From 6ad0f3250b31c392560af70330269ab7db9664a6 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 19 Aug 2016 21:28:40 +0100
Subject: fix ubOde prims unlink that got broken fixing sleeping bodies
collisions, core removes and adds a prim with same LocalID not giving time
for physics to actuly delete, so when it did it LocalID was lost
---
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | 15 ++++++++++++---
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | 19 ++++++++++++++++---
2 files changed, 28 insertions(+), 6 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
index 6f2cbbe..4adf87e 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
@@ -306,7 +306,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override uint LocalID
{
get { return m_localID; }
- set { m_localID = value; }
+ set
+ {
+ uint oldid = m_localID;
+ m_localID = value;
+ _parent_scene.changePrimID(this, oldid);
+ }
}
public override PhysicsActor ParentActor
@@ -1066,8 +1071,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public OdePrim(String primName, ODEScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
{
+ _parent_scene = parent_scene;
+
Name = primName;
- LocalID = plocalID;
+ m_localID = plocalID;
m_vehicle = null;
@@ -1113,7 +1120,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_pbs = pbs;
- _parent_scene = parent_scene;
m_targetSpace = IntPtr.Zero;
if (pos.Z < 0)
@@ -1159,6 +1165,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_OBBOffset = repData.OBBOffset;
UpdatePrimBodyData();
+
+ AddChange(changes.Add, null);
}
private void resetCollisionAccounting()
@@ -2441,6 +2449,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void changeadd()
{
+ _parent_scene.addToPrims(this);
}
private void changeAngularLock(byte newLocks)
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 6c5b405..623e6be 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -1328,8 +1328,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID);
- lock (_prims)
- _prims[newPrim.LocalID] = newPrim;
}
return newPrim;
}
@@ -1350,7 +1348,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid)
{
-
return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid);
}
@@ -1396,6 +1393,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
+ public void addToPrims(OdePrim prim)
+ {
+ lock (_prims)
+ _prims[prim.LocalID] = prim;
+ }
+
public OdePrim getPrim(uint id)
{
lock (_prims)
@@ -1413,6 +1416,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return _prims.ContainsKey(prm.LocalID);
}
+ public void changePrimID(OdePrim prim,uint oldID)
+ {
+ lock (_prims)
+ {
+ if(_prims.ContainsKey(oldID))
+ _prims.Remove(oldID);
+ _prims[prim.LocalID] = prim;
+ }
+ }
+
public bool haveActor(PhysicsActor actor)
{
if (actor is OdePrim)
--
cgit v1.1
From 3abd54082f8c757bc77edfaebb37d0ff4807a095 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Mon, 22 Aug 2016 07:32:12 +0100
Subject: remove unnecessary lock
---
.../Region/PhysicsModules/ubOde/ODECharacter.cs | 52 +++++++++-------------
1 file changed, 21 insertions(+), 31 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
index c9489d2..3a5a936 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
@@ -122,8 +122,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float m_buoyancy = 0f;
private bool m_freemove = false;
- // private CollisionLocker ode;
-
+
// private string m_name = String.Empty;
// other filter control
int m_colliderfilter = 0;
@@ -1571,11 +1570,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (CollisionEventsThisFrame != null)
{
- lock (CollisionEventsThisFrame)
- {
- CollisionEventsThisFrame.Clear();
- CollisionEventsThisFrame = null;
- }
+ CollisionEventsThisFrame.Clear();
+ CollisionEventsThisFrame = null;
}
m_eventsubscription = 0;
_parent_scene.RemoveCollisionEventReporting(this);
@@ -1585,11 +1581,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (CollisionEventsThisFrame == null)
CollisionEventsThisFrame = new CollisionEventUpdate();
- lock (CollisionEventsThisFrame)
- {
- CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
- _parent_scene.AddCollisionEventReporting(this);
- }
+ CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
+ _parent_scene.AddCollisionEventReporting(this);
}
public void SendCollisions(int timestep)
@@ -1600,28 +1593,25 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (CollisionEventsThisFrame == null)
return;
- lock (CollisionEventsThisFrame)
- {
- if (m_cureventsubscription < m_eventsubscription)
- return;
+ if (m_cureventsubscription < m_eventsubscription)
+ return;
- int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
+ int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
- if (!SentEmptyCollisionsEvent || ncolisions > 0)
- {
- base.SendCollisionUpdate(CollisionEventsThisFrame);
- m_cureventsubscription = 0;
+ if (!SentEmptyCollisionsEvent || ncolisions > 0)
+ {
+ base.SendCollisionUpdate(CollisionEventsThisFrame);
+ m_cureventsubscription = 0;
- if (ncolisions == 0)
- {
- SentEmptyCollisionsEvent = true;
-// _parent_scene.RemoveCollisionEventReporting(this);
- }
- else
- {
- SentEmptyCollisionsEvent = false;
- CollisionEventsThisFrame.Clear();
- }
+ if (ncolisions == 0)
+ {
+ SentEmptyCollisionsEvent = true;
+// _parent_scene.RemoveCollisionEventReporting(this);
+ }
+ else
+ {
+ SentEmptyCollisionsEvent = false;
+ CollisionEventsThisFrame.Clear();
}
}
}
--
cgit v1.1
From 133fce98e79eced53bb68adc73749adf176cfccd Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Mon, 22 Aug 2016 20:28:15 +0100
Subject: change ODEs topcolliders code ( still bad), plus a few memory leaks
---
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | 48 +++++++++++--------------
1 file changed, 21 insertions(+), 27 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 623e6be..fc08819 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -30,6 +30,7 @@
using System;
using System.Collections.Generic;
+using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Threading;
@@ -803,14 +804,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
}
- // update actors collision score
- if (p1.CollisionScore >= float.MaxValue - count)
- p1.CollisionScore = 0;
- p1.CollisionScore += count;
-
- if (p2.CollisionScore >= float.MaxValue - count)
- p2.CollisionScore = 0;
- p2.CollisionScore += count;
// get first contact
d.ContactGeom curContact = new d.ContactGeom();
@@ -1056,6 +1049,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
uint obj2LocalID = 0;
+ // update actors collision score
+ if (p1.CollisionScore < float.MaxValue)
+ p1.CollisionScore += 1.0f;
+ if (p2.CollisionScore < float.MaxValue)
+ p2.CollisionScore += 1.0f;
+
bool p1events = p1.SubscribedEvents();
bool p2events = p2.SubscribedEvents();
@@ -2569,27 +2568,22 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
+ private int compareByCollisionsDesc(OdePrim A, OdePrim B)
+ {
+ return -A.CollisionScore.CompareTo(B.CollisionScore);
+ }
+
public override Dictionary<uint, float> GetTopColliders()
{
- Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
- int cnt = 0;
- lock (_prims)
- {
- foreach (OdePrim prm in _prims.Values)
- {
- if (prm.CollisionScore > 0)
- {
- returncolliders.Add(prm.LocalID, prm.CollisionScore);
- cnt++;
- prm.CollisionScore = 0f;
- if (cnt > 25)
- {
- break;
- }
- }
- }
- }
- return returncolliders;
+ Dictionary<uint, float> topColliders;
+ List<OdePrim> orderedPrims;
+ lock (_activeprims)
+ orderedPrims = new List<OdePrim>(_activeprims);
+
+ orderedPrims.Sort(compareByCollisionsDesc);
+ topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
+
+ return topColliders;
}
public override bool SupportsRayCast()
--
cgit v1.1
From 804d4971e236a0e75a51358f3d9c43313d140e5f Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Sun, 28 Aug 2016 03:51:20 +0100
Subject: my broken version of vehicle mouse steer on ubOde (no bank,needs
better damp)
---
OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs | 142 +++++++++++++++------
1 file changed, 103 insertions(+), 39 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
index d8a2272..456d9e9 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
@@ -648,6 +648,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
break;
}
+ // disable mouse steering
+ m_flags &= ~(VehicleFlag.MOUSELOOK_STEER |
+ VehicleFlag.MOUSELOOK_BANK |
