From a8f1cd7e8643fc6f4f4f12b1af3e52b9830f5a5a Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Wed, 29 Feb 2012 19:32:23 +0000
Subject: update ubitODE to current working state
---
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 189 ++++++++++++++---------
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 123 +++++++++------
2 files changed, 199 insertions(+), 113 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 0ccdbc0..17f38e8 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -155,6 +155,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public float m_collisionscore;
int m_colliderfilter = 0;
+ public IntPtr collide_geom; // for objects: geom if single prim space it linkset
+
private float m_density = 10.000006836f; // Aluminum g/cm3;
public bool _zeroFlag;
@@ -453,8 +455,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
- // Averate previous velocity with the new one so
- // client object interpolation works a 'little' better
if (_zeroFlag)
return Vector3.Zero;
return _velocity;
@@ -833,6 +833,7 @@ namespace OpenSim.Region.Physics.OdePlugin
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = IntPtr.Zero;
+ collide_geom = IntPtr.Zero;
Body = IntPtr.Zero;
if (!size.IsFinite())
@@ -1367,7 +1368,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
m_collisionscore = 0;
- if (m_targetSpace != _parent_scene.ActiveSpace)
+// if (m_targetSpace != _parent_scene.ActiveSpace)
{
if (m_targetSpace != IntPtr.Zero)
{
@@ -1376,9 +1377,26 @@ namespace OpenSim.Region.Physics.OdePlugin
d.SpaceRemove(m_targetSpace, prim_geom);
}
+// m_targetSpace = _parent_scene.ActiveSpace;
+// d.SpaceAdd(m_targetSpace, prim_geom);
+ }
+
+
+ if (childrenPrim.Count == 0)
+ {
+ collide_geom = prim_geom;
m_targetSpace = _parent_scene.ActiveSpace;
d.SpaceAdd(m_targetSpace, prim_geom);
}
+ else
+ {
+ m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
+ d.HashSpaceSetLevels(m_targetSpace, -2, 8);
+ d.SpaceSetSublevel(m_targetSpace, 3);
+ d.SpaceSetCleanup(m_targetSpace, false);
+ d.SpaceAdd(m_targetSpace, prim_geom);
+ collide_geom = m_targetSpace;
+ }
lock (childrenPrim)
{
@@ -1396,15 +1414,15 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
prm.m_collisionscore = 0;
- if (prm.m_targetSpace != _parent_scene.ActiveSpace)
+ if (prm.m_targetSpace != m_targetSpace)
{
if (prm.m_targetSpace != IntPtr.Zero)
{
- _parent_scene.waitForSpaceUnlock(m_targetSpace);
+ _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
}
- prm.m_targetSpace = _parent_scene.ActiveSpace;
+ prm.m_targetSpace = m_targetSpace;
d.SpaceAdd(m_targetSpace, prm.prim_geom);
}
@@ -1427,8 +1445,14 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDisable(prim_geom);
d.BodyDisable(Body);
}
+ else
+ {
+ d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
+ d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
+ }
_parent_scene.addActivePrim(this);
+ _parent_scene.addActiveGroups(this);
}
private void DestroyBody()
@@ -1473,6 +1497,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
+ _parent_scene.remActiveGroup(this);
d.BodyDestroy(Body);
}
Body = IntPtr.Zero;
@@ -2390,8 +2415,8 @@ namespace OpenSim.Region.Physics.OdePlugin
else
*/
DestroyBody();
- Stop();
}
+ Stop();
}
}
@@ -2576,7 +2601,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if ((bool)newbuilding)
{
m_building = true;
- DestroyBody();
+ if (!childPrim)
+ DestroyBody();
}
else
{
@@ -2648,12 +2674,95 @@ namespace OpenSim.Region.Physics.OdePlugin
public void Move()
{
if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
- !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims.
