aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
diff options
context:
space:
mode:
Diffstat (limited to 'OpenSim/Region/PhysicsModules/Ode/OdeScene.cs')
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/OdeScene.cs980
1 files changed, 202 insertions, 778 deletions
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index 8cc7f28..d15568e 100644
--- a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -31,31 +31,24 @@
31// or application thread stack may just blowup 31// or application thread stack may just blowup
32// see RayCast(ODERayCastRequest req) 32// see RayCast(ODERayCastRequest req)
33 33
34//#define USE_DRAWSTUFF
35//#define SPAM
36
37using System; 34using System;
38using System.Collections.Generic; 35using System.Collections.Generic;
39using System.Diagnostics; 36using System.Diagnostics;
40using System.IO; 37using System.IO;
41using System.Linq; 38using System.Linq;
42using System.Reflection; 39using System.Reflection;
40using System.Runtime.ExceptionServices;
43using System.Runtime.InteropServices; 41using System.Runtime.InteropServices;
44using System.Threading; 42using System.Threading;
45using log4net; 43using log4net;
46using Nini.Config; 44using Nini.Config;
47using Mono.Addins; 45using Mono.Addins;
48using Ode.NET;
49using OpenMetaverse; 46using OpenMetaverse;
50#if USE_DRAWSTUFF
51using Drawstuff.NET;
52#endif
53using OpenSim.Framework; 47using OpenSim.Framework;
54using OpenSim.Region.PhysicsModules.SharedBase; 48using OpenSim.Region.PhysicsModules.SharedBase;
55using OpenSim.Region.Framework.Scenes; 49using OpenSim.Region.Framework.Scenes;
56using OpenSim.Region.Framework.Interfaces; 50using OpenSim.Region.Framework.Interfaces;
57 51
58
59namespace OpenSim.Region.PhysicsModule.ODE 52namespace OpenSim.Region.PhysicsModule.ODE
60{ 53{
61 public enum StatusIndicators : int 54 public enum StatusIndicators : int
@@ -65,16 +58,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
65 End = 2 58 End = 2
66 } 59 }
67 60
68// public struct sCollisionData
69// {
70// public uint ColliderLocalId;
71// public uint CollidedWithLocalId;
72// public int NumberOfCollisions;
73// public int CollisionType;
74// public int StatusIndicator;
75// public int lastframe;
76// }
77
78 [Flags] 61 [Flags]
79 public enum CollisionCategories : int 62 public enum CollisionCategories : int
80 { 63 {
@@ -111,11 +94,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
111 Rubber = 6 94 Rubber = 6
112 } 95 }
113 96
114 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "ODEPhysicsScene")] 97 public class OdeScene : PhysicsScene
115 public class OdeScene : PhysicsScene, INonSharedRegionModule
116 { 98 {
117 private readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString()); 99 private readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString());
118 private bool m_Enabled = false;
119 100
120 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); 101 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
121 102
@@ -144,6 +125,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
144 /// .../opensim/bin/libode-x86_64.so(_Z12dCollideCCTLP6dxGeomS0_iP12dContactGeomi+0x92) [0x7f03b44bcf82] 125 /// .../opensim/bin/libode-x86_64.so(_Z12dCollideCCTLP6dxGeomS0_iP12dContactGeomi+0x92) [0x7f03b44bcf82]
145 /// </remarks> 126 /// </remarks>
146 internal static Object UniversalColliderSyncObject = new Object(); 127 internal static Object UniversalColliderSyncObject = new Object();
128 internal static Object SimulationLock = new Object();
147 129
148 /// <summary> 130 /// <summary>
149 /// Is stats collecting enabled for this ODE scene? 131 /// Is stats collecting enabled for this ODE scene?
@@ -276,8 +258,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
276 258
277 private Random fluidRandomizer = new Random(Environment.TickCount); 259 private Random fluidRandomizer = new Random(Environment.TickCount);
278 260
279 public bool m_suportCombine = true;
280
281 private uint m_regionWidth = Constants.RegionSize; 261 private uint m_regionWidth = Constants.RegionSize;
282 private uint m_regionHeight = Constants.RegionSize; 262 private uint m_regionHeight = Constants.RegionSize;
283 263
@@ -293,11 +273,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
293 273
294 private float contactsurfacelayer = 0.001f; 274 private float contactsurfacelayer = 0.001f;
295 275
296 private int worldHashspaceLow = -4; 276 private int HashspaceLow = -5;
297 private int worldHashspaceHigh = 128; 277 private int HashspaceHigh = 12;
298
299 private int smallHashspaceLow = -4;
300 private int smallHashspaceHigh = 66;
301 278
302 private float waterlevel = 0f; 279 private float waterlevel = 0f;
303 private int framecount = 0; 280 private int framecount = 0;
@@ -335,7 +312,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
335 public bool IsAvCapsuleTilted { get; private set; } 312 public bool IsAvCapsuleTilted { get; private set; }
336 313
337 private float avDensity = 80f; 314 private float avDensity = 80f;
338// private float avHeightFudgeFactor = 0.52f;
339 private float avMovementDivisorWalk = 1.3f; 315 private float avMovementDivisorWalk = 1.3f;
340 private float avMovementDivisorRun = 0.8f; 316 private float avMovementDivisorRun = 0.8f;
341 private float minimumGroundFlightOffset = 3f; 317 private float minimumGroundFlightOffset = 3f;
@@ -356,13 +332,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
356 public float bodyPIDD = 35f; 332 public float bodyPIDD = 35f;
357 public float bodyPIDG = 25; 333 public float bodyPIDG = 25;
358 334
359 public int geomCrossingFailuresBeforeOutofbounds = 5;
360
361 public float bodyMotorJointMaxforceTensor = 2;
362
363 public int bodyFramesAutoDisable = 20; 335 public int bodyFramesAutoDisable = 20;
364 336
365 private float[] _watermap;
366 private bool m_filterCollisions = true; 337 private bool m_filterCollisions = true;
367 338
368 private d.NearCallback nearCallback; 339 private d.NearCallback nearCallback;
@@ -473,31 +444,21 @@ namespace OpenSim.Region.PhysicsModule.ODE
473 private d.Contact WaterContact; 444 private d.Contact WaterContact;
474 private d.Contact[,] m_materialContacts; 445 private d.Contact[,] m_materialContacts;
475 446
476//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
477//Ckrinke private int m_randomizeWater = 200;
478 private int m_physicsiterations = 10; 447 private int m_physicsiterations = 10;
479 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag 448 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
480 private readonly PhysicsActor PANull = new NullPhysicsActor(); 449 private readonly PhysicsActor PANull = new NullPhysicsActor();
481// private float step_time = 0.0f; 450 private float step_time = 0.0f;
482//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
483//Ckrinke private int ms = 0;
484 public IntPtr world; 451 public IntPtr world;
485 //private bool returncollisions = false;
486 // private uint obj1LocalID = 0;
487 private uint obj2LocalID = 0; 452 private uint obj2LocalID = 0;
488 //private int ctype = 0;
489 private OdeCharacter cc1; 453 private OdeCharacter cc1;
490 private OdePrim cp1; 454 private OdePrim cp1;
491 private OdeCharacter cc2; 455 private OdeCharacter cc2;
492 private OdePrim cp2; 456 private OdePrim cp2;
493 private int p1ExpectedPoints = 0; 457 private int p1ExpectedPoints = 0;
494 private int p2ExpectedPoints = 0; 458 private int p2ExpectedPoints = 0;
495 //private int cStartStop = 0;
496 //private string cDictKey = "";
497 459
498 public IntPtr space; 460 public IntPtr space;
499 461
500 //private IntPtr tmpSpace;
501 // split static geometry collision handling into spaces of 30 meters 462 // split static geometry collision handling into spaces of 30 meters
502 public IntPtr[,] staticPrimspace; 463 public IntPtr[,] staticPrimspace;
503 464
@@ -535,88 +496,37 @@ namespace OpenSim.Region.PhysicsModule.ODE
535 496
536 private ODERayCastRequestManager m_rayCastManager; 497 private ODERayCastRequestManager m_rayCastManager;
537 498
499 public Scene m_frameWorkScene = null;
538 500
539 #region INonSharedRegionModule 501 public OdeScene(Scene pscene, IConfigSource psourceconfig, string pname, string pversion)
540 public string Name
541 {
542 get { return "OpenDynamicsEngine"; }
543 }
544
545 public Type ReplaceableInterface
546 {
547 get { return null; }
548 }
549
550 public void Initialise(IConfigSource source)
551 {
552 // TODO: Move this out of Startup
553 IConfig config = source.Configs["Startup"];
554 if (config != null)
555 {
556 string physics = config.GetString("physics", string.Empty);
557 if (physics == Name)
558 {
559 m_Enabled = true;
560 m_config = source;
561
562 // We do this so that OpenSimulator on Windows loads the correct native ODE library depending on whether
563 // it's running as a 32-bit process or a 64-bit one. By invoking LoadLibary here, later DLLImports
564 // will find it already loaded later on.