+ VehicleFlag.CAMERA_DECOUPLED);
m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
@@ -794,6 +798,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float ldampZ = 0;
+ bool mousemode = false;
+ if((m_flags & (VehicleFlag.MOUSELOOK_STEER |VehicleFlag.MOUSELOOK_BANK)) != 0 )
+ mousemode = true;
+
+ float bankingEfficiency;
+ if(mousemode)
+ bankingEfficiency = 0;
+ else
+ bankingEfficiency = m_bankingEfficiency;
+
// linear motor
if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
{
@@ -967,7 +981,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
torque.Y += effpitch * ftmp;
}
- if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
+ if (bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
{
float broll = effroll;
@@ -1018,58 +1032,108 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
}
- // angular motor
- if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
+ if(mousemode)
{
- tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
- tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
- torque.X += tmpV.X * m_ampwr;
- torque.Y += tmpV.Y * m_ampwr;
- torque.Z += tmpV.Z;
+ CameraData cam = rootPrim.TryGetCameraData();
+ if(cam.Valid && cam.MouseLook)
+ {
+ Vector3 dirv = cam.CameraAtAxis * irotq;
- m_amEfect *= m_amDecay;
+ float tmp;
+ if(Math.Abs(dirv.X) > 0.01f)
+ {
+ if (Math.Abs(dirv.Z) > 0.01)
+ {
+ tmp = -(float)Math.Atan2(dirv.Z, dirv.X) * m_angularMotorDirection.Y;
+ if(tmp < -4f)
+ tmp = -4f;
+ else if(tmp > 4f)
+ tmp = 4f;
+ torque.Y += (tmp - curLocalAngVel.Y) / m_angularMotorTimescale;
+ }
+
+ if (Math.Abs(dirv.Y) > 0.01)
+ {
+ tmp = (float)Math.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.Z;
+ if(tmp < -4f)
+ tmp = -4f;
+ else if(tmp > 4f)
+ tmp = 4f;
+ torque.Z += (tmp - curLocalAngVel.Z) / m_angularMotorTimescale;
+ }
+ }
+ // angular friction
+ if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
+ {
+ torque.X -= curLocalAngVel.X * m_amdampX;
+ torque.Y -= curLocalAngVel.Y * m_amdampY;
+ torque.Z -= curLocalAngVel.Z * m_amdampZ;
+ }
+ }
+ else
+ {
+ if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
+ {
+ torque.X -= curLocalAngVel.X * 10f;
+ torque.Y -= curLocalAngVel.Y * 10f;
+ torque.Z -= curLocalAngVel.Z * 10f;
+ }
+ }
}
else
- m_amEfect = 0;
-
- // angular deflection
- if (m_angularDeflectionEfficiency > 0)
{
- Vector3 dirv;
-
- if (curLocalVel.X > 0.01f)
- dirv = curLocalVel;
- else if (curLocalVel.X < -0.01f)
- // use oposite
- dirv = -curLocalVel;
- else
+ // angular motor
+ if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
{
- // make it fall into small positive x case
- dirv.X = 0.01f;
- dirv.Y = curLocalVel.Y;
- dirv.Z = curLocalVel.Z;
- }
+ tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
+ tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
+ torque.X += tmpV.X * m_ampwr;
+ torque.Y += tmpV.Y * m_ampwr;
+ torque.Z += tmpV.Z;
- float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
+ m_amEfect *= m_amDecay;
+ }
+ else
+ m_amEfect = 0;
- if (Math.Abs(dirv.Z) > 0.01)
+ // angular deflection
+ if (m_angularDeflectionEfficiency > 0)
{
- torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
+ Vector3 dirv;
+
+ if (curLocalVel.X > 0.01f)
+ dirv = curLocalVel;
+ else if (curLocalVel.X < -0.01f)
+ // use oposite
+ dirv = -curLocalVel;
+ else
+ {
+ // make it fall into small positive x case
+ dirv.X = 0.01f;
+ dirv.Y = curLocalVel.Y;
+ dirv.Z = curLocalVel.Z;
+ }
+
+ float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
+
+ if (Math.Abs(dirv.Z) > 0.01)
+ {
+ torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
+ }
+
+ if (Math.Abs(dirv.Y) > 0.01)
+ {
+ torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
+ }
}
- if (Math.Abs(dirv.Y) > 0.01)
+ if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
{
- torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
+ torque.X -= curLocalAngVel.X * m_amdampX;
+ torque.Y -= curLocalAngVel.Y * m_amdampY;
+ torque.Z -= curLocalAngVel.Z * m_amdampZ;
}
}
-
- // angular friction
- if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
- {
- torque.X -= curLocalAngVel.X * m_amdampX;
