From 7137b234b4e99d8d19e83dfb5268674c72f46479 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 3 Oct 2012 19:33:28 +0100 Subject: introduce a ODEMeshWorker class, should be pure cosmetic changes for now --- OpenSim/Region/Physics/Manager/IMesher.cs | 3 +- OpenSim/Region/Physics/Manager/ZeroMesher.cs | 6 + OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 5 + OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 40 ++++- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 199 +++++++++++++++++++++ OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 6 +- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 166 +---------------- 7 files changed, 262 insertions(+), 163 deletions(-) create mode 100644 OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index a8c99f7..06f3c8b 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -37,7 +37,8 @@ namespace OpenSim.Region.Physics.Manager { IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod); IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical); - IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical,bool convex); + IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex); + IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex); void ReleaseMesh(IMesh mesh); void ExpireReleaseMeshs(); } diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs index f555cb9..61da9f3 100644 --- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs +++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs @@ -79,6 +79,12 @@ namespace OpenSim.Region.Physics.Manager return null; } + + public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + { + return null; + } + public void ReleaseMesh(IMesh mesh) { } public void ExpireReleaseMeshs() { } } diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 3c4f737..143648e 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -763,6 +763,11 @@ namespace OpenSim.Region.Physics.Meshing return mesh; } + public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + { + return null; + } + public void ReleaseMesh(IMesh imesh) { } public void ExpireReleaseMeshs() { } } diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 4c40175..44c8972 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -1061,6 +1061,42 @@ namespace OpenSim.Region.Physics.Meshing private static Vector3 m_MeshUnitSize = new Vector3(0.5f, 0.5f, 0.5f); + public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + { + Mesh mesh = null; + + if (size.X < 0.01f) size.X = 0.01f; + if (size.Y < 0.01f) size.Y = 0.01f; + if (size.Z < 0.01f) size.Z = 0.01f; + + AMeshKey key = GetMeshUniqueKey(primShape, size, (byte)lod, convex); + lock (m_uniqueMeshes) + { + m_uniqueMeshes.TryGetValue(key, out mesh); + + if (mesh != null) + { + mesh.RefCount++; + return mesh; + } + } + + // try to find a identical mesh on meshs recently released + lock (m_uniqueReleasedMeshes) + { + m_uniqueReleasedMeshes.TryGetValue(key, out mesh); + if (mesh != null) + { + m_uniqueReleasedMeshes.Remove(key); + lock (m_uniqueMeshes) + m_uniqueMeshes.Add(key, mesh); + mesh.RefCount = 1; + return mesh; + } + } + return null; + } + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) { #if SPAM @@ -1068,15 +1104,13 @@ namespace OpenSim.Region.Physics.Meshing #endif Mesh mesh = null; -// ulong key = 0; - if (size.X < 0.01f) size.X = 0.01f; if (size.Y < 0.01f) size.Y = 0.01f; if (size.Z < 0.01f) size.Z = 0.01f; // try to find a identical mesh on meshs in use -// key = primShape.GetMeshKey(size, lod, convex); + AMeshKey key = GetMeshUniqueKey(primShape,size,(byte)lod, convex); lock (m_uniqueMeshes) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs new file mode 100644 index 0000000..81d59a6 --- /dev/null +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -0,0 +1,199 @@ +/* + * AJLDuarte 2012 + */ + +using System; +using System.Threading; +using System.Collections.Generic; +using System.Reflection; +using System.Runtime.InteropServices; +using System.Text; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; +using OdeAPI; +using log4net; +using Nini.Config; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.OdePlugin +{ + public class ODEMeshWorker + { + private ILog m_log; + private OdeScene m_scene; + private IMesher m_mesher; + + public bool meshSculptedPrim = true; + public bool forceSimplePrimMeshing = false; + public float meshSculptLOD = 32; + public float MeshSculptphysicalLOD = 32; + + + public ODEMeshWorker(OdeScene pScene, ILog pLog, IMesher pMesher, IConfig pConfig) + { + m_scene = pScene; + m_log = pLog; + m_mesher = pMesher; + + if (pConfig != null) + { + forceSimplePrimMeshing = pConfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); + meshSculptedPrim = pConfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim); + meshSculptLOD = pConfig.GetFloat("mesh_lod", meshSculptLOD); + MeshSculptphysicalLOD = pConfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD); + } + } + + + + /// + /// Routine to figure out if we need to mesh this prim with our mesher + /// + /// + /// + public bool needsMeshing(PrimitiveBaseShape pbs) + { + // check sculpts or meshs + if (pbs.SculptEntry) + { + if (meshSculptedPrim) + return true; + + if (pbs.SculptType == (byte)SculptType.Mesh) // always do meshs + return true; + + return false; + } + + if (forceSimplePrimMeshing) + return true; + + // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim + + if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) + || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 + && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) + { + + if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 + && pbs.ProfileHollow == 0 + && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 + && pbs.PathBegin == 0 && pbs.PathEnd == 0 + && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 + && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 + && pbs.PathShearX == 0 && pbs.PathShearY == 0) + { + return false; + } + } + + // following code doesn't give meshs to boxes and spheres ever + // and it's odd.. so for now just return true if asked to force meshs + // hopefully mesher will fail if doesn't suport so things still get basic boxes + + int iPropertiesNotSupportedDefault = 0; + + if (pbs.ProfileHollow != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) + iPropertiesNotSupportedDefault++; + + if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) + iPropertiesNotSupportedDefault++; + + // test for torus + if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) + { + if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) + { + if (pbs.PathCurve == (byte)Extrusion.Straight) + { + iPropertiesNotSupportedDefault++; + } + + // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits + else if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) + { + if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) + { + if (pbs.PathCurve == (byte)Extrusion.Straight) + { + iPropertiesNotSupportedDefault++; + } + else if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + + if (iPropertiesNotSupportedDefault == 0) + { + return false; + } + return true; + } + + public IMesh getMesh(PhysicsActor actor, PrimitiveBaseShape ppbs, Vector3 psize, byte pshapetype) + { + if (!(actor is OdePrim)) + return null; + + IMesh mesh = null; + PrimitiveBaseShape pbs = ppbs; + Vector3 size = psize; + byte shapetype = pshapetype; + + if (needsMeshing(pbs) && (pbs.SculptData.Length > 0)) + { + bool convex; + int clod = (int)LevelOfDetail.High; + if (shapetype == 0) + convex = false; + else + { + convex = true; + if (pbs.SculptType != (byte)SculptType.Mesh) + clod = (int)LevelOfDetail.Low; + } + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + if(mesh == null) + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + } + return mesh; + } + } +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index f2f4725..545bd27 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -1080,7 +1080,7 @@ namespace OpenSim.Region.Physics.OdePlugin bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; CalcPrimBodyData(); - +/* m_mesh = null; if (_parent_scene.needsMeshing(pbs) && (pbs.SculptData.Length > 0)) { @@ -1096,6 +1096,8 @@ namespace OpenSim.Region.Physics.OdePlugin } m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, clod, true, convex); } +*/ + m_mesh = _parent_scene.m_meshWorker.getMesh(this, pbs, _size, m_shapetype); m_building = true; // control must set this to false when done @@ -1476,7 +1478,7 @@ namespace OpenSim.Region.Physics.OdePlugin hasOOBoffsetFromMesh = false; m_NoColide = false; - if (_parent_scene.needsMeshing(_pbs)) + if (_parent_scene.m_meshWorker.needsMeshing(_pbs)) { haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims if (!haveMesh) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index f126644..7c00600 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -230,11 +230,6 @@ namespace OpenSim.Region.Physics.OdePlugin private float minimumGroundFlightOffset = 3f; public float maximumMassObject = 10000.01f; - public bool meshSculptedPrim = true; - public bool forceSimplePrimMeshing = false; - - public float meshSculptLOD = 32; - public float MeshSculptphysicalLOD = 32; public float geomDefaultDensity = 10.000006836f; @@ -328,7 +323,7 @@ namespace OpenSim.Region.Physics.OdePlugin private PhysicsScene m_parentScene = null; private ODERayCastRequestManager m_rayCastManager; - + public ODEMeshWorker m_meshWorker; /* maybe needed if ode uses tls private void checkThread() @@ -361,6 +356,8 @@ namespace OpenSim.Region.Physics.OdePlugin nearCallback = near; m_rayCastManager = new ODERayCastRequestManager(this); + + lock (OdeLock) { // Create the world and the first space @@ -440,9 +437,11 @@ namespace OpenSim.Region.Physics.OdePlugin int contactsPerCollision = 80; + IConfig physicsconfig = null; + if (m_config != null) { - IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; + physicsconfig = m_config.Configs["ODEPhysicsSettings"]; if (physicsconfig != null) { gravityx = physicsconfig.GetFloat("world_gravityx", gravityx); @@ -469,27 +468,7 @@ namespace OpenSim.Region.Physics.OdePlugin geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable); -/* - bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD); - bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG); -*/ - forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); - meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim); - meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD); - MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD); -/* - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD); - avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP); - } - else - { - - avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD); - avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP); - } -*/ + physics_logging = physicsconfig.GetBoolean("physics_logging", false); physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); @@ -499,6 +478,8 @@ namespace OpenSim.Region.Physics.OdePlugin } } + m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); + HalfOdeStep = ODE_STEPSIZE * 0.5f; odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f); @@ -1615,135 +1596,6 @@ namespace OpenSim.Region.Physics.OdePlugin #endregion - /// - /// Routine to figure out if we need to mesh this prim with our mesher - /// - /// - /// - public bool needsMeshing(PrimitiveBaseShape pbs) - { - // check sculpts or meshs - if (pbs.SculptEntry) - { - if (meshSculptedPrim) - return true; - - if (pbs.SculptType == (byte)SculptType.Mesh) // always do meshs - return true; - - return false; - } - - if (forceSimplePrimMeshing) - return true; - - // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim - - if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) - || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 - && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) - { - - if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 - && pbs.ProfileHollow == 0 - && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 - && pbs.PathBegin == 0 && pbs.PathEnd == 0 - && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 - && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 - && pbs.PathShearX == 0 && pbs.PathShearY == 0) - { -#if SPAM - m_log.Warn("NonMesh"); -#endif - return false; - } - } - - // following code doesn't give meshs to boxes and spheres ever - // and it's odd.. so for now just return true if asked to force meshs - // hopefully mesher will fail if doesn't suport so things still get basic boxes - - int iPropertiesNotSupportedDefault = 0; - - if (pbs.ProfileHollow != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) - iPropertiesNotSupportedDefault++; - - if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) - iPropertiesNotSupportedDefault++; - - // test for torus - if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - - // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - - if (iPropertiesNotSupportedDefault == 0) - { -#if SPAM - m_log.Warn("NonMesh"); -#endif - return false; - } -#if SPAM - m_log.Debug("Mesh"); -#endif - return true; - } /// /// Called to queue a change to a actor -- cgit v1.1 From 4f51cc325c627e9e9c1381e6e813a266968895d4 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 3 Oct 2012 20:36:41 +0100 Subject: making meshworker have more work.. --- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 24 ++++++++++++++++++---- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 3 +++ 2 files changed, 23 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 81d59a6..f57149c 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -5,6 +5,7 @@ using System; using System.Threading; using System.Collections.Generic; +using System.IO; using System.Reflection; using System.Runtime.InteropServices; using System.Text; @@ -177,7 +178,7 @@ namespace OpenSim.Region.Physics.OdePlugin Vector3 size = psize; byte shapetype = pshapetype; - if (needsMeshing(pbs) && (pbs.SculptData.Length > 0)) + if (needsMeshing(pbs)) { bool convex; int clod = (int)LevelOfDetail.High; @@ -189,9 +190,24 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptType != (byte)SculptType.Mesh) clod = (int)LevelOfDetail.Low; } - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); - if(mesh == null) - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); + if (mesh == null) + { + if (!pbs.SculptEntry) + return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + + if (pbs.SculptTexture == UUID.Zero) + return null; + + if(pbs.SculptType != (byte)SculptType.Mesh) + { // check for sculpt decoded image on cache) + if (File.Exists(System.IO.Path.Combine("j2kDecodeCache", "smap_" + pbs.SculptTexture.ToString()))) + return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + } + + if(pbs.SculptData != null && pbs.SculptData.Length >0) + return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + } } return mesh; } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 545bd27..f328066 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -1353,6 +1353,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (m_mesh == null) { +/* bool convex; int clod = (int)LevelOfDetail.High; @@ -1366,6 +1367,8 @@ namespace OpenSim.Region.Physics.OdePlugin } mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, clod, true, convex); +*/ + mesh = _parent_scene.m_meshWorker.getMesh(this, _pbs, _size, m_shapetype); } else { -- cgit v1.1 From 9988558ec16144f1a69b666d39428cda4c0849c3 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 3 Oct 2012 23:14:56 +0100 Subject: meshworker basic replacement of SOP CheckSculptAndLoad ( for now disabled for all physics engines) --- OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 2 + .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 43 ++++++++++++++++++++-- 2 files changed, 41 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index e6ad89c..1bddf22 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -4902,6 +4902,8 @@ namespace OpenSim.Region.Framework.Scenes { // m_log.DebugFormat("Processing CheckSculptAndLoad for {0} {1}", Name, LocalId); + return; + if (ParentGroup.IsDeleted) return; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index f57149c..b0231e9 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -29,12 +29,11 @@ namespace OpenSim.Region.Physics.OdePlugin public float meshSculptLOD = 32; public float MeshSculptphysicalLOD = 32; - public ODEMeshWorker(OdeScene pScene, ILog pLog, IMesher pMesher, IConfig pConfig) { m_scene = pScene; m_log = pLog; - m_mesher = pMesher; + m_mesher = pMesher; if (pConfig != null) { @@ -45,8 +44,6 @@ namespace OpenSim.Region.Physics.OdePlugin } } - - /// /// Routine to figure out if we need to mesh this prim with our mesher /// @@ -207,9 +204,47 @@ namespace OpenSim.Region.Physics.OdePlugin if(pbs.SculptData != null && pbs.SculptData.Length >0) return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + + ODEAssetRequest asr; + RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod; + if (assetProvider != null) + asr = new ODEAssetRequest(this, assetProvider, actor, pbs); + return null; } } return mesh; } } + + public class ODEAssetRequest + { + PhysicsActor m_actor; + ODEMeshWorker m_worker; + PrimitiveBaseShape m_pbs; + + public ODEAssetRequest(ODEMeshWorker pWorker, RequestAssetDelegate provider, PhysicsActor pActor, PrimitiveBaseShape ppbs) + { + m_actor = pActor; + m_worker = pWorker; + m_pbs = ppbs; + + if (provider == null) + return; + + UUID assetID = m_pbs.SculptTexture; + if (assetID == UUID.Zero) + return; + + provider(assetID, ODEassetReceived); + } + + void ODEassetReceived(AssetBase asset) + { + if (m_actor != null && m_pbs != null && asset != null && asset.Data != null && asset.Data.Length > 0) + { + m_pbs.SculptData = asset.Data; + m_actor.Shape = m_pbs; + } + } + } } \ No newline at end of file -- cgit v1.1 From a9f2bc150f8177e9e6340b7591b2f846f0678329 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 3 Oct 2012 23:18:35 +0100 Subject: missing changed file --- OpenSim/Region/Physics/Manager/PhysicsScene.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 5274f3b..46bfa59 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs @@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.Manager get { return new NullPhysicsScene(); } } - public RequestAssetDelegate RequestAssetMethod { private get; set; } + public RequestAssetDelegate RequestAssetMethod { get; set; } public virtual void TriggerPhysicsBasedRestart() { -- cgit v1.1 From 51e1830f86cd0253879f4f60470a3b5fa2b3db7c Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Thu, 4 Oct 2012 04:55:53 +0100 Subject: more changes. Most code not in use --- OpenSim/Region/Physics/Manager/IMesher.cs | 1 + OpenSim/Region/Physics/Meshing/Mesh.cs | 6 + OpenSim/Region/Physics/UbitMeshing/Mesh.cs | 78 ++- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 521 ++++++++++++++++++++- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 32 +- 5 files changed, 615 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index 06f3c8b..460b48e 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -82,5 +82,6 @@ namespace OpenSim.Region.Physics.Manager void Append(IMesh newMesh); void TransformLinear(float[,] matrix, float[] offset); Vector3 GetCentroid(); + Vector3 GetOBB(); } } diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs index c715642..c03f18b 100644 --- a/OpenSim/Region/Physics/Meshing/Mesh.cs +++ b/OpenSim/Region/Physics/Meshing/Mesh.cs @@ -148,6 +148,12 @@ namespace OpenSim.Region.Physics.Meshing return Vector3.Zero; } + // not functional + public Vector3 GetOBB() + { + return new Vector3(0.5f, 0.5f, 0.5f); + } + public void CalcNormals() { int iTriangles = m_triangles.Count; diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs index 98c0f0b..47e0cf4 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs @@ -48,8 +48,14 @@ namespace OpenSim.Region.Physics.Meshing int m_indexCount = 0; public float[] m_normals; Vector3 m_centroid; - int m_centroidDiv; + float m_obbXmin; + float m_obbXmax; + float m_obbYmin; + float m_obbYmax; + float m_obbZmin; + float m_obbZmax; + int m_centroidDiv; private class vertexcomp : IEqualityComparer { @@ -77,6 +83,14 @@ namespace OpenSim.Region.Physics.Meshing m_triangles = new List(); m_centroid = Vector3.Zero; m_centroidDiv = 0; + m_obbXmin = float.MaxValue; + m_obbXmax = float.MinValue; + m_obbYmin = float.MaxValue; + m_obbYmax = float.MinValue; + m_obbZmin = float.MaxValue; + m_obbZmax = float.MinValue; + + } public int RefCount { get; set; } @@ -102,6 +116,35 @@ namespace OpenSim.Region.Physics.Meshing return result; } + public void addVertexLStats(Vertex v) + { + float x = v.X; + float y = v.Y; + float z = v.Z; + + m_centroid.X += x; + m_centroid.Y += y; + m_centroid.Z += z; + m_centroidDiv++; + + if (x > m_obbXmax) + m_obbXmax = x; + else if (x < m_obbXmin) + m_obbXmin = x; + + if (y > m_obbYmax) + m_obbYmax = y; + else if (y < m_obbYmin) + m_obbYmin = y; + + if (z > m_obbZmax) + m_obbZmax = z; + else if (z < m_obbZmin) + m_obbZmin = z; + + } + + public void Add(Triangle triangle) { if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) @@ -127,26 +170,17 @@ namespace OpenSim.Region.Physics.Meshing if (!m_vertices.ContainsKey(triangle.v1)) { m_vertices[triangle.v1] = m_vertices.Count; - m_centroid.X += triangle.v1.X; - m_centroid.Y += triangle.v1.Y; - m_centroid.Z += triangle.v1.Z; - m_centroidDiv++; + addVertexLStats(triangle.v1); } if (!m_vertices.ContainsKey(triangle.v2)) { m_vertices[triangle.v2] = m_vertices.Count; - m_centroid.X += triangle.v2.X; - m_centroid.Y += triangle.v2.Y; - m_centroid.Z += triangle.v2.Z; - m_centroidDiv++; + addVertexLStats(triangle.v2); } if (!m_vertices.ContainsKey(triangle.v3)) { m_vertices[triangle.v3] = m_vertices.Count; - m_centroid.X += triangle.v3.X; - m_centroid.Y += triangle.v3.Y; - m_centroid.Z += triangle.v3.Z; - m_centroidDiv++; + addVertexLStats(triangle.v3); } m_triangles.Add(triangle); } @@ -159,6 +193,24 @@ namespace OpenSim.Region.Physics.Meshing return Vector3.Zero; } + public Vector3 GetOBB() + { + float x, y, z; + if (m_centroidDiv > 0) + { + x = (m_obbXmax - m_obbXmin) * 0.5f; + y = (m_obbYmax - m_obbYmin) * 0.5f; + z = (m_obbZmax - m_obbZmin) * 0.5f; + } + else // ?? + { + x = 0.5f; + y = 0.5f; + z = 0.5f; + } + return new Vector3(x, y, z); + } + public void CalcNormals() { int iTriangles = m_triangles.Count; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index b0231e9..9bf3667 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -24,16 +24,20 @@ namespace OpenSim.Region.Physics.OdePlugin private OdeScene m_scene; private IMesher m_mesher; + public bool meshSculptedPrim = true; public bool forceSimplePrimMeshing = false; public float meshSculptLOD = 32; public float MeshSculptphysicalLOD = 32; - public ODEMeshWorker(OdeScene pScene, ILog pLog, IMesher pMesher, IConfig pConfig) + private IntPtr m_workODEspace = IntPtr.Zero; + + public ODEMeshWorker(OdeScene pScene, ILog pLog, IMesher pMesher, IntPtr pWorkSpace, IConfig pConfig) { m_scene = pScene; m_log = pLog; - m_mesher = pMesher; + m_mesher = pMesher; + m_workODEspace = pWorkSpace; if (pConfig != null) { @@ -196,24 +200,508 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptTexture == UUID.Zero) return null; - if(pbs.SculptType != (byte)SculptType.Mesh) + if (pbs.SculptType != (byte)SculptType.Mesh) { // check for sculpt decoded image on cache) if (File.Exists(System.IO.Path.Combine("j2kDecodeCache", "smap_" + pbs.SculptTexture.ToString()))) return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); } - if(pbs.SculptData != null && pbs.SculptData.Length >0) + if (pbs.SculptData != null && pbs.SculptData.Length > 0) return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); ODEAssetRequest asr; RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod; if (assetProvider != null) - asr = new ODEAssetRequest(this, assetProvider, actor, pbs); + asr = new ODEAssetRequest(this, assetProvider, actor, pbs, m_log); + return null; } } return mesh; } + + private bool GetTriMeshGeo(ODEPhysRepData repData) + { + IntPtr vertices, indices; + IntPtr triMeshData = IntPtr.Zero; + IntPtr geo = IntPtr.Zero; + int vertexCount, indexCount; + int vertexStride, triStride; + + PhysicsActor actor = repData.actor; + + IMesh mesh = repData.mesh; + + if (mesh == null) + { + mesh = getMesh(repData.actor, repData.pbs, repData.size, repData.shapetype); + } + + if (mesh == null) + return false; + + mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap + mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage + + if (vertexCount == 0 || indexCount == 0) + { + m_log.WarnFormat("[PHYSICS]: Invalid mesh data on prim {0} mesh UUID {1}", + actor.Name, repData.pbs.SculptTexture.ToString()); + mesh.releaseSourceMeshData(); + return false; + } + + repData.OBBOffset = mesh.GetCentroid(); + repData.OBB = mesh.GetOBB(); + repData.hasOBB = true; + repData.physCost = 0.0013f * (float)indexCount; + + mesh.releaseSourceMeshData(); + + try + { + triMeshData = d.GeomTriMeshDataCreate(); + + d.GeomTriMeshDataBuildSimple(triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); + d.GeomTriMeshDataPreprocess(triMeshData); + + m_scene.waitForSpaceUnlock(m_workODEspace); + geo = d.CreateTriMesh(m_workODEspace, triMeshData, null, null, null); + } + + catch (Exception e) + { + m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", actor.Name, e); + if (triMeshData != IntPtr.Zero) + { + d.GeomTriMeshDataDestroy(triMeshData); + repData.triMeshData = IntPtr.Zero; + } + repData.geo = IntPtr.Zero; + return false; + } + + repData.geo = geo; + repData.triMeshData = triMeshData; + repData.curSpace = m_workODEspace; + return true; + } + + public ODEPhysRepData CreateActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, IMesh pMesh, Vector3 size, byte shapetype) + { + ODEPhysRepData repData = new ODEPhysRepData(); + + repData.actor = actor; + repData.pbs = pbs; + repData.mesh = pMesh; + repData.size = size; + repData.shapetype = shapetype; + + IntPtr geo = IntPtr.Zero; + bool hasMesh = false; + if (needsMeshing(pbs)) + { + if (GetTriMeshGeo(repData)) + hasMesh = true; + else + repData.canColide = false; + } + + if (!hasMesh) + { + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 + && size.X == size.Y && size.Y == size.Z) + { // it's a sphere + m_scene.waitForSpaceUnlock(m_workODEspace); + try + { + geo = d.CreateSphere(m_workODEspace, size.X * 0.5f); + } + catch (Exception e) + { + m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); + return null; + } + } + else + {// do it as a box + m_scene.waitForSpaceUnlock(m_workODEspace); + try + { + //Console.WriteLine(" CreateGeom 4"); + geo = d.CreateBox(m_workODEspace, size.X, size.Y, size.Z); + } + catch (Exception e) + { + m_log.Warn("[PHYSICS]: Create box failed: {0}", e); + return null; + } + } + + repData.physCost = 0.1f; + repData.streamCost = 1.0f; + repData.geo = geo; + } + + repData.curSpace = m_workODEspace; + + CalcVolumeData(repData); + + return repData; + } + + private void CalculateBasicPrimVolume(ODEPhysRepData repData) + { + PrimitiveBaseShape _pbs = repData.pbs; + Vector3 _size = repData.size; + + float volume = _size.X * _size.Y * _size.Z; // default + float tmp; + + float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; + float hollowVolume = hollowAmount * hollowAmount; + + switch (_pbs.ProfileShape) + { + case ProfileShape.Square: + // default box + + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + if (hollowAmount > 0.0) + { + switch (_pbs.HollowShape) + { + case HollowShape.Square: + case HollowShape.Same: + break; + + case HollowShape.Circle: + + hollowVolume *= 0.78539816339f; + break; + + case HollowShape.Triangle: + + hollowVolume *= (0.5f * .5f); + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + //a tube + + volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); + volume -= volume * tmp * tmp; + + if (hollowAmount > 0.0) + { + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Square: + case HollowShape.Same: + break; + + case HollowShape.Circle: + hollowVolume *= 0.78539816339f; + break; + + case HollowShape.Triangle: + hollowVolume *= 0.5f * 0.5f; + break; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + + break; + + case ProfileShape.Circle: + + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + volume *= 0.78539816339f; // elipse base + + if (hollowAmount > 0.0) + { + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Circle: + break; + + case HollowShape.Square: + hollowVolume *= 0.5f * 2.5984480504799f; + break; + + case HollowShape.Triangle: + hollowVolume *= .5f * 1.27323954473516f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= (1.0f - tmp * tmp); + + if (hollowAmount > 0.0) + { + + // calculate the hollow volume by it's shape compared to the prim shape + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Circle: + break; + + case HollowShape.Square: + hollowVolume *= 0.5f * 2.5984480504799f; + break; + + case HollowShape.Triangle: + hollowVolume *= .5f * 1.27323954473516f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + break; + + case ProfileShape.HalfCircle: + if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.5236f; + + if (hollowAmount > 0.0) + { + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Circle: + case HollowShape.Triangle: // diference in sl is minor and odd + case HollowShape.Same: + break; + + case HollowShape.Square: + hollowVolume *= 0.909f; + break; + + // case HollowShape.Triangle: + // hollowVolume *= .827f; + // break; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + + } + break; + + case ProfileShape.EquilateralTriangle: + + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + volume *= 0.32475953f; + + if (hollowAmount > 0.0) + { + + // calculate the hollow volume by it's shape compared to the prim shape + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Triangle: + hollowVolume *= .25f; + break; + + case HollowShape.Square: + hollowVolume *= 0.499849f * 3.07920140172638f; + break; + + case HollowShape.Circle: + // Hollow shape is a perfect cyllinder in respect to the cube's scale + // Cyllinder hollow volume calculation + + hollowVolume *= 0.1963495f * 3.07920140172638f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.32475953f; + volume *= 0.01f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= (1.0f - tmp * tmp); + + if (hollowAmount > 0.0) + { + + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Triangle: + hollowVolume *= .25f; + break; + + case HollowShape.Square: + hollowVolume *= 0.499849f * 3.07920140172638f; + break; + + case HollowShape.Circle: + + hollowVolume *= 0.1963495f * 3.07920140172638f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + break; + + default: + break; + } + + float taperX1; + float taperY1; + float taperX; + float taperY; + float pathBegin; + float pathEnd; + float profileBegin; + float profileEnd; + + if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) + { + taperX1 = _pbs.PathScaleX * 0.01f; + if (taperX1 > 1.0f) + taperX1 = 2.0f - taperX1; + taperX = 1.0f - taperX1; + + taperY1 = _pbs.PathScaleY * 0.01f; + if (taperY1 > 1.0f) + taperY1 = 2.0f - taperY1; + taperY = 1.0f - taperY1; + } + else + { + taperX = _pbs.PathTaperX * 0.01f; + if (taperX < 0.0f) + taperX = -taperX; + taperX1 = 1.0f - taperX; + + taperY = _pbs.PathTaperY * 0.01f; + if (taperY < 0.0f) + taperY = -taperY; + taperY1 = 1.0f - taperY; + } + + volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); + + pathBegin = (float)_pbs.PathBegin * 2.0e-5f; + pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; + volume *= (pathEnd - pathBegin); + + // this is crude aproximation + profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; + profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; + volume *= (profileEnd - profileBegin); + + repData.volume = volume; + } + + private void CalcVolumeData(ODEPhysRepData repData) + { + float volume; + Vector3 OBB = repData.size; + Vector3 OBBoffset; + IntPtr geo = repData.geo; + + if (geo == IntPtr.Zero || repData.triMeshData == IntPtr.Zero) + { + OBB.X *= 0.5f; + OBB.Y *= 0.5f; + OBB.Z *= 0.5f; + + repData.OBB = OBB; + repData.OBBOffset = Vector3.Zero; + } + else if (!repData.hasOBB) // should this happen? + { + d.AABB AABB; + d.GeomGetAABB(geo, out AABB); // get the AABB from engine geom + + OBB.X = (AABB.MaxX - AABB.MinX) * 0.5f; + OBB.Y = (AABB.MaxY - AABB.MinY) * 0.5f; + OBB.Z = (AABB.MaxZ - AABB.MinZ) * 0.5f; + repData.OBB = OBB; + OBBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; + OBBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; + OBBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; + repData.OBBOffset = Vector3.Zero; + } + + // also its own inertia and mass + // keep using basic shape mass for now + CalculateBasicPrimVolume(repData); + + if (repData.hasOBB) + { + OBB = repData.OBB; + float pc = repData.physCost; + float psf = OBB.X * (OBB.Y + OBB.Z) + OBB.Y * OBB.Z; + psf *= 1.33f * .2f; + + pc *= psf; + if (pc < 0.1f) + pc = 0.1f; + + repData.physCost = pc; + } + else + repData.physCost = 0.1f; + } } public class ODEAssetRequest @@ -221,12 +709,15 @@ namespace OpenSim.Region.Physics.OdePlugin PhysicsActor m_actor; ODEMeshWorker m_worker; PrimitiveBaseShape m_pbs; + private ILog m_log; - public ODEAssetRequest(ODEMeshWorker pWorker, RequestAssetDelegate provider, PhysicsActor pActor, PrimitiveBaseShape ppbs) + public ODEAssetRequest(ODEMeshWorker pWorker, RequestAssetDelegate provider, + PhysicsActor pActor, PrimitiveBaseShape ppbs, ILog plog) { m_actor = pActor; m_worker = pWorker; m_pbs = ppbs; + m_log = plog; if (provider == null) return; @@ -240,10 +731,22 @@ namespace OpenSim.Region.Physics.OdePlugin void ODEassetReceived(AssetBase asset) { - if (m_actor != null && m_pbs != null && asset != null && asset.Data != null && asset.Data.Length > 0) + if (m_actor != null && m_pbs != null) { - m_pbs.SculptData = asset.Data; - m_actor.Shape = m_pbs; + if (asset != null) + { + if (asset.Data != null && asset.Data.Length > 0) + { + m_pbs.SculptData = asset.Data; + m_actor.Shape = m_pbs; + } + else + m_log.WarnFormat("[PHYSICS]: asset provider returned invalid mesh data for prim {0} asset UUID {1}.", + m_actor.Name, asset.ID.ToString()); + } + else + m_log.WarnFormat("[PHYSICS]: asset provider returned null asset fo mesh of prim {0}.", + m_actor.Name); } } } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 7c00600..d426112 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -60,6 +60,29 @@ namespace OpenSim.Region.Physics.OdePlugin public int lastframe; } + public class ODEPhysRepData + { + public PhysicsActor actor; + public IntPtr geo = IntPtr.Zero; + public IntPtr triMeshData = IntPtr.Zero; + public IMesh mesh; + public IntPtr curSpace = IntPtr.Zero; + public PrimitiveBaseShape pbs; + + public Vector3 size = Vector3.Zero; + public Vector3 OBB = Vector3.Zero; + public Vector3 OBBOffset = Vector3.Zero; + + public float volume; + + public float physCost = 0.0f; + public float streamCost = 0; + public byte shapetype = 0; + public bool canColide = true; + public bool hasOBB = false; + public bool hasMeshVolume = false; + } + // colision flags of things others can colide with // rays, sensors, probes removed since can't be colided with // The top space where things are placed provided further selection @@ -297,6 +320,7 @@ namespace OpenSim.Region.Physics.OdePlugin public IntPtr TopSpace; // the global space public IntPtr ActiveSpace; // space for active prims public IntPtr StaticSpace; // space for the static things around + public IntPtr WorkSpace; // no collisions work space // some speedup variables private int spaceGridMaxX; @@ -369,6 +393,7 @@ namespace OpenSim.Region.Physics.OdePlugin // now the major subspaces ActiveSpace = d.HashSpaceCreate(TopSpace); StaticSpace = d.HashSpaceCreate(TopSpace); + WorkSpace = d.HashSpaceCreate(TopSpace); } catch { @@ -378,10 +403,12 @@ namespace OpenSim.Region.Physics.OdePlugin d.HashSpaceSetLevels(TopSpace, -2, 8); d.HashSpaceSetLevels(ActiveSpace, -2, 8); d.HashSpaceSetLevels(StaticSpace, -2, 8); + d.HashSpaceSetLevels(WorkSpace, -2, 8); // demote to second level d.SpaceSetSublevel(ActiveSpace, 1); d.SpaceSetSublevel(StaticSpace, 1); + d.SpaceSetSublevel(WorkSpace, 1); d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | CollisionCategories.Geom | @@ -399,6 +426,9 @@ namespace OpenSim.Region.Physics.OdePlugin )); d.GeomSetCollideBits(StaticSpace, 0); + d.GeomSetCategoryBits(WorkSpace, 0); + d.GeomSetCollideBits(WorkSpace, 0); + contactgroup = d.JointGroupCreate(0); //contactgroup @@ -478,7 +508,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } - m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); + m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, WorkSpace, physicsconfig); HalfOdeStep = ODE_STEPSIZE * 0.5f; odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f); -- cgit v1.1 From 113549c2e92fc45d5cda3c1f2f99eba5aa4dc6c1 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Thu, 4 Oct 2012 05:29:32 +0100 Subject: apply cmic fix to multi layer wearables --- OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs index bd7bd82..4cb4370 100644 --- a/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs +++ b/OpenSim/Region/CoreModules/Avatar/AvatarFactory/AvatarFactoryModule.cs @@ -525,7 +525,7 @@ namespace OpenSim.Region.CoreModules.Avatar.AvatarFactory { for (int i = 0; i < AvatarWearable.MAX_WEARABLES; i++) { - for (int j = 0; j < appearance.Wearables[j].Count; j++) + for (int j = 0; j < appearance.Wearables[i].Count; j++) { if (appearance.Wearables[i][j].ItemID == UUID.Zero) continue; -- cgit v1.1 From 89d342b5ce9ac5d9fc4fd493eead8e050f99c91a Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Thu, 4 Oct 2012 08:14:52 +0100 Subject: more changes and more non active code --- OpenSim/Region/Physics/UbitMeshing/Mesh.cs | 10 +- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 11 +- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 140 +++++++++++++++++---- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 12 +- 4 files changed, 144 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs index 47e0cf4..c31ec08 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs @@ -89,8 +89,6 @@ namespace OpenSim.Region.Physics.Meshing m_obbYmax = float.MinValue; m_obbZmin = float.MaxValue; m_obbZmax = float.MinValue; - - } public int RefCount { get; set; } @@ -99,8 +97,6 @@ namespace OpenSim.Region.Physics.Meshing public void Scale(Vector3 scale) { - - } public Mesh Clone() @@ -113,6 +109,12 @@ namespace OpenSim.Region.Physics.Meshing } result.m_centroid = m_centroid; result.m_centroidDiv = m_centroidDiv; + result.m_obbXmin = m_obbXmin; + result.m_obbXmax = m_obbXmax; + result.m_obbYmin = m_obbYmin; + result.m_obbYmax = m_obbYmax; + result.m_obbZmin = m_obbZmin; + result.m_obbZmax = m_obbZmax; return result; } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 9bf3667..702c336 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -304,7 +304,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (GetTriMeshGeo(repData)) hasMesh = true; else - repData.canColide = false; + repData.NoColide = true; } if (!hasMesh) @@ -350,6 +350,15 @@ namespace OpenSim.Region.Physics.OdePlugin return repData; } + public void ChangeActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, + Vector3 size, byte shapetype, MeshWorkerChange what) + { + ODEPhysRepData repData = CreateActorPhysRep(actor, pbs, null, size, shapetype); + repData.changed |= what; + if (repData != null && actor != null) + ((OdePrim)actor).AddChange(changes.PhysRepData, repData); + } + private void CalculateBasicPrimVolume(ODEPhysRepData repData) { PrimitiveBaseShape _pbs = repData.pbs; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index f328066..7650571 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -104,9 +104,6 @@ namespace OpenSim.Region.Physics.OdePlugin private float m_PIDTau; private bool m_usePID; - // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), - // and are for non-VEHICLES only. - private float m_PIDHoverHeight; private float m_PIDHoverTau; private bool m_useHoverPID; @@ -395,6 +392,8 @@ namespace OpenSim.Region.Physics.OdePlugin if (value.IsFinite()) { AddChange(changes.Size, value); + +// _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype, MeshWorkerChange.size); } else { @@ -529,6 +528,7 @@ namespace OpenSim.Region.Physics.OdePlugin set { AddChange(changes.Shape, value); +// _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype, MeshWorkerChange.shape); } } @@ -542,10 +542,10 @@ namespace OpenSim.Region.Physics.OdePlugin { m_shapetype = value; AddChange(changes.Shape, null); +// _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value, MeshWorkerChange.shapetype); } } - public override Vector3 Velocity { get @@ -1529,7 +1529,6 @@ namespace OpenSim.Region.Physics.OdePlugin { if (prim_geom != IntPtr.Zero) { -// _parent_scene.geom_name_map.Remove(prim_geom); _parent_scene.actor_name_map.Remove(prim_geom); try { @@ -1539,11 +1538,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomTriMeshDataDestroy(_triMeshData); _triMeshData = IntPtr.Zero; } - } - - - // catch (System.AccessViolationException) catch (Exception e) { m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); @@ -1557,23 +1552,19 @@ namespace OpenSim.Region.Physics.OdePlugin m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); } - if (m_mesh != null) + lock (m_meshlock) { - _parent_scene.mesher.ReleaseMesh(m_mesh); - m_mesh = null; + if (m_mesh != null) + { + _parent_scene.mesher.ReleaseMesh(m_mesh); + m_mesh = null; + } } Body = IntPtr.Zero; hasOOBoffsetFromMesh = false; } -/* - private void ChildSetGeom(OdePrim odePrim) - { - // well.. - DestroyBody(); - MakeBody(); - } -*/ + //sets non physical prim m_targetSpace to right space in spaces grid for static prims // should only be called for non physical prims unless they are becoming non physical private void SetInStaticSpace(OdePrim prim) @@ -1636,9 +1627,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (Body != IntPtr.Zero) { -// d.BodyDestroy(Body); -// Body = IntPtr.Zero; - // do a more complet destruction DestroyBody(); m_log.Warn("[PHYSICS]: MakeBody called having a body"); } @@ -2500,6 +2488,26 @@ namespace OpenSim.Region.Physics.OdePlugin primOOBradiusSQ = primOOBsize.LengthSquared(); } + private void UpdatePrimBodyData() + { + primMass = m_density * primVolume; + + if (primMass <= 0) + primMass = 0.0001f;//ckrinke: Mass must be greater then zero. + if (primMass > _parent_scene.maximumMassObject) + primMass = _parent_scene.maximumMassObject; + + _mass = primMass; // just in case + + d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); + + d.MassTranslate(ref primdMass, + primOOBoffset.X, + primOOBoffset.Y, + primOOBoffset.Z); + + primOOBradiusSQ = primOOBsize.LengthSquared(); + } #endregion @@ -3232,6 +3240,86 @@ namespace OpenSim.Region.Physics.OdePlugin changeprimsizeshape(); } + + private void changePhysRepData(ODEPhysRepData repData) + { + CheckDelaySelect(); + + OdePrim parent = (OdePrim)_parent; + + bool chp = childPrim; + + if (chp) + { + if (parent != null) + { + parent.DestroyBody(); + } + } + else + { + DestroyBody(); + } + + RemoveGeom(); + + prim_geom = repData.geo; + _triMeshData = repData.triMeshData; + _size = repData.size; + _pbs = repData.pbs; + m_mesh = repData.mesh; + m_shapetype = repData.shapetype; + + hasOOBoffsetFromMesh = repData.hasOBB; + primOOBoffset = repData.OBBOffset; + primOOBsize = repData.OBB; + + m_NoColide = repData.NoColide; +// m_physCost = repData.physCost; +// m_streamCost = repData.streamCost; + + primVolume = repData.volume; + m_targetSpace = repData.curSpace; + + UpdatePrimBodyData(); + + _parent_scene.actor_name_map[prim_geom] = this; + + if (prim_geom != IntPtr.Zero) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + } + + if (m_isphysical) + { + if (chp) + { + if (parent != null) + { + parent.MakeBody(); + } + } + else + MakeBody(); + } + + else + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + + resetCollisionAccounting(); + } + + private void changeFloatOnWater(bool newval) { m_collidesWater = newval; @@ -3989,6 +4077,10 @@ namespace OpenSim.Region.Physics.OdePlugin changeShape((PrimitiveBaseShape)arg); break; + case changes.PhysRepData: + changePhysRepData((ODEPhysRepData) arg); + break; + case changes.CollidesWater: changeFloatOnWater((bool)arg); break; @@ -4077,6 +4169,8 @@ namespace OpenSim.Region.Physics.OdePlugin donullchange(); break; + + default: donullchange(); break; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index d426112..d758c85 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -77,8 +77,9 @@ namespace OpenSim.Region.Physics.OdePlugin public float physCost = 0.0f; public float streamCost = 0; + public MeshWorkerChange changed; public byte shapetype = 0; - public bool canColide = true; + public bool NoColide = false; public bool hasOBB = false; public bool hasMeshVolume = false; } @@ -132,6 +133,14 @@ namespace OpenSim.Region.Physics.OdePlugin light = 7 // compatibility with old viewers } + [Flags] + public enum MeshWorkerChange : uint + { + none = 0, + size = 1, + shape = 2, + shapetype = 3, + } public enum changes : int { @@ -170,6 +179,7 @@ namespace OpenSim.Region.Physics.OdePlugin Size, Shape, + PhysRepData, CollidesWater, VolumeDtc, -- cgit v1.1 From 78ce7a0a04dc5ce3212acfb0e88a3a5a1b876100 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 01:20:52 +0100 Subject: [DANGER UNTESTED] ODE mesh assets. Other plugins will not do meshs/sculpts now --- .../Region/Framework/Scenes/SceneObjectGroup.cs | 4 +- OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 38 +- OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 64 +- .../Region/Physics/UbitOdePlugin/ODECharacter.cs | 1 - .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 560 +++++++++----- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 830 +++++---------------- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 187 ++--- 7 files changed, 632 insertions(+), 1052 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs index 4798481..4b22ebe 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs @@ -4299,8 +4299,8 @@ namespace OpenSim.Region.Framework.Scenes SceneObjectPart[] parts = m_parts.GetArray(); - for (int i = 0; i < parts.Length; i++) - parts[i].CheckSculptAndLoad(); +// for (int i = 0; i < parts.Length; i++) +// parts[i].CheckSculptAndLoad(); } /// diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 1bddf22..633cd3b 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -1095,9 +1095,9 @@ namespace OpenSim.Region.Framework.Scenes { actor.Size = m_shape.Scale; - if (Shape.SculptEntry) - CheckSculptAndLoad(); - else +// if (Shape.SculptEntry) +// CheckSculptAndLoad(); +// else ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(actor); } } @@ -1654,8 +1654,8 @@ namespace OpenSim.Region.Framework.Scenes else { PhysActor.PhysicsShapeType = m_physicsShapeType; - if (Shape.SculptEntry) - CheckSculptAndLoad(); +// if (Shape.SculptEntry) +// CheckSculptAndLoad(); } if (ParentGroup != null) @@ -2115,12 +2115,13 @@ namespace OpenSim.Region.Framework.Scenes if (userExposed) { +/* if (dupe.m_shape.SculptEntry && dupe.m_shape.SculptTexture != UUID.Zero) { ParentGroup.Scene.AssetService.Get( dupe.m_shape.SculptTexture.ToString(), dupe, dupe.AssetReceived); } - +*/ bool UsePhysics = ((dupe.Flags & PrimFlags.Physics) != 0); dupe.DoPhysicsPropertyUpdate(UsePhysics, true); // dupe.UpdatePhysicsSubscribedEvents(); // not sure... @@ -2142,6 +2143,7 @@ namespace OpenSim.Region.Framework.Scenes /// ID of asset received /// Register /// +/* protected void AssetReceived(string id, Object sender, AssetBase asset) { if (asset != null) @@ -2151,7 +2153,7 @@ namespace OpenSim.Region.Framework.Scenes // "[SCENE OBJECT PART]: Part {0} {1} requested mesh/sculpt data for asset id {2} from asset service but received no data", // Name, UUID, id); } - +*/ /// /// Do a physics property update for a NINJA joint. /// @@ -2341,9 +2343,9 @@ namespace OpenSim.Region.Framework.Scenes // If this part is a sculpt then delay the physics update until we've asynchronously loaded the // mesh data. - if (Shape.SculptEntry) - CheckSculptAndLoad(); - else +// if (Shape.SculptEntry) +// CheckSculptAndLoad(); +// else ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa); } } @@ -3125,6 +3127,7 @@ namespace OpenSim.Region.Framework.Scenes /// Set sculpt and mesh data, and tell the physics engine to process the change. /// /// The mesh itself. +/* public void SculptTextureCallback(AssetBase texture) { if (m_shape.SculptEntry) @@ -3152,7 +3155,7 @@ namespace OpenSim.Region.Framework.Scenes } } } - +*/ /// /// Send a full update to the client for the given part /// @@ -4377,7 +4380,7 @@ namespace OpenSim.Region.Framework.Scenes public void UpdateExtraParam(ushort type, bool inUse, byte[] data) { m_shape.ReadInUpdateExtraParam(type, inUse, data); - +/* if (type == 0x30) { if (m_shape.SculptEntry && m_shape.SculptTexture != UUID.Zero) @@ -4385,7 +4388,7 @@ namespace OpenSim.Region.Framework.Scenes ParentGroup.Scene.AssetService.Get(m_shape.SculptTexture.ToString(), this, AssetReceived); } } - +*/ if (ParentGroup != null) { ParentGroup.HasGroupChanged = true; @@ -4793,9 +4796,9 @@ namespace OpenSim.Region.Framework.Scenes } } - if (Shape.SculptEntry) - CheckSculptAndLoad(); - else +// if (Shape.SculptEntry) +// CheckSculptAndLoad(); +// else ParentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa); if (!building) @@ -4898,6 +4901,7 @@ namespace OpenSim.Region.Framework.Scenes /// /// When the physics engine has finished with it, the sculpt data is discarded to save memory. /// +/* public void CheckSculptAndLoad() { // m_log.DebugFormat("Processing CheckSculptAndLoad for {0} {1}", Name, LocalId); @@ -4925,7 +4929,7 @@ namespace OpenSim.Region.Framework.Scenes } } } - +*/ /// /// Update the texture entry for this part. /// diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 44c8972..2933d86 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -74,10 +74,6 @@ namespace OpenSim.Region.Physics.Meshing private const string baseDir = null; //"rawFiles"; #endif - private bool cacheSculptMaps = true; - private bool cacheSculptAlphaMaps = true; - - private string decodedSculptMapPath = null; private bool useMeshiesPhysicsMesh = false; private float minSizeForComplexMesh = 0.2f; // prims with all dimensions smaller than this will have a bounding box mesh @@ -92,29 +88,9 @@ namespace OpenSim.Region.Physics.Meshing IConfig start_config = config.Configs["Startup"]; IConfig mesh_config = config.Configs["Mesh"]; - decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache"); - - cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps); - - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - cacheSculptAlphaMaps = false; - } - else - cacheSculptAlphaMaps = cacheSculptMaps; - if(mesh_config != null) useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); - try - { - if (!Directory.Exists(decodedSculptMapPath)) - Directory.CreateDirectory(decodedSculptMapPath); - } - catch (Exception e) - { - m_log.WarnFormat("[SCULPT]: Unable to create {0} directory: ", decodedSculptMapPath, e.Message); - } } /// @@ -444,7 +420,7 @@ namespace OpenSim.Region.Physics.Meshing // physics_shape is an array of OSDMaps, one for each submesh if (decodedMeshOsd is OSDArray) { - // Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd)); +// Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd)); decodedMeshOsdArray = (OSDArray)decodedMeshOsd; foreach (OSD subMeshOsd in decodedMeshOsdArray) @@ -717,29 +693,7 @@ namespace OpenSim.Region.Physics.Meshing faces = new List(); PrimMesher.SculptMesh sculptMesh; Image idata = null; - string decodedSculptFileName = ""; - if (cacheSculptMaps && primShape.SculptTexture != UUID.Zero) - { - decodedSculptFileName = System.IO.Path.Combine(decodedSculptMapPath, "smap_" + primShape.SculptTexture.ToString()); - try - { - if (File.Exists(decodedSculptFileName)) - { - idata = Image.FromFile(decodedSculptFileName); - } - } - catch (Exception e) - { - m_log.Error("[SCULPT]: unable to load cached sculpt map " + decodedSculptFileName + " " + e.Message); - - } - //if (idata != null) - // m_log.Debug("[SCULPT]: loaded cached map asset for map ID: " + primShape.SculptTexture.ToString()); - } - - if (idata == null) - { if (primShape.SculptData == null || primShape.SculptData.Length == 0) return false; @@ -748,25 +702,15 @@ namespace OpenSim.Region.Physics.Meshing OpenMetaverse.Imaging.ManagedImage unusedData; OpenMetaverse.Imaging.OpenJPEG.DecodeToImage(primShape.SculptData, out unusedData, out idata); + unusedData = null; + if (idata == null) { // In some cases it seems that the decode can return a null bitmap without throwing // an exception m_log.WarnFormat("[PHYSICS]: OpenJPEG decoded sculpt data for {0} to a null bitmap. Ignoring.", primName); - return false; } - - unusedData = null; - - //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData); - - if (cacheSculptMaps && (cacheSculptAlphaMaps || (((ImageFlags)(idata.Flags) & ImageFlags.HasAlpha) ==0))) - // don't cache images with alpha channel in linux since mono can't load them correctly) - { - try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); } - catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); } - } } catch (DllNotFoundException) { @@ -783,7 +727,6 @@ namespace OpenSim.Region.Physics.Meshing m_log.Error("[PHYSICS]: Unable to generate a Sculpty physics proxy. Sculpty texture decode failed: " + ex.Message); return false; } - } PrimMesher.SculptMesh.SculptType sculptType; // remove mirror and invert bits @@ -1048,7 +991,6 @@ namespace OpenSim.Region.Physics.Meshing return ((hash << 5) + hash) + (ulong)(c >> 8); } - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) { return CreateMesh(primName, primShape, size, lod, false,false); diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs index c363310..f5bf05d 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs @@ -172,7 +172,6 @@ namespace OpenSim.Region.Physics.OdePlugin // force lower density for testing m_density = 3.0f; - mu = parent_scene.AvatarFriction; walkDivisor = walk_divisor; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 702c336..3fcbb1b 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -18,26 +18,63 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.OdePlugin { + public enum meshWorkerCmnds : byte + { + nop = 0, + addnew, + changefull, + changesize, + changeshapetype, + getmesh, + } + + public class ODEPhysRepData + { + public PhysicsActor actor; + public PrimitiveBaseShape pbs; + public IMesh mesh; + + public Vector3 size; + public Vector3 OBB; + public Vector3 OBBOffset; + + public float volume; + + public float physCost; + public float streamCost; + public byte shapetype; + public bool hasOBB; + public bool hasMeshVolume; + public AssetState assetState; + public UUID? assetID; + public meshWorkerCmnds comand; + } + + + public class ODEMeshWorker { + private ILog m_log; private OdeScene m_scene; private IMesher m_mesher; - public bool meshSculptedPrim = true; public bool forceSimplePrimMeshing = false; public float meshSculptLOD = 32; public float MeshSculptphysicalLOD = 32; - private IntPtr m_workODEspace = IntPtr.Zero; - public ODEMeshWorker(OdeScene pScene, ILog pLog, IMesher pMesher, IntPtr pWorkSpace, IConfig pConfig) + private OpenSim.Framework.BlockingQueue createqueue = new OpenSim.Framework.BlockingQueue(); + private bool m_running; + + private Thread m_thread; + + public ODEMeshWorker(OdeScene pScene, ILog pLog, IMesher pMesher, IConfig pConfig) { m_scene = pScene; m_log = pLog; m_mesher = pMesher; - m_workODEspace = pWorkSpace; if (pConfig != null) { @@ -46,8 +83,177 @@ namespace OpenSim.Region.Physics.OdePlugin meshSculptLOD = pConfig.GetFloat("mesh_lod", meshSculptLOD); MeshSculptphysicalLOD = pConfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD); } + m_running = true; + m_thread = new Thread(DoWork); + m_thread.Start(); + } + + private void DoWork() + { + while(m_running) + { + ODEPhysRepData nextRep = createqueue.Dequeue(); + if(!m_running) + return; + if (nextRep == null) + continue; + if (m_scene.haveActor(nextRep.actor)) + { + switch (nextRep.comand) + { + case meshWorkerCmnds.changefull: + case meshWorkerCmnds.changeshapetype: + case meshWorkerCmnds.changesize: + if (CreateActorPhysRep(nextRep) && m_scene.haveActor(nextRep.actor)) + m_scene.AddChange(nextRep.actor, changes.PhysRepData, nextRep); + break; + case meshWorkerCmnds.addnew: + if (CreateActorPhysRep(nextRep)) + m_scene.AddChange(nextRep.actor, changes.AddPhysRep, nextRep); + break; + case meshWorkerCmnds.getmesh: + DoRepDataGetMesh(nextRep); + break; + } + } + } + } + + public void Stop() + { + m_running = false; + m_thread.Abort(); + } + + public void ChangeActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, + Vector3 size, byte shapetype) + { + ODEPhysRepData repData = new ODEPhysRepData(); + repData.actor = actor; + repData.pbs = pbs; + repData.size = size; + repData.shapetype = shapetype; + + // if (CheckMeshDone(repData)) + { + CheckMeshDone(repData); + CalcVolumeData(repData); + m_scene.AddChange(actor, changes.PhysRepData, repData); + return; + } + +// repData.comand = meshWorkerCmnds.changefull; +// createqueue.Enqueue(repData); + } + + public void NewActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, + Vector3 size, byte shapetype) + { + ODEPhysRepData repData = new ODEPhysRepData(); + repData.actor = actor; + repData.pbs = pbs; + repData.size = size; + repData.shapetype = shapetype; + + // bool done = CheckMeshDone(repData); + + CheckMeshDone(repData); + CalcVolumeData(repData); + m_scene.AddChange(actor, changes.AddPhysRep, repData); +// if (done) + return; + +// repData.comand = meshWorkerCmnds.addnew; +// createqueue.Enqueue(repData); + } + + public void RequestMeshAsset(ODEPhysRepData repData) + { + if (repData.assetState != AssetState.needAsset) + return; + + if (repData.assetID == null || repData.assetID == UUID.Zero) + return; + + repData.mesh = null; + + repData.assetState = AssetState.loadingAsset; + + repData.comand = meshWorkerCmnds.getmesh; + createqueue.Enqueue(repData); + } + + public bool CreateActorPhysRep(ODEPhysRepData repData) + { + getMesh(repData); + IMesh mesh = repData.mesh; + + if (mesh != null) + { + IntPtr vertices, indices; + int vertexCount, indexCount; + int vertexStride, triStride; + + mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); + mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); + + if (vertexCount == 0 || indexCount == 0) + { + m_log.WarnFormat("[PHYSICS]: Invalid mesh data on prim {0} mesh UUID {1}", + repData.actor.Name, repData.pbs.SculptTexture.ToString()); + repData.assetState = AssetState.AssetFailed; + repData.hasOBB = false; + repData.mesh = null; + m_scene.mesher.ReleaseMesh(mesh); + } + else + { + repData.OBBOffset = mesh.GetCentroid(); + repData.OBB = mesh.GetOBB(); + repData.hasOBB = true; + repData.physCost = 0.0013f * (float)indexCount; + // todo + repData.streamCost = 1.0f; + mesh.releaseSourceMeshData(); + } + } + CalcVolumeData(repData); + return true; + } + + public void AssetLoaded(ODEPhysRepData repData) + { + if (m_scene.haveActor(repData.actor)) + { + if (needsMeshing(repData.pbs)) // no need for pbs now? + { + repData.comand = meshWorkerCmnds.changefull; + createqueue.Enqueue(repData); + } + } } + public void DoRepDataGetMesh(ODEPhysRepData repData) + { + if (!repData.pbs.SculptEntry) + return; + + if (repData.assetState != AssetState.loadingAsset) + return; + + if (repData.assetID == null || repData.assetID == UUID.Zero) + return; + + if (repData.assetID != repData.pbs.SculptTexture) + return; + + RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod; + if (assetProvider == null) + return; + ODEAssetRequest asr = new ODEAssetRequest(this, assetProvider, repData, m_log); + } + + /// /// Routine to figure out if we need to mesh this prim with our mesher /// @@ -169,194 +375,151 @@ namespace OpenSim.Region.Physics.OdePlugin return true; } - public IMesh getMesh(PhysicsActor actor, PrimitiveBaseShape ppbs, Vector3 psize, byte pshapetype) + public bool CheckMeshDone(ODEPhysRepData repData) { - if (!