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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs71
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs201
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs191
3 files changed, 299 insertions, 164 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index c9d0909..0fabb56 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -38,7 +38,7 @@
38 * settings use. 38 * settings use.
39 */ 39 */
40 40
41// Ubit 2012 41// Extensive change Ubit 2012
42 42
43using System; 43using System;
44using System.Collections.Generic; 44using System.Collections.Generic;
@@ -120,6 +120,16 @@ namespace OpenSim.Region.Physics.OdePlugin
120 private float m_lmEfect = 0; // current linear motor eficiency 120 private float m_lmEfect = 0; // current linear motor eficiency
121 private float m_amEfect = 0; // current angular motor eficiency 121 private float m_amEfect = 0; // current angular motor eficiency
122 122
123 public bool EngineActive
124 {
125 get
126 {
127 if (m_lmEfect > 0.01)
128 return true;
129 return false;
130 }
131 }
132
123 133
124 public ODEDynamics(OdePrim rootp) 134 public ODEDynamics(OdePrim rootp)
125 { 135 {
@@ -152,6 +162,7 @@ namespace OpenSim.Region.Physics.OdePlugin
152 m_linearMotorTimescale = vd.m_linearMotorTimescale; 162 m_linearMotorTimescale = vd.m_linearMotorTimescale;
153 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep; 163 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
154 164
165
155 m_linearMotorOffset = vd.m_linearMotorOffset; 166 m_linearMotorOffset = vd.m_linearMotorOffset;
156 167
157 //Angular properties 168 //Angular properties
@@ -614,6 +625,7 @@ namespace OpenSim.Region.Physics.OdePlugin
614 return vec; 625 return vec;
615 } 626 }
616 627
628 private const float pi = (float)Math.PI;
617 private const float halfpi = 0.5f * (float)Math.PI; 629 private const float halfpi = 0.5f * (float)Math.PI;
618 630
619 public static Vector3 ubitRot2Euler(Quaternion rot) 631 public static Vector3 ubitRot2Euler(Quaternion rot)
@@ -884,35 +896,64 @@ namespace OpenSim.Region.Physics.OdePlugin
884 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE; 896 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
885 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE; 897 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
886 898
887 if (Math.Abs(roll) > 0.01) // roll 899 if (roll > halfpi)
900 roll = pi - roll;
901 else if (roll < -halfpi)
902 roll = -pi - roll;
903
904 float effroll = pitch / halfpi;
905 effroll *= effroll;
906 effroll = 1 - effroll;
907 effroll *= roll;
908
909 if (Math.Abs(effroll) > 0.01) // roll
888 { 910 {
889 torque.X -= -roll * ftmp + curLocalAngVel.X * ftmp2; 911 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
890 } 912 }
891 913
892 if (Math.Abs(pitch) > 0.01 && ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)) // pitch 914 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
893 { 915 {
894 torque.Y -= -pitch * ftmp + curLocalAngVel.Y * ftmp2; 916 float effpitch = roll / halfpi;
917 effpitch *= effpitch;
918 effpitch = 1 - effpitch;
919 effpitch *= pitch;
920
921 if (Math.Abs(effpitch) > 0.01) // pitch
922 {
923 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
924 }
895 } 925 }
896 926
897 if (m_bankingEfficiency != 0 && Math.Abs(roll) > 0.01) 927 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
898 { 928 {
899 float broll = roll * m_bankingEfficiency; ; 929
930 float broll = effroll;
931/*
932 if (broll > halfpi)
933 broll = pi - broll;
934 else if (broll < -halfpi)
935 broll = -pi - broll;
936*/
937 broll *= m_bankingEfficiency;
900 if (m_bankingMix != 0) 938 if (m_bankingMix != 0)
901 { 939 {
902 float vfact = Math.Abs(curLocalVel.X) / 10.0f; 940 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
903 if (vfact > 1.0f) vfact = 1.0f; 941 if (vfact > 1.0f) vfact = 1.0f;
942
904 if (curLocalVel.X >= 0) 943 if (curLocalVel.X >= 0)
905 broll *= ((1 - m_bankingMix) + vfact); 944 broll *= (1 + (vfact - 1) * m_bankingMix);
906 else 945 else
907 broll *= -((1 - m_bankingMix) + vfact); 946 broll *= -(1 + (vfact - 1) * m_bankingMix);
908 } 947 }
909 broll = (broll - curLocalAngVel.Z) / m_bankingTimescale;
910 // torque.Z += broll;
911
912 // make z rot be in world Z not local as seems to be in sl 948 // make z rot be in world Z not local as seems to be in sl
913 tmpV.X = 0; 949