- torque.Y -= curLocalAngVel.Y * m_amdampY;
- torque.Z -= curLocalAngVel.Z * m_amdampZ;
- }
force *= dmass.mass;
--
cgit v1.1
From 155a861a4f53c547ae066123cd50a5028067ae54 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Mon, 29 Aug 2016 16:22:16 +0100
Subject: ubOde mouse look steer with some MOUSELOOK_BANK action
---
OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs | 69 ++++++++++++++++------
1 file changed, 51 insertions(+), 18 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
index 456d9e9..2b8e3ba 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
@@ -799,12 +799,24 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float ldampZ = 0;
bool mousemode = false;
- if((m_flags & (VehicleFlag.MOUSELOOK_STEER |VehicleFlag.MOUSELOOK_BANK)) != 0 )
- mousemode = true;
+ bool mousemodebank = false;
float bankingEfficiency;
- if(mousemode)
- bankingEfficiency = 0;
+ float verticalAttractionTimescale = m_verticalAttractionTimescale;
+
+ if((m_flags & (VehicleFlag.MOUSELOOK_STEER | VehicleFlag.MOUSELOOK_BANK)) != 0 )
+ {
+ mousemode = true;
+ mousemodebank = (m_flags & VehicleFlag.MOUSELOOK_BANK) != 0;
+ if(mousemodebank)
+ {
+ bankingEfficiency = m_bankingEfficiency;
+ if(verticalAttractionTimescale < 149.9)
+ verticalAttractionTimescale *= 2.0f; // reduce current instability
+ }
+ else
+ bankingEfficiency = 0;
+ }
else
bankingEfficiency = m_bankingEfficiency;
@@ -944,12 +956,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
// vertical atractor
- if (m_verticalAttractionTimescale < 300)
+ if (verticalAttractionTimescale < 300)
{
float roll;
float pitch;
- float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale;
+ float ftmp = m_invtimestep / verticalAttractionTimescale / verticalAttractionTimescale;
float ftmp2;
ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
@@ -1039,36 +1051,57 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Vector3 dirv = cam.CameraAtAxis * irotq;
+ float invamts = 1.0f/m_angularMotorTimescale;
float tmp;
- if(Math.Abs(dirv.X) > 0.01f)
+
+ // get out x == 0 plane
+ if(Math.Abs(dirv.X) < 0.001f)
+ dirv.X = 0001f;
+
+ if (Math.Abs(dirv.Z) > 0.01)
+ {
+ tmp = -(float)Math.Atan2(dirv.Z, dirv.X) * m_angularMotorDirection.Y;
+ if(tmp < -4f)
+ tmp = -4f;
+ else if(tmp > 4f)
+ tmp = 4f;
+ torque.Y += (tmp - curLocalAngVel.Y) * invamts;
+ torque.Y -= curLocalAngVel.Y * m_amdampY;
+ }
+ else
+ torque.Y -= curLocalAngVel.Y * m_invtimestep;
+
+ if (Math.Abs(dirv.Y) > 0.01)
{
- if (Math.Abs(dirv.Z) > 0.01)
+ if(mousemodebank)
{
- tmp = -(float)Math.Atan2(dirv.Z, dirv.X) * m_angularMotorDirection.Y;
+ tmp = -(float)Math.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.X;
if(tmp < -4f)
tmp = -4f;
else if(tmp > 4f)
tmp = 4f;
- torque.Y += (tmp - curLocalAngVel.Y) / m_angularMotorTimescale;
+ torque.X += (tmp - curLocalAngVel.X) * invamts;
}
-
- if (Math.Abs(dirv.Y) > 0.01)
+ else
{
tmp = (float)Math.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.Z;
+ tmp *= invamts;
if(tmp < -4f)
tmp = -4f;
else if(tmp > 4f)
tmp = 4f;
- torque.Z += (tmp - curLocalAngVel.Z) / m_angularMotorTimescale;
+ torque.Z += (tmp - curLocalAngVel.Z) * invamts;
}
- }
- // angular friction
- if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
- {
torque.X -= curLocalAngVel.X * m_amdampX;
- torque.Y -= curLocalAngVel.Y * m_amdampY;
torque.Z -= curLocalAngVel.Z * m_amdampZ;
}
+ else
+ {
+ if(mousemodebank)
+ torque.X -= curLocalAngVel.X * m_invtimestep;
+ else
+ torque.Z -= curLocalAngVel.Z * m_invtimestep;
+ }
}
else
{
--
cgit v1.1
From 2b1b0134048d9e1f3d2789f0975869c3d93c81ac Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Mon, 29 Aug 2016 16:25:46 +0100
Subject: ubOde add a missing decimal dot :)
---
OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
index 2b8e3ba..fa32441 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
@@ -1054,9 +1054,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float invamts = 1.0f/m_angularMotorTimescale;
float tmp;
- // get out x == 0 plane
+ // get out of x == 0 plane
if(Math.Abs(dirv.X) < 0.001f)
- dirv.X = 0001f;
+ dirv.X = 0.001f;
if (Math.Abs(dirv.Z) > 0.01)
{
--
cgit v1.1
