspaces
374 ActiveSpace = d.HashSpaceCreate(TopSpace);
375 StaticSpace = d.HashSpaceCreate(TopSpace);
376 GroundSpace = d.HashSpaceCreate(TopSpace);
377 }
378 catch
379 {
380 // i must RtC#FM
381 }
382
383 d.HashSpaceSetLevels(TopSpace, -2, 8);
384 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
385 d.HashSpaceSetLevels(StaticSpace, -2, 8);
386 d.HashSpaceSetLevels(GroundSpace, 0, 8);
387
388 // demote to second level
389 d.SpaceSetSublevel(ActiveSpace, 1);
390 d.SpaceSetSublevel(StaticSpace, 1);
391 d.SpaceSetSublevel(GroundSpace, 1);
392
393 d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
394 CollisionCategories.Geom |
395 CollisionCategories.Character |
396 CollisionCategories.Phantom |
397 CollisionCategories.VolumeDtc
398 ));
399 d.GeomSetCollideBits(ActiveSpace, 0);
400 d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
401 CollisionCategories.Geom |
402 CollisionCategories.Land |
403 CollisionCategories.Water |
404 CollisionCategories.Phantom |
405 CollisionCategories.VolumeDtc
406 ));
407 d.GeomSetCollideBits(StaticSpace, 0);
408
409 d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land));
410 d.GeomSetCollideBits(GroundSpace, 0);
411
412 contactgroup = d.JointGroupCreate(0);
413 //contactgroup
414
415 d.WorldSetAutoDisableFlag(world, false);
416 }
417 }
418
419 // Initialize the mesh plugin
420// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region )
421 public override void Initialise(IMesher meshmerizer, IConfigSource config)
422 {
423// checkThread();
424 mesher = meshmerizer;
425 m_config = config;
426
427 string ode_config = d.GetConfiguration();
428 if (ode_config != null && ode_config != "")
429 {
430 m_log.WarnFormat("ODE configuration: {0}", ode_config);
431
432 if (ode_config.Contains("ODE_Ubit"))
433 {
434 OdeUbitLib = true;
435 }
436 }
437
438 /*
439 if (region != null)
440 {
441 WorldExtents.X = region.RegionSizeX;
442 WorldExtents.Y = region.RegionSizeY;
443 }
444 */
445
446 // Defaults
447
448 int contactsPerCollision = 80;
449
450 IConfig physicsconfig = null;
451
452 if (m_config != null)
453 {
454 physicsconfig = m_config.Configs["ODEPhysicsSettings"];
455 if (physicsconfig != null)
456 {
457 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
458 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
459 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
460
461 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
462
463 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
464
465 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
466 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
467
468 avDensity = physicsconfig.GetFloat("av_density", avDensity);
469 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
470 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
471 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
472
473 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
474
475 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
476 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
477// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
478
479 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
480 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
481
482 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
483 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
484 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
485
486 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
487 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
488 }
489 }
490
491 m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig);
492
493 HalfOdeStep = ODE_STEPSIZE * 0.5f;
494 odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f);
495
496 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
497 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
498
499 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
500 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
501
502 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
503 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
504
505 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
506 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
507
508 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
509 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
510
511 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
512 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
513
514 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
515 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
516
517 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
518 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
519
520 m_materialContactsData[(int)Material.light].mu = 0.0f;
521 m_materialContactsData[(int)Material.light].bounce = 0.0f;
522
523 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
524
525 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
526 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
527
528 d.WorldSetLinearDamping(world, 0.002f);
529 d.WorldSetAngularDamping(world, 0.002f);
530 d.WorldSetAngularDampingThreshold(world, 0f);
531 d.WorldSetLinearDampingThreshold(world, 0f);
532 d.WorldSetMaxAngularSpeed(world, 100f);
533
534 d.WorldSetCFM(world,1e-6f); // a bit harder than default
535 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
536 d.WorldSetERP(world, 0.6f); // higher than original
537
538 // Set how many steps we go without running collision testing
539 // This is in addition to the step size.
540 // Essentially Steps * m_physicsiterations
541 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
542
543 d.WorldSetContactMaxCorrectingVel(world, 60.0f);
544
545 spacesPerMeter = 1 / metersInSpace;
546 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
547 spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter);
548
549 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
550
551 // create all spaces now
552 int i, j;
553 IntPtr newspace;
554
555 for (i = 0; i < spaceGridMaxX; i++)
556 for (j = 0; j < spaceGridMaxY; j++)
557 {
558 newspace = d.HashSpaceCreate(StaticSpace);
559 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
560 waitForSpaceUnlock(newspace);
561 d.SpaceSetSublevel(newspace, 2);
562 d.HashSpaceSetLevels(newspace, -2, 8);
563 d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
564 CollisionCategories.Geom |
565 CollisionCategories.Land |
566 CollisionCategories.Water |
567 CollisionCategories.Phantom |
568 CollisionCategories.VolumeDtc
569 ));
570 d.GeomSetCollideBits(newspace, 0);
571
572 staticPrimspace[i, j] = newspace;
573 }
574 // let this now be real maximum values
575 spaceGridMaxX--;
576 spaceGridMaxY--;
577
578 // create 4 off world spaces (x<0,x>max,y<0,y>max)
579 staticPrimspaceOffRegion = new IntPtr[4];
580
581 for (i = 0; i < 4; i++)
582 {
583 newspace = d.HashSpaceCreate(StaticSpace);
584 d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
585 waitForSpaceUnlock(newspace);
586 d.SpaceSetSublevel(newspace, 2);
587 d.HashSpaceSetLevels(newspace, -2, 8);
588 d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
589 CollisionCategories.Geom |
590 CollisionCategories.Land |
591 CollisionCategories.Water |
592 CollisionCategories.Phantom |
593 CollisionCategories.VolumeDtc
594 ));
595 d.GeomSetCollideBits(newspace, 0);
596
597 staticPrimspaceOffRegion[i] = newspace;
598 }
599
600 m_lastframe = DateTime.UtcNow;
601 m_lastMeshExpire = m_lastframe;
602 }
603
604 internal void waitForSpaceUnlock(IntPtr space)
605 {
606 //if (space != IntPtr.Zero)
607 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
608 }
609
610 #region Collision Detection
611
612 // sets a global contact for a joint for contactgeom , and base contact description)
613
614 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
615 {
616 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
617 return IntPtr.Zero;
618
619 float erp = contactGeom.depth;
620 erp *= erpscale;
621 if (erp < minERP)
622 erp = minERP;
623 else if (erp > MaxERP)
624 erp = MaxERP;
625
626 float depth = contactGeom.depth * dscale;
627 if (depth > 0.5f)
628 depth = 0.5f;
629
630 d.Contact newcontact = new d.Contact();
631 newcontact.geom.depth = depth;
632 newcontact.geom.g1 = contactGeom.g1;
633 newcontact.geom.g2 = contactGeom.g2;
634 newcontact.geom.pos = contactGeom.pos;
635 newcontact.geom.normal = contactGeom.normal;
636 newcontact.geom.side1 = contactGeom.side1;
637 newcontact.geom.side2 = contactGeom.side2;
638
639 // this needs bounce also
640 newcontact.surface.mode = comumContactFlags;
641 newcontact.surface.mu = mu;
642 newcontact.surface.bounce = bounce;
643 newcontact.surface.soft_cfm = cfm;
644 newcontact.surface.soft_erp = erp;
645
646 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
647 Marshal.StructureToPtr(newcontact, contact, true);
648 return d.JointCreateContactPtr(world, contactgroup, contact);
649 }
650
651 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
652 {
653 if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
654 return false;
655
656 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
657 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
658 return true;
659 }
660
661 /// <summary>
662 /// This is our near callback. A geometry is near a body
663 /// </summary>
664 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
665 /// <param name="g1">a geometry or space</param>
666 /// <param name="g2">another geometry or space</param>
667 ///
668
669 private void near(IntPtr space, IntPtr g1, IntPtr g2)
670 {
671 // no lock here! It's invoked from within Simulate(), which is thread-locked
672
673 if (m_global_contactcount >= maxContactsbeforedeath)
674 return;
675
676 // Test if we're colliding a geom with a space.