914 tmpV.Y = 0; 950 broll = broll / m_bankingTimescale;
915 tmpV.Z = broll; 951
952 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
953
954 tmpV.X = ftmp * curAngVel.X;
955 tmpV.Y = ftmp * curAngVel.Y;
956 tmpV.Z = broll + ftmp * curAngVel.Z;
916 tmpV *= irotq; 957 tmpV *= irotq;
917 958
918 torque.X += tmpV.X; 959 torque.X += tmpV.X;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 0ccdbc0..e5fa1d7 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -155,6 +155,8 @@ namespace OpenSim.Region.Physics.OdePlugin
155 public float m_collisionscore; 155 public float m_collisionscore;
156 int m_colliderfilter = 0; 156 int m_colliderfilter = 0;
157 157
158 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
159
158 private float m_density = 10.000006836f; // Aluminum g/cm3; 160 private float m_density = 10.000006836f; // Aluminum g/cm3;
159 161
160 public bool _zeroFlag; 162 public bool _zeroFlag;
@@ -220,6 +222,18 @@ namespace OpenSim.Region.Physics.OdePlugin
220 { 222 {
221 get 223 get
222 { 224 {
225 if (m_isphysical)
226 {
227 ODEDynamics veh;
228 if (_parent != null)
229 veh = ((OdePrim)_parent).m_vehicle;
230 else
231 veh = m_vehicle;
232
233 if (veh != null)
234 if (veh.Type != Vehicle.TYPE_NONE && veh.EngineActive)
235 return new ContactData(0, 0);
236 }
223 return primContactData; 237 return primContactData;
224 } 238 }
225 } 239 }
@@ -453,8 +467,6 @@ namespace OpenSim.Region.Physics.OdePlugin
453 { 467 {
454 get 468 get
455 { 469 {
456 // Averate previous velocity with the new one so
457 // client object interpolation works a 'little' better
458 if (_zeroFlag) 470 if (_zeroFlag)
459 return Vector3.Zero; 471 return Vector3.Zero;
460 return _velocity; 472 return _velocity;
@@ -833,6 +845,7 @@ namespace OpenSim.Region.Physics.OdePlugin
833 body_autodisable_frames = parent_scene.bodyFramesAutoDisable; 845 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
834 846
835 prim_geom = IntPtr.Zero; 847 prim_geom = IntPtr.Zero;
848 collide_geom = IntPtr.Zero;
836 Body = IntPtr.Zero; 849 Body = IntPtr.Zero;
837 850
838 if (!size.IsFinite()) 851 if (!size.IsFinite())
@@ -1367,7 +1380,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1367 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1380 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1368 m_collisionscore = 0; 1381 m_collisionscore = 0;
1369 1382
1370 if (m_targetSpace != _parent_scene.ActiveSpace) 1383// if (m_targetSpace != _parent_scene.ActiveSpace)
1371 { 1384 {
1372 if (m_targetSpace != IntPtr.Zero) 1385 if (m_targetSpace != IntPtr.Zero)
1373 { 1386 {
@@ -1376,9 +1389,26 @@ namespace OpenSim.Region.Physics.OdePlugin
1376 d.SpaceRemove(m_targetSpace, prim_geom); 1389 d.SpaceRemove(m_targetSpace, prim_geom);
1377 } 1390 }
1378 1391
1392// m_targetSpace = _parent_scene.ActiveSpace;
1393// d.SpaceAdd(m_targetSpace, prim_geom);
1394 }
1395
1396
1397 if (childrenPrim.Count == 0)
1398 {
1399 collide_geom = prim_geom;
1379 m_targetSpace = _parent_scene.ActiveSpace; 1400 m_targetSpace = _parent_scene.ActiveSpace;
1380 d.SpaceAdd(m_targetSpace, prim_geom); 1401 d.SpaceAdd(m_targetSpace, prim_geom);
1381 } 1402 }
1403 else
1404 {
1405 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1406 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1407 d.SpaceSetSublevel(m_targetSpace, 3);
1408 d.SpaceSetCleanup(m_targetSpace, false);
1409 d.SpaceAdd(m_targetSpace, prim_geom);
1410 collide_geom = m_targetSpace;
1411 }
1382 1412
1383 lock (childrenPrim) 1413 lock (childrenPrim)
1384 { 1414 {
@@ -1396,15 +1426,15 @@ namespace OpenSim.Region.Physics.OdePlugin
1396 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); 1426 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1397 prm.m_collisionscore = 0; 1427 prm.m_collisionscore = 0;
1398 1428
1399 if (prm.m_targetSpace != _parent_scene.ActiveSpace) 1429 if (prm.m_targetSpace != m_targetSpace)
1400 { 1430 {
1401 if (prm.m_targetSpace != IntPtr.Zero) 1431 if (prm.m_targetSpace != IntPtr.Zero)
1402 { 1432 {
1403 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1433 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1404 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) 1434 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1405 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); 1435 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1406 } 1436 }