From 6c6a965320951250e7cbcc8c9875cab4b603bc76 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Thu, 1 Sep 2016 16:15:51 +0100
Subject: remove some MegaRegions code from physics
---
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | 26 -------------------------
1 file changed, 26 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index fc08819..e23e355 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -171,7 +171,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public bool m_OSOdeLib = false;
- public bool m_suportCombine = false; // mega suport not tested
public Scene m_frameWorkScene = null;
// private int threadid = 0;
@@ -380,8 +379,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
WorldExtents.Y = m_frameWorkScene.RegionInfo.RegionSizeY;
m_regionHeight = (uint)WorldExtents.Y;
- m_suportCombine = false;
-
lock (OdeLock)
{
// Create the world and the first space
@@ -1938,12 +1935,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int offsetX = 0;
int offsetY = 0;
- if (m_suportCombine)
- {
- offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- }
-
// get region map
IntPtr heightFieldGeom = IntPtr.Zero;
if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
@@ -2076,12 +2067,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int offsetX = 0;
int offsetY = 0;
- if (m_suportCombine)
- {
- offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- }
-
// get region map
IntPtr heightFieldGeom = IntPtr.Zero;
Vector3 norm = new Vector3(0, 0, 1);
@@ -2224,12 +2209,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
- public override void CombineTerrain(float[] heightMap, Vector3 pOffset)
- {
- if(m_suportCombine)
- SetTerrain(heightMap, pOffset);
- }
-
public void SetTerrain(float[] heightMap, Vector3 pOffset)
{
if (m_OSOdeLib)
@@ -2479,11 +2458,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return waterlevel;
}
- public override bool SupportsCombining()
- {
- return m_suportCombine;
- }
-
public override void SetWaterLevel(float baseheight)
{
waterlevel = baseheight;
--
cgit v1.1
From f6eac5aa7aaa9dd58e9f4e6b156f47d17f3ebc70 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Thu, 1 Sep 2016 17:25:29 +0100
Subject: remove some MegaRegions code from ubOde
---
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | 190 ++++++++----------------
1 file changed, 66 insertions(+), 124 deletions(-)
(limited to 'OpenSim/Region/PhysicsModules/ubOde')
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index e23e355..e6aa7ef 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -258,9 +258,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public ContactData[] m_materialContactsData = new ContactData[8];
- private Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
- private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
- private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
+ private IntPtr TerrainGeom;
+ private float[] TerrainHeightFieldHeight;
+ private GCHandle TerrainHeightFieldHeightsHandler = new GCHandle();
private int m_physicsiterations = 15;
private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
@@ -302,9 +302,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public int physics_logging_interval = 0;
public bool physics_logging_append_existing_logfile = false;
- private Vector3 m_worldOffset = Vector3.Zero;
public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
- private PhysicsScene m_parentScene = null;
private ODERayCastRequestManager m_rayCastManager;
public ODEMeshWorker m_meshWorker;
@@ -1931,24 +1929,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public float GetTerrainHeightAtXY(float x, float y)
{
-
- int offsetX = 0;
- int offsetY = 0;
-
- // get region map
- IntPtr heightFieldGeom = IntPtr.Zero;
- if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
- return 0f;
-
- if (heightFieldGeom == IntPtr.Zero)
+ if (TerrainGeom == IntPtr.Zero)
return 0f;
- if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+ if (TerrainHeightFieldHeight == null || TerrainHeightFieldHeight.Length == 0)
return 0f;
// TerrainHeightField for ODE as offset 1m
- x += 1f - offsetX;
- y += 1f - offsetY;
+ x += 1f;