677 // If so we have to drill down into the space recursively
678
679 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
680 return;
681
682 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
683 {
684 // We'll be calling near recursivly if one
685 // of them is a space to find all of the
686 // contact points in the space
687 try
688 {
689 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
690 }
691 catch (AccessViolationException)
692 {
693 m_log.Warn("[PHYSICS]: Unable to collide test a space");
694 return;
695 }
696 //here one should check collisions of geoms inside a space
697 // but on each space we only should have geoms that not colide amoung each other
698 // so we don't dig inside spaces
699 return;
700 }
701
702 // get geom bodies to check if we already a joint contact
703 // guess this shouldn't happen now
704 IntPtr b1 = d.GeomGetBody(g1);
705 IntPtr b2 = d.GeomGetBody(g2);
706
707 // d.GeomClassID id = d.GeomGetClass(g1);
708
709 // Figure out how many contact points we have
710 int count = 0;
711 try
712 {
713 // Colliding Geom To Geom
714 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
715
716 if (g1 == g2)
717 return; // Can't collide with yourself
718
719 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
720 return;
721/*
722// debug
723 PhysicsActor dp2;
724 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass)
725 {
726 d.AABB aabb;
727 d.GeomGetAABB(g2, out aabb);
728 float x = aabb.MaxX - aabb.MinX;
729 float y = aabb.MaxY - aabb.MinY;
730 float z = aabb.MaxZ - aabb.MinZ;
731 if (x > 60.0f || y > 60.0f || z > 60.0f)
732 {
733 if (!actor_name_map.TryGetValue(g2, out dp2))
734 m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
735 else
736 m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})",
737 dp2.Name, dp2.Size, x, y, z,
738 dp2.Position.ToString(),
739 dp2.Orientation.ToString(),
740 dp2.Orientation.Length());
741 return;
742 }
743 }
744//
745*/
746
747
748 if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
749 d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc)
750 {
751 int cflags;
752 unchecked
753 {
754 cflags = (int)(1 | d.CONTACTS_UNIMPORTANT);
755 }
756 count = d.CollidePtr(g1, g2, cflags, ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
757 }
758 else
759 count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
760 }
761 catch (SEHException)
762 {
763 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.");
764// ode.drelease(world);
765 base.TriggerPhysicsBasedRestart();
766 }
767 catch (Exception e)
768 {
769 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
770 return;
771 }
772
773 // contacts done
774 if (count == 0)
775 return;
776
777 // try get physical actors
778 PhysicsActor p1;
779 PhysicsActor p2;
780
781 if (!actor_name_map.TryGetValue(g1, out p1))
782 {
783 m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1");
784 return;
785 }
786
787 if (!actor_name_map.TryGetValue(g2, out p2))
788 {
789 m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
790 return;
791 }
792
793 // update actors collision score
794 if (p1.CollisionScore >= float.MaxValue - count)
795 p1.CollisionScore = 0;
796 p1.CollisionScore += count;
797
798 if (p2.CollisionScore >= float.MaxValue - count)
799 p2.CollisionScore = 0;
800 p2.CollisionScore += count;
801
802 // get first contact
803 d.ContactGeom curContact = new d.ContactGeom();
804 if (!GetCurContactGeom(0, ref curContact))
805 return;
806 // for now it's the one with max depth
807 ContactPoint maxDepthContact = new ContactPoint(
808 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
809 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
810 curContact.depth
811 );
812 // do volume detection case
813 if (
814 (p1.IsVolumeDtc || p2.IsVolumeDtc))
815 {
816 collision_accounting_events(p1, p2, maxDepthContact);
817 return;
818 }
819
820 // big messy collision analises
821
822 Vector3 normoverride = Vector3.Zero; //damm c#
823
824 float mu = 0;
825 float bounce = 0;
826 float cfm = 0.0001f;
827 float erpscale = 1.0f;
828 float dscale = 1.0f;
829 bool IgnoreNegSides = false;
830
831 ContactData contactdata1 = new ContactData(0, 0, false);
832 ContactData contactdata2 = new ContactData(0, 0, false);
833
834 bool dop1foot = false;
835 bool dop2foot = false;
836 bool ignore = false;
837 bool AvanormOverride = false;
838
839 switch (p1.PhysicsActorType)
840 {
841 case (int)ActorTypes.Agent:
842 {
843 AvanormOverride = true;
844 Vector3 tmp = p2.Position - p1.Position;
845 normoverride = p2.Velocity - p1.Velocity;
846 mu = normoverride.LengthSquared();
847
848 if (mu > 1e-6)
849 {
850 mu = 1.0f / (float)Math.Sqrt(mu);
851 normoverride *= mu;
852 mu = Vector3.Dot(tmp, normoverride);
853 if (mu > 0)
854 normoverride *= -1;
855 }
856 else
857 {
858 tmp.Normalize();
859 normoverride = -tmp;
860 }
861
862 switch (p2.PhysicsActorType)
863 {
864 case (int)ActorTypes.Agent:
865 p1.CollidingObj = true;
866 p2.CollidingObj = true;
867 break;
868
869 case (int)ActorTypes.Prim:
870 if (p2.Velocity.LengthSquared() > 0.0f)
871 p2.CollidingObj = true;
872 dop1foot = true;
873 break;
874
875 default:
876 ignore = true; // avatar to terrain and water ignored
877 break;
878 }
879 break;
880 }
881
882 case (int)ActorTypes.Prim:
883 switch (p2.PhysicsActorType)
884 {
885 case (int)ActorTypes.Agent:
886 AvanormOverride = true;
887
888 Vector3 tmp = p2.Position - p1.Position;
889 normoverride = p2.Velocity - p1.Velocity;
890 mu = normoverride.LengthSquared();
891 if (mu > 1e-6)
892 {
893 mu = 1.0f / (float)Math.Sqrt(mu);
894 normoverride *= mu;
895 mu = Vector3.Dot(tmp, normoverride);
896 if (mu > 0)
897 normoverride *= -1;
898 }
899 else
900 {
901 tmp.Normalize();
902 normoverride = -tmp;
903 }
904
905 bounce = 0;
906 mu = 0;
907 cfm = 0.0001f;
908
909 dop2foot = true;
910 if (p1.Velocity.LengthSquared() > 0.0f)
911 p1.CollidingObj = true;
912 break;
913
914 case (int)ActorTypes.Prim:
915 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
916 {
917 p1.CollidingObj = true;
918 p2.CollidingObj = true;
919 }
920 p1.getContactData(ref contactdata1);
921 p2.getContactData(ref contactdata2);
922 bounce = contactdata1.bounce * contactdata2.bounce;
923 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
924
925 cfm = p1.Mass;
926 if (cfm > p2.Mass)
927 cfm = p2.Mass;
928 dscale = 10 / cfm;
929 dscale = (float)Math.Sqrt(dscale);
930 if (dscale > 1.0f)
931 dscale = 1.0f;
932 erpscale = cfm * 0.01f;
933 cfm = 0.0001f / cfm;
934 if (cfm > 0.01f)
935 cfm = 0.01f;
936 else if (cfm < 0.00001f)
937 cfm = 0.00001f;
938
939 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
940 mu *= frictionMovementMult;
941
942 break;
943
944 case (int)ActorTypes.Ground:
945 p1.getContactData(ref contactdata1);
946 bounce = contactdata1.bounce * TerrainBounce;
947 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
948 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
949 mu *= frictionMovementMult;
950 p1.CollidingGround = true;
951
952 cfm = p1.Mass;
953 dscale = 10 / cfm;
954 dscale = (float)Math.Sqrt(dscale);
955 if (dscale > 1.0f)
956 dscale = 1.0f;
957 erpscale = cfm * 0.01f;
958 cfm = 0.0001f / cfm;
959 if (cfm > 0.01f)
960 cfm = 0.01f;
961 else if (cfm < 0.00001f)
962 cfm = 0.00001f;
963
964 if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
965 {
966 if (curContact.side1 > 0)
967 IgnoreNegSides = true;
968 }
969 break;
970
971 case (int)ActorTypes.Water:
972 default:
973 ignore = true;
974 break;
975 }
976 break;
977
978 case (int)ActorTypes.Ground:
979 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
980 {
981 p2.CollidingGround = true;
982 p2.getContactData(ref contactdata2);
983 bounce = contactdata2.bounce * TerrainBounce;
984 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
985
986 cfm = p2.Mass;
987 dscale = 10 / cfm;
988 dscale = (float)Math.Sqrt(dscale);
989
990 if (dscale > 1.0f)
991 dscale = 1.0f;
992
993 erpscale = cfm * 0.01f;
994 cfm = 0.0001f / cfm;
995 if (cfm > 0.01f)
996 cfm = 0.01f;
997 else if (cfm < 0.00001f)
998 cfm = 0.00001f;
999
1000 if (curContact.side1 > 0) // should be 2 ?