+ !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
+ // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
{
- // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
+// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
float timestep = _parent_scene.ODE_STEPSIZE;
+ // check outside region
+ d.Vector3 lpos;
+ d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
+
+ if (lpos.Z < -100 || lpos.Z > 100000f)
+ {
+ m_outbounds = true;
+
+ lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
+ _acceleration.X = 0;
+ _acceleration.Y = 0;
+ _acceleration.Z = 0;
+
+ _velocity.X = 0;
+ _velocity.Y = 0;
+ _velocity.Z = 0;
+ m_rotationalVelocity.X = 0;
+ m_rotationalVelocity.Y = 0;
+ m_rotationalVelocity.Z = 0;
+
+ d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+ d.BodySetAngularVel(Body, 0, 0, 0); // stop it
+ d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
+ m_lastposition = _position;
+ m_lastorientation = _orientation;
+
+ base.RequestPhysicsterseUpdate();
+
+ m_throttleUpdates = false;
+ throttleCounter = 0;
+ _zeroFlag = true;
+
+ disableBodySoft(); // disable it and colisions
+ base.RaiseOutOfBounds(_position);
+ return;
+ }
+
+ if (lpos.X < 0f)
+ {
+ _position.X = Util.Clip(lpos.X, -2f, -0.1f);
+ m_outbounds = true;
+ }
+ else if(lpos.X > _parent_scene.WorldExtents.X)
+ {
+ _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
+ m_outbounds = true;
+ }
+ if (lpos.Y < 0f)
+ {
+ _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
+ m_outbounds = true;
+ }
+ else if(lpos.Y > _parent_scene.WorldExtents.Y)
+ {
+ _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
+ m_outbounds = true;
+ }
+
+ if(m_outbounds)
+ {
+ m_lastposition = _position;
+ m_lastorientation = _orientation;
+
+ d.Vector3 dtmp = d.BodyGetAngularVel(Body);
+ m_rotationalVelocity.X = dtmp.X;
+ m_rotationalVelocity.Y = dtmp.Y;
+ m_rotationalVelocity.Z = dtmp.Z;
+
+ dtmp = d.BodyGetLinearVel(Body);
+ _velocity.X = dtmp.X;
+ _velocity.Y = dtmp.Y;
+ _velocity.Z = dtmp.Z;
+
+ d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+ d.BodySetAngularVel(Body, 0, 0, 0);
+ d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+ disableBodySoft(); // stop collisions
+ base.RequestPhysicsterseUpdate();
+ return;
+ }
+
+
float fx = 0;
float fy = 0;
float fz = 0;
@@ -2862,7 +2971,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public void UpdatePositionAndVelocity(float simulatedtime)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
- if (_parent == null && !m_disabled && !m_building)
+ if (_parent == null && !m_disabled && !m_building && !m_outbounds)
{
if (Body != IntPtr.Zero)
{
@@ -2872,64 +2981,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
- // we need to use root position since that's all the rest of scene uses
- if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X
- || lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y
- )
- {
- // we are outside current region
- // we can't let it keeping moving and having colisions
- // since it can be stucked between something like terrain and edge
- // so lets stop and disable it until something else kicks it
-
- _position.X = Util.Clip(lpos.X, -0.2f, _parent_scene.WorldExtents.X + 0.2f);
- _position.Y = Util.Clip(lpos.Y, -0.2f, _parent_scene.WorldExtents.Y + 0.2f);
- _position.Z = Util.Clip(lpos.Z, -100f, 50000f);
-
- m_lastposition = _position;
-// m_lastorientation = _orientation;
-
- d.BodySetLinearVel(Body, 0, 0, 0); // stop it
-// d.BodySetAngularVel(Body, 0, 0, 0);
- d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
- disableBodySoft(); // stop collisions
- m_outbounds = true;
- base.RequestPhysicsterseUpdate();
- return;
- }
-
- if (lpos.Z < -100 || lpos.Z > 100000f)
- {
- lpos.Z = Util.Clip(lpos.Z, -100f, 50000f);
-
- _acceleration.X = 0;
- _acceleration.Y = 0;
- _acceleration.Z = 0;
-
- _velocity.X = 0;
- _velocity.Y = 0;
- _velocity.Z = 0;
- m_rotationalVelocity.X = 0;
- m_rotationalVelocity.Y = 0;
- m_rotationalVelocity.Z = 0;
-
- d.BodySetLinearVel(Body, 0, 0, 0); // stop it
- d.BodySetAngularVel(Body, 0, 0, 0); // stop it
- d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
- m_lastposition = _position;
- m_lastorientation = _orientation;
-
- base.RequestPhysicsterseUpdate();
-
- m_throttleUpdates = false;
- throttleCounter = 0;
- _zeroFlag = true;
-
- disableBodySoft(); // disable it and colisions
- base.RaiseOutOfBounds(_position);
-
- return;
- }
d.Quaternion ori;
d.GeomCopyQuaternion(prim_geom, out ori);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 6e4c373..ccb4c23 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -224,6 +224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
+ private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
@@ -1013,15 +1014,24 @@ namespace OpenSim.Region.Physics.OdePlugin
}
- // collide active prims with static enviroment
lock (_activeprims)
{
+ foreach (OdePrim aprim in _activeprims)
+ {
+ aprim.CollisionScore = 0;
+ aprim.IsColliding = false;
+ }
+ }
+
+ // collide active prims with static enviroment
+ lock (_activegroups)
+ {
try
{
- foreach (OdePrim prm in _activeprims)
+ foreach (OdePrim prm in _activegroups)
{
- if (d.BodyIsEnabled(prm.Body))
- d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback);
+ if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
+ d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
}
}
catch (AccessViolationException)
@@ -1029,7 +1039,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
}
}
-
// finally colide active things amoung them
try
{
@@ -1039,7 +1048,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
m_log.Warn("[PHYSICS]: Unable to collide in Active space");
}
-
// _perloopContact.Clear();
}
@@ -1148,13 +1156,20 @@ namespace OpenSim.Region.Physics.OdePlugin
public void addActivePrim(OdePrim activatePrim)
{
- // adds active prim.. (ones that should be iterated over in collisions_optimized
+ // adds active prim..