1407 prm.m_targetSpace = _parent_scene.ActiveSpace; 1437 prm.m_targetSpace = m_targetSpace;
1408 d.SpaceAdd(m_targetSpace, prm.prim_geom); 1438 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1409 } 1439 }
1410 1440
@@ -1427,8 +1457,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1427 d.GeomDisable(prim_geom); 1457 d.GeomDisable(prim_geom);
1428 d.BodyDisable(Body); 1458 d.BodyDisable(Body);
1429 } 1459 }
1460 else
1461 {
1462 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1463 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1464 }
1430 1465
1431 _parent_scene.addActivePrim(this); 1466 _parent_scene.addActivePrim(this);
1467 _parent_scene.addActiveGroups(this);
1432 } 1468 }
1433 1469
1434 private void DestroyBody() 1470 private void DestroyBody()
@@ -1473,6 +1509,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1473 d.JointDestroy(Amotor); 1509 d.JointDestroy(Amotor);
1474 Amotor = IntPtr.Zero; 1510 Amotor = IntPtr.Zero;
1475 } 1511 }
1512 _parent_scene.remActiveGroup(this);
1476 d.BodyDestroy(Body); 1513 d.BodyDestroy(Body);
1477 } 1514 }
1478 Body = IntPtr.Zero; 1515 Body = IntPtr.Zero;
@@ -2390,8 +2427,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2390 else 2427 else
2391 */ 2428 */
2392 DestroyBody(); 2429 DestroyBody();
2393 Stop();
2394 } 2430 }
2431 Stop();
2395 } 2432 }
2396 } 2433 }
2397 2434
@@ -2576,7 +2613,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2576 if ((bool)newbuilding) 2613 if ((bool)newbuilding)
2577 { 2614 {
2578 m_building = true; 2615 m_building = true;
2579 DestroyBody(); 2616 if (!childPrim)
2617 DestroyBody();
2580 } 2618 }
2581 else 2619 else
2582 { 2620 {
@@ -2648,12 +2686,95 @@ namespace OpenSim.Region.Physics.OdePlugin
2648 public void Move() 2686 public void Move()
2649 { 2687 {
2650 if (!childPrim && m_isphysical && Body != IntPtr.Zero && 2688 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
2651 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims. 2689 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
2690 // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
2652 { 2691 {
2653 // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 2692// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
2654 2693
2655 float timestep = _parent_scene.ODE_STEPSIZE; 2694 float timestep = _parent_scene.ODE_STEPSIZE;
2656 2695
2696 // check outside region
2697 d.Vector3 lpos;
2698 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2699
2700 if (lpos.Z < -100 || lpos.Z > 100000f)
2701 {
2702 m_outbounds = true;
2703
2704 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
2705 _acceleration.X = 0;
2706 _acceleration.Y = 0;
2707 _acceleration.Z = 0;
2708
2709 _velocity.X = 0;
2710 _velocity.Y = 0;
2711 _velocity.Z = 0;
2712 m_rotationalVelocity.X = 0;
2713 m_rotationalVelocity.Y = 0;
2714 m_rotationalVelocity.Z = 0;
2715
2716 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2717 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
2718 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
2719 m_lastposition = _position;
2720 m_lastorientation = _orientation;
2721
2722 base.RequestPhysicsterseUpdate();
2723
2724 m_throttleUpdates = false;
2725 throttleCounter = 0;
2726 _zeroFlag = true;
2727
2728 disableBodySoft(); // disable it and colisions
2729 base.RaiseOutOfBounds(_position);
2730 return;
2731 }
2732
2733 if (lpos.X < 0f)
2734 {
2735 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
2736 m_outbounds = true;
2737 }
2738 else if(lpos.X > _parent_scene.WorldExtents.X)
2739 {
2740 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
2741 m_outbounds = true;
2742 }
2743 if (lpos.Y < 0f)
2744 {
2745 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
2746 m_outbounds = true;
2747 }
2748 else if(lpos.Y > _parent_scene.WorldExtents.Y)
2749 {
2750 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
2751 m_outbounds = true;
2752 }
2753
2754 if(m_outbounds)
2755 {
2756 m_lastposition = _position;
2757 m_lastorientation = _orientation;
2758
2759 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
2760 m_rotationalVelocity.X = dtmp.X;
2761 m_rotationalVelocity.Y = dtmp.Y;
2762 m_rotationalVelocity.Z = dtmp.Z;
2763
2764 dtmp = d.BodyGetLinearVel(Body);
2765 _velocity.X = dtmp.X;
2766 _velocity.Y = dtmp.Y;
2767 _velocity.Z = dtmp.Z;
2768
2769 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2770 d.BodySetAngularVel(Body, 0, 0, 0);