1001 IgnoreNegSides = true;
1002
1003 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
1004 mu *= frictionMovementMult;
1005 }
1006 else
1007 ignore = true;
1008 break;
1009
1010 case (int)ActorTypes.Water:
1011 default:
1012 break;
1013 }
1014 if (ignore)
1015 return;
1016
1017 IntPtr Joint;
1018
1019 int i = 0;
1020 while(true)
1021 {
1022
1023 if (IgnoreNegSides && curContact.side1 < 0)
1024 {
1025 if (++i >= count)
1026 break;
1027
1028 if (!GetCurContactGeom(i, ref curContact))
1029 break;
1030 }
1031 else
1032
1033 {
1034
1035 if (AvanormOverride)
1036 {
1037 if (curContact.depth > 0.3f)
1038 {
1039 if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
1040 p1.IsColliding = true;
1041 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
1042 p2.IsColliding = true;
1043 curContact.normal.X = normoverride.X;
1044 curContact.normal.Y = normoverride.Y;
1045 curContact.normal.Z = normoverride.Z;
1046 }
1047
1048 else
1049 {
1050 if (dop1foot)
1051 {
1052 float sz = p1.Size.Z;
1053 Vector3 vtmp = p1.Position;
1054 float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f;
1055 if (ppos > 0f)
1056 {
1057 if (!p1.Flying)
1058 {
1059 d.AABB aabb;
1060 d.GeomGetAABB(g2, out aabb);
1061 float tmp = vtmp.Z - sz * .18f;
1062
1063 if (aabb.MaxZ < tmp)
1064 {
1065 vtmp.X = curContact.pos.X - vtmp.X;
1066 vtmp.Y = curContact.pos.Y - vtmp.Y;
1067 vtmp.Z = -0.2f;
1068 vtmp.Normalize();
1069 curContact.normal.X = vtmp.X;
1070 curContact.normal.Y = vtmp.Y;
1071 curContact.normal.Z = vtmp.Z;
1072 }
1073 }
1074 }
1075 else
1076 p1.IsColliding = true;
1077
1078 }
1079
1080 if (dop2foot)
1081 {
1082 float sz = p2.Size.Z;
1083 Vector3 vtmp = p2.Position;
1084 float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f;
1085 if (ppos > 0f)
1086 {
1087 if (!p2.Flying)
1088 {
1089 d.AABB aabb;
1090 d.GeomGetAABB(g1, out aabb);
1091 float tmp = vtmp.Z - sz * .18f;
1092
1093 if (aabb.MaxZ < tmp)
1094 {
1095 vtmp.X = curContact.pos.X - vtmp.X;
1096 vtmp.Y = curContact.pos.Y - vtmp.Y;
1097 vtmp.Z = -0.2f;
1098 vtmp.Normalize();
1099 curContact.normal.X = vtmp.X;
1100 curContact.normal.Y = vtmp.Y;
1101 curContact.normal.Z = vtmp.Z;
1102 }
1103 }
1104 }
1105 else
1106 p2.IsColliding = true;
1107
1108 }
1109 }
1110 }
1111
1112 Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
1113 d.JointAttach(Joint, b1, b2);
1114
1115 if (++m_global_contactcount >= maxContactsbeforedeath)
1116 break;
1117
1118 if (++i >= count)
1119 break;
1120
1121 if (!GetCurContactGeom(i, ref curContact))
1122 break;
1123
1124 if (curContact.depth > maxDepthContact.PenetrationDepth)
1125 {
1126 maxDepthContact.Position.X = curContact.pos.X;
1127 maxDepthContact.Position.Y = curContact.pos.Y;
1128 maxDepthContact.Position.Z = curContact.pos.Z;
1129 maxDepthContact.SurfaceNormal.X = curContact.normal.X;
1130 maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
1131 maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
1132 maxDepthContact.PenetrationDepth = curContact.depth;
1133 }
1134 }
1135 }
1136
1137 collision_accounting_events(p1, p2, maxDepthContact);
1138
1139/*
1140 if (notskipedcount > geomContactPointsStartthrottle)
1141 {
1142 // If there are more then 3 contact points, it's likely
1143 // that we've got a pile of objects, so ...
1144 // We don't want to send out hundreds of terse updates over and over again
1145 // so lets throttle them and send them again after it's somewhat sorted out.
1146 this needs checking so out for now
1147 if (b1 != IntPtr.Zero)
1148 p1.ThrottleUpdates = true;
1149 if (b2 != IntPtr.Zero)
1150 p2.ThrottleUpdates = true;
1151
1152 }
1153 */
1154 }
1155
1156 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1157 {
1158 uint obj2LocalID = 0;
1159
1160 bool p1events = p1.SubscribedEvents();
1161 bool p2events = p2.SubscribedEvents();
1162
1163 if (p1.IsVolumeDtc)
1164 p2events = false;
1165 if (p2.IsVolumeDtc)
1166 p1events = false;
1167
1168 if (!p2events && !p1events)
1169 return;
1170
1171 Vector3 vel = Vector3.Zero;
1172 if (p2 != null && p2.IsPhysical)
1173 vel = p2.Velocity;
1174
1175 if (p1 != null && p1.IsPhysical)
1176 vel -= p1.Velocity;
1177
1178 contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
1179
1180 switch ((ActorTypes)p1.PhysicsActorType)
1181 {
1182 case ActorTypes.Agent:
1183 case ActorTypes.Prim:
1184 {
1185 switch ((ActorTypes)p2.PhysicsActorType)
1186 {
1187 case ActorTypes.Agent:
1188 case ActorTypes.Prim:
1189 if (p2events)
1190 {
1191 AddCollisionEventReporting(p2);
1192 p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
1193 }
1194 obj2LocalID = p2.ParentActor.LocalID;
1195 break;
1196
1197 case ActorTypes.Ground:
1198 case ActorTypes.Unknown:
1199 default:
1200 obj2LocalID = 0;
1201 break;
1202 }
1203 if (p1events)
1204 {
1205 contact.SurfaceNormal = -contact.SurfaceNormal;
1206 AddCollisionEventReporting(p1);
1207 p1.AddCollisionEvent(obj2LocalID, contact);
1208 }
1209 break;
1210 }
1211 case ActorTypes.Ground:
1212 case ActorTypes.Unknown:
1213 default:
1214 {
1215 if (p2events && !p2.IsVolumeDtc)
1216 {
1217 AddCollisionEventReporting(p2);
1218 p2.AddCollisionEvent(0, contact);
1219 }
1220 break;
1221 }
1222 }
1223 }
1224
1225 /// <summary>
1226 /// This is our collision testing routine in ODE
1227 /// </summary>
1228 /// <param name="timeStep"></param>
1229 private void collision_optimized()
1230 {
1231 lock (_characters)
1232 {
1233 try
1234 {
1235 foreach (OdeCharacter chr in _characters)
1236 {
1237 if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1238 continue;
1239
1240 chr.IsColliding = false;
1241 // chr.CollidingGround = false; not done here
1242 chr.CollidingObj = false;
1243 // do colisions with static space
1244 d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
1245 // no coll with gnd
1246 }
1247 }
1248 catch (AccessViolationException)
1249 {
1250 m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
1251 }
1252
1253 }
1254
1255 lock (_activeprims)
1256 {
1257 foreach (OdePrim aprim in _activeprims)
1258 {
1259 aprim.CollisionScore = 0;
1260 aprim.IsColliding = false;
1261 }
1262 }
1263
1264 // collide active prims with static enviroment
1265 lock (_activegroups)
1266 {
1267 try
1268 {
1269 foreach (OdePrim prm in _activegroups)
1270 {
1271 if (!prm.m_outbounds)
1272 {
1273 if (d.BodyIsEnabled(prm.Body))
1274 {
1275 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1276 d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1277 }
1278 }
1279 }
1280 }
1281 catch (AccessViolationException)
1282 {
1283 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1284 }
1285 }
1286 // finally colide active things amoung them
1287 try
1288 {
1289 d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
1290 }
1291 catch (AccessViolationException)
1292 {
1293 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1294 }
1295// _perloopContact.Clear();
1296 }
1297
1298 #endregion
1299 /// <summary>
1300 /// Add actor to the list that should receive collision events in the simulate loop.
