From daf99f8c0ac874971c829b18a2372be1c4ee9541 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Tue, 22 Nov 2011 21:51:00 +0000
Subject: slightly simplify OdeScene.Simulate() by removing bool processtaints,
since we can inspect count of taint lists instead.
also groups OdeCharacter.CreateOdeStructures() and DestroyOdeStructures() together
---
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 234 +++++++++++------------
1 file changed, 117 insertions(+), 117 deletions(-)
(limited to 'OpenSim/Region/Physics/OdePlugin/ODECharacter.cs')
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index cfe64f2..489a23a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -542,123 +542,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
///
- /// This creates the Avatar's physical Surrogate in ODE at the position supplied
- ///
- ///
- /// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
- /// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
- /// place that is safe to call this routine AvatarGeomAndBodyCreation.
- ///
- ///
- ///
- ///
- ///
- private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
- {
- int dAMotorEuler = 1;
-// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
- if (CAPSULE_LENGTH <= 0)
- {
- m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
- CAPSULE_LENGTH = 0.01f;
- }
-
- if (CAPSULE_RADIUS <= 0)
- {
- m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
- CAPSULE_RADIUS = 0.01f;
- }
-
- Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
-
- d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
- d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
-
- d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
- Body = d.BodyCreate(_parent_scene.world);
- d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
-
- _position.X = npositionX;
- _position.Y = npositionY;
- _position.Z = npositionZ;
-
- m_taintPosition = _position;
-
- d.BodySetMass(Body, ref ShellMass);
- d.Matrix3 m_caprot;
- // 90 Stand up on the cap of the capped cyllinder
- if (_parent_scene.IsAvCapsuleTilted)
- {
- d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
- }
- else
- {
- d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
- }
-
- d.GeomSetRotation(Shell, ref m_caprot);
- d.BodySetRotation(Body, ref m_caprot);
-
- d.GeomSetBody(Shell, Body);
-
- // The purpose of the AMotor here is to keep the avatar's physical
- // surrogate from rotating while moving
- Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
- d.JointAttach(Amotor, Body, IntPtr.Zero);
- d.JointSetAMotorMode(Amotor, dAMotorEuler);
- d.JointSetAMotorNumAxes(Amotor, 3);
- d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
- d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
- d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
- d.JointSetAMotorAngle(Amotor, 0, 0);
- d.JointSetAMotorAngle(Amotor, 1, 0);
- d.JointSetAMotorAngle(Amotor, 2, 0);
-
- // These lowstops and high stops are effectively (no wiggle room)
- if (_parent_scene.IsAvCapsuleTilted)
- {
- d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
- }
- else
- {
- #region Documentation of capsule motor LowStop and HighStop parameters
- // Intentionally introduce some tilt into the capsule by setting
- // the motor stops to small epsilon values. This small tilt prevents
- // the capsule from falling into the terrain; a straight-up capsule
- // (with -0..0 motor stops) falls into the terrain for reasons yet
- // to be comprehended in their entirety.
- #endregion
- AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
- d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
- d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
- d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
- }
-
- // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
- // capped cyllinder will fall over
- d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
- d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
-
- //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
- //d.QfromR(
- //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
- //
- //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
- //standupStraight();
-
- _parent_scene.geom_name_map[Shell] = Name;
- _parent_scene.actor_name_map[Shell] = this;
- }
-
- ///
/// Uses the capped cyllinder volume formula to calculate the avatar's mass.
/// This may be used in calculations in the scene/scenepresence
///
@@ -1126,6 +1009,123 @@ namespace OpenSim.Region.Physics.OdePlugin
}
///
+ /// This creates the Avatar's physical Surrogate in ODE at the position supplied
+ ///
+ ///
+ /// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
+ /// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
+ /// place that is safe to call this routine AvatarGeomAndBodyCreation.
+ ///
+ ///
+ ///
+ ///
+ ///
+ private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
+ {
+ int dAMotorEuler = 1;
+// _parent_scene.waitForSpaceUnlock(_parent_scene.space);
+ if (CAPSULE_LENGTH <= 0)
+ {
+ m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
+ CAPSULE_LENGTH = 0.01f;
+ }
+
+ if (CAPSULE_RADIUS <= 0)
+ {
+ m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
+ CAPSULE_RADIUS = 0.01f;
+ }
+
+ Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
+
+ d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
+ d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
+
+ d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
+ Body = d.BodyCreate(_parent_scene.world);
+ d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
+
+ _position.X = npositionX;
+ _position.Y = npositionY;
+ _position.Z = npositionZ;
+
+ m_taintPosition = _position;
+
+ d.BodySetMass(Body, ref ShellMass);
+ d.Matrix3 m_caprot;
+ // 90 Stand up on the cap of the capped cyllinder
+ if (_parent_scene.IsAvCapsuleTilted)
+ {
+ d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
+ }
+ else
+ {
+ d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
+ }
+
+ d.GeomSetRotation(Shell, ref m_caprot);
+ d.BodySetRotation(Body, ref m_caprot);
+
+ d.GeomSetBody(Shell, Body);
+
+ // The purpose of the AMotor here is to keep the avatar's physical
+ // surrogate from rotating while moving
+ Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+ d.JointAttach(Amotor, Body, IntPtr.Zero);
+ d.JointSetAMotorMode(Amotor, dAMotorEuler);
+ d.JointSetAMotorNumAxes(Amotor, 3);
+ d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
+ d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
+ d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
+ d.JointSetAMotorAngle(Amotor, 0, 0);
+ d.JointSetAMotorAngle(Amotor, 1, 0);
+ d.JointSetAMotorAngle(Amotor, 2, 0);
+
+ // These lowstops and high stops are effectively (no wiggle room)
+ if (_parent_scene.IsAvCapsuleTilted)
+ {
+ d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
+ }
+ else
+ {
+ #region Documentation of capsule motor LowStop and HighStop parameters
+ // Intentionally introduce some tilt into the capsule by setting
+ // the motor stops to small epsilon values. This small tilt prevents
+ // the capsule from falling into the terrain; a straight-up capsule
+ // (with -0..0 motor stops) falls into the terrain for reasons yet
+ // to be comprehended in their entirety.
+ #endregion
+ AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
+ d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
+ d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
+ d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
+ }
+
+ // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
+ // capped cyllinder will fall over
+ d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
+ d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
+
+ //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
+ //d.QfromR(
+ //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
+ //
+ //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
+ //standupStraight();
+
+ _parent_scene.geom_name_map[Shell] = Name;
+ _parent_scene.actor_name_map[Shell] = this;
+ }
+
+ ///
/// Cleanup the things we use in the scene.
///
internal void Destroy()
--
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