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Diffstat (limited to 'OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs')
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 2816 |
1 files changed, 2816 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs new file mode 100644 index 0000000..f3ac3ca --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | |||
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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 | |||
30 | using System; | ||
31 | using System.Collections.Generic; | ||
32 | using System.Reflection; | ||
33 | using System.Runtime.InteropServices; | ||
34 | using System.Threading; | ||
35 | using System.IO; | ||
36 | using System.Diagnostics; | ||
37 | using log4net; | ||
38 | using Nini.Config; | ||
39 | using OdeAPI; | ||
40 | using OpenSim.Framework; | ||
41 | using OpenSim.Region.Physics.Manager; | ||
42 | using OpenMetaverse; | ||
43 | |||
44 | namespace 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 | // colision flags of things others can colide with | ||
64 | // rays, sensors, probes removed since can't be colided with | ||
65 | // The top space where things are placed provided further selection | ||
66 | // ie physical are in active space nonphysical in static | ||
67 | // this should be exclusive as possible | ||
68 | |||
69 | [Flags] | ||
70 | public enum CollisionCategories : uint | ||
71 | { | ||
72 | Disabled = 0, | ||
73 | //by 'things' types | ||
74 | Space = 0x01, | ||
75 | Geom = 0x02, // aka prim/part | ||
76 | Character = 0x04, | ||
77 | Land = 0x08, | ||
78 | Water = 0x010, | ||
79 | |||
80 | // by state | ||
81 | Phantom = 0x01000, | ||
82 | VolumeDtc = 0x02000, | ||
83 | Selected = 0x04000, | ||
84 | NoShape = 0x08000, | ||
85 | |||
86 | |||
87 | All = 0xffffffff | ||
88 | } | ||
89 | |||
90 | /// <summary> | ||
91 | /// Material type for a primitive | ||
92 | /// </summary> | ||
93 | public enum Material : int | ||
94 | { | ||
95 | /// <summary></summary> | ||
96 | Stone = 0, | ||
97 | /// <summary></summary> | ||
98 | Metal = 1, | ||
99 | /// <summary></summary> | ||
100 | Glass = 2, | ||
101 | /// <summary></summary> | ||
102 | Wood = 3, | ||
103 | /// <summary></summary> | ||
104 | Flesh = 4, | ||
105 | /// <summary></summary> | ||
106 | Plastic = 5, | ||
107 | /// <summary></summary> | ||
108 | Rubber = 6, | ||
109 | |||
110 | light = 7 // compatibility with old viewers | ||
111 | } | ||
112 | |||
113 | public enum changes : int | ||
114 | { | ||
115 | Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) | ||
116 | Remove, | ||
117 | Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root | ||
118 | // or removes from a object if arg is null | ||
119 | DeLink, | ||
120 | Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child | ||
121 | Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child | ||
122 | PosOffset, // not in use | ||
123 | // arg Vector3 new position in local coords. Changes prim position in object | ||
124 | OriOffset, // not in use | ||
125 | // arg Vector3 new position in local coords. Changes prim position in object | ||
126 | Velocity, | ||
127 | AngVelocity, | ||
128 | Acceleration, | ||
129 | Force, | ||
130 | Torque, | ||
131 | Momentum, | ||
132 | |||
133 | AddForce, | ||
134 | AddAngForce, | ||
135 | AngLock, | ||
136 | |||
137 | Size, | ||
138 | Shape, | ||
139 | |||
140 | CollidesWater, | ||
141 | VolumeDtc, | ||
142 | |||
143 | Physical, | ||
144 | Phantom, | ||
145 | Selected, | ||
146 | disabled, | ||
147 | building, | ||
148 | |||
149 | VehicleType, | ||
150 | VehicleFloatParam, | ||
151 | VehicleVectorParam, | ||
152 | VehicleRotationParam, | ||
153 | VehicleFlags, | ||
154 | SetVehicle, | ||
155 | |||
156 | Null //keep this last used do dim the methods array. does nothing but pulsing the prim | ||
157 | } | ||
158 | |||
159 | public struct ODEchangeitem | ||
160 | { | ||
161 | public PhysicsActor actor; | ||
162 | public OdeCharacter character; | ||
163 | public changes what; | ||
164 | public Object arg; | ||
165 | } | ||
166 | |||
167 | public class OdeScene : PhysicsScene | ||
168 | { | ||
169 | private readonly ILog m_log; | ||
170 | // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); | ||
171 | |||
172 | public bool OdeUbitLib = false; | ||
173 | // private int threadid = 0; | ||
174 | private Random fluidRandomizer = new Random(Environment.TickCount); | ||
175 | |||
176 | const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; | ||
177 | const float MaxERP = 0.8f; | ||
178 | const float minERP = 0.1f; | ||
179 | const float comumContactCFM = 0.0001f; | ||
180 | |||
181 | float frictionMovementMult = 0.8f; | ||
182 | |||
183 | float TerrainBounce = 0.1f; | ||
184 | float TerrainFriction = 0.3f; | ||
185 | |||
186 | public float AvatarFriction = 0;// 0.9f * 0.5f; | ||
187 | |||
188 | private const uint m_regionWidth = Constants.RegionSize; | ||
189 | private const uint m_regionHeight = Constants.RegionSize; | ||
190 | |||
191 | public float ODE_STEPSIZE = 0.020f; | ||
192 | public float HalfOdeStep = 0.01f; | ||
193 | public int odetimestepMS = 20; // rounded | ||
194 | private float metersInSpace = 25.6f; | ||
195 | private float m_timeDilation = 1.0f; | ||
196 | |||
197 | DateTime m_lastframe; | ||
198 | |||
199 | public float gravityx = 0f; | ||
200 | public float gravityy = 0f; | ||
201 | public float gravityz = -9.8f; | ||
202 | |||
203 | private float waterlevel = 0f; | ||
204 | private int framecount = 0; | ||
205 | |||
206 | // private IntPtr WaterGeom = IntPtr.Zero; | ||
207 | // private IntPtr WaterHeightmapData = IntPtr.Zero; | ||
208 | // private GCHandle WaterMapHandler = new GCHandle(); | ||
209 | |||
210 | public float avPIDD = 2200f; // make it visible | ||
211 | public float avPIDP = 900f; // make it visible | ||
212 | private float avCapRadius = 0.37f; | ||
213 | private float avDensity = 3f; | ||
214 | private float avMovementDivisorWalk = 1.3f; | ||
215 | private float avMovementDivisorRun = 0.8f; | ||
216 | private float minimumGroundFlightOffset = 3f; | ||
217 | public float maximumMassObject = 10000.01f; | ||
218 | |||
219 | public bool meshSculptedPrim = true; | ||
220 | public bool forceSimplePrimMeshing = false; | ||
221 | |||
222 | public float meshSculptLOD = 32; | ||
223 | public float MeshSculptphysicalLOD = 32; | ||
224 | |||
225 | public float geomDefaultDensity = 10.000006836f; | ||
226 | |||
227 | public int geomContactPointsStartthrottle = 3; | ||
228 | public int geomUpdatesPerThrottledUpdate = 15; | ||
229 | |||
230 | public float bodyPIDD = 35f; | ||
231 | public float bodyPIDG = 25; | ||
232 | |||
233 | // public int geomCrossingFailuresBeforeOutofbounds = 6; | ||
234 | |||
235 | public int bodyFramesAutoDisable = 5; | ||
236 | |||
237 | |||
238 | private d.NearCallback nearCallback; | ||
239 | |||
240 | private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); | ||
241 | private HashSet<OdePrim> _prims = new HashSet<OdePrim>(); | ||
242 | private HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); | ||
243 | private HashSet<OdePrim> _activegroups = new HashSet<OdePrim>(); | ||
244 | |||
245 | public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>(); | ||
246 | |||
247 | /// <summary> | ||
248 | /// A list of actors that should receive collision events. | ||
249 | /// </summary> | ||
250 | private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>(); | ||
251 | private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>(); | ||
252 | |||
253 | private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); | ||
254 | // public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); | ||
255 | public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); | ||
256 | |||
257 | private float contactsurfacelayer = 0.002f; | ||
258 | |||
259 | private int contactsPerCollision = 80; | ||
260 | internal IntPtr ContactgeomsArray = IntPtr.Zero; | ||
261 | private IntPtr GlobalContactsArray = IntPtr.Zero; | ||
262 | |||
263 | const int maxContactsbeforedeath = 4000; | ||
264 | private volatile int m_global_contactcount = 0; | ||
265 | |||
266 | |||
267 | private IntPtr contactgroup; | ||
268 | |||
269 | public ContactData[] m_materialContactsData = new ContactData[8]; | ||
270 | |||
271 | private Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>(); | ||
272 | private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>(); | ||
273 | private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>(); | ||
274 | |||
275 | private int m_physicsiterations = 10; | ||
276 | private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag | ||
277 | // private PhysicsActor PANull = new NullPhysicsActor(); | ||
278 | private float step_time = 0.0f; | ||
279 | |||
280 | public IntPtr world; | ||
281 | |||
282 | |||
283 | // split the spaces acording to contents type | ||
284 | // ActiveSpace contains characters and active prims | ||
285 | // StaticSpace contains land and other that is mostly static in enviroment | ||
286 | // this can contain subspaces, like the grid in staticspace | ||
287 | // as now space only contains this 2 top spaces | ||
288 | |||
289 | public IntPtr TopSpace; // the global space | ||
290 | public IntPtr ActiveSpace; // space for active prims | ||
291 | public IntPtr StaticSpace; // space for the static things around | ||
292 | |||
293 | // some speedup variables | ||
294 | private int spaceGridMaxX; | ||
295 | private int spaceGridMaxY; | ||
296 | private float spacesPerMeter; | ||
297 | |||
298 | // split static geometry collision into a grid as before | ||
299 | private IntPtr[,] staticPrimspace; | ||
300 | private IntPtr[] staticPrimspaceOffRegion; | ||
301 | |||
302 | public Object OdeLock; | ||
303 | private static Object SimulationLock; | ||
304 | |||
305 | public IMesher mesher; | ||
306 | |||
307 | private IConfigSource m_config; | ||
308 | |||
309 | public bool physics_logging = false; | ||
310 | public int physics_logging_interval = 0; | ||
311 | public bool physics_logging_append_existing_logfile = false; | ||
312 | |||
313 | private Vector3 m_worldOffset = Vector3.Zero; | ||
314 | public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
315 | private PhysicsScene m_parentScene = null; | ||
316 | |||
317 | private ODERayCastRequestManager m_rayCastManager; | ||
318 | |||
319 | |||
320 | /* maybe needed if ode uses tls | ||
321 | private void checkThread() | ||
322 | { | ||
323 | |||
324 | int th = Thread.CurrentThread.ManagedThreadId; | ||
325 | if(th != threadid) | ||
326 | { | ||
327 | threadid = th; | ||
328 | d.AllocateODEDataForThread(~0U); | ||
329 | } | ||
330 | } | ||
331 | */ | ||
332 | /// <summary> | ||
333 | /// Initiailizes the scene | ||
334 | /// Sets many properties that ODE requires to be stable | ||
335 | /// These settings need to be tweaked 'exactly' right or weird stuff happens. | ||
336 | /// </summary> | ||
337 | public OdeScene(string sceneIdentifier) | ||
338 | { | ||
339 | m_log | ||
340 | = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier); | ||
341 | |||
342 | // checkThread(); | ||
343 | Name = sceneIdentifier; | ||
344 | |||
345 | OdeLock = new Object(); | ||
346 | SimulationLock = new Object(); | ||
347 | |||
348 | nearCallback = near; | ||
349 | |||
350 | m_rayCastManager = new ODERayCastRequestManager(this); | ||
351 | lock (OdeLock) | ||
352 | { | ||
353 | // Create the world and the first space | ||
354 | try | ||
355 | { | ||
356 | world = d.WorldCreate(); | ||
357 | TopSpace = d.HashSpaceCreate(IntPtr.Zero); | ||
358 | |||
359 | // now the major subspaces | ||
360 | ActiveSpace = d.HashSpaceCreate(TopSpace); | ||
361 | StaticSpace = d.HashSpaceCreate(TopSpace); | ||