1301 /// </summary>
1302 /// <param name="obj"></param>
1303 public void AddCollisionEventReporting(PhysicsActor obj)
1304 {
1305 if (!_collisionEventPrim.Contains(obj))
1306 _collisionEventPrim.Add(obj);
1307 }
1308
1309 /// <summary>
1310 /// Remove actor from the list that should receive collision events in the simulate loop.
1311 /// </summary>
1312 /// <param name="obj"></param>
1313 public void RemoveCollisionEventReporting(PhysicsActor obj)
1314 {
1315 if (_collisionEventPrim.Contains(obj) && !_collisionEventPrimRemove.Contains(obj))
1316 _collisionEventPrimRemove.Add(obj);
1317 }
1318
1319 public override float TimeDilation
1320 {
1321 get { return m_timeDilation; }
1322 }
1323
1324 public override bool SupportsNINJAJoints
1325 {
1326 get { return false; }
1327 }
1328
1329 #region Add/Remove Entities
1330
1331 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1332 {
1333 Vector3 pos;
1334 pos.X = position.X;
1335 pos.Y = position.Y;
1336 pos.Z = position.Z;
1337 OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
1338 newAv.Flying = isFlying;
1339 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1340
1341 return newAv;
1342 }
1343
1344 public void AddCharacter(OdeCharacter chr)
1345 {
1346 lock (_characters)
1347 {
1348 if (!_characters.Contains(chr))
1349 {
1350 _characters.Add(chr);
1351 if (chr.bad)
1352 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1353 }
1354 }
1355 }
1356
1357 public void RemoveCharacter(OdeCharacter chr)
1358 {
1359 lock (_characters)
1360 {
1361 if (_characters.Contains(chr))
1362 {
1363 _characters.Remove(chr);
1364 }
1365 }
1366 }
1367
1368 public void BadCharacter(OdeCharacter chr)
1369 {
1370 lock (_badCharacter)
1371 {
1372 if (!_badCharacter.Contains(chr))
1373 _badCharacter.Add(chr);
1374 }
1375 }
1376
1377 public override void RemoveAvatar(PhysicsActor actor)
1378 {
1379 //m_log.Debug("[PHYSICS]:ODELOCK");
1380 ((OdeCharacter) actor).Destroy();
1381 }
1382
1383
1384 public void addActivePrim(OdePrim activatePrim)
1385 {
1386 // adds active prim..
1387 lock (_activeprims)
1388 {
1389 if (!_activeprims.Contains(activatePrim))
1390 _activeprims.Add(activatePrim);
1391 }
1392 }
1393
1394 public void addActiveGroups(OdePrim activatePrim)
1395 {
1396 lock (_activegroups)
1397 {
1398 if (!_activegroups.Contains(activatePrim))
1399 _activegroups.Add(activatePrim);
1400 }
1401 }
1402
1403 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1404 PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID)
1405 {
1406 OdePrim newPrim;
1407 lock (OdeLock)
1408 {
1409 newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID);
1410 lock (_prims)
1411 _prims.Add(newPrim);
1412 }
1413 return newPrim;
1414 }
1415
1416 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1417 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1418 {
1419 return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, 0 , localid);
1420 }
1421
1422
1423 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1424 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1425 {
1426 return AddPrim(primName, position, size, rotation, pbs, isPhysical,false, 0, localid);
1427 }
1428
1429 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1430 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
1431 {
1432
1433 return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
1434 }
1435
1436 public void remActivePrim(OdePrim deactivatePrim)
1437 {
1438 lock (_activeprims)
1439 {
1440 _activeprims.Remove(deactivatePrim);
1441 }
1442 }
1443 public void remActiveGroup(OdePrim deactivatePrim)
1444 {
1445 lock (_activegroups)
1446 {
1447 _activegroups.Remove(deactivatePrim);
1448 }
1449 }
1450
1451 public override void RemovePrim(PhysicsActor prim)
1452 {
1453 // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
1454 // removed in the next physics simulate pass.
1455 if (prim is OdePrim)
1456 {
1457// lock (OdeLock)
1458 {
1459
1460 OdePrim p = (OdePrim)prim;
1461 p.setPrimForRemoval();
1462 }
1463 }
1464 }
1465 /// <summary>
1466 /// This is called from within simulate but outside the locked portion
1467 /// We need to do our own locking here
1468 /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in
1469 /// Simulate() -- justincc).
1470 ///
1471 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
1472 ///
1473 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
1474 /// that the space was using.
1475 /// </summary>
1476 /// <param name="prim"></param>
1477 public void RemovePrimThreadLocked(OdePrim prim)
1478 {
1479 //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
1480 lock (prim)
1481 {
1482// RemoveCollisionEventReporting(prim);
1483 lock (_prims)
1484 _prims.Remove(prim);
1485 }
1486
1487 }
1488
1489 public bool havePrim(OdePrim prm)
1490 {
1491 lock (_prims)
1492 return _prims.Contains(prm);
1493 }
1494
1495 public bool haveActor(PhysicsActor actor)
1496 {
1497 if (actor is OdePrim)
1498 {
1499 lock (_prims)
1500 return _prims.Contains((OdePrim)actor);
1501 }
1502 else if (actor is OdeCharacter)
1503 {
1504 lock (_characters)
1505 return _characters.Contains((OdeCharacter)actor);
1506 }
1507 return false;
1508 }
1509
1510 #endregion
1511
1512 #region Space Separation Calculation
1513
1514 /// <summary>
1515 /// Called when a static prim moves or becomes static
1516 /// Places the prim in a space one the static sub-spaces grid
1517 /// </summary>
1518 /// <param name="geom">the pointer to the geom that moved</param>
1519 /// <param name="pos">the position that the geom moved to</param>
1520 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
1521 /// <returns>a pointer to the new space it's in</returns>
1522 public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
1523 {
1524 // moves a prim into another static sub-space or from another space into a static sub-space
1525
1526 // Called ODEPrim so
1527 // it's already in locked space.
1528
1529 if (geom == IntPtr.Zero) // shouldn't happen
1530 return IntPtr.Zero;
1531
1532 // get the static sub-space for current position
1533 IntPtr newspace = calculateSpaceForGeom(pos);
1534
1535 if (newspace == currentspace) // if we are there all done
1536 return newspace;
1537
1538 // else remove it from its current space
1539 if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
1540 {
1541 if (d.GeomIsSpace(currentspace))
1542 {
1543 waitForSpaceUnlock(currentspace);
1544 d.SpaceRemove(currentspace, geom);
1545
1546 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1547 {
1548 d.SpaceDestroy(currentspace);
1549 }
1550 }
1551 else
1552 {
1553 m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace +
1554 " Geom:" + geom);
1555 }
1556 }
1557 else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space
1558 {
1559 currentspace = d.GeomGetSpace(geom);
1560 if (currentspace != IntPtr.Zero)
1561 {
1562 if (d.GeomIsSpace(currentspace))
1563 {
1564 waitForSpaceUnlock(currentspace);
1565 d.SpaceRemove(currentspace, geom);
1566
1567 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1568 {
1569 d.SpaceDestroy(currentspace);
1570 }
1571
1572 }
1573 }
1574 }
1575
1576 // put the geom in the newspace
1577 waitForSpaceUnlock(newspace);
1578 d.SpaceAdd(newspace, geom);
1579
1580 // let caller know this newspace
1581 return newspace;
1582 }
1583
1584 /// <summary>
1585 /// Calculates the space the prim should be in by its position
1586 /// </summary>
1587 /// <param name="pos"></param>
1588 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
1589 public IntPtr calculateSpaceForGeom(Vector3 pos)
1590 {
1591 int x, y;
1592
1593 if (pos.X < 0)
1594 return staticPrimspaceOffRegion[0];
1595
1596 if (pos.Y < 0)
1597 return staticPrimspaceOffRegion[2];
1598
1599 x = (int)(pos.X * spacesPerMeter);
1600 if (x > spaceGridMaxX)
1601 return staticPrimspaceOffRegion[1];
1602
1603 y = (int)(pos.Y * spacesPerMeter);
1604 if (y > spaceGridMaxY)
1605 return staticPrimspaceOffRegion[3];
1606
1607 return staticPrimspace[x, y];
1608 }
1609
1610 #endregion
1611
1612
1613 /// <summary>
1614 /// Called to queue a change to a actor
1615 /// to use in place of old taint mechanism so changes do have a time sequence
1616 /// </summary>
1617
1618 public void AddChange(PhysicsActor actor, changes what, Object arg)
1619 {
1620 ODEchangeitem item = new ODEchangeitem();
1621 item.actor = actor;
1622 item.what = what;
1623 item.arg = arg;
1624 ChangesQueue.Enqueue(item);
1625 }
1626
1627 /// <summary>
1628 /// Called after our prim properties are set Scale, position etc.