565 //
566 // This isn't necessary for other platforms (e.g. Mac OSX and Linux) since the DLL used can be
567 // controlled in Ode.NET.dll.config
568 if (Util.IsWindows())
569 Util.LoadArchSpecificWindowsDll("ode.dll");
570
571 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
572 // http://opensimulator.org/mantis/view.php?id=2750).
573 d.InitODE();
574
575 }
576 }
577
578 }
579
580 public void Close()
581 {
582 }
583
584 public void AddRegion(Scene scene)
585 { 502 {
586 if (!m_Enabled) 503 m_config = psourceconfig;
587 return; 504 m_frameWorkScene = pscene;
588 505
589 EngineType = Name; 506 EngineType = pname;
590 PhysicsSceneName = EngineType + "/" + scene.RegionInfo.RegionName; 507 PhysicsSceneName = EngineType + "/" + pscene.RegionInfo.RegionName;
508 EngineName = pname + " " + pversion;
591 509
592 scene.RegisterModuleInterface<PhysicsScene>(this); 510 pscene.RegisterModuleInterface<PhysicsScene>(this);
593 Vector3 extent = new Vector3(scene.RegionInfo.RegionSizeX, scene.RegionInfo.RegionSizeY, scene.RegionInfo.RegionSizeZ); 511 Vector3 extent = new Vector3(pscene.RegionInfo.RegionSizeX, pscene.RegionInfo.RegionSizeY, pscene.RegionInfo.RegionSizeZ);
594 Initialise(extent); 512 Initialise(extent);
595 InitialiseFromConfig(m_config); 513 InitialiseFromConfig(m_config);
596 514
597 // This may not be that good since terrain may not be avaiable at this point 515 // This may not be that good since terrain may not be avaiable at this point
598 base.Initialise(scene.PhysicsRequestAsset, 516 base.Initialise(pscene.PhysicsRequestAsset,
599 (scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]), 517 (pscene.Heightmap != null ? pscene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]),
600 (float)scene.RegionInfo.RegionSettings.WaterHeight); 518 (float)pscene.RegionInfo.RegionSettings.WaterHeight);
601 519
602 } 520 }
603 521
604 public void RemoveRegion(Scene scene) 522 public void RegionLoaded()
605 { 523 {
606 if (!m_Enabled) 524 mesher = m_frameWorkScene.RequestModuleInterface<IMesher>();
607 return;
608 }
609
610 public void RegionLoaded(Scene scene)
611 {
612 if (!m_Enabled)
613 return;
614
615 mesher = scene.RequestModuleInterface<IMesher>();
616 if (mesher == null) 525 if (mesher == null)
617 m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName); 526 m_log.WarnFormat("[ODE SCENE]: No mesher in {0}. Things will not work well.", PhysicsSceneName);
527
528 m_frameWorkScene.PhysicsEnabled = true;
618 } 529 }
619 #endregion
620 530
621 /// <summary> 531 /// <summary>
622 /// Initiailizes the scene 532 /// Initiailizes the scene
@@ -625,16 +535,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
625 /// </summary> 535 /// </summary>
626 private void Initialise(Vector3 regionExtent) 536 private void Initialise(Vector3 regionExtent)
627 { 537 {
628 WorldExtents.X = regionExtent.X; 538 WorldExtents.X = regionExtent.X;
629 m_regionWidth = (uint)regionExtent.X; 539 m_regionWidth = (uint)regionExtent.X;
630 WorldExtents.Y = regionExtent.Y; 540 WorldExtents.Y = regionExtent.Y;
631 m_regionHeight = (uint)regionExtent.Y; 541 m_regionHeight = (uint)regionExtent.Y;
632 542
633 m_suportCombine = false;
634
635 nearCallback = near; 543 nearCallback = near;
636 triCallback = TriCallback;
637 triArrayCallback = TriArrayCallback;
638 m_rayCastManager = new ODERayCastRequestManager(this); 544 m_rayCastManager = new ODERayCastRequestManager(this);
639 545
640 // Create the world and the first space 546 // Create the world and the first space
@@ -644,33 +550,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
644 contactgroup = d.JointGroupCreate(0); 550 contactgroup = d.JointGroupCreate(0);
645 551
646 d.WorldSetAutoDisableFlag(world, false); 552 d.WorldSetAutoDisableFlag(world, false);
647
648 #if USE_DRAWSTUFF
649 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
650 viewthread.Start();
651 #endif
652
653 // _watermap = new float[258 * 258];
654
655 // Zero out the prim spaces array (we split our space into smaller spaces so
656 // we can hit test less.
657 } 553 }
658 554
659#if USE_DRAWSTUFF
660 public void startvisualization(object o)
661 {
662 ds.Functions fn;
663 fn.version = ds.VERSION;
664 fn.start = new ds.CallbackFunction(start);
665 fn.step = new ds.CallbackFunction(step);
666 fn.command = new ds.CallbackFunction(command);
667 fn.stop = null;
668 fn.path_to_textures = "./textures";
669 string[] args = new string[0];
670 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
671 }
672#endif
673
674 // Initialize from configs 555 // Initialize from configs
675 private void InitialiseFromConfig(IConfigSource config) 556 private void InitialiseFromConfig(IConfigSource config)
676 { 557 {
@@ -679,18 +560,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
679 m_config = config; 560 m_config = config;
680 // Defaults 561 // Defaults
681 562
682 if (Environment.OSVersion.Platform == PlatformID.Unix) 563 avPIDD = 2200.0f;
683 { 564 avPIDP = 900.0f;
684 avPIDD = 3200.0f; 565 avStandupTensor = 550000f;
685 avPIDP = 1400.0f;
686 avStandupTensor = 2000000f;
687 }
688 else
689 {
690 avPIDD = 2200.0f;
691 avPIDP = 900.0f;
692 avStandupTensor = 550000f;
693 }
694 566
695 int contactsPerCollision = 80; 567 int contactsPerCollision = 80;
696 568
@@ -714,12 +586,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
714 avatarTerminalVelocity, AvatarTerminalVelocity); 586 avatarTerminalVelocity, AvatarTerminalVelocity);
715 } 587 }
716 588
717 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4); 589 HashspaceLow = physicsconfig.GetInt("world_hashspace_level_low", -5);
718 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128); 590 HashspaceHigh = physicsconfig.GetInt("world_hashspace_level_high", 12);
719 591
720 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f); 592 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
721 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
722 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
723 593
724 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f); 594 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
725 595
@@ -738,7 +608,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
738 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f); 608 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
739 609
740 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); 610 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
741 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); 611 m_physicsiterations = physicsconfig.GetInt("world_solver_iterations", 10);
742 612
743 avDensity = physicsconfig.GetFloat("av_density", 80f); 613 avDensity = physicsconfig.GetFloat("av_density", 80f);
744// avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f); 614// avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
@@ -754,7 +624,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
754 624
755 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 5); 625 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 5);
756 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); 626 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
757 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
758 627
759 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); 628 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
760 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); 629 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
@@ -767,29 +636,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
767 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); 636 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
768 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); 637 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
769 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false); 638 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
770
771
772 639
773 if (Environment.OSVersion.Platform == PlatformID.Unix) 640 avPIDD = physicsconfig.GetFloat("av_pid_derivative", 2200.0f);
774 { 641 avPIDP = physicsconfig.GetFloat("av_pid_proportional", 900.0f);
775 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f); 642 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor", 550000f);
776 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
777 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
778 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
779 }
780 else
781 {
782 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
783 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
784 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
785 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
786 }
787 643
788 physics_logging = physicsconfig.GetBoolean("physics_logging", false); 644 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
789 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); 645 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
790 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); 646 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
791 647
792 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false); 648// m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
793 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f); 649 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
794 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f); 650 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
795 } 651 }
@@ -812,17 +668,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
812 if (spaceGridMaxY > 24) 668 if (spaceGridMaxY > 24)
813 { 669 {
814 spaceGridMaxY = 24; 670 spaceGridMaxY = 24;
815 spacesPerMeterY = spaceGridMaxY / WorldExtents.Y ; 671 spacesPerMeterY = spaceGridMaxY / WorldExtents.Y;
816 } 672 }
817 673
818 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; 674 staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
819 675
820 // make this index limits 676 // make this index limits
821 spaceGridMaxX--; 677 spaceGridMaxX--;
822 spaceGridMaxY--; 678 spaceGridMaxY--;
823 679
824
825
826 // Centeral contact friction and bounce 680 // Centeral contact friction and bounce
827 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why 681 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
828 // an avatar falls through in Z but not in X or Y when walking on a prim. 682 // an avatar falls through in Z but not in X or Y when walking on a prim.