2771 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2772 disableBodySoft(); // stop collisions
2773 base.RequestPhysicsterseUpdate();
2774 return;
2775 }
2776
2777
2657 float fx = 0; 2778 float fx = 0;
2658 float fy = 0; 2779 float fy = 0;
2659 float fz = 0; 2780 float fz = 0;
@@ -2862,7 +2983,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2862 public void UpdatePositionAndVelocity(float simulatedtime) 2983 public void UpdatePositionAndVelocity(float simulatedtime)
2863 { 2984 {
2864 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 2985 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
2865 if (_parent == null && !m_disabled && !m_building) 2986 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
2866 { 2987 {
2867 if (Body != IntPtr.Zero) 2988 if (Body != IntPtr.Zero)
2868 { 2989 {
@@ -2872,64 +2993,6 @@ namespace OpenSim.Region.Physics.OdePlugin
2872 d.Vector3 lpos; 2993 d.Vector3 lpos;
2873 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator 2994 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2874 2995
2875 // we need to use root position since that's all the rest of scene uses
2876 if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X
2877 || lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y
2878 )
2879 {
2880 // we are outside current region
2881 // we can't let it keeping moving and having colisions
2882 // since it can be stucked between something like terrain and edge
2883 // so lets stop and disable it until something else kicks it
2884
2885 _position.X = Util.Clip(lpos.X, -0.2f, _parent_scene.WorldExtents.X + 0.2f);
2886 _position.Y = Util.Clip(lpos.Y, -0.2f, _parent_scene.WorldExtents.Y + 0.2f);
2887 _position.Z = Util.Clip(lpos.Z, -100f, 50000f);
2888
2889 m_lastposition = _position;
2890// m_lastorientation = _orientation;
2891
2892 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2893// d.BodySetAngularVel(Body, 0, 0, 0);
2894 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2895 disableBodySoft(); // stop collisions
2896 m_outbounds = true;
2897 base.RequestPhysicsterseUpdate();
2898 return;
2899 }
2900
2901 if (lpos.Z < -100 || lpos.Z > 100000f)
2902 {
2903 lpos.Z = Util.Clip(lpos.Z, -100f, 50000f);
2904
2905 _acceleration.X = 0;
2906 _acceleration.Y = 0;
2907 _acceleration.Z = 0;
2908
2909 _velocity.X = 0;
2910 _velocity.Y = 0;
2911 _velocity.Z = 0;
2912 m_rotationalVelocity.X = 0;
2913 m_rotationalVelocity.Y = 0;
2914 m_rotationalVelocity.Z = 0;
2915
2916 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2917 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
2918 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
2919 m_lastposition = _position;
2920 m_lastorientation = _orientation;
2921
2922 base.RequestPhysicsterseUpdate();
2923
2924 m_throttleUpdates = false;
2925 throttleCounter = 0;
2926 _zeroFlag = true;
2927
2928 disableBodySoft(); // disable it and colisions
2929 base.RaiseOutOfBounds(_position);
2930
2931 return;
2932 }
2933 2996
2934 d.Quaternion ori; 2997 d.Quaternion ori;
2935 d.GeomCopyQuaternion(prim_geom, out ori); 2998 d.GeomCopyQuaternion(prim_geom, out ori);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 6e4c373..129db5d 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -155,7 +155,7 @@ namespace OpenSim.Region.Physics.OdePlugin
155 private readonly ILog m_log; 155 private readonly ILog m_log;
156 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); 156 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
157 157
158 private int threadid = 0; 158// private int threadid = 0;
159 private Random fluidRandomizer = new Random(Environment.TickCount); 159 private Random fluidRandomizer = new Random(Environment.TickCount);
160 160
161 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; 161 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
@@ -168,7 +168,7 @@ namespace OpenSim.Region.Physics.OdePlugin
168 float frictionMovementMult = 0.3f; 168 float frictionMovementMult = 0.3f;
169 169
170 float TerrainBounce = 0.1f; 170 float TerrainBounce = 0.1f;
171 float TerrainFriction = 0.1f; 171 float TerrainFriction = 0.3f;
172 172
173 public float AvatarBounce = 0.3f; 173 public float AvatarBounce = 0.3f;
174 public float AvatarFriction = 0;// 0.9f * 0.5f; 174 public float AvatarFriction = 0;// 0.9f * 0.5f;
@@ -189,8 +189,8 @@ namespace OpenSim.Region.Physics.OdePlugin
189 189