1629 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
1630 /// This assures us that we have no race conditions
1631 /// </summary>
1632 /// <param name="prim"></param>
1633 public override void AddPhysicsActorTaint(PhysicsActor prim)
1634 {
1635 }
1636
1637 // does all pending changes generated during region load process
1638 public override void PrepareSimulation()
1639 {
1640 lock (OdeLock)
1641 {
1642 if (world == IntPtr.Zero)
1643 {
1644 ChangesQueue.Clear();
1645 return;
1646 }
1647
1648 ODEchangeitem item;
1649
1650 int donechanges = 0;
1651 if (ChangesQueue.Count > 0)
1652 {
1653 m_log.InfoFormat("[ODE] start processing pending actor operations");
1654 int tstart = Util.EnvironmentTickCount();
1655
1656 while (ChangesQueue.Dequeue(out item))
1657 {
1658 if (item.actor != null)
1659 {
1660 try
1661 {
1662 if (item.actor is OdeCharacter)
1663 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1664 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1665 RemovePrimThreadLocked((OdePrim)item.actor);
1666 }
1667 catch
1668 {
1669 m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}",
1670 item.actor.Name, item.what.ToString());
1671 }
1672 }
1673 donechanges++;
1674 }
1675 int time = Util.EnvironmentTickCountSubtract(tstart);
1676 m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time);
1677 }
1678 }
1679 }
1680
1681 /// <summary>
1682 /// This is our main simulate loop
1683 /// It's thread locked by a Mutex in the scene.
1684 /// It holds Collisions, it instructs ODE to step through the physical reactions
1685 /// It moves the objects around in memory
1686 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
1687 /// </summary>
1688 /// <param name="timeStep"></param>
1689 /// <returns></returns>
1690 public override float Simulate(float timeStep)
1691 {
1692 DateTime now = DateTime.UtcNow;
1693 TimeSpan timedif = now - m_lastframe;
1694 timeStep = (float)timedif.TotalSeconds;
1695 m_lastframe = now;
1696
1697 // acumulate time so we can reduce error
1698 step_time += timeStep;
1699
1700 if (step_time < HalfOdeStep)
1701 return 0;
1702
1703 if (framecount < 0)
1704 framecount = 0;
1705
1706
1707 framecount++;
1708
1709 int curphysiteractions;
1710
1711 // if in trouble reduce step resolution
1712 if (step_time >= m_SkipFramesAtms)
1713 curphysiteractions = m_physicsiterations / 2;
1714 else
1715 curphysiteractions = m_physicsiterations;
1716
1717// checkThread();
1718 int nodeframes = 0;
1719
1720 lock (SimulationLock)
1721 lock(OdeLock)
1722 {
1723 if (world == IntPtr.Zero)
1724 {
1725 ChangesQueue.Clear();
1726 return 0;
1727 }
1728
1729 ODEchangeitem item;
1730
1731
1732
1733 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1734
1735 int loopstartMS = Util.EnvironmentTickCount();
1736 int looptimeMS = 0;
1737
1738
1739 while (step_time > HalfOdeStep)
1740 {
1741 try
1742 {
1743 // clear pointer/counter to contacts to pass into joints
1744 m_global_contactcount = 0;
1745
1746 if (ChangesQueue.Count > 0)
1747 {
1748 int changestartMS = Util.EnvironmentTickCount();
1749 int ttmp;
1750 while (ChangesQueue.Dequeue(out item))
1751 {
1752 if (item.actor != null)
1753 {
1754 try
1755 {
1756 if (item.actor is OdeCharacter)
1757 ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
1758 else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
1759 RemovePrimThreadLocked((OdePrim)item.actor);
1760 }
1761 catch
1762 {
1763 m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}",
1764 item.actor.Name, item.what.ToString());
1765 }
1766 }
1767 ttmp = Util.EnvironmentTickCountSubtract(changestartMS);
1768 if (ttmp > 20)
1769 break;
1770 }
1771 }
1772
1773 // Move characters
1774 lock (_characters)
1775 {
1776 List<OdeCharacter> defects = new List<OdeCharacter>();
1777 foreach (OdeCharacter actor in _characters)
1778 {
1779 if (actor != null)
1780 actor.Move(ODE_STEPSIZE, defects);
1781 }
1782 if (defects.Count != 0)
1783 {
1784 foreach (OdeCharacter defect in defects)
1785 {
1786 RemoveCharacter(defect);
1787 }
1788 defects.Clear();
1789 }
1790 }
1791
1792 // Move other active objects
1793 lock (_activegroups)
1794 {
1795 foreach (OdePrim aprim in _activegroups)
1796 {
1797 aprim.Move();
1798 }
1799 }
1800
1801 //if ((framecount % m_randomizeWater) == 0)
1802 // randomizeWater(waterlevel);
1803
1804 m_rayCastManager.ProcessQueuedRequests();
1805
1806 collision_optimized();
1807
1808 foreach (PhysicsActor obj in _collisionEventPrim)
1809 {
1810 if (obj == null)
1811 continue;
1812
1813 switch ((ActorTypes)obj.PhysicsActorType)
1814 {
1815 case ActorTypes.Agent:
1816 OdeCharacter cobj = (OdeCharacter)obj;
1817 cobj.AddCollisionFrameTime((int)(odetimestepMS));
1818 cobj.SendCollisions();
1819 break;
1820
1821 case ActorTypes.Prim:
1822 OdePrim pobj = (OdePrim)obj;
1823 if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds))
1824 if (!pobj.m_outbounds)
1825 {
1826 pobj.AddCollisionFrameTime((int)(odetimestepMS));
1827 pobj.SendCollisions();
1828 }
1829 break;
1830 }
1831 }
1832
1833 foreach (PhysicsActor obj in _collisionEventPrimRemove)
1834 _collisionEventPrim.Remove(obj);
1835
1836 _collisionEventPrimRemove.Clear();
1837
1838 // do a ode simulation step
1839 d.WorldQuickStep(world, ODE_STEPSIZE);
1840 d.JointGroupEmpty(contactgroup);
1841
1842 // update managed ideia of physical data and do updates to core
1843 /*
1844 lock (_characters)
1845 {
1846 foreach (OdeCharacter actor in _characters)
1847 {
1848 if (actor != null)
1849 {
1850 if (actor.bad)
1851 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
1852
1853 actor.UpdatePositionAndVelocity();
1854 }
1855 }
1856 }
1857 */
1858
1859 lock (_activegroups)
1860 {
1861 {
1862 foreach (OdePrim actor in _activegroups)
1863 {
1864 if (actor.IsPhysical)
1865 {
1866 actor.UpdatePositionAndVelocity();
1867 }
1868 }
1869 }
1870 }
1871 }
1872 catch (Exception e)
1873 {
1874 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
1875// ode.dunlock(world);
1876 }
1877
1878 step_time -= ODE_STEPSIZE;
1879 nodeframes++;
1880
1881 looptimeMS = Util.EnvironmentTickCountSubtract(loopstartMS);
1882 if (looptimeMS > 100)
1883 break;
1884 }
1885
1886 lock (_badCharacter)
1887 {
1888 if (_badCharacter.Count > 0)
1889 {
1890 foreach (OdeCharacter chr in _badCharacter)
1891 {
1892 RemoveCharacter(chr);
1893 }
1894
1895 _badCharacter.Clear();
1896 }
1897 }
1898
1899 timedif = now - m_lastMeshExpire;
1900
1901 if (timedif.Seconds > 10)
1902 {
1903 mesher.ExpireReleaseMeshs();
1904 m_lastMeshExpire = now;
1905 }
1906
1907// information block running in debug only
1908/*
1909 int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
1910 int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
1911 int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace);
1912
1913 int nactivegeoms = 0;
1914 int nactivespaces = 0;
1915
1916 int nstaticgeoms = 0;
1917 int nstaticspaces = 0;
1918 IntPtr sp;
1919
1920 for (int i = 0; i < ntopactivegeoms; i++)
1921 {
1922 sp = d.SpaceGetGeom(ActiveSpace, i);
1923 if (d.GeomIsSpace(sp))
1924 {
1925 nactivespaces++;
1926 nactivegeoms += d.SpaceGetNumGeoms(sp);
1927 }
1928 else
1929 nactivegeoms++;
1930 }
1931
1932 for (int i = 0; i < ntopstaticgeoms; i++)
1933 {
1934 sp = d.SpaceGetGeom(StaticSpace, i);
1935 if (d.GeomIsSpace(sp))
1936 {
1937 nstaticspaces++;
1938 nstaticgeoms += d.SpaceGetNumGeoms(sp);
1939 }
1940 else
1941 nstaticgeoms++;
1942 }
1943
1944 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
1945
1946 int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray
1947 int nbodies = d.NTotalBodies;
1948 int ngeoms = d.NTotalGeoms;
1949*/
1950 // Finished with all sim stepping. If requested, dump world state to file for debugging.