(actor is OdePrim)) - return null; + PhysicsActor actor = repData.actor; + PrimitiveBaseShape pbs = repData.pbs; - IMesh mesh = null; - PrimitiveBaseShape pbs = ppbs; - Vector3 size = psize; - byte shapetype = pshapetype; + repData.mesh = null; + repData.hasOBB = false; - if (needsMeshing(pbs)) + if (!needsMeshing(pbs)) { - bool convex; - int clod = (int)LevelOfDetail.High; - if (shapetype == 0) - convex = false; - else - { - convex = true; - if (pbs.SculptType != (byte)SculptType.Mesh) - clod = (int)LevelOfDetail.Low; - } - mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); - if (mesh == null) - { - if (!pbs.SculptEntry) - return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); - - if (pbs.SculptTexture == UUID.Zero) - return null; - - if (pbs.SculptType != (byte)SculptType.Mesh) - { // check for sculpt decoded image on cache) - if (File.Exists(System.IO.Path.Combine("j2kDecodeCache", "smap_" + pbs.SculptTexture.ToString()))) - return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); - } - - if (pbs.SculptData != null && pbs.SculptData.Length > 0) - return m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); - - ODEAssetRequest asr; - RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod; - if (assetProvider != null) - asr = new ODEAssetRequest(this, assetProvider, actor, pbs, m_log); + repData.assetState = AssetState.noNeedAsset; + return true; + } - return null; + if (pbs.SculptEntry) + { + if (repData.assetState == AssetState.AssetFailed) + { + if (pbs.SculptTexture == repData.assetID) + return true; } } - return mesh; - } + else + { + repData.assetState = AssetState.noNeedAsset; + repData.assetID = null; + } - private bool GetTriMeshGeo(ODEPhysRepData repData) - { - IntPtr vertices, indices; - IntPtr triMeshData = IntPtr.Zero; - IntPtr geo = IntPtr.Zero; - int vertexCount, indexCount; - int vertexStride, triStride; + IMesh mesh = null; - PhysicsActor actor = repData.actor; + Vector3 size = repData.size; + byte shapetype = repData.shapetype; - IMesh mesh = repData.mesh; + bool convex; - if (mesh == null) + int clod = (int)LevelOfDetail.High; + if (shapetype == 0) + convex = false; + else { - mesh = getMesh(repData.actor, repData.pbs, repData.size, repData.shapetype); + convex = true; + if (pbs.SculptType != (byte)SculptType.Mesh) + clod = (int)LevelOfDetail.Low; } - + mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); if (mesh == null) + { + if (pbs.SculptEntry) + { + if (pbs.SculptTexture != null && pbs.SculptTexture != UUID.Zero) + { + repData.assetID = pbs.SculptTexture; + repData.assetState = AssetState.needAsset; + } + else + repData.assetState = AssetState.AssetFailed; + } return false; + } - mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap - mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage - - if (vertexCount == 0 || indexCount == 0) + repData.mesh = mesh; + if (pbs.SculptEntry) { - m_log.WarnFormat("[PHYSICS]: Invalid mesh data on prim {0} mesh UUID {1}", - actor.Name, repData.pbs.SculptTexture.ToString()); - mesh.releaseSourceMeshData(); - return false; + repData.assetState = AssetState.AssetOK; + repData.assetID = pbs.SculptTexture; + pbs.SculptData = Utils.EmptyBytes; } + return true; + } - repData.OBBOffset = mesh.GetCentroid(); - repData.OBB = mesh.GetOBB(); - repData.hasOBB = true; - repData.physCost = 0.0013f * (float)indexCount; - mesh.releaseSourceMeshData(); + public bool getMesh(ODEPhysRepData repData) + { + PhysicsActor actor = repData.actor; - try - { - triMeshData = d.GeomTriMeshDataCreate(); + PrimitiveBaseShape pbs = repData.pbs; - d.GeomTriMeshDataBuildSimple(triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); - d.GeomTriMeshDataPreprocess(triMeshData); + repData.mesh = null; + repData.hasOBB = false; - m_scene.waitForSpaceUnlock(m_workODEspace); - geo = d.CreateTriMesh(m_workODEspace, triMeshData, null, null, null); - } + if (!needsMeshing(pbs)) + return false; - catch (Exception e) + if (pbs.SculptEntry) { - m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", actor.Name, e); - if (triMeshData != IntPtr.Zero) + if (repData.assetState == AssetState.AssetFailed) { - d.GeomTriMeshDataDestroy(triMeshData); - repData.triMeshData = IntPtr.Zero; + if (pbs.SculptTexture == repData.assetID) + return true; } - repData.geo = IntPtr.Zero; - return false; } - repData.geo = geo; - repData.triMeshData = triMeshData; - repData.curSpace = m_workODEspace; - return true; - } - - public ODEPhysRepData CreateActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, IMesh pMesh, Vector3 size, byte shapetype) - { - ODEPhysRepData repData = new ODEPhysRepData(); + repData.assetState = AssetState.noNeedAsset; - repData.actor = actor; - repData.pbs = pbs; - repData.mesh = pMesh; - repData.size = size; - repData.shapetype = shapetype; + IMesh mesh = null; + Vector3 size = repData.size; + byte shapetype = repData.shapetype; - IntPtr geo = IntPtr.Zero; - bool hasMesh = false; - if (needsMeshing(pbs)) + bool convex; + int clod = (int)LevelOfDetail.High; + if (shapetype == 0) + convex = false; + else { - if (GetTriMeshGeo(repData)) - hasMesh = true; - else - repData.NoColide = true; + convex = true; + if (pbs.SculptType != (byte)SculptType.Mesh) + clod = (int)LevelOfDetail.Low; } - - if (!hasMesh) + mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); + if (mesh == null) { - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 - && size.X == size.Y && size.Y == size.Z) - { // it's a sphere - m_scene.waitForSpaceUnlock(m_workODEspace); - try - { - geo = d.CreateSphere(m_workODEspace, size.X * 0.5f); - } - catch (Exception e) - { - m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); - return null; - } - } - else - {// do it as a box - m_scene.waitForSpaceUnlock(m_workODEspace); - try - { - //Console.WriteLine(" CreateGeom 4"); - geo = d.CreateBox(m_workODEspace, size.X, size.Y, size.Z); - } - catch (Exception e) + if (pbs.SculptEntry) + { + if (pbs.SculptTexture == UUID.Zero) + return false; + + repData.assetID = pbs.SculptTexture; + repData.assetState = AssetState.AssetOK; + + if (pbs.SculptData == null || pbs.SculptData.Length == 0) { - m_log.Warn("[PHYSICS]: Create box failed: {0}", e); - return null; + repData.assetState = AssetState.needAsset; + return false; } } - repData.physCost = 0.1f; - repData.streamCost = 1.0f; - repData.geo = geo; + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + } - - repData.curSpace = m_workODEspace; - CalcVolumeData(repData); + repData.mesh = mesh; + repData.pbs.SculptData = Utils.EmptyBytes; - return repData; - } + if (mesh == null) + { + if (pbs.SculptEntry) + repData.assetState = AssetState.AssetFailed; - public void ChangeActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, - Vector3 size, byte shapetype, MeshWorkerChange what) - { - ODEPhysRepData repData = CreateActorPhysRep(actor, pbs, null, size, shapetype); - repData.changed |= what; - if (repData != null && actor != null) - ((OdePrim)actor).AddChange(changes.PhysRepData, repData); + return false; + } + + if (pbs.SculptEntry) + repData.assetState = AssetState.AssetOK; + + return true; } private void CalculateBasicPrimVolume(ODEPhysRepData repData) @@ -662,46 +825,12 @@ namespace OpenSim.Region.Physics.OdePlugin private void CalcVolumeData(ODEPhysRepData repData) { - float volume; - Vector3 OBB = repData.size; - Vector3 OBBoffset; - IntPtr geo = repData.geo; - - if (geo == IntPtr.Zero || repData.triMeshData == IntPtr.Zero) - { - OBB.X *= 0.5f; - OBB.Y *= 0.5f; - OBB.Z *= 0.5f; - - repData.OBB = OBB; - repData.OBBOffset = Vector3.Zero; - } - else if (!repData.hasOBB) // should this happen? - { - d.AABB AABB; - d.GeomGetAABB(geo, out AABB); // get the AABB from engine geom - - OBB.X = (AABB.MaxX - AABB.MinX) * 0.5f; - OBB.Y = (AABB.MaxY - AABB.MinY) * 0.5f; - OBB.Z = (AABB.MaxZ - AABB.MinZ) * 0.5f; - repData.OBB = OBB; - OBBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; - OBBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; - OBBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; - repData.OBBOffset = Vector3.Zero; - } - - // also its own inertia and mass - // keep using basic shape mass for now - CalculateBasicPrimVolume(repData); - if (repData.hasOBB) { - OBB = repData.OBB; + Vector3 OBB = repData.OBB; float pc = repData.physCost; float psf = OBB.X * (OBB.Y + OBB.Z) + OBB.Y * OBB.Z; psf *= 1.33f * .2f; - pc *= psf; if (pc < 0.1f) pc = 0.1f; @@ -709,54 +838,79 @@ namespace OpenSim.Region.Physics.OdePlugin repData.physCost = pc; } else + { + Vector3 OBB = repData.size; + OBB.X *= 0.5f; + OBB.Y *= 0.5f; + OBB.Z *= 0.5f; + + repData.OBB = OBB; + repData.OBBOffset = Vector3.Zero; + repData.physCost = 0.1f; + repData.streamCost = 1.0f; + } + + CalculateBasicPrimVolume(repData); } } public class ODEAssetRequest { - PhysicsActor m_actor; ODEMeshWorker m_worker; - PrimitiveBaseShape m_pbs; private ILog m_log; + ODEPhysRepData repData; public ODEAssetRequest(ODEMeshWorker pWorker, RequestAssetDelegate provider, - PhysicsActor pActor, PrimitiveBaseShape ppbs, ILog plog) + ODEPhysRepData pRepData, ILog plog) { - m_actor = pActor; m_worker = pWorker; - m_pbs = ppbs; m_log = plog; + repData = pRepData; + repData.assetState = AssetState.AssetFailed; if (provider == null) return; - UUID assetID = m_pbs.SculptTexture; + if (repData.assetID == null) + return; + + UUID assetID = (UUID) repData.assetID; if (assetID == UUID.Zero) return; + repData.assetState = AssetState.loadingAsset; provider(assetID, ODEassetReceived); } void ODEassetReceived(AssetBase asset) { - if (m_actor != null && m_pbs != null) + repData.assetState = AssetState.AssetFailed; + if (asset != null) { - if (asset != null) + if (asset.Data != null && asset.Data.Length > 0) { - if (asset.Data != null && asset.Data.Length > 0) - { - m_pbs.SculptData = asset.Data; - m_actor.Shape = m_pbs; - } - else - m_log.WarnFormat("[PHYSICS]: asset provider returned invalid mesh data for prim {0} asset UUID {1}.", - m_actor.Name, asset.ID.ToString()); + if (!repData.pbs.SculptEntry) + return; + if (repData.pbs.SculptTexture != repData.assetID) + return; + + // asset get may return a pointer to the same asset data + // for similar prims and we destroy with it + // so waste a lot of time stressing gc and hoping it clears things + // TODO avoid this + repData.pbs.SculptData = new byte[asset.Data.Length]; + asset.Data.CopyTo(repData.pbs.SculptData,0); + repData.assetState = AssetState.AssetOK; + m_worker.AssetLoaded(repData); } else - m_log.WarnFormat("[PHYSICS]: asset provider returned null asset fo mesh of prim {0}.", - m_actor.Name); + m_log.WarnFormat("[PHYSICS]: asset provider returned invalid mesh data for prim {0} asset UUID {1}.", + repData.actor.Name, asset.ID.ToString()); } + else + m_log.WarnFormat("[PHYSICS]: asset provider returned null asset fo mesh of prim {0}.", + repData.actor.Name); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 7650571..cbe129a 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -79,7 +79,7 @@ namespace OpenSim.Region.Physics.OdePlugin private bool m_lastdoneSelected; internal bool m_outbounds; - private Quaternion m_lastorientation = new Quaternion(); + private Quaternion m_lastorientation; private Quaternion _orientation; private Vector3 _position; @@ -91,14 +91,14 @@ namespace OpenSim.Region.Physics.OdePlugin private Vector3 _size; private Vector3 _acceleration; private Vector3 m_angularlock = Vector3.One; - private IntPtr Amotor = IntPtr.Zero; + private IntPtr Amotor; private Vector3 m_force; private Vector3 m_forceacc; private Vector3 m_angularForceacc; - private float m_invTimeStep = 50.0f; - private float m_timeStep = .02f; + private float m_invTimeStep; + private float m_timeStep; private Vector3 m_PIDTarget; private float m_PIDTau; @@ -107,14 +107,14 @@ namespace OpenSim.Region.Physics.OdePlugin private float m_PIDHoverHeight; private float m_PIDHoverTau; private bool m_useHoverPID; - private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; + private PIDHoverType m_PIDHoverType; private float m_targetHoverHeight; private float m_groundHeight; private float m_waterHeight; private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. - private int body_autodisable_frames = 5; - public int bodydisablecontrol = 0; + private int body_autodisable_frames; + public int bodydisablecontrol; // Default we're a Geometry @@ -144,12 +144,16 @@ namespace OpenSim.Region.Physics.OdePlugin private IMesh m_mesh; private object m_meshlock = new object(); private PrimitiveBaseShape _pbs; + + private UUID? m_assetID; + private AssetState m_assetState; + public OdeScene _parent_scene; /// /// The physics space which contains prim geometry /// - public IntPtr m_targetSpace = IntPtr.Zero; + public IntPtr m_targetSpace; public IntPtr prim_geom; public IntPtr _triMeshData; @@ -163,27 +167,32 @@ namespace OpenSim.Region.Physics.OdePlugin public IntPtr collide_geom; // for objects: geom if single prim space it linkset - private float m_density = 10.000006836f; // Aluminum g/cm3; + private float m_density; private byte m_shapetype; public bool _zeroFlag; private bool m_lastUpdateSent; - public IntPtr Body = IntPtr.Zero; + public IntPtr Body; private Vector3 _target_velocity; - public Vector3 primOOBsize; // prim real dimensions from mesh - public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb + public Vector3 m_OBBOffset; + public Vector3 m_OBB; public float primOOBradiusSQ; + + private bool m_hasOBB = true; + + private float m_physCost; + private float m_streamCost; + public d.Mass primdMass; // prim inertia information on it's own referencial float primMass; // prim own mass float primVolume; // prim own volume; float _mass; // object mass acording to case - private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb - public int givefakepos = 0; + public int givefakepos; private Vector3 fakepos; - public int givefakeori = 0; + public int givefakeori; private Quaternion fakeori; private int m_eventsubscription; @@ -391,9 +400,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (value.IsFinite()) { - AddChange(changes.Size, value); - -// _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype, MeshWorkerChange.size); + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype); } else { @@ -463,7 +470,7 @@ namespace OpenSim.Region.Physics.OdePlugin q.Z = dq.Z; q.W = dq.W; - Vector3 Ptot = primOOBoffset * q; + Vector3 Ptot = m_OBBOffset * q; dtmp = d.GeomGetPosition(prim_geom); Ptot.X += dtmp.X; Ptot.Y += dtmp.Y; @@ -503,7 +510,7 @@ namespace OpenSim.Region.Physics.OdePlugin { get { - return primOOBsize; + return m_OBB; } } @@ -511,7 +518,7 @@ namespace OpenSim.Region.Physics.OdePlugin { get { - return primOOBoffset; + return m_OBBOffset; } } @@ -527,8 +534,8 @@ namespace OpenSim.Region.Physics.OdePlugin { set { - AddChange(changes.Shape, value); -// _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype, MeshWorkerChange.shape); +// AddChange(changes.Shape, value); + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype); } } @@ -541,8 +548,7 @@ namespace OpenSim.Region.Physics.OdePlugin set { m_shapetype = value; - AddChange(changes.Shape, null); -// _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value, MeshWorkerChange.shapetype); + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); } } @@ -1012,7 +1018,6 @@ namespace OpenSim.Region.Physics.OdePlugin m_invTimeStep = 1f / m_timeStep; m_density = parent_scene.geomDefaultDensity; - // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; body_autodisable_frames = parent_scene.bodyFramesAutoDisable; prim_geom = IntPtr.Zero; @@ -1064,7 +1069,6 @@ namespace OpenSim.Region.Physics.OdePlugin m_colliderfilter = 0; m_NoColide = false; - hasOOBoffsetFromMesh = false; _triMeshData = IntPtr.Zero; m_shapetype = _shapeType; @@ -1079,29 +1083,9 @@ namespace OpenSim.Region.Physics.OdePlugin mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; - CalcPrimBodyData(); -/* - m_mesh = null; - if (_parent_scene.needsMeshing(pbs) && (pbs.SculptData.Length > 0)) - { - bool convex; - int clod = (int)LevelOfDetail.High; - if (m_shapetype == 0) - convex = false; - else - { - convex = true; - if (_pbs.SculptType != (byte)SculptType.Mesh) - clod = (int)LevelOfDetail.Low; - } - m_mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, clod, true, convex); - } -*/ - m_mesh = _parent_scene.m_meshWorker.getMesh(this, pbs, _size, m_shapetype); - m_building = true; // control must set this to false when done - AddChange(changes.Add, null); + _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); } private void resetCollisionAccounting() @@ -1325,83 +1309,34 @@ namespace OpenSim.Region.Physics.OdePlugin } } - private bool setMesh(OdeScene parent_scene) + private bool GetMeshGeom() { IntPtr vertices, indices; int vertexCount, indexCount; int vertexStride, triStride; - if (Body != IntPtr.Zero) - { - if (childPrim) - { - if (_parent != null) - { - OdePrim parent = (OdePrim)_parent; - parent.ChildDelink(this, false); - } - } - else - { - DestroyBody(); - } - } - - IMesh mesh = null; - - lock (m_meshlock) - { - if (m_mesh == null) - { -/* - bool convex; - int clod = (int)LevelOfDetail.High; - - if (m_shapetype == 0) - convex = false; - else - { - convex = true; - if (_pbs.SculptType != (byte)SculptType.Mesh) - clod = (int)LevelOfDetail.Low; - } - - mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, clod, true, convex); -*/ - mesh = _parent_scene.m_meshWorker.getMesh(this, _pbs, _size, m_shapetype); - } - else - { - mesh = m_mesh; - } - - if (mesh == null) - { - m_log.WarnFormat("[PHYSICS]: CreateMesh Failed on prim {0} at <{1},{2},{3}>.", Name, _position.X, _position.Y, _position.Z); - return false; - } - + IMesh mesh = m_mesh; - mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap - mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage - - if (vertexCount == 0 || indexCount == 0) - { - m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", - Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString()); - mesh.releaseSourceMeshData(); - return false; - } - - primOOBoffset = mesh.GetCentroid(); - hasOOBoffsetFromMesh = true; + if (mesh == null) + return false; - mesh.releaseSourceMeshData(); - m_mesh = mesh; + mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); + mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); + + if (vertexCount == 0 || indexCount == 0) + { + m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0} mesh UUID {1}", + Name, _pbs.SculptTexture.ToString()); + m_hasOBB = false; + m_OBBOffset = Vector3.Zero; + m_OBB = _size * 0.5f; + m_physCost = 0.1f; + m_streamCost = 1.0f; + _parent_scene.mesher.ReleaseMesh(mesh); + m_assetState = AssetState.AssetFailed; + m_mesh = null; + return false; } - - IntPtr geo = IntPtr.Zero; - try { _triMeshData = d.GeomTriMeshDataCreate(); @@ -1409,8 +1344,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); d.GeomTriMeshDataPreprocess(_triMeshData); - _parent_scene.waitForSpaceUnlock(m_targetSpace); - geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); + prim_geom = d.CreateTriMesh(IntPtr.Zero, _triMeshData, null, null, null); } catch (Exception e) @@ -1418,85 +1352,56 @@ namespace OpenSim.Region.Physics.OdePlugin m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); if (_triMeshData != IntPtr.Zero) { - d.GeomTriMeshDataDestroy(_triMeshData); - _triMeshData = IntPtr.Zero; - } - return false; - } - - SetGeom(geo); - return true; - } - - private void SetGeom(IntPtr geom) - { - prim_geom = geom; - //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); - if (prim_geom != IntPtr.Zero) - { - - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - if (m_isphysical) + try { - d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); + d.GeomTriMeshDataDestroy(_triMeshData); } - else + catch { - d.GeomSetCollideBits(prim_geom, 0); - d.GeomDisable(prim_geom); } } - else - { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - } - - CalcPrimBodyData(); - - _parent_scene.actor_name_map[prim_geom] = this; + _triMeshData = IntPtr.Zero; + prim_geom = IntPtr.Zero; + m_hasOBB = false; + m_OBBOffset = Vector3.Zero; + m_OBB = _size * 0.5f; + m_physCost = 0.1f; + m_streamCost = 1.0f; + _parent_scene.mesher.ReleaseMesh(mesh); + m_assetState = AssetState.AssetFailed; + m_mesh = null; + return false; } - else - m_log.Warn("Setting bad Geom"); + return true; } - - /// - /// Create a geometry for the given mesh in the given target space. - /// - /// - /// If null, then a mesh is used that is based on the profile shape data. private void CreateGeom() { - if (_triMeshData != IntPtr.Zero) - { - d.GeomTriMeshDataDestroy(_triMeshData); - _triMeshData = IntPtr.Zero; - } + IntPtr geo = IntPtr.Zero; + bool hasMesh = false; - bool haveMesh = false; - hasOOBoffsetFromMesh = false; m_NoColide = false; - if (_parent_scene.m_meshWorker.needsMeshing(_pbs)) + if (m_assetState == AssetState.AssetFailed) + m_NoColide = true; + + else if (m_mesh != null) { - haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims - if (!haveMesh) + if (GetMeshGeom()) + hasMesh = true; + else m_NoColide = true; } - if (!haveMesh) + if (!hasMesh) { if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 && _size.X == _size.Y && _size.Y == _size.Z) { // it's a sphere - _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - SetGeom(d.CreateSphere(m_targetSpace, _size.X * 0.5f)); + geo = d.CreateSphere(IntPtr.Zero, _size.X * 0.5f); } catch (Exception e) { @@ -1506,11 +1411,9 @@ namespace OpenSim.Region.Physics.OdePlugin } else {// do it as a box - _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - //Console.WriteLine(" CreateGeom 4"); - SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + geo = d.CreateBox(IntPtr.Zero, _size.X, _size.Y, _size.Z); } catch (Exception e) { @@ -1518,18 +1421,18 @@ namespace OpenSim.Region.Physics.OdePlugin return; } } + m_physCost = 0.1f; + m_streamCost = 1.0f; + prim_geom = geo; } } - /// - /// Set a new geometry for this prim. - /// - /// private void RemoveGeom() { if (prim_geom != IntPtr.Zero) { _parent_scene.actor_name_map.Remove(prim_geom); + try { d.GeomDestroy(prim_geom); @@ -1546,6 +1449,7 @@ namespace OpenSim.Region.Physics.OdePlugin prim_geom = IntPtr.Zero; collide_geom = IntPtr.Zero; + m_targetSpace = IntPtr.Zero; } else { @@ -1562,7 +1466,7 @@ namespace OpenSim.Region.Physics.OdePlugin } Body = IntPtr.Zero; - hasOOBoffsetFromMesh = false; + m_hasOBB = false; } //sets non physical prim m_targetSpace to right space in spaces grid for static prims @@ -2136,358 +2040,6 @@ namespace OpenSim.Region.Physics.OdePlugin #region Mass Calculation - private float CalculatePrimVolume() - { - float volume = _size.X * _size.Y * _size.Z; // default - float tmp; - - float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; - float hollowVolume = hollowAmount * hollowAmount; - - switch (_pbs.ProfileShape) - { - case ProfileShape.Square: - // default box - - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - if (hollowAmount > 0.0) - { - switch (_pbs.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - - hollowVolume *= 0.78539816339f; - break; - - case HollowShape.Triangle: - - hollowVolume *= (0.5f * .5f); - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - //a tube - - volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - 2.0e-2f * (float)(200 - _pbs.PathScaleY); - volume -= volume * tmp * tmp; - - if (hollowAmount > 0.0) - { - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - hollowVolume *= 0.78539816339f; - break; - - case HollowShape.Triangle: - hollowVolume *= 0.5f * 0.5f; - break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - break; - - case ProfileShape.Circle: - - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.78539816339f; // elipse base - - if (hollowAmount > 0.0) - { - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; - - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; - - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - case ProfileShape.HalfCircle: - if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.5236f; - - if (hollowAmount > 0.0) - { - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Circle: - case HollowShape.Triangle: // diference in sl is minor and odd - case HollowShape.Same: - break; - - case HollowShape.Square: - hollowVolume *= 0.909f; - break; - - // case HollowShape.Triangle: - // hollowVolume *= .827f; - // break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - - } - break; - - case ProfileShape.EquilateralTriangle: - - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.32475953f; - - if (hollowAmount > 0.0) - { - - // calculate the hollow volume by it's shape compared to the prim shape - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - // Hollow shape is a perfect cyllinder in respect to the cube's scale - // Cyllinder hollow volume calculation - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { - - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; - - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; - - case HollowShape.Circle: - - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; - - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - - default: - break; - } - - float taperX1; - float taperY1; - float taperX; - float taperY; - float pathBegin; - float pathEnd; - float profileBegin; - float profileEnd; - - if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) - { - taperX1 = _pbs.PathScaleX * 0.01f; - if (taperX1 > 1.0f) - taperX1 = 2.0f - taperX1; - taperX = 1.0f - taperX1; - - taperY1 = _pbs.PathScaleY * 0.01f; - if (taperY1 > 1.0f) - taperY1 = 2.0f - taperY1; - taperY = 1.0f - taperY1; - } - else - { - taperX = _pbs.PathTaperX * 0.01f; - if (taperX < 0.0f) - taperX = -taperX; - taperX1 = 1.0f - taperX; - - taperY = _pbs.PathTaperY * 0.01f; - if (taperY < 0.0f) - taperY = -taperY; - taperY1 = 1.0f - taperY; - } - - volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - - pathBegin = (float)_pbs.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; - volume *= (pathEnd - pathBegin); - - // this is crude aproximation - profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; - volume *= (profileEnd - profileBegin); - - return volume; - } - - - private void CalcPrimBodyData() - { - float volume; - - if (prim_geom == IntPtr.Zero) - { - // Ubit let's have a initial basic OOB - primOOBsize.X = _size.X; - primOOBsize.Y = _size.Y; - primOOBsize.Z = _size.Z; - primOOBoffset = Vector3.Zero; - } - else - { - d.AABB AABB; - d.GeomGetAABB(prim_geom, out AABB); // get the AABB from engine geom - - primOOBsize.X = (AABB.MaxX - AABB.MinX); - primOOBsize.Y = (AABB.MaxY - AABB.MinY); - primOOBsize.Z = (AABB.MaxZ - AABB.MinZ); - if (!hasOOBoffsetFromMesh) - { - primOOBoffset.X = (AABB.MaxX + AABB.MinX) * 0.5f; - primOOBoffset.Y = (AABB.MaxY + AABB.MinY) * 0.5f; - primOOBoffset.Z = (AABB.MaxZ + AABB.MinZ) * 0.5f; - } - } - - // also its own inertia and mass - // keep using basic shape mass for now - volume = CalculatePrimVolume(); - - primVolume = volume; - primMass = m_density * volume; - - if (primMass <= 0) - primMass = 0.0001f;//ckrinke: Mass must be greater then zero. - if (primMass > _parent_scene.maximumMassObject) - primMass = _parent_scene.maximumMassObject; - - _mass = primMass; // just in case - - d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); - - d.MassTranslate(ref primdMass, - primOOBoffset.X, - primOOBoffset.Y, - primOOBoffset.Z); - - primOOBsize *= 0.5f; // let obb size be a corner coords - primOOBradiusSQ = primOOBsize.LengthSquared(); - } - private void UpdatePrimBodyData() { primMass = m_density * primVolume; @@ -2499,14 +2051,14 @@ namespace OpenSim.Region.Physics.OdePlugin _mass = primMass; // just in case - d.MassSetBoxTotal(out primdMass, primMass, primOOBsize.X, primOOBsize.Y, primOOBsize.Z); + d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z); d.MassTranslate(ref primdMass, - primOOBoffset.X, - primOOBoffset.Y, - primOOBoffset.Z); + m_OBBOffset.X, + m_OBBOffset.Y, + m_OBBOffset.Z); - primOOBradiusSQ = primOOBsize.LengthSquared(); + primOOBradiusSQ = m_OBBOffset.LengthSquared(); } #endregion @@ -2697,27 +2249,6 @@ namespace OpenSim.Region.Physics.OdePlugin private void changeadd() { - CreateGeom(); - - if (prim_geom != IntPtr.Zero) - { - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - - if (!m_isphysical) - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - else - MakeBody(); - } } private void changeAngularLock(Vector3 newLock) @@ -3161,41 +2692,45 @@ namespace OpenSim.Region.Physics.OdePlugin resetCollisionAccounting(); } - private void changeprimsizeshape() + private void changeSize(Vector3 newSize) { - CheckDelaySelect(); + } - OdePrim parent = (OdePrim)_parent; + private void changeShape(PrimitiveBaseShape newShape) + { + } - bool chp = childPrim; + - if (chp) - { - if (parent != null) - { - parent.DestroyBody(); - } - } - else - { - DestroyBody(); - } + private void changeAddPhysRep(ODEPhysRepData repData) + { + _size = repData.size; //?? + _pbs = repData.pbs; + m_shapetype = repData.shapetype; - RemoveGeom(); + m_mesh = repData.mesh; - // we don't need to do space calculation because the client sends a position update also. - if (_size.X <= 0) - _size.X = 0.01f; - if (_size.Y <= 0) - _size.Y = 0.01f; - if (_size.Z <= 0) - _size.Z = 0.01f; - // Construction of new prim + m_assetID = repData.assetID; + m_assetState = repData.assetState; + + m_hasOBB = repData.hasOBB; + m_OBBOffset = repData.OBBOffset; + m_OBB = repData.OBB; + +// m_NoColide = repData.NoColide; + m_physCost = repData.physCost; + m_streamCost = repData.streamCost; + + primVolume = repData.volume; CreateGeom(); if (prim_geom != IntPtr.Zero) { + UpdatePrimBodyData(); + + _parent_scene.actor_name_map[prim_geom] = this; + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.X = _orientation.X; @@ -3203,44 +2738,26 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.Z; myrot.W = _orientation.W; d.GeomSetQuaternion(prim_geom, ref myrot); - } - if (m_isphysical) - { - if (chp) + if (!m_isphysical) { - if (parent != null) - { - parent.MakeBody(); - } + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); } else - MakeBody(); - } + MakeBody(); - else - { - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); + if (m_assetState == AssetState.needAsset) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMeshAsset(repData); + } } - - resetCollisionAccounting(); - } - - private void changeSize(Vector3 newSize) - { - _size = newSize; - changeprimsizeshape(); } - private void changeShape(PrimitiveBaseShape newShape) - { - if(newShape != null) - _pbs = newShape; - changeprimsizeshape(); - } - - private void changePhysRepData(ODEPhysRepData repData) { CheckDelaySelect(); @@ -3261,32 +2778,43 @@ namespace OpenSim.Region.Physics.OdePlugin DestroyBody(); } - RemoveGeom(); + RemoveGeom(); - prim_geom = repData.geo; - _triMeshData = repData.triMeshData; _size = repData.size; _pbs = repData.pbs; - m_mesh = repData.mesh; m_shapetype = repData.shapetype; - hasOOBoffsetFromMesh = repData.hasOBB; - primOOBoffset = repData.OBBOffset; - primOOBsize = repData.OBB; + m_mesh = repData.mesh; + + m_assetID = repData.assetID; + m_assetState = repData.assetState; - m_NoColide = repData.NoColide; -// m_physCost = repData.physCost; -// m_streamCost = repData.streamCost; + m_hasOBB = repData.hasOBB; + m_OBBOffset = repData.OBBOffset; + m_OBB = repData.OBB; - primVolume = repData.volume; - m_targetSpace = repData.curSpace; + m_physCost = repData.physCost; + m_streamCost = repData.streamCost; - UpdatePrimBodyData(); + primVolume = repData.volume; - _parent_scene.actor_name_map[prim_geom] = this; + CreateGeom(); if (prim_geom != IntPtr.Zero) { + m_targetSpace = IntPtr.Zero; + + UpdatePrimBodyData(); + + try + { + _parent_scene.actor_name_map[prim_geom] = this; + } + catch + { + + } + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.X = _orientation.X; @@ -3294,32 +2822,39 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.Z; myrot.W = _orientation.W; d.GeomSetQuaternion(prim_geom, ref myrot); - } - if (m_isphysical) - { - if (chp) + + if (m_isphysical) { - if (parent != null) + if (chp) { - parent.MakeBody(); + if (parent != null) + { + parent.MakeBody(); + } } + else + MakeBody(); } + else - MakeBody(); - } + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } - else - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); + resetCollisionAccounting(); + if (m_assetState == AssetState.needAsset) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMeshAsset(repData); + } } - - resetCollisionAccounting(); } - private void changeFloatOnWater(bool newval) { m_collidesWater = newval; @@ -3984,7 +3519,7 @@ namespace OpenSim.Region.Physics.OdePlugin public bool DoAChange(changes what, object arg) { - if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.Remove) + if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) { return false; } @@ -3995,6 +3530,11 @@ namespace OpenSim.Region.Physics.OdePlugin case changes.Add: changeadd(); break; + + case changes.AddPhysRep: + changeAddPhysRep((ODEPhysRepData)arg); + break; + case changes.Remove: //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... //When we return true, it destroys all of the prims in the linkset anyway diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index d758c85..5e4c2a5 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -60,29 +60,6 @@ namespace OpenSim.Region.Physics.OdePlugin public int lastframe; } - public class ODEPhysRepData - { - public PhysicsActor actor; - public IntPtr geo = IntPtr.Zero; - public IntPtr triMeshData = IntPtr.Zero; - public IMesh mesh; - public IntPtr curSpace = IntPtr.Zero; - public PrimitiveBaseShape pbs; - - public Vector3 size = Vector3.Zero; - public Vector3 OBB = Vector3.Zero; - public Vector3 OBBOffset = Vector3.Zero; - - public float volume; - - public float physCost = 0.0f; - public float streamCost = 0; - public MeshWorkerChange changed; - public byte shapetype = 0; - public bool NoColide = false; - public bool hasOBB = false; - public bool hasMeshVolume = false; - } // colision flags of things others can colide with // rays, sensors, probes removed since can't be colided with @@ -133,13 +110,16 @@ namespace OpenSim.Region.Physics.OdePlugin light = 7 // compatibility with old viewers } - [Flags] - public enum MeshWorkerChange : uint + + public enum AssetState : byte { - none = 0, - size = 1, - shape = 2, - shapetype = 3, + noNeedAsset = 0, + needAsset = 1, + loadingAsset = 2, + procAsset = 3, + AssetOK = 4, + + AssetFailed = 0xff } public enum changes : int @@ -180,6 +160,7 @@ namespace OpenSim.Region.Physics.OdePlugin Size, Shape, PhysRepData, + AddPhysRep, CollidesWater, VolumeDtc, @@ -330,7 +311,6 @@ namespace OpenSim.Region.Physics.OdePlugin public IntPtr TopSpace; // the global space public IntPtr ActiveSpace; // space for active prims public IntPtr StaticSpace; // space for the static things around - public IntPtr WorkSpace; // no collisions work space // some speedup variables private int spaceGridMaxX; @@ -342,7 +322,7 @@ namespace OpenSim.Region.Physics.OdePlugin private IntPtr[] staticPrimspaceOffRegion; public Object OdeLock; - private static Object SimulationLock; + public static Object SimulationLock; public IMesher mesher; @@ -403,7 +383,6 @@ namespace OpenSim.Region.Physics.OdePlugin // now the major subspaces ActiveSpace = d.HashSpaceCreate(TopSpace); StaticSpace = d.HashSpaceCreate(TopSpace); - WorkSpace = d.HashSpaceCreate(TopSpace); } catch { @@ -413,12 +392,10 @@ namespace OpenSim.Region.Physics.OdePlugin d.HashSpaceSetLevels(TopSpace, -2, 8); d.HashSpaceSetLevels(ActiveSpace, -2, 8); d.HashSpaceSetLevels(StaticSpace, -2, 8); - d.HashSpaceSetLevels(WorkSpace, -2, 8); // demote to second level d.SpaceSetSublevel(ActiveSpace, 1); d.SpaceSetSublevel(StaticSpace, 1); - d.SpaceSetSublevel(WorkSpace, 1); d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | CollisionCategories.Geom | @@ -436,8 +413,6 @@ namespace OpenSim.Region.Physics.OdePlugin )); d.GeomSetCollideBits(StaticSpace, 0); - d.GeomSetCategoryBits(WorkSpace, 0); - d.GeomSetCollideBits(WorkSpace, 0); contactgroup = d.JointGroupCreate(0); //contactgroup @@ -518,7 +493,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } - m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, WorkSpace, physicsconfig); + m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); HalfOdeStep = ODE_STEPSIZE * 0.5f; odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f); @@ -1316,6 +1291,15 @@ namespace OpenSim.Region.Physics.OdePlugin _collisionEventPrimRemove.Add(obj); } + public override float TimeDilation + { + get { return m_timeDilation; } + } + + public override bool SupportsNINJAJoints + { + get { return false; } + } #region Add/Remove Entities @@ -1371,117 +1355,59 @@ namespace OpenSim.Region.Physics.OdePlugin ((OdeCharacter) actor).Destroy(); } - private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, - PrimitiveBaseShape pbs, bool isphysical, uint localID) - { - Vector3 pos = position; - Vector3 siz = size; - Quaternion rot = rotation; - OdePrim newPrim; - lock (OdeLock) + public void addActivePrim(OdePrim activatePrim) + { + // adds active prim.. + lock (_activeprims) { - newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical,false,0,localID); - - lock (_prims) - _prims.Add(newPrim); + if (!_activeprims.Contains(activatePrim)) + _activeprims.Add(activatePrim); } - return newPrim; } - private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, - PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, uint localID) + public void addActiveGroups(OdePrim activatePrim) { - Vector3 pos = position; - Vector3 siz = size; - Quaternion rot = rotation; - - OdePrim newPrim; - lock (OdeLock) + lock (_activegroups) { - newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, 0, localID); - - lock (_prims) - _prims.Add(newPrim); + if (!_activegroups.Contains(activatePrim)) + _activegroups.Add(activatePrim); } - return newPrim; } private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID) { - Vector3 pos = position; - Vector3 siz = size; - Quaternion rot = rotation; - OdePrim newPrim; lock (OdeLock) { - newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical, isPhantom, shapeType, localID); - + newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID); lock (_prims) _prims.Add(newPrim); } return newPrim; } - public void addActivePrim(OdePrim activatePrim) - { - // adds active prim.. - lock (_activeprims) - { - if (!_activeprims.Contains(activatePrim)) - _activeprims.Add(activatePrim); - } - } - - public void addActiveGroups(OdePrim activatePrim) - { - lock (_activegroups) - { - if (!_activegroups.Contains(activatePrim)) - _activegroups.Add(activatePrim); - } - } - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid) { - return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, localid); + return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, 0 , localid); } public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, uint localid) { -#if SPAM - m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); -#endif - - return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid); + return AddPrim(primName, position, size, rotation, pbs, isPhysical,false, 0, localid); } public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid) { -#if SPAM - m_log.DebugFormat("[PHYSICS]: Adding physics actor to {0}", primName); -#endif return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid); } - public override float TimeDilation - { - get { return m_timeDilation; } - } - - public override bool SupportsNINJAJoints - { - get { return false; } - } - - public void remActivePrim(OdePrim deactivatePrim) { lock (_activeprims) @@ -1534,6 +1460,28 @@ namespace OpenSim.Region.Physics.OdePlugin } } + + public bool havePrim(OdePrim prm) + { + lock (_prims) + return _prims.Contains(prm); + } + + public bool haveActor(PhysicsActor actor) + { + if (actor is OdePrim) + { + lock (_prims) + return _prims.Contains((OdePrim)actor); + } + else if (actor is OdeCharacter) + { + lock (_characters) + return _characters.Contains((OdeCharacter)actor); + } + return false; + } + #endregion #region Space Separation Calculation @@ -1706,20 +1654,9 @@ namespace OpenSim.Region.Physics.OdePlugin { if (world == IntPtr.Zero) return 0; + + d.WorldSetQuickStepNumIterations(world, curphysiteractions); - // adjust number of iterations per step - -// try -// { - d.WorldSetQuickStepNumIterations(world, curphysiteractions); -/* } - catch (StackOverflowException) - { - m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim."); -// ode.drelease(world); - base.TriggerPhysicsBasedRestart(); - } -*/ while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever { try @@ -1747,8 +1684,9 @@ namespace OpenSim.Region.Physics.OdePlugin } catch { - m_log.Warn("[PHYSICS]: doChange failed for a actor"); - }; + m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", + item.actor.Name, item.what.ToString()); + } } ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); if (ttmp > 20) @@ -2491,6 +2429,9 @@ namespace OpenSim.Region.Physics.OdePlugin */ public override void Dispose() { + if (m_meshWorker != null) + m_meshWorker.Stop(); + lock (OdeLock) { m_rayCastManager.Dispose(); -- cgit v1.1 From 4efc90ef37a244ae859f4789d1abbc332723a6ad Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 05:53:52 +0100 Subject: i update core ode plugin and make it load is meshs (i hope) --- OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 90 +++++++++++++++++++--- .../Physics/OdePlugin/ODERayCastRequestManager.cs | 11 +-- OpenSim/Region/Physics/OdePlugin/OdeScene.cs | 41 ++++++++-- 3 files changed, 118 insertions(+), 24 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index a41c856..b2c2d8a 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs @@ -63,6 +63,9 @@ namespace OpenSim.Region.Physics.OdePlugin private bool m_isphysical; + public int ExpectedCollisionContacts { get { return m_expectedCollisionContacts; } } + private int m_expectedCollisionContacts = 0; + /// /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. /// @@ -97,6 +100,9 @@ namespace OpenSim.Region.Physics.OdePlugin private Vector3 m_taintAngularLock = Vector3.One; private IntPtr Amotor = IntPtr.Zero; + private object m_assetsLock = new object(); + private bool m_assetFailed = false; + private Vector3 m_PIDTarget; private float m_PIDTau; private float PID_D = 35f; @@ -279,6 +285,7 @@ namespace OpenSim.Region.Physics.OdePlugin } m_taintadd = true; + m_assetFailed = false; _parent_scene.AddPhysicsActorTaint(this); } @@ -601,8 +608,8 @@ namespace OpenSim.Region.Physics.OdePlugin break; case HollowShape.Circle: - // Hollow shape is a perfect cylinder in respect to the cube's scale - // Cylinder hollow volume calculation + // Hollow shape is a perfect cyllinder in respect to the cube's scale + // Cyllinder hollow volume calculation hollowVolume *= 0.1963495f * 3.07920140172638f; break; @@ -840,7 +847,7 @@ namespace OpenSim.Region.Physics.OdePlugin int vertexStride, triStride; mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage - + m_expectedCollisionContacts = indexCount; mesh.releaseSourceMeshData(); // free up the original mesh data to save memory // We must lock here since m_MeshToTriMeshMap is static and multiple scene threads may call this method at @@ -1377,6 +1384,7 @@ Console.WriteLine("CreateGeom:"); { //Console.WriteLine(" CreateGeom 1"); SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); + m_expectedCollisionContacts = 3; } catch (AccessViolationException) { @@ -1391,6 +1399,7 @@ Console.WriteLine("CreateGeom:"); { //Console.WriteLine(" CreateGeom 2"); SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + m_expectedCollisionContacts = 4; } catch (AccessViolationException) { @@ -1406,6 +1415,7 @@ Console.WriteLine("CreateGeom:"); { //Console.WriteLine(" CreateGeom 3"); SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + m_expectedCollisionContacts = 4; } catch (AccessViolationException) { @@ -1421,6 +1431,7 @@ Console.WriteLine("CreateGeom:"); { //Console.WriteLine(" CreateGeom 4"); SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + m_expectedCollisionContacts = 4; } catch (AccessViolationException) { @@ -1446,11 +1457,13 @@ Console.WriteLine("CreateGeom:"); _parent_scene.geom_name_map.Remove(prim_geom); _parent_scene.actor_name_map.Remove(prim_geom); d.GeomDestroy(prim_geom); + m_expectedCollisionContacts = 0; prim_geom = IntPtr.Zero; } catch (System.AccessViolationException) { prim_geom = IntPtr.Zero; + m_expectedCollisionContacts = 0; m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name); return false; @@ -1489,6 +1502,8 @@ Console.WriteLine("CreateGeom:"); mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); // createmesh returns null when it's a shape that isn't a cube. // m_log.Debug(m_localID); + if (mesh == null) + CheckMeshAsset(); } #if SPAM @@ -1988,7 +2003,12 @@ Console.WriteLine(" JointCreateFixed"); // Don't need to re-enable body.. it's done in SetMesh if (_parent_scene.needsMeshing(_pbs)) + { mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical); + if (mesh == null) + CheckMeshAsset(); + } + } CreateGeom(m_targetSpace, mesh); @@ -2048,6 +2068,8 @@ Console.WriteLine(" JointCreateFixed"); /// private void changeshape() { + m_taintshape = false; + // Cleanup of old prim geometry and Bodies if (IsPhysical && Body != IntPtr.Zero) { @@ -2075,6 +2097,7 @@ Console.WriteLine(" JointCreateFixed"); IMesh mesh = null; + if (_parent_scene.needsMeshing(_pbs)) { // Don't need to re-enable body.. it's done in CreateMesh @@ -2085,6 +2108,8 @@ Console.WriteLine(" JointCreateFixed"); // createmesh returns null when it doesn't mesh. mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical); + if (mesh == null) + CheckMeshAsset(); } CreateGeom(m_targetSpace, mesh); @@ -2121,7 +2146,7 @@ Console.WriteLine(" JointCreateFixed"); } resetCollisionAccounting(); - m_taintshape = false; +// m_taintshape = false; } /// @@ -2387,6 +2412,7 @@ Console.WriteLine(" JointCreateFixed"); set { _pbs = value; + m_assetFailed = false; m_taintshape = true; } } @@ -2395,15 +2421,15 @@ Console.WriteLine(" JointCreateFixed"); { get { - // Averate previous velocity with the new one so + // Average previous velocity with the new one so // client object interpolation works a 'little' better if (_zeroFlag) return Vector3.Zero; Vector3 returnVelocity = Vector3.Zero; - returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2; - returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y)/2; - returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z)/2; + returnVelocity.X = (m_lastVelocity.X + _velocity.X) * 0.5f; // 0.5f is mathematically equiv to '/ 2' + returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) * 0.5f; + returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) * 0.5f; return returnVelocity; } set @@ -2600,6 +2626,7 @@ Console.WriteLine(" JointCreateFixed"); { Vector3 pv = Vector3.Zero; bool lastZeroFlag = _zeroFlag; + float m_minvelocity = 0; if (Body != (IntPtr)0) // FIXME -> or if it is a joint { d.Vector3 vec = d.BodyGetPosition(Body); @@ -2752,8 +2779,21 @@ Console.WriteLine(" JointCreateFixed"); _acceleration = ((_velocity - m_lastVelocity) / 0.1f); _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); + + // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing... + // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. + // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles + // adding these logical exclusion situations to maintain this where I think it was intended to be. + if (m_throttleUpdates || m_usePID || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) + { + m_minvelocity = 0.5f; + } + else + { + m_minvelocity = 0.02f; + } - if (_velocity.ApproxEquals(pv, 0.5f)) + if (_velocity.ApproxEquals(pv, m_minvelocity)) { m_rotationalVelocity = pv; } @@ -3211,5 +3251,37 @@ Console.WriteLine(" JointCreateFixed"); { m_material = pMaterial; } + + + private void CheckMeshAsset() + { + if (_pbs.SculptEntry && !m_assetFailed && _pbs.SculptTexture != UUID.Zero) + { + m_assetFailed = true; + Util.FireAndForget(delegate + { + RequestAssetDelegate assetProvider = _parent_scene.RequestAssetMethod; + if (assetProvider != null) + assetProvider(_pbs.SculptTexture, MeshAssetReveived); + }); + } + } + + void MeshAssetReveived(AssetBase asset) + { + if (asset.Data != null && asset.Data.Length > 0) + { + if (!_pbs.SculptEntry) + return; + if (_pbs.SculptTexture.ToString() != asset.ID) + return; + + _pbs.SculptData = new byte[asset.Data.Length]; + asset.Data.CopyTo(_pbs.SculptData, 0); + m_assetFailed = false; + m_taintshape = true; + _parent_scene.AddPhysicsActorTaint(this); + } + } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs index 7e3ec63..8d7d3b3 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs @@ -137,15 +137,8 @@ namespace OpenSim.Region.Physics.OdePlugin ODERayCastRequest[] reqs = m_PendingRequests.ToArray(); for (int i = 0; i < reqs.Length; i++) { - try - { - if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast - RayCast(reqs[i]); // if there isn't anyone to send results - } - catch - { - //Fail silently - } + if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast + RayCast(reqs[i]); // if there isn't anyone to send results } m_PendingRequests.Clear(); diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs index 929b019..7a50c4c 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs @@ -336,6 +336,7 @@ namespace OpenSim.Region.Physics.OdePlugin public int geomContactPointsStartthrottle = 3; public int geomUpdatesPerThrottledUpdate = 15; + private const int avatarExpectedContacts = 3; public float bodyPIDD = 35f; public float bodyPIDG = 25; @@ -474,6 +475,8 @@ namespace OpenSim.Region.Physics.OdePlugin private OdePrim cp1; private OdeCharacter cc2; private OdePrim cp2; + private int p1ExpectedPoints = 0; + private int p2ExpectedPoints = 0; //private int cStartStop = 0; //private string cDictKey = ""; @@ -498,6 +501,7 @@ namespace OpenSim.Region.Physics.OdePlugin public int physics_logging_interval = 0; public bool physics_logging_append_existing_logfile = false; + public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); @@ -644,7 +648,7 @@ namespace OpenSim.Region.Physics.OdePlugin contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); - geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); + geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 5); geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); @@ -1064,7 +1068,10 @@ namespace OpenSim.Region.Physics.OdePlugin PhysicsActor p1; PhysicsActor p2; - + + p1ExpectedPoints = 0; + p2ExpectedPoints = 0; + if (!actor_name_map.TryGetValue(g1, out p1)) { p1 = PANull; @@ -1121,9 +1128,13 @@ namespace OpenSim.Region.Physics.OdePlugin switch (p1.PhysicsActorType) { case (int)ActorTypes.Agent: + p1ExpectedPoints = avatarExpectedContacts; p2.CollidingObj = true; break; case (int)ActorTypes.Prim: + if (p1 != null && p1 is OdePrim) + p1ExpectedPoints = ((OdePrim) p1).ExpectedCollisionContacts; + if (p2.Velocity.LengthSquared() > 0.0f) p2.CollidingObj = true; break; @@ -1319,6 +1330,7 @@ namespace OpenSim.Region.Physics.OdePlugin if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) { + p2ExpectedPoints = avatarExpectedContacts; // Avatar is moving on terrain, use the movement terrain contact AvatarMovementTerrainContact.geom = curContact; @@ -1332,6 +1344,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (p2.PhysicsActorType == (int)ActorTypes.Agent) { + p2ExpectedPoints = avatarExpectedContacts; // Avatar is standing on terrain, use the non moving terrain contact TerrainContact.geom = curContact; @@ -1356,9 +1369,18 @@ namespace OpenSim.Region.Physics.OdePlugin } if (p2 is OdePrim) - material = ((OdePrim)p2).m_material; - + { + material = ((OdePrim) p2).m_material; + p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; + } + + // Unnessesary because p1 is defined above + //if (p1 is OdePrim) + // { + // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; + // } //m_log.DebugFormat("Material: {0}", material); + m_materialContacts[material, movintYN].geom = curContact; if (m_global_contactcount < maxContactsbeforedeath) @@ -1379,7 +1401,10 @@ namespace OpenSim.Region.Physics.OdePlugin int material = (int)Material.Wood; if (p2 is OdePrim) + { material = ((OdePrim)p2).m_material; + p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; + } //m_log.DebugFormat("Material: {0}", material); m_materialContacts[material, movintYN].geom = curContact; @@ -1429,6 +1454,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if ((p2.PhysicsActorType == (int)ActorTypes.Agent)) { + p2ExpectedPoints = avatarExpectedContacts; if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) { // Avatar is moving on a prim, use the Movement prim contact @@ -1458,7 +1484,10 @@ namespace OpenSim.Region.Physics.OdePlugin int material = (int)Material.Wood; if (p2 is OdePrim) + { material = ((OdePrim)p2).m_material; + p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; + } //m_log.DebugFormat("Material: {0}", material); m_materialContacts[material, 0].geom = curContact; @@ -1479,8 +1508,8 @@ namespace OpenSim.Region.Physics.OdePlugin } collision_accounting_events(p1, p2, maxDepthContact); - - if (count > geomContactPointsStartthrottle) + + if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) { // If there are more then 3 contact points, it's likely // that we've got a pile of objects, so ... -- cgit v1.1 From 4a87a8f3b949d299ca83c99d8f0fda8597187c23 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 06:11:51 +0100 Subject: comment out a spam coment on core Meshmerizer --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 30 ++++----------------------- 1 file changed, 4 insertions(+), 26 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 3c4f737..236adb0 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -74,8 +74,6 @@ namespace OpenSim.Region.Physics.Meshing #endif private bool cacheSculptMaps = true; - private bool cacheSculptAlphaMaps = true; - private string decodedSculptMapPath = null; private bool useMeshiesPhysicsMesh = false; @@ -89,16 +87,7 @@ namespace OpenSim.Region.Physics.Meshing IConfig mesh_config = config.Configs["Mesh"]; decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache"); - cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps); - - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - cacheSculptAlphaMaps = false; - } - else - cacheSculptAlphaMaps = cacheSculptMaps; - if(mesh_config != null) useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); @@ -279,18 +268,15 @@ namespace OpenSim.Region.Physics.Meshing { if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces)) return null; - // Remove the reference to any JPEG2000 sculpt data so it can be GCed - // don't loose it - // primShape.SculptData = Utils.EmptyBytes; } -// primShape.SculptDataLoaded = true; } else { if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces)) return null; } - // keep compatible + + // Remove the reference to any JPEG2000 sculpt data so it can be GCed primShape.SculptData = Utils.EmptyBytes; int numCoords = coords.Count; @@ -335,7 +321,7 @@ namespace OpenSim.Region.Physics.Meshing if (primShape.SculptData.Length <= 0) { - m_log.InfoFormat("[MESH]: asset data for {0} is zero length", primName); +// m_log.ErrorFormat("[MESH]: asset data for {0} is zero length", primName); return false; } @@ -496,8 +482,7 @@ namespace OpenSim.Region.Physics.Meshing //idata = CSJ2K.J2kImage.FromBytes(primShape.SculptData); - if (cacheSculptMaps && (cacheSculptAlphaMaps || (((ImageFlags)(idata.Flags) & ImageFlags.HasAlpha) ==0))) - // don't cache images with alpha channel in linux since mono can't load them correctly) + if (cacheSculptMaps) { try { idata.Save(decodedSculptFileName, ImageFormat.MemoryBmp); } catch (Exception e) { m_log.Error("[SCULPT]: unable to cache sculpt map " + decodedSculptFileName + " " + e.Message); } @@ -717,11 +702,6 @@ namespace OpenSim.Region.Physics.Meshing return CreateMesh(primName, primShape, size, lod, false); } - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) - { - return CreateMesh(primName, primShape, size, lod, false); - } - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) { #if SPAM @@ -763,7 +743,5 @@ namespace OpenSim.Region.Physics.Meshing return mesh; } - public void ReleaseMesh(IMesh imesh) { } - public void ExpireReleaseMeshs() { } } } -- cgit v1.1 From c42df1259fa02aea21817749d65a4e468166c022 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 06:16:47 +0100 Subject: fix wrong file commited --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 10 ---------- 1 file changed, 10 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 7a3f343..236adb0 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -743,15 +743,5 @@ namespace OpenSim.Region.Physics.Meshing return mesh; } -<<<<<<< HEAD - public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) - { - return null; - } - - public void ReleaseMesh(IMesh imesh) { } - public void ExpireReleaseMeshs() { } -======= ->>>>>>> avination } } -- cgit v1.1 From a0b4e68060b51deba6262b0c81873ce734cb0089 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 06:33:13 +0100 Subject: refix so we can compile it, loosing alpha scultps fix on core meshmerizer --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 236adb0..b462713 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -702,6 +702,10 @@ namespace OpenSim.Region.Physics.Meshing return CreateMesh(primName, primShape, size, lod, false); } + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + { + return CreateMesh(primName, primShape, size, lod, false); + } public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) { #if SPAM @@ -743,5 +747,12 @@ namespace OpenSim.Region.Physics.Meshing return mesh; } + public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + { + return null; + } + + public void ReleaseMesh(IMesh imesh) { } + public void ExpireReleaseMeshs() { } } } -- cgit v1.1 From 48d8fbc9aedb3247a1dfd25be1b7dfbdd8719790 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 08:53:55 +0100 Subject: bug fix + make costs visible for testing --- OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 13 +++-- OpenSim/Region/Physics/Manager/PhysicsActor.cs | 17 +++++++ .