190 internal IntPtr WaterGeom; 190 internal IntPtr WaterGeom;
191 191
192 public float avPIDD = 3200f; // make it visible 192 public float avPIDD = 2200f; // make it visible
193 public float avPIDP = 1400f; // make it visible 193 public float avPIDP = 900f; // make it visible
194 private float avCapRadius = 0.37f; 194 private float avCapRadius = 0.37f;
195 private float avDensity = 3f; 195 private float avDensity = 3f;
196 private float avMovementDivisorWalk = 1.3f; 196 private float avMovementDivisorWalk = 1.3f;
@@ -202,7 +202,7 @@ namespace OpenSim.Region.Physics.OdePlugin
202 public bool forceSimplePrimMeshing = false; 202 public bool forceSimplePrimMeshing = false;
203 203
204 public float meshSculptLOD = 32; 204 public float meshSculptLOD = 32;
205 public float MeshSculptphysicalLOD = 16; 205 public float MeshSculptphysicalLOD = 32;
206 206
207 public float geomDefaultDensity = 10.000006836f; 207 public float geomDefaultDensity = 10.000006836f;
208 208
@@ -212,18 +212,18 @@ namespace OpenSim.Region.Physics.OdePlugin
212 public float bodyPIDD = 35f; 212 public float bodyPIDD = 35f;
213 public float bodyPIDG = 25; 213 public float bodyPIDG = 25;
214 214
215 public int geomCrossingFailuresBeforeOutofbounds = 6; 215// public int geomCrossingFailuresBeforeOutofbounds = 6;
216 216
217 public int bodyFramesAutoDisable = 20; 217 public int bodyFramesAutoDisable = 20;
218 218
219 private float[] _watermap; 219 private float[] _watermap;
220 private bool m_filterCollisions = true;
221 220
222 private d.NearCallback nearCallback; 221 private d.NearCallback nearCallback;
223 222
224 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); 223 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
225 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>(); 224 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
226 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); 225 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
226 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
227 227
228 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>(); 228 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
229 229
@@ -387,9 +387,6 @@ namespace OpenSim.Region.Physics.OdePlugin
387 387
388 // Defaults 388 // Defaults
389 389
390 avPIDD = 2200.0f;
391 avPIDP = 900.0f;
392
393 int contactsPerCollision = 80; 390 int contactsPerCollision = 80;
394 391
395 if (m_config != null) 392 if (m_config != null)
@@ -397,57 +394,56 @@ namespace OpenSim.Region.Physics.OdePlugin
397 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; 394 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
398 if (physicsconfig != null) 395 if (physicsconfig != null)
399 { 396 {
400 gravityx = physicsconfig.GetFloat("world_gravityx", 0f); 397 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
401 gravityy = physicsconfig.GetFloat("world_gravityy", 0f); 398 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
402 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); 399 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
403 400
404 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f); 401 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
405 402
406 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); 403 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
407 404
408 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f); 405 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
409 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); 406 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
410 407
411 avDensity = physicsconfig.GetFloat("av_density", avDensity); 408 avDensity = physicsconfig.GetFloat("av_density", avDensity);
412 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); 409 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
413 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); 410 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
414 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); 411 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
415 412
416 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); 413 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
417 414
418 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); 415 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
419 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); 416 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