1951 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
1952 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
1953 if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0))
1954 {
1955 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
1956 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
1957
1958 if (physics_logging_append_existing_logfile)
1959 {
1960 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
1961 TextWriter fwriter = File.AppendText(fname);
1962 fwriter.WriteLine(header);
1963 fwriter.Close();
1964 }
1965
1966 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
1967 }
1968
1969 // think time dilation as to do with dinamic step size that we dont' have
1970 // even so tell something to world
1971 if (looptimeMS < 100) // we did the requested loops
1972 m_timeDilation = 1.0f;
1973 else if (step_time > 0)
1974 {
1975 m_timeDilation = timeStep / step_time;
1976 if (m_timeDilation > 1)
1977 m_timeDilation = 1;
1978 if (step_time > m_SkipFramesAtms)
1979 step_time = 0;
1980 m_lastframe = DateTime.UtcNow; // skip also the time lost
1981 }
1982 }
1983
1984// return nodeframes * ODE_STEPSIZE; // return real simulated time
1985 return 1000 * nodeframes; // return steps for now * 1000 to keep core happy
1986 }
1987
1988 /// <summary>
1989 public override void GetResults()
1990 {
1991 }
1992
1993 public override bool IsThreaded
1994 {
1995 // for now we won't be multithreaded
1996 get { return (false); }
1997 }
1998
1999 public float GetTerrainHeightAtXY(float x, float y)
2000 {
2001
2002
2003 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2004 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2005
2006
2007 IntPtr heightFieldGeom = IntPtr.Zero;
2008
2009 // get region map
2010 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
2011 return 0f;
2012
2013 if (heightFieldGeom == IntPtr.Zero)
2014 return 0f;
2015
2016 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
2017 return 0f;
2018
2019 // TerrainHeightField for ODE as offset 1m
2020 x += 1f - offsetX;
2021 y += 1f - offsetY;
2022
2023 // make position fit into array
2024 if (x < 0)
2025 x = 0;
2026 if (y < 0)
2027 y = 0;
2028
2029 // integer indexs
2030 int ix;
2031 int iy;
2032 // interpolators offset
2033 float dx;
2034 float dy;
2035
2036 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
2037
2038 if (OdeUbitLib)
2039 {
2040 if (x < regsize - 1)
2041 {
2042 ix = (int)x;
2043 dx = x - (float)ix;
2044 }
2045 else // out world use external height
2046 {
2047 ix = regsize - 2;
2048 dx = 0;
2049 }
2050 if (y < regsize - 1)
2051 {
2052 iy = (int)y;
2053 dy = y - (float)iy;
2054 }
2055 else
2056 {
2057 iy = regsize - 2;
2058 dy = 0;
2059 }
2060 }
2061
2062 else
2063 {
2064 // we still have square fixed size regions
2065 // also flip x and y because of how map is done for ODE fliped axis
2066 // so ix,iy,dx and dy are inter exchanged
2067 if (x < regsize - 1)
2068 {
2069 iy = (int)x;
2070 dy = x - (float)iy;
2071 }
2072 else // out world use external height
2073 {
2074 iy = regsize - 2;
2075 dy = 0;
2076 }
2077 if (y < regsize - 1)
2078 {
2079 ix = (int)y;
2080 dx = y - (float)ix;
2081 }
2082 else
2083 {
2084 ix = regsize - 2;
2085 dx = 0;
2086 }
2087 }
2088
2089 float h0;
2090 float h1;
2091 float h2;
2092
2093 iy *= regsize;
2094 iy += ix; // all indexes have iy + ix
2095
2096 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
2097 /*
2098 if ((dx + dy) <= 1.0f)
2099 {
2100 h0 = ((float)heights[iy]); // 0,0 vertice
2101 h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
2102 h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
2103 }
2104 else
2105 {
2106 h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
2107 h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
2108 h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
2109 }
2110 */
2111 h0 = ((float)heights[iy]); // 0,0 vertice
2112
2113 if ((dy > dx))
2114 {
2115 iy += regsize;
2116 h2 = (float)heights[iy]; // 0,1 vertice
2117 h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
2118 h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1
2119 }
2120 else
2121 {
2122 iy++;
2123 h2 = (float)heights[iy]; // vertice 1,0
2124 h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
2125 h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0
2126 }
2127
2128 return h0 + h1 + h2;
2129 }
2130
2131
2132 public override void SetTerrain(float[] heightMap)
2133 {
2134 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
2135 {
2136 if (m_parentScene is OdeScene)
2137 {
2138 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
2139 }
2140 }
2141 else
2142 {
2143 SetTerrain(heightMap, m_worldOffset);
2144 }
2145 }
2146
2147 public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
2148 {
2149 SetTerrain(heightMap, pOffset);
2150 }
2151
2152 public void SetTerrain(float[] heightMap, Vector3 pOffset)
2153 {
2154 if (OdeUbitLib)
2155 UbitSetTerrain(heightMap, pOffset);
2156 else
2157 OriSetTerrain(heightMap, pOffset);
2158 }
2159
2160 public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
2161 {
2162 // assumes 1m size grid and constante size square regions
2163 // needs to know about sims around in future
2164
2165 float[] _heightmap;
2166
2167 uint heightmapWidth = Constants.RegionSize + 2;
2168 uint heightmapHeight = Constants.RegionSize + 2;
2169
2170 uint heightmapWidthSamples = heightmapWidth + 1;
2171 uint heightmapHeightSamples = heightmapHeight + 1;
2172
2173 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2174
2175 const float scale = 1.0f;
2176 const float offset = 0.0f;
2177 const float thickness = 10f;
2178 const int wrap = 0;
2179
2180 uint regionsize = Constants.RegionSize;
2181
2182 float hfmin = float.MaxValue;
2183 float hfmax = float.MinValue;
2184 float val;
2185 uint xx;
2186 uint yy;
2187
2188 uint maxXXYY = regionsize - 1;
2189 // flipping map adding one margin all around so things don't fall in edges
2190
2191 uint xt = 0;
2192 xx = 0;
2193
2194 for (uint x = 0; x < heightmapWidthSamples; x++)
2195 {
2196 if (x > 1 && xx < maxXXYY)
2197 xx++;
2198 yy = 0;
2199 for (uint y = 0; y < heightmapHeightSamples; y++)
2200 {
2201 if (y > 1 && y < maxXXYY)
2202 yy += regionsize;
2203
2204 val = heightMap[yy + xx];
2205 if (val < 0.0f)
2206 val = 0.0f; // no neg terrain as in chode
2207 _heightmap[xt + y] = val;
2208
2209 if (hfmin > val)
2210 hfmin = val;
2211 if (hfmax < val)
2212 hfmax = val;
2213 }
2214 xt += heightmapHeightSamples;
2215 }
2216 lock (OdeLock)
2217 {
2218 IntPtr GroundGeom = IntPtr.Zero;
2219 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2220 {
2221 RegionTerrain.Remove(pOffset);
2222 if (GroundGeom != IntPtr.Zero)
2223 {
2224 actor_name_map.Remove(GroundGeom);
2225 d.GeomDestroy(GroundGeom);
2226
2227 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2228 {
2229 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2230 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2231 TerrainHeightFieldHeights.Remove(GroundGeom);
2232 }
2233 }
2234 }
2235 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
2236
2237 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2238
2239 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight,