+ y += 1f;
// make position fit into array
if (x < 0)
@@ -2027,7 +2016,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
iy *= regsize;
iy += ix; // all indexes have iy + ix
- float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+ float[] heights = TerrainHeightFieldHeight;
/*
if ((dx + dy) <= 1.0f)
{
@@ -2064,25 +2053,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public Vector3 GetTerrainNormalAtXY(float x, float y)
{
- int offsetX = 0;
- int offsetY = 0;
-
- // get region map
- IntPtr heightFieldGeom = IntPtr.Zero;
Vector3 norm = new Vector3(0, 0, 1);
- if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
- return norm; ;
-
- if (heightFieldGeom == IntPtr.Zero)
+ if (TerrainGeom == IntPtr.Zero)
return norm;
- if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+ if (TerrainHeightFieldHeight == null || TerrainHeightFieldHeight.Length == 0)
return norm;
// TerrainHeightField for ODE as offset 1m
- x += 1f - offsetX;
- y += 1f - offsetY;
+ x += 1f;
+ y += 1f;
// make position fit into array
if (x < 0)
@@ -2169,7 +2150,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
iy *= regsize;
iy += ix; // all indexes have iy + ix
- float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+ float[] heights = TerrainHeightFieldHeight;
if (firstTri)
{
@@ -2196,28 +2177,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override void SetTerrain(float[] heightMap)
{
- if (m_worldOffset != Vector3.Zero && m_parentScene != null)
- {
- if (m_parentScene is ODEScene)
- {
- ((ODEScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
- }
- }
- else
- {
- SetTerrain(heightMap, m_worldOffset);
- }
- }
-
- public void SetTerrain(float[] heightMap, Vector3 pOffset)
- {
if (m_OSOdeLib)
- OSSetTerrain(heightMap, pOffset);
+ OSSetTerrain(heightMap);
else
- OriSetTerrain(heightMap, pOffset);
+ OriSetTerrain(heightMap);
}
- public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
+ public void OriSetTerrain(float[] heightMap)
{
// assumes 1m size grid and constante size square regions
// needs to know about sims around in future
@@ -2282,45 +2248,40 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
d.AllocateODEDataForThread(~0U);
- IntPtr GroundGeom = IntPtr.Zero;
- if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+ if (TerrainGeom != IntPtr.Zero)
{
- RegionTerrain.Remove(pOffset);
- if (GroundGeom != IntPtr.Zero)
- {
- actor_name_map.Remove(GroundGeom);
- d.GeomDestroy(GroundGeom);
+ actor_name_map.Remove(TerrainGeom);
+ d.GeomDestroy(TerrainGeom);
- if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
- {
- TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
- TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
- TerrainHeightFieldHeights.Remove(GroundGeom);
- }
- }
}
+
+ if (TerrainHeightFieldHeightsHandler.IsAllocated)
+ TerrainHeightFieldHeightsHandler.Free();
+
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
- GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
+ GC.Collect(1);
- d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0,
+ TerrainHeightFieldHeightsHandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
+
+ d.GeomHeightfieldDataBuildSingle(HeightmapData, TerrainHeightFieldHeightsHandler.AddrOfPinnedObject(), 0,
heightmapHeight, heightmapWidth ,
(int)heightmapHeightSamples, (int)heightmapWidthSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
- GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1);
+ TerrainGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1);
- if (GroundGeom != IntPtr.Zero)
+ if (TerrainGeom != IntPtr.Zero)
{
- d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
- d.GeomSetCollideBits(GroundGeom, 0);
+ d.GeomSetCategoryBits(TerrainGeom, (uint)(CollisionCategories.Land));
+ d.GeomSetCollideBits(TerrainGeom, 0);
PhysicsActor pa = new NullPhysicsActor();
pa.Name = "Terrain";
pa.PhysicsActorType = (int)ActorTypes.Ground;
- actor_name_map[GroundGeom] = pa;
+ actor_name_map[TerrainGeom] = pa;
// geom_name_map[GroundGeom] = "Terrain";
@@ -2330,16 +2291,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
q.Z = 0.5f;
q.W = 0.5f;
- d.GeomSetQuaternion(GroundGeom, ref q);