@@ -984,7 +838,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
984 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f; 838 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
985 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f; 839 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
986 840
987 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh); 841 d.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
988 842
989 // Set the gravity,, don't disable things automatically (we set it explicitly on some things) 843 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
990 844
@@ -997,9 +851,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
997 d.WorldSetLinearDampingThreshold(world, 256f); 851 d.WorldSetLinearDampingThreshold(world, 256f);
998 d.WorldSetMaxAngularSpeed(world, 256f); 852 d.WorldSetMaxAngularSpeed(world, 256f);
999 853
1000 // Set how many steps we go without running collision testing
1001 // This is in addition to the step size.
1002 // Essentially Steps * m_physicsiterations
1003 d.WorldSetQuickStepNumIterations(world, m_physicsiterations); 854 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
1004 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f); 855 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
1005 856
@@ -1014,22 +865,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1014 _worldInitialized = true; 865 _worldInitialized = true;
1015 } 866 }
1016 867
1017// internal void waitForSpaceUnlock(IntPtr space)
1018// {
1019// //if (space != IntPtr.Zero)
1020// //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
1021// }
1022
1023// /// <summary>
1024// /// Debug space message for printing the space that a prim/avatar is in.
1025// /// </summary>
1026// /// <param name="pos"></param>
1027// /// <returns>Returns which split up space the given position is in.</returns>
1028// public string whichspaceamIin(Vector3 pos)
1029// {
1030// return calculateSpaceForGeom(pos).ToString();
1031// }
1032
1033 #region Collision Detection 868 #region Collision Detection
1034 869
1035 /// <summary> 870 /// <summary>
@@ -1042,7 +877,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1042 /// <param name='contactsArray'></param> 877 /// <param name='contactsArray'></param>
1043 /// <param name='contactGeomSize'></param> 878 /// <param name='contactGeomSize'></param>
1044 private int CollideGeoms( 879 private int CollideGeoms(
1045 IntPtr geom1, IntPtr geom2, int maxContacts, Ode.NET.d.ContactGeom[] contactsArray, int contactGeomSize) 880 IntPtr geom1, IntPtr geom2, int maxContacts, d.ContactGeom[] contactsArray, int contactGeomSize)
1046 { 881 {
1047 int count; 882 int count;
1048 883
@@ -1113,7 +948,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1113 { 948 {
1114 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 949 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
1115 return; 950 return;
1116 951
1117 // Separating static prim geometry spaces. 952 // Separating static prim geometry spaces.
1118 // We'll be calling near recursivly if one 953 // We'll be calling near recursivly if one
1119 // of them is a space to find all of the 954 // of them is a space to find all of the
@@ -1155,12 +990,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1155 name2 = "null"; 990 name2 = "null";
1156 } 991 }
1157 992
1158 //if (id == d.GeomClassId.TriMeshClass)
1159 //{
1160 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
1161 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1162 //}
1163
1164 // Figure out how many contact points we have 993 // Figure out how many contact points we have
1165 int count = 0; 994 int count = 0;
1166 995
@@ -1175,7 +1004,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1175 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) 1004 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
1176 return; 1005 return;
1177 1006
1178 count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf); 1007 count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.unmanagedSizeOf);
1179 1008
1180 // All code after this is only relevant if we have any collisions 1009 // All code after this is only relevant if we have any collisions
1181 if (count <= 0) 1010 if (count <= 0)
@@ -1198,10 +1027,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
1198 1027
1199 PhysicsActor p1; 1028 PhysicsActor p1;
1200 PhysicsActor p2; 1029 PhysicsActor p2;
1201 1030
1202 p1ExpectedPoints = 0; 1031 p1ExpectedPoints = 0;
1203 p2ExpectedPoints = 0; 1032 p2ExpectedPoints = 0;
1204 1033
1205 if (!actor_name_map.TryGetValue(g1, out p1)) 1034 if (!actor_name_map.TryGetValue(g1, out p1))
1206 { 1035 {
1207 p1 = PANull; 1036 p1 = PANull;
@@ -1238,7 +1067,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1238 IntPtr joint; 1067 IntPtr joint;
1239 // If we're colliding with terrain, use 'TerrainContact' instead of contact. 1068 // If we're colliding with terrain, use 'TerrainContact' instead of contact.
1240 // allows us to have different settings 1069 // allows us to have different settings
1241 1070
1242 // We only need to test p2 for 'jump crouch purposes' 1071 // We only need to test p2 for 'jump crouch purposes'
1243 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim) 1072 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
1244 { 1073 {
@@ -1252,7 +1081,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1252 { 1081 {
1253 p2.IsColliding = true; 1082 p2.IsColliding = true;
1254 } 1083 }
1255 1084
1256 //if ((framecount % m_returncollisions) == 0) 1085 //if ((framecount % m_returncollisions) == 0)
1257 1086
1258 switch (p1.PhysicsActorType) 1087 switch (p1.PhysicsActorType)
@@ -1279,110 +1108,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
1279 // we don't want prim or avatar to explode 1108 // we don't want prim or avatar to explode
1280 1109
1281 #region InterPenetration Handling - Unintended physics explosions 1110 #region InterPenetration Handling - Unintended physics explosions
1282# region disabled code1
1283 1111
1284 if (curContact.depth >= 0.08f) 1112 if (curContact.depth >= 0.08f)
1285 { 1113 {
1286 //This is disabled at the moment only because it needs more tweaking
1287 //It will eventually be uncommented
1288 /*
1289 if (contact.depth >= 1.00f)
1290 {
1291 //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
1292 }
1293
1294 //If you interpenetrate a prim with an agent
1295 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
1296 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
1297 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
1298 p2.PhysicsActorType == (int) ActorTypes.Prim))
1299 {
1300
1301 //contact.depth = contact.depth * 4.15f;
1302 /*
1303 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
1304 {
1305 p2.CollidingObj = true;
1306 contact.depth = 0.003f;
1307 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
1308 OdeCharacter character = (OdeCharacter) p2;
1309 character.SetPidStatus(true);
1310 contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
1311
1312 }
1313 else
1314 {
1315
1316 //contact.depth = 0.0000000f;
1317 }
1318 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
1319 {
1320
1321 p1.CollidingObj = true;
1322 contact.depth = 0.003f;
1323 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
1324 contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
1325 OdeCharacter character = (OdeCharacter)p1;
1326 character.SetPidStatus(true);
1327 }
1328 else
1329 {
1330
1331 //contact.depth = 0.0000000f;
1332 }
1333
1334
1335
1336 }
1337*/
1338 // If you interpenetrate a prim with another prim
1339 /*
1340 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
1341 {
1342 #region disabledcode2
1343 //OdePrim op1 = (OdePrim)p1;
1344 //OdePrim op2 = (OdePrim)p2;
1345 //op1.m_collisionscore++;
1346 //op2.m_collisionscore++;
1347
1348 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
1349 //{
1350 //op1.m_taintdisable = true;
1351 //AddPhysicsActorTaint(p1);
1352 //op2.m_taintdisable = true;
1353 //AddPhysicsActorTaint(p2);
1354 //}
1355
1356 //if (contact.depth >= 0.25f)
1357 //{
1358 // Don't collide, one or both prim will expld.