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 40 ++++++++-------- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 56 +++++++++++++++------- 4 files changed, 85 insertions(+), 41 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 633cd3b..66d85c4 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -1583,7 +1583,9 @@ namespace OpenSim.Region.Framework.Scenes float cost = 0.1f; if (PhysActor != null) -// cost += PhysActor.Cost; + cost = PhysActor.PhysicsCost; + else + cost = 0.1f; if ((Flags & PrimFlags.Physics) != 0) cost *= (1.0f + 0.01333f * Scale.LengthSquared()); // 0.01333 == 0.04/3 @@ -1596,9 +1598,12 @@ namespace OpenSim.Region.Framework.Scenes { get { - - - return 0.1f; + float cost; + if (PhysActor != null) + cost = PhysActor.StreamCost; + else + cost = 1.0f; + return 1.0f; } } diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs index a2c72c3..14f65b8 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs @@ -315,6 +315,23 @@ namespace OpenSim.Region.Physics.Manager } } + + public virtual float PhysicsCost + { + get + { + return 0.1f; + } + } + + public virtual float StreamCost + { + get + { + return 1.0f; + } + } + /// /// Velocity of this actor. /// diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 3fcbb1b..6bdc089 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -40,8 +40,6 @@ namespace OpenSim.Region.Physics.OdePlugin public float volume; - public float physCost; - public float streamCost; public byte shapetype; public bool hasOBB; public bool hasMeshVolume; @@ -121,8 +119,14 @@ namespace OpenSim.Region.Physics.OdePlugin public void Stop() { - m_running = false; - m_thread.Abort(); + try + { + m_thread.Abort(); + createqueue.Clear(); + } + catch + { + } } public void ChangeActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, @@ -172,10 +176,15 @@ namespace OpenSim.Region.Physics.OdePlugin if (repData.assetState != AssetState.needAsset) return; + repData.mesh = null; + if (repData.assetID == null || repData.assetID == UUID.Zero) + { + repData.assetState = AssetState.noNeedAsset; + repData.comand = meshWorkerCmnds.changefull; + createqueue.Enqueue(repData); return; - - repData.mesh = null; + } repData.assetState = AssetState.loadingAsset; @@ -211,9 +220,6 @@ namespace OpenSim.Region.Physics.OdePlugin repData.OBBOffset = mesh.GetCentroid(); repData.OBB = mesh.GetOBB(); repData.hasOBB = true; - repData.physCost = 0.0013f * (float)indexCount; - // todo - repData.streamCost = 1.0f; mesh.releaseSourceMeshData(); } } @@ -427,11 +433,14 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptTexture != null && pbs.SculptTexture != UUID.Zero) { repData.assetID = pbs.SculptTexture; - repData.assetState = AssetState.needAsset; + repData.assetState = AssetState.needAsset; } else repData.assetState = AssetState.AssetFailed; } + else + repData.assetState = AssetState.needAsset; + return false; } @@ -828,14 +837,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (repData.hasOBB) { Vector3 OBB = repData.OBB; - float pc = repData.physCost; - float psf = OBB.X * (OBB.Y + OBB.Z) + OBB.Y * OBB.Z; - psf *= 1.33f * .2f; - pc *= psf; - if (pc < 0.1f) - pc = 0.1f; - - repData.physCost = pc; } else { @@ -846,9 +847,6 @@ namespace OpenSim.Region.Physics.OdePlugin repData.OBB = OBB; repData.OBBOffset = Vector3.Zero; - - repData.physCost = 0.1f; - repData.streamCost = 1.0f; } CalculateBasicPrimVolume(repData); diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index cbe129a..4c16f8e 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -277,7 +277,23 @@ namespace OpenSim.Region.Physics.OdePlugin cdata.mu *= veh.FrictionFactor; // cdata.mu *= 0; } - } + } + + public override float PhysicsCost + { + get + { + return m_physCost; + } + } + + public override float StreamCost + { + get + { + return m_streamCost; + } + } public override int PhysicsActorType { @@ -1373,6 +1389,11 @@ namespace OpenSim.Region.Physics.OdePlugin m_mesh = null; return false; } + + m_physCost = 0.0013f * (float)indexCount; + // todo + m_streamCost = 1.0f; + return true; } @@ -1386,7 +1407,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (m_assetState == AssetState.AssetFailed) m_NoColide = true; - else if (m_mesh != null) + else if(m_mesh != null) { if (GetMeshGeom()) hasMesh = true; @@ -2058,7 +2079,23 @@ namespace OpenSim.Region.Physics.OdePlugin m_OBBOffset.Y, m_OBBOffset.Z); - primOOBradiusSQ = m_OBBOffset.LengthSquared(); + primOOBradiusSQ = m_OBB.LengthSquared(); + + if (_triMeshData != IntPtr.Zero) + { + float pc = m_physCost; + float psf = primOOBradiusSQ; + psf *= 1.33f * .2f; + pc *= psf; + if (pc < 0.1f) + pc = 0.1f; + + m_physCost = pc; + } + else + m_physCost = 0.1f; + + m_streamCost = 1.0f; } #endregion @@ -2717,10 +2754,6 @@ namespace OpenSim.Region.Physics.OdePlugin m_OBBOffset = repData.OBBOffset; m_OBB = repData.OBB; -// m_NoColide = repData.NoColide; - m_physCost = repData.physCost; - m_streamCost = repData.streamCost; - primVolume = repData.volume; CreateGeom(); @@ -2793,9 +2826,6 @@ namespace OpenSim.Region.Physics.OdePlugin m_OBBOffset = repData.OBBOffset; m_OBB = repData.OBB; - m_physCost = repData.physCost; - m_streamCost = repData.streamCost; - primVolume = repData.volume; CreateGeom(); @@ -2806,14 +2836,8 @@ namespace OpenSim.Region.Physics.OdePlugin UpdatePrimBodyData(); - try - { _parent_scene.actor_name_map[prim_geom] = this; - } - catch - { - } d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); -- cgit v1.1 From a1fcfe867786de121d0960e684252525781ac453 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sun, 7 Oct 2012 23:54:15 +0100 Subject: a few changes/fix (?) --- OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 18 +-- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 150 +++++++++++---------- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 50 +++---- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 11 -- 4 files changed, 112 insertions(+), 117 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 2933d86..fabadd3 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -1113,17 +1113,17 @@ namespace OpenSim.Region.Physics.Meshing Mesh mesh = (Mesh)imesh; - int curRefCount = mesh.RefCount; - curRefCount--; - - if (curRefCount > 0) - { - mesh.RefCount = curRefCount; - return; - } - lock (m_uniqueMeshes) { + int curRefCount = mesh.RefCount; + curRefCount--; + + if (curRefCount > 0) + { + mesh.RefCount = curRefCount; + return; + } + mesh.RefCount = 0; m_uniqueMeshes.Remove(mesh.Key); lock (m_uniqueReleasedMeshes) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 6bdc089..024835c 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -18,6 +18,23 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.OdePlugin { + public enum MeshState : byte + { + noNeed = 0, + + loadingAsset = 1, + + AssetOK = 0x0f, // 00001111 + + NeedMask = 0x30, // 00110000 + needMesh = 0x10, // 00010000 + needAsset = 0x20, // 00100000 + + FailMask = 0xC0, // 11000000 + AssetFailed = 0x40, // 01000000 + MeshFailed = 0x80 // 10000000 + } + public enum meshWorkerCmnds : byte { nop = 0, @@ -43,13 +60,11 @@ namespace OpenSim.Region.Physics.OdePlugin public byte shapetype; public bool hasOBB; public bool hasMeshVolume; - public AssetState assetState; + public MeshState meshState; public UUID? assetID; public meshWorkerCmnds comand; } - - public class ODEMeshWorker { @@ -138,16 +153,10 @@ namespace OpenSim.Region.Physics.OdePlugin repData.size = size; repData.shapetype = shapetype; - // if (CheckMeshDone(repData)) - { - CheckMeshDone(repData); - CalcVolumeData(repData); - m_scene.AddChange(actor, changes.PhysRepData, repData); - return; - } - -// repData.comand = meshWorkerCmnds.changefull; -// createqueue.Enqueue(repData); + CheckMeshDone(repData); + CalcVolumeData(repData); + m_scene.AddChange(actor, changes.PhysRepData, repData); + return; } public void NewActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, @@ -159,39 +168,43 @@ namespace OpenSim.Region.Physics.OdePlugin repData.size = size; repData.shapetype = shapetype; - // bool done = CheckMeshDone(repData); - CheckMeshDone(repData); CalcVolumeData(repData); m_scene.AddChange(actor, changes.AddPhysRep, repData); -// if (done) - return; - -// repData.comand = meshWorkerCmnds.addnew; -// createqueue.Enqueue(repData); } - public void RequestMeshAsset(ODEPhysRepData repData) + public void RequestMesh(ODEPhysRepData repData) { - if (repData.assetState != AssetState.needAsset) - return; - repData.mesh = null; - if (repData.assetID == null || repData.assetID == UUID.Zero) + if (repData.meshState == MeshState.needMesh) { - repData.assetState = AssetState.noNeedAsset; repData.comand = meshWorkerCmnds.changefull; createqueue.Enqueue(repData); - return; } + else if (repData.meshState == MeshState.needAsset) + { + PrimitiveBaseShape pbs = repData.pbs; + + // check if we got outdated + + if (!pbs.SculptEntry || pbs.SculptTexture == UUID.Zero) + { + repData.meshState = MeshState.noNeed; + return; + } + + if (pbs.SculptTexture != repData.assetID) + return; - repData.assetState = AssetState.loadingAsset; + repData.meshState = MeshState.loadingAsset; - repData.comand = meshWorkerCmnds.getmesh; - createqueue.Enqueue(repData); + repData.comand = meshWorkerCmnds.getmesh; + createqueue.Enqueue(repData); + } } + // creates and prepares a mesh to use and calls parameters estimation public bool CreateActorPhysRep(ODEPhysRepData repData) { getMesh(repData); @@ -210,7 +223,7 @@ namespace OpenSim.Region.Physics.OdePlugin { m_log.WarnFormat("[PHYSICS]: Invalid mesh data on prim {0} mesh UUID {1}", repData.actor.Name, repData.pbs.SculptTexture.ToString()); - repData.assetState = AssetState.AssetFailed; + repData.meshState = MeshState.MeshFailed; repData.hasOBB = false; repData.mesh = null; m_scene.mesher.ReleaseMesh(mesh); @@ -237,6 +250,8 @@ namespace OpenSim.Region.Physics.OdePlugin createqueue.Enqueue(repData); } } + else + repData.pbs.SculptData = Utils.EmptyBytes; } public void DoRepDataGetMesh(ODEPhysRepData repData) @@ -244,7 +259,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (!repData.pbs.SculptEntry) return; - if (repData.assetState != AssetState.loadingAsset) + if (repData.meshState != MeshState.loadingAsset) return; if (repData.assetID == null || repData.assetID == UUID.Zero) @@ -381,34 +396,19 @@ namespace OpenSim.Region.Physics.OdePlugin return true; } + // see if we need a mesh and if so if we have a cached one + // called with a new repData public bool CheckMeshDone(ODEPhysRepData repData) { PhysicsActor actor = repData.actor; PrimitiveBaseShape pbs = repData.pbs; - repData.mesh = null; - repData.hasOBB = false; - if (!needsMeshing(pbs)) { - repData.assetState = AssetState.noNeedAsset; + repData.meshState = MeshState.noNeed; return true; } - if (pbs.SculptEntry) - { - if (repData.assetState == AssetState.AssetFailed) - { - if (pbs.SculptTexture == repData.assetID) - return true; - } - } - else - { - repData.assetState = AssetState.noNeedAsset; - repData.assetID = null; - } - IMesh mesh = null; Vector3 size = repData.size; @@ -425,7 +425,9 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptType != (byte)SculptType.Mesh) clod = (int)LevelOfDetail.Low; } + mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); + if (mesh == null) { if (pbs.SculptEntry) @@ -433,13 +435,13 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptTexture != null && pbs.SculptTexture != UUID.Zero) { repData.assetID = pbs.SculptTexture; - repData.assetState = AssetState.needAsset; + repData.meshState = MeshState.needAsset; } else - repData.assetState = AssetState.AssetFailed; + repData.meshState = MeshState.MeshFailed; } else - repData.assetState = AssetState.needAsset; + repData.meshState = MeshState.needMesh; return false; } @@ -447,14 +449,14 @@ namespace OpenSim.Region.Physics.OdePlugin repData.mesh = mesh; if (pbs.SculptEntry) { - repData.assetState = AssetState.AssetOK; + repData.meshState = MeshState.AssetOK; repData.assetID = pbs.SculptTexture; - pbs.SculptData = Utils.EmptyBytes; } + + pbs.SculptData = Utils.EmptyBytes; return true; } - public bool getMesh(ODEPhysRepData repData) { PhysicsActor actor = repData.actor; @@ -467,16 +469,19 @@ namespace OpenSim.Region.Physics.OdePlugin if (!needsMeshing(pbs)) return false; + if (repData.meshState == MeshState.MeshFailed) + return false; + if (pbs.SculptEntry) { - if (repData.assetState == AssetState.AssetFailed) + if (repData.meshState == MeshState.AssetFailed) { if (pbs.SculptTexture == repData.assetID) return true; } } - repData.assetState = AssetState.noNeedAsset; + repData.meshState = MeshState.noNeed; IMesh mesh = null; Vector3 size = repData.size; @@ -492,7 +497,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptType != (byte)SculptType.Mesh) clod = (int)LevelOfDetail.Low; } + + // check cached mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); + if (mesh == null) { if (pbs.SculptEntry) @@ -501,17 +509,16 @@ namespace OpenSim.Region.Physics.OdePlugin return false; repData.assetID = pbs.SculptTexture; - repData.assetState = AssetState.AssetOK; + repData.meshState = MeshState.AssetOK; if (pbs.SculptData == null || pbs.SculptData.Length == 0) { - repData.assetState = AssetState.needAsset; + repData.meshState = MeshState.needAsset; return false; } } mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); - } repData.mesh = mesh; @@ -520,13 +527,14 @@ namespace OpenSim.Region.Physics.OdePlugin if (mesh == null) { if (pbs.SculptEntry) - repData.assetState = AssetState.AssetFailed; + repData.meshState = MeshState.AssetFailed; + else + repData.meshState = MeshState.MeshFailed; return false; } - if (pbs.SculptEntry) - repData.assetState = AssetState.AssetOK; + repData.meshState = MeshState.AssetOK; return true; } @@ -866,7 +874,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_log = plog; repData = pRepData; - repData.assetState = AssetState.AssetFailed; + repData.meshState = MeshState.AssetFailed; if (provider == null) return; @@ -877,29 +885,27 @@ namespace OpenSim.Region.Physics.OdePlugin if (assetID == UUID.Zero) return; - repData.assetState = AssetState.loadingAsset; + repData.meshState = MeshState.loadingAsset; provider(assetID, ODEassetReceived); } void ODEassetReceived(AssetBase asset) { - repData.assetState = AssetState.AssetFailed; + repData.meshState = MeshState.AssetFailed; if (asset != null) { if (asset.Data != null && asset.Data.Length > 0) { + repData.meshState = MeshState.noNeed; + if (!repData.pbs.SculptEntry) return; if (repData.pbs.SculptTexture != repData.assetID) return; - // asset get may return a pointer to the same asset data - // for similar prims and we destroy with it - // so waste a lot of time stressing gc and hoping it clears things - // TODO avoid this repData.pbs.SculptData = new byte[asset.Data.Length]; asset.Data.CopyTo(repData.pbs.SculptData,0); - repData.assetState = AssetState.AssetOK; + repData.meshState = MeshState.AssetOK; m_worker.AssetLoaded(repData); } else diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 4c16f8e..c2c4384 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -146,7 +146,7 @@ namespace OpenSim.Region.Physics.OdePlugin private PrimitiveBaseShape _pbs; private UUID? m_assetID; - private AssetState m_assetState; + private MeshState m_meshState; public OdeScene _parent_scene; @@ -1341,15 +1341,18 @@ namespace OpenSim.Region.Physics.OdePlugin if (vertexCount == 0 || indexCount == 0) { - m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0} mesh UUID {1}", - Name, _pbs.SculptTexture.ToString()); + m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1}", + Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh"); + m_hasOBB = false; m_OBBOffset = Vector3.Zero; m_OBB = _size * 0.5f; + m_physCost = 0.1f; m_streamCost = 1.0f; + _parent_scene.mesher.ReleaseMesh(mesh); - m_assetState = AssetState.AssetFailed; + m_meshState = MeshState.MeshFailed; m_mesh = null; return false; } @@ -1360,7 +1363,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); d.GeomTriMeshDataPreprocess(_triMeshData); - prim_geom = d.CreateTriMesh(IntPtr.Zero, _triMeshData, null, null, null); + prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); } catch (Exception e) @@ -1385,7 +1388,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_physCost = 0.1f; m_streamCost = 1.0f; _parent_scene.mesher.ReleaseMesh(mesh); - m_assetState = AssetState.AssetFailed; + m_meshState = MeshState.AssetFailed; m_mesh = null; return false; } @@ -1404,7 +1407,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_NoColide = false; - if (m_assetState == AssetState.AssetFailed) + if ((m_meshState & MeshState.FailMask) != 0) m_NoColide = true; else if(m_mesh != null) @@ -1422,7 +1425,7 @@ namespace OpenSim.Region.Physics.OdePlugin { // it's a sphere try { - geo = d.CreateSphere(IntPtr.Zero, _size.X * 0.5f); + geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); } catch (Exception e) { @@ -1434,7 +1437,7 @@ namespace OpenSim.Region.Physics.OdePlugin {// do it as a box try { - geo = d.CreateBox(IntPtr.Zero, _size.X, _size.Y, _size.Z); + geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); } catch (Exception e) { @@ -2748,7 +2751,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_mesh = repData.mesh; m_assetID = repData.assetID; - m_assetState = repData.assetState; + m_meshState = repData.meshState; m_hasOBB = repData.hasOBB; m_OBBOffset = repData.OBBOffset; @@ -2781,12 +2784,12 @@ namespace OpenSim.Region.Physics.OdePlugin else MakeBody(); - if (m_assetState == AssetState.needAsset) + if ((m_meshState & MeshState.NeedMask) != 0) { repData.size = _size; repData.pbs = _pbs; repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMeshAsset(repData); + _parent_scene.m_meshWorker.RequestMesh(repData); } } } @@ -2820,7 +2823,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_mesh = repData.mesh; m_assetID = repData.assetID; - m_assetState = repData.assetState; + m_meshState = repData.meshState; m_hasOBB = repData.hasOBB; m_OBBOffset = repData.OBBOffset; @@ -2832,12 +2835,9 @@ namespace OpenSim.Region.Physics.OdePlugin if (prim_geom != IntPtr.Zero) { - m_targetSpace = IntPtr.Zero; - UpdatePrimBodyData(); - _parent_scene.actor_name_map[prim_geom] = this; - + _parent_scene.actor_name_map[prim_geom] = this; d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); @@ -2847,7 +2847,6 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.W = _orientation.W; d.GeomSetQuaternion(prim_geom, ref myrot); - if (m_isphysical) { if (chp) @@ -2869,13 +2868,14 @@ namespace OpenSim.Region.Physics.OdePlugin } resetCollisionAccounting(); - if (m_assetState == AssetState.needAsset) - { - repData.size = _size; - repData.pbs = _pbs; - repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMeshAsset(repData); - } + } + + if ((m_meshState & MeshState.NeedMask) != 0) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMesh(repData); } } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 5e4c2a5..ed2a531 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -111,17 +111,6 @@ namespace OpenSim.Region.Physics.OdePlugin light = 7 // compatibility with old viewers } - public enum AssetState : byte - { - noNeedAsset = 0, - needAsset = 1, - loadingAsset = 2, - procAsset = 3, - AssetOK = 4, - - AssetFailed = 0xff - } - public enum changes : int { Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) -- cgit v1.1 From 3bf7201fd4d3e2b240f8139c20f88c916d338c31 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 00:18:39 +0100 Subject: move terrain geom to own ode space. Limit range on raycast if includes terrain until ode doesn't eat all stack. Add a pre-simulation method to do pending actors changes (except mesh assets still not ready to use), to be optionaly called before firing heartbeat. [UNTESTED] --- OpenSim/Region/Physics/Manager/PhysicsScene.cs | 3 + OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 128 ++++++++++------ .../UbitOdePlugin/ODERayCastRequestManager.cs | 16 +- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 165 ++++++++++++++++----- 4 files changed, 229 insertions(+), 83 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 46bfa59..ce269fa 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs @@ -246,6 +246,9 @@ namespace OpenSim.Region.Physics.Manager public abstract void AddPhysicsActorTaint(PhysicsActor prim); + + public virtual void PrepareSimulation() { } + /// /// Perform a simulation of the current physics scene over the given timestep. /// diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index c2c4384..535a4e2 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -1325,12 +1325,48 @@ namespace OpenSim.Region.Physics.OdePlugin } } + + private void SetGeom(IntPtr geom) + { + prim_geom = geom; + //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); + if (prim_geom != IntPtr.Zero) + { + + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + if (m_isphysical) + { + d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); + } + else + { + d.GeomSetCollideBits(prim_geom, 0); + d.GeomDisable(prim_geom); + } + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + } + + UpdatePrimBodyData(); + _parent_scene.actor_name_map[prim_geom] = this; + + } + else + m_log.Warn("Setting bad Geom"); + } + private bool GetMeshGeom() { IntPtr vertices, indices; int vertexCount, indexCount; int vertexStride, triStride; + IMesh mesh = m_mesh; if (mesh == null) @@ -1356,6 +1392,9 @@ namespace OpenSim.Region.Physics.OdePlugin m_mesh = null; return false; } + + IntPtr geo = IntPtr.Zero; + try { _triMeshData = d.GeomTriMeshDataCreate(); @@ -1363,7 +1402,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); d.GeomTriMeshDataPreprocess(_triMeshData); - prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); + geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); } catch (Exception e) @@ -1380,15 +1419,15 @@ namespace OpenSim.Region.Physics.OdePlugin } } _triMeshData = IntPtr.Zero; - prim_geom = IntPtr.Zero; m_hasOBB = false; m_OBBOffset = Vector3.Zero; m_OBB = _size * 0.5f; m_physCost = 0.1f; - m_streamCost = 1.0f; + m_streamCost = 1.0f; + _parent_scene.mesher.ReleaseMesh(mesh); - m_meshState = MeshState.AssetFailed; + m_meshState = MeshState.MeshFailed; m_mesh = null; return false; } @@ -1397,12 +1436,13 @@ namespace OpenSim.Region.Physics.OdePlugin // todo m_streamCost = 1.0f; + SetGeom(geo); + return true; } private void CreateGeom() { - IntPtr geo = IntPtr.Zero; bool hasMesh = false; m_NoColide = false; @@ -1418,8 +1458,11 @@ namespace OpenSim.Region.Physics.OdePlugin m_NoColide = true; } + if (!hasMesh) { + IntPtr geo = IntPtr.Zero; + if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 && _size.X == _size.Y && _size.Y == _size.Z) { // it's a sphere @@ -1447,7 +1490,7 @@ namespace OpenSim.Region.Physics.OdePlugin } m_physCost = 0.1f; m_streamCost = 1.0f; - prim_geom = geo; + SetGeom(geo); } } @@ -2740,8 +2783,6 @@ namespace OpenSim.Region.Physics.OdePlugin { } - - private void changeAddPhysRep(ODEPhysRepData repData) { _size = repData.size; //?? @@ -2763,10 +2804,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (prim_geom != IntPtr.Zero) { - UpdatePrimBodyData(); - - _parent_scene.actor_name_map[prim_geom] = this; - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.X = _orientation.X; @@ -2774,23 +2811,23 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.Z; myrot.W = _orientation.W; d.GeomSetQuaternion(prim_geom, ref myrot); + } - if (!m_isphysical) - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - else - MakeBody(); + if (!m_isphysical) + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + else + MakeBody(); - if ((m_meshState & MeshState.NeedMask) != 0) - { - repData.size = _size; - repData.pbs = _pbs; - repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMesh(repData); - } + if ((m_meshState & MeshState.NeedMask) != 0) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMesh(repData); } } @@ -2831,14 +2868,10 @@ namespace OpenSim.Region.Physics.OdePlugin primVolume = repData.volume; - CreateGeom(); + CreateGeom(); if (prim_geom != IntPtr.Zero) { - UpdatePrimBodyData(); - - _parent_scene.actor_name_map[prim_geom] = this; - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.X = _orientation.X; @@ -2846,29 +2879,28 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.Z; myrot.W = _orientation.W; d.GeomSetQuaternion(prim_geom, ref myrot); + } - if (m_isphysical) + if (m_isphysical) + { + if (chp) { - if (chp) + if (parent != null) { - if (parent != null) - { - parent.MakeBody(); - } + parent.MakeBody(); } - else - MakeBody(); } - else - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - - resetCollisionAccounting(); + MakeBody(); } + else + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + + resetCollisionAccounting(); if ((m_meshState & MeshState.NeedMask) != 0) { diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs index 21fe9c0..06cb302 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs @@ -129,7 +129,7 @@ namespace OpenSim.Region.Physics.OdePlugin req.length = length; req.Normal = direction; req.Origin = position; - req.filter = RayFilterFlags.AllPrims; + req.filter = RayFilterFlags.AllPrims | RayFilterFlags.land; m_PendingRequests.Enqueue(req); } @@ -261,6 +261,12 @@ namespace OpenSim.Region.Physics.OdePlugin closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1); backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1); + // current ode land to ray collisions is very bad + // so for now limit its range badly + + if (req.length > 30.0f && (CurrentRayFilter & RayFilterFlags.land) != 0) + req.length = 30.0f; + d.GeomRaySetLength(ray, req.length); d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); d.GeomRaySetParams(ray, 0, backfacecull); @@ -288,7 +294,10 @@ namespace OpenSim.Region.Physics.OdePlugin catflags |= CollisionCategories.Water; if (catflags != 0) + { + d.GeomSetCollideBits(ray, (uint)catflags); doSpaceRay(req); + } } else { @@ -314,7 +323,8 @@ namespace OpenSim.Region.Physics.OdePlugin /// private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhanton; - private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton; +// private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton; + private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton; private void doSpaceRay(ODERayRequest req) { @@ -323,6 +333,8 @@ namespace OpenSim.Region.Physics.OdePlugin d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback); if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount)) d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback); + if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount)) + d.SpaceCollide2(ray, m_scene.GroundSpace, IntPtr.Zero, nearCallback); if (req.callbackMethod is RaycastCallback) { diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index ed2a531..beaba13 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -300,6 +300,7 @@ namespace OpenSim.Region.Physics.OdePlugin public IntPtr TopSpace; // the global space public IntPtr ActiveSpace; // space for active prims public IntPtr StaticSpace; // space for the static things around + public IntPtr GroundSpace; // space for ground // some speedup variables private int spaceGridMaxX; @@ -372,6 +373,7 @@ namespace OpenSim.Region.Physics.OdePlugin // now the major subspaces ActiveSpace = d.HashSpaceCreate(TopSpace); StaticSpace = d.HashSpaceCreate(TopSpace); + GroundSpace = d.HashSpaceCreate(TopSpace); } catch { @@ -381,10 +383,12 @@ namespace OpenSim.Region.Physics.OdePlugin d.HashSpaceSetLevels(TopSpace, -2, 8); d.HashSpaceSetLevels(ActiveSpace, -2, 8); d.HashSpaceSetLevels(StaticSpace, -2, 8); + d.HashSpaceSetLevels(GroundSpace, 0, 8); // demote to second level d.SpaceSetSublevel(ActiveSpace, 1); d.SpaceSetSublevel(StaticSpace, 1); + d.SpaceSetSublevel(GroundSpace, 1); d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | CollisionCategories.Geom | @@ -402,6 +406,8 @@ namespace OpenSim.Region.Physics.OdePlugin )); d.GeomSetCollideBits(StaticSpace, 0); + d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land)); + d.GeomSetCollideBits(GroundSpace, 0); contactgroup = d.JointGroupCreate(0); //contactgroup @@ -1210,6 +1216,7 @@ namespace OpenSim.Region.Physics.OdePlugin chr.CollidingObj = false; // do colisions with static space d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback); + // no coll with gnd } } catch (AccessViolationException) @@ -1238,7 +1245,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (!prm.m_outbounds) { if (d.BodyIsEnabled(prm.Body)) + { d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback); + d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback); + } } } } @@ -1595,8 +1605,52 @@ namespace OpenSim.Region.Physics.OdePlugin /// /// public override void AddPhysicsActorTaint(PhysicsActor prim) + { + } + + // does all pending changes generated during region load process + public override void PrepareSimulation() + { + lock (OdeLock) { + if (world == IntPtr.Zero) + { + ChangesQueue.Clear(); + return; + } + + ODEchangeitem item; + + int donechanges = 0; + if (ChangesQueue.Count > 0) + { + m_log.InfoFormat("[ODE] start processing pending actor operations"); + int tstart = Util.EnvironmentTickCount(); + + while (ChangesQueue.Dequeue(out item)) + { + if (item.actor != null) + { + try + { + if (item.actor is OdeCharacter) + ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); + else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) + RemovePrimThreadLocked((OdePrim)item.actor); + } + catch + { + m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}", + item.actor.Name, item.what.ToString()); + } + } + donechanges++; + } + int time = Util.EnvironmentTickCountSubtract(tstart); + m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time); + } } + } /// /// This is our main simulate loop @@ -1642,7 +1696,40 @@ namespace OpenSim.Region.Physics.OdePlugin lock(OdeLock) { if (world == IntPtr.Zero) + { + ChangesQueue.Clear(); return 0; + } + + ODEchangeitem item; + + if (ChangesQueue.Count > 0) + { + int ttmpstart = Util.EnvironmentTickCount(); + int ttmp; + + while (ChangesQueue.Dequeue(out item)) + { + if (item.actor != null) + { + try + { + if (item.actor is OdeCharacter) + ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); + else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) + RemovePrimThreadLocked((OdePrim)item.actor); + } + catch + { + m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", + item.actor.Name, item.what.ToString()); + } + } + ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); + if (ttmp > 20) + break; + } + } d.WorldSetQuickStepNumIterations(world, curphysiteractions); @@ -1653,35 +1740,6 @@ namespace OpenSim.Region.Physics.OdePlugin // clear pointer/counter to contacts to pass into joints m_global_contactcount = 0; - ODEchangeitem item; - - if(ChangesQueue.Count >0) - { - int ttmpstart = Util.EnvironmentTickCount(); - int ttmp; - - while(ChangesQueue.Dequeue(out item)) - { - if (item.actor != null) - { - try - { - if (item.actor is OdeCharacter) - ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); - else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) - RemovePrimThreadLocked((OdePrim)item.actor); - } - catch - { - m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", - item.actor.Name, item.what.ToString()); - } - } - ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); - if (ttmp > 20) - break; - } - } // Move characters lock (_characters) @@ -1813,10 +1871,47 @@ namespace OpenSim.Region.Physics.OdePlugin mesher.ExpireReleaseMeshs(); m_lastMeshExpire = now; } + +// information block running in debug only /* - int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); - int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); + int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); + int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); + int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace); + + int nactivegeoms = 0; + int nactivespaces = 0; + + int nstaticgeoms = 0; + int nstaticspaces = 0; + IntPtr sp; + + for (int i = 0; i < ntopactivegeoms; i++) + { + sp = d.SpaceGetGeom(ActiveSpace, i); + if (d.GeomIsSpace(sp)) + { + nactivespaces++; + nactivegeoms += d.SpaceGetNumGeoms(sp); + } + else + nactivegeoms++; + } + + for (int i = 0; i < ntopstaticgeoms; i++) + { + sp = d.SpaceGetGeom(StaticSpace, i); + if (d.GeomIsSpace(sp)) + { + nstaticspaces++; + nstaticgeoms += d.SpaceGetNumGeoms(sp); + } + else + nstaticgeoms++; + } + int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); + + int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray int nbodies = d.NTotalBodies; int ngeoms = d.NTotalGeoms; */ @@ -2113,7 +2208,9 @@ namespace OpenSim.Region.Physics.OdePlugin offset, thickness, wrap); d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1); + + GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1); + if (GroundGeom != IntPtr.Zero) { d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); @@ -2234,12 +2331,13 @@ namespace OpenSim.Region.Physics.OdePlugin thickness, wrap); // d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1); + GroundGeom = d.CreateUbitTerrain(GroundSpace, HeightmapData, 1); if (GroundGeom != IntPtr.Zero) { d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); d.GeomSetCollideBits(GroundGeom, 0); + PhysicsActor pa = new NullPhysicsActor(); pa.Name = "Terrain"; pa.PhysicsActorType = (int)ActorTypes.Ground; @@ -2455,6 +2553,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomDestroy(GroundGeom); } + RegionTerrain.Clear(); if (TerrainHeightFieldHeightsHandlers.Count > 0) -- cgit v1.1 From 2e223c8ce2ccceeca87ae18522a3370e2a5565c9 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 00:44:02 +0100 Subject: Change ray to land colision range limitation so it has no impact on other geom types --- .../Physics/UbitOdePlugin/ODERayCastRequestManager.cs | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs index 06cb302..799a324 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs @@ -261,12 +261,6 @@ namespace OpenSim.Region.Physics.OdePlugin closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1); backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1); - // current ode land to ray collisions is very bad - // so for now limit its range badly - - if (req.length > 30.0f && (CurrentRayFilter & RayFilterFlags.land) != 0) - req.length = 30.0f; - d.GeomRaySetLength(ray, req.length); d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); d.GeomRaySetParams(ray, 0, backfacecull); @@ -334,7 +328,15 @@ namespace OpenSim.Region.Physics.OdePlugin if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount)) d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback); if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount)) + { + // current ode land to ray collisions is very bad + // so for now limit its range badly + + if (req.length > 30.0f) + d.GeomRaySetLength(ray, 30.0f); + d.SpaceCollide2(ray, m_scene.GroundSpace, IntPtr.Zero, nearCallback); + } if (req.callbackMethod is RaycastCallback) { -- cgit v1.1 From 4c512ada58532f97baa7a356cec5a2e2720d7466 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 01:04:29 +0100 Subject: fire a extra terseupdate when stopping (like in loosing physics). In some cases things seem not to stop --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 3 +++ 1 file changed, 3 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 535a4e2..1beb761 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -2401,6 +2401,9 @@ namespace OpenSim.Region.Physics.OdePlugin _target_velocity = Vector3.Zero; if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Stop(); + + _zeroFlag = false; + base.RequestPhysicsterseUpdate(); } if (Body != IntPtr.Zero) -- cgit v1.1 From 5ef48c59808743ca36c0d768bce2d0fbbe8f4c5a Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 02:57:51 +0100 Subject: temporary debug code --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 1beb761..fc59180 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -1355,6 +1355,25 @@ namespace OpenSim.Region.Physics.OdePlugin UpdatePrimBodyData(); _parent_scene.actor_name_map[prim_geom] = this; + +// debug + d.AABB aabb; + d.GeomGetAABB(prim_geom, out aabb); + float x = aabb.MaxX - aabb.MinX; + float y = aabb.MaxY - aabb.MinY; + float z = aabb.MaxZ - aabb.MinZ; + if( x > 60.0f || y > 60.0f || z > 60.0f) + m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", + Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); + else if (x < 0.001f || y < 0.001f || z < 0.001f) + m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", + Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); + +// + + + + } else m_log.Warn("Setting bad Geom"); -- cgit v1.1 From 87175412882e8e4b7cd9d92d6a9be8546ec7e9e9 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 04:31:50 +0100 Subject: force allocation of mesh data on creation ( messy code version ) --- OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs | 4 ++-- OpenSim/Region/Physics/Manager/IMesher.cs | 2 +- OpenSim/Region/Physics/Manager/ZeroMesher.cs | 2 +- OpenSim/Region/Physics/Meshing/Mesh.cs | 1 + OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 3 ++- OpenSim/Region/Physics/UbitMeshing/Mesh.cs | 26 ++++++++++++++++++++++ OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 16 ++++++++----- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 2 +- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 1 - 9 files changed, 45 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs index 5b743e8..8de70ef 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs @@ -2190,7 +2190,7 @@ namespace OpenSim.Region.Physics.OdePlugin convex = false; try { - _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex); + _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, (int)LevelOfDetail.High, true,convex,false); } catch { @@ -2557,7 +2557,7 @@ namespace OpenSim.Region.Physics.OdePlugin try { - mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex); + mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, (int)LevelOfDetail.High, true, convex,false); } catch { diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index 460b48e..fdba6ee 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.Manager { IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod); IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical); - IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex); + IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde); IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex); void ReleaseMesh(IMesh mesh); void ExpireReleaseMeshs(); diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs index 61da9f3..1411165 100644 --- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs +++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs @@ -67,7 +67,7 @@ namespace OpenSim.Region.Physics.Manager return CreateMesh(primName, primShape, size, lod, false); } - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex,bool forOde) { return CreateMesh(primName, primShape, size, lod, false); } diff --git a/OpenSim/Region/Physics/Meshing/Mesh.cs b/OpenSim/Region/Physics/Meshing/Mesh.cs index c03f18b..6970553 100644 --- a/OpenSim/Region/Physics/Meshing/Mesh.cs +++ b/OpenSim/Region/Physics/Meshing/Mesh.cs @@ -259,6 +259,7 @@ namespace OpenSim.Region.Physics.Meshing public void getVertexListAsPtrToFloatArray(out IntPtr vertices, out int vertexStride, out int vertexCount) { // A vertex is 3 floats + vertexStride = 3 * sizeof(float); // If there isn't an unmanaged array allocated yet, do it now diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index b462713..fd4ac7f 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -702,10 +702,11 @@ namespace OpenSim.Region.Physics.Meshing return CreateMesh(primName, primShape, size, lod, false); } - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde) { return CreateMesh(primName, primShape, size, lod, false); } + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) { #if SPAM diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs index c31ec08..a0a18c4 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs @@ -315,6 +315,32 @@ namespace OpenSim.Region.Physics.Meshing return result; } + public void PrepForOde() + { + // If there isn't an unmanaged array allocated yet, do it now + if (m_verticesPtr == IntPtr.Zero) + { + float[] vertexList = getVertexListAsFloat(); + // Each vertex is 3 elements (floats) + m_vertexCount = vertexList.Length / 3; + int byteCount = m_vertexCount * 3 * sizeof(float); + m_verticesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount); + System.Runtime.InteropServices.Marshal.Copy(vertexList, 0, m_verticesPtr, m_vertexCount * 3); + } + + // If there isn't an unmanaged array allocated yet, do it now + if (m_indicesPtr == IntPtr.Zero) + { + int[] indexList = getIndexListAsInt(); + m_indexCount = indexList.Length; + int byteCount = m_indexCount * sizeof(int); + m_indicesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount); + System.Runtime.InteropServices.Marshal.Copy(indexList, 0, m_indicesPtr, m_indexCount); + } + + releaseSourceMeshData(); + } + public void getVertexListAsPtrToFloatArray(out IntPtr vertices, out int vertexStride, out int vertexCount) { // A vertex is 3 floats diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index fabadd3..dec5eb7 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -993,12 +993,12 @@ namespace OpenSim.Region.Physics.Meshing public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) { - return CreateMesh(primName, primShape, size, lod, false,false); + return CreateMesh(primName, primShape, size, lod, false,false,false); } public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) { - return CreateMesh(primName, primShape, size, lod, false,false); + return CreateMesh(primName, primShape, size, lod, false,false,false); } private static Vector3 m_MeshUnitSize = new Vector3(0.5f, 0.5f, 0.5f); @@ -1039,7 +1039,7 @@ namespace OpenSim.Region.Physics.Meshing return null; } - public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde) { #if SPAM m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName); @@ -1094,8 +1094,14 @@ namespace OpenSim.Region.Physics.Meshing mesh.DumpRaw(baseDir, primName, "Z extruded"); } - // trim the vertex and triangle lists to free up memory - mesh.TrimExcess(); + if (forOde) + { + // force pinned mem allocation + mesh.PrepForOde(); + } + else + mesh.TrimExcess(); + mesh.Key = key; mesh.RefCount = 1; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 024835c..24f76d62 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -518,7 +518,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex); + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex,true); } repData.mesh = mesh; diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index fc59180..d993f22 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -1384,7 +1384,6 @@ namespace OpenSim.Region.Physics.OdePlugin IntPtr vertices, indices; int vertexCount, indexCount; int vertexStride, triStride; - IMesh mesh = m_mesh; -- cgit v1.1 From d0773dcd6aa10375f16fb4f268bfcecf10056ac9 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 05:09:43 +0100 Subject: another debug msg --- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index beaba13..229bf8e 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -719,6 +719,28 @@ namespace OpenSim.Region.Physics.OdePlugin if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) return; +// debug + PhysicsActor dp2; + if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) + { + d.AABB aabb; + d.GeomGetAABB(g2, out aabb); + float x = aabb.MaxX - aabb.MinX; + float y = aabb.MaxY - aabb.MinY; + float z = aabb.MaxZ - aabb.MinZ; + if (x > 60.0f || y > 60.0f || z > 60.0f) + { + if (!actor_name_map.TryGetValue(g2, out dp2)) + m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); + else + m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5}", + dp2.Name, dp2.Size, x, y, z, dp2.Position); + } + } +// + + + if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) { -- cgit v1.1 From 315f3ee0e59a894271fb7586cbb85f7859df75f3 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 05:21:09 +0100 Subject: avoid crashing so debug is seen --- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 229bf8e..fe6105f 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -735,6 +735,7 @@ namespace OpenSim.Region.Physics.OdePlugin else m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5}", dp2.Name, dp2.Size, x, y, z, dp2.Position); + return; } } // -- cgit v1.1 From ce497ce379e2b741727456dc3e4c99b68302f135 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 19:43:06 +0100 Subject: debug... --- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index fe6105f..03048a4 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -733,8 +733,11 @@ namespace OpenSim.Region.Physics.OdePlugin if (!actor_name_map.TryGetValue(g2, out dp2)) m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); else - m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5}", - dp2.Name, dp2.Size, x, y, z, dp2.Position); + m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})", + dp2.Name, dp2.Size, x, y, z, + dp2.Position.ToString(), + dp2.Orientation.ToString(), + dp2.Orientation.Length()); return; } } -- cgit v1.1 From e238ece327cb24a7f40b39a04e22e0da14db2960 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 22:57:28 +0100 Subject: debug... --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index d993f22..0189e42 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -641,6 +641,11 @@ namespace OpenSim.Region.Physics.OdePlugin { fakeori = value; givefakeori++; +// Debug + float qlen = value.Length(); + if (value.Length() > 1.01f || qlen <0.99) + m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion Orientation from Scene in Object {0} norm {}", Name, qlen); +// AddChange(changes.Orientation, value); } else -- cgit v1.1 From a19a189fec6afa44c632ec83c97d649efc832217 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 9 Oct 2012 23:01:26 +0100 Subject: fix debug :) --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 0189e42..0400899 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -644,7 +644,7 @@ namespace OpenSim.Region.Physics.OdePlugin // Debug float qlen = value.Length(); if (value.Length() > 1.01f || qlen <0.99) - m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion Orientation from Scene in Object {0} norm {}", Name, qlen); + m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion Orientation from Scene in Object {0} norm {1}", Name, qlen); // AddChange(changes.Orientation, value); } -- cgit v1.1 From c0cdeec4c01624e5cbeda657b2edd111f75b5954 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 10 Oct 2012 00:36:06 +0100 Subject: debug --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 0400899..e086264 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -2247,6 +2247,12 @@ namespace OpenSim.Region.Physics.OdePlugin _orientation.Z = qtmp.Z; _orientation.W = qtmp.W; +// Debug + float qlen = _orientation.Length(); + if (qlen > 1.01f || qlen < 0.99) + m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); +// + d.Vector3 lpos = d.GeomGetPosition(prim_geom); _position.X = lpos.X; _position.Y = lpos.Y; -- cgit v1.1 From 8fa91686dbee7071d2a718886cdc11e6751ccbff Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 10 Oct 2012 00:57:33 +0100 Subject: add some quaternion normalizations to keep errors under control --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 3 +++ 1 file changed, 3 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index e086264..eaee950 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -646,6 +646,8 @@ namespace OpenSim.Region.Physics.OdePlugin if (value.Length() > 1.01f || qlen <0.99) m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion Orientation from Scene in Object {0} norm {1}", Name, qlen); // + value.Normalize(); + AddChange(changes.Orientation, value); } else @@ -2252,6 +2254,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (qlen > 1.01f || qlen < 0.99) m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); // + _orientation.Normalize(); d.Vector3 lpos = d.GeomGetPosition(prim_geom); _position.X = lpos.X; -- cgit v1.1 From d554c0d574f9c4763df0bbff931de0f944db53a5 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Wed, 10 Oct 2012 01:37:59 +0100 Subject: normalize quaternion.Slerp outputs --- OpenSim/Region/Framework/Scenes/KeyframeMotion.cs | 1 + OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 1 + 2 files changed, 2 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs b/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs index 233e559..edf2bef 100644 --- a/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs +++ b/OpenSim/Region/Framework/Scenes/KeyframeMotion.cs @@ -575,6 +575,7 @@ namespace OpenSim.Region.Framework.Scenes Quaternion current = m_group.GroupRotation; Quaternion step = Quaternion.Slerp(m_currentFrame.StartRotation, (Quaternion)m_currentFrame.Rotation, complete); + step.Normalize(); /* use simpler change detection * float angle = 0; diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 66d85c4..1857757 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -5202,6 +5202,7 @@ namespace OpenSim.Region.Framework.Scenes } Quaternion rot = Quaternion.Slerp(RotationOffset,APIDTarget,1.0f/(float)m_APIDIterations); + rot.Normalize(); UpdateRotation(rot); m_APIDIterations--; -- cgit v1.1 From d5cfe1c0be89f5d212b77c4b0e750ef409ba09bd Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Fri, 12 Oct 2012 00:36:01 +0100 Subject: remove some more debug spam on ode --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 5388 ++++++++++------------ OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 5209 +++++++++++++-------- 2 files changed, 5783 insertions(+), 4814 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index eaee950..eaf0d0a 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -25,11 +25,6 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -/* Revision 2011/12 by Ubit Umarov - * - * - */ - /* * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: @@ -53,251 +48,250 @@ using System.Runtime.InteropServices; using System.Threading; using log4net; using OpenMetaverse; -using OdeAPI; +using Ode.NET; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.OdePlugin { + /// + /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. + /// public class OdePrim : PhysicsActor { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private bool m_isphysical; - private bool m_fakeisphysical; - private bool m_isphantom; - private bool m_fakeisphantom; - internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - protected bool m_building; - protected bool m_forcePosOrRotation; - private bool m_iscolliding; + public int ExpectedCollisionContacts { get { return m_expectedCollisionContacts; } } + private int m_expectedCollisionContacts = 0; - internal bool m_isSelected; - private bool m_delaySelect; - private bool m_lastdoneSelected; - internal bool m_outbounds; - - private Quaternion m_lastorientation; - private Quaternion _orientation; + /// + /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. + /// + public override bool IsPhysical + { + get { return m_isphysical; } + set + { + m_isphysical = value; + if (!m_isphysical) // Zero the remembered last velocity + m_lastVelocity = Vector3.Zero; + } + } private Vector3 _position; private Vector3 _velocity; private Vector3 _torque; private Vector3 m_lastVelocity; private Vector3 m_lastposition; + private Quaternion m_lastorientation = new Quaternion(); private Vector3 m_rotationalVelocity; private Vector3 _size; private Vector3 _acceleration; + // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f); + private Quaternion _orientation; + private Vector3 m_taintposition; + private Vector3 m_taintsize; + private Vector3 m_taintVelocity; + private Vector3 m_taintTorque; + private Quaternion m_taintrot; private Vector3 m_angularlock = Vector3.One; - private IntPtr Amotor; + private Vector3 m_taintAngularLock = Vector3.One; + private IntPtr Amotor = IntPtr.Zero; - private Vector3 m_force; - private Vector3 m_forceacc; - private Vector3 m_angularForceacc; - - private float m_invTimeStep; - private float m_timeStep; + private object m_assetsLock = new object(); + private bool m_assetFailed = false; private Vector3 m_PIDTarget; private float m_PIDTau; + private float PID_D = 35f; + private float PID_G = 25f; private bool m_usePID; + // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), + // and are for non-VEHICLES only. + private float m_PIDHoverHeight; private float m_PIDHoverTau; private bool m_useHoverPID; - private PIDHoverType m_PIDHoverType; + private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; private float m_targetHoverHeight; private float m_groundHeight; private float m_waterHeight; private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. - private int body_autodisable_frames; - public int bodydisablecontrol; - + // private float m_tensor = 5f; + private int body_autodisable_frames = 20; - // Default we're a Geometry - private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); - // Default colide nonphysical don't try to colide with anything - private const CollisionCategories m_default_collisionFlagsNotPhysical = 0; - private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom | - CollisionCategories.Character | - CollisionCategories.Land | - CollisionCategories.VolumeDtc); - -// private bool m_collidesLand = true; + private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom + | CollisionCategories.Space + | CollisionCategories.Body + | CollisionCategories.Character + ); + private bool m_taintshape; + private bool m_taintPhysics; + private bool m_collidesLand = true; private bool m_collidesWater; -// public bool m_returnCollisions; - - private bool m_NoColide; // for now only for internal use for bad meshs + // Default we're a Geometry + private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); // Default, Collide with Other Geometries, spaces and Bodies - private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical; + private CollisionCategories m_collisionFlags = m_default_collisionFlags; - public bool m_disabled; + public bool m_taintremove { get; private set; } + public bool m_taintdisable { get; private set; } + internal bool m_disabled; + public bool m_taintadd { get; private set; } + public bool m_taintselected { get; private set; } + public bool m_taintCollidesWater { get; private set; } - private uint m_localID; + private bool m_taintforce = false; + private bool m_taintaddangularforce = false; + private Vector3 m_force; + private List m_forcelist = new List(); + private List m_angularforcelist = new List(); - private IMesh m_mesh; - private object m_meshlock = new object(); private PrimitiveBaseShape _pbs; + private OdeScene _parent_scene; - private UUID? m_assetID; - private MeshState m_meshState; - - public OdeScene _parent_scene; + /// + /// The physics space which contains prim geometries + /// + public IntPtr m_targetSpace = IntPtr.Zero; /// - /// The physics space which contains prim geometry + /// The prim geometry, used for collision detection. /// - public IntPtr m_targetSpace; + /// + /// This is never null except for a brief period when the geometry needs to be replaced (due to resizing or + /// mesh change) or when the physical prim is being removed from the scene. + /// + public IntPtr prim_geom { get; private set; } - public IntPtr prim_geom; - public IntPtr _triMeshData; + public IntPtr _triMeshData { get; private set; } + private IntPtr _linkJointGroup = IntPtr.Zero; private PhysicsActor _parent; + private PhysicsActor m_taintparent; private List childrenPrim = new List(); - public float m_collisionscore; - private int m_colliderfilter = 0; - - public IntPtr collide_geom; // for objects: geom if single prim space it linkset - - private float m_density; - private byte m_shapetype; - public bool _zeroFlag; - private bool m_lastUpdateSent; + private bool iscolliding; + private bool m_isSelected; - public IntPtr Body; + internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - private Vector3 _target_velocity; + private bool m_throttleUpdates; + private int throttleCounter; + public int m_interpenetrationcount { get; private set; } + internal float m_collisionscore; + public int m_roundsUnderMotionThreshold { get; private set; } + private int m_crossingfailures; - public Vector3 m_OBBOffset; - public Vector3 m_OBB; - public float primOOBradiusSQ; + public bool outofBounds { get; private set; } + private float m_density = 10.000006836f; // Aluminum g/cm3; - private bool m_hasOBB = true; + public bool _zeroFlag { get; private set; } + private bool m_lastUpdateSent; - private float m_physCost; - private float m_streamCost; + public IntPtr Body = IntPtr.Zero; + private Vector3 _target_velocity; + private d.Mass pMass; - public d.Mass primdMass; // prim inertia information on it's own referencial - float primMass; // prim own mass - float primVolume; // prim own volume; - float _mass; // object mass acording to case + private int m_eventsubscription; + private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); - public int givefakepos; - private Vector3 fakepos; - public int givefakeori; - private Quaternion fakeori; + /// + /// Signal whether there were collisions on the previous frame, so we know if we need to send the + /// empty CollisionEventsThisFrame to the prim so that it can detect the end of a collision. + /// + /// + /// This is probably a temporary measure, pending storing this information consistently in CollisionEventUpdate itself. + /// + private bool m_collisionsOnPreviousFrame; - private int m_eventsubscription; - private int m_cureventsubscription; - private CollisionEventUpdate CollisionEventsThisFrame = null; - private bool SentEmptyCollisionsEvent; + private IntPtr m_linkJoint = IntPtr.Zero; - public volatile bool childPrim; + internal volatile bool childPrim; - public ODEDynamics m_vehicle; + private ODEDynamics m_vehicle; internal int m_material = (int)Material.Wood; - private float mu; - private float bounce; - /// - /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. - /// - public override bool IsPhysical // this is not reliable for internal use + public OdePrim( + String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, + Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) { - get { return m_fakeisphysical; } - set - { - m_fakeisphysical = value; // we show imediatly to outside that we changed physical - // and also to stop imediatly some updates - // but real change will only happen in taintprocessing - - if (!value) // Zero the remembered last velocity - m_lastVelocity = Vector3.Zero; - AddChange(changes.Physical, value); - } - } + Name = primName; + m_vehicle = new ODEDynamics(); + //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); - public override bool IsVolumeDtc - { - get { return m_fakeisVolumeDetect; } - set + if (!pos.IsFinite()) { - m_fakeisVolumeDetect = value; - AddChange(changes.VolumeDtc, value); + pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), + parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); } - } + _position = pos; + m_taintposition = pos; + PID_D = parent_scene.bodyPIDD; + PID_G = parent_scene.bodyPIDG; + m_density = parent_scene.geomDefaultDensity; + // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; + body_autodisable_frames = parent_scene.bodyFramesAutoDisable; - public override bool Phantom // this is not reliable for internal use - { - get { return m_fakeisphantom; } - set - { - m_fakeisphantom = value; - AddChange(changes.Phantom, value); - } - } + prim_geom = IntPtr.Zero; - public override bool Building // this is not reliable for internal use - { - get { return m_building; } - set + if (!pos.IsFinite()) { - if (value) - m_building = true; - AddChange(changes.building, value); + size = new Vector3(0.5f, 0.5f, 0.5f); + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); } - } - public override void getContactData(ref ContactData cdata) - { - cdata.mu = mu; - cdata.bounce = bounce; + if (size.X <= 0) size.X = 0.01f; + if (size.Y <= 0) size.Y = 0.01f; + if (size.Z <= 0) size.Z = 0.01f; - // cdata.softcolide = m_softcolide; - cdata.softcolide = false; + _size = size; + m_taintsize = _size; - if (m_isphysical) + if (!QuaternionIsFinite(rotation)) { - ODEDynamics veh; - if (_parent != null) - veh = ((OdePrim)_parent).m_vehicle; - else - veh = m_vehicle; - - if (veh != null && veh.Type != Vehicle.TYPE_NONE) - cdata.mu *= veh.FrictionFactor; -// cdata.mu *= 0; + rotation = Quaternion.Identity; + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); } - } - public override float PhysicsCost - { - get + _orientation = rotation; + m_taintrot = _orientation; + _pbs = pbs; + + _parent_scene = parent_scene; + m_targetSpace = (IntPtr)0; + + if (pos.Z < 0) { - return m_physCost; + IsPhysical = false; } - } - - public override float StreamCost - { - get + else { - return m_streamCost; + IsPhysical = pisPhysical; + // If we're physical, we need to be in the master space for now. + // linksets *should* be in a space together.. but are not currently + if (IsPhysical) + m_targetSpace = _parent_scene.space; } + + m_taintadd = true; + m_assetFailed = false; + _parent_scene.AddPhysicsActorTaint(this); } public override int PhysicsActorType { - get { return (int)ActorTypes.Prim; } + get { return (int) ActorTypes.Prim; } set { return; } } @@ -307,23 +301,6 @@ namespace OpenSim.Region.Physics.OdePlugin set { return; } } - public override uint LocalID - { - get { return m_localID; } - set { m_localID = value; } - } - - public override PhysicsActor ParentActor - { - get - { - if (childPrim) - return _parent; - else - return (PhysicsActor)this; - } - } - public override bool Grabbed { set { return; } @@ -333,3068 +310,2383 @@ namespace OpenSim.Region.Physics.OdePlugin { set { - if (value) - m_isSelected = value; // if true set imediatly to stop moves etc - AddChange(changes.Selected, value); - } - } - - public override bool Flying - { - // no flying prims for you - get { return false; } - set { } - } + // This only makes the object not collidable if the object + // is physical or the object is modified somehow *IN THE FUTURE* + // without this, if an avatar selects prim, they can walk right + // through it while it's selected + m_collisionscore = 0; - public override bool IsColliding - { - get { return m_iscolliding; } - set - { - if (value) + if ((IsPhysical && !_zeroFlag) || !value) { - m_colliderfilter += 2; - if (m_colliderfilter > 2) - m_colliderfilter = 2; + m_taintselected = value; + _parent_scene.AddPhysicsActorTaint(this); } else { - m_colliderfilter--; - if (m_colliderfilter < 0) - m_colliderfilter = 0; + m_taintselected = value; + m_isSelected = value; } - if (m_colliderfilter == 0) - m_iscolliding = false; - else - m_iscolliding = true; + if (m_isSelected) + disableBodySoft(); } } - public override bool CollidingGround - { - get { return false; } - set { return; } - } - - public override bool CollidingObj - { - get { return false; } - set { return; } - } - - - public override bool ThrottleUpdates {get;set;} - - public override bool Stopped + /// + /// Set a new geometry for this prim. + /// + /// + private void SetGeom(IntPtr geom) { - get { return _zeroFlag; } - } + prim_geom = geom; +//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); - public override Vector3 Position - { - get - { - if (givefakepos > 0) - return fakepos; - else - return _position; - } + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - set - { - fakepos = value; - givefakepos++; - AddChange(changes.Position, value); - } - } + _parent_scene.geom_name_map[prim_geom] = Name; + _parent_scene.actor_name_map[prim_geom] = this; - public override Vector3 Size - { - get { return _size; } - set + if (childPrim) { - if (value.IsFinite()) - { - _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype); - } - else + if (_parent != null && _parent is OdePrim) { - m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); + OdePrim parent = (OdePrim)_parent; +//Console.WriteLine("SetGeom calls ChildSetGeom"); + parent.ChildSetGeom(this); } } + //m_log.Warn("Setting Geom to: " + prim_geom); } - public override float Mass - { - get { return primMass; } - } - - public override Vector3 Force + private void enableBodySoft() { - get { return m_force; } - set + if (!childPrim) { - if (value.IsFinite()) - { - AddChange(changes.Force, value); - } - else + if (IsPhysical && Body != IntPtr.Zero) { - m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); + d.BodyEnable(Body); + if (m_vehicle.Type != Vehicle.TYPE_NONE) + m_vehicle.Enable(Body, _parent_scene); } + + m_disabled = false; } } - public override void SetVolumeDetect(int param) + private void disableBodySoft() { - m_fakeisVolumeDetect = (param != 0); - AddChange(changes.VolumeDtc, m_fakeisVolumeDetect); - } + m_disabled = true; - public override Vector3 GeometricCenter - { - // this is not real geometric center but a average of positions relative to root prim acording to - // http://wiki.secondlife.com/wiki/llGetGeometricCenter - // ignoring tortured prims details since sl also seems to ignore - // so no real use in doing it on physics - get + if (IsPhysical && Body != IntPtr.Zero) { - return Vector3.Zero; + d.BodyDisable(Body); } } - public override Vector3 CenterOfMass + /// + /// Make a prim subject to physics. + /// + private void enableBody() { - get + // Don't enable this body if we're a child prim + // this should be taken care of in the parent function not here + if (!childPrim) { - lock (_parent_scene.OdeLock) - { - d.Vector3 dtmp; - if (!childPrim && Body != IntPtr.Zero) - { - dtmp = d.BodyGetPosition(Body); - return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); - } - else if (prim_geom != IntPtr.Zero) - { - d.Quaternion dq; - d.GeomCopyQuaternion(prim_geom, out dq); - Quaternion q; - q.X = dq.X; - q.Y = dq.Y; - q.Z = dq.Z; - q.W = dq.W; - - Vector3 Ptot = m_OBBOffset * q; - dtmp = d.GeomGetPosition(prim_geom); - Ptot.X += dtmp.X; - Ptot.Y += dtmp.Y; - Ptot.Z += dtmp.Z; - - // if(childPrim) we only know about physical linksets - return Ptot; -/* - float tmass = _mass; - Ptot *= tmass; + // Sets the geom to a body + Body = d.BodyCreate(_parent_scene.world); - float m; - - foreach (OdePrim prm in childrenPrim) - { - m = prm._mass; - Ptot += prm.CenterOfMass * m; - tmass += m; - } + setMass(); + d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.BodySetQuaternion(Body, ref myrot); + d.GeomSetBody(prim_geom, Body); + m_collisionCategories |= CollisionCategories.Body; + m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); - if (tmass == 0) - tmass = 0; - else - tmass = 1.0f / tmass; + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - Ptot *= tmass; - return Ptot; -*/ - } - else - return _position; - } - } - } + d.BodySetAutoDisableFlag(Body, true); + d.BodySetAutoDisableSteps(Body, body_autodisable_frames); + + // disconnect from world gravity so we can apply buoyancy + d.BodySetGravityMode (Body, false); - public override Vector3 OOBsize - { - get - { - return m_OBB; - } - } + m_interpenetrationcount = 0; + m_collisionscore = 0; + m_disabled = false; - public override Vector3 OOBoffset - { - get + // The body doesn't already have a finite rotation mode set here + if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null) { - return m_OBBOffset; + createAMotor(m_angularlock); } - } - - public override float OOBRadiusSQ - { - get + if (m_vehicle.Type != Vehicle.TYPE_NONE) { - return primOOBradiusSQ; + m_vehicle.Enable(Body, _parent_scene); } - } - public override PrimitiveBaseShape Shape - { - set - { -// AddChange(changes.Shape, value); - _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype); + _parent_scene.ActivatePrim(this); } } - public override byte PhysicsShapeType - { - get - { - return m_shapetype; - } - set - { - m_shapetype = value; - _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); - } - } + #region Mass Calculation - public override Vector3 Velocity + private float CalculateMass() { - get - { - if (_zeroFlag) - return Vector3.Zero; - return _velocity; - } - set + float volume = _size.X * _size.Y * _size.Z; // default + float tmp; + + float returnMass = 0; + float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; + float hollowVolume = hollowAmount * hollowAmount; + + switch (_pbs.ProfileShape) { - if (value.IsFinite()) - { - AddChange(changes.Velocity, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); - } + case ProfileShape.Square: + // default box - } - } - - public override Vector3 Torque - { - get - { - if (!IsPhysical || Body == IntPtr.Zero) - return Vector3.Zero; - - return _torque; - } - - set - { - if (value.IsFinite()) - { - AddChange(changes.Torque, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); - } - } - } - - public override float CollisionScore - { - get { return m_collisionscore; } - set { m_collisionscore = value; } - } - - public override bool Kinematic - { - get { return false; } - set { } - } - - public override Quaternion Orientation - { - get - { - if (givefakeori > 0) - return fakeori; - else - - return _orientation; - } - set - { - if (QuaternionIsFinite(value)) - { - fakeori = value; - givefakeori++; -// Debug - float qlen = value.Length(); - if (value.Length() > 1.01f || qlen <0.99) - m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion Orientation from Scene in Object {0} norm {1}", Name, qlen); -// - value.Normalize(); - - AddChange(changes.Orientation, value); - } - else - m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); - - } - } - - public override Vector3 Acceleration - { - get { return _acceleration; } - set { } - } - - public override Vector3 RotationalVelocity - { - get - { - Vector3 pv = Vector3.Zero; - if (_zeroFlag) - return pv; - - if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) - return pv; - - return m_rotationalVelocity; - } - set - { - if (value.IsFinite()) - { - AddChange(changes.AngVelocity, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); - } - } - } - - public override float Buoyancy - { - get { return m_buoyancy; } - set - { - AddChange(changes.Buoyancy,value); - } - } - - public override bool FloatOnWater - { - set - { - AddChange(changes.CollidesWater, value); - } - } - - public override Vector3 PIDTarget - { - set - { - if (value.IsFinite()) - { - AddChange(changes.PIDTarget,value); - } - else - m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); - } - } - - public override bool PIDActive - { - set - { - AddChange(changes.PIDActive,value); - } - } - - public override float PIDTau - { - set - { - float tmp = 0; - if (value > 0) - { - float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); - if (value < mint) - tmp = mint; - else - tmp = value; - } - AddChange(changes.PIDTau,tmp); - } - } - - public override float PIDHoverHeight - { - set - { - AddChange(changes.PIDHoverHeight,value); - } - } - public override bool PIDHoverActive - { - set - { - AddChange(changes.PIDHoverActive, value); - } - } - - public override PIDHoverType PIDHoverType - { - set - { - AddChange(changes.PIDHoverType,value); - } - } - - public override float PIDHoverTau - { - set - { - float tmp =0; - if (value > 0) - { - float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); - if (value < mint) - tmp = mint; - else - tmp = value; - } - AddChange(changes.PIDHoverTau, tmp); - } - } - - public override Quaternion APIDTarget { set { return; } } - - public override bool APIDActive { set { return; } } - - public override float APIDStrength { set { return; } } - - public override float APIDDamping { set { return; } } - - public override int VehicleType - { - // we may need to put a fake on this - get - { - if (m_vehicle == null) - return (int)Vehicle.TYPE_NONE; - else - return (int)m_vehicle.Type; - } - set - { - AddChange(changes.VehicleType, value); - } - } - - public override void VehicleFloatParam(int param, float value) - { - strVehicleFloatParam fp = new strVehicleFloatParam(); - fp.param = param; - fp.value = value; - AddChange(changes.VehicleFloatParam, fp); - } + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + if (hollowAmount > 0.0) + { + switch (_pbs.HollowShape) + { + case HollowShape.Square: + case HollowShape.Same: + break; - public override void VehicleVectorParam(int param, Vector3 value) - { - strVehicleVectorParam fp = new strVehicleVectorParam(); - fp.param = param; - fp.value = value; - AddChange(changes.VehicleVectorParam, fp); - } + case HollowShape.Circle: - public override void VehicleRotationParam(int param, Quaternion value) - { - strVehicleQuatParam fp = new strVehicleQuatParam(); - fp.param = param; - fp.value = value; - AddChange(changes.VehicleRotationParam, fp); - } + hollowVolume *= 0.78539816339f; + break; - public override void VehicleFlags(int param, bool value) - { - strVehicleBoolParam bp = new strVehicleBoolParam(); - bp.param = param; - bp.value = value; - AddChange(changes.VehicleFlags, bp); - } + case HollowShape.Triangle: - public override void SetVehicle(object vdata) - { - AddChange(changes.SetVehicle, vdata); - } - public void SetAcceleration(Vector3 accel) - { - _acceleration = accel; - } + hollowVolume *= (0.5f * .5f); + break; - public override void AddForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { - if(pushforce) - AddChange(changes.AddForce, force); - else // a impulse - AddChange(changes.AddForce, force * m_invTimeStep); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); - } - //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); - } - - public override void AddAngularForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { -// if(pushforce) for now applyrotationimpulse seems more happy applied as a force - AddChange(changes.AddAngForce, force); -// else // a impulse -// AddChange(changes.AddAngForce, force * m_invTimeStep); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); - } - } - - public override void CrossingFailure() - { - if (m_outbounds) - { - _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); - _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); - _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); - - m_lastposition = _position; - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } - m_lastVelocity = _velocity; - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - m_vehicle.Stop(); + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + //a tube - if(Body != IntPtr.Zero) - d.BodySetLinearVel(Body, 0, 0, 0); // stop it - if (prim_geom != IntPtr.Zero) - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); + tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); + volume -= volume*tmp*tmp; + + if (hollowAmount > 0.0) + { + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Square: + case HollowShape.Same: + break; + + case HollowShape.Circle: + hollowVolume *= 0.78539816339f;; + break; + + case HollowShape.Triangle: + hollowVolume *= 0.5f * 0.5f; + break; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } - m_outbounds = false; - changeDisable(false); - base.RequestPhysicsterseUpdate(); - } - } + break; - public override void SetMomentum(Vector3 momentum) - { - } + case ProfileShape.Circle: - public override void SetMaterial(int pMaterial) - { - m_material = pMaterial; - mu = _parent_scene.m_materialContactsData[pMaterial].mu; - bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; - } + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + volume *= 0.78539816339f; // elipse base - public void setPrimForRemoval() - { - AddChange(changes.Remove, null); - } + if (hollowAmount > 0.0) + { + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Circle: + break; - public override void link(PhysicsActor obj) - { - AddChange(changes.Link, obj); - } + case HollowShape.Square: + hollowVolume *= 0.5f * 2.5984480504799f; + break; - public override void delink() - { - AddChange(changes.DeLink, null); - } + case HollowShape.Triangle: + hollowVolume *= .5f * 1.27323954473516f; + break; - public override void LockAngularMotion(Vector3 axis) - { - // reverse the zero/non zero values for ODE. - if (axis.IsFinite()) - { - axis.X = (axis.X > 0) ? 