362 | } | ||
363 | catch | ||
364 | { | ||
365 | // i must RtC#FM | ||
366 | } | ||
367 | |||
368 | d.HashSpaceSetLevels(TopSpace, -2, 8); | ||
369 | d.HashSpaceSetLevels(ActiveSpace, -2, 8); | ||
370 | d.HashSpaceSetLevels(StaticSpace, -2, 8); | ||
371 | |||
372 | // demote to second level | ||
373 | d.SpaceSetSublevel(ActiveSpace, 1); | ||
374 | d.SpaceSetSublevel(StaticSpace, 1); | ||
375 | |||
376 | d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | | ||
377 | CollisionCategories.Geom | | ||
378 | CollisionCategories.Character | | ||
379 | CollisionCategories.Phantom | | ||
380 | CollisionCategories.VolumeDtc | ||
381 | )); | ||
382 | d.GeomSetCollideBits(ActiveSpace, 0); | ||
383 | d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space | | ||
384 | CollisionCategories.Geom | | ||
385 | CollisionCategories.Land | | ||
386 | CollisionCategories.Water | | ||
387 | CollisionCategories.Phantom | | ||
388 | CollisionCategories.VolumeDtc | ||
389 | )); | ||
390 | d.GeomSetCollideBits(StaticSpace, 0); | ||
391 | |||
392 | contactgroup = d.JointGroupCreate(0); | ||
393 | //contactgroup | ||
394 | |||
395 | d.WorldSetAutoDisableFlag(world, false); | ||
396 | } | ||
397 | } | ||
398 | |||
399 | // Initialize the mesh plugin | ||
400 | // public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region ) | ||
401 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | ||
402 | { | ||
403 | // checkThread(); | ||
404 | mesher = meshmerizer; | ||
405 | m_config = config; | ||
406 | |||
407 | string ode_config = d.GetConfiguration(); | ||
408 | if (ode_config != null && ode_config != "") | ||
409 | { | ||
410 | m_log.WarnFormat("ODE configuration: {0}", ode_config); | ||
411 | |||
412 | if (ode_config.Contains("ODE_Ubit")) | ||
413 | { | ||
414 | OdeUbitLib = true; | ||
415 | } | ||
416 | } | ||
417 | |||
418 | /* | ||
419 | if (region != null) | ||
420 | { | ||
421 | WorldExtents.X = region.RegionSizeX; | ||
422 | WorldExtents.Y = region.RegionSizeY; | ||
423 | } | ||
424 | */ | ||
425 | |||
426 | // Defaults | ||
427 | |||
428 | int contactsPerCollision = 80; | ||
429 | |||
430 | if (m_config != null) | ||
431 | { | ||
432 | IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; | ||
433 | if (physicsconfig != null) | ||
434 | { | ||
435 | gravityx = physicsconfig.GetFloat("world_gravityx", gravityx); | ||
436 | gravityy = physicsconfig.GetFloat("world_gravityy", gravityy); | ||
437 | gravityz = physicsconfig.GetFloat("world_gravityz", gravityz); | ||
438 | |||
439 | metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); | ||
440 | |||
441 | contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); | ||
442 | |||
443 | ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); | ||
444 | m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); | ||
445 | |||
446 | avDensity = physicsconfig.GetFloat("av_density", avDensity); | ||
447 | avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); | ||
448 | avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun); | ||
449 | avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius); | ||
450 | |||
451 | contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); | ||
452 | |||
453 | geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); | ||
454 | geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); | ||
455 | // geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); | ||
456 | |||
457 | geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); | ||
458 | bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable); | ||
459 | /* | ||
460 | bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD); | ||
461 | bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG); | ||
462 | */ | ||
463 | forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); | ||
464 | meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim); | ||
465 | meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD); | ||
466 | MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD); | ||
467 | /* | ||
468 | if (Environment.OSVersion.Platform == PlatformID.Unix) | ||
469 | { | ||
470 | avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD); | ||
471 | avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP); | ||
472 | } | ||
473 | else | ||
474 | { | ||
475 | |||
476 | avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD); | ||
477 | avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP); | ||
478 | } | ||
479 | */ | ||
480 | physics_logging = physicsconfig.GetBoolean("physics_logging", false); | ||
481 | physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); | ||
482 | physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); | ||
483 | |||
484 | minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset); | ||
485 | maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject); | ||
486 | } | ||
487 | } | ||
488 | |||
489 | HalfOdeStep = ODE_STEPSIZE * 0.5f; | ||
490 | odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f); | ||
491 | |||
492 | ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); | ||
493 | GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); | ||
494 | |||
495 | m_materialContactsData[(int)Material.Stone].mu = 0.8f; | ||
496 | m_materialContactsData[(int)Material.Stone].bounce = 0.4f; | ||
497 | |||
498 | m_materialContactsData[(int)Material.Metal].mu = 0.3f; | ||
499 | m_materialContactsData[(int)Material.Metal].bounce = 0.4f; | ||
500 | |||
501 | m_materialContactsData[(int)Material.Glass].mu = 0.2f; | ||
502 | m_materialContactsData[(int)Material.Glass].bounce = 0.7f; | ||
503 | |||
504 | m_materialContactsData[(int)Material.Wood].mu = 0.6f; | ||
505 | m_materialContactsData[(int)Material.Wood].bounce = 0.5f; | ||
506 | |||
507 | m_materialContactsData[(int)Material.Flesh].mu = 0.9f; | ||
508 | m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; | ||
509 | |||
510 | m_materialContactsData[(int)Material.Plastic].mu = 0.4f; | ||
511 | m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; | ||
512 | |||
513 | m_materialContactsData[(int)Material.Rubber].mu = 0.9f; | ||
514 | m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; | ||
515 | |||
516 | m_materialContactsData[(int)Material.light].mu = 0.0f; | ||
517 | m_materialContactsData[(int)Material.light].bounce = 0.0f; | ||
518 | |||
519 | // Set the gravity,, don't disable things automatically (we set it explicitly on some things) | ||
520 | |||
521 | d.WorldSetGravity(world, gravityx, gravityy, gravityz); | ||
522 | d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); | ||
523 | |||
524 | d.WorldSetLinearDamping(world, 0.002f); | ||
525 | d.WorldSetAngularDamping(world, 0.002f); | ||
526 | d.WorldSetAngularDampingThreshold(world, 0f); | ||
527 | d.WorldSetLinearDampingThreshold(world, 0f); | ||
528 | d.WorldSetMaxAngularSpeed(world, 100f); | ||
529 | |||
530 | d.WorldSetCFM(world,1e-6f); // a bit harder than default | ||
531 | //d.WorldSetCFM(world, 1e-4f); // a bit harder than default | ||
532 | d.WorldSetERP(world, 0.6f); // higher than original | ||
533 | |||
534 | // Set how many steps we go without running collision testing | ||
535 | // This is in addition to the step size. | ||
536 | // Essentially Steps * m_physicsiterations | ||
537 | d.WorldSetQuickStepNumIterations(world, m_physicsiterations); | ||
538 | |||
539 | d.WorldSetContactMaxCorrectingVel(world, 60.0f); | ||
540 | |||
541 | spacesPerMeter = 1 / metersInSpace; | ||
542 | spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); | ||
543 | spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter); | ||
544 | |||
545 | staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; | ||
546 | |||
547 | // create all spaces now | ||
548 | int i, j; | ||
549 | IntPtr newspace; | ||
550 | |||
551 | for (i = 0; i < spaceGridMaxX; i++) | ||
552 | for (j = 0; j < spaceGridMaxY; j++) | ||
553 | { | ||
554 | newspace = d.HashSpaceCreate(StaticSpace); | ||
555 | d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); | ||
556 | waitForSpaceUnlock(newspace); | ||
557 | d.SpaceSetSublevel(newspace, 2); | ||
558 | d.HashSpaceSetLevels(newspace, -2, 8); | ||
559 | d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | | ||
560 | CollisionCategories.Geom | | ||
561 | CollisionCategories.Land | | ||
562 | CollisionCategories.Water | | ||
563 | CollisionCategories.Phantom | | ||
564 | CollisionCategories.VolumeDtc | ||
565 | )); | ||
566 | d.GeomSetCollideBits(newspace, 0); | ||
567 | |||
568 | staticPrimspace[i, j] = newspace; | ||
569 | } | ||
570 | // let this now be real maximum values | ||
571 | spaceGridMaxX--; | ||
572 | spaceGridMaxY--; | ||
573 | |||
574 | // create 4 off world spaces (x<0,x>max,y<0,y>max) | ||
575 | staticPrimspaceOffRegion = new IntPtr[4]; | ||
576 | |||
577 | for (i = 0; i < 4; i++) | ||
578 | { | ||
579 | newspace = d.HashSpaceCreate(StaticSpace); | ||
580 | d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); | ||
581 | waitForSpaceUnlock(newspace); | ||
582 | d.SpaceSetSublevel(newspace, 2); | ||
583 | d.HashSpaceSetLevels(newspace, -2, 8); | ||
584 | d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | | ||
585 | CollisionCategories.Geom | | ||
586 | CollisionCategories.Land | | ||
587 | CollisionCategories.Water | | ||
588 | CollisionCategories.Phantom | | ||
589 | CollisionCategories.VolumeDtc | ||
590 | )); | ||
591 | d.GeomSetCollideBits(newspace, 0); | ||
592 | |||
593 | staticPrimspaceOffRegion[i] = newspace; | ||
594 | } | ||
595 | |||
596 | m_lastframe = DateTime.UtcNow; | ||
597 | } | ||
598 | |||
599 | internal void waitForSpaceUnlock(IntPtr space) | ||
600 | { | ||
601 | //if (space != IntPtr.Zero) | ||
602 | //while (d.SpaceLockQuery(space)) { } // Wait and do nothing | ||
603 | } | ||
604 | |||
605 | #region Collision Detection | ||
606 | |||
607 | // sets a global contact for a joint for contactgeom , and base contact description) | ||
608 | |||
609 | private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale) | ||
610 | { | ||
611 | if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) | ||
612 | return IntPtr.Zero; | ||
613 | |||
614 | float erp = contactGeom.depth; | ||
615 | erp *= erpscale; | ||
616 | if (erp < minERP) | ||
617 | erp = minERP; | ||
618 | else if (erp > MaxERP) | ||
619 | erp = MaxERP; | ||
620 | |||
621 | float depth = contactGeom.depth * dscale; | ||
622 | if (depth > 0.5f) | ||
623 | depth = 0.5f; | ||
624 | |||
625 | d.Contact newcontact = new d.Contact(); | ||
626 | newcontact.geom.depth = depth; | ||
627 | newcontact.geom.g1 = contactGeom.g1; | ||
628 | newcontact.geom.g2 = contactGeom.g2; | ||
629 | newcontact.geom.pos = contactGeom.pos; | ||
630 | newcontact.geom.normal = contactGeom.normal; | ||
631 | newcontact.geom.side1 = contactGeom.side1; | ||
632 | newcontact.geom.side2 = contactGeom.side2; | ||
633 | |||
634 | // this needs bounce also | ||
635 | newcontact.surface.mode = comumContactFlags; | ||
636 | newcontact.surface.mu = mu; | ||
637 | newcontact.surface.bounce = bounce; | ||
638 | newcontact.surface.soft_cfm = cfm; | ||
639 | newcontact.surface.soft_erp = erp; | ||
640 | |||
641 | IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); | ||
642 | Marshal.StructureToPtr(newcontact, contact, true); | ||
643 | return d.JointCreateContactPtr(world, contactgroup, contact); | ||
644 | } | ||
645 | |||
646 | private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) | ||
647 | { | ||
648 | if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision) | ||
649 | return false; | ||
650 | |||
651 | IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); | ||
652 | newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); | ||