2240 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2241 offset, thickness, wrap);
2242
2243 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2244
2245 GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1);
2246
2247 if (GroundGeom != IntPtr.Zero)
2248 {
2249 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2250 d.GeomSetCollideBits(GroundGeom, 0);
2251
2252 PhysicsActor pa = new NullPhysicsActor();
2253 pa.Name = "Terrain";
2254 pa.PhysicsActorType = (int)ActorTypes.Ground;
2255 actor_name_map[GroundGeom] = pa;
2256
2257// geom_name_map[GroundGeom] = "Terrain";
2258
2259 d.Matrix3 R = new d.Matrix3();
2260
2261 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2262 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2263
2264
2265 q1 = q1 * q2;
2266
2267 Vector3 v3;
2268 float angle;
2269 q1.GetAxisAngle(out v3, out angle);
2270
2271 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2272 d.GeomSetRotation(GroundGeom, ref R);
2273 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2274 RegionTerrain.Add(pOffset, GroundGeom);
2275 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2276 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2277 }
2278 }
2279 }
2280
2281 public void UbitSetTerrain(float[] heightMap, Vector3 pOffset)
2282 {
2283 // assumes 1m size grid and constante size square regions
2284 // needs to know about sims around in future
2285
2286 float[] _heightmap;
2287
2288 uint heightmapWidth = Constants.RegionSize + 2;
2289 uint heightmapHeight = Constants.RegionSize + 2;
2290
2291 uint heightmapWidthSamples = heightmapWidth + 1;
2292 uint heightmapHeightSamples = heightmapHeight + 1;
2293
2294 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
2295
2296
2297 uint regionsize = Constants.RegionSize;
2298
2299 float hfmin = float.MaxValue;
2300// float hfmax = float.MinValue;
2301 float val;
2302
2303
2304 uint maxXXYY = regionsize - 1;
2305 // adding one margin all around so things don't fall in edges
2306
2307 uint xx;
2308 uint yy = 0;
2309 uint yt = 0;
2310
2311 for (uint y = 0; y < heightmapHeightSamples; y++)
2312 {
2313 if (y > 1 && y < maxXXYY)
2314 yy += regionsize;
2315 xx = 0;
2316 for (uint x = 0; x < heightmapWidthSamples; x++)
2317 {
2318 if (x > 1 && x < maxXXYY)
2319 xx++;
2320
2321 val = heightMap[yy + xx];
2322 if (val < 0.0f)
2323 val = 0.0f; // no neg terrain as in chode
2324 _heightmap[yt + x] = val;
2325
2326 if (hfmin > val)
2327 hfmin = val;
2328// if (hfmax < val)
2329// hfmax = val;
2330 }
2331 yt += heightmapWidthSamples;
2332 }
2333 lock (OdeLock)
2334 {
2335 IntPtr GroundGeom = IntPtr.Zero;
2336 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
2337 {
2338 RegionTerrain.Remove(pOffset);
2339 if (GroundGeom != IntPtr.Zero)
2340 {
2341 actor_name_map.Remove(GroundGeom);
2342 d.GeomDestroy(GroundGeom);
2343
2344 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
2345 {
2346 if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated)
2347 TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
2348 TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
2349 TerrainHeightFieldHeights.Remove(GroundGeom);
2350 }
2351 }
2352 }
2353 IntPtr HeightmapData = d.GeomUbitTerrainDataCreate();
2354
2355 const int wrap = 0;
2356 float thickness = hfmin;
2357 if (thickness < 0)
2358 thickness = 1;
2359
2360 GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
2361
2362 d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
2363 (int)heightmapWidthSamples, (int)heightmapHeightSamples,
2364 thickness, wrap);
2365
2366// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
2367 GroundGeom = d.CreateUbitTerrain(GroundSpace, HeightmapData, 1);
2368 if (GroundGeom != IntPtr.Zero)
2369 {
2370 d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
2371 d.GeomSetCollideBits(GroundGeom, 0);
2372
2373
2374 PhysicsActor pa = new NullPhysicsActor();
2375 pa.Name = "Terrain";
2376 pa.PhysicsActorType = (int)ActorTypes.Ground;
2377 actor_name_map[GroundGeom] = pa;
2378
2379// geom_name_map[GroundGeom] = "Terrain";
2380
2381 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
2382 RegionTerrain.Add(pOffset, GroundGeom);
2383 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
2384 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
2385 }
2386 }
2387 }
2388
2389
2390 public override void DeleteTerrain()
2391 {
2392 }
2393
2394 public float GetWaterLevel()
2395 {
2396 return waterlevel;
2397 }
2398
2399 public override bool SupportsCombining()
2400 {
2401 return true;
2402 }
2403/*
2404 public override void UnCombine(PhysicsScene pScene)
2405 {
2406 IntPtr localGround = IntPtr.Zero;
2407// float[] localHeightfield;
2408 bool proceed = false;
2409 List<IntPtr> geomDestroyList = new List<IntPtr>();
2410
2411 lock (OdeLock)
2412 {
2413 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
2414 {
2415 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
2416 {
2417 if (geom == localGround)
2418 {
2419// localHeightfield = TerrainHeightFieldHeights[geom];
2420 proceed = true;
2421 }
2422 else
2423 {
2424 geomDestroyList.Add(geom);
2425 }
2426 }
2427
2428 if (proceed)
2429 {
2430 m_worldOffset = Vector3.Zero;
2431 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
2432 m_parentScene = null;
2433
2434 foreach (IntPtr g in geomDestroyList)
2435 {
2436 // removingHeightField needs to be done or the garbage collector will
2437 // collect the terrain data before we tell ODE to destroy it causing
2438 // memory corruption
2439 if (TerrainHeightFieldHeights.ContainsKey(g))
2440 {
2441// float[] removingHeightField = TerrainHeightFieldHeights[g];
2442 TerrainHeightFieldHeights.Remove(g);
2443
2444 if (RegionTerrain.ContainsKey(g))
2445 {
2446 RegionTerrain.Remove(g);
2447 }
2448
2449 d.GeomDestroy(g);
2450 //removingHeightField = new float[0];
2451 }
2452 }
2453
2454 }
2455 else
2456 {
2457 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
2458 }
2459 }
2460 }
2461 }
2462*/
2463 public override void SetWaterLevel(float baseheight)
2464 {
2465 waterlevel = baseheight;
2466// randomizeWater(waterlevel);
2467 }
2468/*
2469 public void randomizeWater(float baseheight)
2470 {
2471 const uint heightmapWidth = Constants.RegionSize + 2;
2472 const uint heightmapHeight = Constants.RegionSize + 2;
2473 const uint heightmapWidthSamples = heightmapWidth + 1;
2474 const uint heightmapHeightSamples = heightmapHeight + 1;
2475
2476 const float scale = 1.0f;
2477 const float offset = 0.0f;
2478 const int wrap = 0;
2479
2480 float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples];
2481
2482 float maxheigh = float.MinValue;
2483 float minheigh = float.MaxValue;
2484 float val;
2485 for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++)
2486 {
2487
2488 val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f);
2489 _watermap[i] = val;
2490 if (maxheigh < val)
2491 maxheigh = val;
2492 if (minheigh > val)
2493 minheigh = val;
2494 }
2495
2496 float thickness = minheigh;
2497
2498 lock (OdeLock)
2499 {
2500 if (WaterGeom != IntPtr.Zero)
2501 {
2502 actor_name_map.Remove(WaterGeom);
2503 d.GeomDestroy(WaterGeom);
2504 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2505 WaterGeom = IntPtr.Zero;
2506 WaterHeightmapData = IntPtr.Zero;