1f : 0f; - axis.Y = (axis.Y > 0) ? 1f : 0f; - axis.Z = (axis.Z > 0) ? 1f : 0f; -// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); - AddChange(changes.AngLock, axis); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); - } - } + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } - public override void SubscribeEvents(int ms) - { - m_eventsubscription = ms; - m_cureventsubscription = 0; - if (CollisionEventsThisFrame == null) - CollisionEventsThisFrame = new CollisionEventUpdate(); - SentEmptyCollisionsEvent = false; - } + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= (1.0f - tmp * tmp); + + if (hollowAmount > 0.0) + { - public override void UnSubscribeEvents() - { - if (CollisionEventsThisFrame != null) - { - CollisionEventsThisFrame.Clear(); - CollisionEventsThisFrame = null; - } - m_eventsubscription = 0; - _parent_scene.RemoveCollisionEventReporting(this); - } + // calculate the hollow volume by it's shape compared to the prim shape + hollowVolume *= hollowAmount; - public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) - { - if (CollisionEventsThisFrame == null) - CollisionEventsThisFrame = new CollisionEventUpdate(); -// if(CollisionEventsThisFrame.Count < 32) - CollisionEventsThisFrame.AddCollider(CollidedWith, contact); - } + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Circle: + break; - public void SendCollisions() - { - if (CollisionEventsThisFrame == null) - return; + case HollowShape.Square: + hollowVolume *= 0.5f * 2.5984480504799f; + break; - if (m_cureventsubscription < m_eventsubscription) - return; + case HollowShape.Triangle: + hollowVolume *= .5f * 1.27323954473516f; + break; - m_cureventsubscription = 0; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + break; - int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; + case ProfileShape.HalfCircle: + if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.52359877559829887307710723054658f; + } + break; - if (!SentEmptyCollisionsEvent || ncolisions > 0) - { - base.SendCollisionUpdate(CollisionEventsThisFrame); + case ProfileShape.EquilateralTriangle: - if (ncolisions == 0) - { - SentEmptyCollisionsEvent = true; - _parent_scene.RemoveCollisionEventReporting(this); - } - else - { - SentEmptyCollisionsEvent = false; - CollisionEventsThisFrame.Clear(); - } - } - } + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + volume *= 0.32475953f; - internal void AddCollisionFrameTime(int t) - { - if (m_cureventsubscription < 50000) - m_cureventsubscription += t; - } + if (hollowAmount > 0.0) + { - public override bool SubscribedEvents() - { - if (m_eventsubscription > 0) - return true; - return false; - } + // calculate the hollow volume by it's shape compared to the prim shape + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Triangle: + hollowVolume *= .25f; + break; - public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, - Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) - { - Name = primName; - LocalID = plocalID; + case HollowShape.Square: + hollowVolume *= 0.499849f * 3.07920140172638f; + break; - m_vehicle = null; + case HollowShape.Circle: + // Hollow shape is a perfect cyllinder in respect to the cube's scale + // Cyllinder hollow volume calculation - if (!pos.IsFinite()) - { - pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), - parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); - } - _position = pos; - givefakepos = 0; + hollowVolume *= 0.1963495f * 3.07920140172638f; + break; - m_timeStep = parent_scene.ODE_STEPSIZE; - m_invTimeStep = 1f / m_timeStep; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.32475953f; + volume *= 0.01f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= (1.0f - tmp * tmp); - m_density = parent_scene.geomDefaultDensity; - body_autodisable_frames = parent_scene.bodyFramesAutoDisable; + if (hollowAmount > 0.0) + { - prim_geom = IntPtr.Zero; - collide_geom = IntPtr.Zero; - Body = IntPtr.Zero; + hollowVolume *= hollowAmount; - if (!size.IsFinite()) - { - size = new Vector3(0.5f, 0.5f, 0.5f); - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); - } + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Triangle: + hollowVolume *= .25f; + break; - if (size.X <= 0) size.X = 0.01f; - if (size.Y <= 0) size.Y = 0.01f; - if (size.Z <= 0) size.Z = 0.01f; + case HollowShape.Square: + hollowVolume *= 0.499849f * 3.07920140172638f; + break; - _size = size; + case HollowShape.Circle: - if (!QuaternionIsFinite(rotation)) - { - rotation = Quaternion.Identity; - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); - } + hollowVolume *= 0.1963495f * 3.07920140172638f; + break; - _orientation = rotation; - givefakeori = 0; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + break; - _pbs = pbs; + default: + break; + } - _parent_scene = parent_scene; - m_targetSpace = IntPtr.Zero; + float taperX1; + float taperY1; + float taperX; + float taperY; + float pathBegin; + float pathEnd; + float profileBegin; + float profileEnd; - if (pos.Z < 0) + if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) { - m_isphysical = false; + taperX1 = _pbs.PathScaleX * 0.01f; + if (taperX1 > 1.0f) + taperX1 = 2.0f - taperX1; + taperX = 1.0f - taperX1; + + taperY1 = _pbs.PathScaleY * 0.01f; + if (taperY1 > 1.0f) + taperY1 = 2.0f - taperY1; + taperY = 1.0f - taperY1; } else { - m_isphysical = pisPhysical; + taperX = _pbs.PathTaperX * 0.01f; + if (taperX < 0.0f) + taperX = -taperX; + taperX1 = 1.0f - taperX; + + taperY = _pbs.PathTaperY * 0.01f; + if (taperY < 0.0f) + taperY = -taperY; + taperY1 = 1.0f - taperY; } - m_fakeisphysical = m_isphysical; - m_isVolumeDetect = false; - m_fakeisVolumeDetect = false; + volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - m_force = Vector3.Zero; + pathBegin = (float)_pbs.PathBegin * 2.0e-5f; + pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; + volume *= (pathEnd - pathBegin); - m_iscolliding = false; - m_colliderfilter = 0; - m_NoColide = false; +// this is crude aproximation + profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; + profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; + volume *= (profileEnd - profileBegin); - _triMeshData = IntPtr.Zero; + returnMass = m_density * volume; - m_shapetype = _shapeType; + if (returnMass <= 0) + returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. +// else if (returnMass > _parent_scene.maximumMassObject) +// returnMass = _parent_scene.maximumMassObject; - m_lastdoneSelected = false; - m_isSelected = false; - m_delaySelect = false; + // Recursively calculate mass + bool HasChildPrim = false; + lock (childrenPrim) + { + if (childrenPrim.Count > 0) + { + HasChildPrim = true; + } + } - m_isphantom = pisPhantom; - m_fakeisphantom = pisPhantom; + if (HasChildPrim) + { + OdePrim[] childPrimArr = new OdePrim[0]; - mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; - bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; + lock (childrenPrim) + childPrimArr = childrenPrim.ToArray(); - m_building = true; // control must set this to false when done + for (int i = 0; i < childPrimArr.Length; i++) + { + if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove) + returnMass += childPrimArr[i].CalculateMass(); + // failsafe, this shouldn't happen but with OpenSim, you never know :) + if (i > 256) + break; + } + } - _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); - } + if (returnMass > _parent_scene.maximumMassObject) + returnMass = _parent_scene.maximumMassObject; - private void resetCollisionAccounting() - { - m_collisionscore = 0; + return returnMass; } - private void UpdateCollisionCatFlags() + #endregion + + private void setMass() { - if(m_isphysical && m_disabled) + if (Body != (IntPtr) 0) { - m_collisionCategories = 0; - m_collisionFlags = 0; - } + float newmass = CalculateMass(); - else if (m_isSelected) - { - m_collisionCategories = CollisionCategories.Selected; - m_collisionFlags = 0; - } + //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString()); - else if (m_isVolumeDetect) - { - m_collisionCategories = CollisionCategories.VolumeDtc; - if (m_isphysical) - m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; - else - m_collisionFlags = 0; - } - else if (m_isphantom) - { - m_collisionCategories = CollisionCategories.Phantom; - if (m_isphysical) - m_collisionFlags = CollisionCategories.Land; - else - m_collisionFlags = 0; - } - else - { - m_collisionCategories = CollisionCategories.Geom; - if (m_isphysical) - m_collisionFlags = m_default_collisionFlagsPhysical; - else - m_collisionFlags = m_default_collisionFlagsNotPhysical; + d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z); + d.BodySetMass(Body, ref pMass); } } - private void ApplyCollisionCatFlags() + /// + /// Stop a prim from being subject to physics. + /// + internal void disableBody() { - if (prim_geom != IntPtr.Zero) + //this kills the body so things like 'mesh' can re-create it. + lock (this) { - if (!childPrim && childrenPrim.Count > 0) + if (!childPrim) { - foreach (OdePrim prm in childrenPrim) + if (Body != IntPtr.Zero) { - if (m_isphysical && m_disabled) - { - prm.m_collisionCategories = 0; - prm.m_collisionFlags = 0; - } - else - { - // preserve some - if (prm.m_isSelected) - { - prm.m_collisionCategories = CollisionCategories.Selected; - prm.m_collisionFlags = 0; - } - else if (prm.m_isVolumeDetect) - { - prm.m_collisionCategories = CollisionCategories.VolumeDtc; - if (m_isphysical) - prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; - else - prm.m_collisionFlags = 0; - } - else if (prm.m_isphantom) - { - prm.m_collisionCategories = CollisionCategories.Phantom; - if (m_isphysical) - prm.m_collisionFlags = CollisionCategories.Land; - else - prm.m_collisionFlags = 0; - } - else - { - prm.m_collisionCategories = m_collisionCategories; - prm.m_collisionFlags = m_collisionFlags; - } - } + _parent_scene.DeactivatePrim(this); + m_collisionCategories &= ~CollisionCategories.Body; + m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); + + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - if (prm.prim_geom != IntPtr.Zero) + d.BodyDestroy(Body); + lock (childrenPrim) { - if (prm.m_NoColide) + if (childrenPrim.Count > 0) { - d.GeomSetCategoryBits(prm.prim_geom, 0); - if (m_isphysical) - d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); - else - d.GeomSetCollideBits(prm.prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); + foreach (OdePrim prm in childrenPrim) + { + _parent_scene.DeactivatePrim(prm); + prm.Body = IntPtr.Zero; + } } } - } - } - - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, 0); - d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); + Body = IntPtr.Zero; } } else { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); - } - } - } - } + _parent_scene.DeactivatePrim(this); + + m_collisionCategories &= ~CollisionCategories.Body; + m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); - private void createAMotor(Vector3 axis) - { - if (Body == IntPtr.Zero) - return; + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; + Body = IntPtr.Zero; + } } - int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); - - if (axisnum <= 0) - return; - - // stop it - d.BodySetTorque(Body, 0, 0, 0); - d.BodySetAngularVel(Body, 0, 0, 0); - - Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); - d.JointAttach(Amotor, Body, IntPtr.Zero); - - d.JointSetAMotorMode(Amotor, 0); - - d.JointSetAMotorNumAxes(Amotor, axisnum); - - // get current orientation to lock - - d.Quaternion dcur = d.BodyGetQuaternion(Body); - Quaternion curr; // crap convertion between identical things - curr.X = dcur.X; - curr.Y = dcur.Y; - curr.Z = dcur.Z; - curr.W = dcur.W; - Vector3 ax; + m_disabled = true; + m_collisionscore = 0; + } - int i = 0; - int j = 0; - if (axis.X == 0) - { - ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X - // ODE should do this with axis relative to body 1 but seems to fail - d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); - d.JointSetAMotorAngle(Amotor, 0, 0); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); - d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); - i++; - j = 256; // move to next axis set - } + private static Dictionary m_MeshToTriMeshMap = new Dictionary(); - if (axis.Y == 0) - { - ax = (new Vector3(0, 1, 0)) * curr; - d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); - d.JointSetAMotorAngle(Amotor, i, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); - i++; - j += 256; - } + private void setMesh(OdeScene parent_scene, IMesh mesh) + { +// m_log.DebugFormat("[ODE PRIM]: Setting mesh on {0} to {1}", Name, mesh); - if (axis.Z == 0) - { - ax = (new Vector3(0, 0, 1)) * curr; - d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); - d.JointSetAMotorAngle(Amotor, i, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); - d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); - } - } + // This sleeper is there to moderate how long it takes between + // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object + //Thread.Sleep(10); - private void SetGeom(IntPtr geom) - { - prim_geom = geom; - //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); - if (prim_geom != IntPtr.Zero) + //Kill Body so that mesh can re-make the geom + if (IsPhysical && Body != IntPtr.Zero) { - - if (m_NoColide) + if (childPrim) { - d.GeomSetCategoryBits(prim_geom, 0); - if (m_isphysical) - { - d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); - } - else + if (_parent != null) { - d.GeomSetCollideBits(prim_geom, 0); - d.GeomDisable(prim_geom); + OdePrim parent = (OdePrim)_parent; + parent.ChildDelink(this); } } else { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + disableBody(); } - - UpdatePrimBodyData(); - _parent_scene.actor_name_map[prim_geom] = this; - - -// debug - d.AABB aabb; - d.GeomGetAABB(prim_geom, out aabb); - float x = aabb.MaxX - aabb.MinX; - float y = aabb.MaxY - aabb.MinY; - float z = aabb.MaxZ - aabb.MinZ; - if( x > 60.0f || y > 60.0f || z > 60.0f) - m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", - Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); - else if (x < 0.001f || y < 0.001f || z < 0.001f) - m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", - Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); - -// - - - - } - else - m_log.Warn("Setting bad Geom"); - } - private bool GetMeshGeom() - { IntPtr vertices, indices; int vertexCount, indexCount; int vertexStride, triStride; - - IMesh mesh = m_mesh; - - if (mesh == null) - return false; - - mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); - mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); + mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap + mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage + m_expectedCollisionContacts = indexCount; + mesh.releaseSourceMeshData(); // free up the original mesh data to save memory - if (vertexCount == 0 || indexCount == 0) + // We must lock here since m_MeshToTriMeshMap is static and multiple scene threads may call this method at + // the same time. + lock (m_MeshToTriMeshMap) { - m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1}", - Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh"); - - m_hasOBB = false; - m_OBBOffset = Vector3.Zero; - m_OBB = _size * 0.5f; - - m_physCost = 0.1f; - m_streamCost = 1.0f; - - _parent_scene.mesher.ReleaseMesh(mesh); - m_meshState = MeshState.MeshFailed; - m_mesh = null; - return false; + if (m_MeshToTriMeshMap.ContainsKey(mesh)) + { + _triMeshData = m_MeshToTriMeshMap[mesh]; + } + else + { + _triMeshData = d.GeomTriMeshDataCreate(); + + d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); + d.GeomTriMeshDataPreprocess(_triMeshData); + m_MeshToTriMeshMap[mesh] = _triMeshData; + } } - IntPtr geo = IntPtr.Zero; - +// _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - _triMeshData = d.GeomTriMeshDataCreate(); - - d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); - d.GeomTriMeshDataPreprocess(_triMeshData); - - geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); + SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); } - - catch (Exception e) + catch (AccessViolationException) { - m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); - if (_triMeshData != IntPtr.Zero) - { - try - { - d.GeomTriMeshDataDestroy(_triMeshData); - } - catch - { - } - } - _triMeshData = IntPtr.Zero; - - m_hasOBB = false; - m_OBBOffset = Vector3.Zero; - m_OBB = _size * 0.5f; - m_physCost = 0.1f; - m_streamCost = 1.0f; - - _parent_scene.mesher.ReleaseMesh(mesh); - m_meshState = MeshState.MeshFailed; - m_mesh = null; - return false; + m_log.ErrorFormat("[PHYSICS]: MESH LOCKED FOR {0}", Name); + return; } - m_physCost = 0.0013f * (float)indexCount; - // todo - m_streamCost = 1.0f; + // if (IsPhysical && Body == (IntPtr) 0) + // { + // Recreate the body + // m_interpenetrationcount = 0; + // m_collisionscore = 0; - SetGeom(geo); - - return true; + // enableBody(); + // } } - private void CreateGeom() + internal void ProcessTaints() { - bool hasMesh = false; +#if SPAM +Console.WriteLine("ZProcessTaints for " + Name); +#endif - m_NoColide = false; + // This must be processed as the very first taint so that later operations have a prim_geom to work with + // if this is a new prim. + if (m_taintadd) + changeadd(); - if ((m_meshState & MeshState.FailMask) != 0) - m_NoColide = true; + if (!_position.ApproxEquals(m_taintposition, 0f)) + changemove(); - else if(m_mesh != null) + if (m_taintrot != _orientation) { - if (GetMeshGeom()) - hasMesh = true; + if (childPrim && IsPhysical) // For physical child prim... + { + rotate(); + // KF: ODE will also rotate the parent prim! + // so rotate the root back to where it was + OdePrim parent = (OdePrim)_parent; + parent.rotate(); + } else - m_NoColide = true; + { + //Just rotate the prim + rotate(); + } } + + if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) + changePhysicsStatus(); + if (!_size.ApproxEquals(m_taintsize, 0f)) + changesize(); - if (!hasMesh) - { - IntPtr geo = IntPtr.Zero; + if (m_taintshape) + changeshape(); - if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 - && _size.X == _size.Y && _size.Y == _size.Z) - { // it's a sphere - try - { - geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); - } - catch (Exception e) - { - m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); - return; - } - } - else - {// do it as a box - try - { - geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); - } - catch (Exception e) - { - m_log.Warn("[PHYSICS]: Create box failed: {0}", e); - return; - } - } - m_physCost = 0.1f; - m_streamCost = 1.0f; - SetGeom(geo); - } - } + if (m_taintforce) + changeAddForce(); - private void RemoveGeom() - { - if (prim_geom != IntPtr.Zero) - { - _parent_scene.actor_name_map.Remove(prim_geom); + if (m_taintaddangularforce) + changeAddAngularForce(); - try - { - d.GeomDestroy(prim_geom); - if (_triMeshData != IntPtr.Zero) - { - d.GeomTriMeshDataDestroy(_triMeshData); - _triMeshData = IntPtr.Zero; - } - } - catch (Exception e) - { - m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); - } + if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) + changeSetTorque(); - prim_geom = IntPtr.Zero; - collide_geom = IntPtr.Zero; - m_targetSpace = IntPtr.Zero; - } - else - { - m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); - } + if (m_taintdisable) + changedisable(); + + if (m_taintselected != m_isSelected) + changeSelectedStatus(); + + if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) + changevelocity(); - lock (m_meshlock) + if (m_taintparent != _parent) + changelink(); + + if (m_taintCollidesWater != m_collidesWater) + changefloatonwater(); + + if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f)) + changeAngularLock(); + } + + /// + /// Change prim in response to an angular lock taint. + /// + private void changeAngularLock() + { + // do we have a Physical object? + if (Body != IntPtr.Zero) { - if (m_mesh != null) + //Check that we have a Parent + //If we have a parent then we're not authorative here + if (_parent == null) { - _parent_scene.mesher.ReleaseMesh(m_mesh); - m_mesh = null; + if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f)) + { + //d.BodySetFiniteRotationMode(Body, 0); + //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z); + createAMotor(m_taintAngularLock); + } + else + { + if (Amotor != IntPtr.Zero) + { + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } + } } } - Body = IntPtr.Zero; - m_hasOBB = false; - } - - //sets non physical prim m_targetSpace to right space in spaces grid for static prims - // should only be called for non physical prims unless they are becoming non physical - private void SetInStaticSpace(OdePrim prim) - { - IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); - prim.m_targetSpace = targetSpace; - collide_geom = IntPtr.Zero; + // Store this for later in case we get turned into a separate body + m_angularlock = m_taintAngularLock; } - public void enableBodySoft() + /// + /// Change prim in response to a link taint. + /// + private void changelink() { - m_disabled = false; - if (!childPrim && !m_isSelected) + // If the newly set parent is not null + // create link + if (_parent == null && m_taintparent != null) { - if (m_isphysical && Body != IntPtr.Zero) + if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) { - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); + OdePrim obj = (OdePrim)m_taintparent; + //obj.disableBody(); +//Console.WriteLine("changelink calls ParentPrim"); + obj.AddChildPrim(this); - d.BodyEnable(Body); + /* + if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body) + { + _linkJointGroup = d.JointGroupCreate(0); + m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); + d.JointAttach(m_linkJoint, obj.Body, Body); + d.JointSetFixed(m_linkJoint); + } + */ } } - resetCollisionAccounting(); - } - - private void disableBodySoft() - { - m_disabled = true; - if (!childPrim) + // If the newly set parent is null + // destroy link + else if (_parent != null && m_taintparent == null) { - if (m_isphysical && Body != IntPtr.Zero) +//Console.WriteLine(" changelink B"); + + if (_parent is OdePrim) { - if (m_isSelected) - m_collisionFlags = CollisionCategories.Selected; - else - m_collisionCategories = 0; - m_collisionFlags = 0; - ApplyCollisionCatFlags(); - d.BodyDisable(Body); + OdePrim obj = (OdePrim)_parent; + obj.ChildDelink(this); + childPrim = false; + //_parent = null; } + + /* + if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) + d.JointGroupDestroy(_linkJointGroup); + + _linkJointGroup = (IntPtr)0; + m_linkJoint = (IntPtr)0; + */ } + + _parent = m_taintparent; + m_taintPhysics = IsPhysical; } - private void MakeBody() + /// + /// Add a child prim to this parent prim. + /// + /// Child prim + private void AddChildPrim(OdePrim prim) { - if (!m_isphysical) // only physical get bodies - return; - - if (childPrim) // child prims don't get bodies; + if (LocalID == prim.LocalID) return; - if (m_building) - return; - - if (prim_geom == IntPtr.Zero) - { - m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); - return; - } - - if (Body != IntPtr.Zero) + if (Body == IntPtr.Zero) { - DestroyBody(); - m_log.Warn("[PHYSICS]: MakeBody called having a body"); + Body = d.BodyCreate(_parent_scene.world); + setMass(); } - if (d.GeomGetBody(prim_geom) != IntPtr.Zero) + lock (childrenPrim) { - d.GeomSetBody(prim_geom, IntPtr.Zero); - m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); - } + if (childrenPrim.Contains(prim)) + return; - d.Matrix3 mymat = new d.Matrix3(); - d.Quaternion myrot = new d.Quaternion(); - d.Mass objdmass = new d.Mass { }; +// m_log.DebugFormat( +// "[ODE PRIM]: Linking prim {0} {1} to {2} {3}", prim.Name, prim.LocalID, Name, LocalID); - Body = d.BodyCreate(_parent_scene.world); + childrenPrim.Add(prim); - objdmass = primdMass; + foreach (OdePrim prm in childrenPrim) + { + d.Mass m2; + d.MassSetZero(out m2); + d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); - // rotate inertia - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; + d.Quaternion quat = new d.Quaternion(); + quat.W = prm._orientation.W; + quat.X = prm._orientation.X; + quat.Y = prm._orientation.Y; + quat.Z = prm._orientation.Z; - d.RfromQ(out mymat, ref myrot); - d.MassRotate(ref objdmass, ref mymat); + d.Matrix3 mat = new d.Matrix3(); + d.RfromQ(out mat, ref quat); + d.MassRotate(ref m2, ref mat); + d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); + d.MassAdd(ref pMass, ref m2); + } - // set the body rotation - d.BodySetRotation(Body, ref mymat); + foreach (OdePrim prm in childrenPrim) + { + prm.m_collisionCategories |= CollisionCategories.Body; + prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); - // recompute full object inertia if needed - if (childrenPrim.Count > 0) - { - d.Matrix3 mat = new d.Matrix3(); - d.Quaternion quat = new d.Quaternion(); - d.Mass tmpdmass = new d.Mass { }; - Vector3 rcm; +//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); + d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); - rcm.X = _position.X; - rcm.Y = _position.Y; - rcm.Z = _position.Z; + d.Quaternion quat = new d.Quaternion(); + quat.W = prm._orientation.W; + quat.X = prm._orientation.X; + quat.Y = prm._orientation.Y; + quat.Z = prm._orientation.Z; - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) + d.Matrix3 mat = new d.Matrix3(); + d.RfromQ(out mat, ref quat); + if (Body != IntPtr.Zero) { - if (prm.prim_geom == IntPtr.Zero) - { - m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); - continue; - } - - tmpdmass = prm.primdMass; - - // apply prim current rotation to inertia - quat.X = prm._orientation.X; - quat.Y = prm._orientation.Y; - quat.Z = prm._orientation.Z; - quat.W = prm._orientation.W; - d.RfromQ(out mat, ref quat); - d.MassRotate(ref tmpdmass, ref mat); - - Vector3 ppos = prm._position; - ppos.X -= rcm.X; - ppos.Y -= rcm.Y; - ppos.Z -= rcm.Z; - // refer inertia to root prim center of mass position - d.MassTranslate(ref tmpdmass, - ppos.X, - ppos.Y, - ppos.Z); - - d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia - // fix prim colision cats - - if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) - { - d.GeomSetBody(prm.prim_geom, IntPtr.Zero); - m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); - } - - d.GeomClearOffset(prm.prim_geom); d.GeomSetBody(prm.prim_geom, Body); - prm.Body = Body; - d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation + prm.childPrim = true; + d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); + //d.GeomSetOffsetPosition(prim.prim_geom, + // (Position.X - prm.Position.X) - pMass.c.X, + // (Position.Y - prm.Position.Y) - pMass.c.Y, + // (Position.Z - prm.Position.Z) - pMass.c.Z); + d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); + //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); + d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); + d.BodySetMass(Body, ref pMass); + } + else + { + m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); } - } - } - - d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset - // associate root geom with body - d.GeomSetBody(prim_geom, Body); - - d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); - d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - myrot.X = -myrot.X; - myrot.Y = -myrot.Y; - myrot.Z = -myrot.Z; + prm.m_interpenetrationcount = 0; + prm.m_collisionscore = 0; + prm.m_disabled = false; - d.RfromQ(out mymat, ref myrot); - d.MassRotate(ref objdmass, ref mymat); + // The body doesn't already have a finite rotation mode set here + if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) + { + prm.createAMotor(m_angularlock); + } + prm.Body = Body; + _parent_scene.ActivatePrim(prm); + } + + m_collisionCategories |= CollisionCategories.Body; + m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); + +//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); +//Console.WriteLine(" Post GeomSetCategoryBits 2"); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); + + d.Quaternion quat2 = new d.Quaternion(); + quat2.W = _orientation.W; + quat2.X = _orientation.X; + quat2.Y = _orientation.Y; + quat2.Z = _orientation.Z; + + d.Matrix3 mat2 = new d.Matrix3(); + d.RfromQ(out mat2, ref quat2); + d.GeomSetBody(prim_geom, Body); + d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); + //d.GeomSetOffsetPosition(prim.prim_geom, + // (Position.X - prm.Position.X) - pMass.c.X, + // (Position.Y - prm.Position.Y) - pMass.c.Y, + // (Position.Z - prm.Position.Z) - pMass.c.Z); + //d.GeomSetOffsetRotation(prim_geom, ref mat2); + d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); + d.BodySetMass(Body, ref pMass); + + d.BodySetAutoDisableFlag(Body, true); + d.BodySetAutoDisableSteps(Body, body_autodisable_frames); + + m_interpenetrationcount = 0; + m_collisionscore = 0; + m_disabled = false; - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; + // The body doesn't already have a finite rotation mode set here + if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) + { + createAMotor(m_angularlock); + } - // disconnect from world gravity so we can apply buoyancy - d.BodySetGravityMode(Body, false); + d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); - d.BodySetAutoDisableFlag(Body, true); - d.BodySetAutoDisableSteps(Body, body_autodisable_frames); - d.BodySetDamping(Body, .005f, .005f); + if (m_vehicle.Type != Vehicle.TYPE_NONE) + m_vehicle.Enable(Body, _parent_scene); - if (m_targetSpace != IntPtr.Zero) - { - _parent_scene.waitForSpaceUnlock(m_targetSpace); - if (d.SpaceQuery(m_targetSpace, prim_geom)) - d.SpaceRemove(m_targetSpace, prim_geom); + _parent_scene.ActivatePrim(this); } + } + + private void ChildSetGeom(OdePrim odePrim) + { +// m_log.DebugFormat( +// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); - if (childrenPrim.Count == 0) + //if (IsPhysical && Body != IntPtr.Zero) + lock (childrenPrim) { - collide_geom = prim_geom; - m_targetSpace = _parent_scene.ActiveSpace; + foreach (OdePrim prm in childrenPrim) + { + //prm.childPrim = true; + prm.disableBody(); + //prm.m_taintparent = null; + //prm._parent = null; + //prm.m_taintPhysics = false; + //prm.m_disabled = true; + //prm.childPrim = false; + } } - 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.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(m_targetSpace, 0); - collide_geom = m_targetSpace; - } + disableBody(); - d.SpaceAdd(m_targetSpace, prim_geom); + // Spurious - Body == IntPtr.Zero after disableBody() +// if (Body != IntPtr.Zero) +// { +// _parent_scene.DeactivatePrim(this); +// } - if (m_delaySelect) + lock (childrenPrim) { - m_isSelected = true; - m_delaySelect = false; + foreach (OdePrim prm in childrenPrim) + { +//Console.WriteLine("ChildSetGeom calls ParentPrim"); + AddChildPrim(prm); + } } + } - m_collisionscore = 0; - - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - - _parent_scene.addActivePrim(this); + private void ChildDelink(OdePrim odePrim) + { +// m_log.DebugFormat( +// "[ODE PRIM]: Delinking prim {0} {1} from {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); + // Okay, we have a delinked child.. need to rebuild the body. lock (childrenPrim) { foreach (OdePrim prm in childrenPrim) { - if (prm.prim_geom == IntPtr.Zero) - continue; - - Vector3 ppos = prm._position; - d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position + prm.childPrim = true; + prm.disableBody(); + //prm.m_taintparent = null; + //prm._parent = null; + //prm.m_taintPhysics = false; + //prm.m_disabled = true; + //prm.childPrim = false; + } + } - if (prm.m_targetSpace != m_targetSpace) - { - if (prm.m_targetSpace != IntPtr.Zero) - { - _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 = m_targetSpace; - d.SpaceAdd(m_targetSpace, prm.prim_geom); - } + disableBody(); - prm.m_collisionscore = 0; + lock (childrenPrim) + { + //Console.WriteLine("childrenPrim.Remove " + odePrim); + childrenPrim.Remove(odePrim); + } - if(!m_disabled) - prm.m_disabled = false; + // Spurious - Body == IntPtr.Zero after disableBody() +// if (Body != IntPtr.Zero) +// { +// _parent_scene.DeactivatePrim(this); +// } - _parent_scene.addActivePrim(prm); + lock (childrenPrim) + { + foreach (OdePrim prm in childrenPrim) + { +//Console.WriteLine("ChildDelink calls ParentPrim"); + AddChildPrim(prm); } } + } - // The body doesn't already have a finite rotation mode set here - if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) + /// + /// Change prim in response to a selection taint. + /// + private void changeSelectedStatus() + { + if (m_taintselected) { - createAMotor(m_angularlock); - } + m_collisionCategories = CollisionCategories.Selected; + m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); + + // We do the body disable soft twice because 'in theory' a collision could have happened + // in between the disabling and the collision properties setting + // which would wake the physical body up from a soft disabling and potentially cause it to fall + // through the ground. + + // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select + // just one part of the assembly, the rest of the assembly is non-selected and still simulating, + // so that causes the selected part to wake up and continue moving. + + // even if you select all parts of a jointed assembly, it is not guaranteed that the entire + // assembly will stop simulating during the selection, because of the lack of atomicity + // of select operations (their processing could be interrupted by a thread switch, causing + // simulation to continue before all of the selected object notifications trickle down to + // the physics engine). + + // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are + // selected and disabled. then, due to a thread switch, the selection processing is + // interrupted and the physics engine continues to simulate, so the last 50 items, whose + // selection was not yet processed, continues to simulate. this wakes up ALL of the + // first 50 again. then the last 50 are disabled. then the first 50, which were just woken + // up, start simulating again, which in turn wakes up the last 50. + + if (IsPhysical) + { + disableBodySoft(); + } + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - if (m_isSelected || m_disabled) - { - d.BodyDisable(Body); + if (IsPhysical) + { + disableBodySoft(); + } } else { - d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); - d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); - } - _parent_scene.addActiveGroups(this); - } + m_collisionCategories = CollisionCategories.Geom; - private void DestroyBody() - { - if (Body != IntPtr.Zero) - { - _parent_scene.remActivePrim(this); + if (IsPhysical) + m_collisionCategories |= CollisionCategories.Body; - collide_geom = IntPtr.Zero; + m_collisionFlags = m_default_collisionFlags; - if (m_disabled) - m_collisionCategories = 0; - else if (m_isSelected) - m_collisionCategories = CollisionCategories.Selected; - else if (m_isVolumeDetect) - m_collisionCategories = CollisionCategories.VolumeDtc; - else if (m_isphantom) - m_collisionCategories = CollisionCategories.Phantom; - else - m_collisionCategories = CollisionCategories.Geom; + if (m_collidesLand) + m_collisionFlags |= CollisionCategories.Land; + if (m_collidesWater) + m_collisionFlags |= CollisionCategories.Water; - m_collisionFlags = 0; + d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - if (prim_geom != IntPtr.Zero) + if (IsPhysical) { - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - d.GeomSetCollideBits(prim_geom, 0); - } - else + if (Body != IntPtr.Zero) { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + d.BodySetLinearVel(Body, 0f, 0f, 0f); + d.BodySetForce(Body, 0, 0, 0); + enableBodySoft(); } - UpdateDataFromGeom(); - d.GeomSetBody(prim_geom, IntPtr.Zero); - SetInStaticSpace(this); } + } - if (!childPrim) + resetCollisionAccounting(); + m_isSelected = m_taintselected; + }//end changeSelectedStatus + + internal void ResetTaints() + { + m_taintposition = _position; + m_taintrot = _orientation; + m_taintPhysics = IsPhysical; + m_taintselected = m_isSelected; + m_taintsize = _size; + m_taintshape = false; + m_taintforce = false; + m_taintdisable = false; + m_taintVelocity = Vector3.Zero; + } + + /// + /// Create a geometry for the given mesh in the given target space. + /// + /// + /// If null, then a mesh is used that is based on the profile shape data. + private void CreateGeom(IntPtr m_targetSpace, IMesh mesh) + { +#if SPAM +Console.WriteLine("CreateGeom:"); +#endif + if (mesh != null) + { + setMesh(_parent_scene, mesh); + } + else + { + if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) { - lock (childrenPrim) + if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { - foreach (OdePrim prm in childrenPrim) + if (((_size.X / 2f) > 0f)) { - _parent_scene.remActivePrim(prm); - - if (prm.m_isSelected) - prm.m_collisionCategories = CollisionCategories.Selected; - else if (prm.m_isVolumeDetect) - prm.m_collisionCategories = CollisionCategories.VolumeDtc; - else if (prm.m_isphantom) - prm.m_collisionCategories = CollisionCategories.Phantom; - else - prm.m_collisionCategories = CollisionCategories.Geom; - - prm.m_collisionFlags = 0; - - if (prm.prim_geom != IntPtr.Zero) +// _parent_scene.waitForSpaceUnlock(m_targetSpace); + try { - if (prm.m_NoColide) - { - d.GeomSetCategoryBits(prm.prim_geom, 0); - d.GeomSetCollideBits(prm.prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); - } - prm.UpdateDataFromGeom(); - SetInStaticSpace(prm); +//Console.WriteLine(" CreateGeom 1"); + SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); + m_expectedCollisionContacts = 3; + } + catch (AccessViolationException) + { + m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); + return; + } + } + else + { +// _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { +//Console.WriteLine(" CreateGeom 2"); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + m_expectedCollisionContacts = 4; + } + catch (AccessViolationException) + { + m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); + return; } - prm.Body = IntPtr.Zero; - prm._mass = prm.primMass; - prm.m_collisionscore = 0; } } - if (Amotor != IntPtr.Zero) + else { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; +// _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { +//Console.WriteLine(" CreateGeom 3"); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + m_expectedCollisionContacts = 4; + } + catch (AccessViolationException) + { + m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); + return; + } + } + } + else + { +// _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { +//Console.WriteLine(" CreateGeom 4"); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); + m_expectedCollisionContacts = 4; + } + catch (AccessViolationException) + { + m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); + return; } - _parent_scene.remActiveGroup(this); - d.BodyDestroy(Body); } - Body = IntPtr.Zero; } - _mass = primMass; - m_collisionscore = 0; } - private void FixInertia(Vector3 NewPos,Quaternion newrot) + /// + /// Remove the existing geom from this prim. + /// + /// + /// If null, then a mesh is used that is based on the profile shape data. + /// true if the geom was successfully removed, false if it was already gone or the remove failed. + internal bool RemoveGeom() { - d.Matrix3 mat = new d.Matrix3(); - d.Quaternion quat = new d.Quaternion(); - - d.Mass tmpdmass = new d.Mass { }; - d.Mass objdmass = new d.Mass { }; - - d.BodyGetMass(Body, out tmpdmass); - objdmass = tmpdmass; - - d.Vector3 dobjpos; - d.Vector3 thispos; - - // get current object position and rotation - dobjpos = d.BodyGetPosition(Body); - - // get prim own inertia in its local frame - tmpdmass = primdMass; - - // transform to object frame - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); + if (prim_geom != IntPtr.Zero) + { + try + { + _parent_scene.geom_name_map.Remove(prim_geom); + _parent_scene.actor_name_map.Remove(prim_geom); + d.GeomDestroy(prim_geom); + m_expectedCollisionContacts = 0; + prim_geom = IntPtr.Zero; + } + catch (System.AccessViolationException) + { + prim_geom = IntPtr.Zero; + m_expectedCollisionContacts = 0; + m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name); - // subtract current prim inertia from object - DMassSubPartFromObj(ref tmpdmass, ref objdmass); + return false; + } - // back prim own inertia - tmpdmass = primdMass; + return true; + } + else + { + m_log.WarnFormat( + "[ODE PRIM]: Called RemoveGeom() on {0} {1} where geometry was already null.", Name, LocalID); - // update to new position and orientation - _position = NewPos; - d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); - _orientation = newrot; - quat.X = newrot.X; - quat.Y = newrot.Y; - quat.Z = newrot.Z; - quat.W = newrot.W; - d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); + return false; + } + } + /// + /// Add prim in response to an add taint. + /// + private void changeadd() + { +// m_log.DebugFormat("[ODE PRIM]: Adding prim {0}", Name); + + int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); + IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); + if (targetspace == IntPtr.Zero) + targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); + m_targetSpace = targetspace; - d.MassAdd(ref objdmass, ref tmpdmass); + IMesh mesh = null; - // fix all positions - IntPtr g = d.BodyGetFirstGeom(Body); - while (g != IntPtr.Zero) + if (_parent_scene.needsMeshing(_pbs)) { - thispos = d.GeomGetOffsetPosition(g); - thispos.X -= objdmass.c.X; - thispos.Y -= objdmass.c.Y; - thispos.Z -= objdmass.c.Z; - d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); - g = d.dBodyGetNextGeom(g); + // Don't need to re-enable body.. it's done in SetMesh + mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); + // createmesh returns null when it's a shape that isn't a cube. + // m_log.Debug(m_localID); + if (mesh == null) + CheckMeshAsset(); } - d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); - - d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; - } +#if SPAM +Console.WriteLine("changeadd 1"); +#endif + CreateGeom(m_targetSpace, mesh); + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); - private void FixInertia(Vector3 NewPos) - { - d.Matrix3 primmat = new d.Matrix3(); - d.Mass tmpdmass = new d.Mass { }; - d.Mass objdmass = new d.Mass { }; - d.Mass primmass = new d.Mass { }; + if (IsPhysical && Body == IntPtr.Zero) + enableBody(); - d.Vector3 dobjpos; - d.Vector3 thispos; + changeSelectedStatus(); - d.BodyGetMass(Body, out objdmass); + m_taintadd = false; + } - // get prim own inertia in its local frame - primmass = primdMass; - // transform to object frame - primmat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref primmass, ref primmat); + /// + /// Move prim in response to a move taint. + /// + private void changemove() + { + if (IsPhysical) + { + if (!m_disabled && !m_taintremove && !childPrim) + { + if (Body == IntPtr.Zero) + enableBody(); - tmpdmass = primmass; + //Prim auto disable after 20 frames, + //if you move it, re-enable the prim manually. + if (_parent != null) + { + if (m_linkJoint != IntPtr.Zero) + { + d.JointDestroy(m_linkJoint); + m_linkJoint = IntPtr.Zero; + } + } - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); + if (Body != IntPtr.Zero) + { + d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); - // subtract current prim inertia from object - DMassSubPartFromObj(ref tmpdmass, ref objdmass); + if (_parent != null) + { + OdePrim odParent = (OdePrim)_parent; + if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) + { +// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used?? +Console.WriteLine(" JointCreateFixed"); + m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); + d.JointAttach(m_linkJoint, Body, odParent.Body); + d.JointSetFixed(m_linkJoint); + } + } + d.BodyEnable(Body); + if (m_vehicle.Type != Vehicle.TYPE_NONE) + { + m_vehicle.Enable(Body, _parent_scene); + } + } + else + { + m_log.WarnFormat("[PHYSICS]: Body for {0} still null after enableBody(). This is a crash scenario.", Name); + } + } + //else + // { + //m_log.Debug("[BUG]: race!"); + //} + } - // update to new position - _position = NewPos; - d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); + // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); + // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); +// _parent_scene.waitForSpaceUnlock(m_targetSpace); - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref primmass, - thispos.X, - thispos.Y, - thispos.Z); + IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); + m_targetSpace = tempspace; - d.MassAdd(ref objdmass, ref primmass); +// _parent_scene.waitForSpaceUnlock(m_targetSpace); - // fix all positions - IntPtr g = d.BodyGetFirstGeom(Body); - while (g != IntPtr.Zero) - { - thispos = d.GeomGetOffsetPosition(g); - thispos.X -= objdmass.c.X; - thispos.Y -= objdmass.c.Y; - thispos.Z -= objdmass.c.Z; - d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); - g = d.dBodyGetNextGeom(g); - } + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); +// _parent_scene.waitForSpaceUnlock(m_targetSpace); + d.SpaceAdd(m_targetSpace, prim_geom); - // get current object position and rotation - dobjpos = d.BodyGetPosition(Body); + changeSelectedStatus(); - d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; + resetCollisionAccounting(); + m_taintposition = _position; } - private void FixInertia(Quaternion newrot) + internal void Move(float timestep) { - d.Matrix3 mat = new d.Matrix3(); - d.Quaternion quat = new d.Quaternion(); - - d.Mass tmpdmass = new d.Mass { }; - d.Mass objdmass = new d.Mass { }; - d.Vector3 dobjpos; - d.Vector3 thispos; + float fx = 0; + float fy = 0; + float fz = 0; - d.BodyGetMass(Body, out objdmass); + if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. + { + if (m_vehicle.Type != Vehicle.TYPE_NONE) + { + // 'VEHICLES' are dealt with in ODEDynamics.cs + m_vehicle.Step(timestep, _parent_scene); + } + else + { +//Console.WriteLine("Move " + Name); + if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 + // NON-'VEHICLES' are dealt with here +// if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) +// { +// d.Vector3 avel2 = d.BodyGetAngularVel(Body); +// /* +// if (m_angularlock.X == 1) +// avel2.X = 0; +// if (m_angularlock.Y == 1) +// avel2.Y = 0; +// if (m_angularlock.Z == 1) +// avel2.Z = 0; +// d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); +// */ +// } + //float PID_P = 900.0f; + + float m_mass = CalculateMass(); + +// fz = 0f; + //m_log.Info(m_collisionFlags.ToString()); - // get prim own inertia in its local frame - tmpdmass = primdMass; - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - // transform to object frame - thispos = d.GeomGetOffsetPosition(prim_geom); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); + + //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. + // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? + // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up + // gravityz multiplier = 1 - m_buoyancy + fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; - // subtract current prim inertia from object - DMassSubPartFromObj(ref tmpdmass, ref objdmass); + if (m_usePID) + { +//Console.WriteLine("PID " + Name); + // KF - this is for object move? eg. llSetPos() ? + //if (!d.BodyIsEnabled(Body)) + //d.BodySetForce(Body, 0f, 0f, 0f); + // If we're using the PID controller, then we have no gravity + //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply... + fz = 0f; + + // no lock; for now it's only called from within Simulate() + + // If the PID Controller isn't active then we set our force + // calculating base velocity to the current position + + if ((m_PIDTau < 1) && (m_PIDTau != 0)) + { + //PID_G = PID_G / m_PIDTau; + m_PIDTau = 1; + } + + if ((PID_G - m_PIDTau) <= 0) + { + PID_G = m_PIDTau + 1; + } + //PidStatus = true; - // update to new orientation - _orientation = newrot; - quat.X = newrot.X; - quat.Y = newrot.Y; - quat.Z = newrot.Z; - quat.W = newrot.W; - d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); + // PhysicsVector vec = new PhysicsVector(); + d.Vector3 vel = d.BodyGetLinearVel(Body); - tmpdmass = primdMass; - mat = d.GeomGetOffsetRotation(prim_geom); - d.MassRotate(ref tmpdmass, ref mat); - d.MassTranslate(ref tmpdmass, - thispos.X, - thispos.Y, - thispos.Z); + d.Vector3 pos = d.BodyGetPosition(Body); + _target_velocity = + new Vector3( + (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), + (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), + (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) + ); - d.MassAdd(ref objdmass, ref tmpdmass); + // if velocity is zero, use position control; otherwise, velocity control - // fix all positions - IntPtr g = d.BodyGetFirstGeom(Body); - while (g != IntPtr.Zero) - { - thispos = d.GeomGetOffsetPosition(g); - thispos.X -= objdmass.c.X; - thispos.Y -= objdmass.c.Y; - thispos.Z -= objdmass.c.Z; - d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); - g = d.dBodyGetNextGeom(g); - } + if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f)) + { + // keep track of where we stopped. No more slippin' & slidin' + + // We only want to deactivate the PID Controller if we think we want to have our surrogate + // react to the physics scene by moving it's position. + // Avatar to Avatar collisions + // Prim to avatar collisions + + //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); + //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); + //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; + d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); + d.BodySetLinearVel(Body, 0, 0, 0); + d.BodyAddForce(Body, 0, 0, fz); + return; + } + else + { + _zeroFlag = false; - d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); - // get current object position and rotation - dobjpos = d.BodyGetPosition(Body); + // We're flying and colliding with something + fx = ((_target_velocity.X) - vel.X) * (PID_D); + fy = ((_target_velocity.Y) - vel.Y) * (PID_D); + + // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; - d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); - d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body - d.BodySetMass(Body, ref objdmass); - _mass = objdmass.mass; - } + fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); + } + } // end if (m_usePID) + // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller + if (m_useHoverPID && !m_usePID) + { +//Console.WriteLine("Hover " + Name); + + // If we're using the PID controller, then we have no gravity + fz = (-1 * _parent_scene.gravityz) * m_mass; - #region Mass Calculation + // no lock; for now it's only called from within Simulate() - private void UpdatePrimBodyData() - { - primMass = m_density * primVolume; + // If the PID Controller isn't active then we set our force + // calculating base velocity to the current position - if (primMass <= 0) - primMass = 0.0001f;//ckrinke: Mass must be greater then zero. - if (primMass > _parent_scene.maximumMassObject) - primMass = _parent_scene.maximumMassObject; + if ((m_PIDTau < 1)) + { + PID_G = PID_G / m_PIDTau; + } - _mass = primMass; // just in case + if ((PID_G - m_PIDTau) <= 0) + { + PID_G = m_PIDTau + 1; + } - d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z); + // Where are we, and where are we headed? + d.Vector3 pos = d.BodyGetPosition(Body); + d.Vector3 vel = d.BodyGetLinearVel(Body); - d.MassTranslate(ref primdMass, - m_OBBOffset.X, - m_OBBOffset.Y, - m_OBBOffset.Z); + // Non-Vehicles have a limited set of Hover options. + // determine what our target height really is based on HoverType + switch (m_PIDHoverType) + { + case PIDHoverType.Ground: + m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); + m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + break; + case PIDHoverType.GroundAndWater: + m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); + m_waterHeight = _parent_scene.GetWaterLevel(); + if (m_groundHeight > m_waterHeight) + { + m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + } + else + { + m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; + } + break; - primOOBradiusSQ = m_OBB.LengthSquared(); + } // end switch (m_PIDHoverType) - if (_triMeshData != IntPtr.Zero) - { - float pc = m_physCost; - float psf = primOOBradiusSQ; - psf *= 1.33f * .2f; - pc *= psf; - if (pc < 0.1f) - pc = 0.1f; - m_physCost = pc; - } - else - m_physCost = 0.1f; + _target_velocity = + new Vector3(0.0f, 0.0f, + (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) + ); - m_streamCost = 1.0f; - } + // if velocity is zero, use position control; otherwise, velocity control - #endregion + if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) + { + // keep track of where we stopped. No more slippin' & slidin' + + // We only want to deactivate the PID Controller if we think we want to have our surrogate + // react to the physics scene by moving it's position. + // Avatar to Avatar collisions + // Prim to avatar collisions + + d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); + d.BodySetLinearVel(Body, vel.X, vel.Y, 0); + d.BodyAddForce(Body, 0, 0, fz); + return; + } + else + { + _zeroFlag = false; + // We're flying and colliding with something + fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); + } + } - /// - /// Add a child prim to this parent prim. - /// - /// Child prim - // I'm the parent - // prim is the child - public void ParentPrim(OdePrim prim) - { - //Console.WriteLine("ParentPrim " + m_primName); - if (this.m_localID != prim.m_localID) - { - DestroyBody(); // for now we need to rebuil entire object on link change + fx *= m_mass; + fy *= m_mass; + //fz *= m_mass; - lock (childrenPrim) - { - // adopt the prim - if (!childrenPrim.Contains(prim)) - childrenPrim.Add(prim); + fx += m_force.X; + fy += m_force.Y; + fz += m_force.Z; - // see if this prim has kids and adopt them also - // should not happen for now - foreach (OdePrim prm in prim.childrenPrim) + //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); + if (fx != 0 || fy != 0 || fz != 0) { - if (!childrenPrim.Contains(prm)) + //m_taintdisable = true; + //base.RaiseOutOfBounds(Position); + //d.BodySetLinearVel(Body, fx, fy, 0f); + if (!d.BodyIsEnabled(Body)) { - if (prm.Body != IntPtr.Zero) - { - if (prm.prim_geom != IntPtr.Zero) - d.GeomSetBody(prm.prim_geom, IntPtr.Zero); - if (prm.Body != prim.Body) - prm.DestroyBody(); // don't loose bodies around - prm.Body = IntPtr.Zero; - } - - childrenPrim.Add(prm); - prm._parent = this; + // A physical body at rest on a surface will auto-disable after a while, + // this appears to re-enable it incase the surface it is upon vanishes, + // and the body should fall again. + d.BodySetLinearVel(Body, 0f, 0f, 0f); + d.BodySetForce(Body, 0, 0, 0); + enableBodySoft(); } + + // 35x10 = 350n times the mass per second applied maximum. + float nmax = 35f * m_mass; + float nmin = -35f * m_mass; + + if (fx > nmax) + fx = nmax; + if (fx < nmin) + fx = nmin; + if (fy > nmax) + fy = nmax; + if (fy < nmin) + fy = nmin; + d.BodyAddForce(Body, fx, fy, fz); +//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); } } - //Remove old children from the prim - prim.childrenPrim.Clear(); + } + else + { // is not physical, or is not a body or is selected + // _zeroPosition = d.BodyGetPosition(Body); + return; +//Console.WriteLine("Nothing " + Name); + + } + } - if (prim.Body != IntPtr.Zero) + private void rotate() + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + if (Body != IntPtr.Zero) + { + // KF: If this is a root prim do BodySet + d.BodySetQuaternion(Body, ref myrot); + if (IsPhysical) { - if (prim.prim_geom != IntPtr.Zero) - d.GeomSetBody(prim.prim_geom, IntPtr.Zero); - prim.DestroyBody(); // don't loose bodies around - prim.Body = IntPtr.Zero; + if (!m_angularlock.ApproxEquals(Vector3.One, 0f)) + createAMotor(m_angularlock); } - - prim.childPrim = true; - prim._parent = this; - - MakeBody(); // full nasty reconstruction } + else + { + // daughter prim, do Geom set + d.GeomSetQuaternion(prim_geom, ref myrot); + } + + resetCollisionAccounting(); + m_taintrot = _orientation; } - private void UpdateChildsfromgeom() + private void