1359
1360 //op1.m_interpenetrationcount++;
1361 //op2.m_interpenetrationcount++;
1362 //interpenetrations_before_disable = 200;
1363 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
1364 //{
1365 //op1.m_taintdisable = true;
1366 //AddPhysicsActorTaint(p1);
1367 //}
1368 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
1369 //{
1370 // op2.m_taintdisable = true;
1371 //AddPhysicsActorTaint(p2);
1372 //}
1373
1374 //contact.depth = contact.depth / 8f;
1375 //contact.normal = new d.Vector3(0, 0, 1);
1376 //}
1377 //if (op1.m_disabled || op2.m_disabled)
1378 //{
1379 //Manually disabled objects stay disabled
1380 //contact.depth = 0f;
1381 //}
1382 #endregion
1383 }
1384 */
1385#endregion
1386 if (curContact.depth >= 1.00f) 1114 if (curContact.depth >= 1.00f)
1387 { 1115 {
1388 //m_log.Info("[P]: " + contact.depth.ToString()); 1116 //m_log.Info("[P]: " + contact.depth.ToString());
@@ -1432,7 +1160,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1432 1160
1433 // Logic for collision handling 1161 // Logic for collision handling
1434 // Note, that if *all* contacts are skipped (VolumeDetect) 1162 // Note, that if *all* contacts are skipped (VolumeDetect)
1435 // The prim still detects (and forwards) collision events but 1163 // The prim still detects (and forwards) collision events but
1436 // appears to be phantom for the world 1164 // appears to be phantom for the world
1437 Boolean skipThisContact = false; 1165 Boolean skipThisContact = false;
1438 1166
@@ -1507,10 +1235,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
1507 material = ((OdePrim) p2).m_material; 1235 material = ((OdePrim) p2).m_material;
1508 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; 1236 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
1509 } 1237 }
1510 1238
1511 // Unnessesary because p1 is defined above 1239 // Unnessesary because p1 is defined above
1512 //if (p1 is OdePrim) 1240 //if (p1 is OdePrim)
1513 // { 1241 // {
1514 // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; 1242 // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts;
1515 // } 1243 // }
1516 //m_log.DebugFormat("Material: {0}", material); 1244 //m_log.DebugFormat("Material: {0}", material);
@@ -1622,7 +1350,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1622 material = ((OdePrim)p2).m_material; 1350 material = ((OdePrim)p2).m_material;
1623 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; 1351 p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts;
1624 } 1352 }
1625 1353
1626 //m_log.DebugFormat("Material: {0}", material); 1354 //m_log.DebugFormat("Material: {0}", material);
1627 m_materialContacts[material, 0].geom = curContact; 1355 m_materialContacts[material, 0].geom = curContact;
1628 1356
@@ -1642,7 +1370,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1642 } 1370 }
1643 1371
1644 collision_accounting_events(p1, p2, maxDepthContact); 1372 collision_accounting_events(p1, p2, maxDepthContact);
1645 1373
1646 if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) 1374 if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle))
1647 { 1375 {
1648 // If there are more then 3 contact points, it's likely 1376 // If there are more then 3 contact points, it's likely
@@ -1678,31 +1406,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
1678 { 1406 {
1679 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f) 1407 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1680 { 1408 {
1681 //contactGeom.depth *= .00005f; 1409 result = true;
1682 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); 1410 break;
1683 // m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1684 result = true;
1685 break;
1686 } 1411 }
1687// else
1688// {
1689// //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1690// }
1691 } 1412 }
1692// else 1413 }
1693// {
1694// //m_log.DebugFormat("[Collision]: <{0},{1},{2}>", Math.Abs(contactGeom.normal.X - contact.normal.X), Math.Abs(contactGeom.normal.Y - contact.normal.Y), Math.Abs(contactGeom.normal.Z - contact.normal.Z));
1695// //int i = 0;
1696// }
1697 }
1698 else if (at == ActorTypes.Prim) 1414 else if (at == ActorTypes.Prim)
1699 { 1415 {
1700 //d.AABB aabb1 = new d.AABB();
1701 //d.AABB aabb2 = new d.AABB();
1702
1703 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1704 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1705 //aabb1.
1706 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f))) 1416 if (((Math.Abs(contactGeom.normal.X - contact.normal.X) < 1.026f) && (Math.Abs(contactGeom.normal.Y - contact.normal.Y) < 0.303f) && (Math.Abs(contactGeom.normal.Z - contact.normal.Z) < 0.065f)))
1707 { 1417 {
1708 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z) 1418 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
@@ -1729,9 +1439,28 @@ namespace OpenSim.Region.PhysicsModule.ODE
1729 obj2LocalID = 0; 1439 obj2LocalID = 0;
1730 //ctype = 0; 1440 //ctype = 0;
1731 //cStartStop = 0; 1441 //cStartStop = 0;
1732 if (!p2.SubscribedEvents() && !p1.SubscribedEvents()) 1442// if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1443// return;
1444 bool p1events = p1.SubscribedEvents();
1445 bool p2events = p2.SubscribedEvents();
1446
1447 if (p1.IsVolumeDtc)
1448 p2events = false;
1449 if (p2.IsVolumeDtc)
1450 p1events = false;
1451
1452 if (!p2events && !p1events)
1733 return; 1453 return;
1734 1454
1455 Vector3 vel = Vector3.Zero;
1456 if (p2 != null && p2.IsPhysical)
1457 vel = p2.Velocity;
1458
1459 if (p1 != null && p1.IsPhysical)
1460 vel -= p1.Velocity;
1461
1462 contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
1463
1735 switch ((ActorTypes)p2.PhysicsActorType) 1464 switch ((ActorTypes)p2.PhysicsActorType)
1736 { 1465 {
1737 case ActorTypes.Agent: 1466 case ActorTypes.Agent:
@@ -1744,14 +1473,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1744 cc1 = (OdeCharacter)p1; 1473 cc1 = (OdeCharacter)p1;
1745 obj2LocalID = cc1.LocalID; 1474 obj2LocalID = cc1.LocalID;
1746 cc1.AddCollisionEvent(cc2.LocalID, contact); 1475 cc1.AddCollisionEvent(cc2.LocalID, contact);
1747 //ctype = (int)CollisionCategories.Character;
1748
1749 //if (cc1.CollidingObj)
1750 //cStartStop = (int)StatusIndicators.Generic;
1751 //else
1752 //cStartStop = (int)StatusIndicators.Start;
1753
1754 //returncollisions = true;
1755 break; 1476 break;
1756 1477
1757 case ActorTypes.Prim: 1478 case ActorTypes.Prim:
@@ -1761,21 +1482,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
1761 obj2LocalID = cp1.LocalID; 1482 obj2LocalID = cp1.LocalID;
1762 cp1.AddCollisionEvent(cc2.LocalID, contact); 1483 cp1.AddCollisionEvent(cc2.LocalID, contact);
1763 } 1484 }
1764 //ctype = (int)CollisionCategories.Geom;
1765
1766 //if (cp1.CollidingObj)
1767 //cStartStop = (int)StatusIndicators.Generic;
1768 //else
1769 //cStartStop = (int)StatusIndicators.Start;
1770
1771 //returncollisions = true;
1772 break; 1485 break;
1773 1486
1774 case ActorTypes.Ground: 1487 case ActorTypes.Ground:
1775 case ActorTypes.Unknown: 1488 case ActorTypes.Unknown:
1776 obj2LocalID = 0; 1489 obj2LocalID = 0;
1777 //ctype = (int)CollisionCategories.Land;
1778 //returncollisions = true;
1779 break; 1490 break;
1780 } 1491 }
1781 1492
@@ -1797,13 +1508,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1797 cc1 = (OdeCharacter) p1; 1508 cc1 = (OdeCharacter) p1;
1798 obj2LocalID = cc1.LocalID; 1509 obj2LocalID = cc1.LocalID;
1799 cc1.AddCollisionEvent(cp2.LocalID, contact); 1510 cc1.AddCollisionEvent(cp2.LocalID, contact);
1800 //ctype = (int)CollisionCategories.Character;
1801
1802 //if (cc1.CollidingObj)
1803 //cStartStop = (int)StatusIndicators.Generic;
1804 //else
1805 //cStartStop = (int)StatusIndicators.Start;
1806 //returncollisions = true;
1807 } 1511 }
1808 break; 1512 break;
1809 case ActorTypes.Prim: 1513 case ActorTypes.Prim:
@@ -1813,23 +1517,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
1813 cp1 = (OdePrim) p1; 1517 cp1 = (OdePrim) p1;
1814 obj2LocalID = cp1.LocalID; 1518 obj2LocalID = cp1.LocalID;