420 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); 417// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
421 418
422 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); 419 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
423 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); 420 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
424 421
425 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f); 422 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
426 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f); 423 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
427 424
428 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); 425 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
429 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true); 426 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
430 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); 427 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
431 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); 428 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
432 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
433 429
434 if (Environment.OSVersion.Platform == PlatformID.Unix) 430 if (Environment.OSVersion.Platform == PlatformID.Unix)
435 { 431 {
436 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f); 432 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
437 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f); 433 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
438 } 434 }
439 else 435 else
440 { 436 {
441 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f); 437 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
442 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f); 438 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
443 } 439 }
444 440
445 physics_logging = physicsconfig.GetBoolean("physics_logging", false); 441 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
446 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); 442 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
447 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); 443 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
448 444
449 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f); 445 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
450 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f); 446 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
451 } 447 }
452 } 448 }
453 449
@@ -1013,15 +1009,24 @@ namespace OpenSim.Region.Physics.OdePlugin
1013 1009
1014 } 1010 }
1015 1011
1016 // collide active prims with static enviroment
1017 lock (_activeprims) 1012 lock (_activeprims)
1018 { 1013 {
1014 foreach (OdePrim aprim in _activeprims)
1015 {
1016 aprim.CollisionScore = 0;
1017 aprim.IsColliding = false;
1018 }
1019 }
1020
1021 // collide active prims with static enviroment
1022 lock (_activegroups)
1023 {
1019 try 1024 try
1020 { 1025 {
1021 foreach (OdePrim prm in _activeprims) 1026 foreach (OdePrim prm in _activegroups)
1022 { 1027 {
1023 if (d.BodyIsEnabled(prm.Body)) 1028 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1024 d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback); 1029 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1025 } 1030 }
1026 } 1031 }
1027 catch (AccessViolationException) 1032 catch (AccessViolationException)
@@ -1029,7 +1034,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1029 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); 1034 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1030 } 1035 }
1031 } 1036 }
1032
1033 // finally colide active things amoung them 1037 // finally colide active things amoung them
1034 try 1038 try
1035 { 1039 {
@@ -1039,7 +1043,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1039 { 1043 {
1040 m_log.Warn("[PHYSICS]: Unable to collide in Active space"); 1044 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1041 } 1045 }
1042
1043// _perloopContact.Clear(); 1046// _perloopContact.Clear();
1044 } 1047 }
1045 1048
@@ -1148,13 +1151,20 @@ namespace OpenSim.Region.Physics.OdePlugin
1148 1151
1149 public void addActivePrim(OdePrim activatePrim) 1152 public void addActivePrim(OdePrim activatePrim)
1150 { 1153 {
1151 // adds active prim.. (ones that should be iterated over in collisions_optimized 1154 // adds active prim..