resetCollisionAccounting() { - if (childrenPrim.Count > 0) - { - foreach (OdePrim prm in childrenPrim) - prm.UpdateDataFromGeom(); - } + m_collisionscore = 0; + m_interpenetrationcount = 0; + m_disabled = false; } - private void UpdateDataFromGeom() + /// + /// Change prim in response to a disable taint. + /// + private void changedisable() { - if (prim_geom != IntPtr.Zero) + m_disabled = true; + if (Body != IntPtr.Zero) { - d.Quaternion qtmp; - d.GeomCopyQuaternion(prim_geom, out qtmp); - _orientation.X = qtmp.X; - _orientation.Y = qtmp.Y; - _orientation.Z = qtmp.Z; - _orientation.W = qtmp.W; - -// Debug - float qlen = _orientation.Length(); - if (qlen > 1.01f || qlen < 0.99) - m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); -// - _orientation.Normalize(); - - d.Vector3 lpos = d.GeomGetPosition(prim_geom); - _position.X = lpos.X; - _position.Y = lpos.Y; - _position.Z = lpos.Z; + d.BodyDisable(Body); + Body = IntPtr.Zero; } + + m_taintdisable = false; } - private void ChildDelink(OdePrim odePrim, bool remakebodies) + /// + /// Change prim in response to a physics status taint + /// + private void changePhysicsStatus() { - // Okay, we have a delinked child.. destroy all body and remake - if (odePrim != this && !childrenPrim.Contains(odePrim)) - return; - - DestroyBody(); - - if (odePrim == this) // delinking the root prim + if (IsPhysical) { - OdePrim newroot = null; - lock (childrenPrim) + if (Body == IntPtr.Zero) { - if (childrenPrim.Count > 0) + if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) { - newroot = childrenPrim[0]; - childrenPrim.RemoveAt(0); - foreach (OdePrim prm in childrenPrim) - { - newroot.childrenPrim.Add(prm); - } - childrenPrim.Clear(); + changeshape(); } - if (newroot != null) + else { - newroot.childPrim = false; - newroot._parent = null; - if (remakebodies) - newroot.MakeBody(); + enableBody(); } } } - else { - lock (childrenPrim) + if (Body != IntPtr.Zero) { - childrenPrim.Remove(odePrim); - odePrim.childPrim = false; - odePrim._parent = null; - // odePrim.UpdateDataFromGeom(); - if (remakebodies) - odePrim.MakeBody(); - } - } - if (remakebodies) - MakeBody(); - } - - protected void ChildRemove(OdePrim odePrim, bool reMakeBody) - { - // Okay, we have a delinked child.. destroy all body and remake - if (odePrim != this && !childrenPrim.Contains(odePrim)) - return; + if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) + { + RemoveGeom(); - DestroyBody(); +//Console.WriteLine("changePhysicsStatus for " + Name); + changeadd(); + } - if (odePrim == this) - { - OdePrim newroot = null; - lock (childrenPrim) - { - if (childrenPrim.Count > 0) + if (childPrim) { - newroot = childrenPrim[0]; - childrenPrim.RemoveAt(0); - foreach (OdePrim prm in childrenPrim) + if (_parent != null) { - newroot.childrenPrim.Add(prm); + OdePrim parent = (OdePrim)_parent; + parent.ChildDelink(this); } - childrenPrim.Clear(); } - if (newroot != null) + else { - newroot.childPrim = false; - newroot._parent = null; - newroot.MakeBody(); + disableBody(); } } - if (reMakeBody) - MakeBody(); - return; - } - else - { - lock (childrenPrim) - { - childrenPrim.Remove(odePrim); - odePrim.childPrim = false; - odePrim._parent = null; - if (reMakeBody) - odePrim.MakeBody(); - } } - MakeBody(); - } - #region changes + changeSelectedStatus(); - private void changeadd() - { + resetCollisionAccounting(); + m_taintPhysics = IsPhysical; } - private void changeAngularLock(Vector3 newLock) + /// + /// Change prim in response to a size taint. + /// + private void changesize() { - // do we have a Physical object? - if (Body != IntPtr.Zero) +#if SPAM + m_log.DebugFormat("[ODE PRIM]: Called changesize"); +#endif + + if (_size.X <= 0) _size.X = 0.01f; + if (_size.Y <= 0) _size.Y = 0.01f; + if (_size.Z <= 0) _size.Z = 0.01f; + + //kill body to rebuild + if (IsPhysical && Body != IntPtr.Zero) { - //Check that we have a Parent - //If we have a parent then we're not authorative here - if (_parent == null) + if (childPrim) { - if (!newLock.ApproxEquals(Vector3.One, 0f)) - { - createAMotor(newLock); - } - else + if (_parent != null) { - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } + OdePrim parent = (OdePrim)_parent; + parent.ChildDelink(this); } } - } - // Store this for later in case we get turned into a separate body - m_angularlock = newLock; - } - - private void changeLink(OdePrim NewParent) - { - if (_parent == null && NewParent != null) - { - NewParent.ParentPrim(this); - } - else if (_parent != null) - { - if (_parent is OdePrim) + else { - if (NewParent != _parent) - { - (_parent as OdePrim).ChildDelink(this, false); // for now... - childPrim = false; - - if (NewParent != null) - { - NewParent.ParentPrim(this); - } - } + disableBody(); } } - _parent = NewParent; - } - - - private void Stop() - { - if (!childPrim) - { - m_force = Vector3.Zero; - m_forceacc = Vector3.Zero; - m_angularForceacc = Vector3.Zero; - _torque = Vector3.Zero; - _velocity = Vector3.Zero; - _acceleration = Vector3.Zero; - m_rotationalVelocity = Vector3.Zero; - _target_velocity = Vector3.Zero; - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - m_vehicle.Stop(); - - _zeroFlag = false; - base.RequestPhysicsterseUpdate(); - } - if (Body != IntPtr.Zero) + if (d.SpaceQuery(m_targetSpace, prim_geom)) { - d.BodySetForce(Body, 0f, 0f, 0f); - d.BodySetTorque(Body, 0f, 0f, 0f); - d.BodySetLinearVel(Body, 0f, 0f, 0f); - d.BodySetAngularVel(Body, 0f, 0f, 0f); +// _parent_scene.waitForSpaceUnlock(m_targetSpace); + d.SpaceRemove(m_targetSpace, prim_geom); } - } - - private void changePhantomStatus(bool newval) - { - m_isphantom = newval; - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } + RemoveGeom(); -/* not in use - internal void ChildSelectedChange(bool childSelect) - { - if(childPrim) - return; + // we don't need to do space calculation because the client sends a position update also. - if (childSelect == m_isSelected) - return; + IMesh mesh = null; - if (childSelect) + // Construction of new prim + if (_parent_scene.needsMeshing(_pbs)) { - DoSelectedStatus(true); - } + float meshlod = _parent_scene.meshSculptLOD; - else - { - foreach (OdePrim prm in childrenPrim) + if (IsPhysical) + meshlod = _parent_scene.MeshSculptphysicalLOD; + // Don't need to re-enable body.. it's done in SetMesh + + if (_parent_scene.needsMeshing(_pbs)) { - if (prm.m_isSelected) - return; + mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical); + if (mesh == null) + CheckMeshAsset(); } - DoSelectedStatus(false); + } - } -*/ - private void changeSelectedStatus(bool newval) - { - if (m_lastdoneSelected == newval) - return; - m_lastdoneSelected = newval; - DoSelectedStatus(newval); - } + CreateGeom(m_targetSpace, mesh); + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); - private void CheckDelaySelect() - { - if (m_delaySelect) + //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); + if (IsPhysical && Body == IntPtr.Zero && !childPrim) { - DoSelectedStatus(m_isSelected); + // Re creates body on size. + // EnableBody also does setMass() + enableBody(); + d.BodyEnable(Body); } - } - private void DoSelectedStatus(bool newval) - { - m_isSelected = newval; - Stop(); + changeSelectedStatus(); - if (newval) + if (childPrim) { - if (!childPrim && Body != IntPtr.Zero) - d.BodyDisable(Body); - - if (m_delaySelect || m_isphysical) - { - m_collisionCategories = CollisionCategories.Selected; - m_collisionFlags = 0; - - if (!childPrim) - { - foreach (OdePrim prm in childrenPrim) - { - prm.m_collisionCategories = m_collisionCategories; - prm.m_collisionFlags = m_collisionFlags; - - if (prm.prim_geom != null) - { - - if (prm.m_NoColide) - { - d.GeomSetCategoryBits(prm.prim_geom, 0); - d.GeomSetCollideBits(prm.prim_geom, 0); - } - else - { - d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); - } - } - prm.m_delaySelect = false; - } - } -// else if (_parent != null) -// ((OdePrim)_parent).ChildSelectedChange(true); - - - if (prim_geom != null) - { - if (m_NoColide) - { - d.GeomSetCategoryBits(prim_geom, 0); - d.GeomSetCollideBits(prim_geom, 0); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, 0); - d.GeomSetCollideBits(collide_geom, 0); - } - - } - else - { - d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); - if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) - { - d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); - d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); - } - } - } - - m_delaySelect = false; - } - else if(!m_isphysical) + if (_parent is OdePrim) { - m_delaySelect = true; + OdePrim parent = (OdePrim)_parent; + parent.ChildSetGeom(this); } } + resetCollisionAccounting(); + m_taintsize = _size; + } + + /// + /// Change prim in response to a float on water taint. + /// + /// + private void changefloatonwater() + { + m_collidesWater = m_taintCollidesWater; + + if (m_collidesWater) + { + m_collisionFlags |= CollisionCategories.Water; + } else { - if (!childPrim) - { - if (Body != IntPtr.Zero && !m_disabled) - d.BodyEnable(Body); - } -// else if (_parent != null) -// ((OdePrim)_parent).ChildSelectedChange(false); - - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - - m_delaySelect = false; + m_collisionFlags &= ~CollisionCategories.Water; } - resetCollisionAccounting(); + d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); } - private void changePosition(Vector3 newPos) + /// + /// Change prim in response to a shape taint. + /// + private void changeshape() { - CheckDelaySelect(); - if (m_isphysical) + m_taintshape = false; + + // Cleanup of old prim geometry and Bodies + if (IsPhysical && Body != IntPtr.Zero) { - if (childPrim) // inertia is messed, must rebuild + if (childPrim) { - if (m_building) - { - _position = newPos; - } - - else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) + if (_parent != null) { - FixInertia(newPos); - if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + OdePrim parent = (OdePrim)_parent; + parent.ChildDelink(this); } } else { - if (_position != newPos) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - } - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + disableBody(); } } - else + + RemoveGeom(); + + // we don't need to do space calculation because the client sends a position update also. + if (_size.X <= 0) _size.X = 0.01f; + if (_size.Y <= 0) _size.Y = 0.01f; + if (_size.Z <= 0) _size.Z = 0.01f; + // Construction of new prim + + IMesh mesh = null; + + + if (_parent_scene.needsMeshing(_pbs)) { - if (prim_geom != IntPtr.Zero) - { - if (newPos != _position) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; + // Don't need to re-enable body.. it's done in CreateMesh + float meshlod = _parent_scene.meshSculptLOD; - m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); - } - } + if (IsPhysical) + meshlod = _parent_scene.MeshSculptphysicalLOD; + + // createmesh returns null when it doesn't mesh. + mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical); + if (mesh == null) + CheckMeshAsset(); } - givefakepos--; - if (givefakepos < 0) - givefakepos = 0; -// changeSelectedStatus(); - resetCollisionAccounting(); - } - private void changeOrientation(Quaternion newOri) - { - CheckDelaySelect(); - if (m_isphysical) + CreateGeom(m_targetSpace, mesh); + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + //myrot.W = _orientation.w; + myrot.W = _orientation.W; + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + d.GeomSetQuaternion(prim_geom, ref myrot); + + //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); + if (IsPhysical && Body == IntPtr.Zero) { - if (childPrim) // inertia is messed, must rebuild - { - if (m_building) - { - _orientation = newOri; - } -/* - else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) - { - FixInertia(_position, newOri); - if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } -*/ - } - else + // Re creates body on size. + // EnableBody also does setMass() + enableBody(); + if (Body != IntPtr.Zero) { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) - createAMotor(m_angularlock); - } - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + d.BodyEnable(Body); } } - else + + changeSelectedStatus(); + + if (childPrim) { - if (prim_geom != IntPtr.Zero) + if (_parent is OdePrim) { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - } + OdePrim parent = (OdePrim)_parent; + parent.ChildSetGeom(this); } } - givefakeori--; - if (givefakeori < 0) - givefakeori = 0; + resetCollisionAccounting(); +// m_taintshape = false; } - private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) + /// + /// Change prim in response to an add force taint. + /// + private void changeAddForce() { - CheckDelaySelect(); - if (m_isphysical) + if (!m_isSelected) { - if (childPrim && m_building) // inertia is messed, must rebuild + lock (m_forcelist) { - _position = newPos; - _orientation = newOri; - } - else - { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) - createAMotor(m_angularlock); - } - if (_position != newPos) + //m_log.Info("[PHYSICS]: dequeing forcelist"); + if (IsPhysical) { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; - } - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + Vector3 iforce = Vector3.Zero; + int i = 0; + try + { + for (i = 0; i < m_forcelist.Count; i++) + { + + iforce = iforce + (m_forcelist[i] * 100); + } + } + catch (IndexOutOfRangeException) + { + m_forcelist = new List(); + m_collisionscore = 0; + m_interpenetrationcount = 0; + m_taintforce = false; + return; + } + catch (ArgumentOutOfRangeException) + { + m_forcelist = new List(); + m_collisionscore = 0; + m_interpenetrationcount = 0; + m_taintforce = false; + return; + } d.BodyEnable(Body); + d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z); + } + m_forcelist.Clear(); } - } - else - { - // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); - // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); - if (prim_geom != IntPtr.Zero) - { - if (newOri != _orientation) - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = newOri.X; - myrot.Y = newOri.Y; - myrot.Z = newOri.Z; - myrot.W = newOri.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - _orientation = newOri; - } + m_collisionscore = 0; + m_interpenetrationcount = 0; + } - if (newPos != _position) - { - d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); - _position = newPos; + m_taintforce = false; + } - m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); - } + /// + /// Change prim in response to a torque taint. + /// + private void changeSetTorque() + { + if (!m_isSelected) + { + if (IsPhysical && Body != IntPtr.Zero) + { + d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z); } } - givefakepos--; - if (givefakepos < 0) - givefakepos = 0; - givefakeori--; - if (givefakeori < 0) - givefakeori = 0; - resetCollisionAccounting(); + + m_taintTorque = Vector3.Zero; } - private void changeDisable(bool disable) + /// + /// Change prim in response to an angular force taint. + /// + private void changeAddAngularForce() { - if (disable) - { - if (!m_disabled) - disableBodySoft(); - } - else + if (!m_isSelected) { - if (m_disabled) - enableBodySoft(); + lock (m_angularforcelist) + { + //m_log.Info("[PHYSICS]: dequeing forcelist"); + if (IsPhysical) + { + Vector3 iforce = Vector3.Zero; + for (int i = 0; i < m_angularforcelist.Count; i++) + { + iforce = iforce + (m_angularforcelist[i] * 100); + } + d.BodyEnable(Body); + d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); + + } + m_angularforcelist.Clear(); + } + + m_collisionscore = 0; + m_interpenetrationcount = 0; } + + m_taintaddangularforce = false; } - private void changePhysicsStatus(bool NewStatus) + /// + /// Change prim in response to a velocity taint. + /// + private void changevelocity() { - CheckDelaySelect(); - - m_isphysical = NewStatus; - - if (!childPrim) + if (!m_isSelected) { - if (NewStatus) - { - if (Body == IntPtr.Zero) - MakeBody(); - } - else + // Not sure exactly why this sleep is here, but from experimentation it appears to stop an avatar + // walking through a default rez size prim if it keeps kicking it around - justincc. + Thread.Sleep(20); + + if (IsPhysical) { if (Body != IntPtr.Zero) { - DestroyBody(); + d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); } - Stop(); } + + //resetCollisionAccounting(); } - resetCollisionAccounting(); + m_taintVelocity = Vector3.Zero; } - private void changeSize(Vector3 newSize) + internal void setPrimForRemoval() { + m_taintremove = true; } - private void changeShape(PrimitiveBaseShape newShape) + public override bool Flying { + // no flying prims for you + get { return false; } + set { } } - private void changeAddPhysRep(ODEPhysRepData repData) + public override bool IsColliding { - _size = repData.size; //?? - _pbs = repData.pbs; - m_shapetype = repData.shapetype; - - m_mesh = repData.mesh; - - m_assetID = repData.assetID; - m_meshState = repData.meshState; + get { return iscolliding; } + set { iscolliding = value; } + } - m_hasOBB = repData.hasOBB; - m_OBBOffset = repData.OBBOffset; - m_OBB = repData.OBB; + public override bool CollidingGround + { + get { return false; } + set { return; } + } - primVolume = repData.volume; + public override bool CollidingObj + { + get { return false; } + set { return; } + } - CreateGeom(); + public override bool ThrottleUpdates + { + get { return m_throttleUpdates; } + set { m_throttleUpdates = value; } + } - if (prim_geom != IntPtr.Zero) - { - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - } + public override bool Stopped + { + get { return _zeroFlag; } + } - if (!m_isphysical) - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - else - MakeBody(); + public override Vector3 Position + { + get { return _position; } - if ((m_meshState & MeshState.NeedMask) != 0) - { - repData.size = _size; - repData.pbs = _pbs; - repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMesh(repData); + set { _position = value; + //m_log.Info("[PHYSICS]: " + _position.ToString()); } } - private void changePhysRepData(ODEPhysRepData repData) + public override Vector3 Size { - CheckDelaySelect(); - - OdePrim parent = (OdePrim)_parent; - - bool chp = childPrim; - - if (chp) + get { return _size; } + set { - if (parent != null) + if (value.IsFinite()) { - parent.DestroyBody(); + _size = value; +// m_log.DebugFormat("[PHYSICS]: Set size on {0} to {1}", Name, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); } } - else - { - DestroyBody(); - } - - RemoveGeom(); - - _size = repData.size; - _pbs = repData.pbs; - m_shapetype = repData.shapetype; - - m_mesh = repData.mesh; - - m_assetID = repData.assetID; - m_meshState = repData.meshState; - - m_hasOBB = repData.hasOBB; - m_OBBOffset = repData.OBBOffset; - m_OBB = repData.OBB; - - primVolume = repData.volume; - - CreateGeom(); + } - if (prim_geom != IntPtr.Zero) - { - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - } + public override float Mass + { + get { return CalculateMass(); } + } - if (m_isphysical) + public override Vector3 Force + { + //get { return Vector3.Zero; } + get { return m_force; } + set { - if (chp) + if (value.IsFinite()) { - if (parent != null) - { - parent.MakeBody(); - } + m_force = value; } else - MakeBody(); - } - else - { - SetInStaticSpace(this); - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); + { + m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); + } } + } - resetCollisionAccounting(); + public override int VehicleType + { + get { return (int)m_vehicle.Type; } + set { m_vehicle.ProcessTypeChange((Vehicle)value); } + } - if ((m_meshState & MeshState.NeedMask) != 0) - { - repData.size = _size; - repData.pbs = _pbs; - repData.shapetype = m_shapetype; - _parent_scene.m_meshWorker.RequestMesh(repData); - } + public override void VehicleFloatParam(int param, float value) + { + m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value); } - private void changeFloatOnWater(bool newval) + public override void VehicleVectorParam(int param, Vector3 value) { - m_collidesWater = newval; + m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value); + } - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); + public override void VehicleRotationParam(int param, Quaternion rotation) + { + m_vehicle.ProcessRotationVehicleParam((Vehicle) param, rotation); } - private void changeSetTorque(Vector3 newtorque) + public override void VehicleFlags(int param, bool remove) { - if (!m_isSelected) - { - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + m_vehicle.ProcessVehicleFlags(param, remove); + } - } - _torque = newtorque; + public override void SetVolumeDetect(int param) + { + // We have to lock the scene here so that an entire simulate loop either uses volume detect for all + // possible collisions with this prim or for none of them. + lock (_parent_scene.OdeLock) + { + m_isVolumeDetect = (param != 0); } } - private void changeForce(Vector3 force) + public override Vector3 CenterOfMass { - m_force = force; - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + get { return Vector3.Zero; } } - private void changeAddForce(Vector3 theforce) + public override Vector3 GeometricCenter { - m_forceacc += theforce; - if (!m_isSelected) - { - lock (this) - { - //m_log.Info("[PHYSICS]: dequeing forcelist"); - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - m_collisionscore = 0; - } + get { return Vector3.Zero; } } - // actually angular impulse - private void changeAddAngularImpulse(Vector3 aimpulse) + public override PrimitiveBaseShape Shape { - m_angularForceacc += aimpulse * m_invTimeStep; - if (!m_isSelected) + set { - lock (this) - { - if (m_isphysical && Body != IntPtr.Zero) - { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - } - } - m_collisionscore = 0; + _pbs = value; + m_assetFailed = false; + m_taintshape = true; } } - private void changevelocity(Vector3 newVel) + public override Vector3 Velocity { - float len = newVel.LengthSquared(); - if (len > 100000.0f) // limit to 100m/s + get { - len = 100.0f / (float)Math.Sqrt(len); - newVel *= len; - } + // Average previous velocity with the new one so + // client object interpolation works a 'little' better + if (_zeroFlag) + return Vector3.Zero; - if (!m_isSelected) + Vector3 returnVelocity = Vector3.Zero; + returnVelocity.X = (m_lastVelocity.X + _velocity.X) * 0.5f; // 0.5f is mathematically equiv to '/ 2' + returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) * 0.5f; + returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) * 0.5f; + return returnVelocity; + } + set { - if (Body != IntPtr.Zero) + if (value.IsFinite()) { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + _velocity = value; - d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); + m_taintVelocity = value; + _parent_scene.AddPhysicsActorTaint(this); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); } - //resetCollisionAccounting(); + } - _velocity = newVel; } - private void changeangvelocity(Vector3 newAngVel) + public override Vector3 Torque { - float len = newAngVel.LengthSquared(); - if (len > 144.0f) // limit to 12rad/s + get { - len = 12.0f / (float)Math.Sqrt(len); - newAngVel *= len; + if (!IsPhysical || Body == IntPtr.Zero) + return Vector3.Zero; + + return _torque; } - if (!m_isSelected) + set { - if (Body != IntPtr.Zero) + if (value.IsFinite()) { - if (m_disabled) - enableBodySoft(); - else if (!d.BodyIsEnabled(Body)) - d.BodyEnable(Body); - - - d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); + m_taintTorque = value; + _parent_scene.AddPhysicsActorTaint(this); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); } - //resetCollisionAccounting(); } - m_rotationalVelocity = newAngVel; } - private void changeVolumedetetion(bool newVolDtc) - { - m_isVolumeDetect = newVolDtc; - m_fakeisVolumeDetect = newVolDtc; - UpdateCollisionCatFlags(); - ApplyCollisionCatFlags(); - } - - protected void changeBuilding(bool newbuilding) + public override float CollisionScore { - // Check if we need to do anything - if (newbuilding == m_building) - return; - - if ((bool)newbuilding) - { - m_building = true; - if (!childPrim) - DestroyBody(); - } - else - { - m_building = false; - CheckDelaySelect(); - if (!childPrim) - MakeBody(); - } - if (!childPrim && childrenPrim.Count > 0) - { - foreach (OdePrim prm in childrenPrim) - prm.changeBuilding(m_building); // call directly - } + get { return m_collisionscore; } + set { m_collisionscore = value; } } - public void changeSetVehicle(VehicleData vdata) + public override bool Kinematic { - if (m_vehicle == null) - m_vehicle = new ODEDynamics(this); - m_vehicle.DoSetVehicle(vdata); + get { return false; } + set { } } - private void changeVehicleType(int value) + public override Quaternion Orientation { - if (value == (int)Vehicle.TYPE_NONE) - { - if (m_vehicle != null) - m_vehicle = null; - } - else + get { return _orientation; } + set { - if (m_vehicle == null) - m_vehicle = new ODEDynamics(this); - - m_vehicle.ProcessTypeChange((Vehicle)value); + if (QuaternionIsFinite(value)) + _orientation = value; + else + m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); } } - private void changeVehicleFloatParam(strVehicleFloatParam fp) + private static bool QuaternionIsFinite(Quaternion q) { - if (m_vehicle == null) - return; - - m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); + if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) + return false; + if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) + return false; + if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) + return false; + if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) + return false; + return true; } - private void changeVehicleVectorParam(strVehicleVectorParam vp) + public override Vector3 Acceleration { - if (m_vehicle == null) - return; - m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); + get { return _acceleration; } + set { _acceleration = value; } } - private void changeVehicleRotationParam(strVehicleQuatParam qp) + public override void AddForce(Vector3 force, bool pushforce) { - if (m_vehicle == null) - return; - m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); - } + if (force.IsFinite()) + { + lock (m_forcelist) + m_forcelist.Add(force); - private void changeVehicleFlags(strVehicleBoolParam bp) - { - if (m_vehicle == null) - return; - m_vehicle.ProcessVehicleFlags(bp.param, bp.value); + m_taintforce = true; + } + else + { + m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); + } + //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); } - private void changeBuoyancy(float b) + public override void AddAngularForce(Vector3 force, bool pushforce) { - m_buoyancy = b; + if (force.IsFinite()) + { + m_angularforcelist.Add(force); + m_taintaddangularforce = true; + } + else + { + m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); + } } - private void changePIDTarget(Vector3 trg) + public override Vector3 RotationalVelocity { - m_PIDTarget = trg; - } + get + { + Vector3 pv = Vector3.Zero; + if (_zeroFlag) + return pv; + m_lastUpdateSent = false; - private void changePIDTau(float tau) - { - m_PIDTau = tau; + if (m_rotationalVelocity.ApproxEquals(pv, 0.2f)) + return pv; + + return m_rotationalVelocity; + } + set + { + if (value.IsFinite()) + { + m_rotationalVelocity = value; + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); + } + } } - private void changePIDActive(bool val) + public override void CrossingFailure() { - m_usePID = val; + m_crossingfailures++; + if (m_crossingfailures > _parent_scene.geomCrossingFailuresBeforeOutofbounds) + { + base.RaiseOutOfBounds(_position); + return; + } + else if (m_crossingfailures == _parent_scene.geomCrossingFailuresBeforeOutofbounds) + { + m_log.Warn("[PHYSICS]: Too many crossing failures for: " + Name); + } } - private void changePIDHoverHeight(float val) + public override float Buoyancy { - m_PIDHoverHeight = val; - if (val == 0) - m_useHoverPID = false; + get { return m_buoyancy; } + set { m_buoyancy = value; } } - private void changePIDHoverType(PIDHoverType type) + public override void link(PhysicsActor obj) { - m_PIDHoverType = type; + m_taintparent = obj; } - private void changePIDHoverTau(float tau) + public override void delink() { - m_PIDHoverTau = tau; + m_taintparent = null; } - private void changePIDHoverActive(bool active) + public override void LockAngularMotion(Vector3 axis) { - m_useHoverPID = active; + // reverse the zero/non zero values for ODE. + if (axis.IsFinite()) + { + axis.X = (axis.X > 0) ? 1f : 0f; + axis.Y = (axis.Y > 0) ? 1f : 0f; + axis.Z = (axis.Z > 0) ? 1f : 0f; + m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); + m_taintAngularLock = axis; + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); + } } - #endregion - - public void Move() + internal void UpdatePositionAndVelocity() { - if (!childPrim && m_isphysical && Body != IntPtr.Zero && - !m_disabled && !m_isSelected && !m_building && !m_outbounds) + // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! + if (_parent == null) { - if (!d.BodyIsEnabled(Body)) - { - // let vehicles sleep - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - return; - - if (++bodydisablecontrol < 20) - return; - - - d.BodyEnable(Body); - } - - bodydisablecontrol = 0; - - d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator - - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - { - // 'VEHICLES' are dealt with in ODEDynamics.cs - m_vehicle.Step(); - return; - } - - float fx = 0; - float fy = 0; - float fz = 0; - - float m_mass = _mass; - - if (m_usePID && m_PIDTau > 0) - { - // for now position error - _target_velocity = - new Vector3( - (m_PIDTarget.X - lpos.X), - (m_PIDTarget.Y - lpos.Y), - (m_PIDTarget.Z - lpos.Z) - ); - - if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) - { - d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); - d.BodySetLinearVel(Body, 0, 0, 0); - return; - } - else - { - _zeroFlag = false; - - float tmp = 1 / m_PIDTau; - _target_velocity *= tmp; - - // apply limits - tmp = _target_velocity.Length(); - if (tmp > 50.0f) - { - tmp = 50 / tmp; - _target_velocity *= tmp; - } - else if (tmp < 0.05f) - { - tmp = 0.05f / tmp; - _target_velocity *= tmp; - } - - d.Vector3 vel = d.BodyGetLinearVel(Body); - fx = (_target_velocity.X - vel.X) * m_invTimeStep; - fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; - fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; -// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); - } - } // end if (m_usePID) - - // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller - else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) - { - - // Non-Vehicles have a limited set of Hover options. - // determine what our target height really is based on HoverType - - m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); - - switch (m_PIDHoverType) - { - case PIDHoverType.Ground: - m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; - break; - - case PIDHoverType.GroundAndWater: - m_waterHeight = _parent_scene.GetWaterLevel(); - if (m_groundHeight > m_waterHeight) - m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; - else - m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; - break; - } // end switch (m_PIDHoverType) - - // don't go underground unless volumedetector - - if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) + Vector3 pv = Vector3.Zero; + bool lastZeroFlag = _zeroFlag; + float m_minvelocity = 0; + if (Body != (IntPtr)0) // FIXME -> or if it is a joint + { + d.Vector3 vec = d.BodyGetPosition(Body); + d.Quaternion ori = d.BodyGetQuaternion(Body); + d.Vector3 vel = d.BodyGetLinearVel(Body); + d.Vector3 rotvel = d.BodyGetAngularVel(Body); + d.Vector3 torque = d.BodyGetTorque(Body); + _torque = new Vector3(torque.X, torque.Y, torque.Z); + Vector3 l_position = Vector3.Zero; + Quaternion l_orientation = Quaternion.Identity; + + // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) + //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } + //if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } + //if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } + //if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } + + m_lastposition = _position; + m_lastorientation = _orientation; + + l_position.X = vec.X; + l_position.Y = vec.Y; + l_position.Z = vec.Z; + l_orientation.X = ori.X; + l_orientation.Y = ori.Y; + l_orientation.Z = ori.Z; + l_orientation.W = ori.W; + + if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f) { - d.Vector3 vel = d.BodyGetLinearVel(Body); + //base.RaiseOutOfBounds(l_position); - fz = (m_targetHoverHeight - lpos.Z); - - // if error is zero, use position control; otherwise, velocity control - if (Math.Abs(fz) < 0.01f) + if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) { - d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); - d.BodySetLinearVel(Body, vel.X, vel.Y, 0); + _position = l_position; + //_parent_scene.remActivePrim(this); + if (_parent == null) + base.RequestPhysicsterseUpdate(); + return; } else { - _zeroFlag = false; - fz /= m_PIDHoverTau; - - float tmp = Math.Abs(fz); - if (tmp > 50) - fz = 50 * Math.Sign(fz); - else if (tmp < 0.1) - fz = 0.1f * Math.Sign(fz); - - fz = ((fz - vel.Z) * m_invTimeStep); + if (_parent == null) + base.RaiseOutOfBounds(l_position); + return; } } - } - else - { - float b = (1.0f - m_buoyancy); - fx = _parent_scene.gravityx * b; - fy = _parent_scene.gravityy * b; - fz = _parent_scene.gravityz * b; - } - - fx *= m_mass; - fy *= m_mass; - fz *= m_mass; - - // constant force - fx += m_force.X; - fy += m_force.Y; - fz += m_force.Z; - - fx += m_forceacc.X; - fy += m_forceacc.Y; - fz += m_forceacc.Z; - - m_forceacc = Vector3.Zero; - - //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); - if (fx != 0 || fy != 0 || fz != 0) - { - d.BodyAddForce(Body, fx, fy, fz); - //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); - } - - Vector3 trq; - - trq = _torque; - trq += m_angularForceacc; - m_angularForceacc = Vector3.Zero; - if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) - { - d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); - } - } - else - { // is not physical, or is not a body or is selected - // _zeroPosition = d.BodyGetPosition(Body); - return; - //Console.WriteLine("Nothing " + Name); - - } - } - - public void UpdatePositionAndVelocity() - { - if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) - { - if (d.BodyIsEnabled(Body) || !_zeroFlag) - { - bool lastZeroFlag = _zeroFlag; - - d.Vector3 lpos = d.GeomGetPosition(prim_geom); - // check outside region - if (lpos.Z < -100 || lpos.Z > 100000f) + if (l_position.Z < 0) { - m_outbounds = true; + // This is so prim that get lost underground don't fall forever and suck up + // + // Sim resources and memory. + // Disables the prim's movement physics.... + // It's a hack and will generate a console message if it fails. + + //IsPhysical = false; + if (_parent == null) + base.RaiseOutOfBounds(_position); - lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); _acceleration.X = 0; _acceleration.Y = 0; _acceleration.Z = 0; @@ -3406,437 +2698,589 @@ namespace OpenSim.Region.Physics.OdePlugin 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(); - -// 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 - UnSubscribeEvents(); - - base.RequestPhysicsterseUpdate(); - return; + if (_parent == null) + base.RequestPhysicsterseUpdate(); + + m_throttleUpdates = false; + throttleCounter = 0; + _zeroFlag = true; + //outofBounds = true; } - d.Quaternion ori; - d.GeomCopyQuaternion(prim_geom, out ori); - - // decide if moving - // use positions since this are integrated quantities - // tolerance values depende a lot on simulation noise... - // use simple math.abs since we dont need to be exact - - if ( - (Math.Abs(_position.X - lpos.X) < 0.001f) - && (Math.Abs(_position.Y - lpos.Y) < 0.001f) - && (Math.Abs(_position.Z - lpos.Z) < 0.001f) - && (Math.Abs(_orientation.X - ori.X) < 0.0001f) - && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f) - && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W - ) + //float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)); +//Console.WriteLine("Adiff " + Name + " = " + Adiff); + if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) + && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) + && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) +// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) + && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large { _zeroFlag = true; +//Console.WriteLine("ZFT 2"); + m_throttleUpdates = false; } else + { + //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); _zeroFlag = false; + m_lastUpdateSent = false; + //m_throttleUpdates = false; + } - // update velocities and aceleration - if (!(_zeroFlag && lastZeroFlag)) + if (_zeroFlag) { - d.Vector3 vel = d.BodyGetLinearVel(Body); + _velocity.X = 0.0f; + _velocity.Y = 0.0f; + _velocity.Z = 0.0f; - _acceleration = _velocity; + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; - if ((Math.Abs(vel.X) < 0.001f) && - (Math.Abs(vel.Y) < 0.001f) && - (Math.Abs(vel.Z) < 0.001f)) + //_orientation.w = 0f; + //_orientation.X = 0f; + //_orientation.Y = 0f; + //_orientation.Z = 0f; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; + if (!m_lastUpdateSent) { - _velocity = Vector3.Zero; - float t = -m_invTimeStep; - _acceleration = _acceleration * t; + m_throttleUpdates = false; + throttleCounter = 0; + m_rotationalVelocity = pv; + + if (_parent == null) + { + base.RequestPhysicsterseUpdate(); + } + + m_lastUpdateSent = true; } - else + } + else + { + if (lastZeroFlag != _zeroFlag) { - _velocity.X = vel.X; - _velocity.Y = vel.Y; - _velocity.Z = vel.Z; - _acceleration = (_velocity - _acceleration) * m_invTimeStep; + if (_parent == null) + { + base.RequestPhysicsterseUpdate(); + } } - if ((Math.Abs(_acceleration.X) < 0.01f) && - (Math.Abs(_acceleration.Y) < 0.01f) && - (Math.Abs(_acceleration.Z) < 0.01f)) + m_lastVelocity = _velocity; + + _position = l_position; + + _velocity.X = vel.X; + _velocity.Y = vel.Y; + _velocity.Z = vel.Z; + + _acceleration = ((_velocity - m_lastVelocity) / 0.1f); + _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); + //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); + + // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing... + // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. + // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles + // adding these logical exclusion situations to maintain this where I think it was intended to be. + if (m_throttleUpdates || m_usePID || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) + { + m_minvelocity = 0.5f; + } + else { - _acceleration = Vector3.Zero; + m_minvelocity = 0.02f; } - if ((Math.Abs(_orientation.X - ori.X) < 0.0001) && - (Math.Abs(_orientation.Y - ori.Y) < 0.0001) && - (Math.Abs(_orientation.Z - ori.Z) < 0.0001) - ) + if (_velocity.ApproxEquals(pv, m_minvelocity)) { - m_rotationalVelocity = Vector3.Zero; + m_rotationalVelocity = pv; } else { - vel = d.BodyGetAngularVel(Body); - m_rotationalVelocity.X = vel.X; - m_rotationalVelocity.Y = vel.Y; - m_rotationalVelocity.Z = vel.Z; + m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z); } - } - if (_zeroFlag) - { - if (lastZeroFlag) + //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); + _orientation.X = ori.X; + _orientation.Y = ori.Y; + _orientation.Z = ori.Z; + _orientation.W = ori.W; + m_lastUpdateSent = false; + if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) { - _velocity = Vector3.Zero; - _acceleration = Vector3.Zero; - m_rotationalVelocity = Vector3.Zero; + if (_parent == null) + { + base.RequestPhysicsterseUpdate(); + } } - - if (!m_lastUpdateSent) + else { - base.RequestPhysicsterseUpdate(); - if (lastZeroFlag) - m_lastUpdateSent = true; + throttleCounter++; } - return; } + m_lastposition = l_position; + } + else + { + // Not a body.. so Make sure the client isn't interpolating + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; - _position.X = lpos.X; - _position.Y = lpos.Y; - _position.Z = lpos.Z; + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; - _orientation.X = ori.X; - _orientation.Y = ori.Y; - _orientation.Z = ori.Z; - _orientation.W = ori.W; - base.RequestPhysicsterseUpdate(); - m_lastUpdateSent = false; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; + _zeroFlag = true; } } } - internal static bool QuaternionIsFinite(Quaternion q) + public override bool FloatOnWater { - if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) - return false; - if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) - return false; - if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) - return false; - if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) - return false; - return true; + set { + m_taintCollidesWater = value; + _parent_scene.AddPhysicsActorTaint(this); + } } - internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) + public override void SetMomentum(Vector3 momentum) { - // assumes object center of mass is zero - float smass = part.mass; - theobj.mass -= smass; + } + + public override Vector3 PIDTarget + { + set + { + if (value.IsFinite()) + { + m_PIDTarget = value; + } + else + m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); + } + } + public override bool PIDActive { set { m_usePID = value; } } + public override float PIDTau { set { m_PIDTau = value; } } + + public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } + public override bool PIDHoverActive { set { m_useHoverPID = value; } } + public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } + public override float PIDHoverTau { set { m_PIDHoverTau = value; } } + + public override Quaternion APIDTarget{ set { return; } } - smass *= 1.0f / (theobj.mass); ; + public override bool APIDActive{ set { return; } } - theobj.c.X -= part.c.X * smass; - theobj.c.Y -= part.c.Y * smass; - theobj.c.Z -= part.c.Z * smass; + public override float APIDStrength{ set { return; } } - theobj.I.M00 -= part.I.M00; - theobj.I.M01 -= part.I.M01; - theobj.I.M02 -= part.I.M02; - theobj.I.M10 -= part.I.M10; - theobj.I.M11 -= part.I.M11; - theobj.I.M12 -= part.I.M12; - theobj.I.M20 -= part.I.M20; - theobj.I.M21 -= part.I.M21; - theobj.I.M22 -= part.I.M22; - } + public override float APIDDamping{ set { return; } } - private void donullchange() + private void createAMotor(Vector3 axis) { - } + if (Body == IntPtr.Zero) + return; - public bool DoAChange(changes what, object arg) - { - if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) + if (Amotor != IntPtr.Zero) { - return false; + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; } - // nasty switch - switch (what) - { - case changes.Add: - changeadd(); - break; - - case changes.AddPhysRep: - changeAddPhysRep((ODEPhysRepData)arg); - break; - - case changes.Remove: - //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... - //When we return true, it destroys all of the prims in the linkset anyway - if (_parent != null) - { - OdePrim parent = (OdePrim)_parent; - parent.ChildRemove(this, false); - } - else - ChildRemove(this, false); + float axisnum = 3; - m_vehicle = null; - RemoveGeom(); - m_targetSpace = IntPtr.Zero; - UnSubscribeEvents(); - return true; + axisnum = (axisnum - (axis.X + axis.Y + axis.Z)); - case changes.Link: - OdePrim tmp = (OdePrim)arg; - changeLink(tmp); - break; + // PhysicsVector totalSize = new PhysicsVector(_size.X, _size.Y, _size.Z); - case changes.DeLink: - changeLink(null); - break; + + // Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again. + d.Mass objMass; + d.MassSetZero(out objMass); + DMassCopy(ref pMass, ref objMass); - case changes.Position: - changePosition((Vector3)arg); - break; + //m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); - case changes.Orientation: - changeOrientation((Quaternion)arg); - break; + Matrix4 dMassMat = FromDMass(objMass); - case changes.PosOffset: - donullchange(); - break; + Matrix4 mathmat = Inverse(dMassMat); - case changes.OriOffset: - donullchange(); - break; + /* + //m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]); - case changes.Velocity: - changevelocity((Vector3)arg); - break; + mathmat = Inverse(mathmat); -// case changes.Acceleration: -// changeacceleration((Vector3)arg); -// break; - case changes.AngVelocity: - changeangvelocity((Vector3)arg); - break; + objMass = FromMatrix4(mathmat, ref objMass); + //m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); - case changes.Force: - changeForce((Vector3)arg); - break; + mathmat = Inverse(mathmat); + */ + if (axis.X == 0) + { + mathmat.M33 = 50.0000001f; + //objMass.I.M22 = 0; + } + if (axis.Y == 0) + { + mathmat.M22 = 50.0000001f; + //objMass.I.M11 = 0; + } + if (axis.Z == 0) + { + mathmat.M11 = 50.0000001f; + //objMass.I.M00 = 0; + } + + - case changes.Torque: - changeSetTorque((Vector3)arg); - break; + mathmat = Inverse(mathmat); + objMass = FromMatrix4(mathmat, ref objMass); + //m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); + + //return; + if (d.MassCheck(ref objMass)) + { + d.BodySetMass(Body, ref objMass); + } + else + { + //m_log.Debug("[PHYSICS]: Mass invalid, ignoring"); + } - case changes.AddForce: - changeAddForce((Vector3)arg); - break; + if (axisnum <= 0) + return; + // int dAMotorEuler = 1; - case changes.AddAngForce: - changeAddAngularImpulse((Vector3)arg); - break; + Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); + d.JointAttach(Amotor, Body, IntPtr.Zero); + d.JointSetAMotorMode(Amotor, 0); - case changes.AngLock: - changeAngularLock((Vector3)arg); - break; + d.JointSetAMotorNumAxes(Amotor,(int)axisnum); + int i = 0; - case changes.Size: - changeSize((Vector3)arg); - break; + if (axis.X == 0) + { + d.JointSetAMotorAxis(Amotor, i, 0, 1, 0, 0); + i++; + } - case changes.Shape: - changeShape((PrimitiveBaseShape)arg); - break; + if (axis.Y == 0) + { + d.JointSetAMotorAxis(Amotor, i, 0, 0, 1, 0); + i++; + } - case changes.PhysRepData: - changePhysRepData((ODEPhysRepData) arg); - break; + if (axis.Z == 0) + { + d.JointSetAMotorAxis(Amotor, i, 0, 0, 0, 1); + i++; + } - case changes.CollidesWater: - changeFloatOnWater((bool)arg); - break; + for (int j = 0; j < (int)axisnum; j++) + { + //d.JointSetAMotorAngle(Amotor, j, 0); + } - case changes.VolumeDtc: - changeVolumedetetion((bool)arg); - break; + //d.JointSetAMotorAngle(Amotor, 1, 0); + //d.JointSetAMotorAngle(Amotor, 2, 0); - case changes.Phantom: - changePhantomStatus((bool)arg); - break; + // These lowstops and high stops are effectively (no wiggle room) + d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0f); + d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); + d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0f); + d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f); + d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); + d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f); + //d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 9000f); + d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); + d.JointSetAMotorParam(Amotor, (int)dParam.FMax, Mass * 50f);// + } - case changes.Physical: - changePhysicsStatus((bool)arg); - break; + private Matrix4 FromDMass(d.Mass pMass) + { + Matrix4 obj; + obj.M11 = pMass.I.M00; + obj.M12 = pMass.I.M01; + obj.M13 = pMass.I.M02; + obj.M14 = 0; + obj.M21 = pMass.I.M10; + obj.M22 = pMass.I.M11; + obj.M23 = pMass.I.M12; + obj.M24 = 0; + obj.M31 = pMass.I.M20; + obj.M32 = pMass.I.M21; + obj.M33 = pMass.I.M22; + obj.M34 = 0; + obj.M41 = 0; + obj.M42 = 0; + obj.M43 = 0; + obj.M44 = 1; + return obj; + } - case changes.Selected: - changeSelectedStatus((bool)arg); - break; + private d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj) + { + obj.I.M00 = pMat[0, 0]; + obj.I.M01 = pMat[0, 1]; + obj.I.M02 = pMat[0, 2]; + obj.I.M10 = pMat[1, 0]; + obj.I.M11 = pMat[1, 1]; + obj.I.M12 = pMat[1, 2]; + obj.I.M20 = pMat[2, 0]; + obj.I.M21 = pMat[2, 1]; + obj.I.M22 = pMat[2, 2]; + return obj; + } - case changes.disabled: - changeDisable((bool)arg); - break; + public override void SubscribeEvents(int ms) + { + m_eventsubscription = ms; + _parent_scene.AddCollisionEventReporting(this); + } - case changes.building: - changeBuilding((bool)arg); - break; + public override void UnSubscribeEvents() + { + _parent_scene.RemoveCollisionEventReporting(this); + m_eventsubscription = 0; + } - case changes.VehicleType: - changeVehicleType((int)arg); - break; + public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) + { + CollisionEventsThisFrame.AddCollider(CollidedWith, contact); + } - case changes.VehicleFlags: - changeVehicleFlags((strVehicleBoolParam) arg); - break; + public void SendCollisions() + { + if (m_collisionsOnPreviousFrame || CollisionEventsThisFrame.Count > 0) + { + base.SendCollisionUpdate(CollisionEventsThisFrame); - case changes.VehicleFloatParam: - changeVehicleFloatParam((strVehicleFloatParam) arg); - break; + if (CollisionEventsThisFrame.Count > 0) + { + m_collisionsOnPreviousFrame = true; + CollisionEventsThisFrame.Clear(); + } + else + { + m_collisionsOnPreviousFrame = false; + } + } + } - case changes.VehicleVectorParam: - changeVehicleVectorParam((strVehicleVectorParam) arg); - break; + public override bool SubscribedEvents() + { + if (m_eventsubscription > 0) + return true; + return false; + } - case changes.VehicleRotationParam: - changeVehicleRotationParam((strVehicleQuatParam) arg); - break; + public static Matrix4 Inverse(Matrix4 pMat) + { + if (determinant3x3(pMat) == 0) + { + return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible + } - case changes.SetVehicle: - changeSetVehicle((VehicleData) arg); - break; + return (Adjoint(pMat) / determinant3x3(pMat)); + } - case changes.Buoyancy: - changeBuoyancy((float)arg); - break; + public static Matrix4 Adjoint(Matrix4 pMat) + { + Matrix4 adjointMatrix = new Matrix4(); + for (int i=0; i<4; i++) + { + for (int j=0; j<4; j++) + { + Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j))))); + } + } - case changes.PIDTarget: - changePIDTarget((Vector3)arg); - break; + adjointMatrix = Transpose(adjointMatrix); + return adjointMatrix; + } - case changes.PIDTau: - changePIDTau((float)arg); - break; + public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol) + { + Matrix4 minor = new Matrix4(); + int m = 0, n = 0; + for (int i = 0; i < 4; i++) + { + if (i == iRow) + continue; + n = 0; + for (int j = 0; j < 4; j++) + { + if (j == iCol) + continue; + Matrix4SetValue(ref minor, m,n, matrix[i, j]); + n++; + } + m++; + } - case changes.PIDActive: - changePIDActive((bool)arg); - break; + return minor; + } - case changes.PIDHoverHeight: - changePIDHoverHeight((float)arg); - break; + public static Matrix4 Transpose(Matrix4 pMat) + { + Matrix4 transposeMatrix = new Matrix4(); + for (int i = 0; i < 4; i++) + for (int j = 0; j < 4; j++) + Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]); + return transposeMatrix; + } - case changes.PIDHoverType: - changePIDHoverType((PIDHoverType)arg); - break; + public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val) + { + switch (r) + { + case 0: + switch (c) + { + case 0: + pMat.M11 = val; + break; + case 1: + pMat.M12 = val; + break; + case 2: + pMat.M13 = val; + break; + case 3: + pMat.M14 = val; + break; + } - case changes.PIDHoverTau: - changePIDHoverTau((float)arg); break; + case 1: + switch (c) + { + case 0: + pMat.M21 = val; + break; + case 1: + pMat.M22 = val; + break; + case 2: + pMat.M23 = val; + break; + case 3: + pMat.M24 = val; + break; + } - case changes.PIDHoverActive: - changePIDHoverActive((bool)arg); break; + case 2: + switch (c) + { + case 0: + pMat.M31 = val; + break; + case 1: + pMat.M32 = val; + break; + case 2: + pMat.M33 = val; + break; + case 3: + pMat.M34 = val; + break; + } - case changes.Null: - donullchange(); break; + case 3: + switch (c) + { + case 0: + pMat.M41 = val; + break; + case 1: + pMat.M42 = val; + break; + case 2: + pMat.M43 = val; + break; + case 3: + pMat.M44 = val; + break; + } - - - default: - donullchange(); break; } - return false; } - public void AddChange(changes what, object arg) + private static float determinant3x3(Matrix4 pMat) { - _parent_scene.AddChange((PhysicsActor) this, what, arg); - } - + float det = 0; + float diag1 = pMat[0, 0]*pMat[1, 1]*pMat[2, 2]; + float diag2 = pMat[0, 1]*pMat[2, 1]*pMat[2, 0]; + float diag3 = pMat[0, 2]*pMat[1, 0]*pMat[2, 1]; + float diag4 = pMat[2, 0]*pMat[1, 1]*pMat[0, 2]; + float diag5 = pMat[2, 1]*pMat[1, 2]*pMat[0, 0]; + float diag6 = pMat[2, 2]*pMat[1, 0]*pMat[0, 1]; - private struct strVehicleBoolParam - { - public int param; - public bool value; + det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6); + return det; + } + + private static void DMassCopy(ref d.Mass src, ref d.Mass dst) + { + dst.c.W = src.c.W; + dst.c.X = src.c.X; + dst.c.Y = src.c.Y; + dst.c.Z = src.c.Z; + dst.mass = src.mass; + dst.I.M00 = src.I.M00; + dst.I.M01 = src.I.M01; + dst.I.M02 = src.I.M02; + dst.I.M10 = src.I.M10; + dst.I.M11 = src.I.M11; + dst.I.M12 = src.I.M12; + dst.I.M20 = src.I.M20; + dst.I.M21 = src.I.M21; + dst.I.M22 = src.I.M22; } - private struct strVehicleFloatParam + public override void SetMaterial(int pMaterial) { - public int param; - public float value; + m_material = pMaterial; } - private struct strVehicleQuatParam + private void CheckMeshAsset() { - public int param; - public Quaternion value; + if (_pbs.SculptEntry && !m_assetFailed && _pbs.SculptTexture != UUID.Zero) + { + m_assetFailed = true; + Util.FireAndForget(delegate + { + RequestAssetDelegate assetProvider = _parent_scene.RequestAssetMethod; + if (assetProvider != null) + assetProvider(_pbs.SculptTexture, MeshAssetReveived); + }); + } } - private struct strVehicleVectorParam + void MeshAssetReveived(AssetBase asset) { - public int param; - public Vector3 value; - } + if (asset.Data != null && asset.Data.Length > 0) + { + if (!