- d.GeomSetPosition(GroundGeom, pOffset.X + m_regionWidth * 0.5f, pOffset.Y + m_regionHeight * 0.5f, 0.0f);
- RegionTerrain.Add(pOffset, GroundGeom);
- TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
- TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
+ d.GeomSetQuaternion(TerrainGeom, ref q);
+ d.GeomSetPosition(TerrainGeom, m_regionWidth * 0.5f, m_regionHeight * 0.5f, 0.0f);
+ TerrainHeightFieldHeight = _heightmap;
}
+ else
+ TerrainHeightFieldHeightsHandler.Free();
}
}
- public void OSSetTerrain(float[] heightMap, Vector3 pOffset)
+ public void OSSetTerrain(float[] heightMap)
{
// assumes 1m size grid and constante size square regions
// needs to know about sims around in future
@@ -2393,26 +2354,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
yt += heightmapWidthSamples;
}
+
lock (OdeLock)
{
- IntPtr GroundGeom = IntPtr.Zero;
- if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
+ if (TerrainGeom != IntPtr.Zero)
{
- RegionTerrain.Remove(pOffset);
- if (GroundGeom != IntPtr.Zero)
- {
- actor_name_map.Remove(GroundGeom);
- d.GeomDestroy(GroundGeom);
-
- if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
- {
- if (TerrainHeightFieldHeightsHandlers[GroundGeom].IsAllocated)
- TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
- TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
- TerrainHeightFieldHeights.Remove(GroundGeom);
- }
- }
+ actor_name_map.Remove(TerrainGeom);
+ d.GeomDestroy(TerrainGeom);
}
+
+ if (TerrainHeightFieldHeightsHandler.IsAllocated)
+ TerrainHeightFieldHeightsHandler.Free();
+
+ TerrainHeightFieldHeight = null;
+
IntPtr HeightmapData = d.GeomOSTerrainDataCreate();
const int wrap = 0;
@@ -2420,32 +2375,31 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (thickness < 0)
thickness = 1;
- GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
+ TerrainHeightFieldHeightsHandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
- d.GeomOSTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
+ d.GeomOSTerrainDataBuild(HeightmapData, TerrainHeightFieldHeightsHandler.AddrOfPinnedObject(), 0, 1.0f,
(int)heightmapWidthSamples, (int)heightmapHeightSamples,
thickness, wrap);
// d.GeomOSTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
- GroundGeom = d.CreateOSTerrain(GroundSpace, HeightmapData, 1);
- if (GroundGeom != IntPtr.Zero)
+ TerrainGeom = d.CreateOSTerrain(GroundSpace, HeightmapData, 1);
+ if (TerrainGeom != IntPtr.Zero)
{
- d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
- d.GeomSetCollideBits(GroundGeom, 0);
-
+ d.GeomSetCategoryBits(TerrainGeom, (uint)(CollisionCategories.Land));
+ d.GeomSetCollideBits(TerrainGeom, 0);
PhysicsActor pa = new NullPhysicsActor();
pa.Name = "Terrain";
pa.PhysicsActorType = (int)ActorTypes.Ground;
- actor_name_map[GroundGeom] = pa;
+ actor_name_map[TerrainGeom] = pa;
// geom_name_map[GroundGeom] = "Terrain";
- d.GeomSetPosition(GroundGeom, pOffset.X + m_regionWidth * 0.5f, pOffset.Y + m_regionHeight * 0.5f, 0.0f);
- RegionTerrain.Add(pOffset, GroundGeom);
- TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
- TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
- }
+ d.GeomSetPosition(TerrainGeom, m_regionWidth * 0.5f, m_regionHeight * 0.5f, 0.0f);
+ TerrainHeightFieldHeight = _heightmap;
+ }
+ else
+ TerrainHeightFieldHeightsHandler.Free();
}
}
@@ -2504,26 +2458,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
foreach (OdeCharacter ch in chtorem)
ch.DoAChange(changes.Remove, null);
+ if (TerrainGeom != IntPtr.Zero)
+ d.GeomDestroy(TerrainGeom);
+ TerrainGeom = IntPtr.Zero;
- foreach (IntPtr GroundGeom in RegionTerrain.Values)
- {
- if (GroundGeom != IntPtr.Zero)
- d.GeomDestroy(GroundGeom);
- }
-
- RegionTerrain.Clear();
-
- if (TerrainHeightFieldHeightsHandlers.Count > 0)
- {
- foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
- {
- if (gch.IsAllocated)
- gch.Free();
- }
- }
+ if (TerrainHeightFieldHeightsHandler.IsAllocated)
+ TerrainHeightFieldHeightsHandler.Free();
- TerrainHeightFieldHeightsHandlers.Clear();
- TerrainHeightFieldHeights.Clear();
+ TerrainHeightFieldHeight = null;
if (ContactgeomsArray != IntPtr.Zero)
{
--
cgit v1.1