1152 lock (_activeprims) 1155 lock (_activeprims)
1153 { 1156 {
1154 if (!_activeprims.Contains(activatePrim)) 1157 if (!_activeprims.Contains(activatePrim))
1155 _activeprims.Add(activatePrim); 1158 _activeprims.Add(activatePrim);
1156 //else 1159 }
1157 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); 1160 }
1161
1162 public void addActiveGroups(OdePrim activatePrim)
1163 {
1164 lock (_activegroups)
1165 {
1166 if (!_activegroups.Contains(activatePrim))
1167 _activegroups.Add(activatePrim);
1158 } 1168 }
1159 } 1169 }
1160 1170
@@ -1186,6 +1196,13 @@ namespace OpenSim.Region.Physics.OdePlugin
1186 _activeprims.Remove(deactivatePrim); 1196 _activeprims.Remove(deactivatePrim);
1187 } 1197 }
1188 } 1198 }
1199 public void remActiveGroup(OdePrim deactivatePrim)
1200 {
1201 lock (_activegroups)
1202 {
1203 _activegroups.Remove(deactivatePrim);
1204 }
1205 }
1189 1206
1190 public override void RemovePrim(PhysicsActor prim) 1207 public override void RemovePrim(PhysicsActor prim)
1191 { 1208 {
@@ -1258,6 +1275,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1258 { 1275 {
1259 waitForSpaceUnlock(currentspace); 1276 waitForSpaceUnlock(currentspace);
1260 d.SpaceRemove(currentspace, geom); 1277 d.SpaceRemove(currentspace, geom);
1278
1279 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1280 {
1281 d.SpaceDestroy(currentspace);
1282 }
1261 } 1283 }
1262 else 1284 else
1263 { 1285 {
@@ -1274,6 +1296,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1274 { 1296 {
1275 waitForSpaceUnlock(currentspace); 1297 waitForSpaceUnlock(currentspace);
1276 d.SpaceRemove(currentspace, geom); 1298 d.SpaceRemove(currentspace, geom);
1299
1300 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1301 {
1302 d.SpaceDestroy(currentspace);
1303 }
1304
1277 } 1305 }
1278 } 1306 }
1279 } 1307 }
@@ -1577,42 +1605,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1577 1605
1578 statchanges += Util.EnvironmentTickCountSubtract(statstart); 1606 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1579 1607
1580 // Move characters
1581 lock (_characters)
1582 {
1583 List<OdeCharacter> defects = new List<OdeCharacter>();
1584 foreach (OdeCharacter actor in _characters)
1585 {
1586 if (actor != null)
1587 actor.Move(ODE_STEPSIZE, defects);
1588 }
1589 if (defects.Count != 0)
1590 {
1591 foreach (OdeCharacter defect in defects)
1592 {
1593 RemoveCharacter(defect);
1594 }
1595 }
1596 }
1597 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1598
1599 // Move other active objects
1600 lock (_activeprims)
1601 {
1602 foreach (OdePrim aprim in _activeprims)
1603 {
1604 aprim.CollisionScore = 0;
1605 aprim.IsColliding = false;
1606 aprim.Move();
1607 }
1608 }
1609
1610 statactmove += Util.EnvironmentTickCountSubtract(statstart); 1608 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1611 //if ((framecount % m_randomizeWater) == 0) 1609 //if ((framecount % m_randomizeWater) == 0)
1612 // randomizeWater(waterlevel); 1610 // randomizeWater(waterlevel);
1613 1611
1614 m_rayCastManager.ProcessQueuedRequests(); 1612 m_rayCastManager.ProcessQueuedRequests();
1615 1613
1614
1615
1616 statray += Util.EnvironmentTickCountSubtract(statstart); 1616 statray += Util.EnvironmentTickCountSubtract(statstart);
1617 collision_optimized(); 1617 collision_optimized();
1618 statcol += Util.EnvironmentTickCountSubtract(statstart); 1618 statcol += Util.EnvironmentTickCountSubtract(statstart);