_pbs.SculptEntry) + return; + if (_pbs.SculptTexture.ToString() != asset.ID) + return; + + _pbs.SculptData = new byte[asset.Data.Length]; + asset.Data.CopyTo(_pbs.SculptData, 0); + m_assetFailed = false; + m_taintshape = true; + _parent_scene.AddPhysicsActorTaint(this); + } + } } -} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 03048a4..7a50c4c 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -25,21 +25,26 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ +//#define USE_DRAWSTUFF //#define SPAM using System; using System.Collections.Generic; +using System.Diagnostics; +using System.IO; +using System.Linq; using System.Reflection; using System.Runtime.InteropServices; using System.Threading; -using System.IO; -using System.Diagnostics; using log4net; using Nini.Config; -using OdeAPI; +using Ode.NET; +using OpenMetaverse; +#if USE_DRAWSTUFF +using Drawstuff.NET; +#endif using OpenSim.Framework; using OpenSim.Region.Physics.Manager; -using OpenMetaverse; namespace OpenSim.Region.Physics.OdePlugin { @@ -50,42 +55,29 @@ namespace OpenSim.Region.Physics.OdePlugin End = 2 } - public struct sCollisionData - { - public uint ColliderLocalId; - public uint CollidedWithLocalId; - public int NumberOfCollisions; - public int CollisionType; - public int StatusIndicator; - public int lastframe; - } - - - // colision flags of things others can colide with - // rays, sensors, probes removed since can't be colided with - // The top space where things are placed provided further selection - // ie physical are in active space nonphysical in static - // this should be exclusive as possible +// public struct sCollisionData +// { +// public uint ColliderLocalId; +// public uint CollidedWithLocalId; +// public int NumberOfCollisions; +// public int CollisionType; +// public int StatusIndicator; +// public int lastframe; +// } [Flags] - public enum CollisionCategories : uint + public enum CollisionCategories : int { Disabled = 0, - //by 'things' types - Space = 0x01, - Geom = 0x02, // aka prim/part - Character = 0x04, - Land = 0x08, - Water = 0x010, - - // by state - Phantom = 0x01000, - VolumeDtc = 0x02000, - Selected = 0x04000, - NoShape = 0x08000, - - - All = 0xffffffff + Geom = 0x00000001, + Body = 0x00000002, + Space = 0x00000004, + Character = 0x00000008, + Land = 0x00000010, + Water = 0x00000020, + Wind = 0x00000040, + Sensor = 0x00000080, + Selected = 0x00000100 } /// @@ -106,213 +98,400 @@ namespace OpenSim.Region.Physics.OdePlugin /// Plastic = 5, /// - Rubber = 6, - - light = 7 // compatibility with old viewers - } - - public enum changes : int - { - Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) - Remove, - Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root - // or removes from a object if arg is null - DeLink, - Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child - Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child - PosOffset, // not in use - // arg Vector3 new position in local coords. Changes prim position in object - OriOffset, // not in use - // arg Vector3 new position in local coords. Changes prim position in object - Velocity, - AngVelocity, - Acceleration, - Force, - Torque, - Momentum, - - AddForce, - AddAngForce, - AngLock, - - Buoyancy, - - PIDTarget, - PIDTau, - PIDActive, - - PIDHoverHeight, - PIDHoverType, - PIDHoverTau, - PIDHoverActive, - - Size, - Shape, - PhysRepData, - AddPhysRep, - - CollidesWater, - VolumeDtc, - - Physical, - Phantom, - Selected, - disabled, - building, - - VehicleType, - VehicleFloatParam, - VehicleVectorParam, - VehicleRotationParam, - VehicleFlags, - SetVehicle, - - Null //keep this last used do dim the methods array. does nothing but pulsing the prim + Rubber = 6 } - public struct ODEchangeitem - { - public PhysicsActor actor; - public OdeCharacter character; - public changes what; - public Object arg; - } - public class OdeScene : PhysicsScene { private readonly ILog m_log; // private Dictionary m_storedCollisions = new Dictionary(); - public bool OdeUbitLib = false; -// private int threadid = 0; - private Random fluidRandomizer = new Random(Environment.TickCount); + /// + /// Provide a sync object so that only one thread calls d.Collide() at a time across all OdeScene instances. + /// + /// + /// With ODE as of r1755 (though also tested on r1860), only one thread can call d.Collide() at a + /// time, even where physics objects are in entirely different ODE worlds. This is because generating contacts + /// uses a static cache at the ODE level. + /// + /// Without locking, simulators running multiple regions will eventually crash with a native stack trace similar + /// to + /// + /// mono() [0x489171] + /// mono() [0x4d154f] + /// /lib/x86_64-linux-gnu/libpthread.so.0(+0xfc60) [0x7f6ded592c60] + /// .../opensim/bin/libode-x86_64.so(_ZN6Opcode11OBBCollider8_CollideEPKNS_14AABBNoLeafNodeE+0xd7a) [0x7f6dd822628a] + /// + /// ODE provides an experimental option to cache in thread local storage but compiling ODE with this option + /// causes OpenSimulator to immediately crash with a native stack trace similar to + /// + /// mono() [0x489171] + /// mono() [0x4d154f] + /// /lib/x86_64-linux-gnu/libpthread.so.0(+0xfc60) [0x7f03c9849c60] + /// .../opensim/bin/libode-x86_64.so(_Z12dCollideCCTLP6dxGeomS0_iP12dContactGeomi+0x92) [0x7f03b44bcf82] + /// + internal static Object UniversalColliderSyncObject = new Object(); + + /// + /// Is stats collecting enabled for this ODE scene? + /// + public bool CollectStats { get; set; } + + /// + /// Statistics for this scene. + /// + private Dictionary m_stats = new Dictionary(); + + /// + /// Stat name for total number of avatars in this ODE scene. + /// + public const string ODETotalAvatarsStatName = "ODETotalAvatars"; + + /// + /// Stat name for total number of prims in this ODE scene. + /// + public const string ODETotalPrimsStatName = "ODETotalPrims"; + + /// + /// Stat name for total number of prims with active physics in this ODE scene. + /// + public const string ODEActivePrimsStatName = "ODEActivePrims"; + + /// + /// Stat name for the total time spent in ODE frame processing. + /// + /// + /// A sanity check for the main scene loop physics time. + /// + public const string ODETotalFrameMsStatName = "ODETotalFrameMS"; + + /// + /// Stat name for time spent processing avatar taints per frame + /// + public const string ODEAvatarTaintMsStatName = "ODEAvatarTaintFrameMS"; + + /// + /// Stat name for time spent processing prim taints per frame + /// + public const string ODEPrimTaintMsStatName = "ODEPrimTaintFrameMS"; + + /// + /// Stat name for time spent calculating avatar forces per frame. + /// + public const string ODEAvatarForcesFrameMsStatName = "ODEAvatarForcesFrameMS"; + + /// + /// Stat name for time spent calculating prim forces per frame + /// + public const string ODEPrimForcesFrameMsStatName = "ODEPrimForcesFrameMS"; + + /// + /// Stat name for time spent fulfilling raycasting requests per frame + /// + public const string ODERaycastingFrameMsStatName = "ODERaycastingFrameMS"; + + /// + /// Stat name for time spent in native code that actually steps through the simulation. + /// + public const string ODENativeStepFrameMsStatName = "ODENativeStepFrameMS"; + + /// + /// Stat name for the number of milliseconds that ODE spends in native space collision code. + /// + public const string ODENativeSpaceCollisionFrameMsStatName = "ODENativeSpaceCollisionFrameMS"; - const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; - const float MaxERP = 0.8f; - const float minERP = 0.1f; - const float comumContactCFM = 0.0001f; - - float frictionMovementMult = 0.8f; + /// + /// Stat name for milliseconds that ODE spends in native geom collision code. + /// + public const string ODENativeGeomCollisionFrameMsStatName = "ODENativeGeomCollisionFrameMS"; + + /// + /// Time spent in collision processing that is not spent in native space or geom collision code. + /// + public const string ODEOtherCollisionFrameMsStatName = "ODEOtherCollisionFrameMS"; + + /// + /// Stat name for time spent notifying listeners of collisions + /// + public const string ODECollisionNotificationFrameMsStatName = "ODECollisionNotificationFrameMS"; + + /// + /// Stat name for milliseconds spent updating avatar position and velocity + /// + public const string ODEAvatarUpdateFrameMsStatName = "ODEAvatarUpdateFrameMS"; + + /// + /// Stat name for the milliseconds spent updating prim position and velocity + /// + public const string ODEPrimUpdateFrameMsStatName = "ODEPrimUpdateFrameMS"; + + /// + /// Stat name for avatar collisions with another entity. + /// + public const string ODEAvatarContactsStatsName = "ODEAvatarContacts"; + + /// + /// Stat name for prim collisions with another entity. + /// + public const string ODEPrimContactsStatName = "ODEPrimContacts"; + + /// + /// Used to hold tick numbers for stat collection purposes. + /// + private int m_nativeCollisionStartTick; + + /// + /// A messy way to tell if we need to avoid adding a collision time because this was already done in the callback. + /// + private bool m_inCollisionTiming; + + /// + /// A temporary holder for the number of avatar collisions in a frame, so we can work out how many object + /// collisions occured using the _perloopcontact if stats collection is enabled. + /// + private int m_tempAvatarCollisionsThisFrame; + + /// + /// Used in calculating physics frame time dilation + /// + private int tickCountFrameRun; - float TerrainBounce = 0.1f; - float TerrainFriction = 0.3f; + /// + /// Used in calculating physics frame time dilation + /// + private int latertickcount; - public float AvatarFriction = 0;// 0.9f * 0.5f; + private Random fluidRandomizer = new Random(Environment.TickCount); private const uint m_regionWidth = Constants.RegionSize; private const uint m_regionHeight = Constants.RegionSize; - public float ODE_STEPSIZE = 0.020f; - public float HalfOdeStep = 0.01f; - public int odetimestepMS = 20; // rounded - private float metersInSpace = 25.6f; + private float ODE_STEPSIZE = 0.0178f; + private float metersInSpace = 29.9f; private float m_timeDilation = 1.0f; - private DateTime m_lastframe; - private DateTime m_lastMeshExpire; - public float gravityx = 0f; public float gravityy = 0f; public float gravityz = -9.8f; + public float AvatarTerminalVelocity { get; set; } + + private float contactsurfacelayer = 0.001f; + + private int worldHashspaceLow = -4; + private int worldHashspaceHigh = 128; + + private int smallHashspaceLow = -4; + private int smallHashspaceHigh = 66; + private float waterlevel = 0f; private int framecount = 0; + //private int m_returncollisions = 10; - private int m_meshExpireCntr; + private readonly IntPtr contactgroup; -// private IntPtr WaterGeom = IntPtr.Zero; -// private IntPtr WaterHeightmapData = IntPtr.Zero; -// private GCHandle WaterMapHandler = new GCHandle(); + internal IntPtr WaterGeom; - public float avPIDD = 2200f; // make it visible - public float avPIDP = 900f; // make it visible + private float nmTerrainContactFriction = 255.0f; + private float nmTerrainContactBounce = 0.1f; + private float nmTerrainContactERP = 0.1025f; + + private float mTerrainContactFriction = 75f; + private float mTerrainContactBounce = 0.1f; + private float mTerrainContactERP = 0.05025f; + + private float nmAvatarObjectContactFriction = 250f; + private float nmAvatarObjectContactBounce = 0.1f; + + private float mAvatarObjectContactFriction = 75f; + private float mAvatarObjectContactBounce = 0.1f; + + private float avPIDD = 3200f; + private float avPIDP = 1400f; private float avCapRadius = 0.37f; - private float avDensity = 3f; + private float avStandupTensor = 2000000f; + + /// + /// true = old compatibility mode with leaning capsule; false = new corrected mode + /// + /// + /// Even when set to false, the capsule still tilts but this is done in a different way. + /// + public bool IsAvCapsuleTilted { get; private set; } + + private float avDensity = 80f; +// private float avHeightFudgeFactor = 0.52f; private float avMovementDivisorWalk = 1.3f; private float avMovementDivisorRun = 0.8f; private float minimumGroundFlightOffset = 3f; public float maximumMassObject = 10000.01f; + public bool meshSculptedPrim = true; + public bool forceSimplePrimMeshing = false; + + public float meshSculptLOD = 32; + public float MeshSculptphysicalLOD = 16; public float geomDefaultDensity = 10.000006836f; public int geomContactPointsStartthrottle = 3; public int geomUpdatesPerThrottledUpdate = 15; + private const int avatarExpectedContacts = 3; public float bodyPIDD = 35f; public float bodyPIDG = 25; -// public int geomCrossingFailuresBeforeOutofbounds = 6; + public int geomCrossingFailuresBeforeOutofbounds = 5; + + public float bodyMotorJointMaxforceTensor = 2; - public int bodyFramesAutoDisable = 5; + public int bodyFramesAutoDisable = 20; + private float[] _watermap; + private bool m_filterCollisions = true; private d.NearCallback nearCallback; + public d.TriCallback triCallback; + public d.TriArrayCallback triArrayCallback; - private HashSet _characters = new HashSet(); - private HashSet _prims = new HashSet(); - private HashSet _activeprims = new HashSet(); - private HashSet _activegroups = new HashSet(); + /// + /// Avatars in the physics scene. + /// + private readonly HashSet _characters = new HashSet(); - public OpenSim.Framework.LocklessQueue ChangesQueue = new OpenSim.Framework.LocklessQueue(); + /// + /// Prims in the physics scene. + /// + private readonly HashSet _prims = new HashSet(); /// - /// A list of actors that should receive collision events. + /// Prims in the physics scene that are subject to physics, not just collisions. /// - private List _collisionEventPrim = new List(); - private List _collisionEventPrimRemove = new List(); - - private HashSet _badCharacter = new HashSet(); -// public Dictionary geom_name_map = new Dictionary(); - public Dictionary actor_name_map = new Dictionary(); + private readonly HashSet _activeprims = new HashSet(); + + /// + /// Prims that the simulator has created/deleted/updated and so need updating in ODE. + /// + private readonly HashSet _taintedPrims = new HashSet(); - private float contactsurfacelayer = 0.002f; + /// + /// Record a character that has taints to be processed. + /// + private readonly HashSet _taintedActors = new HashSet(); - private int contactsPerCollision = 80; - internal IntPtr ContactgeomsArray = IntPtr.Zero; - private IntPtr GlobalContactsArray = IntPtr.Zero; + /// + /// Keep record of contacts in the physics loop so that we can remove duplicates. + /// + private readonly List _perloopContact = new List(); - const int maxContactsbeforedeath = 4000; - private volatile int m_global_contactcount = 0; + /// + /// A dictionary of actors that should receive collision events. + /// + private readonly Dictionary m_collisionEventActors = new Dictionary(); - private IntPtr contactgroup; + /// + /// A dictionary of collision event changes that are waiting to be processed. + /// + private readonly Dictionary m_collisionEventActorsChanges = new Dictionary(); - public ContactData[] m_materialContactsData = new ContactData[8]; + /// + /// Maps a unique geometry id (a memory location) to a physics actor name. + /// + /// + /// Only actors participating in collisions have geometries. This has to be maintained separately from + /// actor_name_map because terrain and water currently don't conceptually have a physics actor of their own + /// apart from the singleton PANull + /// + public Dictionary geom_name_map = new Dictionary(); - private Dictionary RegionTerrain = new Dictionary(); - private Dictionary TerrainHeightFieldHeights = new Dictionary(); - private Dictionary TerrainHeightFieldHeightsHandlers = new Dictionary(); - - private int m_physicsiterations = 10; - private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag -// private PhysicsActor PANull = new NullPhysicsActor(); - private float step_time = 0.0f; + /// + /// Maps a unique geometry id (a memory location) to a physics actor. + /// + /// + /// Only actors participating in collisions have geometries. + /// + public Dictionary actor_name_map = new Dictionary(); - public IntPtr world; + /// + /// Defects list to remove characters that no longer have finite positions due to some other bug. + /// + /// + /// Used repeatedly in Simulate() but initialized once here. + /// + private readonly List defects = new List(); + + private bool m_NINJA_physics_joints_enabled = false; + //private Dictionary jointpart_name_map = new Dictionary(); + private readonly Dictionary> joints_connecting_actor = new Dictionary>(); + private d.ContactGeom[] contacts; + /// + /// Lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active + /// + private readonly List requestedJointsToBeCreated = new List(); - // split the spaces acording to contents type - // ActiveSpace contains characters and active prims - // StaticSpace contains land and other that is mostly static in enviroment - // this can contain subspaces, like the grid in staticspace - // as now space only contains this 2 top spaces + /// + /// can lock for longer. accessed only by OdeScene. + /// + private readonly List pendingJoints = new List(); - public IntPtr TopSpace; // the global space - public IntPtr ActiveSpace; // space for active prims - public IntPtr StaticSpace; // space for the static things around - public IntPtr GroundSpace; // space for ground + /// + /// can lock for longer. accessed only by OdeScene. + /// + private readonly List activeJoints = new List(); - // some speedup variables - private int spaceGridMaxX; - private int spaceGridMaxY; - private float spacesPerMeter; + /// + /// lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active + /// + private readonly List requestedJointsToBeDeleted = new List(); + + private Object externalJointRequestsLock = new Object(); + private readonly Dictionary SOPName_to_activeJoint = new Dictionary(); + private readonly Dictionary SOPName_to_pendingJoint = new Dictionary(); + private readonly DoubleDictionary RegionTerrain = new DoubleDictionary(); + private readonly Dictionary TerrainHeightFieldHeights = new Dictionary(); + + private d.Contact contact; + private d.Contact TerrainContact; + private d.Contact AvatarMovementprimContact; + private d.Contact AvatarMovementTerrainContact; + private d.Contact WaterContact; + private d.Contact[,] m_materialContacts; + +//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it +//Ckrinke private int m_randomizeWater = 200; + private int m_physicsiterations = 10; + private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag + private readonly PhysicsActor PANull = new NullPhysicsActor(); +// private float step_time = 0.0f; +//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it +//Ckrinke private int ms = 0; + public IntPtr world; + //private bool returncollisions = false; + // private uint obj1LocalID = 0; + private uint obj2LocalID = 0; + //private int ctype = 0; + private OdeCharacter cc1; + private OdePrim cp1; + private OdeCharacter cc2; + private OdePrim cp2; + private int p1ExpectedPoints = 0; + private int p2ExpectedPoints = 0; + //private int cStartStop = 0; + //private string cDictKey = ""; + + public IntPtr space; + + //private IntPtr tmpSpace; + // split static geometry collision handling into spaces of 30 meters + public IntPtr[,] staticPrimspace; - // split static geometry collision into a grid as before - private IntPtr[,] staticPrimspace; - private IntPtr[] staticPrimspaceOffRegion; + /// + /// Used to lock the entire physics scene. Locked during the main part of Simulate() + /// + internal Object OdeLock = new Object(); - public Object OdeLock; - public static Object SimulationLock; + private bool _worldInitialized = false; public IMesher mesher; @@ -322,340 +501,461 @@ namespace OpenSim.Region.Physics.OdePlugin public int physics_logging_interval = 0; public bool physics_logging_append_existing_logfile = false; + + public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); + public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); + + // TODO: unused: private uint heightmapWidth = m_regionWidth + 1; + // TODO: unused: private uint heightmapHeight = m_regionHeight + 1; + // TODO: unused: private uint heightmapWidthSamples; + // TODO: unused: private uint heightmapHeightSamples; + + private volatile int m_global_contactcount = 0; + 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; -/* maybe needed if ode uses tls - private void checkThread() - { - - int th = Thread.CurrentThread.ManagedThreadId; - if(th != threadid) - { - threadid = th; - d.AllocateODEDataForThread(~0U); - } - } - */ /// /// Initiailizes the scene /// Sets many properties that ODE requires to be stable /// These settings need to be tweaked 'exactly' right or weird stuff happens. /// - public OdeScene(string sceneIdentifier) - { - m_log - = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier); - -// checkThread(); - Name = sceneIdentifier; + /// Name of the scene. Useful in debug messages. + public OdeScene(string name) + { + m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + name); - OdeLock = new Object(); - SimulationLock = new Object(); + Name = name; nearCallback = near; - + triCallback = TriCallback; + triArrayCallback = TriArrayCallback; m_rayCastManager = new ODERayCastRequestManager(this); - - - lock (OdeLock) - { - // Create the world and the first space - try - { - world = d.WorldCreate(); - TopSpace = d.HashSpaceCreate(IntPtr.Zero); - // now the major subspaces - ActiveSpace = d.HashSpaceCreate(TopSpace); - StaticSpace = d.HashSpaceCreate(TopSpace); - GroundSpace = d.HashSpaceCreate(TopSpace); - } - catch - { - // i must RtC#FM - } + // Create the world and the first space + world = d.WorldCreate(); + space = d.HashSpaceCreate(IntPtr.Zero); - d.HashSpaceSetLevels(TopSpace, -2, 8); - d.HashSpaceSetLevels(ActiveSpace, -2, 8); - d.HashSpaceSetLevels(StaticSpace, -2, 8); - d.HashSpaceSetLevels(GroundSpace, 0, 8); + contactgroup = d.JointGroupCreate(0); - // demote to second level - d.SpaceSetSublevel(ActiveSpace, 1); - d.SpaceSetSublevel(StaticSpace, 1); - d.SpaceSetSublevel(GroundSpace, 1); + d.WorldSetAutoDisableFlag(world, false); - d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Character | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(ActiveSpace, 0); - d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Land | - CollisionCategories.Water | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(StaticSpace, 0); + #if USE_DRAWSTUFF + Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization)); + viewthread.Start(); + #endif - d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundSpace, 0); + _watermap = new float[258 * 258]; - contactgroup = d.JointGroupCreate(0); - //contactgroup + // Zero out the prim spaces array (we split our space into smaller spaces so + // we can hit test less. + } - d.WorldSetAutoDisableFlag(world, false); - } +#if USE_DRAWSTUFF + public void startvisualization(object o) + { + ds.Functions fn; + fn.version = ds.VERSION; + fn.start = new ds.CallbackFunction(start); + fn.step = new ds.CallbackFunction(step); + fn.command = new ds.CallbackFunction(command); + fn.stop = null; + fn.path_to_textures = "./textures"; + string[] args = new string[0]; + ds.SimulationLoop(args.Length, args, 352, 288, ref fn); } +#endif // Initialize the mesh plugin -// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region ) public override void Initialise(IMesher meshmerizer, IConfigSource config) { -// checkThread(); + InitializeExtraStats(); + mesher = meshmerizer; m_config = config; + // Defaults - string ode_config = d.GetConfiguration(); - if (ode_config != null && ode_config != "") + if (Environment.OSVersion.Platform == PlatformID.Unix) { - m_log.WarnFormat("ODE configuration: {0}", ode_config); - - if (ode_config.Contains("ODE_Ubit")) - { - OdeUbitLib = true; - } + avPIDD = 3200.0f; + avPIDP = 1400.0f; + avStandupTensor = 2000000f; + } + else + { + avPIDD = 2200.0f; + avPIDP = 900.0f; + avStandupTensor = 550000f; } - - /* - if (region != null) - { - WorldExtents.X = region.RegionSizeX; - WorldExtents.Y = region.RegionSizeY; - } - */ - - // Defaults int contactsPerCollision = 80; - IConfig physicsconfig = null; - if (m_config != null) { - physicsconfig = m_config.Configs["ODEPhysicsSettings"]; + IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; if (physicsconfig != null) { - gravityx = physicsconfig.GetFloat("world_gravityx", gravityx); - gravityy = physicsconfig.GetFloat("world_gravityy", gravityy); - gravityz = physicsconfig.GetFloat("world_gravityz", gravityz); + CollectStats = physicsconfig.GetBoolean("collect_stats", false); + + gravityx = physicsconfig.GetFloat("world_gravityx", 0f); + gravityy = physicsconfig.GetFloat("world_gravityy", 0f); + gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); + + float avatarTerminalVelocity = physicsconfig.GetFloat("avatar_terminal_velocity", 54f); + AvatarTerminalVelocity = Util.Clamp(avatarTerminalVelocity, 0, 255f); + if (AvatarTerminalVelocity != avatarTerminalVelocity) + { + m_log.WarnFormat( + "[ODE SCENE]: avatar_terminal_velocity of {0} is invalid. Clamping to {1}", + avatarTerminalVelocity, AvatarTerminalVelocity); + } + + worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4); + worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128); + + metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f); + smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4); + smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66); - metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); + contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f); - contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); + nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f); + nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f); + nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f); + + mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f); + mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f); + mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f); + + nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f); + nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f); + + mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f); + mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f); ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); - m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); + m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); - avDensity = physicsconfig.GetFloat("av_density", avDensity); - avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); - avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun); - avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius); + avDensity = physicsconfig.GetFloat("av_density", 80f); +// avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f); + avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); + avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); + avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); + IsAvCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false); - contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); + contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); - geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); + geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 5); geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); -// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); + geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); + + geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); + bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); - geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); - bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable); + bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f); + bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f); + + forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); + meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true); + meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); + MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); + m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false); + + if (Environment.OSVersion.Platform == PlatformID.Unix) + { + avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f); + avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f); + avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f); + bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f); + } + else + { + avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f); + avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f); + avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f); + bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f); + } physics_logging = physicsconfig.GetBoolean("physics_logging", false); physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); - minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset); - maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject); + m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false); + minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f); + maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f); } } - m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); - - HalfOdeStep = ODE_STEPSIZE * 0.5f; - odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f); + contacts = new d.ContactGeom[contactsPerCollision]; + + staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)]; + + // Centeral contact friction and bounce + // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why + // an avatar falls through in Z but not in X or Y when walking on a prim. + contact.surface.mode |= d.ContactFlags.SoftERP; + contact.surface.mu = nmAvatarObjectContactFriction; + contact.surface.bounce = nmAvatarObjectContactBounce; + contact.surface.soft_cfm = 0.010f; + contact.surface.soft_erp = 0.010f; + + // Terrain contact friction and Bounce + // This is the *non* moving version. Use this when an avatar + // isn't moving to keep it in place better + TerrainContact.surface.mode |= d.ContactFlags.SoftERP; + TerrainContact.surface.mu = nmTerrainContactFriction; + TerrainContact.surface.bounce = nmTerrainContactBounce; + TerrainContact.surface.soft_erp = nmTerrainContactERP; + + WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM); + WaterContact.surface.mu = 0f; // No friction + WaterContact.surface.bounce = 0.0f; // No bounce + WaterContact.surface.soft_cfm = 0.010f; + WaterContact.surface.soft_erp = 0.010f; + + // Prim contact friction and bounce + // THis is the *non* moving version of friction and bounce + // Use this when an avatar comes in contact with a prim + // and is moving + AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction; + AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce; + + // Terrain contact friction bounce and various error correcting calculations + // Use this when an avatar is in contact with the terrain and moving. + AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP; + AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction; + AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce; + AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP; - ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); - GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); - - m_materialContactsData[(int)Material.Stone].mu = 0.8f; - m_materialContactsData[(int)Material.Stone].bounce = 0.4f; - - m_materialContactsData[(int)Material.Metal].mu = 0.3f; - m_materialContactsData[(int)Material.Metal].bounce = 0.4f; - - m_materialContactsData[(int)Material.Glass].mu = 0.2f; - m_materialContactsData[(int)Material.Glass].bounce = 0.7f; - - m_materialContactsData[(int)Material.Wood].mu = 0.6f; - m_materialContactsData[(int)Material.Wood].bounce = 0.5f; - - m_materialContactsData[(int)Material.Flesh].mu = 0.9f; - m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; + /* + + Stone = 0, + /// + Metal = 1, + /// + Glass = 2, + /// + Wood = 3, + /// + Flesh = 4, + /// + Plastic = 5, + /// + Rubber = 6 + */ - m_materialContactsData[(int)Material.Plastic].mu = 0.4f; - m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; + m_materialContacts = new d.Contact[7,2]; + + m_materialContacts[(int)Material.Stone, 0] = new d.Contact(); + m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction; + m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce; + m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Stone, 1] = new d.Contact(); + m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction; + m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce; + m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Metal, 0] = new d.Contact(); + m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction; + m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce; + m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Metal, 1] = new d.Contact(); + m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction; + m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce; + m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Glass, 0] = new d.Contact(); + m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f; + m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f; + m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f; - m_materialContactsData[(int)Material.Rubber].mu = 0.9f; - m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; + /* + private float nmAvatarObjectContactFriction = 250f; + private float nmAvatarObjectContactBounce = 0.1f; - m_materialContactsData[(int)Material.light].mu = 0.0f; - m_materialContactsData[(int)Material.light].bounce = 0.0f; + private float mAvatarObjectContactFriction = 75f; + private float mAvatarObjectContactBounce = 0.1f; + */ + m_materialContacts[(int)Material.Glass, 1] = new d.Contact(); + m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f; + m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f; + m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Wood, 0] = new d.Contact(); + m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction; + m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce; + m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Wood, 1] = new d.Contact(); + m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction; + m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce; + m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Flesh, 0] = new d.Contact(); + m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction; + m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce; + m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Flesh, 1] = new d.Contact(); + m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction; + m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce; + m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Plastic, 0] = new d.Contact(); + m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction; + m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce; + m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Plastic, 1] = new d.Contact(); + m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction; + m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce; + m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Rubber, 0] = new d.Contact(); + m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction; + m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce; + m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f; + + m_materialContacts[(int)Material.Rubber, 1] = new d.Contact(); + m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP; + m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction; + m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce; + m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f; + m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f; + + d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh); // Set the gravity,, don't disable things automatically (we set it explicitly on some things) d.WorldSetGravity(world, gravityx, gravityy, gravityz); d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); - d.WorldSetLinearDamping(world, 0.002f); - d.WorldSetAngularDamping(world, 0.002f); - d.WorldSetAngularDampingThreshold(world, 0f); - d.WorldSetLinearDampingThreshold(world, 0f); - d.WorldSetMaxAngularSpeed(world, 100f); - - d.WorldSetCFM(world,1e-6f); // a bit harder than default - //d.WorldSetCFM(world, 1e-4f); // a bit harder than default - d.WorldSetERP(world, 0.6f); // higher than original + d.WorldSetLinearDamping(world, 256f); + d.WorldSetAngularDamping(world, 256f); + d.WorldSetAngularDampingThreshold(world, 256f); + d.WorldSetLinearDampingThreshold(world, 256f); + d.WorldSetMaxAngularSpeed(world, 256f); // Set how many steps we go without running collision testing // This is in addition to the step size. // Essentially Steps * m_physicsiterations d.WorldSetQuickStepNumIterations(world, m_physicsiterations); + //d.WorldSetContactMaxCorrectingVel(world, 1000.0f); - d.WorldSetContactMaxCorrectingVel(world, 60.0f); - - spacesPerMeter = 1 / metersInSpace; - spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); - spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter); - - staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; - - // create all spaces now - int i, j; - IntPtr newspace; - - for (i = 0; i < spaceGridMaxX; i++) - for (j = 0; j < spaceGridMaxY; j++) - { - newspace = d.HashSpaceCreate(StaticSpace); - d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); - waitForSpaceUnlock(newspace); - d.SpaceSetSublevel(newspace, 2); - d.HashSpaceSetLevels(newspace, -2, 8); - d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Land | - CollisionCategories.Water | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(newspace, 0); - - staticPrimspace[i, j] = newspace; - } - // let this now be real maximum values - spaceGridMaxX--; - spaceGridMaxY--; - - // create 4 off world spaces (x<0,x>max,y<0,y>max) - staticPrimspaceOffRegion = new IntPtr[4]; - - for (i = 0; i < 4; i++) + for (int i = 0; i < staticPrimspace.GetLength(0); i++) + { + for (int j = 0; j < staticPrimspace.GetLength(1); j++) { - newspace = d.HashSpaceCreate(StaticSpace); - d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); - waitForSpaceUnlock(newspace); - d.SpaceSetSublevel(newspace, 2); - d.HashSpaceSetLevels(newspace, -2, 8); - d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | - CollisionCategories.Geom | - CollisionCategories.Land | - CollisionCategories.Water | - CollisionCategories.Phantom | - CollisionCategories.VolumeDtc - )); - d.GeomSetCollideBits(newspace, 0); - - staticPrimspaceOffRegion[i] = newspace; + staticPrimspace[i, j] = IntPtr.Zero; } + } - m_lastframe = DateTime.UtcNow; - m_lastMeshExpire = m_lastframe; + _worldInitialized = true; } - internal void waitForSpaceUnlock(IntPtr space) - { - //if (space != IntPtr.Zero) - //while (d.SpaceLockQuery(space)) { } // Wait and do nothing - } +// internal void waitForSpaceUnlock(IntPtr space) +// { +// //if (space != IntPtr.Zero) +// //while (d.SpaceLockQuery(space)) { } // Wait and do nothing +// } + +// /// +// /// Debug space message for printing the space that a prim/avatar is in. +// /// +// /// +// /// Returns which split up space the given position is in. +// public string whichspaceamIin(Vector3 pos) +// { +// return calculateSpaceForGeom(pos).ToString(); +// } #region Collision Detection - // sets a global contact for a joint for contactgeom , and base contact description) - - private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale) + /// + /// Collides two geometries. + /// + /// + /// + /// /param> + /// + /// + /// + private int CollideGeoms( + IntPtr geom1, IntPtr geom2, int maxContacts, Ode.NET.d.ContactGeom[] contactsArray, int contactGeomSize) { - if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) - return IntPtr.Zero; + int count; - float erp = contactGeom.depth; - erp *= erpscale; - if (erp < minERP) - erp = minERP; - else if (erp > MaxERP) - erp = MaxERP; - - float depth = contactGeom.depth * dscale; - if (depth > 0.5f) - depth = 0.5f; + lock (OdeScene.UniversalColliderSyncObject) + { + // We do this inside the lock so that we don't count any delay in acquiring it + if (CollectStats) + m_nativeCollisionStartTick = Util.EnvironmentTickCount(); - d.Contact newcontact = new d.Contact(); - newcontact.geom.depth = depth; - newcontact.geom.g1 = contactGeom.g1; - newcontact.geom.g2 = contactGeom.g2; - newcontact.geom.pos = contactGeom.pos; - newcontact.geom.normal = contactGeom.normal; - newcontact.geom.side1 = contactGeom.side1; - newcontact.geom.side2 = contactGeom.side2; + count = d.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize); + } - // this needs bounce also - newcontact.surface.mode = comumContactFlags; - newcontact.surface.mu = mu; - newcontact.surface.bounce = bounce; - newcontact.surface.soft_cfm = cfm; - newcontact.surface.soft_erp = erp; + // We do this outside the lock so that any waiting threads aren't held up, though the effect is probably + // negligable + if (CollectStats) + m_stats[ODENativeGeomCollisionFrameMsStatName] + += Util.EnvironmentTickCountSubtract(m_nativeCollisionStartTick); - IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); - Marshal.StructureToPtr(newcontact, contact, true); - return d.JointCreateContactPtr(world, contactgroup, contact); + return count; } - private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) + /// + /// Collide two spaces or a space and a geometry. + /// + /// + /// /param> + /// + private void CollideSpaces(IntPtr space1, IntPtr space2, IntPtr data) { - if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision) - return false; + if (CollectStats) + { + m_inCollisionTiming = true; + m_nativeCollisionStartTick = Util.EnvironmentTickCount(); + } - IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); - newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); - return true; + d.SpaceCollide2(space1, space2, data, nearCallback); + + if (CollectStats && m_inCollisionTiming) + { + m_stats[ODENativeSpaceCollisionFrameMsStatName] + += Util.EnvironmentTickCountSubtract(m_nativeCollisionStartTick); + m_inCollisionTiming = false; + } } /// @@ -664,50 +964,76 @@ namespace OpenSim.Region.Physics.OdePlugin /// The space that contains the geoms. Remember, spaces are also geoms /// a geometry or space /// another geometry or space - /// - private void near(IntPtr space, IntPtr g1, IntPtr g2) { - // no lock here! It's invoked from within Simulate(), which is thread-locked + if (CollectStats && m_inCollisionTiming) + { + m_stats[ODENativeSpaceCollisionFrameMsStatName] + += Util.EnvironmentTickCountSubtract(m_nativeCollisionStartTick); + m_inCollisionTiming = false; + } - if (m_global_contactcount >= maxContactsbeforedeath) - return; +// m_log.DebugFormat("[PHYSICS]: Colliding {0} and {1} in {2}", g1, g2, space); + // no lock here! It's invoked from within Simulate(), which is thread-locked // Test if we're colliding a geom with a space. // If so we have to drill down into the space recursively - if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) - return; - if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) { + if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) + return; + + // Separating static prim geometry spaces. // We'll be calling near recursivly if one // of them is a space to find all of the // contact points in the space try { - d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); + CollideSpaces(g1, g2, IntPtr.Zero); } catch (AccessViolationException) { - m_log.Warn("[PHYSICS]: Unable to collide test a space"); + m_log.Error("[ODE SCENE]: Unable to collide test a space"); return; } - //here one should check collisions of geoms inside a space - // but on each space we only should have geoms that not colide amoung each other - // so we don't dig inside spaces + //Colliding a space or a geom with a space or a geom. so drill down + + //Collide all geoms in each space.. + //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback); + //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback); return; } - // get geom bodies to check if we already a joint contact - // guess this shouldn't happen now + if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) + return; + IntPtr b1 = d.GeomGetBody(g1); IntPtr b2 = d.GeomGetBody(g2); // d.GeomClassID id = d.GeomGetClass(g1); + String name1 = null; + String name2 = null; + + if (!geom_name_map.TryGetValue(g1, out name1)) + { + name1 = "null"; + } + if (!geom_name_map.TryGetValue(g2, out name2)) + { + name2 = "null"; + } + + //if (id == d.GeomClassId.TriMeshClass) + //{ + // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2); + //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2); + //} + // Figure out how many contact points we have int count = 0; + try { // Colliding Geom To Geom @@ -719,611 +1045,914 @@ namespace OpenSim.Region.Physics.OdePlugin if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) return; -// debug - PhysicsActor dp2; - if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) - { - d.AABB aabb; - d.GeomGetAABB(g2, out aabb); - float x = aabb.MaxX - aabb.MinX; - float y = aabb.MaxY - aabb.MinY; - float z = aabb.MaxZ - aabb.MinZ; - if (x > 60.0f || y > 60.0f || z > 60.0f) - { - if (!actor_name_map.TryGetValue(g2, out dp2)) - m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); - else - m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})", - dp2.Name, dp2.Size, x, y, z, - dp2.Position.ToString(), - dp2.Orientation.ToString(), - dp2.Orientation.Length()); - return; - } - } -// - + count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf); + // All code after this is only relevant if we have any collisions + if (count <= 0) + return; - if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || - d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) - { - int cflags; - unchecked - { - cflags = (int)(1 | d.CONTACTS_UNIMPORTANT); - } - count = d.CollidePtr(g1, g2, cflags, ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); - } - else - count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); + if (count > contacts.Length) + m_log.Error("[ODE SCENE]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length); } catch (SEHException) { - m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); -// ode.drelease(world); + m_log.Error( + "[ODE SCENE]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); base.TriggerPhysicsBasedRestart(); } catch (Exception e) { - m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message); + m_log.ErrorFormat("[ODE SCENE]: Unable to collide test an object: {0}", e.Message); return; } - // contacts done - if (count == 0) - return; - - // try get physical actors PhysicsActor p1; PhysicsActor p2; - + + p1ExpectedPoints = 0; + p2ExpectedPoints = 0; + if (!actor_name_map.TryGetValue(g1, out p1)) { - m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1"); - return; + p1 = PANull; } if (!actor_name_map.TryGetValue(g2, out p2)) { - m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); - return; + p2 = PANull; } - // update actors collision score - if (p1.CollisionScore >= float.MaxValue - count) + ContactPoint maxDepthContact = new ContactPoint(); + if (p1.CollisionScore + count >= float.MaxValue) p1.CollisionScore = 0; p1.CollisionScore += count; - if (p2.CollisionScore >= float.MaxValue - count) + if (p2.CollisionScore + count >= float.MaxValue) p2.CollisionScore = 0; p2.CollisionScore += count; - // get first contact - d.ContactGeom curContact = new d.ContactGeom(); - if (!GetCurContactGeom(0, ref curContact)) - return; - // for now it's the one with max depth - ContactPoint maxDepthContact = new ContactPoint( + for (int i = 0; i < count; i++) + { + d.ContactGeom curContact = contacts[i]; + + if (curContact.depth > maxDepthContact.PenetrationDepth) + { + maxDepthContact = new ContactPoint( new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), curContact.depth - ); - // do volume detection case - if ( - (p1.IsVolumeDtc || p2.IsVolumeDtc)) - { - collision_accounting_events(p1, p2, maxDepthContact); - return; - } + ); + } - // big messy collision analises + //m_log.Warn("[CCOUNT]: " + count); + IntPtr joint; + // If we're colliding with terrain, use 'TerrainContact' instead of contact. + // allows us to have different settings + + // We only need to test p2 for 'jump crouch purposes' + if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim) + { + // Testing if the collision is at the feet of the avatar + + //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f)); + if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)) + p2.IsColliding = true; + } + else + { + p2.IsColliding = true; + } + + //if ((framecount % m_returncollisions) == 0) - Vector3 normoverride = Vector3.Zero; //damm c# + switch (p1.PhysicsActorType) + { + case (int)ActorTypes.Agent: + p1ExpectedPoints = avatarExpectedContacts; + p2.CollidingObj = true; + break; + case (int)ActorTypes.Prim: + if (p1 != null && p1 is OdePrim) + p1ExpectedPoints = ((OdePrim) p1).ExpectedCollisionContacts; - float mu = 0; - float bounce = 0; - float cfm = 0.0001f; - float erpscale = 1.0f; - float dscale = 1.0f; - bool IgnoreNegSides = false; + if (p2.Velocity.LengthSquared() > 0.0f) + p2.CollidingObj = true; + break; + case (int)ActorTypes.Unknown: + p2.CollidingGround = true; + break; + default: + p2.CollidingGround = true; + break; + } - ContactData contactdata1 = new ContactData(0, 0, false); - ContactData contactdata2 = new ContactData(0, 0, false); + // we don't want prim or avatar to explode - bool dop1foot = false; - bool dop2foot = false; - bool ignore = false; - bool AvanormOverride = false; + #region InterPenetration Handling - Unintended physics explosions +# region disabled code1 - switch (p1.PhysicsActorType) - { - case (int)ActorTypes.Agent: + if (curContact.depth >= 0.08f) + { + //This is disabled at the moment only because it needs more tweaking + //It will eventually be uncommented + /* + if (contact.depth >= 1.00f) { - AvanormOverride = true; - Vector3 tmp = p2.Position - p1.Position; - normoverride = p2.Velocity - p1.Velocity; - mu = normoverride.LengthSquared(); + //m_log.Debug("[PHYSICS]: " + contact.depth.ToString()); + } - if (mu > 1e-6) + //If you interpenetrate a prim with an agent + if ((p2.PhysicsActorType == (int) ActorTypes.Agent && + p1.PhysicsActorType == (int) ActorTypes.Prim) || + (p1.PhysicsActorType == (int) ActorTypes.Agent && + p2.PhysicsActorType == (int) ActorTypes.Prim)) + { + + //contact.depth = contact.depth * 4.15f; + /* + if (p2.PhysicsActorType == (int) ActorTypes.Agent) { - mu = 1.0f / (float)Math.Sqrt(mu); - normoverride *= mu; - mu = Vector3.Dot(tmp, normoverride); - if (mu > 0) - normoverride *= -1; + p2.CollidingObj = true; + contact.depth = 0.003f; + p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f); + OdeCharacter character = (OdeCharacter) p2; + character.SetPidStatus(true); + 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)); + } else { - tmp.Normalize(); - normoverride = -tmp; - } - switch (p2.PhysicsActorType) + //contact.depth = 0.0000000f; + } + if (p1.PhysicsActorType == (int) ActorTypes.Agent) { - case (int)ActorTypes.Agent: - p1.CollidingObj = true; - p2.CollidingObj = true; - break; - case (int)ActorTypes.Prim: - if (p2.Velocity.LengthSquared() > 0.0f) - p2.CollidingObj = true; - dop1foot = true; - break; + p1.CollidingObj = true; + contact.depth = 0.003f; + p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f); + 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)); + OdeCharacter character = (OdeCharacter)p1; + character.SetPidStatus(true); + } + else + { - default: - ignore = true; // avatar to terrain and water ignored - break; + //contact.depth = 0.0000000f; } - break; + + + } - - case (int)ActorTypes.Prim: - switch (p2.PhysicsActorType) +*/ + // If you interpenetrate a prim with another prim + /* + if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim) { - case (int)ActorTypes.Agent: - AvanormOverride = true; - - Vector3 tmp = p2.Position - p1.Position; - normoverride = p2.Velocity - p1.Velocity; - mu = normoverride.LengthSquared(); - if (mu > 1e-6) - { - mu = 1.0f / (float)Math.Sqrt(mu); - normoverride *= mu; - mu = Vector3.Dot(tmp, normoverride); - if (mu > 0) - normoverride *= -1; - } - else - { - tmp.Normalize(); - normoverride = -tmp; - } - - bounce = 0; - mu = 0; - cfm = 0.0001f; - - dop2foot = true; - if (p1.Velocity.LengthSquared() > 0.0f) - p1.CollidingObj = true; - break; - - case (int)ActorTypes.Prim: - if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) + #region disabledcode2 + //OdePrim op1 = (OdePrim)p1; + //OdePrim op2 = (OdePrim)p2; + //op1.m_collisionscore++; + //op2.m_collisionscore++; + + //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000) + //{ + //op1.m_taintdisable = true; + //AddPhysicsActorTaint(p1); + //op2.m_taintdisable = true; + //AddPhysicsActorTaint(p2); + //} + + //if (contact.depth >= 0.25f) + //{ + // Don't collide, one or both prim will expld. + + //op1.m_interpenetrationcount++; + //op2.m_interpenetrationcount++; + //interpenetrations_before_disable = 200; + //if (op1.m_interpenetrationcount >= interpenetrations_before_disable) + //{ + //op1.m_taintdisable = true; + //AddPhysicsActorTaint(p1); + //} + //if (op2.m_interpenetrationcount >= interpenetrations_before_disable) + //{ + // op2.m_taintdisable = true; + //AddPhysicsActorTaint(p2); + //} + + //contact.depth = contact.depth / 8f; + //contact.normal = new d.Vector3(0, 0, 1); + //} + //if (op1.m_disabled || op2.m_disabled) + //{ + //Manually disabled objects stay disabled + //contact.depth = 0f; + //} + #endregion + } + */ +#endregion + if (curContact.depth >= 1.00f) + { + //m_log.Info("[P]: " + contact.depth.ToString()); + if ((p2.PhysicsActorType == (int) ActorTypes.Agent && + p1.PhysicsActorType == (int) ActorTypes.Unknown) || + (p1.PhysicsActorType == (int) ActorTypes.Agent && + p2.PhysicsActorType == (int) ActorTypes.Unknown)) + { + if (p2.PhysicsActorType == (int) ActorTypes.Agent) { - p1.CollidingObj = true; - p2.CollidingObj = true; + if (p2 is OdeCharacter) + { + OdeCharacter character = (OdeCharacter) p2; + + //p2.CollidingObj = true; + curContact.depth = 0.00000003f; + p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f); + curContact.pos = + new d.Vector3(curContact.pos.X + (p1.Size.X/2), + curContact.pos.Y + (p1.Size.Y/2), + curContact.pos.Z + (p1.Size.Z/2)); + character.SetPidStatus(true); + } } - p1.getContactData(ref contactdata1); - p2.getContactData(ref contactdata2); - bounce = contactdata1.bounce * contactdata2.bounce; - mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); - - cfm = p1.Mass; - if (cfm > p2.Mass) - cfm = p2.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - if (dscale > 1.0f) - dscale = 1.0f; - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; - - if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) - mu *= frictionMovementMult; - - break; - case (int)ActorTypes.Ground: - p1.getContactData(ref contactdata1); - bounce = contactdata1.bounce * TerrainBounce; - mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); - if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) - mu *= frictionMovementMult; - p1.CollidingGround = true; - - cfm = p1.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - if (dscale > 1.0f) - dscale = 1.0f; - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; - - if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) + if (p1.PhysicsActorType == (int) ActorTypes.Agent) { - if (curContact.side1 > 0) - IgnoreNegSides = true; + if (p1 is OdeCharacter) + { + OdeCharacter character = (OdeCharacter) p1; + + //p2.CollidingObj = true; + curContact.depth = 0.00000003f; + p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f); + curContact.pos = + new d.Vector3(curContact.pos.X + (p1.Size.X/2), + curContact.pos.Y + (p1.Size.Y/2), + curContact.pos.Z + (p1.Size.Z/2)); + character.SetPidStatus(true); + } } - break; - - case (int)ActorTypes.Water: - default: - ignore = true; - break; + } } - break; - - case (int)ActorTypes.Ground: - if (p2.PhysicsActorType == (int)ActorTypes.Prim) - { - p2.CollidingGround = true; - p2.getContactData(ref contactdata2); - bounce = contactdata2.bounce * TerrainBounce; - mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); - - cfm = p2.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - - if (dscale > 1.0f) - dscale = 1.0f; - - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; + } - if (curContact.side1 > 0) // should be 2 ? - IgnoreNegSides = true; + #endregion - if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) - mu *= frictionMovementMult; - } - else - ignore = true; - break; + // Logic for collision handling + // Note, that if *all* contacts are skipped (VolumeDetect) + // The prim still detects (and forwards) collision events but + // appears to be phantom for the world + Boolean skipThisContact = false; - case (int)ActorTypes.Water: - default: - break; - } - if (ignore) - return; + if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect)) + skipThisContact = true; // No collision on volume detect prims - IntPtr Joint; + if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect)) + skipThisContact = true; // No collision on volume detect prims - int i = 0; - while(true) - { + if (!skipThisContact && curContact.depth < 0f) + skipThisContact = true; - if (IgnoreNegSides && curContact.side1 < 0) - { - if (++i >= count) - break; + if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType)) + skipThisContact = true; - if (!GetCurContactGeom(i, ref curContact)) - break; - } - else + const int maxContactsbeforedeath = 4000; + joint = IntPtr.Zero; + if (!skipThisContact) { + _perloopContact.Add(curContact); - if (AvanormOverride) + if (name1 == "Terrain" || name2 == "Terrain") { - if (curContact.depth > 0.3f) + if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && + (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) { - if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f) - p1.IsColliding = true; - if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) - p2.IsColliding = true; - curContact.normal.X = normoverride.X; - curContact.normal.Y = normoverride.Y; - curContact.normal.Z = normoverride.Z; - } + p2ExpectedPoints = avatarExpectedContacts; + // Avatar is moving on terrain, use the movement terrain contact + AvatarMovementTerrainContact.geom = curContact; + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact); + m_global_contactcount++; + } + } else { - if (dop1foot) + if (p2.PhysicsActorType == (int)ActorTypes.Agent) + { + p2ExpectedPoints = avatarExpectedContacts; + // Avatar is standing on terrain, use the non moving terrain contact + TerrainContact.geom = curContact; + + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref TerrainContact); + m_global_contactcount++; + } + } + else { - float sz = p1.Size.Z; - Vector3 vtmp = p1.Position; - float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f; - if (ppos > 0f) + if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim) { - if (!p1.Flying) + // prim prim contact + // int pj294950 = 0; + int movintYN = 0; + int material = (int) Material.Wood; + // prim terrain contact + if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) { - d.AABB aabb; - d.GeomGetAABB(g2, out aabb); - float tmp = vtmp.Z - sz * .18f; + movintYN = 1; + } - if (aabb.MaxZ < tmp) - { - vtmp.X = curContact.pos.X - vtmp.X; - vtmp.Y = curContact.pos.Y - vtmp.Y; - vtmp.Z = -0.2f; - vtmp.Normalize(); - curContact.normal.X = vtmp.X; - curContact.normal.Y = vtmp.Y; - curContact.normal.Z = vtmp.Z; - } + if (p2 is OdePrim) + { + material = ((OdePrim) p2).m_material; + p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; + } + + // Unnessesary because p1 is defined above + //if (p1 is OdePrim) + // { + // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; + // } + //m_log.DebugFormat("Material: {0}", material); + + m_materialContacts[material, movintYN].geom = curContact; + + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); + m_global_contactcount++; } } else - p1.IsColliding = true; + { + int movintYN = 0; + // prim terrain contact + if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) + { + movintYN = 1; + } - } + int material = (int)Material.Wood; - if (dop2foot) - { - float sz = p2.Size.Z; - Vector3 vtmp = p2.Position; - float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f; - if (ppos > 0f) - { - if (!p2.Flying) + if (p2 is OdePrim) { - d.AABB aabb; - d.GeomGetAABB(g1, out aabb); - float tmp = vtmp.Z - sz * .18f; + material = ((OdePrim)p2).m_material; + p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; + } - if (aabb.MaxZ < tmp) - { - vtmp.X = curContact.pos.X - vtmp.X; - vtmp.Y = curContact.pos.Y - vtmp.Y; - vtmp.Z = -0.2f; - vtmp.Normalize(); - curContact.normal.X = vtmp.X; - curContact.normal.Y = vtmp.Y; - curContact.normal.Z = vtmp.Z; - } + //m_log.DebugFormat("Material: {0}", material); + m_materialContacts[material, movintYN].geom = curContact; + + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); + m_global_contactcount++; } } - else - p2.IsColliding = true; - } } + //if (p2.PhysicsActorType == (int)ActorTypes.Prim) + //{ + //m_log.Debug("[PHYSICS]: prim contacting with ground"); + //} + } + else if (name1 == "Water" || name2 == "Water") + { + /* + if ((p2.PhysicsActorType == (int) ActorTypes.Prim)) + { + } + else + { + } + */ + //WaterContact.surface.soft_cfm = 0.0000f; + //WaterContact.surface.soft_erp = 0.00000f; + if (curContact.depth > 0.1f) + { + curContact.depth *= 52; + //contact.normal = new d.Vector3(0, 0, 1); + //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f); + } + + WaterContact.geom = curContact; + + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref WaterContact); + m_global_contactcount++; + } + //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth); } + else + { + if ((p2.PhysicsActorType == (int)ActorTypes.Agent)) + { + p2ExpectedPoints = avatarExpectedContacts; + if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) + { + // Avatar is moving on a prim, use the Movement prim contact + AvatarMovementprimContact.geom = curContact; - Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); - d.JointAttach(Joint, b1, b2); + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact); + m_global_contactcount++; + } + } + else + { + // Avatar is standing still on a prim, use the non movement contact + contact.geom = curContact; - if (++m_global_contactcount >= maxContactsbeforedeath) - break; + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref contact); + m_global_contactcount++; + } + } + } + else if (p2.PhysicsActorType == (int)ActorTypes.Prim) + { + //p1.PhysicsActorType + int material = (int)Material.Wood; - if (++i >= count) - break; + if (p2 is OdePrim) + { + material = ((OdePrim)p2).m_material; + p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; + } + + //m_log.DebugFormat("Material: {0}", material); + m_materialContacts[material, 0].geom = curContact; - if (!GetCurContactGeom(i, ref curContact)) - break; + if (m_global_contactcount < maxContactsbeforedeath) + { + joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]); + m_global_contactcount++; + } + } + } - if (curContact.depth > maxDepthContact.PenetrationDepth) + if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide! { - maxDepthContact.Position.X = curContact.pos.X; - maxDepthContact.Position.Y = curContact.pos.Y; - maxDepthContact.Position.Z = curContact.pos.Z; - maxDepthContact.SurfaceNormal.X = curContact.normal.X; - maxDepthContact.SurfaceNormal.Y = curContact.normal.Y; - maxDepthContact.SurfaceNormal.Z = curContact.normal.Z; - maxDepthContact.PenetrationDepth = curContact.depth; + d.JointAttach(joint, b1, b2); + m_global_contactcount++; } } - } - collision_accounting_events(p1, p2, maxDepthContact); - -/* - if (notskipedcount > geomContactPointsStartthrottle) - { - // If there are more then 3 contact points, it's likely - // that we've got a pile of objects, so ... - // We don't want to send out hundreds of terse updates over and over again - // so lets throttle them and send them again after it's somewhat sorted out. - this needs checking so out for now - if (b1 != IntPtr.Zero) - p1.ThrottleUpdates = true; - if (b2 != IntPtr.Zero) - p2.ThrottleUpdates = true; + collision_accounting_events(p1, p2, maxDepthContact); + if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) + { + // If there are more then 3 contact points, it's likely + // that we've got a pile of objects, so ... + // We don't want to send out hundreds of terse updates over and over again + // so lets throttle them and send them again after it's somewhat sorted out. + p2.ThrottleUpdates = true; + } + //m_log.Debug(count.ToString()); + //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2); } - */ } - private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) + private bool checkDupe(d.ContactGeom contactGeom, int atype) { - uint obj2LocalID = 0; + if (!m_filterCollisions) + return false; - bool p1events = p1.SubscribedEvents(); - bool p2events = p2.SubscribedEvents(); + bool result = false; - if (p1.IsVolumeDtc) - p2events = false; - if (p2.IsVolumeDtc) - p1events = false; + ActorTypes at = (ActorTypes)atype; - if (!p2events && !p1events) - return; + foreach (d.ContactGeom contact in _perloopContact) + { + //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2)) + //{ + // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2) + if (at == ActorTypes.Agent) + { + 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))) + { + if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f) + { + //contactGeom.depth *= .00005f; + //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); + // 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)); + result = true; + break; + } +// else +// { +// //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); +// } + } +// else +// { +// //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)); +// //int i = 0; +// } + } + else if (at == ActorTypes.Prim) + { + //d.AABB aabb1 = new d.AABB(); + //d.AABB aabb2 = new d.AABB(); - Vector3 vel = Vector3.Zero; - if (p2 != null && p2.IsPhysical) - vel = p2.Velocity; + //d.GeomGetAABB(contactGeom.g2, out aabb2); + //d.GeomGetAABB(contactGeom.g1, out aabb1); + //aabb1. + 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))) + { + if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z) + { + if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f) + { + result = true; + break; + } + } + //m_log.DebugFormat("[Collision]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); + //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)); + } + } + } - if (p1 != null && p1.IsPhysical) - vel -= p1.Velocity; + return result; + } - contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal); + private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) + { + // obj1LocalID = 0; + //returncollisions = false; + obj2LocalID = 0; + //ctype = 0; + //cStartStop = 0; + if (!p2.SubscribedEvents() && !p1.SubscribedEvents()) + return; - switch ((ActorTypes)p1.PhysicsActorType) + switch ((ActorTypes)p2.PhysicsActorType) { case ActorTypes.Agent: + cc2 = (OdeCharacter)p2; + + // obj1LocalID = cc2.m_localID; + switch ((ActorTypes)p1.PhysicsActorType) + { + case ActorTypes.Agent: + cc1 = (OdeCharacter)p1; + obj2LocalID = cc1.LocalID; + cc1.AddCollisionEvent(cc2.LocalID, contact); + //ctype = (int)CollisionCategories.Character; + + //if (cc1.CollidingObj) + //cStartStop = (int)StatusIndicators.Generic; + //else + //cStartStop = (int)StatusIndicators.Start; + + //returncollisions = true; + break; + + case ActorTypes.Prim: + if (p1 is OdePrim) + { + cp1 = (OdePrim) p1; + obj2LocalID = cp1.LocalID; + cp1.AddCollisionEvent(cc2.LocalID, contact); + } + //ctype = (int)CollisionCategories.Geom; + + //if (cp1.CollidingObj) + //cStartStop = (int)StatusIndicators.Generic; + //else + //cStartStop = (int)StatusIndicators.Start; + + //returncollisions = true; + break; + + case ActorTypes.Ground: + case ActorTypes.Unknown: + obj2LocalID = 0; + //ctype = (int)CollisionCategories.Land; + //returncollisions = true; + break; + } + + cc2.AddCollisionEvent(obj2LocalID, contact); + break; + case ActorTypes.Prim: + + if (p2 is OdePrim) { - switch ((ActorTypes)p2.PhysicsActorType) + cp2 = (OdePrim) p2; + + // obj1LocalID = cp2.m_localID; + switch ((ActorTypes) p1.PhysicsActorType) { case ActorTypes.Agent: + if (p1 is OdeCharacter) + { + cc1 = (OdeCharacter) p1; + obj2LocalID = cc1.LocalID; + cc1.AddCollisionEvent(cp2.LocalID, contact); + //ctype = (int)CollisionCategories.Character; + + //if (cc1.CollidingObj) + //cStartStop = (int)StatusIndicators.Generic; + //else + //cStartStop = (int)StatusIndicators.Start; + //returncollisions = true; + } + break; case ActorTypes.Prim: - if (p2events) + + if (p1 is OdePrim) { - AddCollisionEventReporting(p2); - p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); + cp1 = (OdePrim) p1; + obj2LocalID = cp1.LocalID; + cp1.AddCollisionEvent(cp2.LocalID, contact); + //ctype = (int)CollisionCategories.Geom; + + //if (cp1.CollidingObj) + //cStartStop = (int)StatusIndicators.Generic; + //else + //cStartStop = (int)StatusIndicators.Start; + + //returncollisions = true; } - obj2LocalID = p2.ParentActor.LocalID; break; case ActorTypes.Ground: case ActorTypes.Unknown: - default: obj2LocalID = 0; + //ctype = (int)CollisionCategories.Land; + + //returncollisions = true; break; } - if (p1events) - { - contact.SurfaceNormal = -contact.SurfaceNormal; - AddCollisionEventReporting(p1); - p1.AddCollisionEvent(obj2LocalID, contact); - } - break; - } - case ActorTypes.Ground: - case ActorTypes.Unknown: - default: - { - if (p2events && !p2.IsVolumeDtc) - { - AddCollisionEventReporting(p2); - p2.AddCollisionEvent(0, contact); - } - break; + + cp2.AddCollisionEvent(obj2LocalID, contact); } + break; } + //if (returncollisions) + //{ + + //lock (m_storedCollisions) + //{ + //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString(); + //if (m_storedCollisions.ContainsKey(cDictKey)) + //{ + //sCollisionData objd = m_storedCollisions[cDictKey]; + //objd.NumberOfCollisions += 1; + //objd.lastframe = framecount; + //m_storedCollisions[cDictKey] = objd; + //} + //else + //{ + //sCollisionData objd = new sCollisionData(); + //objd.ColliderLocalId = obj1LocalID; + //objd.CollidedWithLocalId = obj2LocalID; + //objd.CollisionType = ctype; + //objd.NumberOfCollisions = 1; + //objd.lastframe = framecount; + //objd.StatusIndicator = cStartStop; + //m_storedCollisions.Add(cDictKey, objd); + //} + //} + // } + } + + private int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount) + { + /* String name1 = null; + String name2 = null; + + if (!geom_name_map.TryGetValue(trimesh, out name1)) + { + name1 = "null"; + } + if (!geom_name_map.TryGetValue(refObject, out name2)) + { + name2 = "null"; + } + + m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2); + */ + return 1; + } + + private int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex) + { +// String name1 = null; +// String name2 = null; +// +// if (!geom_name_map.TryGetValue(trimesh, out name1)) +// { +// name1 = "null"; +// } +// +// if (!geom_name_map.TryGetValue(refObject, out name2)) +// { +// name2 = "null"; +// } + + // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex); + + d.Vector3 v0 = new d.Vector3(); + d.Vector3 v1 = new d.Vector3(); + d.Vector3 v2 = new d.Vector3(); + + d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2); + // 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); + + return 1; } /// /// This is our collision testing routine in ODE /// - /// private void collision_optimized() { - lock (_characters) - { + _perloopContact.Clear(); + + foreach (OdeCharacter chr in _characters) + { + // Reset the collision values to false + // since we don't know if we're colliding yet + if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) + continue; + + chr.IsColliding = false; + chr.CollidingGround = false; + chr.CollidingObj = false; + + // Test the avatar's geometry for collision with the space + // This will return near and the space that they are the closest to + // And we'll run this again against the avatar and the space segment + // This will return with a bunch of possible objects in the space segment + // and we'll run it again on all of them. try { - foreach (OdeCharacter chr in _characters) - { - if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) - continue; - - chr.IsColliding = false; - // chr.CollidingGround = false; not done here - chr.CollidingObj = false; - // do colisions with static space - d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback); - // no coll with gnd - } + CollideSpaces(space, chr.Shell, IntPtr.Zero); } catch (AccessViolationException) { - m_log.Warn("[PHYSICS]: Unable to collide Character to static space"); + m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", Name); } - + + //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); + //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) + //{ + //chr.Position.Z = terrainheight + 10.0f; + //forcedZ = true; + //} } - lock (_activeprims) + if (CollectStats) { - foreach (OdePrim aprim in _activeprims) - { - aprim.CollisionScore = 0; - aprim.IsColliding = false; - } + m_tempAvatarCollisionsThisFrame = _perloopContact.Count; + m_stats[ODEAvatarContactsStatsName] += m_tempAvatarCollisionsThisFrame; } - // collide active prims with static enviroment - lock (_activegroups) + List removeprims = null; + foreach (OdePrim chr in _activeprims) { - try + if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) { - foreach (OdePrim prm in _activegroups) + try { - if (!prm.m_outbounds) + lock (chr) { - if (d.BodyIsEnabled(prm.Body)) + if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false) + { + CollideSpaces(space, chr.prim_geom, IntPtr.Zero); + } + else { - d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback); - d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback); + if (removeprims == null) + { + removeprims = new List(); + } + removeprims.Add(chr); + m_log.Error( + "[ODE SCENE]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!"); } } } + catch (AccessViolationException) + { + m_log.Error("[ODE SCENE]: Unable to space collide"); + } } - catch (AccessViolationException) + } + + if (CollectStats) + m_stats[ODEPrimContactsStatName] += _perloopContact.Count - m_tempAvatarCollisionsThisFrame; + + if (removeprims != null) + { + foreach (OdePrim chr in removeprims) { - m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); + _activeprims.Remove(chr); } } - // finally colide active things amoung them - try + } + + #endregion + + public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) + { + m_worldOffset = offset; + WorldExtents = new Vector2(extents.X, extents.Y); + m_parentScene = pScene; + } + + // Recovered for use by fly height. Kitto Flora + internal float GetTerrainHeightAtXY(float x, float y) + { + int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; + int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; + + IntPtr heightFieldGeom = IntPtr.Zero; + + if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom)) { - d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); + if (heightFieldGeom != IntPtr.Zero) + { + if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) + { + + int index; + + + if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y || + (int)x < 0.001f || (int)y < 0.001f) + return 0; + + x = x - offsetX; + y = y - offsetY; + + index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y); + + if (index < TerrainHeightFieldHeights[heightFieldGeom].Length) + { + //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]); + return (float)TerrainHeightFieldHeights[heightFieldGeom][index]; + } + + else + return 0f; + } + else + { + return 0f; + } + + } + else + { + return 0f; + } + } - catch (AccessViolationException) + else { - m_log.Warn("[PHYSICS]: Unable to collide in Active space"); + return 0f; } -// _perloopContact.Clear(); - } + } +// End recovered. Kitto Flora - #endregion /// /// Add actor to the list that should receive collision events in the simulate loop. /// /// - public void AddCollisionEventReporting(PhysicsActor obj) + internal void AddCollisionEventReporting(PhysicsActor obj) { - if (!