653 | return true; | ||
654 | } | ||
655 | |||
656 | /// <summary> | ||
657 | /// This is our near callback. A geometry is near a body | ||
658 | /// </summary> | ||
659 | /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param> | ||
660 | /// <param name="g1">a geometry or space</param> | ||
661 | /// <param name="g2">another geometry or space</param> | ||
662 | /// | ||
663 | |||
664 | private void near(IntPtr space, IntPtr g1, IntPtr g2) | ||
665 | { | ||
666 | // no lock here! It's invoked from within Simulate(), which is thread-locked | ||
667 | |||
668 | if (m_global_contactcount >= maxContactsbeforedeath) | ||
669 | return; | ||
670 | |||
671 | // Test if we're colliding a geom with a space. | ||
672 | // If so we have to drill down into the space recursively | ||
673 | |||
674 | if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) | ||
675 | return; | ||
676 | |||
677 | if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) | ||
678 | { | ||
679 | // We'll be calling near recursivly if one | ||
680 | // of them is a space to find all of the | ||
681 | // contact points in the space | ||
682 | try | ||
683 | { | ||
684 | d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); | ||
685 | } | ||
686 | catch (AccessViolationException) | ||
687 | { | ||
688 | m_log.Warn("[PHYSICS]: Unable to collide test a space"); | ||
689 | return; | ||
690 | } | ||
691 | //here one should check collisions of geoms inside a space | ||
692 | // but on each space we only should have geoms that not colide amoung each other | ||
693 | // so we don't dig inside spaces | ||
694 | return; | ||
695 | } | ||
696 | |||
697 | // get geom bodies to check if we already a joint contact | ||
698 | // guess this shouldn't happen now | ||
699 | IntPtr b1 = d.GeomGetBody(g1); | ||
700 | IntPtr b2 = d.GeomGetBody(g2); | ||
701 | |||
702 | // d.GeomClassID id = d.GeomGetClass(g1); | ||
703 | |||
704 | // Figure out how many contact points we have | ||
705 | int count = 0; | ||
706 | try | ||
707 | { | ||
708 | // Colliding Geom To Geom | ||
709 | // This portion of the function 'was' blatantly ripped off from BoxStack.cs | ||
710 | |||
711 | if (g1 == g2) | ||
712 | return; // Can't collide with yourself | ||
713 | |||
714 | if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) | ||
715 | return; | ||
716 | |||
717 | if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || | ||
718 | d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) | ||
719 | { | ||
720 | int cflags; | ||
721 | unchecked | ||
722 | { | ||
723 | cflags = (int)(1 | d.CONTACTS_UNIMPORTANT); | ||
724 | } | ||
725 | count = d.CollidePtr(g1, g2, cflags, ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); | ||
726 | } | ||
727 | else | ||
728 | count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); | ||
729 | } | ||
730 | catch (SEHException) | ||
731 | { | ||
732 | 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."); | ||
733 | // ode.drelease(world); | ||
734 | base.TriggerPhysicsBasedRestart(); | ||
735 | } | ||
736 | catch (Exception e) | ||
737 | { | ||
738 | m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message); | ||
739 | return; | ||
740 | } | ||
741 | |||
742 | // contacts done | ||
743 | if (count == 0) | ||
744 | return; | ||
745 | |||
746 | // try get physical actors | ||
747 | PhysicsActor p1; | ||
748 | PhysicsActor p2; | ||
749 | |||
750 | if (!actor_name_map.TryGetValue(g1, out p1)) | ||
751 | { | ||
752 | m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1"); | ||
753 | return; | ||
754 | } | ||
755 | |||
756 | if (!actor_name_map.TryGetValue(g2, out p2)) | ||
757 | { | ||
758 | m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); | ||
759 | return; | ||
760 | } | ||
761 | |||
762 | // update actors collision score | ||
763 | if (p1.CollisionScore >= float.MaxValue - count) | ||
764 | p1.CollisionScore = 0; | ||
765 | p1.CollisionScore += count; | ||
766 | |||
767 | if (p2.CollisionScore >= float.MaxValue - count) | ||
768 | p2.CollisionScore = 0; | ||
769 | p2.CollisionScore += count; | ||
770 | |||
771 | // get first contact | ||
772 | d.ContactGeom curContact = new d.ContactGeom(); | ||
773 | if (!GetCurContactGeom(0, ref curContact)) | ||
774 | return; | ||
775 | // for now it's the one with max depth | ||
776 | ContactPoint maxDepthContact = new ContactPoint( | ||
777 | new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), | ||
778 | new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), | ||
779 | curContact.depth | ||
780 | ); | ||
781 | // do volume detection case | ||
782 | if ( | ||
783 | (p1.IsVolumeDtc || p2.IsVolumeDtc)) | ||
784 | { | ||
785 | collision_accounting_events(p1, p2, maxDepthContact); | ||
786 | return; | ||
787 | } | ||
788 | |||
789 | // big messy collision analises | ||
790 | |||
791 | Vector3 normoverride = Vector3.Zero; //damm c# | ||
792 | |||
793 | float mu = 0; | ||
794 | float bounce = 0; | ||
795 | float cfm = 0.0001f; | ||
796 | float erpscale = 1.0f; | ||
797 | float dscale = 1.0f; | ||
798 | bool IgnoreNegSides = false; | ||
799 | |||
800 | ContactData contactdata1 = new ContactData(0, 0, false); | ||
801 | ContactData contactdata2 = new ContactData(0, 0, false); | ||
802 | |||
803 | bool dop1foot = false; | ||
804 | bool dop2foot = false; | ||
805 | bool ignore = false; | ||
806 | bool AvanormOverride = false; | ||
807 | |||
808 | switch (p1.PhysicsActorType) | ||
809 | { | ||
810 | case (int)ActorTypes.Agent: | ||
811 | { | ||
812 | AvanormOverride = true; | ||
813 | Vector3 tmp = p2.Position - p1.Position; | ||
814 | normoverride = p2.Velocity - p1.Velocity; | ||
815 | mu = normoverride.LengthSquared(); | ||
816 | |||
817 | if (mu > 1e-6) | ||
818 | { | ||
819 | mu = 1.0f / (float)Math.Sqrt(mu); | ||
820 | normoverride *= mu; | ||
821 | mu = Vector3.Dot(tmp, normoverride); | ||
822 | if (mu > 0) | ||
823 | normoverride *= -1; | ||
824 | } | ||
825 | else | ||
826 | { | ||
827 | tmp.Normalize(); | ||
828 | normoverride = -tmp; | ||
829 | } | ||
830 | |||
831 | switch (p2.PhysicsActorType) | ||
832 | { | ||
833 | case (int)ActorTypes.Agent: | ||
834 | p1.CollidingObj = true; | ||
835 | p2.CollidingObj = true; | ||
836 | break; | ||
837 | |||
838 | case (int)ActorTypes.Prim: | ||
839 | if (p2.Velocity.LengthSquared() > 0.0f) | ||
840 | p2.CollidingObj = true; | ||
841 | dop1foot = true; | ||
842 | break; | ||
843 | |||
844 | default: | ||
845 | ignore = true; // avatar to terrain and water ignored | ||
846 | break; | ||
847 | } | ||
848 | break; | ||
849 | } | ||
850 | |||
851 | case (int)ActorTypes.Prim: | ||
852 | switch (p2.PhysicsActorType) | ||
853 | { | ||
854 | case (int)ActorTypes.Agent: | ||
855 | AvanormOverride = true; | ||
856 | |||
857 | Vector3 tmp = p2.Position - p1.Position; | ||
858 | normoverride = p2.Velocity - p1.Velocity; | ||
859 | mu = normoverride.LengthSquared(); | ||
860 | if (mu > 1e-6) | ||
861 | { | ||
862 | mu = 1.0f / (float)Math.Sqrt(mu); | ||
863 | normoverride *= mu; | ||
864 | mu = Vector3.Dot(tmp, normoverride); | ||
865 | if (mu > 0) | ||
866 | normoverride *= -1; | ||
867 | } | ||
868 | else | ||
869 | { | ||
870 | tmp.Normalize(); | ||
871 | normoverride = -tmp; | ||
872 | } | ||
873 | |||
874 | bounce = 0; | ||
875 | mu = 0; | ||
876 | cfm = 0.0001f; | ||
877 | |||
878 | dop2foot = true; | ||
879 | if (p1.Velocity.LengthSquared() > 0.0f) | ||
880 | p1.CollidingObj = true; | ||
881 | break; | ||
882 | |||
883 | case (int)ActorTypes.Prim: | ||
884 | if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) | ||
885 | { | ||
886 | p1.CollidingObj = true; | ||
887 | p2.CollidingObj = true; | ||
888 | } | ||
889 | p1.getContactData(ref contactdata1); | ||
890 | p2.getContactData(ref contactdata2); | ||
891 | bounce = contactdata1.bounce * contactdata2.bounce; | ||
892 | mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); | ||
893 | |||
894 | cfm = p1.Mass; | ||
895 | if (cfm > p2.Mass) | ||
896 | cfm = p2.Mass; | ||
897 | dscale = 10 / cfm; | ||
898 | dscale = (float)Math.Sqrt(dscale); | ||
899 | if (dscale > 1.0f) | ||
900 | dscale = 1.0f; | ||
901 | erpscale = cfm * 0.01f; | ||
902 | cfm = 0.0001f / cfm; | ||
903 | if (cfm > 0.01f) | ||
904 | cfm = 0.01f; | ||
905 | else if (cfm < 0.00001f) | ||
906 | cfm = 0.00001f; | ||
907 | |||
908 | if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) | ||
909 | mu *= frictionMovementMult; | ||
910 | |||
911 | break; | ||
912 | |||
913 | case (int)ActorTypes.Ground: | ||
914 | p1.getContactData(ref contactdata1); | ||
915 | bounce = contactdata1.bounce * TerrainBounce; | ||
916 | mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); | ||
917 | if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) | ||
918 | mu *= frictionMovementMult; | ||
919 | p1.CollidingGround = true; | ||
920 | |||
921 | cfm = p1.Mass; | ||
922 | dscale = 10 / cfm; | ||
923 | dscale = (float)Math.Sqrt(dscale); | ||
924 | if (dscale > 1.0f) | ||
925 | dscale = 1.0f; | ||
926 | erpscale = cfm * 0.01f; | ||
927 | cfm = 0.0001f / cfm; | ||
928 | if (cfm > 0.01f) | ||
929 | cfm = 0.01f; | ||
930 | else if (cfm < 0.00001f) | ||
931 | cfm = 0.00001f; | ||
932 | |||
933 | if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) | ||
934 | { | ||
935 | if (curContact.side1 > 0) | ||
936 | IgnoreNegSides = true; | ||
937 | } | ||
938 | break; | ||
939 | |||
940 | case (int)ActorTypes.Water: | ||
941 | default: | ||
942 | ignore = true; | ||
943 | break; | ||
944 | } | ||
945 | break; | ||
946 | |||
947 | case (int)ActorTypes.Ground: | ||
948 | if (p2.PhysicsActorType == (int)ActorTypes.Prim) | ||
949 | { | ||
950 | p2.CollidingGround = true; | ||
951 | p2.getContactData(ref contactdata2); | ||
952 | bounce = contactdata2.bounce * TerrainBounce; | ||
953 | mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); | ||
954 | |||
955 | cfm = p2.Mass; | ||
956 | dscale = 10 / cfm; | ||
957 | dscale = (float)Math.Sqrt(dscale); | ||
958 | |||
959 | if (dscale > 1.0f) | ||
960 | dscale = 1.0f; | ||
961 | |||
962 | erpscale = cfm * 0.01f; | ||
963 | cfm = 0.0001f / cfm; | ||
964 | if (cfm > 0.01f) | ||
965 | cfm = 0.01f; | ||
966 | else if (cfm < 0.00001f) | ||
967 | cfm = 0.00001f; | ||
968 | |||
969 | if (curContact.side1 > 0) // should be 2 ? | ||
970 | IgnoreNegSides = true; | ||
971 | |||
972 | if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) | ||
973 | mu *= frictionMovementMult; | ||
974 | } | ||
975 | else | ||
976 | ignore = true; | ||
977 | break; | ||
978 | |||
979 | case (int)ActorTypes.Water: | ||
980 | default: | ||
981 | break; | ||
982 | } | ||
983 | if (ignore) | ||
984 | return; | ||
985 | |||
986 | IntPtr Joint; | ||
987 | |||
988 | int i = 0; | ||
989 | while(true) | ||
990 | { | ||
991 | |||
992 | if (IgnoreNegSides && curContact.side1 < 0) | ||
993 | { | ||
994 | if (++i >= count) | ||
995 | break; | ||
996 | |||
997 | if (!GetCurContactGeom(i, ref curContact)) | ||
998 | break; | ||
999 | } | ||
1000 | else | ||
1001 | |||
1002 | { | ||
1003 | |||
1004 | if (AvanormOverride) | ||
1005 | { | ||
1006 | if (curContact.depth > 0.3f) | ||
1007 | { | ||
1008 | if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f) | ||
1009 | p1.IsColliding = true; | ||
1010 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) | ||
1011 | p2.IsColliding = true; | ||
1012 | curContact.normal.X = normoverride.X; | ||
1013 | curContact.normal.Y = normoverride.Y; | ||
1014 | curContact.normal.Z = normoverride.Z; | ||
1015 | } | ||
1016 | |||
1017 | else | ||
1018 | { | ||
1019 | if (dop1foot) | ||
1020 | { | ||
1021 | float sz = p1.Size.Z; | ||
1022 | Vector3 vtmp = p1.Position; | ||
1023 | float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f; | ||