1815 cp1.AddCollisionEvent(cp2.LocalID, contact); 1519 cp1.AddCollisionEvent(cp2.LocalID, contact);
1816 //ctype = (int)CollisionCategories.Geom;
1817
1818 //if (cp1.CollidingObj)
1819 //cStartStop = (int)StatusIndicators.Generic;
1820 //else
1821 //cStartStop = (int)StatusIndicators.Start;
1822
1823 //returncollisions = true;
1824 } 1520 }
1825 break; 1521 break;
1826 1522
1827 case ActorTypes.Ground: 1523 case ActorTypes.Ground:
1828 case ActorTypes.Unknown: 1524 case ActorTypes.Unknown:
1829 obj2LocalID = 0; 1525 obj2LocalID = 0;
1830 //ctype = (int)CollisionCategories.Land;
1831
1832 //returncollisions = true;
1833 break; 1526 break;
1834 } 1527 }
1835 1528
@@ -1837,80 +1530,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1837 } 1530 }
1838 break; 1531 break;
1839 } 1532 }
1840 //if (returncollisions)
1841 //{
1842
1843 //lock (m_storedCollisions)
1844 //{
1845 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1846 //if (m_storedCollisions.ContainsKey(cDictKey))
1847 //{
1848 //sCollisionData objd = m_storedCollisions[cDictKey];
1849 //objd.NumberOfCollisions += 1;
1850 //objd.lastframe = framecount;
1851 //m_storedCollisions[cDictKey] = objd;
1852 //}
1853 //else
1854 //{
1855 //sCollisionData objd = new sCollisionData();
1856 //objd.ColliderLocalId = obj1LocalID;
1857 //objd.CollidedWithLocalId = obj2LocalID;
1858 //objd.CollisionType = ctype;
1859 //objd.NumberOfCollisions = 1;
1860 //objd.lastframe = framecount;
1861 //objd.StatusIndicator = cStartStop;
1862 //m_storedCollisions.Add(cDictKey, objd);
1863 //}
1864 //}
1865 // }
1866 }
1867
1868 private int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1869 {
1870 /* String name1 = null;
1871 String name2 = null;
1872
1873 if (!geom_name_map.TryGetValue(trimesh, out name1))
1874 {
1875 name1 = "null";
1876 }
1877 if (!geom_name_map.TryGetValue(refObject, out name2))
1878 {
1879 name2 = "null";
1880 }
1881
1882 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1883 */
1884 return 1;
1885 }
1886
1887 private int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1888 {
1889// String name1 = null;
1890// String name2 = null;
1891//
1892// if (!geom_name_map.TryGetValue(trimesh, out name1))
1893// {
1894// name1 = "null";
1895// }
1896//
1897// if (!geom_name_map.TryGetValue(refObject, out name2))
1898// {
1899// name2 = "null";
1900// }
1901
1902 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1903
1904 d.Vector3 v0 = new d.Vector3();
1905 d.Vector3 v1 = new d.Vector3();
1906 d.Vector3 v2 = new d.Vector3();
1907
1908 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1909 // m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
1910
1911 return 1;
1912 } 1533 }
1913
1914 /// <summary> 1534 /// <summary>
1915 /// This is our collision testing routine in ODE 1535 /// This is our collision testing routine in ODE
1916 /// </summary> 1536 /// </summary>
@@ -1924,11 +1544,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
1924 // since we don't know if we're colliding yet 1544 // since we don't know if we're colliding yet
1925 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) 1545 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1926 continue; 1546 continue;
1927 1547
1928 chr.IsColliding = false; 1548 chr.IsColliding = false;
1929 chr.CollidingGround = false; 1549 chr.CollidingGround = false;
1930 chr.CollidingObj = false; 1550 chr.CollidingObj = false;
1931 1551
1932 // Test the avatar's geometry for collision with the space 1552 // Test the avatar's geometry for collision with the space
1933 // This will return near and the space that they are the closest to 1553 // This will return near and the space that they are the closest to
1934 // And we'll run this again against the avatar and the space segment 1554 // And we'll run this again against the avatar and the space segment
@@ -1942,7 +1562,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1942 { 1562 {
1943 m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName); 1563 m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", PhysicsSceneName);
1944 } 1564 }
1945 1565
1946 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); 1566 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1947 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) 1567 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1948 //{ 1568 //{
@@ -2003,15 +1623,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
2003 1623
2004 #endregion 1624 #endregion
2005 1625
2006 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
2007 {
2008 if (!m_suportCombine)
2009 return;
2010 m_worldOffset = offset;
2011 WorldExtents = new Vector2(extents.X, extents.Y);
2012 m_parentScene = pScene;
2013 }
2014
2015 // Recovered for use by fly height. Kitto Flora 1626 // Recovered for use by fly height. Kitto Flora
2016 internal float GetTerrainHeightAtXY(float x, float y) 1627 internal float GetTerrainHeightAtXY(float x, float y)
2017 { 1628 {
@@ -2019,12 +1630,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
2019 int offsetX = 0; 1630 int offsetX = 0;
2020 int offsetY = 0; 1631 int offsetY = 0;
2021 1632
2022 if (m_suportCombine)
2023 {
2024 offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2025 offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2026 }
2027
2028 if(RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom)) 1633 if(RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
2029 { 1634 {
2030 if (heightFieldGeom != IntPtr.Zero) 1635 if (heightFieldGeom != IntPtr.Zero)
@@ -2042,14 +1647,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
2042 x = x - offsetX + 1f; 1647 x = x - offsetX + 1f;
2043 y = y - offsetY + 1f; 1648 y = y - offsetY + 1f;
2044 1649
2045 index = (int)((int)x * ((int)m_regionHeight +3) + (int)y); 1650 // map is rotated
1651 index = (int)x * ((int)m_regionHeight + 3) + (int)y;
2046 1652
2047 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length) 1653 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
2048 { 1654 {
2049 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]); 1655 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
2050 return (float)TerrainHeightFieldHeights[heightFieldGeom][index]; 1656 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
2051 } 1657 }
2052 1658
2053 else 1659 else
2054 return 0f; 1660 return 0f;
2055 } 1661 }
@@ -2069,7 +1675,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2069 { 1675 {
2070 return 0f; 1676 return 0f;
2071 } 1677 }
2072 } 1678 }
2073// End recovered. Kitto Flora 1679// End recovered. Kitto Flora
2074 1680
2075 /// <summary> 1681 /// <summary>
@@ -2079,7 +1685,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2079 internal void AddCollisionEventReporting(PhysicsActor obj) 1685 internal void AddCollisionEventReporting(PhysicsActor obj)
2080 { 1686 {
2081// m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID); 1687// m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID);
2082 1688
2083 lock (m_collisionEventActorsChanges) 1689 lock (m_collisionEventActorsChanges)
2084 m_collisionEventActorsChanges[obj.LocalID] = obj; 1690 m_collisionEventActorsChanges[obj.LocalID] = obj;
2085 } 1691 }
@@ -2099,7 +1705,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
2099 #region Add/Remove Entities 1705 #region Add/Remove Entities
2100 1706
2101 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) 1707 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
2102 { 1708 {
1709 d.AllocateODEDataForThread(0);
1710
2103 OdeCharacter newAv 1711 OdeCharacter newAv
2104 = new OdeCharacter( 1712 = new OdeCharacter(
2105 avName, this, position, velocity, size, avPIDD, avPIDP, 1713 avName, this, position, velocity, size, avPIDD, avPIDP,
@@ -2119,7 +1727,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
2119// "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2}", 1727// "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2}",
2120// actor.Name, actor.LocalID, Name); 1728// actor.Name, actor.LocalID, Name);
2121 1729
2122 ((OdeCharacter) actor).Destroy(); 1730 lock (OdeLock)
1731 {