lock (_activeprims)
{
if (!_activeprims.Contains(activatePrim))
_activeprims.Add(activatePrim);
- //else
- // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
+ }
+ }
+
+ public void addActiveGroups(OdePrim activatePrim)
+ {
+ lock (_activegroups)
+ {
+ if (!_activegroups.Contains(activatePrim))
+ _activegroups.Add(activatePrim);
}
}
@@ -1186,6 +1201,13 @@ namespace OpenSim.Region.Physics.OdePlugin
_activeprims.Remove(deactivatePrim);
}
}
+ public void remActiveGroup(OdePrim deactivatePrim)
+ {
+ lock (_activegroups)
+ {
+ _activegroups.Remove(deactivatePrim);
+ }
+ }
public override void RemovePrim(PhysicsActor prim)
{
@@ -1258,6 +1280,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{
waitForSpaceUnlock(currentspace);
d.SpaceRemove(currentspace, geom);
+
+ if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
+ {
+ d.SpaceDestroy(currentspace);
+ }
}
else
{
@@ -1274,6 +1301,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
waitForSpaceUnlock(currentspace);
d.SpaceRemove(currentspace, geom);
+
+ if (d.SpaceGetSublevel(currentspace) > 1 && d.SpaceGetNumGeoms(currentspace) == 0)
+ {
+ d.SpaceDestroy(currentspace);
+ }
+
}
}
}
@@ -1577,42 +1610,14 @@ namespace OpenSim.Region.Physics.OdePlugin
statchanges += Util.EnvironmentTickCountSubtract(statstart);
- // Move characters
- lock (_characters)
- {
- List<OdeCharacter> defects = new List<OdeCharacter>();
- foreach (OdeCharacter actor in _characters)
- {
- if (actor != null)
- actor.Move(ODE_STEPSIZE, defects);
- }
- if (defects.Count != 0)
- {
- foreach (OdeCharacter defect in defects)
- {
- RemoveCharacter(defect);
- }
- }
- }
- statchmove += Util.EnvironmentTickCountSubtract(statstart);
-
- // Move other active objects
- lock (_activeprims)
- {
- foreach (OdePrim aprim in _activeprims)
- {
- aprim.CollisionScore = 0;
- aprim.IsColliding = false;
- aprim.Move();
- }
- }
-
statactmove += Util.EnvironmentTickCountSubtract(statstart);
//if ((framecount % m_randomizeWater) == 0)
// randomizeWater(waterlevel);
m_rayCastManager.ProcessQueuedRequests();
+
+
statray += Util.EnvironmentTickCountSubtract(statstart);
collision_optimized();
statcol += Util.EnvironmentTickCountSubtract(statstart);
@@ -1642,8 +1647,35 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldQuickStep(world, ODE_STEPSIZE);
statstep += Util.EnvironmentTickCountSubtract(statstart);
- d.JointGroupEmpty(contactgroup);
- totjcontact += m_global_contactcount;
+
+ // Move characters
+ lock (_characters)
+ {
+ List<OdeCharacter> defects = new List<OdeCharacter>();
+ foreach (OdeCharacter actor in _characters)
+ {
+ if (actor != null)
+ actor.Move(ODE_STEPSIZE, defects);
+ }
+ if (defects.Count != 0)
+ {
+ foreach (OdeCharacter defect in defects)
+ {
+ RemoveCharacter(defect);
+ }
+ }
+ }
+ statchmove += Util.EnvironmentTickCountSubtract(statstart);
+
+ // Move other active objects
+ lock (_activegroups)
+ {
+ foreach (OdePrim aprim in _activegroups)
+ {
+ aprim.Move();
+ }
+ }
+
//ode.dunlock(world);
}
catch (Exception e)
@@ -1652,6 +1684,9 @@ namespace OpenSim.Region.Physics.OdePlugin
// ode.dunlock(world);
}
+ d.JointGroupEmpty(contactgroup);
+ totjcontact += m_global_contactcount;
+
step_time -= ODE_STEPSIZE;
nodeframes++;
}
@@ -1686,10 +1721,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
statmovchar = Util.EnvironmentTickCountSubtract(statstart);
- lock (_activeprims)
+ lock (_activegroups)
{
{
- foreach (OdePrim actor in _activeprims)
+ foreach (OdePrim actor in _activegroups)
{
if (actor.IsPhysical)
{
@@ -1966,7 +2001,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
- d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0);
+ d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
--
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