2507 if(WaterMapHandler.IsAllocated)
2508 WaterMapHandler.Free();
2509 }
2510
2511 WaterHeightmapData = d.GeomHeightfieldDataCreate();
2512
2513 WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned);
2514
2515 d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight,
2516 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
2517 offset, thickness, wrap);
2518 d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh);
2519 WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1);
2520 if (WaterGeom != IntPtr.Zero)
2521 {
2522 d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water));
2523 d.GeomSetCollideBits(WaterGeom, 0);
2524
2525
2526 PhysicsActor pa = new NullPhysicsActor();
2527 pa.Name = "Water";
2528 pa.PhysicsActorType = (int)ActorTypes.Water;
2529
2530 actor_name_map[WaterGeom] = pa;
2531// geom_name_map[WaterGeom] = "Water";
2532
2533 d.Matrix3 R = new d.Matrix3();
2534
2535 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
2536 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
2537
2538 q1 = q1 * q2;
2539 Vector3 v3;
2540 float angle;
2541 q1.GetAxisAngle(out v3, out angle);
2542
2543 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
2544 d.GeomSetRotation(WaterGeom, ref R);
2545 d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0);
2546 }
2547 }
2548 }
2549*/
2550 public override void Dispose()
2551 {
2552 if (m_meshWorker != null)
2553 m_meshWorker.Stop();
2554
2555 lock (OdeLock)
2556 {
2557 m_rayCastManager.Dispose();
2558 m_rayCastManager = null;
2559
2560 lock (_prims)
2561 {
2562 ChangesQueue.Clear();
2563 foreach (OdePrim prm in _prims)
2564 {
2565 prm.DoAChange(changes.Remove, null);
2566 _collisionEventPrim.Remove(prm);
2567 }
2568 _prims.Clear();
2569 }
2570
2571 OdeCharacter[] chtorem;
2572 lock (_characters)
2573 {
2574 chtorem = new OdeCharacter[_characters.Count];
2575 _characters.CopyTo(chtorem);
2576 }
2577
2578 ChangesQueue.Clear();
2579 foreach (OdeCharacter ch in chtorem)
2580 ch.DoAChange(changes.Remove, null);
2581
2582
2583 foreach (IntPtr GroundGeom in RegionTerrain.Values)
2584 {
2585 if (GroundGeom != IntPtr.Zero)
2586 d.GeomDestroy(GroundGeom);
2587 }
2588
2589
2590 RegionTerrain.Clear();
2591
2592 if (TerrainHeightFieldHeightsHandlers.Count > 0)
2593 {
2594 foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
2595 {
2596 if (gch.IsAllocated)
2597 gch.Free();
2598 }
2599 }
2600
2601 TerrainHeightFieldHeightsHandlers.Clear();
2602 TerrainHeightFieldHeights.Clear();
2603/*
2604 if (WaterGeom != IntPtr.Zero)
2605 {
2606 d.GeomDestroy(WaterGeom);
2607 WaterGeom = IntPtr.Zero;
2608 if (WaterHeightmapData != IntPtr.Zero)
2609 d.GeomHeightfieldDataDestroy(WaterHeightmapData);
2610 WaterHeightmapData = IntPtr.Zero;
2611
2612 if (WaterMapHandler.IsAllocated)
2613 WaterMapHandler.Free();
2614 }
2615*/
2616 if (ContactgeomsArray != IntPtr.Zero)
2617 Marshal.FreeHGlobal(ContactgeomsArray);
2618 if (GlobalContactsArray != IntPtr.Zero)
2619 Marshal.FreeHGlobal(GlobalContactsArray);
2620
2621
2622 d.WorldDestroy(world);
2623 world = IntPtr.Zero;
2624 //d.CloseODE();
2625 }
2626 }
2627
2628 public override Dictionary<uint, float> GetTopColliders()
2629 {
2630 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
2631 int cnt = 0;
2632 lock (_prims)
2633 {
2634 foreach (OdePrim prm in _prims)
2635 {
2636 if (prm.CollisionScore > 0)
2637 {
2638 returncolliders.Add(prm.LocalID, prm.CollisionScore);
2639 cnt++;
2640 prm.CollisionScore = 0f;
2641 if (cnt > 25)
2642 {
2643 break;
2644 }
2645 }
2646 }
2647 }
2648 return returncolliders;
2649 }
2650
2651 public override bool SupportsRayCast()
2652 {
2653 return true;
2654 }
2655
2656 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2657 {
2658 if (retMethod != null)
2659 {
2660 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
2661 }
2662 }
2663
2664 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2665 {
2666 if (retMethod != null)
2667 {
2668 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2669 }
2670 }
2671
2672 // don't like this
2673 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
2674 {
2675 ContactResult[] ourResults = null;
2676 RayCallback retMethod = delegate(List<ContactResult> results)
2677 {
2678 ourResults = new ContactResult[results.Count];
2679 results.CopyTo(ourResults, 0);
2680 };
2681 int waitTime = 0;
2682 m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
2683 while (ourResults == null && waitTime < 1000)
2684 {
2685 Thread.Sleep(1);
2686 waitTime++;
2687 }
2688 if (ourResults == null)
2689 return new List<ContactResult>();
2690 return new List<ContactResult>(ourResults);
2691 }
2692
2693 public override bool SuportsRaycastWorldFiltered()
2694 {
2695 return true;
2696 }
2697
2698 public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
2699 {
2700 object SyncObject = new object();
2701 List<ContactResult> ourresults = new List<ContactResult>();
2702
2703 RayCallback retMethod = delegate(List<ContactResult> results)
2704 {
2705 lock (SyncObject)
2706 {
2707 ourresults = results;
2708 Monitor.PulseAll(SyncObject);
2709 }
2710 };
2711
2712 lock (SyncObject)
2713 {
2714 m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod);
2715 if (!Monitor.Wait(SyncObject, 500))
2716 return null;
2717 else
2718 return ourresults;
2719 }
2720 }
2721
2722 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
2723 {
2724 if (retMethod != null && actor !=null)
2725 {
2726 IntPtr geom;
2727 if (actor is OdePrim)
2728 geom = ((OdePrim)actor).prim_geom;
2729 else if (actor is OdeCharacter)
2730 geom = ((OdePrim)actor).prim_geom;
2731 else
2732 return;
2733 if (geom == IntPtr.Zero)
2734 return;
2735 m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
2736 }
2737 }
2738
2739 public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
2740 {
2741 if (retMethod != null && actor != null)
2742 {
2743 IntPtr geom;
2744 if (actor is OdePrim)
2745 geom = ((OdePrim)actor).prim_geom;
2746 else if (actor is OdeCharacter)
2747 geom = ((OdePrim)actor).prim_geom;
2748 else
2749 return;
2750 if (geom == IntPtr.Zero)
2751 return;
2752
2753 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2754 }
2755 }
2756
2757 // don't like this
2758 public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count)
2759 {
2760 if (actor != null)
2761 {
2762 IntPtr geom;
2763 if (actor is OdePrim)
2764 geom = ((OdePrim)actor).prim_geom;
2765 else if (actor is OdeCharacter)
2766 geom = ((OdePrim)actor).prim_geom;
2767 else
2768 return new List<ContactResult>();
2769 if (geom == IntPtr.Zero)
2770 return new List<ContactResult>();
2771
2772 ContactResult[] ourResults = null;
2773 RayCallback retMethod = delegate(List<ContactResult> results)
2774 {
2775 ourResults = new ContactResult[results.Count];
2776 results.CopyTo(ourResults, 0);
2777 };
2778 int waitTime = 0;
2779 m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
2780 while (ourResults == null && waitTime < 1000)
2781 {
2782 Thread.Sleep(1);
2783 waitTime++;
2784 }
2785 if (ourResults == null)
2786 return new List<ContactResult>();
2787 return new List<ContactResult>(ourResults);
2788 }
2789 return new List<ContactResult>();
2790 }
2791 }
2792}
generated by cgit v1.1 at 2024-12-15 03:21:26 +0000