_collisionEventPrim.Contains(obj)) - _collisionEventPrim.Add(obj); +// m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID); + + lock (m_collisionEventActorsChanges) + m_collisionEventActorsChanges[obj.LocalID] = obj; } /// /// Remove actor from the list that should receive collision events in the simulate loop. /// /// - public void RemoveCollisionEventReporting(PhysicsActor obj) - { - if (_collisionEventPrim.Contains(obj) && !_collisionEventPrimRemove.Contains(obj)) - _collisionEventPrimRemove.Add(obj); - } - - public override float TimeDilation + internal void RemoveCollisionEventReporting(PhysicsActor obj) { - get { return m_timeDilation; } - } +// m_log.DebugFormat("[PHYSICS]: Removing {0} {1} from collision event reporting", obj.SOPName, obj.LocalID); - public override bool SupportsNINJAJoints - { - get { return false; } + lock (m_collisionEventActorsChanges) + m_collisionEventActorsChanges[obj.LocalID] = null; } #region Add/Remove Entities @@ -1334,613 +1963,1266 @@ namespace OpenSim.Region.Physics.OdePlugin pos.X = position.X; pos.Y = position.Y; pos.Z = position.Z; - OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun); + + OdeCharacter newAv + = new OdeCharacter( + avName, this, pos, size, avPIDD, avPIDP, + avCapRadius, avStandupTensor, avDensity, + avMovementDivisorWalk, avMovementDivisorRun); + newAv.Flying = isFlying; newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; return newAv; } - public void AddCharacter(OdeCharacter chr) + public override void RemoveAvatar(PhysicsActor actor) { - lock (_characters) - { - if (!_characters.Contains(chr)) - { - _characters.Add(chr); - if (chr.bad) - m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid); - } - } - } +// m_log.DebugFormat( +// "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2}", +// actor.Name, actor.LocalID, Name); - public void RemoveCharacter(OdeCharacter chr) - { - lock (_characters) - { - if (_characters.Contains(chr)) - { - _characters.Remove(chr); - } - } + ((OdeCharacter) actor).Destroy(); } - public void BadCharacter(OdeCharacter chr) + internal void AddCharacter(OdeCharacter chr) { - lock (_badCharacter) + if (!_characters.Contains(chr)) { - if (!_badCharacter.Contains(chr)) - _badCharacter.Add(chr); - } - } - - public override void RemoveAvatar(PhysicsActor actor) - { - //m_log.Debug("[PHYSICS]:ODELOCK"); - ((OdeCharacter) actor).Destroy(); - } + _characters.Add(chr); +// m_log.DebugFormat( +// "[ODE SCENE]: Adding physics character {0} {1} to physics scene {2}. Count now {3}", +// chr.Name, chr.LocalID, Name, _characters.Count); - public void addActivePrim(OdePrim activatePrim) - { - // adds active prim.. - lock (_activeprims) + if (chr.bad) + m_log.ErrorFormat("[ODE SCENE]: Added BAD actor {0} to characters list", chr.m_uuid); + } + else { - if (!_activeprims.Contains(activatePrim)) - _activeprims.Add(activatePrim); + m_log.ErrorFormat( + "[ODE SCENE]: Tried to add character {0} {1} but they are already in the set!", + chr.Name, chr.LocalID); } } - public void addActiveGroups(OdePrim activatePrim) + internal void RemoveCharacter(OdeCharacter chr) { - lock (_activegroups) + if (_characters.Contains(chr)) + { + _characters.Remove(chr); + +// m_log.DebugFormat( +// "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2}. Count now {3}", +// chr.Name, chr.LocalID, Name, _characters.Count); + } + else { - if (!_activegroups.Contains(activatePrim)) - _activegroups.Add(activatePrim); + m_log.ErrorFormat( + "[ODE SCENE]: Tried to remove character {0} {1} but they are not in the list!", + chr.Name, chr.LocalID); } } private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, - PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID) + PrimitiveBaseShape pbs, bool isphysical, uint localID) { + Vector3 pos = position; + Vector3 siz = size; + Quaternion rot = rotation; + OdePrim newPrim; lock (OdeLock) { - newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID); + newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical); + lock (_prims) _prims.Add(newPrim); } + newPrim.LocalID = localID; return newPrim; } - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid) + /// + /// Make this prim subject to physics. + /// + /// + internal void ActivatePrim(OdePrim prim) { - return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, 0 , localid); + // adds active prim.. (ones that should be iterated over in collisions_optimized + if (!_activeprims.Contains(prim)) + _activeprims.Add(prim); + //else + // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); } - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, uint localid) { - return AddPrim(primName, position, size, rotation, pbs, isPhysical,false, 0, localid); +// m_log.DebugFormat("[ODE SCENE]: Adding physics prim {0} {1} to physics scene {2}", primName, localid, Name); + + return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid); } - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid) + public override float TimeDilation { - - return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid); + get { return m_timeDilation; } } - public void remActivePrim(OdePrim deactivatePrim) + public override bool SupportsNINJAJoints { - lock (_activeprims) - { - _activeprims.Remove(deactivatePrim); - } + get { return m_NINJA_physics_joints_enabled; } } - public void remActiveGroup(OdePrim deactivatePrim) + + // internal utility function: must be called within a lock (OdeLock) + private void InternalAddActiveJoint(PhysicsJoint joint) { - lock (_activegroups) - { - _activegroups.Remove(deactivatePrim); - } + activeJoints.Add(joint); + SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint); } - public override void RemovePrim(PhysicsActor prim) + // internal utility function: must be called within a lock (OdeLock) + private void InternalAddPendingJoint(OdePhysicsJoint joint) { - // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be - // removed in the next physics simulate pass. - if (prim is OdePrim) - { -// lock (OdeLock) - { - - OdePrim p = (OdePrim)prim; - p.setPrimForRemoval(); - } - } + pendingJoints.Add(joint); + SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint); } - /// - /// This is called from within simulate but outside the locked portion - /// We need to do our own locking here - /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in - /// Simulate() -- justincc). - /// - /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. - /// - /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory - /// that the space was using. - /// - /// - public void RemovePrimThreadLocked(OdePrim prim) - { - //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); - lock (prim) - { -// RemoveCollisionEventReporting(prim); - lock (_prims) - _prims.Remove(prim); - } + // internal utility function: must be called within a lock (OdeLock) + private void InternalRemovePendingJoint(PhysicsJoint joint) + { + pendingJoints.Remove(joint); + SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene); } - public bool havePrim(OdePrim prm) + // internal utility function: must be called within a lock (OdeLock) + private void InternalRemoveActiveJoint(PhysicsJoint joint) { - lock (_prims) - return _prims.Contains(prm); + activeJoints.Remove(joint); + SOPName_to_activeJoint.Remove(joint.ObjectNameInScene); } - public bool haveActor(PhysicsActor actor) + public override void DumpJointInfo() { - if (actor is OdePrim) + string hdr = "[NINJA] JOINTINFO: "; + foreach (PhysicsJoint j in pendingJoints) { - lock (_prims) - return _prims.Contains((OdePrim)actor); + m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams); } - else if (actor is OdeCharacter) + m_log.Debug(hdr + pendingJoints.Count + " total pending joints"); + foreach (string jointName in SOPName_to_pendingJoint.Keys) { - lock (_characters) - return _characters.Contains((OdeCharacter)actor); + m_log.Debug(hdr + " pending joints dict contains Name: " + jointName); } - return false; - } - - #endregion + m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries"); + foreach (PhysicsJoint j in activeJoints) + { + m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams); + } + m_log.Debug(hdr + activeJoints.Count + " total active joints"); + foreach (string jointName in SOPName_to_activeJoint.Keys) + { + m_log.Debug(hdr + " active joints dict contains Name: " + jointName); + } + m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries"); - #region Space Separation Calculation + m_log.Debug(hdr + " Per-body joint connectivity information follows."); + m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints."); + foreach (string actorName in joints_connecting_actor.Keys) + { + m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it"); + foreach (PhysicsJoint j in joints_connecting_actor[actorName]) + { + m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams); + } + m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor"); + } + } - /// - /// Called when a static prim moves or becomes static - /// Places the prim in a space one the static sub-spaces grid - /// - /// the pointer to the geom that moved - /// the position that the geom moved to - /// a pointer to the space it was in before it was moved. - /// a pointer to the new space it's in - public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace) + public override void RequestJointDeletion(string ObjectNameInScene) { - // moves a prim into another static sub-space or from another space into a static sub-space - - // Called ODEPrim so - // it's already in locked space. - - if (geom == IntPtr.Zero) // shouldn't happen - return IntPtr.Zero; - - // get the static sub-space for current position - IntPtr newspace = calculateSpaceForGeom(pos); + lock (externalJointRequestsLock) + { + if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously + { + requestedJointsToBeDeleted.Add(ObjectNameInScene); + } + } + } - if (newspace == currentspace) // if we are there all done - return newspace; + private void DeleteRequestedJoints() + { + List myRequestedJointsToBeDeleted; + lock (externalJointRequestsLock) + { + // make a local copy of the shared list for processing (threading issues) + myRequestedJointsToBeDeleted = new List(requestedJointsToBeDeleted); + } - // else remove it from its current space - if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom)) + foreach (string jointName in myRequestedJointsToBeDeleted) { - if (d.GeomIsSpace(currentspace)) + lock (OdeLock) { - waitForSpaceUnlock(currentspace); - d.SpaceRemove(currentspace, geom); + //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName); + if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName)) + { + OdePhysicsJoint joint = null; + if (SOPName_to_activeJoint.ContainsKey(jointName)) + { + joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint; + InternalRemoveActiveJoint(joint); + } + else if (SOPName_to_pendingJoint.ContainsKey(jointName)) + { + joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint; + InternalRemovePendingJoint(joint); + } + + if (joint != null) + { + //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames); + for (int iBodyName = 0; iBodyName < 2; iBodyName++) + { + string bodyName = joint.BodyNames[iBodyName]; + if (bodyName != "NULL") + { + joints_connecting_actor[bodyName].Remove(joint); + if (joints_connecting_actor[bodyName].Count == 0) + { + joints_connecting_actor.Remove(bodyName); + } + } + } - if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) + DoJointDeactivated(joint); + if (joint.jointID != IntPtr.Zero) + { + d.JointDestroy(joint.jointID); + joint.jointID = IntPtr.Zero; + //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName); + } + else + { + //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName); + } + } + else + { + // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName); + } + } + else { - d.SpaceDestroy(currentspace); + // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName); } } - else + } + + // remove processed joints from the shared list + lock (externalJointRequestsLock) + { + foreach (string jointName in myRequestedJointsToBeDeleted) { - m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace + - " Geom:" + geom); + requestedJointsToBeDeleted.Remove(jointName); } } - else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space + } + + // for pending joints we don't know if their associated bodies exist yet or not. + // the joint is actually created during processing of the taints + private void CreateRequestedJoints() + { + List myRequestedJointsToBeCreated; + lock (externalJointRequestsLock) + { + // make a local copy of the shared list for processing (threading issues) + myRequestedJointsToBeCreated = new List(requestedJointsToBeCreated); + } + + foreach (PhysicsJoint joint in myRequestedJointsToBeCreated) { - currentspace = d.GeomGetSpace(geom); - if (currentspace != IntPtr.Zero) + lock (OdeLock) { - if (d.GeomIsSpace(currentspace)) + if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null) { - waitForSpaceUnlock(currentspace); - d.SpaceRemove(currentspace, geom); + DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation); + continue; + } + if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null) + { + DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation); + continue; + } - if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) + InternalAddPendingJoint(joint as OdePhysicsJoint); + + if (joint.BodyNames.Count >= 2) + { + for (int iBodyName = 0; iBodyName < 2; iBodyName++) { - d.SpaceDestroy(currentspace); + string bodyName = joint.BodyNames[iBodyName]; + if (bodyName != "NULL") + { + if (!joints_connecting_actor.ContainsKey(bodyName)) + { + joints_connecting_actor.Add(bodyName, new List()); + } + joints_connecting_actor[bodyName].Add(joint); + } } - } } } - // put the geom in the newspace - waitForSpaceUnlock(newspace); - d.SpaceAdd(newspace, geom); - - // let caller know this newspace - return newspace; + // remove processed joints from shared list + lock (externalJointRequestsLock) + { + foreach (PhysicsJoint joint in myRequestedJointsToBeCreated) + { + requestedJointsToBeCreated.Remove(joint); + } + } } /// - /// Calculates the space the prim should be in by its position + /// Add a request for joint creation. /// - /// - /// a pointer to the space. This could be a new space or reused space. - public IntPtr calculateSpaceForGeom(Vector3 pos) + /// + /// this joint will just be added to a waiting list that is NOT processed during the main + /// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests. + /// + /// + /// + /// + /// + /// + /// + /// + /// + /// + public override PhysicsJoint RequestJointCreation( + string objectNameInScene, PhysicsJointType jointType, Vector3 position, + Quaternion rotation, string parms, List bodyNames, string trackedBodyName, Quaternion localRotation) { - int x, y; + OdePhysicsJoint joint = new OdePhysicsJoint(); + joint.ObjectNameInScene = objectNameInScene; + joint.Type = jointType; + joint.Position = position; + joint.Rotation = rotation; + joint.RawParams = parms; + joint.BodyNames = new List(bodyNames); + joint.TrackedBodyName = trackedBodyName; + joint.LocalRotation = localRotation; + joint.jointID = IntPtr.Zero; + joint.ErrorMessageCount = 0; + + lock (externalJointRequestsLock) + { + if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice + { + requestedJointsToBeCreated.Add(joint); + } + } - if (pos.X < 0) - return staticPrimspaceOffRegion[0]; + return joint; + } - if (pos.Y < 0) - return staticPrimspaceOffRegion[2]; + private void RemoveAllJointsConnectedToActor(PhysicsActor actor) + { + //m_log.Debug("RemoveAllJointsConnectedToActor: start"); + if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null) + { + List jointsToRemove = new List(); + //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism) + foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName]) + { + jointsToRemove.Add(j); + } + foreach (PhysicsJoint j in jointsToRemove) + { + //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene); + RequestJointDeletion(j.ObjectNameInScene); + //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene); + j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing) + } + } + } - x = (int)(pos.X * spacesPerMeter); - if (x > spaceGridMaxX) - return staticPrimspaceOffRegion[1]; - - y = (int)(pos.Y * spacesPerMeter); - if (y > spaceGridMaxY) - return staticPrimspaceOffRegion[3]; + public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor) + { + //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start"); + lock (OdeLock) + { + //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock"); + RemoveAllJointsConnectedToActor(actor); + } + } + + // normally called from within OnJointMoved, which is called from within a lock (OdeLock) + public override Vector3 GetJointAnchor(PhysicsJoint joint) + { + Debug.Assert(joint.IsInPhysicsEngine); + d.Vector3 pos = new d.Vector3(); - return staticPrimspace[x, y]; + if (!(joint is OdePhysicsJoint)) + { + DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene); + } + else + { + OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint; + switch (odeJoint.Type) + { + case PhysicsJointType.Ball: + d.JointGetBallAnchor(odeJoint.jointID, out pos); + break; + case PhysicsJointType.Hinge: + d.JointGetHingeAnchor(odeJoint.jointID, out pos); + break; + } + } + return new Vector3(pos.X, pos.Y, pos.Z); } - - #endregion + /// + /// Get joint axis. + /// + /// + /// normally called from within OnJointMoved, which is called from within a lock (OdeLock) + /// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function + /// appears to be unreliable. Fortunately we can compute the joint axis ourselves by + /// keeping track of the joint's original orientation relative to one of the involved bodies. + /// + /// + /// + public override Vector3 GetJointAxis(PhysicsJoint joint) + { + Debug.Assert(joint.IsInPhysicsEngine); + d.Vector3 axis = new d.Vector3(); + + if (!(joint is OdePhysicsJoint)) + { + DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene); + } + else + { + OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint; + switch (odeJoint.Type) + { + case PhysicsJointType.Ball: + DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene); + break; + case PhysicsJointType.Hinge: + d.JointGetHingeAxis(odeJoint.jointID, out axis); + break; + } + } + return new Vector3(axis.X, axis.Y, axis.Z); + } /// - /// Called to queue a change to a actor - /// to use in place of old taint mechanism so changes do have a time sequence + /// Stop this prim being subject to physics /// + /// + internal void DeactivatePrim(OdePrim prim) + { + _activeprims.Remove(prim); + } - public void AddChange(PhysicsActor actor, changes what, Object arg) + public override void RemovePrim(PhysicsActor prim) { - ODEchangeitem item = new ODEchangeitem(); - item.actor = actor; - item.what = what; - item.arg = arg; - ChangesQueue.Enqueue(item); + // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be + // removed in the next physics simulate pass. + if (prim is OdePrim) + { + lock (OdeLock) + { + OdePrim p = (OdePrim) prim; + + p.setPrimForRemoval(); + AddPhysicsActorTaint(prim); + } + } } /// - /// Called after our prim properties are set Scale, position etc. - /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex - /// This assures us that we have no race conditions + /// This is called from within simulate but outside the locked portion + /// We need to do our own locking here + /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in + /// Simulate() -- justincc). + /// + /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. + /// + /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory + /// that the space was using. /// /// - public override void AddPhysicsActorTaint(PhysicsActor prim) + internal void RemovePrimThreadLocked(OdePrim prim) { +// m_log.DebugFormat("[ODE SCENE]: Removing physical prim {0} {1}", prim.Name, prim.LocalID); + + lock (prim) + { + RemoveCollisionEventReporting(prim); + + if (prim.prim_geom != IntPtr.Zero) + { + prim.ResetTaints(); + + if (prim.IsPhysical) + { + prim.disableBody(); + if (prim.childPrim) + { + prim.childPrim = false; + prim.Body = IntPtr.Zero; + prim.m_disabled = true; + prim.IsPhysical = false; + } + + + } + // we don't want to remove the main space + + // If the geometry is in the targetspace, remove it from the target space + //m_log.Warn(prim.m_targetSpace); + + //if (prim.m_targetSpace != IntPtr.Zero) + //{ + //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom)) + //{ + + //if (d.GeomIsSpace(prim.m_targetSpace)) + //{ + //waitForSpaceUnlock(prim.m_targetSpace); + //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom); + prim.m_targetSpace = IntPtr.Zero; + //} + //else + //{ + // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + + //((OdePrim)prim).m_targetSpace.ToString()); + //} + + //} + //} + //m_log.Warn(prim.prim_geom); + + if (!prim.RemoveGeom()) + m_log.Warn("[ODE SCENE]: Unable to remove prim from physics scene"); + + lock (_prims) + _prims.Remove(prim); + + //If there are no more geometries in the sub-space, we don't need it in the main space anymore + //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0) + //{ + //if (prim.m_targetSpace != null) + //{ + //if (d.GeomIsSpace(prim.m_targetSpace)) + //{ + //waitForSpaceUnlock(prim.m_targetSpace); + //d.SpaceRemove(space, prim.m_targetSpace); + // free up memory used by the space. + //d.SpaceDestroy(prim.m_targetSpace); + //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position); + //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]); + //} + //else + //{ + //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + + //((OdePrim) prim).m_targetSpace.ToString()); + //} + //} + //} + + if (SupportsNINJAJoints) + RemoveAllJointsConnectedToActorThreadLocked(prim); + } + } } - // does all pending changes generated during region load process - public override void PrepareSimulation() + #endregion + + #region Space Separation Calculation + + /// + /// Takes a space pointer and zeros out the array we're using to hold the spaces + /// + /// + private void resetSpaceArrayItemToZero(IntPtr pSpace) { - lock (OdeLock) + for (int x = 0; x < staticPrimspace.GetLength(0); x++) { - if (world == IntPtr.Zero) + for (int y = 0; y < staticPrimspace.GetLength(1); y++) { - ChangesQueue.Clear(); - return; + if (staticPrimspace[x, y] == pSpace) + staticPrimspace[x, y] = IntPtr.Zero; } + } + } - ODEchangeitem item; +// private void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY) +// { +// staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero; +// } - int donechanges = 0; - if (ChangesQueue.Count > 0) + /// + /// Called when a static prim moves. Allocates a space for the prim based on its position + /// + /// the pointer to the geom that moved + /// the position that the geom moved to + /// a pointer to the space it was in before it was moved. + /// a pointer to the new space it's in + internal IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace) + { + // Called from setting the Position and Size of an ODEPrim so + // it's already in locked space. + + // we don't want to remove the main space + // we don't need to test physical here because this function should + // never be called if the prim is physical(active) + + // All physical prim end up in the root space + //Thread.Sleep(20); + if (currentspace != space) + { + //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString()); + //if (currentspace == IntPtr.Zero) + //{ + //int adfadf = 0; + //} + if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero) + { + if (d.GeomIsSpace(currentspace)) + { +// waitForSpaceUnlock(currentspace); + d.SpaceRemove(currentspace, geom); + } + else + { + m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + currentspace + + " Geom:" + geom); + } + } + else { - m_log.InfoFormat("[ODE] start processing pending actor operations"); - int tstart = Util.EnvironmentTickCount(); + IntPtr sGeomIsIn = d.GeomGetSpace(geom); + if (sGeomIsIn != IntPtr.Zero) + { + if (d.GeomIsSpace(currentspace)) + { +// waitForSpaceUnlock(sGeomIsIn); + d.SpaceRemove(sGeomIsIn, geom); + } + else + { + m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + + sGeomIsIn + " Geom:" + geom); + } + } + } - while (ChangesQueue.Dequeue(out item)) + //If there are no more geometries in the sub-space, we don't need it in the main space anymore + if (d.SpaceGetNumGeoms(currentspace) == 0) + { + if (currentspace != IntPtr.Zero) { - if (item.actor != null) + if (d.GeomIsSpace(currentspace)) { - try +// waitForSpaceUnlock(currentspace); +// waitForSpaceUnlock(space); + d.SpaceRemove(space, currentspace); + // free up memory used by the space. + + //d.SpaceDestroy(currentspace); + resetSpaceArrayItemToZero(currentspace); + } + else + { + m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + + currentspace + " Geom:" + geom); + } + } + } + } + else + { + // this is a physical object that got disabled. ;.; + if (currentspace != IntPtr.Zero && geom != IntPtr.Zero) + { + if (d.SpaceQuery(currentspace, geom)) + { + if (d.GeomIsSpace(currentspace)) + { +// waitForSpaceUnlock(currentspace); + d.SpaceRemove(currentspace, geom); + } + else + { + m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + + currentspace + " Geom:" + geom); + } + } + else + { + IntPtr sGeomIsIn = d.GeomGetSpace(geom); + if (sGeomIsIn != IntPtr.Zero) + { + if (d.GeomIsSpace(sGeomIsIn)) { - if (item.actor is OdeCharacter) - ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); - else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) - RemovePrimThreadLocked((OdePrim)item.actor); +// waitForSpaceUnlock(sGeomIsIn); + d.SpaceRemove(sGeomIsIn, geom); } - catch + else { - m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}", - item.actor.Name, item.what.ToString()); + m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + + sGeomIsIn + " Geom:" + geom); } } - donechanges++; } - int time = Util.EnvironmentTickCountSubtract(tstart); - m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time); + } + } + + // The routines in the Position and Size sections do the 'inserting' into the space, + // so all we have to do is make sure that the space that we're putting the prim into + // is in the 'main' space. + int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos); + IntPtr newspace = calculateSpaceForGeom(pos); + + if (newspace == IntPtr.Zero) + { + newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); + d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh); + } + + return newspace; + } + + /// + /// Creates a new space at X Y + /// + /// + /// + /// A pointer to the created space + internal IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY) + { + // creating a new space for prim and inserting it into main space. + staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero); + d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space); +// waitForSpaceUnlock(space); + d.SpaceSetSublevel(space, 1); + d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); + + return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; + } + + /// + /// Calculates the space the prim should be in by its position + /// + /// + /// a pointer to the space. This could be a new space or reused space. + internal IntPtr calculateSpaceForGeom(Vector3 pos) + { + int[] xyspace = calculateSpaceArrayItemFromPos(pos); + //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString()); + return staticPrimspace[xyspace[0], xyspace[1]]; + } + + /// + /// Holds the space allocation logic + /// + /// + /// an array item based on the position + internal int[] calculateSpaceArrayItemFromPos(Vector3 pos) + { + int[] returnint = new int[2]; + + returnint[0] = (int) (pos.X/metersInSpace); + + if (returnint[0] > ((int) (259f/metersInSpace))) + returnint[0] = ((int) (259f/metersInSpace)); + if (returnint[0] < 0) + returnint[0] = 0; + + returnint[1] = (int) (pos.Y/metersInSpace); + if (returnint[1] > ((int) (259f/metersInSpace))) + returnint[1] = ((int) (259f/metersInSpace)); + if (returnint[1] < 0) + returnint[1] = 0; + + return returnint; + } + + #endregion + + /// + /// Routine to figure out if we need to mesh this prim with our mesher + /// + /// + /// + internal bool needsMeshing(PrimitiveBaseShape pbs) + { + // most of this is redundant now as the mesher will return null if it cant mesh a prim + // but we still need to check for sculptie meshing being enabled so this is the most + // convenient place to do it for now... + + // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f) + // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString()); + int iPropertiesNotSupportedDefault = 0; + + if (pbs.SculptEntry && !meshSculptedPrim) + { +#if SPAM + m_log.Warn("NonMesh"); +#endif + return false; + } + + // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim + if (!forceSimplePrimMeshing && !pbs.SculptEntry) + { + if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) + || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 + && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) + { + + if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 + && pbs.ProfileHollow == 0 + && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 + && pbs.PathBegin == 0 && pbs.PathEnd == 0 + && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 + && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 + && pbs.PathShearX == 0 && pbs.PathShearY == 0) + { +#if SPAM + m_log.Warn("NonMesh"); +#endif + return false; + } + } + } + + if (pbs.ProfileHollow != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) + iPropertiesNotSupportedDefault++; + + if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) + iPropertiesNotSupportedDefault++; + + // test for torus + if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) + { + if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) + { + if (pbs.PathCurve == (byte)Extrusion.Straight) + { + iPropertiesNotSupportedDefault++; + } + + // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits + else if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) + { + if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) + { + if (pbs.PathCurve == (byte)Extrusion.Straight) + { + iPropertiesNotSupportedDefault++; + } + else if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + + if (pbs.SculptEntry && meshSculptedPrim) + iPropertiesNotSupportedDefault++; + + if (iPropertiesNotSupportedDefault == 0) + { +#if SPAM + m_log.Warn("NonMesh"); +#endif + return false; + } +#if SPAM + m_log.Debug("Mesh"); +#endif + return true; + } + + /// + /// Called after our prim properties are set Scale, position etc. + /// + /// + /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex + /// This assures us that we have no race conditions + /// + /// + public override void AddPhysicsActorTaint(PhysicsActor actor) + { + if (actor is OdePrim) + { + OdePrim taintedprim = ((OdePrim)actor); + lock (_taintedPrims) + _taintedPrims.Add(taintedprim); + } + else if (actor is OdeCharacter) + { + OdeCharacter taintedchar = ((OdeCharacter)actor); + lock (_taintedActors) + { + _taintedActors.Add(taintedchar); + if (taintedchar.bad) + m_log.ErrorFormat("[ODE SCENE]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid); } } } /// /// This is our main simulate loop + /// + /// /// It's thread locked by a Mutex in the scene. /// It holds Collisions, it instructs ODE to step through the physical reactions /// It moves the objects around in memory /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup) - /// + /// /// - /// + /// The number of frames simulated over that period. public override float Simulate(float timeStep) { + if (!_worldInitialized) return 11f; - DateTime now = DateTime.UtcNow; - TimeSpan timedif = now - m_lastframe; - m_lastframe = now; - timeStep = (float)timedif.TotalSeconds; - - // acumulate time so we can reduce error - step_time += timeStep; + int startFrameTick = CollectStats ? Util.EnvironmentTickCount() : 0; + int tempTick = 0, tempTick2 = 0; - if (step_time < HalfOdeStep) - return 0; - - if (framecount < 0) + if (framecount >= int.MaxValue) framecount = 0; framecount++; - int curphysiteractions; + float fps = 0; - // if in trouble reduce step resolution - if (step_time >= m_SkipFramesAtms) - curphysiteractions = m_physicsiterations / 2; - else - curphysiteractions = m_physicsiterations; + float timeLeft = timeStep; + + //m_log.Info(timeStep.ToString()); +// step_time += timeSte +// +// // If We're loaded down by something else, +// // or debugging with the Visual Studio project on pause +// // skip a few frames to catch up gracefully. +// // without shooting the physicsactors all over the place +// +// if (step_time >= m_SkipFramesAtms) +// { +// // Instead of trying to catch up, it'll do 5 physics frames only +// step_time = ODE_STEPSIZE; +// m_physicsiterations = 5; +// } +// else +// { +// m_physicsiterations = 10; +// } + + // We change _collisionEventPrimChanges to avoid locking _collisionEventPrim itself and causing potential + // deadlock if the collision event tries to lock something else later on which is already locked by a + // caller that is adding or removing the collision event. + lock (m_collisionEventActorsChanges) + { + foreach (KeyValuePair kvp in m_collisionEventActorsChanges) + { + if (kvp.Value == null) + m_collisionEventActors.Remove(kvp.Key); + else + m_collisionEventActors[kvp.Key] = kvp.Value; + } - int nodeframes = 0; + m_collisionEventActorsChanges.Clear(); + } -// checkThread(); + if (SupportsNINJAJoints) + { + DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks + CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks + } - lock (SimulationLock) - lock(OdeLock) + lock (OdeLock) { - if (world == IntPtr.Zero) + // Process 10 frames if the sim is running normal.. + // process 5 frames if the sim is running slow + //try + //{ + //d.WorldSetQuickStepNumIterations(world, m_physicsiterations); + //} + //catch (StackOverflowException) + //{ + // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim."); + // ode.drelease(world); + //base.TriggerPhysicsBasedRestart(); + //} + + // Figure out the Frames Per Second we're going at. + //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size + + fps = (timeStep / ODE_STEPSIZE) * 1000; + // HACK: Using a time dilation of 1.0 to debug rubberbanding issues + //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f); + + while (timeLeft > 0.0f) { - ChangesQueue.Clear(); - return 0; - } + try + { + if (CollectStats) + tempTick = Util.EnvironmentTickCount(); + + lock (_taintedActors) + { + foreach (OdeCharacter character in _taintedActors) + character.ProcessTaints(); - ODEchangeitem item; + _taintedActors.Clear(); + } - if (ChangesQueue.Count > 0) - { - int ttmpstart = Util.EnvironmentTickCount(); - int ttmp; + if (CollectStats) + { + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODEAvatarTaintMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; + } - while (ChangesQueue.Dequeue(out item)) - { - if (item.actor != null) + lock (_taintedPrims) { - try - { - if (item.actor is OdeCharacter) - ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); - else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) - RemovePrimThreadLocked((OdePrim)item.actor); - } - catch + foreach (OdePrim prim in _taintedPrims) { - m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", - item.actor.Name, item.what.ToString()); + if (prim.m_taintremove) + { +// Console.WriteLine("Simulate calls RemovePrimThreadLocked for {0}", prim.Name); + RemovePrimThreadLocked(prim); + } + else + { +// Console.WriteLine("Simulate calls ProcessTaints for {0}", prim.Name); + prim.ProcessTaints(); + } + + prim.m_collisionscore = 0; + + // This loop can block up the Heartbeat for a very long time on large regions. + // We need to let the Watchdog know that the Heartbeat is not dead + // NOTE: This is currently commented out, but if things like OAR loading are + // timing the heartbeat out we will need to uncomment it + //Watchdog.UpdateThread(); } - } - ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); - if (ttmp > 20) - break; - } - } - - d.WorldSetQuickStepNumIterations(world, curphysiteractions); - while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever - { - try - { - // clear pointer/counter to contacts to pass into joints - m_global_contactcount = 0; + if (SupportsNINJAJoints) + SimulatePendingNINJAJoints(); + _taintedPrims.Clear(); + } + + if (CollectStats) + { + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODEPrimTaintMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; + } // Move characters - lock (_characters) + foreach (OdeCharacter actor in _characters) + actor.Move(defects); + + if (defects.Count != 0) { - List defects = new List(); - foreach (OdeCharacter actor in _characters) - { - if (actor != null) - actor.Move(ODE_STEPSIZE, defects); - } - if (defects.Count != 0) + foreach (OdeCharacter actor in defects) { - foreach (OdeCharacter defect in defects) - { - RemoveCharacter(defect); - } - defects.Clear(); + m_log.ErrorFormat( + "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when moving", + actor.Name, actor.LocalID, Name); + + RemoveCharacter(actor); + actor.DestroyOdeStructures(); } + + defects.Clear(); + } + + if (CollectStats) + { + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODEAvatarForcesFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; } // Move other active objects - lock (_activegroups) + foreach (OdePrim prim in _activeprims) { - foreach (OdePrim aprim in _activegroups) - { - aprim.Move(); - } + prim.m_collisionscore = 0; + prim.Move(timeStep); + } + + if (CollectStats) + { + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODEPrimForcesFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; } //if ((framecount % m_randomizeWater) == 0) - // randomizeWater(waterlevel); + // randomizeWater(waterlevel); + //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests(); m_rayCastManager.ProcessQueuedRequests(); + if (CollectStats) + { + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODERaycastingFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; + } + collision_optimized(); - foreach (PhysicsActor obj in _collisionEventPrim) + if (CollectStats) + { + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODEOtherCollisionFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; + } + + foreach (PhysicsActor obj in m_collisionEventActors.Values) { - if (obj == null) - continue; +// m_log.DebugFormat("[PHYSICS]: Assessing {0} {1} for collision events", obj.SOPName, obj.LocalID); switch ((ActorTypes)obj.PhysicsActorType) { case ActorTypes.Agent: OdeCharacter cobj = (OdeCharacter)obj; - cobj.AddCollisionFrameTime((int)(odetimestepMS)); + cobj.AddCollisionFrameTime(100); cobj.SendCollisions(); break; case ActorTypes.Prim: OdePrim pobj = (OdePrim)obj; - if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds)) - if (!pobj.m_outbounds) - { - pobj.AddCollisionFrameTime((int)(odetimestepMS)); - pobj.SendCollisions(); - } + pobj.SendCollisions(); break; } } - foreach (PhysicsActor obj in _collisionEventPrimRemove) - _collisionEventPrim.Remove(obj); - - _collisionEventPrimRemove.Clear(); +// if (m_global_contactcount > 0) +// m_log.DebugFormat( +// "[PHYSICS]: Collision contacts to process this frame = {0}", m_global_contactcount); - // do a ode simulation step - d.WorldQuickStep(world, ODE_STEPSIZE); - d.JointGroupEmpty(contactgroup); + m_global_contactcount = 0; - // update managed ideia of physical data and do updates to core - /* - lock (_characters) + if (CollectStats) { - foreach (OdeCharacter actor in _characters) - { - if (actor != null) - { - if (actor.bad) - m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); - - actor.UpdatePositionAndVelocity(); - } - } + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODECollisionNotificationFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; } - */ - lock (_activegroups) - { - { - foreach (OdePrim actor in _activegroups) - { - if (actor.IsPhysical) - { - actor.UpdatePositionAndVelocity(); - } - } - } - } + d.WorldQuickStep(world, ODE_STEPSIZE); + + if (CollectStats) + m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick); + + d.JointGroupEmpty(contactgroup); } catch (Exception e) { - m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); -// ode.dunlock(world); + m_log.ErrorFormat("[ODE SCENE]: {0}, {1}, {2}", e.Message, e.TargetSite, e); } + timeLeft -= ODE_STEPSIZE; + } + + if (CollectStats) + tempTick = Util.EnvironmentTickCount(); + + foreach (OdeCharacter actor in _characters) + { + if (actor.bad) + m_log.ErrorFormat("[ODE SCENE]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); - step_time -= ODE_STEPSIZE; - nodeframes++; + actor.UpdatePositionAndVelocity(defects); } - lock (_badCharacter) + if (defects.Count != 0) { - if (_badCharacter.Count > 0) + foreach (OdeCharacter actor in defects) { - foreach (OdeCharacter chr in _badCharacter) - { - RemoveCharacter(chr); - } + m_log.ErrorFormat( + "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when updating position and velocity", + actor.Name, actor.LocalID, Name); - _badCharacter.Clear(); + RemoveCharacter(actor); + actor.DestroyOdeStructures(); } - } - timedif = now - m_lastMeshExpire; + defects.Clear(); + } - if (timedif.Seconds > 10) + if (CollectStats) { - mesher.ExpireReleaseMeshs(); - m_lastMeshExpire = now; + tempTick2 = Util.EnvironmentTickCount(); + m_stats[ODEAvatarUpdateFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); + tempTick = tempTick2; } -// information block running in debug only -/* - int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); - int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); - int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace); - - int nactivegeoms = 0; - int nactivespaces = 0; + //if (timeStep < 0.2f) - int nstaticgeoms = 0; - int nstaticspaces = 0; - IntPtr sp; - - for (int i = 0; i < ntopactivegeoms; i++) + foreach (OdePrim prim in _activeprims) { - sp = d.SpaceGetGeom(ActiveSpace, i); - if (d.GeomIsSpace(sp)) + if (prim.IsPhysical && (d.BodyIsEnabled(prim.Body) || !prim._zeroFlag)) { - nactivespaces++; - nactivegeoms += d.SpaceGetNumGeoms(sp); - } - else - nactivegeoms++; - } + prim.UpdatePositionAndVelocity(); - for (int i = 0; i < ntopstaticgeoms; i++) - { - sp = d.SpaceGetGeom(StaticSpace, i); - if (d.GeomIsSpace(sp)) - { - nstaticspaces++; - nstaticgeoms += d.SpaceGetNumGeoms(sp); + if (SupportsNINJAJoints) + SimulateActorPendingJoints(prim); } - else - nstaticgeoms++; } - int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); + if (CollectStats) + m_stats[ODEPrimUpdateFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick); + + //DumpJointInfo(); - int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray - int nbodies = d.NTotalBodies; - int ngeoms = d.NTotalGeoms; -*/ // Finished with all sim stepping. If requested, dump world state to file for debugging. // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots? @@ -1959,26 +3241,256 @@ namespace OpenSim.Region.Physics.OdePlugin d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); } - - // think time dilation as to do with dinamic step size that we dont' have - // even so tell something to world - if (nodeframes < 10) // we did the requested loops + + latertickcount = Util.EnvironmentTickCountSubtract(tickCountFrameRun); + + // OpenSimulator above does 10 fps. 10 fps = means that the main thread loop and physics + // has a max of 100 ms to run theoretically. + // If the main loop stalls, it calls Simulate later which makes the tick count ms larger. + // If Physics stalls, it takes longer which makes the tick count ms larger. + + if (latertickcount < 100) + { m_timeDilation = 1.0f; - else if (step_time > 0) + } + else { - m_timeDilation = timeStep / step_time; - if (m_timeDilation > 1) - m_timeDilation = 1; - if (step_time > m_SkipFramesAtms) - step_time = 0; + m_timeDilation = 100f / latertickcount; + //m_timeDilation = Math.Min((Math.Max(100 - (Util.EnvironmentTickCount() - tickCountFrameRun), 1) / 100f), 1.0f); } + + tickCountFrameRun = Util.EnvironmentTickCount(); + + if (CollectStats) + m_stats[ODETotalFrameMsStatName] += Util.EnvironmentTickCountSubtract(startFrameTick); } -// return nodeframes * ODE_STEPSIZE; // return real simulated time - return 1000 * nodeframes; // return steps for now * 1000 to keep core happy + return fps; + } + + /// + /// Simulate pending NINJA joints. + /// + /// + /// Called by the main Simulate() loop if NINJA joints are active. Should not be called from anywhere else. + /// + private void SimulatePendingNINJAJoints() + { + // Create pending joints, if possible + + // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating + // a joint requires specifying the body id of both involved bodies + if (pendingJoints.Count > 0) + { + List successfullyProcessedPendingJoints = new List(); + //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints"); + foreach (PhysicsJoint joint in pendingJoints) + { + //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams); + string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries); + List jointBodies = new List(); + bool allJointBodiesAreReady = true; + foreach (string jointParam in jointParams) + { + if (jointParam == "NULL") + { + //DoJointErrorMessage(joint, "attaching NULL joint to world"); + jointBodies.Add(IntPtr.Zero); + } + else + { + //DoJointErrorMessage(joint, "looking for prim name: " + jointParam); + bool foundPrim = false; + lock (_prims) + { + foreach (OdePrim prim in _prims) // FIXME: inefficient + { + if (prim.SOPName == jointParam) + { + //DoJointErrorMessage(joint, "found for prim name: " + jointParam); + if (prim.IsPhysical && prim.Body != IntPtr.Zero) + { + jointBodies.Add(prim.Body); + foundPrim = true; + break; + } + else + { + DoJointErrorMessage(joint, "prim name " + jointParam + + " exists but is not (yet) physical; deferring joint creation. " + + "IsPhysical property is " + prim.IsPhysical + + " and body is " + prim.Body); + foundPrim = false; + break; + } + } + } + } + if (foundPrim) + { + // all is fine + } + else + { + allJointBodiesAreReady = false; + break; + } + } + } + + if (allJointBodiesAreReady) + { + //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams); + if (jointBodies[0] == jointBodies[1]) + { + DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams); + } + else + { + switch (joint.Type) + { + case PhysicsJointType.Ball: + { + IntPtr odeJoint; + //DoJointErrorMessage(joint, "ODE creating ball joint "); + odeJoint = d.JointCreateBall(world, IntPtr.Zero); + //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]); + d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]); + //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position); + d.JointSetBallAnchor(odeJoint, + joint.Position.X, + joint.Position.Y, + joint.Position.Z); + //DoJointErrorMessage(joint, "ODE joint setting OK"); + //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: "); + //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment")); + //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: "); + //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment")); + + if (joint is OdePhysicsJoint) + { + ((OdePhysicsJoint)joint).jointID = odeJoint; + } + else + { + DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!"); + } + } + break; + case PhysicsJointType.Hinge: + { + IntPtr odeJoint; + //DoJointErrorMessage(joint, "ODE creating hinge joint "); + odeJoint = d.JointCreateHinge(world, IntPtr.Zero); + //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]); + d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]); + //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position); + d.JointSetHingeAnchor(odeJoint, + joint.Position.X, + joint.Position.Y, + joint.Position.Z); + // We use the orientation of the x-axis of the joint's coordinate frame + // as the axis for the hinge. + + // Therefore, we must get the joint's coordinate frame based on the + // joint.Rotation field, which originates from the orientation of the + // joint's proxy object in the scene. + + // The joint's coordinate frame is defined as the transformation matrix + // that converts a vector from joint-local coordinates into world coordinates. + // World coordinates are defined as the XYZ coordinate system of the sim, + // as shown in the top status-bar of the viewer. + + // Once we have the joint's coordinate frame, we extract its X axis (AtAxis) + // and use that as the hinge axis. + + //joint.Rotation.Normalize(); + Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation); + + // Now extract the X axis of the joint's coordinate frame. + + // Do not try to use proxyFrame.AtAxis or you will become mired in the + // tar pit of transposed, inverted, and generally messed-up orientations. + // (In other words, Matrix4.AtAxis() is borked.) + // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness + + // Instead, compute the X axis of the coordinate frame by transforming + // the (1,0,0) vector. At least that works. + + //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame); + Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame); + //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis); + //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis); + d.JointSetHingeAxis(odeJoint, + jointAxis.X, + jointAxis.Y, + jointAxis.Z); + //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f); + if (joint is OdePhysicsJoint) + { + ((OdePhysicsJoint)joint).jointID = odeJoint; + } + else + { + DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!"); + } + } + break; + } + successfullyProcessedPendingJoints.Add(joint); + } + } + else + { + DoJointErrorMessage(joint, "joint could not yet be created; still pending"); + } + } + + foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints) + { + //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams); + //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending"); + InternalRemovePendingJoint(successfullyProcessedJoint); + //DoJointErrorMessage(successfullyProcessedJoint, "adding to active"); + InternalAddActiveJoint(successfullyProcessedJoint); + //DoJointErrorMessage(successfullyProcessedJoint, "done"); + } + } } /// + /// Simulate the joint proxies of a NINJA actor. + /// + /// + /// Called as part of the Simulate() loop if NINJA physics is active. Must only be called from there. + /// + /// + private void SimulateActorPendingJoints(OdePrim actor) + { + // If an actor moved, move its joint proxy objects as well. + // There seems to be an event PhysicsActor.OnPositionUpdate that could be used + // for this purpose but it is never called! So we just do the joint + // movement code here. + + if (actor.SOPName != null && + joints_connecting_actor.ContainsKey(actor.SOPName) && + joints_connecting_actor[actor.SOPName] != null && + joints_connecting_actor[actor.SOPName].Count > 0) + { + foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName]) + { + if (affectedJoint.IsInPhysicsEngine) + { + DoJointMoved(affectedJoint); + } + else + { + DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams); + } + } + } + } + public override void GetResults() { } @@ -1986,141 +3498,275 @@ namespace OpenSim.Region.Physics.OdePlugin public override bool IsThreaded { // for now we won't be multithreaded - get { return (false); } + get { return false; } } - public float GetTerrainHeightAtXY(float x, float y) + #region ODE Specific Terrain Fixes + private float[] ResizeTerrain512NearestNeighbour(float[] heightMap) { + float[] returnarr = new float[262144]; + float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y]; - - int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - - - IntPtr heightFieldGeom = IntPtr.Zero; - - // get region map - if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) - return 0f; - - if (heightFieldGeom == IntPtr.Zero) - return 0f; - - if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) - return 0f; - - // TerrainHeightField for ODE as offset 1m - x += 1f - offsetX; - y += 1f - offsetY; - - // make position fit into array - if (x < 0) - x = 0; - if (y < 0) - y = 0; - - // integer indexs - int ix; - int iy; - // interpolators offset - float dx; - float dy; - - int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples - - if (OdeUbitLib) + // Filling out the array into its multi-dimensional components + for (int y = 0; y < WorldExtents.Y; y++) { - if (x < regsize - 1) - { - ix = (int)x; - dx = x - (float)ix; - } - else // out world use external height - { - ix = regsize - 2; - dx = 0; - } - if (y < regsize - 1) - { - iy = (int)y; - dy = y - (float)iy; - } - else + for (int x = 0; x < WorldExtents.X; x++) { - iy = regsize - 2; - dy = 0; + resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x]; } } - else + // Resize using Nearest Neighbour + + // This particular way is quick but it only works on a multiple of the original + + // The idea behind this method can be described with the following diagrams + // second pass and third pass happen in the same loop really.. just separated + // them to show what this does. + + // First Pass + // ResultArr: + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + + // Second Pass + // ResultArr2: + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + + // Third pass fills in the blanks + // ResultArr2: + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + + // X,Y = . + // X+1,y = ^ + // X,Y+1 = * + // X+1,Y+1 = # + + // Filling in like this; + // .* + // ^# + // 1st . + // 2nd * + // 3rd ^ + // 4th # + // on single loop. + + float[,] resultarr2 = new float[512, 512]; + for (int y = 0; y < WorldExtents.Y; y++) { - // we still have square fixed size regions - // also flip x and y because of how map is done for ODE fliped axis - // so ix,iy,dx and dy are inter exchanged - if (x < regsize - 1) - { - iy = (int)x; - dy = x - (float)iy; - } - else // out world use external height + for (int x = 0; x < WorldExtents.X; x++) { - iy = regsize - 2; - dy = 0; + resultarr2[y * 2, x * 2] = resultarr[y, x]; + + if (y < WorldExtents.Y) + { + resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x]; + } + if (x < WorldExtents.X) + { + resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x]; + } + if (x < WorldExtents.X && y < WorldExtents.Y) + { + resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x]; + } } - if (y < regsize - 1) + } + + //Flatten out the array + int i = 0; + for (int y = 0; y < 512; y++) + { + for (int x = 0; x < 512; x++) { - ix = (int)y; - dx = y - (float)ix; + if (resultarr2[y, x] <= 0) + returnarr[i] = 0.0000001f; + else + returnarr[i] = resultarr2[y, x]; + + i++; } - else + } + + return returnarr; + } + + private float[] ResizeTerrain512Interpolation(float[] heightMap) + { + float[] returnarr = new float[262144]; + float[,] resultarr = new float[512,512]; + + // Filling out the array into its multi-dimensional components + for (int y = 0; y < 256; y++) + { + for (int x = 0; x < 256; x++) { - ix = regsize - 2; - dx = 0; + resultarr[y, x] = heightMap[y * 256 + x]; } } - float h0; - float h1; - float h2; - - iy *= regsize; - iy += ix; // all indexes have iy + ix + // Resize using interpolation + + // This particular way is quick but it only works on a multiple of the original + + // The idea behind this method can be described with the following diagrams + // second pass and third pass happen in the same loop really.. just separated + // them to show what this does. + + // First Pass + // ResultArr: + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + // 1,1,1,1,1,1 + + // Second Pass + // ResultArr2: + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + // ,,,,,,,,,, + // 1,,1,,1,,1,,1,,1, + + // Third pass fills in the blanks + // ResultArr2: + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + // 1,1,1,1,1,1,1,1,1,1,1,1 + + // X,Y = . + // X+1,y = ^ + // X,Y+1 = * + // X+1,Y+1 = # + + // Filling in like this; + // .