1024 | if (ppos > 0f) | ||
1025 | { | ||
1026 | if (!p1.Flying) | ||
1027 | { | ||
1028 | d.AABB aabb; | ||
1029 | d.GeomGetAABB(g2, out aabb); | ||
1030 | float tmp = vtmp.Z - sz * .18f; | ||
1031 | |||
1032 | if (aabb.MaxZ < tmp) | ||
1033 | { | ||
1034 | vtmp.X = curContact.pos.X - vtmp.X; | ||
1035 | vtmp.Y = curContact.pos.Y - vtmp.Y; | ||
1036 | vtmp.Z = -0.2f; | ||
1037 | vtmp.Normalize(); | ||
1038 | curContact.normal.X = vtmp.X; | ||
1039 | curContact.normal.Y = vtmp.Y; | ||
1040 | curContact.normal.Z = vtmp.Z; | ||
1041 | } | ||
1042 | } | ||
1043 | } | ||
1044 | else | ||
1045 | p1.IsColliding = true; | ||
1046 | |||
1047 | } | ||
1048 | |||
1049 | if (dop2foot) | ||
1050 | { | ||
1051 | float sz = p2.Size.Z; | ||
1052 | Vector3 vtmp = p2.Position; | ||
1053 | float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f; | ||
1054 | if (ppos > 0f) | ||
1055 | { | ||
1056 | if (!p2.Flying) | ||
1057 | { | ||
1058 | d.AABB aabb; | ||
1059 | d.GeomGetAABB(g1, out aabb); | ||
1060 | float tmp = vtmp.Z - sz * .18f; | ||
1061 | |||
1062 | if (aabb.MaxZ < tmp) | ||
1063 | { | ||
1064 | vtmp.X = curContact.pos.X - vtmp.X; | ||
1065 | vtmp.Y = curContact.pos.Y - vtmp.Y; | ||
1066 | vtmp.Z = -0.2f; | ||
1067 | vtmp.Normalize(); | ||
1068 | curContact.normal.X = vtmp.X; | ||
1069 | curContact.normal.Y = vtmp.Y; | ||
1070 | curContact.normal.Z = vtmp.Z; | ||
1071 | } | ||
1072 | } | ||
1073 | } | ||
1074 | else | ||
1075 | p2.IsColliding = true; | ||
1076 | |||
1077 | } | ||
1078 | } | ||
1079 | } | ||
1080 | |||
1081 | Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); | ||
1082 | d.JointAttach(Joint, b1, b2); | ||
1083 | |||
1084 | if (++m_global_contactcount >= maxContactsbeforedeath) | ||
1085 | break; | ||
1086 | |||
1087 | if (++i >= count) | ||
1088 | break; | ||
1089 | |||
1090 | if (!GetCurContactGeom(i, ref curContact)) | ||
1091 | break; | ||
1092 | |||
1093 | if (curContact.depth > maxDepthContact.PenetrationDepth) | ||
1094 | { | ||
1095 | maxDepthContact.Position.X = curContact.pos.X; | ||
1096 | maxDepthContact.Position.Y = curContact.pos.Y; | ||
1097 | maxDepthContact.Position.Z = curContact.pos.Z; | ||
1098 | maxDepthContact.SurfaceNormal.X = curContact.normal.X; | ||
1099 | maxDepthContact.SurfaceNormal.Y = curContact.normal.Y; | ||
1100 | maxDepthContact.SurfaceNormal.Z = curContact.normal.Z; | ||
1101 | maxDepthContact.PenetrationDepth = curContact.depth; | ||
1102 | } | ||
1103 | } | ||
1104 | } | ||
1105 | |||
1106 | collision_accounting_events(p1, p2, maxDepthContact); | ||
1107 | |||
1108 | /* | ||
1109 | if (notskipedcount > geomContactPointsStartthrottle) | ||
1110 | { | ||
1111 | // If there are more then 3 contact points, it's likely | ||
1112 | // that we've got a pile of objects, so ... | ||
1113 | // We don't want to send out hundreds of terse updates over and over again | ||
1114 | // so lets throttle them and send them again after it's somewhat sorted out. | ||
1115 | this needs checking so out for now | ||
1116 | if (b1 != IntPtr.Zero) | ||
1117 | p1.ThrottleUpdates = true; | ||
1118 | if (b2 != IntPtr.Zero) | ||
1119 | p2.ThrottleUpdates = true; | ||
1120 | |||
1121 | } | ||
1122 | */ | ||
1123 | } | ||
1124 | |||
1125 | private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) | ||
1126 | { | ||
1127 | uint obj2LocalID = 0; | ||
1128 | |||
1129 | bool p1events = p1.SubscribedEvents(); | ||
1130 | bool p2events = p2.SubscribedEvents(); | ||
1131 | |||
1132 | if (p1.IsVolumeDtc) | ||
1133 | p2events = false; | ||
1134 | if (p2.IsVolumeDtc) | ||
1135 | p1events = false; | ||
1136 | |||
1137 | if (!p2events && !p1events) | ||
1138 | return; | ||
1139 | |||
1140 | Vector3 vel = Vector3.Zero; | ||
1141 | if (p2 != null && p2.IsPhysical) | ||
1142 | vel = p2.Velocity; | ||
1143 | |||
1144 | if (p1 != null && p1.IsPhysical) | ||
1145 | vel -= p1.Velocity; | ||
1146 | |||
1147 | contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal); | ||
1148 | |||
1149 | switch ((ActorTypes)p1.PhysicsActorType) | ||
1150 | { | ||
1151 | case ActorTypes.Agent: | ||
1152 | case ActorTypes.Prim: | ||
1153 | { | ||
1154 | switch ((ActorTypes)p2.PhysicsActorType) | ||
1155 | { | ||
1156 | case ActorTypes.Agent: | ||
1157 | case ActorTypes.Prim: | ||
1158 | if (p2events) | ||
1159 | { | ||
1160 | AddCollisionEventReporting(p2); | ||
1161 | p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); | ||
1162 | } | ||
1163 | obj2LocalID = p2.ParentActor.LocalID; | ||
1164 | break; | ||
1165 | |||
1166 | case ActorTypes.Ground: | ||
1167 | case ActorTypes.Unknown: | ||
1168 | default: | ||
1169 | obj2LocalID = 0; | ||
1170 | break; | ||
1171 | } | ||
1172 | if (p1events) | ||
1173 | { | ||
1174 | contact.SurfaceNormal = -contact.SurfaceNormal; | ||
1175 | AddCollisionEventReporting(p1); | ||
1176 | p1.AddCollisionEvent(obj2LocalID, contact); | ||
1177 | } | ||
1178 | break; | ||
1179 | } | ||
1180 | case ActorTypes.Ground: | ||
1181 | case ActorTypes.Unknown: | ||
1182 | default: | ||
1183 | { | ||
1184 | if (p2events && !p2.IsVolumeDtc) | ||
1185 | { | ||
1186 | AddCollisionEventReporting(p2); | ||
1187 | p2.AddCollisionEvent(0, contact); | ||
1188 | } | ||
1189 | break; | ||
1190 | } | ||
1191 | } | ||
1192 | } | ||
1193 | |||
1194 | /// <summary> | ||
1195 | /// This is our collision testing routine in ODE | ||
1196 | /// </summary> | ||
1197 | /// <param name="timeStep"></param> | ||
1198 | private void collision_optimized() | ||
1199 | { | ||
1200 | lock (_characters) | ||
1201 | { | ||
1202 | try | ||
1203 | { | ||
1204 | foreach (OdeCharacter chr in _characters) | ||
1205 | { | ||
1206 | if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) | ||
1207 | continue; | ||
1208 | |||
1209 | chr.IsColliding = false; | ||
1210 | // chr.CollidingGround = false; not done here | ||
1211 | chr.CollidingObj = false; | ||
1212 | // do colisions with static space | ||
1213 | d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback); | ||
1214 | } | ||
1215 | } | ||
1216 | catch (AccessViolationException) | ||
1217 | { | ||
1218 | m_log.Warn("[PHYSICS]: Unable to collide Character to static space"); | ||
1219 | } | ||
1220 | |||
1221 | } | ||
1222 | |||
1223 | lock (_activeprims) | ||
1224 | { | ||
1225 | foreach (OdePrim aprim in _activeprims) | ||
1226 | { | ||
1227 | aprim.CollisionScore = 0; | ||
1228 | aprim.IsColliding = false; | ||
1229 | } | ||
1230 | } | ||
1231 | |||
1232 | // collide active prims with static enviroment | ||
1233 | lock (_activegroups) | ||
1234 | { | ||
1235 | try | ||
1236 | { | ||
1237 | foreach (OdePrim prm in _activegroups) | ||
1238 | { | ||
1239 | if (!prm.m_outbounds) | ||
1240 | { | ||
1241 | if (d.BodyIsEnabled(prm.Body)) | ||
1242 | d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback); | ||
1243 | } | ||
1244 | } | ||
1245 | } | ||
1246 | catch (AccessViolationException) | ||
1247 | { | ||
1248 | m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); | ||
1249 | } | ||
1250 | } | ||
1251 | // finally colide active things amoung them | ||
1252 | try | ||
1253 | { | ||
1254 | d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); | ||
1255 | } | ||
1256 | catch (AccessViolationException) | ||
1257 | { | ||
1258 | m_log.Warn("[PHYSICS]: Unable to collide in Active space"); | ||
1259 | } | ||
1260 | // _perloopContact.Clear(); | ||
1261 | } | ||
1262 | |||
1263 | #endregion | ||
1264 | /// <summary> | ||
1265 | /// Add actor to the list that should receive collision events in the simulate loop. | ||
1266 | /// </summary> | ||
1267 | /// <param name="obj"></param> | ||
1268 | public void AddCollisionEventReporting(PhysicsActor obj) | ||
1269 | { | ||
1270 | if (!_collisionEventPrim.Contains(obj)) | ||
1271 | _collisionEventPrim.Add(obj); | ||
1272 | } | ||
1273 | |||
1274 | /// <summary> | ||
1275 | /// Remove actor from the list that should receive collision events in the simulate loop. | ||
1276 | /// </summary> | ||
1277 | /// <param name="obj"></param> | ||
1278 | public void RemoveCollisionEventReporting(PhysicsActor obj) | ||
1279 | { | ||
1280 | if (_collisionEventPrim.Contains(obj) && !_collisionEventPrimRemove.Contains(obj)) | ||
1281 | _collisionEventPrimRemove.Add(obj); | ||
1282 | } | ||
1283 | |||
1284 | |||
1285 | #region Add/Remove Entities | ||
1286 | |||
1287 | public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) | ||
1288 | { | ||
1289 | Vector3 pos; | ||
1290 | pos.X = position.X; | ||
1291 | pos.Y = position.Y; | ||
1292 | pos.Z = position.Z; | ||
1293 | OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun); | ||
1294 | newAv.Flying = isFlying; | ||
1295 | newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; | ||
1296 | |||
1297 | return newAv; | ||
1298 | } | ||
1299 | |||
1300 | public void AddCharacter(OdeCharacter chr) | ||
1301 | { | ||
1302 | lock (_characters) | ||
1303 | { | ||
1304 | if (!_characters.Contains(chr)) | ||
1305 | { | ||
1306 | _characters.Add(chr); | ||
1307 | if (chr.bad) | ||
1308 | m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid); | ||
1309 | } | ||
1310 | } | ||
1311 | } | ||
1312 | |||
1313 | public void RemoveCharacter(OdeCharacter chr) | ||
1314 | { | ||
1315 | lock (_characters) | ||
1316 | { | ||
1317 | if (_characters.Contains(chr)) | ||
1318 | { | ||
1319 | _characters.Remove(chr); | ||
1320 | } | ||
1321 | } | ||
1322 | } | ||
1323 | |||
1324 | public void BadCharacter(OdeCharacter chr) | ||
1325 | { | ||
1326 | lock (_badCharacter) | ||
1327 | { | ||
1328 | if (!_badCharacter.Contains(chr)) | ||
1329 | _badCharacter.Add(chr); | ||
1330 | } | ||
1331 | } | ||
1332 | |||
1333 | public override void RemoveAvatar(PhysicsActor actor) | ||
1334 | { | ||
1335 | //m_log.Debug("[PHYSICS]:ODELOCK"); | ||
1336 | ((OdeCharacter) actor).Destroy(); | ||
1337 | } | ||
1338 | |||
1339 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1340 | PrimitiveBaseShape pbs, bool isphysical, uint localID) | ||
1341 | { | ||
1342 | Vector3 pos = position; | ||
1343 | Vector3 siz = size; | ||
1344 | Quaternion rot = rotation; | ||
1345 | |||
1346 | OdePrim newPrim; | ||
1347 | lock (OdeLock) | ||
1348 | { | ||
1349 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID); | ||
1350 | |||
1351 | lock (_prims) | ||
1352 | _prims.Add(newPrim); | ||
1353 | } | ||
1354 | return newPrim; | ||
1355 | } | ||
1356 | |||
1357 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1358 | PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID) | ||
1359 | { | ||
1360 | Vector3 pos = position; | ||
1361 | Vector3 siz = size; | ||
1362 | Quaternion rot = rotation; | ||
1363 | |||
1364 | OdePrim newPrim; | ||
1365 | lock (OdeLock) | ||
1366 | { | ||
1367 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID); | ||
1368 | |||
1369 | lock (_prims) | ||
1370 | _prims.Add(newPrim); | ||
1371 | } | ||
1372 | return newPrim; | ||
1373 | } | ||
1374 | |||
1375 | private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, | ||
1376 | PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID) | ||
1377 | { | ||
1378 | Vector3 pos = position; | ||
1379 | Vector3 siz = size; | ||
1380 | Quaternion rot = rotation; | ||
1381 | |||
1382 | OdePrim newPrim; | ||
1383 | lock (OdeLock) | ||
1384 | { | ||
1385 | newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID); | ||
1386 | |||
1387 | lock (_prims) | ||
1388 | _prims.Add(newPrim); | ||
1389 | } | ||
1390 | return newPrim; | ||
1391 | } | ||
1392 | |||
1393 | public void addActivePrim(OdePrim activatePrim) | ||
1394 | { | ||
1395 | // adds active prim.. | ||
1396 | lock (_activeprims) | ||
1397 | { | ||
1398 | if (!_activeprims.Contains(activatePrim)) | ||
1399 | _activeprims.Add(activatePrim); | ||
1400 | } | ||