1732 d.AllocateODEDataForThread(0);
1733
1734 ((OdeCharacter) actor).Destroy();
1735 }
2123 } 1736 }
2124 1737
2125 internal void AddCharacter(OdeCharacter chr) 1738 internal void AddCharacter(OdeCharacter chr)
@@ -2169,9 +1782,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
2169 Vector3 siz = size; 1782 Vector3 siz = size;
2170 Quaternion rot = rotation; 1783 Quaternion rot = rotation;
2171 1784
1785
2172 OdePrim newPrim; 1786 OdePrim newPrim;
2173 lock (OdeLock) 1787 lock (OdeLock)
2174 { 1788 {
1789 d.AllocateODEDataForThread(0);
2175 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical); 1790 newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical);
2176 1791
2177 lock (_prims) 1792 lock (_prims)
@@ -2456,7 +2071,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2456 2071
2457 lock (externalJointRequestsLock) 2072 lock (externalJointRequestsLock)
2458 { 2073 {
2459 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice 2074 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2460 { 2075 {
2461 requestedJointsToBeCreated.Add(joint); 2076 requestedJointsToBeCreated.Add(joint);
2462 } 2077 }
@@ -2620,59 +2235,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
2620 2235
2621 2236
2622 } 2237 }
2623 // we don't want to remove the main space
2624
2625 // If the geometry is in the targetspace, remove it from the target space
2626 //m_log.Warn(prim.m_targetSpace);
2627
2628 //if (prim.m_targetSpace != IntPtr.Zero)
2629 //{
2630 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2631 //{
2632
2633 //if (d.GeomIsSpace(prim.m_targetSpace))
2634 //{
2635 //waitForSpaceUnlock(prim.m_targetSpace);
2636 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2637 prim.m_targetSpace = IntPtr.Zero; 2238 prim.m_targetSpace = IntPtr.Zero;
2638 //}
2639 //else
2640 //{
2641 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2642 //((OdePrim)prim).m_targetSpace.ToString());
2643 //}
2644
2645 //}
2646 //}
2647 //m_log.Warn(prim.prim_geom);
2648
2649 if (!prim.RemoveGeom()) 2239 if (!prim.RemoveGeom())
2650 m_log.Warn("[ODE SCENE]: Unable to remove prim from physics scene"); 2240 m_log.Warn("[ODE SCENE]: Unable to remove prim from physics scene");
2651 2241
2652 lock (_prims) 2242 lock (_prims)
2653 _prims.Remove(prim); 2243 _prims.Remove(prim);
2654 2244
2655 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2656 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2657 //{
2658 //if (prim.m_targetSpace != null)
2659 //{
2660 //if (d.GeomIsSpace(prim.m_targetSpace))
2661 //{
2662 //waitForSpaceUnlock(prim.m_targetSpace);
2663 //d.SpaceRemove(space, prim.m_targetSpace);
2664 // free up memory used by the space.
2665 //d.SpaceDestroy(prim.m_targetSpace);
2666 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2667 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2668 //}
2669 //else
2670 //{
2671 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2672 //((OdePrim) prim).m_targetSpace.ToString());
2673 //}
2674 //}
2675 //}
2676 2245
2677 if (SupportsNINJAJoints) 2246 if (SupportsNINJAJoints)
2678 RemoveAllJointsConnectedToActorThreadLocked(prim); 2247 RemoveAllJointsConnectedToActorThreadLocked(prim);
@@ -2768,12 +2337,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
2768 { 2337 {
2769 if (d.GeomIsSpace(currentspace)) 2338 if (d.GeomIsSpace(currentspace))
2770 { 2339 {
2771// waitForSpaceUnlock(currentspace);
2772// waitForSpaceUnlock(space);
2773 d.SpaceRemove(space, currentspace); 2340 d.SpaceRemove(space, currentspace);
2774 // free up memory used by the space. 2341 // free up memory used by the space.
2775 2342
2776 //d.SpaceDestroy(currentspace);
2777 resetSpaceArrayItemToZero(currentspace); 2343 resetSpaceArrayItemToZero(currentspace);
2778 } 2344 }
2779 else 2345 else
@@ -2831,7 +2397,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2831 if (newspace == IntPtr.Zero) 2397 if (newspace == IntPtr.Zero)
2832 { 2398 {
2833 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); 2399 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2834 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh); 2400 d.HashSpaceSetLevels(newspace, HashspaceLow, HashspaceHigh);
2835 } 2401 }
2836 2402
2837 return newspace; 2403 return newspace;
@@ -2851,7 +2417,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2851// waitForSpaceUnlock(space); 2417// waitForSpaceUnlock(space);
2852 d.SpaceSetSublevel(space, 1); 2418 d.SpaceSetSublevel(space, 1);
2853 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); 2419 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2854 2420
2855 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; 2421 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2856 } 2422 }
2857 2423
@@ -2948,7 +2514,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2948 iPropertiesNotSupportedDefault++; 2514 iPropertiesNotSupportedDefault++;
2949 2515
2950 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) 2516 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2951 iPropertiesNotSupportedDefault++; 2517 iPropertiesNotSupportedDefault++;
2952 2518
2953 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) 2519 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2954 iPropertiesNotSupportedDefault++; 2520 iPropertiesNotSupportedDefault++;
@@ -3021,7 +2587,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3021#if SPAM 2587#if SPAM
3022 m_log.Debug("Mesh"); 2588 m_log.Debug("Mesh");
3023#endif 2589#endif
3024 return true; 2590 return true;
3025 } 2591 }
3026 2592
3027 /// <summary> 2593 /// <summary>
@@ -3052,6 +2618,49 @@ namespace OpenSim.Region.PhysicsModule.ODE
3052 } 2618 }
3053 } 2619 }
3054 2620
2621 // does all pending changes generated during region load process
2622 public override void ProcessPreSimulation()
2623 {
2624 lock (OdeLock)
2625 {
2626 if (world == IntPtr.Zero)
2627 {
2628 _taintedPrims.Clear();;
2629 return;
2630 }
2631
2632 int donechanges = 0;
2633 if (_taintedPrims.Count > 0)
2634 {
2635
2636 m_log.InfoFormat("[Ode] start processing pending actor operations");
2637 int tstart = Util.EnvironmentTickCount();
2638
2639 d.AllocateODEDataForThread(0);
2640
2641 lock (_taintedPrims)
2642 {
2643 foreach (OdePrim prim in _taintedPrims)
2644 {
2645 if (prim.m_taintremove)
2646 RemovePrimThreadLocked(prim);
2647 else
2648 prim.ProcessTaints();
2649
2650 prim.m_collisionscore = 0;
2651 donechanges++;
2652 }
2653 _taintedPrims.Clear();
2654 }
2655
2656 int time = Util.EnvironmentTickCountSubtract(tstart);
2657 m_log.InfoFormat("[Ode] finished {0} operations in {1}ms", donechanges, time);
2658 }
2659 m_log.InfoFormat("[Ode] {0} prim actors loaded",_prims.Count);
2660 }
2661 }
2662
2663
3055 /// <summary> 2664 /// <summary>
3056 /// This is our main simulate loop 2665 /// This is our main simulate loop
3057 /// </summary> 2666 /// </summary>
@@ -3065,7 +2674,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
3065 /// <returns>The number of frames simulated over that period.</returns> 2674 /// <returns>The number of frames simulated over that period.</returns>
3066 public override float Simulate(float timeStep) 2675 public override float Simulate(float timeStep)
3067 { 2676 {
3068 if (!_worldInitialized) return 11f; 2677 if (!_worldInitialized)
2678 return 1.0f;
3069 2679
3070 int startFrameTick = CollectStats ? Util.EnvironmentTickCount() : 0; 2680 int startFrameTick = CollectStats ? Util.EnvironmentTickCount() : 0;
3071 int tempTick = 0, tempTick2 = 0; 2681 int tempTick = 0, tempTick2 = 0;
@@ -3077,26 +2687,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
3077 2687
3078 float fps = 0; 2688 float fps = 0;
3079 2689
3080 float timeLeft = timeStep; 2690 step_time += timeStep;
3081 2691
3082 //m_log.Info(timeStep.ToString()); 2692 float HalfOdeStep = ODE_STEPSIZE * 0.5f;
3083// step_time += timeSte 2693 if (step_time < HalfOdeStep)
3084// 2694 return 0;
3085// // If We're loaded down by something else, 2695
3086// // or debugging with the Visual Studio project on pause
3087// // skip a few frames to catch up gracefully.