@@ -1642,8 +1642,35 @@ namespace OpenSim.Region.Physics.OdePlugin
1642 1642
1643 d.WorldQuickStep(world, ODE_STEPSIZE); 1643 d.WorldQuickStep(world, ODE_STEPSIZE);
1644 statstep += Util.EnvironmentTickCountSubtract(statstart); 1644 statstep += Util.EnvironmentTickCountSubtract(statstart);
1645 d.JointGroupEmpty(contactgroup); 1645
1646 totjcontact += m_global_contactcount; 1646 // Move characters
1647 lock (_characters)
1648 {
1649 List<OdeCharacter> defects = new List<OdeCharacter>();
1650 foreach (OdeCharacter actor in _characters)
1651 {
1652 if (actor != null)
1653 actor.Move(ODE_STEPSIZE, defects);
1654 }
1655 if (defects.Count != 0)
1656 {
1657 foreach (OdeCharacter defect in defects)
1658 {
1659 RemoveCharacter(defect);
1660 }
1661 }
1662 }
1663 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1664
1665 // Move other active objects
1666 lock (_activegroups)
1667 {
1668 foreach (OdePrim aprim in _activegroups)
1669 {
1670 aprim.Move();
1671 }
1672 }
1673
1647 //ode.dunlock(world); 1674 //ode.dunlock(world);
1648 } 1675 }
1649 catch (Exception e) 1676 catch (Exception e)
@@ -1652,6 +1679,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1652// ode.dunlock(world); 1679// ode.dunlock(world);
1653 } 1680 }
1654 1681
1682 d.JointGroupEmpty(contactgroup);
1683 totjcontact += m_global_contactcount;
1684
1655 step_time -= ODE_STEPSIZE; 1685 step_time -= ODE_STEPSIZE;
1656 nodeframes++; 1686 nodeframes++;
1657 } 1687 }
@@ -1686,10 +1716,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1686 } 1716 }
1687 statmovchar = Util.EnvironmentTickCountSubtract(statstart); 1717 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1688 1718
1689 lock (_activeprims) 1719 lock (_activegroups)
1690 { 1720 {
1691 { 1721 {
1692 foreach (OdePrim actor in _activeprims) 1722 foreach (OdePrim actor in _activegroups)
1693 { 1723 {
1694 if (actor.IsPhysical) 1724 if (actor.IsPhysical)
1695 { 1725 {
@@ -1906,13 +1936,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1906 yy += regionsize; 1936 yy += regionsize;
1907 1937
1908 val = heightMap[yy + xx]; 1938 val = heightMap[yy + xx];
1939 if (val < 0.0f)
1940 val = 0.0f; // no neg terrain as in chode
1909 _heightmap[xt + y] = val; 1941 _heightmap[xt + y] = val;
1910 1942
1911 if (hfmin > val) 1943 if (hfmin > val)
1912 hfmin = val; 1944 hfmin = val;
1913 if (hfmax < val) 1945 if (hfmax < val)
1914 hfmax = val; 1946 hfmax = val;
1915
1916 } 1947 }
1917 xt += heightmapHeightSamples; 1948 xt += heightmapHeightSamples;
1918 } 1949 }
@@ -1966,7 +1997,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1966 1997
1967 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 1998 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
1968 d.GeomSetRotation(GroundGeom, ref R); 1999 d.GeomSetRotation(GroundGeom, ref R);
1969 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0); 2000 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
1970 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); 2001 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
1971// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); 2002// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
1972 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); 2003 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
generated by cgit v1.1 at 2024-12-20 09:00:05 +0000