1401 | } | ||
1402 | |||
1403 | public void addActiveGroups(OdePrim activatePrim) | ||
1404 | { | ||
1405 | lock (_activegroups) | ||
1406 | { | ||
1407 | if (!_activegroups.Contains(activatePrim)) | ||
1408 | _activegroups.Add(activatePrim); | ||
1409 | } | ||
1410 | } | ||
1411 | |||
1412 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
1413 | Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid) | ||
1414 | { | ||
1415 | return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid); | ||
1416 | } | ||
1417 | |||
1418 | |||
1419 | public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, | ||
1420 | Vector3 size, Quaternion rotation, bool isPhysical, uint localid) | ||
1421 | { | ||
1422 | #if SPAM | ||
1423 | m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); | ||
1424 | #endif | ||
1425 | |||
1426 | return AddPrim(primName, position, size, rotation, pbs, isPhysical, 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 | #if SPAM | ||
1433 | m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); | ||
1434 | #endif | ||
1435 | |||
1436 | return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid); | ||
1437 | } | ||
1438 | |||
1439 | public override float TimeDilation | ||
1440 | { | ||
1441 | get { return m_timeDilation; } | ||
1442 | } | ||
1443 | |||
1444 | public override bool SupportsNINJAJoints | ||
1445 | { | ||
1446 | get { return false; } | ||
1447 | } | ||
1448 | |||
1449 | |||
1450 | public void remActivePrim(OdePrim deactivatePrim) | ||
1451 | { | ||
1452 | lock (_activeprims) | ||
1453 | { | ||
1454 | _activeprims.Remove(deactivatePrim); | ||
1455 | } | ||
1456 | } | ||
1457 | public void remActiveGroup(OdePrim deactivatePrim) | ||
1458 | { | ||
1459 | lock (_activegroups) | ||
1460 | { | ||
1461 | _activegroups.Remove(deactivatePrim); | ||
1462 | } | ||
1463 | } | ||
1464 | |||
1465 | public override void RemovePrim(PhysicsActor prim) | ||
1466 | { | ||
1467 | // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be | ||
1468 | // removed in the next physics simulate pass. | ||
1469 | if (prim is OdePrim) | ||
1470 | { | ||
1471 | // lock (OdeLock) | ||
1472 | { | ||
1473 | |||
1474 | OdePrim p = (OdePrim)prim; | ||
1475 | p.setPrimForRemoval(); | ||
1476 | } | ||
1477 | } | ||
1478 | } | ||
1479 | /// <summary> | ||
1480 | /// This is called from within simulate but outside the locked portion | ||
1481 | /// We need to do our own locking here | ||
1482 | /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in | ||
1483 | /// Simulate() -- justincc). | ||
1484 | /// | ||
1485 | /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. | ||
1486 | /// | ||
1487 | /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory | ||
1488 | /// that the space was using. | ||
1489 | /// </summary> | ||
1490 | /// <param name="prim"></param> | ||
1491 | public void RemovePrimThreadLocked(OdePrim prim) | ||
1492 | { | ||
1493 | //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); | ||
1494 | lock (prim) | ||
1495 | { | ||
1496 | // RemoveCollisionEventReporting(prim); | ||
1497 | lock (_prims) | ||
1498 | _prims.Remove(prim); | ||
1499 | } | ||
1500 | |||
1501 | } | ||
1502 | #endregion | ||
1503 | |||
1504 | #region Space Separation Calculation | ||
1505 | |||
1506 | /// <summary> | ||
1507 | /// Called when a static prim moves or becomes static | ||
1508 | /// Places the prim in a space one the static sub-spaces grid | ||
1509 | /// </summary> | ||
1510 | /// <param name="geom">the pointer to the geom that moved</param> | ||
1511 | /// <param name="pos">the position that the geom moved to</param> | ||
1512 | /// <param name="currentspace">a pointer to the space it was in before it was moved.</param> | ||
1513 | /// <returns>a pointer to the new space it's in</returns> | ||
1514 | public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace) | ||
1515 | { | ||
1516 | // moves a prim into another static sub-space or from another space into a static sub-space | ||
1517 | |||
1518 | // Called ODEPrim so | ||
1519 | // it's already in locked space. | ||
1520 | |||
1521 | if (geom == IntPtr.Zero) // shouldn't happen | ||
1522 | return IntPtr.Zero; | ||
1523 | |||
1524 | // get the static sub-space for current position | ||
1525 | IntPtr newspace = calculateSpaceForGeom(pos); | ||
1526 | |||
1527 | if (newspace == currentspace) // if we are there all done | ||
1528 | return newspace; | ||
1529 | |||
1530 | // else remove it from its current space | ||
1531 | if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom)) | ||
1532 | { | ||
1533 | if (d.GeomIsSpace(currentspace)) | ||
1534 | { | ||
1535 | waitForSpaceUnlock(currentspace); | ||
1536 | d.SpaceRemove(currentspace, geom); | ||
1537 | |||
1538 | if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) | ||
1539 | { | ||
1540 | d.SpaceDestroy(currentspace); | ||
1541 | } | ||
1542 | } | ||
1543 | else | ||
1544 | { | ||
1545 | m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace + | ||
1546 | " Geom:" + geom); | ||
1547 | } | ||
1548 | } | ||
1549 | else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space | ||
1550 | { | ||
1551 | currentspace = d.GeomGetSpace(geom); | ||
1552 | if (currentspace != IntPtr.Zero) | ||
1553 | { | ||
1554 | if (d.GeomIsSpace(currentspace)) | ||
1555 | { | ||
1556 | waitForSpaceUnlock(currentspace); | ||
1557 | d.SpaceRemove(currentspace, geom); | ||
1558 | |||
1559 | if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) | ||
1560 | { | ||
1561 | d.SpaceDestroy(currentspace); | ||
1562 | } | ||
1563 | |||
1564 | } | ||
1565 | } | ||
1566 | } | ||
1567 | |||
1568 | // put the geom in the newspace | ||
1569 | waitForSpaceUnlock(newspace); | ||
1570 | d.SpaceAdd(newspace, geom); | ||
1571 | |||
1572 | // let caller know this newspace | ||
1573 | return newspace; | ||
1574 | } | ||
1575 | |||
1576 | /// <summary> | ||
1577 | /// Calculates the space the prim should be in by its position | ||
1578 | /// </summary> | ||
1579 | /// <param name="pos"></param> | ||
1580 | /// <returns>a pointer to the space. This could be a new space or reused space.</returns> | ||
1581 | public IntPtr calculateSpaceForGeom(Vector3 pos) | ||
1582 | { | ||
1583 | int x, y; | ||
1584 | |||
1585 | if (pos.X < 0) | ||
1586 | return staticPrimspaceOffRegion[0]; | ||
1587 | |||
1588 | if (pos.Y < 0) | ||
1589 | return staticPrimspaceOffRegion[2]; | ||
1590 | |||
1591 | x = (int)(pos.X * spacesPerMeter); | ||
1592 | if (x > spaceGridMaxX) | ||
1593 | return staticPrimspaceOffRegion[1]; | ||
1594 | |||
1595 | y = (int)(pos.Y * spacesPerMeter); | ||
1596 | if (y > spaceGridMaxY) | ||
1597 | return staticPrimspaceOffRegion[3]; | ||
1598 | |||
1599 | return staticPrimspace[x, y]; | ||
1600 | } | ||
1601 | |||
1602 | #endregion | ||
1603 | |||
1604 | /// <summary> | ||
1605 | /// Routine to figure out if we need to mesh this prim with our mesher | ||
1606 | /// </summary> | ||
1607 | /// <param name="pbs"></param> | ||
1608 | /// <returns></returns> | ||
1609 | public bool needsMeshing(PrimitiveBaseShape pbs) | ||
1610 | { | ||
1611 | // check sculpts or meshs | ||
1612 | if (pbs.SculptEntry) | ||
1613 | { | ||
1614 | if (meshSculptedPrim) | ||
1615 | return true; | ||
1616 | |||
1617 | if (pbs.SculptType == (byte)SculptType.Mesh) // always do meshs | ||
1618 | return true; | ||
1619 | |||
1620 | return false; | ||
1621 | } | ||
1622 | |||
1623 | if (forceSimplePrimMeshing) | ||
1624 | return true; | ||
1625 | |||
1626 | // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim | ||
1627 | |||
1628 | if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) | ||
1629 | || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 | ||
1630 | && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) | ||
1631 | { | ||
1632 | |||
1633 | if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 | ||
1634 | && pbs.ProfileHollow == 0 | ||
1635 | && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 | ||
1636 | && pbs.PathBegin == 0 && pbs.PathEnd == 0 | ||
1637 | && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 | ||
1638 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 | ||
1639 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) | ||
1640 | { | ||
1641 | #if SPAM | ||
1642 | m_log.Warn("NonMesh"); | ||
1643 | #endif | ||
1644 | return false; | ||
1645 | } | ||
1646 | } | ||
1647 | |||
1648 | // following code doesn't give meshs to boxes and spheres ever | ||
1649 | // and it's odd.. so for now just return true if asked to force meshs | ||
1650 | // hopefully mesher will fail if doesn't suport so things still get basic boxes | ||
1651 | |||
1652 | int iPropertiesNotSupportedDefault = 0; | ||
1653 | |||
1654 | if (pbs.ProfileHollow != 0) | ||
1655 | iPropertiesNotSupportedDefault++; | ||
1656 | |||
1657 | if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) | ||
1658 | iPropertiesNotSupportedDefault++; | ||
1659 | |||
1660 | if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) | ||
1661 | iPropertiesNotSupportedDefault++; | ||
1662 | |||
1663 | if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) | ||
1664 | iPropertiesNotSupportedDefault++; | ||
1665 | |||
1666 | if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) | ||
1667 | iPropertiesNotSupportedDefault++; | ||
1668 | |||
1669 | if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) | ||
1670 | iPropertiesNotSupportedDefault++; | ||
1671 | |||
1672 | if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) | ||
1673 | iPropertiesNotSupportedDefault++; | ||
1674 | |||
1675 | if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) | ||
1676 | iPropertiesNotSupportedDefault++; | ||
1677 | |||
1678 | if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) | ||
1679 | iPropertiesNotSupportedDefault++; | ||
1680 | |||
1681 | // test for torus | ||
1682 | if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) | ||
1683 | { | ||
1684 | if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1685 | { | ||
1686 | iPropertiesNotSupportedDefault++; | ||
1687 | } | ||
1688 | } | ||
1689 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) | ||
1690 | { | ||
1691 | if (pbs.PathCurve == (byte)Extrusion.Straight) | ||
1692 | { | ||
1693 | iPropertiesNotSupportedDefault++; | ||
1694 | } | ||
1695 | |||
1696 | // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits | ||
1697 | else if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1698 | { | ||
1699 | iPropertiesNotSupportedDefault++; | ||
1700 | } | ||
1701 | } | ||
1702 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) | ||
1703 | { | ||
1704 | if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) | ||
1705 | { | ||
1706 | iPropertiesNotSupportedDefault++; | ||
1707 | } | ||
1708 | } | ||
1709 | else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) | ||
1710 | { | ||
1711 | if (pbs.PathCurve == (byte)Extrusion.Straight) | ||
1712 | { | ||
1713 | iPropertiesNotSupportedDefault++; | ||
1714 | } | ||
1715 | else if (pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1716 | { | ||
1717 | iPropertiesNotSupportedDefault++; | ||
1718 | } | ||
1719 | } | ||
1720 | |||
1721 | if (iPropertiesNotSupportedDefault == 0) | ||
1722 | { | ||
1723 | #if SPAM | ||
1724 | m_log.Warn("NonMesh"); | ||
1725 | #endif | ||
1726 | return false; | ||
1727 | } | ||
1728 | #if SPAM | ||
1729 | m_log.Debug("Mesh"); | ||
1730 | #endif | ||
1731 | return true; | ||
1732 | } | ||
1733 | |||
1734 | /// <summary> | ||
1735 | /// Called to queue a change to a actor | ||
1736 | /// to use in place of old taint mechanism so changes do have a time sequence | ||
1737 | /// </summary> | ||
1738 | |||
1739 | public void AddChange(PhysicsActor actor, changes what, Object arg) | ||