3088// // without shooting the physicsactors all over the place
3089//
3090// if (step_time >= m_SkipFramesAtms)
3091// {
3092// // Instead of trying to catch up, it'll do 5 physics frames only
3093// step_time = ODE_STEPSIZE;
3094// m_physicsiterations = 5;
3095// }
3096// else
3097// {
3098// m_physicsiterations = 10;
3099// }
3100 2696
3101 // We change _collisionEventPrimChanges to avoid locking _collisionEventPrim itself and causing potential 2697 // We change _collisionEventPrimChanges to avoid locking _collisionEventPrim itself and causing potential
3102 // deadlock if the collision event tries to lock something else later on which is already locked by a 2698 // deadlock if the collision event tries to lock something else later on which is already locked by a
@@ -3120,29 +2716,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
3120 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks 2716 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
3121 } 2717 }
3122 2718
2719
3123 lock (OdeLock) 2720 lock (OdeLock)
3124 { 2721 {
3125 // Process 10 frames if the sim is running normal.. 2722 d.AllocateODEDataForThread(~0U);
3126 // process 5 frames if the sim is running slow
3127 //try
3128 //{
3129 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
3130 //}
3131 //catch (StackOverflowException)
3132 //{
3133 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
3134 // ode.drelease(world);
3135 //base.TriggerPhysicsBasedRestart();
3136 //}
3137 2723
3138 // Figure out the Frames Per Second we're going at. 2724 while (step_time > HalfOdeStep)
3139 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
3140
3141 fps = (timeStep / ODE_STEPSIZE) * 1000;
3142 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
3143 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
3144
3145 while (timeLeft > 0.0f)
3146 { 2725 {
3147 try 2726 try
3148 { 2727 {
@@ -3241,10 +2820,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
3241 tempTick = tempTick2; 2820 tempTick = tempTick2;
3242 } 2821 }
3243 2822
3244 //if ((framecount % m_randomizeWater) == 0)
3245 // randomizeWater(waterlevel);
3246
3247 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3248 m_rayCastManager.ProcessQueuedRequests(); 2823 m_rayCastManager.ProcessQueuedRequests();
3249 2824
3250 if (CollectStats) 2825 if (CollectStats)
@@ -3265,7 +2840,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3265 2840
3266 foreach (PhysicsActor obj in m_collisionEventActors.Values) 2841 foreach (PhysicsActor obj in m_collisionEventActors.Values)
3267 { 2842 {
3268// m_log.DebugFormat("[PHYSICS]: Assessing {0} {1} for collision events", obj.SOPName, obj.LocalID); 2843 // m_log.DebugFormat("[PHYSICS]: Assessing {0} {1} for collision events", obj.SOPName, obj.LocalID);
3269 2844
3270 switch ((ActorTypes)obj.PhysicsActorType) 2845 switch ((ActorTypes)obj.PhysicsActorType)
3271 { 2846 {
@@ -3295,7 +2870,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
3295 tempTick = tempTick2; 2870 tempTick = tempTick2;
3296 } 2871 }
3297 2872
3298 d.WorldQuickStep(world, ODE_STEPSIZE); 2873 lock(SimulationLock)
2874 d.WorldQuickStep(world, ODE_STEPSIZE);
3299 2875
3300 if (CollectStats) 2876 if (CollectStats)
3301 m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick); 2877 m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick);
@@ -3307,7 +2883,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
3307 m_log.ErrorFormat("[ODE SCENE]: {0}, {1}, {2}", e.Message, e.TargetSite, e); 2883 m_log.ErrorFormat("[ODE SCENE]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3308 } 2884 }
3309 2885
3310 timeLeft -= ODE_STEPSIZE; 2886 step_time -= ODE_STEPSIZE;
2887 fps += ODE_STEPSIZE;
3311 } 2888 }
3312 2889
3313 if (CollectStats) 2890 if (CollectStats)
@@ -3403,6 +2980,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3403 m_stats[ODETotalFrameMsStatName] += Util.EnvironmentTickCountSubtract(startFrameTick); 2980 m_stats[ODETotalFrameMsStatName] += Util.EnvironmentTickCountSubtract(startFrameTick);
3404 } 2981 }
3405 2982
2983 fps *= 1.0f/timeStep;
3406 return fps; 2984 return fps;
3407 } 2985 }
3408 2986
@@ -3531,7 +3109,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3531 // as the axis for the hinge. 3109 // as the axis for the hinge.
3532 3110
3533 // Therefore, we must get the joint's coordinate frame based on the 3111 // Therefore, we must get the joint's coordinate frame based on the
3534 // joint.Rotation field, which originates from the orientation of the 3112 // joint.Rotation field, which originates from the orientation of the
3535 // joint's proxy object in the scene. 3113 // joint's proxy object in the scene.
3536 3114
3537 // The joint's coordinate frame is defined as the transformation matrix 3115 // The joint's coordinate frame is defined as the transformation matrix
@@ -3659,7 +3237,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3659 int startTime = Util.EnvironmentTickCount(); 3237 int startTime = Util.EnvironmentTickCount();
3660 m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset); 3238 m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset);
3661 3239
3662 3240
3663 float[] _heightmap; 3241 float[] _heightmap;
3664 3242
3665 // ok im lasy this are just a aliases 3243 // ok im lasy this are just a aliases
@@ -3675,7 +3253,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
3675 3253
3676 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; 3254 _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
3677 3255
3678
3679 const float scale = 1.0f; 3256 const float scale = 1.0f;
3680 const float offset = 0.0f; 3257 const float offset = 0.0f;
3681 const float thickness = 10f; 3258 const float thickness = 10f;
@@ -3722,6 +3299,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
3722 3299
3723 lock (OdeLock) 3300 lock (OdeLock)
3724 { 3301 {
3302 d.AllocateODEDataForThread(~0U);
3303
3725 IntPtr GroundGeom = IntPtr.Zero; 3304 IntPtr GroundGeom = IntPtr.Zero;
3726 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) 3305 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3727 { 3306 {
@@ -3740,7 +3319,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
3740 IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); 3319 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3741 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, 3320 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3742 heightmapWidth, heightmapHeight, 3321 heightmapWidth, heightmapHeight,
3743 (int)heightmapWidthSamples, (int)heightmapHeightSamples, 3322 (int)heightmapWidthSamples,
3323 (int)heightmapHeightSamples,
3744 scale, offset, thickness, wrap); 3324 scale, offset, thickness, wrap);
3745 3325
3746 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); 3326 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
@@ -3765,7 +3345,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3765 3345
3766 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 3346 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3767 d.GeomSetRotation(GroundGeom, ref R); 3347 d.GeomSetRotation(GroundGeom, ref R);
3768 d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0f); 3348 d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0.0f);
3769 IntPtr testGround = IntPtr.Zero; 3349 IntPtr testGround = IntPtr.Zero;
3770 if (RegionTerrain.TryGetValue(pOffset, out testGround)) 3350 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3771 { 3351 {
@@ -3788,82 +3368,30 @@ namespace OpenSim.Region.PhysicsModule.ODE
3788 return waterlevel; 3368 return waterlevel;
3789 } 3369 }
3790 3370