1740 | { | ||
1741 | ODEchangeitem item = new ODEchangeitem(); | ||
1742 | item.actor = actor; | ||
1743 | item.what = what; | ||
1744 | item.arg = arg; | ||
1745 | ChangesQueue.Enqueue(item); | ||
1746 | } | ||
1747 | |||
1748 | /// <summary> | ||
1749 | /// Called after our prim properties are set Scale, position etc. | ||
1750 | /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex | ||
1751 | /// This assures us that we have no race conditions | ||
1752 | /// </summary> | ||
1753 | /// <param name="prim"></param> | ||
1754 | public override void AddPhysicsActorTaint(PhysicsActor prim) | ||
1755 | { | ||
1756 | } | ||
1757 | |||
1758 | /// <summary> | ||
1759 | /// This is our main simulate loop | ||
1760 | /// It's thread locked by a Mutex in the scene. | ||
1761 | /// It holds Collisions, it instructs ODE to step through the physical reactions | ||
1762 | /// It moves the objects around in memory | ||
1763 | /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup) | ||
1764 | /// </summary> | ||
1765 | /// <param name="timeStep"></param> | ||
1766 | /// <returns></returns> | ||
1767 | public override float Simulate(float timeStep) | ||
1768 | { | ||
1769 | |||
1770 | DateTime now = DateTime.UtcNow; | ||
1771 | TimeSpan SinceLastFrame = now - m_lastframe; | ||
1772 | m_lastframe = now; | ||
1773 | timeStep = (float)SinceLastFrame.TotalSeconds; | ||
1774 | |||
1775 | // acumulate time so we can reduce error | ||
1776 | step_time += timeStep; | ||
1777 | |||
1778 | if (step_time < HalfOdeStep) | ||
1779 | return 0; | ||
1780 | |||
1781 | if (framecount < 0) | ||
1782 | framecount = 0; | ||
1783 | |||
1784 | framecount++; | ||
1785 | |||
1786 | int curphysiteractions; | ||
1787 | |||
1788 | // if in trouble reduce step resolution | ||
1789 | if (step_time >= m_SkipFramesAtms) | ||
1790 | curphysiteractions = m_physicsiterations / 2; | ||
1791 | else | ||
1792 | curphysiteractions = m_physicsiterations; | ||
1793 | |||
1794 | int nodeframes = 0; | ||
1795 | |||
1796 | // checkThread(); | ||
1797 | |||
1798 | lock (SimulationLock) | ||
1799 | lock(OdeLock) | ||
1800 | { | ||
1801 | if (world == IntPtr.Zero) | ||
1802 | return 0; | ||
1803 | |||
1804 | // adjust number of iterations per step | ||
1805 | |||
1806 | // try | ||
1807 | // { | ||
1808 | d.WorldSetQuickStepNumIterations(world, curphysiteractions); | ||
1809 | /* } | ||
1810 | catch (StackOverflowException) | ||
1811 | { | ||
1812 | m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim."); | ||
1813 | // ode.drelease(world); | ||
1814 | base.TriggerPhysicsBasedRestart(); | ||
1815 | } | ||
1816 | */ | ||
1817 | while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever | ||
1818 | { | ||
1819 | try | ||
1820 | { | ||
1821 | // clear pointer/counter to contacts to pass into joints | ||
1822 | m_global_contactcount = 0; | ||
1823 | |||
1824 | ODEchangeitem item; | ||
1825 | |||
1826 | if(ChangesQueue.Count >0) | ||
1827 | { | ||
1828 | int ttmpstart = Util.EnvironmentTickCount(); | ||
1829 | int ttmp; | ||
1830 | |||
1831 | while(ChangesQueue.Dequeue(out item)) | ||
1832 | { | ||
1833 | if (item.actor != null) | ||
1834 | { | ||
1835 | try | ||
1836 | { | ||
1837 | if (item.actor is OdeCharacter) | ||
1838 | ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); | ||
1839 | else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) | ||
1840 | RemovePrimThreadLocked((OdePrim)item.actor); | ||
1841 | } | ||
1842 | catch | ||
1843 | { | ||
1844 | m_log.Warn("[PHYSICS]: doChange failed for a actor"); | ||
1845 | }; | ||
1846 | } | ||
1847 | ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); | ||
1848 | if (ttmp > 20) | ||
1849 | break; | ||
1850 | } | ||
1851 | } | ||
1852 | |||
1853 | // Move characters | ||
1854 | lock (_characters) | ||
1855 | { | ||
1856 | List<OdeCharacter> defects = new List<OdeCharacter>(); | ||
1857 | foreach (OdeCharacter actor in _characters) | ||
1858 | { | ||
1859 | if (actor != null) | ||
1860 | actor.Move(ODE_STEPSIZE, defects); | ||
1861 | } | ||
1862 | if (defects.Count != 0) | ||
1863 | { | ||
1864 | foreach (OdeCharacter defect in defects) | ||
1865 | { | ||
1866 | RemoveCharacter(defect); | ||
1867 | } | ||
1868 | defects.Clear(); | ||
1869 | } | ||
1870 | } | ||
1871 | |||
1872 | // Move other active objects | ||
1873 | lock (_activegroups) | ||
1874 | { | ||
1875 | foreach (OdePrim aprim in _activegroups) | ||
1876 | { | ||
1877 | aprim.Move(); | ||
1878 | } | ||
1879 | } | ||
1880 | |||
1881 | //if ((framecount % m_randomizeWater) == 0) | ||
1882 | // randomizeWater(waterlevel); | ||
1883 | |||
1884 | m_rayCastManager.ProcessQueuedRequests(); | ||
1885 | |||
1886 | collision_optimized(); | ||
1887 | |||
1888 | foreach (PhysicsActor obj in _collisionEventPrim) | ||
1889 | { | ||
1890 | if (obj == null) | ||
1891 | continue; | ||
1892 | |||
1893 | switch ((ActorTypes)obj.PhysicsActorType) | ||
1894 | { | ||
1895 | case ActorTypes.Agent: | ||
1896 | OdeCharacter cobj = (OdeCharacter)obj; | ||
1897 | cobj.AddCollisionFrameTime((int)(odetimestepMS)); | ||
1898 | cobj.SendCollisions(); | ||
1899 | break; | ||
1900 | |||
1901 | case ActorTypes.Prim: | ||
1902 | OdePrim pobj = (OdePrim)obj; | ||
1903 | if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds)) | ||
1904 | if (!pobj.m_outbounds) | ||
1905 | { | ||
1906 | pobj.AddCollisionFrameTime((int)(odetimestepMS)); | ||
1907 | pobj.SendCollisions(); | ||
1908 | } | ||
1909 | break; | ||
1910 | } | ||
1911 | } | ||
1912 | |||
1913 | foreach (PhysicsActor obj in _collisionEventPrimRemove) | ||
1914 | _collisionEventPrim.Remove(obj); | ||
1915 | |||
1916 | _collisionEventPrimRemove.Clear(); | ||
1917 | |||
1918 | // do a ode simulation step | ||
1919 | d.WorldQuickStep(world, ODE_STEPSIZE); | ||
1920 | d.JointGroupEmpty(contactgroup); | ||
1921 | |||
1922 | // update managed ideia of physical data and do updates to core | ||
1923 | /* | ||
1924 | lock (_characters) | ||
1925 | { | ||
1926 | foreach (OdeCharacter actor in _characters) | ||
1927 | { | ||
1928 | if (actor != null) | ||
1929 | { | ||
1930 | if (actor.bad) | ||
1931 | m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); | ||
1932 | |||
1933 | actor.UpdatePositionAndVelocity(); | ||
1934 | } | ||
1935 | } | ||
1936 | } | ||
1937 | */ | ||
1938 | |||
1939 | lock (_activegroups) | ||
1940 | { | ||
1941 | { | ||
1942 | foreach (OdePrim actor in _activegroups) | ||
1943 | { | ||
1944 | if (actor.IsPhysical) | ||
1945 | { | ||
1946 | actor.UpdatePositionAndVelocity(); | ||
1947 | } | ||
1948 | } | ||
1949 | } | ||
1950 | } | ||
1951 | } | ||
1952 | catch (Exception e) | ||
1953 | { | ||
1954 | m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); | ||
1955 | // ode.dunlock(world); | ||
1956 | } | ||
1957 | |||
1958 | |||
1959 | step_time -= ODE_STEPSIZE; | ||
1960 | nodeframes++; | ||
1961 | } | ||
1962 | |||
1963 | lock (_badCharacter) | ||
1964 | { | ||
1965 | if (_badCharacter.Count > 0) | ||
1966 | { | ||
1967 | foreach (OdeCharacter chr in _badCharacter) | ||
1968 | { | ||
1969 | RemoveCharacter(chr); | ||
1970 | } | ||
1971 | |||
1972 | _badCharacter.Clear(); | ||
1973 | } | ||
1974 | } | ||
1975 | /* | ||
1976 | int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); | ||
1977 | int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); | ||
1978 | int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); | ||
1979 | int nbodies = d.NTotalBodies; | ||
1980 | int ngeoms = d.NTotalGeoms; | ||
1981 | */ | ||
1982 | // Finished with all sim stepping. If requested, dump world state to file for debugging. | ||
1983 | // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? | ||
1984 | // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots? | ||
1985 | if (physics_logging && (physics_logging_interval > 0) && (framecount % physics_logging_interval == 0)) | ||
1986 | { | ||
1987 | string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename | ||
1988 | string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file | ||
1989 | |||
1990 | if (physics_logging_append_existing_logfile) | ||
1991 | { | ||
1992 | string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------"; | ||
1993 | TextWriter fwriter = File.AppendText(fname); | ||
1994 | fwriter.WriteLine(header); | ||
1995 | fwriter.Close(); | ||
1996 | } | ||
1997 | |||
1998 | d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); | ||
1999 | } | ||
2000 | |||
2001 | // think time dilation as to do with dinamic step size that we dont' have | ||
2002 | // even so tell something to world | ||
2003 | if (nodeframes < 10) // we did the requested loops | ||
2004 | m_timeDilation = 1.0f; | ||
2005 | else if (step_time > 0) | ||
2006 | { | ||
2007 | m_timeDilation = timeStep / step_time; | ||
2008 | if (m_timeDilation > 1) | ||
2009 | m_timeDilation = 1; | ||
2010 | if (step_time > m_SkipFramesAtms) | ||
2011 | step_time = 0; | ||
2012 | } | ||
2013 | } | ||
2014 | |||
2015 | // return nodeframes * ODE_STEPSIZE; // return real simulated time | ||
2016 | return 1000 * nodeframes; // return steps for now * 1000 to keep core happy | ||
2017 | } | ||
2018 | |||
2019 | /// <summary> | ||
2020 | public override void GetResults() | ||
2021 | { | ||
2022 | } | ||
2023 | |||
2024 | public override bool IsThreaded | ||
2025 | { | ||
2026 | // for now we won't be multithreaded | ||
2027 | get { return (false); } | ||
2028 | } | ||
2029 | |||
2030 | public float GetTerrainHeightAtXY(float x, float y) | ||
2031 | { | ||
2032 | |||
2033 | |||
2034 | int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
2035 | int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; | ||
2036 | |||
2037 | |||
2038 | IntPtr heightFieldGeom = IntPtr.Zero; | ||
2039 | |||
2040 | // get region map | ||
2041 | if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) | ||
2042 | return 0f; | ||
2043 | |||
2044 | if (heightFieldGeom == IntPtr.Zero) | ||
2045 | return 0f; | ||
2046 | |||
2047 | if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) | ||
2048 | return 0f; | ||
2049 | |||
2050 | // TerrainHeightField for ODE as offset 1m | ||
2051 | x += 1f - offsetX; | ||
2052 | y += 1f - offsetY; | ||
2053 | |||
2054 | // make position fit into array | ||
2055 | if (x < 0) | ||
2056 | x = 0; | ||
2057 | if (y < 0) | ||
2058 | y = 0; | ||
2059 | |||
2060 | // integer indexs | ||
2061 | int ix; | ||
2062 | int iy; | ||
2063 | // interpolators offset | ||
2064 | float dx; | ||
2065 | float dy; | ||
2066 | |||
2067 | int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples | ||
2068 | |||
2069 | if (OdeUbitLib) | ||
2070 | { | ||
2071 | if (x < regsize - 1) | ||
2072 | { | ||
2073 | ix = (int)x; | ||
2074 | dx = x - (float)ix; | ||
2075 | } | ||
2076 | else // out world use external height | ||
2077 | { | ||
2078 | ix = regsize - 2; | ||
2079 | dx = 0; | ||
2080 | } | ||
2081 | if (y < regsize - 1) | ||
2082 | { | ||
2083 | iy = (int)y; | ||
2084 | dy = y - (float)iy; | ||
2085 | } | ||
2086 | else | ||
2087 | { | ||
2088 | iy = regsize - 2; | ||
2089 | dy = 0; | ||
2090 | } | ||
2091 | } | ||
2092 | |||
2093 | else | ||
2094 | { | ||
2095 | // we still have square fixed size regions | ||
2096 | // also flip x and y because of how map is done for ODE fliped axis | ||
2097 | // so ix,iy,dx and dy are inter exchanged | ||
2098 | if (x < regsize - 1) | ||
2099 | { | ||
2100 | iy = (int)x; | ||
2101 | dy = x - (float)iy; | ||
2102 | } | ||
2103 | else // out world use external height | ||
2104 | { | ||
2105 | iy = regsize - 2; | ||
2106 | dy = 0; | ||
2107 | } | ||
2108 | if (y < regsize - 1) | ||
2109 | { | ||
2110 | ix = (int)y; | ||
2111 | dx = y - (float)ix; | ||
2112 | } | ||
2113 | else | ||
2114 | { | ||
2115 | ix = regsize - 2; | ||
2116 | dx = 0; | ||
2117 | } | ||
2118 | } | ||
2119 | |||
2120 | float h0; | ||
2121 | float h1; | ||
2122 | float h2; | ||
2123 | |||
2124 | iy *= regsize; | ||
2125 | iy += ix; // all indexes have iy + ix | ||
2126 | |||
2127 | float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; | ||
2128 | /* | ||
2129 | if ((dx + dy) <= 1.0f) | ||
2130 | { | ||
2131 | h0 = ((float)heights[iy]); // 0,0 vertice | ||
2132 | h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0 | ||
2133 | h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0 | ||
2134 | } | ||
2135 | else | ||
2136 | { | ||
2137 | h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice | ||
2138 | h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0 | ||
2139 | h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1 | ||
2140 | } | ||
2141 | */ | ||
2142 | h0 = ((float)heights[iy]); // 0,0 vertice | ||
2143 | |||
2144 | if ((dy > dx)) | ||
2145 | { | ||
2146 | iy += regsize; | ||
2147 | h2 = (float)heights[iy]; // 0,1 vertice | ||
2148 | h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0 | ||
2149 | h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1 | ||
2150 | } | ||
2151 | else | ||
2152 | { | ||
2153 | iy++; | ||
2154 | h2 = (float)heights[iy]; // vertice 1,0 | ||
2155 | h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0 | ||
2156 | h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0 | ||
2157 | } | ||
2158 | |||
2159 | return h0 + h1 + h2; | ||
2160 | } | ||
2161 | |||
2162 | |||
2163 | public override void SetTerrain(float[] heightMap) | ||
2164 | { | ||
2165 | if (m_worldOffset != Vector3.Zero && m_parentScene != null) | ||
2166 | { | ||
2167 | if (m_parentScene is OdeScene) | ||
2168 | { | ||
2169 | ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset); | ||
2170 | } | ||
2171 | } | ||
2172 | else | ||
2173 | { | ||
2174 | SetTerrain(heightMap, m_worldOffset); | ||
2175 | } | ||
2176 | } | ||
2177 | |||
2178 | public override void CombineTerrain(float[] heightMap, Vector3 pOffset) | ||
2179 | { | ||
2180 | SetTerrain(heightMap, pOffset); | ||
2181 | } | ||
2182 | |||
2183 | public void SetTerrain(float[] heightMap, Vector3 pOffset) | ||
2184 | { | ||
2185 | if (OdeUbitLib) | ||
2186 | UbitSetTerrain(heightMap, pOffset); | ||
2187 | else | ||
2188 | OriSetTerrain(heightMap, pOffset); | ||
2189 | } | ||
2190 | |||
2191 | public void OriSetTerrain(float[] heightMap, Vector3 pOffset) | ||
2192 | { | ||
2193 | // assumes 1m size grid and constante size square regions | ||
2194 | // needs to know about sims around in future | ||
2195 | |||
2196 | float[] _heightmap; | ||
2197 | |||
2198 | uint heightmapWidth = Constants.RegionSize + 2; | ||
2199 | uint heightmapHeight = Constants.RegionSize + 2; | ||
2200 | |||
2201 | uint heightmapWidthSamples = heightmapWidth + 1; | ||
2202 | uint heightmapHeightSamples = heightmapHeight + 1; | ||
2203 | |||
2204 | _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; | ||
2205 | |||
2206 | const float scale = 1.0f; | ||
2207 | const float offset = 0.0f; | ||
2208 | const float thickness = 10f; | ||
2209 | const int wrap = 0; | ||
2210 | |||
2211 | uint regionsize = Constants.RegionSize; | ||
2212 | |||
2213 | float hfmin = float.MaxValue; | ||
2214 | float hfmax = float.MinValue; | ||
2215 | float val; | ||
2216 | uint xx; | ||
2217 | uint yy; | ||
2218 | |||
2219 | uint maxXXYY = regionsize - 1; | ||
2220 | // flipping map adding one margin all around so things don't fall in edges | ||
2221 | |||
2222 | uint xt = 0; | ||
2223 | xx = 0; | ||
2224 | |||
2225 | for (uint x = 0; x < heightmapWidthSamples; x++) | ||
2226 | { | ||
2227 | if (x > 1 && xx < maxXXYY) | ||
2228 | xx++; | ||
2229 | yy = 0; | ||
2230 | for (uint y = 0; y < heightmapHeightSamples; y++) | ||
2231 | { | ||
2232 | if (y > 1 && y < maxXXYY) | ||
2233 | yy += regionsize; | ||
2234 | |||
2235 | val = heightMap[yy + xx]; | ||
2236 | if (val < 0.0f) | ||
2237 | val = 0.0f; // no neg terrain as in chode | ||
2238 | _heightmap[xt + y] = val; | ||
2239 | |||
2240 | if (hfmin > val) | ||
2241 | hfmin = val; | ||
2242 | if (hfmax < val) | ||
2243 | hfmax = val; | ||
2244 | } | ||
2245 | xt += heightmapHeightSamples; | ||
2246 | } | ||
2247 | lock (OdeLock) | ||
2248 | { | ||
2249 | IntPtr GroundGeom = IntPtr.Zero; | ||
2250 | if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) | ||
2251 | { | ||
2252 | RegionTerrain.Remove(pOffset); | ||
2253 | if (GroundGeom != IntPtr.Zero) | ||
2254 | { | ||
2255 | actor_name_map.Remove(GroundGeom); | ||
2256 | d.GeomDestroy(GroundGeom); | ||
2257 | |||
2258 | if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) | ||
2259 | { | ||
2260 | TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); | ||
2261 | TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); | ||
2262 | TerrainHeightFieldHeights.Remove(GroundGeom); | ||
2263 | } | ||
2264 | } | ||
2265 | } | ||
2266 | IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); | ||
2267 | |||
2268 | GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); | ||
2269 | |||
2270 | d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight, | ||
2271 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, | ||
2272 | offset, thickness, wrap); | ||
2273 | |||
2274 | d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); | ||
2275 | GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1); | ||
2276 | if (GroundGeom != IntPtr.Zero) | ||
2277 | { | ||
2278 | d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); | ||
2279 | d.GeomSetCollideBits(GroundGeom, 0); | ||
2280 | |||
2281 | PhysicsActor pa = new NullPhysicsActor(); | ||
2282 | pa.Name = "Terrain"; | ||
2283 | pa.PhysicsActorType = (int)ActorTypes.Ground; | ||
2284 | actor_name_map[GroundGeom] = pa; | ||
2285 | |||
2286 | // geom_name_map[GroundGeom] = "Terrain"; | ||
2287 | |||
2288 | d.Matrix3 R = new d.Matrix3(); | ||
2289 | |||
2290 | Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); | ||
2291 | Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); | ||
2292 | |||
2293 | |||
2294 | q1 = q1 * q2; | ||
2295 | |||
2296 | Vector3 v3; | ||
2297 | float angle; | ||
2298 | q1.GetAxisAngle(out v3, out angle); | ||
2299 | |||
2300 | d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); | ||
2301 | d.GeomSetRotation(GroundGeom, ref R); | ||
2302 | d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); | ||
2303 | RegionTerrain.Add(pOffset, GroundGeom); | ||
2304 | TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); | ||
2305 | TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); | ||
2306 | } | ||
2307 | } | ||
2308 | } | ||
2309 | |||
2310 | public void UbitSetTerrain(float[] heightMap, Vector3 pOffset) | ||
2311 | { | ||
2312 | // assumes 1m size grid and constante size square regions | ||
2313 | // needs to know about sims around in future | ||
2314 | |||
2315 | float[] _heightmap; | ||
2316 | |||
2317 | uint heightmapWidth = Constants.RegionSize + 2; | ||
2318 | uint heightmapHeight = Constants.RegionSize + 2; | ||
2319 | |||
2320 | uint heightmapWidthSamples = heightmapWidth + 1; | ||
2321 | uint heightmapHeightSamples = heightmapHeight + 1; | ||
2322 | |||
2323 | _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; | ||
2324 | |||
2325 | |||
2326 | uint regionsize = Constants.RegionSize; | ||
2327 | |||
2328 | float hfmin = float.MaxValue; | ||
2329 | // float hfmax = float.MinValue; | ||
2330 | float val; | ||
2331 | |||
2332 | |||
2333 | uint maxXXYY = regionsize - 1; | ||
2334 | // adding one margin all around so things don't fall in edges | ||
2335 | |||
2336 | uint xx; | ||
2337 | uint yy = 0; | ||
2338 | uint yt = 0; | ||
2339 | |||
2340 | for (uint y = 0; y < heightmapHeightSamples; y++) | ||
2341 | { | ||
2342 | if (y > 1 && y < maxXXYY) | ||
2343 | yy += regionsize; | ||
2344 | xx = 0; | ||
2345 | for (uint x = 0; x < heightmapWidthSamples; x++) | ||
2346 | { | ||
2347 | if (x > 1 && x < maxXXYY) | ||
2348 | xx++; | ||
2349 | |||
2350 | val = heightMap[yy + xx]; | ||
2351 | if (val < 0.0f) | ||
2352 | val = 0.0f; // no neg terrain as in chode | ||
2353 | _heightmap[yt + x] = val; | ||
2354 | |||
2355 | if (hfmin > val) | ||
2356 | hfmin = val; | ||
2357 | // if (hfmax < val) | ||
2358 | // hfmax = val; | ||
2359 | } | ||
2360 | yt += heightmapWidthSamples; | ||
2361 | } | ||
2362 | lock (OdeLock) | ||
2363 | { | ||
2364 | IntPtr GroundGeom = IntPtr.Zero; | ||
2365 | if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) | ||
2366 | { | ||
2367 | RegionTerrain.Remove(pOffset); | ||
2368 | if (GroundGeom != IntPtr.Zero) | ||
2369 | { | ||
2370 | actor_name_map.Remove(GroundGeom); | ||
2371 | d.GeomDestroy(GroundGeom); | ||
2372 | |||
2373 | if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) | ||
2374 | { | ||
2375 | if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated) | ||
2376 | TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); | ||
2377 | TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); | ||
2378 | TerrainHeightFieldHeights.Remove(GroundGeom); | ||
2379 | } | ||
2380 | } | ||
2381 | } | ||
2382 | IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); | ||
2383 | |||
2384 | const int wrap = 0; | ||
2385 | float thickness = hfmin; | ||
2386 | if (thickness < 0) | ||
2387 | thickness = 1; | ||
2388 | |||
2389 | GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); | ||
2390 | |||
2391 | d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f, | ||
2392 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, | ||
2393 | thickness, wrap); | ||
2394 | |||
2395 | // d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); | ||
2396 | GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1); | ||
2397 | if (GroundGeom != IntPtr.Zero) | ||
2398 | { | ||
2399 | d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); | ||
2400 | d.GeomSetCollideBits(GroundGeom, 0); | ||
2401 | |||
2402 | PhysicsActor pa = new NullPhysicsActor(); | ||
2403 | pa.Name = "Terrain"; | ||
2404 | pa.PhysicsActorType = (int)ActorTypes.Ground; | ||
2405 | actor_name_map[GroundGeom] = pa; | ||
2406 | |||
2407 | // geom_name_map[GroundGeom] = "Terrain"; | ||
2408 | |||
2409 | d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); | ||
2410 | RegionTerrain.Add(pOffset, GroundGeom); | ||
2411 | TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); | ||
2412 | TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); | ||
2413 | } | ||
2414 | } | ||
2415 | } | ||
2416 | |||
2417 | |||
2418 | public override void DeleteTerrain() | ||
2419 | { | ||
2420 | } | ||
2421 | |||
2422 | public float GetWaterLevel() | ||
2423 | { | ||
2424 | return waterlevel; | ||
2425 | } | ||
2426 | |||
2427 | public override bool SupportsCombining() | ||
2428 | { | ||
2429 | return true; | ||
2430 | } | ||
2431 | /* | ||
2432 | public override void UnCombine(PhysicsScene pScene) | ||
2433 | { | ||
2434 | IntPtr localGround = IntPtr.Zero; | ||
2435 | // float[] localHeightfield; | ||
2436 | bool proceed = false; | ||
2437 | List<IntPtr> geomDestroyList = new List<IntPtr>(); | ||
2438 | |||
2439 | lock (OdeLock) | ||
2440 | { | ||
2441 | if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) | ||
2442 | { | ||
2443 | foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) | ||
2444 | { | ||
2445 | if (geom == localGround) | ||
2446 | { | ||
2447 | // localHeightfield = TerrainHeightFieldHeights[geom]; | ||
2448 | proceed = true; | ||
2449 | } | ||
2450 | else | ||
2451 | { | ||
2452 | geomDestroyList.Add(geom); | ||
2453 | } | ||
2454 | } | ||
2455 | |||
2456 | if (proceed) | ||
2457 | { | ||
2458 | m_worldOffset = Vector3.Zero; | ||