3791 public override bool SupportsCombining()
3792 {
3793 return m_suportCombine;
3794 }
3795
3796 public override void SetWaterLevel(float baseheight) 3371 public override void SetWaterLevel(float baseheight)
3797 { 3372 {
3798 waterlevel = baseheight; 3373 waterlevel = baseheight;
3799// randomizeWater(waterlevel);
3800 } 3374 }
3801 3375
3802/* 3376 [HandleProcessCorruptedStateExceptions]
3803 private void randomizeWater(float baseheight) 3377 public override void Dispose()
3804 { 3378 {
3805 uint heightmapWidth = m_regionWidth + 2; 3379 lock(SimulationLock)
3806 uint heightmapHeight = m_regionHeight + 2; 3380 lock(OdeLock)
3807 uint heightmapWidthSamples = m_regionWidth + 2;
3808 uint heightmapHeightSamples = m_regionHeight + 2;
3809 float scale = 1.0f;
3810 float offset = 0.0f;
3811 float thickness = 2.9f;
3812 int wrap = 0;
3813
3814 for (int i = 0; i < (258 * 258); i++)
3815 {
3816 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3817 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3818 }
3819
3820 lock (OdeLock)
3821 { 3381 {
3822 if (WaterGeom != IntPtr.Zero) 3382 if(world == IntPtr.Zero)
3823 { 3383 return;
3824 d.SpaceRemove(space, WaterGeom);
3825 }
3826 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3827 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3828 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3829 offset, thickness, wrap);
3830 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3831 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3832 if (WaterGeom != IntPtr.Zero)
3833 {
3834 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3835 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3836 }
3837
3838 geom_name_map[WaterGeom] = "Water";
3839
3840 d.Matrix3 R = new d.Matrix3();
3841
3842 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3843 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3844 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3845 3384
3846 q1 = q1 * q2; 3385 _worldInitialized = false;
3847 //q1 = q1 * q3;
3848 Vector3 v3;
3849 float angle;
3850 q1.GetAxisAngle(out v3, out angle);
3851 3386
3852 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 3387 d.AllocateODEDataForThread(~0U);
3853 d.GeomSetRotation(WaterGeom, ref R);
3854 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3855 }
3856 }
3857*/
3858 public override void Dispose()
3859 {
3860 _worldInitialized = false;
3861 3388
3862 m_rayCastManager.Dispose(); 3389 if (m_rayCastManager != null)
3863 m_rayCastManager = null; 3390 {
3391 m_rayCastManager.Dispose();
3392 m_rayCastManager = null;
3393 }
3864 3394
3865 lock (OdeLock)
3866 {
3867 lock (_prims) 3395 lock (_prims)
3868 { 3396 {
3869 foreach (OdePrim prm in _prims) 3397 foreach (OdePrim prm in _prims)
@@ -3876,10 +3404,33 @@ namespace OpenSim.Region.PhysicsModule.ODE
3876 //{ 3404 //{
3877 //RemoveAvatar(act); 3405 //RemoveAvatar(act);
3878 //} 3406 //}
3879 d.WorldDestroy(world); 3407 IntPtr GroundGeom = IntPtr.Zero;
3880 //d.CloseODE(); 3408 if (RegionTerrain.TryGetValue(m_worldOffset, out GroundGeom))
3409 {
3410 RegionTerrain.Remove(m_worldOffset);
3411 if (GroundGeom != IntPtr.Zero)
3412 {
3413 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3414 TerrainHeightFieldHeights.Remove(GroundGeom);
3415 d.GeomDestroy(GroundGeom);
3416 }
3417 }
3418
3419 try
3420 {
3421 d.WorldDestroy(world);
3422 world = IntPtr.Zero;
3423 }
3424 catch (AccessViolationException e)
3425 {
3426 m_log.ErrorFormat("[ODE SCENE]: exception {0}", e.Message);
3427 }
3881 } 3428 }
3429 }
3882 3430
3431 private int compareByCollisionsDesc(OdePrim A, OdePrim B)
3432 {
3433 return -A.CollisionScore.CompareTo(B.CollisionScore);
3883 } 3434 }
3884 3435
3885 public override Dictionary<uint, float> GetTopColliders() 3436 public override Dictionary<uint, float> GetTopColliders()
@@ -3889,7 +3440,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3889 lock (_prims) 3440 lock (_prims)
3890 { 3441 {
3891 List<OdePrim> orderedPrims = new List<OdePrim>(_prims); 3442 List<OdePrim> orderedPrims = new List<OdePrim>(_prims);
3892 orderedPrims.OrderByDescending(p => p.CollisionScore); 3443 orderedPrims.Sort(compareByCollisionsDesc);
3893 topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore); 3444 topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
3894 3445
3895 foreach (OdePrim p in _prims) 3446 foreach (OdePrim p in _prims)
@@ -3940,133 +3491,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
3940 return new List<ContactResult>(ourResults); 3491 return new List<ContactResult>(ourResults);
3941 } 3492 }
3942 3493
3943#if USE_DRAWSTUFF
3944 // Keyboard callback
3945 public void command(int cmd)
3946 {
3947 IntPtr geom;
3948 d.Mass mass;
3949 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3950
3951
3952
3953 Char ch = Char.ToLower((Char)cmd);
3954 switch ((Char)ch)
3955 {
3956 case 'w':
3957 try
3958 {
3959 Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3960
3961 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3962 ds.SetViewpoint(ref xyz, ref hpr);
3963 }
3964 catch (ArgumentException)
3965 { hpr.X = 0; }
3966 break;
3967
3968 case 'a':
3969 hpr.X++;
3970 ds.SetViewpoint(ref xyz, ref hpr);
3971 break;
3972
3973 case 's':
3974 try
3975 {
3976 Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
3977
3978 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3979 ds.SetViewpoint(ref xyz, ref hpr);
3980 }
3981 catch (ArgumentException)
3982 { hpr.X = 0; }
3983 break;
3984 case 'd':
3985 hpr.X--;
3986 ds.SetViewpoint(ref xyz, ref hpr);
3987 break;
3988 case 'r':
3989 xyz.Z++;
3990 ds.SetViewpoint(ref xyz, ref hpr);
3991 break;
3992 case 'f':
3993 xyz.Z--;
3994 ds.SetViewpoint(ref xyz, ref hpr);
3995 break;
3996 case 'e':
3997 xyz.Y++;
3998 ds.SetViewpoint(ref xyz, ref hpr);
3999 break;
4000 case 'q':
4001 xyz.Y--;
4002 ds.SetViewpoint(ref xyz, ref hpr);
4003 break;
4004 }
4005 }
4006
4007 public void step(int pause)
4008 {
4009
4010 ds.SetColor(1.0f, 1.0f, 0.0f);
4011 ds.SetTexture(ds.Texture.Wood);
4012 lock (_prims)
4013 {
4014 foreach (OdePrim prm in _prims)
4015 {
4016 //IntPtr body = d.GeomGetBody(prm.prim_geom);
4017 if (prm.prim_geom != IntPtr.Zero)
4018 {
4019 d.Vector3 pos;
4020 d.GeomCopyPosition(prm.prim_geom, out pos);
4021 //d.BodyCopyPosition(body, out pos);
4022
4023 d.Matrix3 R;
4024 d.GeomCopyRotation(prm.prim_geom, out R);
4025 //d.BodyCopyRotation(body, out R);
4026
4027
4028 d.Vector3 sides = new d.Vector3();
4029 sides.X = prm.Size.X;
4030 sides.Y = prm.Size.Y;
4031 sides.Z = prm.Size.Z;
4032
4033 ds.DrawBox(ref pos, ref R, ref sides);
4034 }
4035 }
4036 }
4037 ds.SetColor(1.0f, 0.0f, 0.0f);
4038
4039 foreach (OdeCharacter chr in _characters)
4040 {
4041 if (chr.Shell != IntPtr.Zero)
4042 {
4043 IntPtr body = d.GeomGetBody(chr.Shell);
4044
4045 d.Vector3 pos;
4046 d.GeomCopyPosition(chr.Shell, out pos);
4047 //d.BodyCopyPosition(body, out pos);
4048
4049 d.Matrix3 R;
4050 d.GeomCopyRotation(chr.Shell, out R);
4051 //d.BodyCopyRotation(body, out R);
4052
4053 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
4054 d.Vector3 sides = new d.Vector3();
4055 sides.X = 0.5f;
4056 sides.Y = 0.5f;
4057 sides.Z = 0.5f;
4058
4059 ds.DrawBox(ref pos, ref R, ref sides);
4060 }
4061 }
4062 }
4063
4064 public void start(int unused)
4065 {
4066 ds.SetViewpoint(ref xyz, ref hpr);
4067 }
4068#endif
4069
4070 public override Dictionary<string, float> GetStats() 3494 public override Dictionary<string, float> GetStats()
4071 { 3495 {
4072 if (!CollectStats) 3496 if (!CollectStats)
generated by cgit v1.1 at 2025-02-13 10:35:47 +0000