2459 | WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); | ||
2460 | m_parentScene = null; | ||
2461 | |||
2462 | foreach (IntPtr g in geomDestroyList) | ||
2463 | { | ||
2464 | // removingHeightField needs to be done or the garbage collector will | ||
2465 | // collect the terrain data before we tell ODE to destroy it causing | ||
2466 | // memory corruption | ||
2467 | if (TerrainHeightFieldHeights.ContainsKey(g)) | ||
2468 | { | ||
2469 | // float[] removingHeightField = TerrainHeightFieldHeights[g]; | ||
2470 | TerrainHeightFieldHeights.Remove(g); | ||
2471 | |||
2472 | if (RegionTerrain.ContainsKey(g)) | ||
2473 | { | ||
2474 | RegionTerrain.Remove(g); | ||
2475 | } | ||
2476 | |||
2477 | d.GeomDestroy(g); | ||
2478 | //removingHeightField = new float[0]; | ||
2479 | } | ||
2480 | } | ||
2481 | |||
2482 | } | ||
2483 | else | ||
2484 | { | ||
2485 | m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); | ||
2486 | } | ||
2487 | } | ||
2488 | } | ||
2489 | } | ||
2490 | */ | ||
2491 | public override void SetWaterLevel(float baseheight) | ||
2492 | { | ||
2493 | waterlevel = baseheight; | ||
2494 | // randomizeWater(waterlevel); | ||
2495 | } | ||
2496 | /* | ||
2497 | public void randomizeWater(float baseheight) | ||
2498 | { | ||
2499 | const uint heightmapWidth = Constants.RegionSize + 2; | ||
2500 | const uint heightmapHeight = Constants.RegionSize + 2; | ||
2501 | const uint heightmapWidthSamples = heightmapWidth + 1; | ||
2502 | const uint heightmapHeightSamples = heightmapHeight + 1; | ||
2503 | |||
2504 | const float scale = 1.0f; | ||
2505 | const float offset = 0.0f; | ||
2506 | const int wrap = 0; | ||
2507 | |||
2508 | float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples]; | ||
2509 | |||
2510 | float maxheigh = float.MinValue; | ||
2511 | float minheigh = float.MaxValue; | ||
2512 | float val; | ||
2513 | for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++) | ||
2514 | { | ||
2515 | |||
2516 | val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f); | ||
2517 | _watermap[i] = val; | ||
2518 | if (maxheigh < val) | ||
2519 | maxheigh = val; | ||
2520 | if (minheigh > val) | ||
2521 | minheigh = val; | ||
2522 | } | ||
2523 | |||
2524 | float thickness = minheigh; | ||
2525 | |||
2526 | lock (OdeLock) | ||
2527 | { | ||
2528 | if (WaterGeom != IntPtr.Zero) | ||
2529 | { | ||
2530 | actor_name_map.Remove(WaterGeom); | ||
2531 | d.GeomDestroy(WaterGeom); | ||
2532 | d.GeomHeightfieldDataDestroy(WaterHeightmapData); | ||
2533 | WaterGeom = IntPtr.Zero; | ||
2534 | WaterHeightmapData = IntPtr.Zero; | ||
2535 | if(WaterMapHandler.IsAllocated) | ||
2536 | WaterMapHandler.Free(); | ||
2537 | } | ||
2538 | |||
2539 | WaterHeightmapData = d.GeomHeightfieldDataCreate(); | ||
2540 | |||
2541 | WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned); | ||
2542 | |||
2543 | d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight, | ||
2544 | (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, | ||
2545 | offset, thickness, wrap); | ||
2546 | d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh); | ||
2547 | WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1); | ||
2548 | if (WaterGeom != IntPtr.Zero) | ||
2549 | { | ||
2550 | d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water)); | ||
2551 | d.GeomSetCollideBits(WaterGeom, 0); | ||
2552 | |||
2553 | |||
2554 | PhysicsActor pa = new NullPhysicsActor(); | ||
2555 | pa.Name = "Water"; | ||
2556 | pa.PhysicsActorType = (int)ActorTypes.Water; | ||
2557 | |||
2558 | actor_name_map[WaterGeom] = pa; | ||
2559 | // geom_name_map[WaterGeom] = "Water"; | ||
2560 | |||
2561 | d.Matrix3 R = new d.Matrix3(); | ||
2562 | |||
2563 | Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); | ||
2564 | Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); | ||
2565 | |||
2566 | q1 = q1 * q2; | ||
2567 | Vector3 v3; | ||
2568 | float angle; | ||
2569 | q1.GetAxisAngle(out v3, out angle); | ||
2570 | |||
2571 | d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); | ||
2572 | d.GeomSetRotation(WaterGeom, ref R); | ||
2573 | d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0); | ||
2574 | } | ||
2575 | } | ||
2576 | } | ||
2577 | */ | ||
2578 | public override void Dispose() | ||
2579 | { | ||
2580 | lock (OdeLock) | ||
2581 | { | ||
2582 | m_rayCastManager.Dispose(); | ||
2583 | m_rayCastManager = null; | ||
2584 | |||
2585 | lock (_prims) | ||
2586 | { | ||
2587 | ChangesQueue.Clear(); | ||
2588 | foreach (OdePrim prm in _prims) | ||
2589 | { | ||
2590 | prm.DoAChange(changes.Remove, null); | ||
2591 | _collisionEventPrim.Remove(prm); | ||
2592 | } | ||
2593 | _prims.Clear(); | ||
2594 | } | ||
2595 | |||
2596 | OdeCharacter[] chtorem; | ||
2597 | lock (_characters) | ||
2598 | { | ||
2599 | chtorem = new OdeCharacter[_characters.Count]; | ||
2600 | _characters.CopyTo(chtorem); | ||
2601 | } | ||
2602 | |||
2603 | ChangesQueue.Clear(); | ||
2604 | foreach (OdeCharacter ch in chtorem) | ||
2605 | ch.DoAChange(changes.Remove, null); | ||
2606 | |||
2607 | |||
2608 | foreach (IntPtr GroundGeom in RegionTerrain.Values) | ||
2609 | { | ||
2610 | if (GroundGeom != IntPtr.Zero) | ||
2611 | d.GeomDestroy(GroundGeom); | ||
2612 | } | ||
2613 | |||
2614 | RegionTerrain.Clear(); | ||
2615 | |||
2616 | if (TerrainHeightFieldHeightsHandlers.Count > 0) | ||
2617 | { | ||
2618 | foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values) | ||
2619 | { | ||
2620 | if (gch.IsAllocated) | ||
2621 | gch.Free(); | ||
2622 | } | ||
2623 | } | ||
2624 | |||
2625 | TerrainHeightFieldHeightsHandlers.Clear(); | ||
2626 | TerrainHeightFieldHeights.Clear(); | ||
2627 | /* | ||
2628 | if (WaterGeom != IntPtr.Zero) | ||
2629 | { | ||
2630 | d.GeomDestroy(WaterGeom); | ||
2631 | WaterGeom = IntPtr.Zero; | ||
2632 | if (WaterHeightmapData != IntPtr.Zero) | ||
2633 | d.GeomHeightfieldDataDestroy(WaterHeightmapData); | ||
2634 | WaterHeightmapData = IntPtr.Zero; | ||
2635 | |||
2636 | if (WaterMapHandler.IsAllocated) | ||
2637 | WaterMapHandler.Free(); | ||
2638 | } | ||
2639 | */ | ||
2640 | if (ContactgeomsArray != IntPtr.Zero) | ||
2641 | Marshal.FreeHGlobal(ContactgeomsArray); | ||
2642 | if (GlobalContactsArray != IntPtr.Zero) | ||
2643 | Marshal.FreeHGlobal(GlobalContactsArray); | ||
2644 | |||
2645 | |||
2646 | d.WorldDestroy(world); | ||
2647 | world = IntPtr.Zero; | ||
2648 | //d.CloseODE(); | ||
2649 | } | ||
2650 | } | ||
2651 | |||
2652 | public override Dictionary<uint, float> GetTopColliders() | ||
2653 | { | ||
2654 | Dictionary<uint, float> returncolliders = new Dictionary<uint, float>(); | ||
2655 | int cnt = 0; | ||
2656 | lock (_prims) | ||
2657 | { | ||
2658 | foreach (OdePrim prm in _prims) | ||
2659 | { | ||
2660 | if (prm.CollisionScore > 0) | ||
2661 | { | ||
2662 | returncolliders.Add(prm.LocalID, prm.CollisionScore); | ||
2663 | cnt++; | ||
2664 | prm.CollisionScore = 0f; | ||
2665 | if (cnt > 25) | ||
2666 | { | ||
2667 | break; | ||
2668 | } | ||
2669 | } | ||
2670 | } | ||
2671 | } | ||
2672 | return returncolliders; | ||
2673 | } | ||
2674 | |||
2675 | public override bool SupportsRayCast() | ||
2676 | { | ||
2677 | return true; | ||
2678 | } | ||
2679 | |||
2680 | public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
2681 | { | ||
2682 | if (retMethod != null) | ||
2683 | { | ||
2684 | m_rayCastManager.QueueRequest(position, direction, length, retMethod); | ||
2685 | } | ||
2686 | } | ||
2687 | |||
2688 | public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) | ||
2689 | { | ||
2690 | if (retMethod != null) | ||
2691 | { | ||
2692 | m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod); | ||
2693 | } | ||
2694 | } | ||
2695 | |||
2696 | // don't like this | ||
2697 | public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) | ||
2698 | { | ||
2699 | ContactResult[] ourResults = null; | ||
2700 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2701 | { | ||
2702 | ourResults = new ContactResult[results.Count]; | ||
2703 | results.CopyTo(ourResults, 0); | ||
2704 | }; | ||
2705 | int waitTime = 0; | ||
2706 | m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod); | ||
2707 | while (ourResults == null && waitTime < 1000) | ||
2708 | { | ||
2709 | Thread.Sleep(1); | ||
2710 | waitTime++; | ||
2711 | } | ||
2712 | if (ourResults == null) | ||
2713 | return new List<ContactResult>(); | ||
2714 | return new List<ContactResult>(ourResults); | ||
2715 | } | ||
2716 | |||
2717 | public override bool SuportsRaycastWorldFiltered() | ||
2718 | { | ||
2719 | return true; | ||
2720 | } | ||
2721 | |||
2722 | public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) | ||
2723 | { | ||
2724 | object SyncObject = new object(); | ||
2725 | List<ContactResult> ourresults = new List<ContactResult>(); | ||
2726 | |||
2727 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2728 | { | ||
2729 | lock (SyncObject) | ||
2730 | { | ||
2731 | ourresults = results; | ||
2732 | Monitor.PulseAll(SyncObject); | ||
2733 | } | ||
2734 | }; | ||
2735 | |||
2736 | lock (SyncObject) | ||
2737 | { | ||
2738 | m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod); | ||
2739 | if (!Monitor.Wait(SyncObject, 500)) | ||
2740 | return null; | ||
2741 | else | ||
2742 | return ourresults; | ||
2743 | } | ||
2744 | } | ||
2745 | |||
2746 | public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) | ||
2747 | { | ||
2748 | if (retMethod != null && actor !=null) | ||
2749 | { | ||
2750 | IntPtr geom; | ||
2751 | if (actor is OdePrim) | ||
2752 | geom = ((OdePrim)actor).prim_geom; | ||
2753 | else if (actor is OdeCharacter) | ||
2754 | geom = ((OdePrim)actor).prim_geom; | ||
2755 | else | ||
2756 | return; | ||
2757 | if (geom == IntPtr.Zero) | ||
2758 | return; | ||
2759 | m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod); | ||
2760 | } | ||
2761 | } | ||
2762 | |||
2763 | public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) | ||
2764 | { | ||
2765 | if (retMethod != null && actor != null) | ||
2766 | { | ||
2767 | IntPtr geom; | ||
2768 | if (actor is OdePrim) | ||
2769 | geom = ((OdePrim)actor).prim_geom; | ||
2770 | else if (actor is OdeCharacter) | ||
2771 | geom = ((OdePrim)actor).prim_geom; | ||
2772 | else | ||
2773 | return; | ||
2774 | if (geom == IntPtr.Zero) | ||
2775 | return; | ||
2776 | |||
2777 | m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); | ||
2778 | } | ||
2779 | } | ||
2780 | |||
2781 | // don't like this | ||
2782 | public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count) | ||
2783 | { | ||
2784 | if (actor != null) | ||
2785 | { | ||
2786 | IntPtr geom; | ||
2787 | if (actor is OdePrim) | ||
2788 | geom = ((OdePrim)actor).prim_geom; | ||
2789 | else if (actor is OdeCharacter) | ||
2790 | geom = ((OdePrim)actor).prim_geom; | ||
2791 | else | ||
2792 | return new List<ContactResult>(); | ||
2793 | if (geom == IntPtr.Zero) | ||
2794 | return new List<ContactResult>(); | ||
2795 | |||
2796 | ContactResult[] ourResults = null; | ||
2797 | RayCallback retMethod = delegate(List<ContactResult> results) | ||
2798 | { | ||
2799 | ourResults = new ContactResult[results.Count]; | ||
2800 | results.CopyTo(ourResults, 0); | ||
2801 | }; | ||
2802 | int waitTime = 0; | ||
2803 | m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); | ||
2804 | while (ourResults == null && waitTime < 1000) | ||
2805 | { | ||
2806 | Thread.Sleep(1); | ||
2807 | waitTime++; | ||
2808 | } | ||
2809 | if (ourResults == null) | ||
2810 | return new List<ContactResult>(); | ||
2811 | return new List<ContactResult>(ourResults); | ||
2812 | } | ||
2813 | return new List<ContactResult>(); | ||
2814 | } | ||
2815 | } | ||
2816 | } | ||