* + // ^# + // 1st . + // 2nd * + // 3rd ^ + // 4th # + // on single loop. + + float[,] resultarr2 = new float[512,512]; + for (int y = 0; y < (int)Constants.RegionSize; y++) + { + for (int x = 0; x < (int)Constants.RegionSize; x++) + { + resultarr2[y*2, x*2] = resultarr[y, x]; - float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; - /* - if ((dx + dy) <= 1.0f) + if (y < (int)Constants.RegionSize) + { + if (y + 1 < (int)Constants.RegionSize) + { + if (x + 1 < (int)Constants.RegionSize) + { + resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] + + resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); + } + else + { + resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2); + } + } + else + { + resultarr2[(y*2) + 1, x*2] = resultarr[y, x]; + } + } + if (x < (int)Constants.RegionSize) + { + if (x + 1 < (int)Constants.RegionSize) + { + if (y + 1 < (int)Constants.RegionSize) + { + resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + + resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); + } + else + { + resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2); + } + } + else + { + resultarr2[y*2, (x*2) + 1] = resultarr[y, x]; + } + } + if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize) + { + if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize)) { - h0 = ((float)heights[iy]); // 0,0 vertice - h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0 - h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0 + resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + + resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); } else { - h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice - h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0 - h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1 + resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x]; } - */ - h0 = ((float)heights[iy]); // 0,0 vertice - - if ((dy > dx)) - { - iy += regsize; - h2 = (float)heights[iy]; // 0,1 vertice - h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0 - h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1 + } + } } - else + //Flatten out the array + int i = 0; + for (int y = 0; y < 512; y++) { - iy++; - h2 = (float)heights[iy]; // vertice 1,0 - h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0 - h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0 + for (int x = 0; x < 512; x++) + { + if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x])) + { + m_log.Warn("[ODE SCENE]: Non finite heightfield element detected. Setting it to 0"); + resultarr2[y, x] = 0; + } + returnarr[i] = resultarr2[y, x]; + i++; + } } - return h0 + h1 + h2; + return returnarr; } + #endregion public override void SetTerrain(float[] heightMap) { @@ -2137,75 +3783,78 @@ namespace OpenSim.Region.Physics.OdePlugin } } - public override void CombineTerrain(float[] heightMap, Vector3 pOffset) + private void SetTerrain(float[] heightMap, Vector3 pOffset) { - SetTerrain(heightMap, pOffset); - } + int startTime = Util.EnvironmentTickCount(); + m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset); - public void SetTerrain(float[] heightMap, Vector3 pOffset) - { - if (OdeUbitLib) - UbitSetTerrain(heightMap, pOffset); - else - OriSetTerrain(heightMap, pOffset); - } + // this._heightmap[i] = (double)heightMap[i]; + // dbm (danx0r) -- creating a buffer zone of one extra sample all around + //_origheightmap = heightMap; + + float[] _heightmap; - public void OriSetTerrain(float[] heightMap, Vector3 pOffset) - { - // assumes 1m size grid and constante size square regions - // needs to know about sims around in future + // zero out a heightmap array float array (single dimension [flattened])) + //if ((int)Constants.RegionSize == 256) + // _heightmap = new float[514 * 514]; + //else - float[] _heightmap; + _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))]; + + uint heightmapWidth = Constants.RegionSize + 1; + uint heightmapHeight = Constants.RegionSize + 1; - uint heightmapWidth = Constants.RegionSize + 2; - uint heightmapHeight = Constants.RegionSize + 2; + uint heightmapWidthSamples; - uint heightmapWidthSamples = heightmapWidth + 1; - uint heightmapHeightSamples = heightmapHeight + 1; + uint heightmapHeightSamples; - _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; + //if (((int)Constants.RegionSize) == 256) + //{ + // heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2; + // heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2; + // heightmapWidth++; + // heightmapHeight++; + //} + //else + //{ + + heightmapWidthSamples = (uint)Constants.RegionSize + 1; + heightmapHeightSamples = (uint)Constants.RegionSize + 1; + //} const float scale = 1.0f; const float offset = 0.0f; - const float thickness = 10f; + const float thickness = 0.2f; const int wrap = 0; - uint regionsize = Constants.RegionSize; - - float hfmin = float.MaxValue; - float hfmax = float.MinValue; - float val; - uint xx; - uint yy; + int regionsize = (int) Constants.RegionSize + 2; + //Double resolution + //if (((int)Constants.RegionSize) == 256) + // heightMap = ResizeTerrain512Interpolation(heightMap); - uint maxXXYY = regionsize - 1; - // flipping map adding one margin all around so things don't fall in edges - uint xt = 0; - xx = 0; + // if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256) + // regionsize = 512; - for (uint x = 0; x < heightmapWidthSamples; x++) + float hfmin = 2000; + float hfmax = -2000; + + for (int x = 0; x < heightmapWidthSamples; x++) { - if (x > 1 && xx < maxXXYY) - xx++; - yy = 0; - for (uint y = 0; y < heightmapHeightSamples; y++) + for (int y = 0; y < heightmapHeightSamples; y++) { - if (y > 1 && y < maxXXYY) - yy += regionsize; - - val = heightMap[yy + xx]; - if (val < 0.0f) - val = 0.0f; // no neg terrain as in chode - _heightmap[xt + y] = val; - - if (hfmin > val) - hfmin = val; - if (hfmax < val) - hfmax = val; + int xx = Util.Clip(x - 1, 0, regionsize - 1); + int yy = Util.Clip(y - 1, 0, regionsize - 1); + + + float val= heightMap[yy * (int)Constants.RegionSize + xx]; + _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val; + + hfmin = (val < hfmin) ? val : hfmin; + hfmax = (val > hfmax) ? val : hfmax; } - xt += heightmapHeightSamples; } + lock (OdeLock) { IntPtr GroundGeom = IntPtr.Zero; @@ -2214,177 +3863,62 @@ namespace OpenSim.Region.Physics.OdePlugin RegionTerrain.Remove(pOffset); if (GroundGeom != IntPtr.Zero) { - actor_name_map.Remove(GroundGeom); - d.GeomDestroy(GroundGeom); - if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) - { - TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); - TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); + { TerrainHeightFieldHeights.Remove(GroundGeom); - } + } + d.SpaceRemove(space, GroundGeom); + d.GeomDestroy(GroundGeom); } + } IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); - - GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); - - d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight, - (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, + d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1, + (int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale, offset, thickness, wrap); - d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - - GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1); - + GroundGeom = d.CreateHeightfield(space, HeightmapData, 1); if (GroundGeom != IntPtr.Zero) { - d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundGeom, 0); + d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land)); + d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space)); - PhysicsActor pa = new NullPhysicsActor(); - pa.Name = "Terrain"; - pa.PhysicsActorType = (int)ActorTypes.Ground; - actor_name_map[GroundGeom] = pa; - -// geom_name_map[GroundGeom] = "Terrain"; - - d.Matrix3 R = new d.Matrix3(); - - Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); - Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); - - - q1 = q1 * q2; - - Vector3 v3; - float angle; - q1.GetAxisAngle(out v3, out angle); - - 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, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); - RegionTerrain.Add(pOffset, GroundGeom); - TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); - TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); } - } - } - - public void UbitSetTerrain(float[] heightMap, Vector3 pOffset) - { - // assumes 1m size grid and constante size square regions - // needs to know about sims around in future - - float[] _heightmap; - - uint heightmapWidth = Constants.RegionSize + 2; - uint heightmapHeight = Constants.RegionSize + 2; - - uint heightmapWidthSamples = heightmapWidth + 1; - uint heightmapHeightSamples = heightmapHeight + 1; - - _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; + geom_name_map[GroundGeom] = "Terrain"; + d.Matrix3 R = new d.Matrix3(); - uint regionsize = Constants.RegionSize; + Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); + Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); + //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); - float hfmin = float.MaxValue; -// float hfmax = float.MinValue; - float val; + q1 = q1 * q2; + //q1 = q1 * q3; + Vector3 v3; + float angle; + q1.GetAxisAngle(out v3, out angle); - - uint maxXXYY = regionsize - 1; - // adding one margin all around so things don't fall in edges - - uint xx; - uint yy = 0; - uint yt = 0; - - for (uint y = 0; y < heightmapHeightSamples; y++) - { - if (y > 1 && y < maxXXYY) - yy += regionsize; - xx = 0; - for (uint x = 0; x < heightmapWidthSamples; x++) - { - if (x > 1 && x < maxXXYY) - xx++; - - val = heightMap[yy + xx]; - if (val < 0.0f) - val = 0.0f; // no neg terrain as in chode - _heightmap[yt + x] = val; - - if (hfmin > val) - hfmin = val; -// if (hfmax < val) -// hfmax = val; - } - yt += heightmapWidthSamples; - } - lock (OdeLock) - { - IntPtr GroundGeom = IntPtr.Zero; - if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) + d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); + d.GeomSetRotation(GroundGeom, ref R); + d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)), (pOffset.Y + ((int)Constants.RegionSize * 0.5f)), 0); + IntPtr testGround = IntPtr.Zero; + if (RegionTerrain.TryGetValue(pOffset, out testGround)) { 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); - } - } - } - IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); - - const int wrap = 0; - float thickness = hfmin; - if (thickness < 0) - thickness = 1; - - GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); - - d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f, - (int)heightmapWidthSamples, (int)heightmapHeightSamples, - thickness, wrap); - -// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - GroundGeom = d.CreateUbitTerrain(GroundSpace, HeightmapData, 1); - if (GroundGeom != IntPtr.Zero) - { - d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundGeom, 0); - - - PhysicsActor pa = new NullPhysicsActor(); - pa.Name = "Terrain"; - pa.PhysicsActorType = (int)ActorTypes.Ground; - actor_name_map[GroundGeom] = pa; - -// geom_name_map[GroundGeom] = "Terrain"; - - d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); - RegionTerrain.Add(pOffset, GroundGeom); - TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); - TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); } + RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); + TerrainHeightFieldHeights.Add(GroundGeom,_heightmap); } - } + m_log.DebugFormat( + "[ODE SCENE]: Setting terrain for {0} took {1}ms", Name, Util.EnvironmentTickCountSubtract(startTime)); + } public override void DeleteTerrain() { } - public float GetWaterLevel() + internal float GetWaterLevel() { return waterlevel; } @@ -2393,252 +3927,169 @@ namespace OpenSim.Region.Physics.OdePlugin { return true; } -/* - public override void UnCombine(PhysicsScene pScene) - { - IntPtr localGround = IntPtr.Zero; -// float[] localHeightfield; - bool proceed = false; - List geomDestroyList = new List(); - - lock (OdeLock) - { - if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) - { - foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) - { - if (geom == localGround) - { -// localHeightfield = TerrainHeightFieldHeights[geom]; - proceed = true; - } - else - { - geomDestroyList.Add(geom); - } - } - - if (proceed) - { - m_worldOffset = Vector3.Zero; - WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); - m_parentScene = null; - - foreach (IntPtr g in geomDestroyList) - { - // removingHeightField needs to be done or the garbage collector will - // collect the terrain data before we tell ODE to destroy it causing - // memory corruption - if (TerrainHeightFieldHeights.ContainsKey(g)) - { -// float[] removingHeightField = TerrainHeightFieldHeights[g]; - TerrainHeightFieldHeights.Remove(g); - - if (RegionTerrain.ContainsKey(g)) - { - RegionTerrain.Remove(g); - } - d.GeomDestroy(g); - //removingHeightField = new float[0]; - } - } +// public override void UnCombine(PhysicsScene pScene) +// { +// IntPtr localGround = IntPtr.Zero; +//// float[] localHeightfield; +// bool proceed = false; +// List geomDestroyList = new List(); +// +// lock (OdeLock) +// { +// if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) +// { +// foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) +// { +// if (geom == localGround) +// { +//// localHeightfield = TerrainHeightFieldHeights[geom]; +// proceed = true; +// } +// else +// { +// geomDestroyList.Add(geom); +// } +// } +// +// if (proceed) +// { +// m_worldOffset = Vector3.Zero; +// WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); +// m_parentScene = null; +// +// foreach (IntPtr g in geomDestroyList) +// { +// // removingHeightField needs to be done or the garbage collector will +// // collect the terrain data before we tell ODE to destroy it causing +// // memory corruption +// if (TerrainHeightFieldHeights.ContainsKey(g)) +// { +//// float[] removingHeightField = TerrainHeightFieldHeights[g]; +// TerrainHeightFieldHeights.Remove(g); +// +// if (RegionTerrain.ContainsKey(g)) +// { +// RegionTerrain.Remove(g); +// } +// +// d.GeomDestroy(g); +// //removingHeightField = new float[0]; +// } +// } +// +// } +// else +// { +// m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); +// } +// } +// } +// } - } - else - { - m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); - } - } - } - } -*/ public override void SetWaterLevel(float baseheight) { waterlevel = baseheight; -// randomizeWater(waterlevel); + randomizeWater(waterlevel); } -/* - public void randomizeWater(float baseheight) - { - const uint heightmapWidth = Constants.RegionSize + 2; - const uint heightmapHeight = Constants.RegionSize + 2; - const uint heightmapWidthSamples = heightmapWidth + 1; - const uint heightmapHeightSamples = heightmapHeight + 1; + private void randomizeWater(float baseheight) + { + const uint heightmapWidth = m_regionWidth + 2; + const uint heightmapHeight = m_regionHeight + 2; + const uint heightmapWidthSamples = m_regionWidth + 2; + const uint heightmapHeightSamples = m_regionHeight + 2; const float scale = 1.0f; const float offset = 0.0f; + const float thickness = 2.9f; const int wrap = 0; - float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples]; - - float maxheigh = float.MinValue; - float minheigh = float.MaxValue; - float val; - for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++) + for (int i = 0; i < (258 * 258); i++) { - - val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f); - _watermap[i] = val; - if (maxheigh < val) - maxheigh = val; - if (minheigh > val) - minheigh = val; + _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f); + // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f)); } - float thickness = minheigh; - lock (OdeLock) { if (WaterGeom != IntPtr.Zero) { - actor_name_map.Remove(WaterGeom); - d.GeomDestroy(WaterGeom); - d.GeomHeightfieldDataDestroy(WaterHeightmapData); - WaterGeom = IntPtr.Zero; - WaterHeightmapData = IntPtr.Zero; - if(WaterMapHandler.IsAllocated) - WaterMapHandler.Free(); + d.SpaceRemove(space, WaterGeom); } - - WaterHeightmapData = d.GeomHeightfieldDataCreate(); - - WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned); - - d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight, + IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); + d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight, (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, offset, thickness, wrap); - d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh); - WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1); + d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight); + WaterGeom = d.CreateHeightfield(space, HeightmapData, 1); if (WaterGeom != IntPtr.Zero) { - d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water)); - d.GeomSetCollideBits(WaterGeom, 0); - - - PhysicsActor pa = new NullPhysicsActor(); - pa.Name = "Water"; - pa.PhysicsActorType = (int)ActorTypes.Water; + d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water)); + d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space)); + } - actor_name_map[WaterGeom] = pa; -// geom_name_map[WaterGeom] = "Water"; + geom_name_map[WaterGeom] = "Water"; - d.Matrix3 R = new d.Matrix3(); + d.Matrix3 R = new d.Matrix3(); - Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); - Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); + Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); + Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); + //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); - q1 = q1 * q2; - Vector3 v3; - float angle; - q1.GetAxisAngle(out v3, out angle); + q1 = q1 * q2; + //q1 = q1 * q3; + Vector3 v3; + float angle; + q1.GetAxisAngle(out v3, out angle); - d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); - d.GeomSetRotation(WaterGeom, ref R); - d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0); - } + d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); + d.GeomSetRotation(WaterGeom, ref R); + d.GeomSetPosition(WaterGeom, 128, 128, 0); } } -*/ + public override void Dispose() { - if (m_meshWorker != null) - m_meshWorker.Stop(); + _worldInitialized = false; + + m_rayCastManager.Dispose(); + m_rayCastManager = null; lock (OdeLock) { - m_rayCastManager.Dispose(); - m_rayCastManager = null; - lock (_prims) { - ChangesQueue.Clear(); foreach (OdePrim prm in _prims) { - prm.DoAChange(changes.Remove, null); - _collisionEventPrim.Remove(prm); - } - _prims.Clear(); - } - - OdeCharacter[] chtorem; - lock (_characters) - { - chtorem = new OdeCharacter[_characters.Count]; - _characters.CopyTo(chtorem); - } - - ChangesQueue.Clear(); - foreach (OdeCharacter ch in chtorem) - ch.DoAChange(changes.Remove, null); - - - 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(); + RemovePrim(prm); } } - TerrainHeightFieldHeightsHandlers.Clear(); - TerrainHeightFieldHeights.Clear(); -/* - if (WaterGeom != IntPtr.Zero) - { - d.GeomDestroy(WaterGeom); - WaterGeom = IntPtr.Zero; - if (WaterHeightmapData != IntPtr.Zero) - d.GeomHeightfieldDataDestroy(WaterHeightmapData); - WaterHeightmapData = IntPtr.Zero; - - if (WaterMapHandler.IsAllocated) - WaterMapHandler.Free(); - } -*/ - if (ContactgeomsArray != IntPtr.Zero) - Marshal.FreeHGlobal(ContactgeomsArray); - if (GlobalContactsArray != IntPtr.Zero) - Marshal.FreeHGlobal(GlobalContactsArray); - - + //foreach (OdeCharacter act in _characters) + //{ + //RemoveAvatar(act); + //} d.WorldDestroy(world); - world = IntPtr.Zero; //d.CloseODE(); } + } public override Dictionary GetTopColliders() { - Dictionary returncolliders = new Dictionary(); - int cnt = 0; + Dictionary topColliders; + lock (_prims) { - foreach (OdePrim prm in _prims) - { - if (prm.CollisionScore > 0) - { - returncolliders.Add(prm.LocalID, prm.CollisionScore); - cnt++; - prm.CollisionScore = 0f; - if (cnt > 25) - { - break; - } - } - } + List orderedPrims = new List(_prims); + orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25); + topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore); + + foreach (OdePrim p in _prims) + p.CollisionScore = 0; } - return returncolliders; + + return topColliders; } public override bool SupportsRayCast() @@ -2662,7 +4113,6 @@ namespace OpenSim.Region.Physics.OdePlugin } } - // don't like this public override List RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) { ContactResult[] ourResults = null; @@ -2679,107 +4129,182 @@ namespace OpenSim.Region.Physics.OdePlugin waitTime++; } if (ourResults == null) - return new List(); + return new List (); return new List(ourResults); } - public override bool SuportsRaycastWorldFiltered() +#if USE_DRAWSTUFF + // Keyboard callback + public void command(int cmd) { - return true; + IntPtr geom; + d.Mass mass; + d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f); + + + + Char ch = Char.ToLower((Char)cmd); + switch ((Char)ch) + { + case 'w': + try + { + 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)); + + xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z; + ds.SetViewpoint(ref xyz, ref hpr); + } + catch (ArgumentException) + { hpr.X = 0; } + break; + + case 'a': + hpr.X++; + ds.SetViewpoint(ref xyz, ref hpr); + break; + + case 's': + try + { + 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)); + + xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z; + ds.SetViewpoint(ref xyz, ref hpr); + } + catch (ArgumentException) + { hpr.X = 0; } + break; + case 'd': + hpr.X--; + ds.SetViewpoint(ref xyz, ref hpr); + break; + case 'r': + xyz.Z++; + ds.SetViewpoint(ref xyz, ref hpr); + break; + case 'f': + xyz.Z--; + ds.SetViewpoint(ref xyz, ref hpr); + break; + case 'e': + xyz.Y++; + ds.SetViewpoint(ref xyz, ref hpr); + break; + case 'q': + xyz.Y--; + ds.SetViewpoint(ref xyz, ref hpr); + break; + } } - public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) + public void step(int pause) { - object SyncObject = new object(); - List ourresults = new List(); - - RayCallback retMethod = delegate(List results) + + ds.SetColor(1.0f, 1.0f, 0.0f); + ds.SetTexture(ds.Texture.Wood); + lock (_prims) { - lock (SyncObject) + foreach (OdePrim prm in _prims) { - ourresults = results; - Monitor.PulseAll(SyncObject); + //IntPtr body = d.GeomGetBody(prm.prim_geom); + if (prm.prim_geom != IntPtr.Zero) + { + d.Vector3 pos; + d.GeomCopyPosition(prm.prim_geom, out pos); + //d.BodyCopyPosition(body, out pos); + + d.Matrix3 R; + d.GeomCopyRotation(prm.prim_geom, out R); + //d.BodyCopyRotation(body, out R); + + + d.Vector3 sides = new d.Vector3(); + sides.X = prm.Size.X; + sides.Y = prm.Size.Y; + sides.Z = prm.Size.Z; + + ds.DrawBox(ref pos, ref R, ref sides); + } } - }; + } + ds.SetColor(1.0f, 0.0f, 0.0f); - lock (SyncObject) + foreach (OdeCharacter chr in _characters) { - m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod); - if (!Monitor.Wait(SyncObject, 500)) - return null; - else - return ourresults; + if (chr.Shell != IntPtr.Zero) + { + IntPtr body = d.GeomGetBody(chr.Shell); + + d.Vector3 pos; + d.GeomCopyPosition(chr.Shell, out pos); + //d.BodyCopyPosition(body, out pos); + + d.Matrix3 R; + d.GeomCopyRotation(chr.Shell, out R); + //d.BodyCopyRotation(body, out R); + + ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f); + d.Vector3 sides = new d.Vector3(); + sides.X = 0.5f; + sides.Y = 0.5f; + sides.Z = 0.5f; + + ds.DrawBox(ref pos, ref R, ref sides); + } } } - public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) + public void start(int unused) { - if (retMethod != null && actor !=null) - { - IntPtr geom; - if (actor is OdePrim) - geom = ((OdePrim)actor).prim_geom; - else if (actor is OdeCharacter) - geom = ((OdePrim)actor).prim_geom; - else - return; - if (geom == IntPtr.Zero) - return; - m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod); - } + ds.SetViewpoint(ref xyz, ref hpr); } +#endif - public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) + public override Dictionary GetStats() { - if (retMethod != null && actor != null) + if (!CollectStats) + return null; + + Dictionary returnStats; + + lock (OdeLock) { - IntPtr geom; - if (actor is OdePrim) - geom = ((OdePrim)actor).prim_geom; - else if (actor is OdeCharacter) - geom = ((OdePrim)actor).prim_geom; - else - return; - if (geom == IntPtr.Zero) - return; + returnStats = new Dictionary(m_stats); - m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); + // FIXME: This is a SUPER DUMB HACK until we can establish stats that aren't subject to a division by + // 3 from the SimStatsReporter. + returnStats[ODETotalAvatarsStatName] = _characters.Count * 3; + returnStats[ODETotalPrimsStatName] = _prims.Count * 3; + returnStats[ODEActivePrimsStatName] = _activeprims.Count * 3; + + InitializeExtraStats(); } + + returnStats[ODEOtherCollisionFrameMsStatName] + = returnStats[ODEOtherCollisionFrameMsStatName] + - returnStats[ODENativeSpaceCollisionFrameMsStatName] + - returnStats[ODENativeGeomCollisionFrameMsStatName]; + + return returnStats; } - // don't like this - public override List RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count) + private void InitializeExtraStats() { - if (actor != null) - { - IntPtr geom; - if (actor is OdePrim) - geom = ((OdePrim)actor).prim_geom; - else if (actor is OdeCharacter) - geom = ((OdePrim)actor).prim_geom; - else - return new List(); - if (geom == IntPtr.Zero) - return new List(); - - ContactResult[] ourResults = null; - RayCallback retMethod = delegate(List results) - { - ourResults = new ContactResult[results.Count]; - results.CopyTo(ourResults, 0); - }; - int waitTime = 0; - m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); - while (ourResults == null && waitTime < 1000) - { - Thread.Sleep(1); - waitTime++; - } - if (ourResults == null) - return new List(); - return new List(ourResults); - } - return new List(); + m_stats[ODETotalFrameMsStatName] = 0; + m_stats[ODEAvatarTaintMsStatName] = 0; + m_stats[ODEPrimTaintMsStatName] = 0; + m_stats[ODEAvatarForcesFrameMsStatName] = 0; + m_stats[ODEPrimForcesFrameMsStatName] = 0; + m_stats[ODERaycastingFrameMsStatName] = 0; + m_stats[ODENativeStepFrameMsStatName] = 0; + m_stats[ODENativeSpaceCollisionFrameMsStatName] = 0; + m_stats[ODENativeGeomCollisionFrameMsStatName] = 0; + m_stats[ODEOtherCollisionFrameMsStatName] = 0; + m_stats[ODECollisionNotificationFrameMsStatName] = 0; + m_stats[ODEAvatarContactsStatsName] = 0; + m_stats[ODEPrimContactsStatName] = 0; + m_stats[ODEAvatarUpdateFrameMsStatName] = 0; + m_stats[ODEPrimUpdateFrameMsStatName] = 0; } } -} +} \ No newline at end of file -- cgit v1.1 From a91be67a6e7ae8682b7a672c8b49e4e6d694783c Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Fri, 12 Oct 2012 00:39:58 +0100 Subject: commit the right files! --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 5483 ++++++++++++---------- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 5223 ++++++++------------- 2 files changed, 4866 insertions(+), 5840 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index eaf0d0a..f083d38 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -25,6 +25,11 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ +/* Revision 2011/12 by Ubit Umarov + * + * + */ + /* * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: @@ -48,250 +53,251 @@ using System.Runtime.InteropServices; using System.Threading; using log4net; using OpenMetaverse; -using Ode.NET; +using OdeAPI; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.OdePlugin { - /// - /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. - /// public class OdePrim : PhysicsActor { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private bool m_isphysical; + private bool m_fakeisphysical; + private bool m_isphantom; + private bool m_fakeisphantom; + internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively + private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - public int ExpectedCollisionContacts { get { return m_expectedCollisionContacts; } } - private int m_expectedCollisionContacts = 0; + protected bool m_building; + protected bool m_forcePosOrRotation; + private bool m_iscolliding; - /// - /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. - /// - public override bool IsPhysical - { - get { return m_isphysical; } - set - { - m_isphysical = value; - if (!m_isphysical) // Zero the remembered last velocity - m_lastVelocity = Vector3.Zero; - } - } + internal bool m_isSelected; + private bool m_delaySelect; + private bool m_lastdoneSelected; + internal bool m_outbounds; + + private Quaternion m_lastorientation; + private Quaternion _orientation; private Vector3 _position; private Vector3 _velocity; private Vector3 _torque; private Vector3 m_lastVelocity; private Vector3 m_lastposition; - private Quaternion m_lastorientation = new Quaternion(); private Vector3 m_rotationalVelocity; private Vector3 _size; private Vector3 _acceleration; - // private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f); - private Quaternion _orientation; - private Vector3 m_taintposition; - private Vector3 m_taintsize; - private Vector3 m_taintVelocity; - private Vector3 m_taintTorque; - private Quaternion m_taintrot; private Vector3 m_angularlock = Vector3.One; - private Vector3 m_taintAngularLock = Vector3.One; - private IntPtr Amotor = IntPtr.Zero; + private IntPtr Amotor; - private object m_assetsLock = new object(); - private bool m_assetFailed = false; + private Vector3 m_force; + private Vector3 m_forceacc; + private Vector3 m_angularForceacc; + + private float m_invTimeStep; + private float m_timeStep; private Vector3 m_PIDTarget; private float m_PIDTau; - private float PID_D = 35f; - private float PID_G = 25f; private bool m_usePID; - // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), - // and are for non-VEHICLES only. - private float m_PIDHoverHeight; private float m_PIDHoverTau; private bool m_useHoverPID; - private PIDHoverType m_PIDHoverType = PIDHoverType.Ground; + private PIDHoverType m_PIDHoverType; private float m_targetHoverHeight; private float m_groundHeight; private float m_waterHeight; private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. - // private float m_tensor = 5f; - private int body_autodisable_frames = 20; - + private int body_autodisable_frames; + public int bodydisablecontrol; - private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom - | CollisionCategories.Space - | CollisionCategories.Body - | CollisionCategories.Character - ); - private bool m_taintshape; - private bool m_taintPhysics; - private bool m_collidesLand = true; - private bool m_collidesWater; // Default we're a Geometry private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); + // Default colide nonphysical don't try to colide with anything + private const CollisionCategories m_default_collisionFlagsNotPhysical = 0; + + private const CollisionCategories m_default_collisionFlagsPhysical = (CollisionCategories.Geom | + CollisionCategories.Character | + CollisionCategories.Land | + CollisionCategories.VolumeDtc); + +// private bool m_collidesLand = true; + private bool m_collidesWater; +// public bool m_returnCollisions; + + private bool m_NoColide; // for now only for internal use for bad meshs + // Default, Collide with Other Geometries, spaces and Bodies - private CollisionCategories m_collisionFlags = m_default_collisionFlags; + private CollisionCategories m_collisionFlags = m_default_collisionFlagsNotPhysical; - public bool m_taintremove { get; private set; } - public bool m_taintdisable { get; private set; } - internal bool m_disabled; - public bool m_taintadd { get; private set; } - public bool m_taintselected { get; private set; } - public bool m_taintCollidesWater { get; private set; } + public bool m_disabled; - private bool m_taintforce = false; - private bool m_taintaddangularforce = false; - private Vector3 m_force; - private List m_forcelist = new List(); - private List m_angularforcelist = new List(); + private uint m_localID; + private IMesh m_mesh; + private object m_meshlock = new object(); private PrimitiveBaseShape _pbs; - private OdeScene _parent_scene; - /// - /// The physics space which contains prim geometries - /// - public IntPtr m_targetSpace = IntPtr.Zero; + private UUID? m_assetID; + private MeshState m_meshState; + + public OdeScene _parent_scene; /// - /// The prim geometry, used for collision detection. + /// The physics space which contains prim geometry /// - /// - /// This is never null except for a brief period when the geometry needs to be replaced (due to resizing or - /// mesh change) or when the physical prim is being removed from the scene. - /// - public IntPtr prim_geom { get; private set; } + public IntPtr m_targetSpace; - public IntPtr _triMeshData { get; private set; } + public IntPtr prim_geom; + public IntPtr _triMeshData; - private IntPtr _linkJointGroup = IntPtr.Zero; private PhysicsActor _parent; - private PhysicsActor m_taintparent; private List childrenPrim = new List(); - private bool iscolliding; - private bool m_isSelected; - - internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively - - private bool m_throttleUpdates; - private int throttleCounter; - public int m_interpenetrationcount { get; private set; } - internal float m_collisionscore; - public int m_roundsUnderMotionThreshold { get; private set; } - private int m_crossingfailures; + public float m_collisionscore; + private int m_colliderfilter = 0; - public bool outofBounds { get; private set; } - private float m_density = 10.000006836f; // Aluminum g/cm3; + public IntPtr collide_geom; // for objects: geom if single prim space it linkset - public bool _zeroFlag { get; private set; } + private float m_density; + private byte m_shapetype; + public bool _zeroFlag; private bool m_lastUpdateSent; - public IntPtr Body = IntPtr.Zero; + public IntPtr Body; + private Vector3 _target_velocity; - private d.Mass pMass; - private int m_eventsubscription; - private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); + public Vector3 m_OBBOffset; + public Vector3 m_OBB; + public float primOOBradiusSQ; - /// - /// Signal whether there were collisions on the previous frame, so we know if we need to send the - /// empty CollisionEventsThisFrame to the prim so that it can detect the end of a collision. - /// - /// - /// This is probably a temporary measure, pending storing this information consistently in CollisionEventUpdate itself. - /// - private bool m_collisionsOnPreviousFrame; + private bool m_hasOBB = true; + + private float m_physCost; + private float m_streamCost; + + public d.Mass primdMass; // prim inertia information on it's own referencial + float primMass; // prim own mass + float primVolume; // prim own volume; + float _mass; // object mass acording to case + + public int givefakepos; + private Vector3 fakepos; + public int givefakeori; + private Quaternion fakeori; - private IntPtr m_linkJoint = IntPtr.Zero; + private int m_eventsubscription; + private int m_cureventsubscription; + private CollisionEventUpdate CollisionEventsThisFrame = null; + private bool SentEmptyCollisionsEvent; - internal volatile bool childPrim; + public volatile bool childPrim; - private ODEDynamics m_vehicle; + public ODEDynamics m_vehicle; internal int m_material = (int)Material.Wood; + private float mu; + private float bounce; - public OdePrim( - String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, - Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + /// + /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. + /// + public override bool IsPhysical // this is not reliable for internal use { - Name = primName; - m_vehicle = new ODEDynamics(); - //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); - - if (!pos.IsFinite()) + get { return m_fakeisphysical; } + set { - pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), - parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); - } - _position = pos; - m_taintposition = pos; - PID_D = parent_scene.bodyPIDD; - PID_G = parent_scene.bodyPIDG; - m_density = parent_scene.geomDefaultDensity; - // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; - body_autodisable_frames = parent_scene.bodyFramesAutoDisable; + m_fakeisphysical = value; // we show imediatly to outside that we changed physical + // and also to stop imediatly some updates + // but real change will only happen in taintprocessing - prim_geom = IntPtr.Zero; + if (!value) // Zero the remembered last velocity + m_lastVelocity = Vector3.Zero; + AddChange(changes.Physical, value); + } + } - if (!pos.IsFinite()) + public override bool IsVolumeDtc + { + get { return m_fakeisVolumeDetect; } + set { - size = new Vector3(0.5f, 0.5f, 0.5f); - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); + m_fakeisVolumeDetect = value; + AddChange(changes.VolumeDtc, value); } + } - if (size.X <= 0) size.X = 0.01f; - if (size.Y <= 0) size.Y = 0.01f; - if (size.Z <= 0) size.Z = 0.01f; - - _size = size; - m_taintsize = _size; + public override bool Phantom // this is not reliable for internal use + { + get { return m_fakeisphantom; } + set + { + m_fakeisphantom = value; + AddChange(changes.Phantom, value); + } + } - if (!QuaternionIsFinite(rotation)) + public override bool Building // this is not reliable for internal use + { + get { return m_building; } + set { - rotation = Quaternion.Identity; - m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); + if (value) + m_building = true; + AddChange(changes.building, value); } + } - _orientation = rotation; - m_taintrot = _orientation; - _pbs = pbs; + public override void getContactData(ref ContactData cdata) + { + cdata.mu = mu; + cdata.bounce = bounce; - _parent_scene = parent_scene; - m_targetSpace = (IntPtr)0; + // cdata.softcolide = m_softcolide; + cdata.softcolide = false; - if (pos.Z < 0) + if (m_isphysical) { - IsPhysical = false; + ODEDynamics veh; + if (_parent != null) + veh = ((OdePrim)_parent).m_vehicle; + else + veh = m_vehicle; + + if (veh != null && veh.Type != Vehicle.TYPE_NONE) + cdata.mu *= veh.FrictionFactor; +// cdata.mu *= 0; } - else + } + + public override float PhysicsCost + { + get { - IsPhysical = pisPhysical; - // If we're physical, we need to be in the master space for now. - // linksets *should* be in a space together.. but are not currently - if (IsPhysical) - m_targetSpace = _parent_scene.space; + return m_physCost; } + } - m_taintadd = true; - m_assetFailed = false; - _parent_scene.AddPhysicsActorTaint(this); + public override float StreamCost + { + get + { + return m_streamCost; + } } public override int PhysicsActorType { - get { return (int) ActorTypes.Prim; } + get { return (int)ActorTypes.Prim; } set { return; } } @@ -301,6 +307,23 @@ namespace OpenSim.Region.Physics.OdePlugin set { return; } } + public override uint LocalID + { + get { return m_localID; } + set { m_localID = value; } + } + + public override PhysicsActor ParentActor + { + get + { + if (childPrim) + return _parent; + else + return (PhysicsActor)this; + } + } + public override bool Grabbed { set { return; } @@ -310,2383 +333,3063 @@ namespace OpenSim.Region.Physics.OdePlugin { set { - // This only makes the object not collidable if the object - // is physical or the object is modified somehow *IN THE FUTURE* - // without this, if an avatar selects prim, they can walk right - // through it while it's selected - m_collisionscore = 0; + if (value) + m_isSelected = value; // if true set imediatly to stop moves etc + AddChange(changes.Selected, value); + } + } - if ((IsPhysical && !_zeroFlag) || !value) + public override bool Flying + { + // no flying prims for you + get { return false; } + set { } + } + + public override bool IsColliding + { + get { return m_iscolliding; } + set + { + if (value) { - m_taintselected = value; - _parent_scene.AddPhysicsActorTaint(this); + m_colliderfilter += 2; + if (m_colliderfilter > 2) + m_colliderfilter = 2; } else { - m_taintselected = value; - m_isSelected = value; + m_colliderfilter--; + if (m_colliderfilter < 0) + m_colliderfilter = 0; } - if (m_isSelected) - disableBodySoft(); + if (m_colliderfilter == 0) + m_iscolliding = false; + else + m_iscolliding = true; } } - /// - /// Set a new geometry for this prim. - /// - /// - private void SetGeom(IntPtr geom) + public override bool CollidingGround { - prim_geom = geom; -//Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); + get { return false; } + set { return; } + } + + public override bool CollidingObj + { + get { return false; } + set { return; } + } + + + public override bool ThrottleUpdates {get;set;} + + public override bool Stopped + { + get { return _zeroFlag; } + } - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); + public override Vector3 Position + { + get + { + if (givefakepos > 0) + return fakepos; + else + return _position; + } - _parent_scene.geom_name_map[prim_geom] = Name; - _parent_scene.actor_name_map[prim_geom] = this; + set + { + fakepos = value; + givefakepos++; + AddChange(changes.Position, value); + } + } - if (childPrim) + public override Vector3 Size + { + get { return _size; } + set { - if (_parent != null && _parent is OdePrim) + if (value.IsFinite()) + { + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, value, m_shapetype); + } + else { - OdePrim parent = (OdePrim)_parent; -//Console.WriteLine("SetGeom calls ChildSetGeom"); - parent.ChildSetGeom(this); + m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); } } - //m_log.Warn("Setting Geom to: " + prim_geom); } - private void enableBodySoft() + public override float Mass { - if (!childPrim) + get { return primMass; } + } + + public override Vector3 Force + { + get { return m_force; } + set { - if (IsPhysical && Body != IntPtr.Zero) + if (value.IsFinite()) { - d.BodyEnable(Body); - if (m_vehicle.Type != Vehicle.TYPE_NONE) - m_vehicle.Enable(Body, _parent_scene); + AddChange(changes.Force, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); } - - m_disabled = false; } } - private void disableBodySoft() + public override void SetVolumeDetect(int param) { - m_disabled = true; + m_fakeisVolumeDetect = (param != 0); + AddChange(changes.VolumeDtc, m_fakeisVolumeDetect); + } - if (IsPhysical && Body != IntPtr.Zero) + public override Vector3 GeometricCenter + { + // this is not real geometric center but a average of positions relative to root prim acording to + // http://wiki.secondlife.com/wiki/llGetGeometricCenter + // ignoring tortured prims details since sl also seems to ignore + // so no real use in doing it on physics + get { - d.BodyDisable(Body); + return Vector3.Zero; } } - /// - /// Make a prim subject to physics. - /// - private void enableBody() + public override Vector3 CenterOfMass { - // Don't enable this body if we're a child prim - // this should be taken care of in the parent function not here - if (!childPrim) + get { - // Sets the geom to a body - Body = d.BodyCreate(_parent_scene.world); + lock (_parent_scene.OdeLock) + { + d.Vector3 dtmp; + if (!childPrim && Body != IntPtr.Zero) + { + dtmp = d.BodyGetPosition(Body); + return new Vector3(dtmp.X, dtmp.Y, dtmp.Z); + } + else if (prim_geom != IntPtr.Zero) + { + d.Quaternion dq; + d.GeomCopyQuaternion(prim_geom, out dq); + Quaternion q; + q.X = dq.X; + q.Y = dq.Y; + q.Z = dq.Z; + q.W = dq.W; + + Vector3 Ptot = m_OBBOffset * q; + dtmp = d.GeomGetPosition(prim_geom); + Ptot.X += dtmp.X; + Ptot.Y += dtmp.Y; + Ptot.Z += dtmp.Z; + + // if(childPrim) we only know about physical linksets + return Ptot; +/* + float tmass = _mass; + Ptot *= tmass; - setMass(); - d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.BodySetQuaternion(Body, ref myrot); - d.GeomSetBody(prim_geom, Body); - m_collisionCategories |= CollisionCategories.Body; - m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); + float m; - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); + foreach (OdePrim prm in childrenPrim) + { + m = prm._mass; + Ptot += prm.CenterOfMass * m; + tmass += m; + } - d.BodySetAutoDisableFlag(Body, true); - d.BodySetAutoDisableSteps(Body, body_autodisable_frames); - - // disconnect from world gravity so we can apply buoyancy - d.BodySetGravityMode (Body, false); + if (tmass == 0) + tmass = 0; + else + tmass = 1.0f / tmass; - m_interpenetrationcount = 0; - m_collisionscore = 0; - m_disabled = false; + Ptot *= tmass; + return Ptot; +*/ + } + else + return _position; + } + } + } - // The body doesn't already have a finite rotation mode set here - if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null) + public override Vector3 OOBsize + { + get { - createAMotor(m_angularlock); + return m_OBB; } - if (m_vehicle.Type != Vehicle.TYPE_NONE) + } + + public override Vector3 OOBoffset + { + get { - m_vehicle.Enable(Body, _parent_scene); + return m_OBBOffset; } + } - _parent_scene.ActivatePrim(this); + public override float OOBRadiusSQ + { + get + { + return primOOBradiusSQ; + } } - } - #region Mass Calculation + public override PrimitiveBaseShape Shape + { + set + { +// AddChange(changes.Shape, value); + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, value, _size, m_shapetype); + } + } - private float CalculateMass() + public override byte PhysicsShapeType { - float volume = _size.X * _size.Y * _size.Z; // default - float tmp; + get + { + return m_shapetype; + } + set + { + m_shapetype = value; + _parent_scene.m_meshWorker.ChangeActorPhysRep(this, _pbs, _size, value); + } + } - float returnMass = 0; - float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; - float hollowVolume = hollowAmount * hollowAmount; - - switch (_pbs.ProfileShape) + public override Vector3 Velocity + { + get + { + if (_zeroFlag) + return Vector3.Zero; + return _velocity; + } + set { - case ProfileShape.Square: - // default box + if (value.IsFinite()) + { + AddChange(changes.Velocity, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); + } - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - if (hollowAmount > 0.0) - { - switch (_pbs.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; + } + } - case HollowShape.Circle: + public override Vector3 Torque + { + get + { + if (!IsPhysical || Body == IntPtr.Zero) + return Vector3.Zero; - hollowVolume *= 0.78539816339f; - break; + return _torque; + } - case HollowShape.Triangle: + set + { + if (value.IsFinite()) + { + AddChange(changes.Torque, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); + } + } + } - hollowVolume *= (0.5f * .5f); - break; + public override float CollisionScore + { + get { return m_collisionscore; } + set { m_collisionscore = value; } + } - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); + public override bool Kinematic + { + get { return false; } + set { } + } + + public override Quaternion Orientation + { + get + { + if (givefakeori > 0) + return fakeori; + else + + return _orientation; + } + set + { + if (QuaternionIsFinite(value)) + { + fakeori = value; + givefakeori++; + + value.Normalize(); + + AddChange(changes.Orientation, value); + } + else + m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); + + } + } + + public override Vector3 Acceleration + { + get { return _acceleration; } + set { } + } + + public override Vector3 RotationalVelocity + { + get + { + Vector3 pv = Vector3.Zero; + if (_zeroFlag) + return pv; + + if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f)) + return pv; + + return m_rotationalVelocity; + } + set + { + if (value.IsFinite()) + { + AddChange(changes.AngVelocity, value); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); + } + } + } + + public override float Buoyancy + { + get { return m_buoyancy; } + set + { + AddChange(changes.Buoyancy,value); + } + } + + public override bool FloatOnWater + { + set + { + AddChange(changes.CollidesWater, value); + } + } + + public override Vector3 PIDTarget + { + set + { + if (value.IsFinite()) + { + AddChange(changes.PIDTarget,value); + } + else + m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); + } + } + + public override bool PIDActive + { + set + { + AddChange(changes.PIDActive,value); + } + } + + public override float PIDTau + { + set + { + float tmp = 0; + if (value > 0) + { + float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); + if (value < mint) + tmp = mint; + else + tmp = value; + } + AddChange(changes.PIDTau,tmp); + } + } + + public override float PIDHoverHeight + { + set + { + AddChange(changes.PIDHoverHeight,value); + } + } + public override bool PIDHoverActive + { + set + { + AddChange(changes.PIDHoverActive, value); + } + } + + public override PIDHoverType PIDHoverType + { + set + { + AddChange(changes.PIDHoverType,value); + } + } + + public override float PIDHoverTau + { + set + { + float tmp =0; + if (value > 0) + { + float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); + if (value < mint) + tmp = mint; + else + tmp = value; + } + AddChange(changes.PIDHoverTau, tmp); + } + } + + public override Quaternion APIDTarget { set { return; } } + + public override bool APIDActive { set { return; } } + + public override float APIDStrength { set { return; } } + + public override float APIDDamping { set { return; } } + + public override int VehicleType + { + // we may need to put a fake on this + get + { + if (m_vehicle == null) + return (int)Vehicle.TYPE_NONE; + else + return (int)m_vehicle.Type; + } + set + { + AddChange(changes.VehicleType, value); + } + } + + public override void VehicleFloatParam(int param, float value) + { + strVehicleFloatParam fp = new strVehicleFloatParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleFloatParam, fp); + } + + public override void VehicleVectorParam(int param, Vector3 value) + { + strVehicleVectorParam fp = new strVehicleVectorParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleVectorParam, fp); + } + + public override void VehicleRotationParam(int param, Quaternion value) + { + strVehicleQuatParam fp = new strVehicleQuatParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleRotationParam, fp); + } + + public override void VehicleFlags(int param, bool value) + { + strVehicleBoolParam bp = new strVehicleBoolParam(); + bp.param = param; + bp.value = value; + AddChange(changes.VehicleFlags, bp); + } + + public override void SetVehicle(object vdata) + { + AddChange(changes.SetVehicle, vdata); + } + public void SetAcceleration(Vector3 accel) + { + _acceleration = accel; + } + + public override void AddForce(Vector3 force, bool pushforce) + { + if (force.IsFinite()) + { + if(pushforce) + AddChange(changes.AddForce, force); + else // a impulse + AddChange(changes.AddForce, force * m_invTimeStep); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); + } + //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); + } + + public override void AddAngularForce(Vector3 force, bool pushforce) + { + if (force.IsFinite()) + { +// if(pushforce) for now applyrotationimpulse seems more happy applied as a force + AddChange(changes.AddAngForce, force); +// else // a impulse +// AddChange(changes.AddAngForce, force * m_invTimeStep); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); + } + } + + public override void CrossingFailure() + { + if (m_outbounds) + { + _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); + _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); + _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); + + m_lastposition = _position; + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; + + m_lastVelocity = _velocity; + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + m_vehicle.Stop(); + + if(Body != IntPtr.Zero) + d.BodySetLinearVel(Body, 0, 0, 0); // stop it + if (prim_geom != IntPtr.Zero) + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + + m_outbounds = false; + changeDisable(false); + base.RequestPhysicsterseUpdate(); + } + } + + public override void SetMomentum(Vector3 momentum) + { + } + + public override void SetMaterial(int pMaterial) + { + m_material = pMaterial; + mu = _parent_scene.m_materialContactsData[pMaterial].mu; + bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; + } + + public void setPrimForRemoval() + { + AddChange(changes.Remove, null); + } + + public override void link(PhysicsActor obj) + { + AddChange(changes.Link, obj); + } + + public override void delink() + { + AddChange(changes.DeLink, null); + } + + public override void LockAngularMotion(Vector3 axis) + { + // reverse the zero/non zero values for ODE. + if (axis.IsFinite()) + { + axis.X = (axis.X > 0) ? 1f : 0f; + axis.Y = (axis.Y > 0) ? 1f : 0f; + axis.Z = (axis.Z > 0) ? 1f : 0f; +// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); + AddChange(changes.AngLock, axis); + } + else + { + m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); + } + } + + public override void SubscribeEvents(int ms) + { + m_eventsubscription = ms; + m_cureventsubscription = 0; + if (CollisionEventsThisFrame == null) + CollisionEventsThisFrame = new CollisionEventUpdate(); + SentEmptyCollisionsEvent = false; + } + + public override void UnSubscribeEvents() + { + if (CollisionEventsThisFrame != null) + { + CollisionEventsThisFrame.Clear(); + CollisionEventsThisFrame = null; + } + m_eventsubscription = 0; + _parent_scene.RemoveCollisionEventReporting(this); + } + + public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) + { + if (CollisionEventsThisFrame == null) + CollisionEventsThisFrame = new CollisionEventUpdate(); +// if(CollisionEventsThisFrame.Count < 32) + CollisionEventsThisFrame.AddCollider(CollidedWith, contact); + } + + public void SendCollisions() + { + if (CollisionEventsThisFrame == null) + return; + + if (m_cureventsubscription < m_eventsubscription) + return; + + m_cureventsubscription = 0; + + int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count; + + if (!SentEmptyCollisionsEvent || ncolisions > 0) + { + base.SendCollisionUpdate(CollisionEventsThisFrame); + + if (ncolisions == 0) + { + SentEmptyCollisionsEvent = true; + _parent_scene.RemoveCollisionEventReporting(this); + } + else + { + SentEmptyCollisionsEvent = false; + CollisionEventsThisFrame.Clear(); + } + } + } + + internal void AddCollisionFrameTime(int t) + { + if (m_cureventsubscription < 50000) + m_cureventsubscription += t; + } + + public override bool SubscribedEvents() + { + if (m_eventsubscription > 0) + return true; + return false; + } + + public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, + Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) + { + Name = primName; + LocalID = plocalID; + + m_vehicle = null; + + if (!pos.IsFinite()) + { + pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f), + parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f); + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Position for {0}", Name); + } + _position = pos; + givefakepos = 0; + + m_timeStep = parent_scene.ODE_STEPSIZE; + m_invTimeStep = 1f / m_timeStep; + + m_density = parent_scene.geomDefaultDensity; + body_autodisable_frames = parent_scene.bodyFramesAutoDisable; + + prim_geom = IntPtr.Zero; + collide_geom = IntPtr.Zero; + Body = IntPtr.Zero; + + if (!size.IsFinite()) + { + size = new Vector3(0.5f, 0.5f, 0.5f); + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Size for {0}", Name); + } + + if (size.X <= 0) size.X = 0.01f; + if (size.Y <= 0) size.Y = 0.01f; + if (size.Z <= 0) size.Z = 0.01f; + + _size = size; + + if (!QuaternionIsFinite(rotation)) + { + rotation = Quaternion.Identity; + m_log.WarnFormat("[PHYSICS]: Got nonFinite Object create Rotation for {0}", Name); + } + + _orientation = rotation; + givefakeori = 0; + + _pbs = pbs; + + _parent_scene = parent_scene; + m_targetSpace = IntPtr.Zero; + + if (pos.Z < 0) + { + m_isphysical = false; + } + else + { + m_isphysical = pisPhysical; + } + m_fakeisphysical = m_isphysical; + + m_isVolumeDetect = false; + m_fakeisVolumeDetect = false; + + m_force = Vector3.Zero; + + m_iscolliding = false; + m_colliderfilter = 0; + m_NoColide = false; + + _triMeshData = IntPtr.Zero; + + m_shapetype = _shapeType; + + m_lastdoneSelected = false; + m_isSelected = false; + m_delaySelect = false; + + m_isphantom = pisPhantom; + m_fakeisphantom = pisPhantom; + + mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; + bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; + + m_building = true; // control must set this to false when done + + _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); + } + + private void resetCollisionAccounting() + { + m_collisionscore = 0; + } + + private void UpdateCollisionCatFlags() + { + if(m_isphysical && m_disabled) + { + m_collisionCategories = 0; + m_collisionFlags = 0; + } + + else if (m_isSelected) + { + m_collisionCategories = CollisionCategories.Selected; + m_collisionFlags = 0; + } + + else if (m_isVolumeDetect) + { + m_collisionCategories = CollisionCategories.VolumeDtc; + if (m_isphysical) + m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; + else + m_collisionFlags = 0; + } + else if (m_isphantom) + { + m_collisionCategories = CollisionCategories.Phantom; + if (m_isphysical) + m_collisionFlags = CollisionCategories.Land; + else + m_collisionFlags = 0; + } + else + { + m_collisionCategories = CollisionCategories.Geom; + if (m_isphysical) + m_collisionFlags = m_default_collisionFlagsPhysical; + else + m_collisionFlags = m_default_collisionFlagsNotPhysical; + } + } + + private void ApplyCollisionCatFlags() + { + if (prim_geom != IntPtr.Zero) + { + if (!childPrim && childrenPrim.Count > 0) + { + foreach (OdePrim prm in childrenPrim) + { + if (m_isphysical && m_disabled) + { + prm.m_collisionCategories = 0; + prm.m_collisionFlags = 0; + } + else + { + // preserve some + if (prm.m_isSelected) + { + prm.m_collisionCategories = CollisionCategories.Selected; + prm.m_collisionFlags = 0; + } + else if (prm.m_isVolumeDetect) + { + prm.m_collisionCategories = CollisionCategories.VolumeDtc; + if (m_isphysical) + prm.m_collisionFlags = CollisionCategories.Geom | CollisionCategories.Character; + else + prm.m_collisionFlags = 0; + } + else if (prm.m_isphantom) + { + prm.m_collisionCategories = CollisionCategories.Phantom; + if (m_isphysical) + prm.m_collisionFlags = CollisionCategories.Land; + else + prm.m_collisionFlags = 0; + } + else + { + prm.m_collisionCategories = m_collisionCategories; + prm.m_collisionFlags = m_collisionFlags; } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + if (prm.prim_geom != IntPtr.Zero) { - //a tube - - volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); - tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); - volume -= volume*tmp*tmp; - - if (hollowAmount > 0.0) + if (prm.m_NoColide) { - hollowVolume *= hollowAmount; - - switch (_pbs.HollowShape) - { - case HollowShape.Square: - case HollowShape.Same: - break; - - case HollowShape.Circle: - hollowVolume *= 0.78539816339f;; - break; - - case HollowShape.Triangle: - hollowVolume *= 0.5f * 0.5f; - break; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); + d.GeomSetCategoryBits(prm.prim_geom, 0); + if (m_isphysical) + d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land); + else + d.GeomSetCollideBits(prm.prim_geom, 0); + } + else + { + d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); } } + } + } - break; + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, 0); + d.GeomSetCollideBits(collide_geom, (uint)CollisionCategories.Land); + } + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); + } + } + } + } - case ProfileShape.Circle: + private void createAMotor(Vector3 axis) + { + if (Body == IntPtr.Zero) + return; - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.78539816339f; // elipse base + if (Amotor != IntPtr.Zero) + { + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } - if (hollowAmount > 0.0) - { - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; + int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; + if (axisnum <= 0) + return; - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; + // stop it + d.BodySetTorque(Body, 0, 0, 0); + d.BodySetAngularVel(Body, 0, 0, 0); - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } + Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); + d.JointAttach(Amotor, Body, IntPtr.Zero); - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); - volume *= (1.0f - tmp * tmp); - - if (hollowAmount > 0.0) - { + d.JointSetAMotorMode(Amotor, 0); - // calculate the hollow volume by it's shape compared to the prim shape - hollowVolume *= hollowAmount; + d.JointSetAMotorNumAxes(Amotor, axisnum); - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Circle: - break; + // get current orientation to lock - case HollowShape.Square: - hollowVolume *= 0.5f * 2.5984480504799f; - break; + d.Quaternion dcur = d.BodyGetQuaternion(Body); + Quaternion curr; // crap convertion between identical things + curr.X = dcur.X; + curr.Y = dcur.Y; + curr.Z = dcur.Z; + curr.W = dcur.W; + Vector3 ax; - case HollowShape.Triangle: - hollowVolume *= .5f * 1.27323954473516f; - break; + int i = 0; + int j = 0; + if (axis.X == 0) + { + ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X + // ODE should do this with axis relative to body 1 but seems to fail + d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); + d.JointSetAMotorAngle(Amotor, 0, 0); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, -0.000001f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.HiStop, 0.000001f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); + d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); + i++; + j = 256; // move to next axis set + } + + if (axis.Y == 0) + { + ax = (new Vector3(0, 1, 0)) * curr; + d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); + d.JointSetAMotorAngle(Amotor, i, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); + i++; + j += 256; + } + + if (axis.Z == 0) + { + ax = (new Vector3(0, 0, 1)) * curr; + d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); + d.JointSetAMotorAngle(Amotor, i, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.LoStop, -0.000001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.HiStop, 0.000001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); + d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); + } + } - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - break; - case ProfileShape.HalfCircle: - if (_pbs.PathCurve == (byte)Extrusion.Curve1) + private void SetGeom(IntPtr geom) + { + prim_geom = geom; + //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); + if (prim_geom != IntPtr.Zero) + { + + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + if (m_isphysical) { - volume *= 0.52359877559829887307710723054658f; + d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land); } - break; + else + { + d.GeomSetCollideBits(prim_geom, 0); + d.GeomDisable(prim_geom); + } + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + } - case ProfileShape.EquilateralTriangle: + UpdatePrimBodyData(); + _parent_scene.actor_name_map[prim_geom] = this; - if (_pbs.PathCurve == (byte)Extrusion.Straight) - { - volume *= 0.32475953f; +/* +// debug + d.AABB aabb; + d.GeomGetAABB(prim_geom, out aabb); + float x = aabb.MaxX - aabb.MinX; + float y = aabb.MaxY - aabb.MinY; + float z = aabb.MaxZ - aabb.MinZ; + if( x > 60.0f || y > 60.0f || z > 60.0f) + m_log.WarnFormat("[PHYSICS]: large prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", + Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); + else if (x < 0.001f || y < 0.001f || z < 0.001f) + m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", + Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); + +// +*/ - if (hollowAmount > 0.0) - { + } + else + m_log.Warn("Setting bad Geom"); + } - // calculate the hollow volume by it's shape compared to the prim shape - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; + private bool GetMeshGeom() + { + IntPtr vertices, indices; + int vertexCount, indexCount; + int vertexStride, triStride; + + IMesh mesh = m_mesh; - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; + if (mesh == null) + return false; - case HollowShape.Circle: - // Hollow shape is a perfect cyllinder in respect to the cube's scale - // Cyllinder hollow volume calculation + mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); + mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; + if (vertexCount == 0 || indexCount == 0) + { + m_log.WarnFormat("[PHYSICS]: Invalid mesh data on OdePrim {0}, mesh {1}", + Name, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh"); - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } - } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) - { - volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); - volume *= (1.0f - tmp * tmp); + m_hasOBB = false; + m_OBBOffset = Vector3.Zero; + m_OBB = _size * 0.5f; - if (hollowAmount > 0.0) - { + m_physCost = 0.1f; + m_streamCost = 1.0f; + + _parent_scene.mesher.ReleaseMesh(mesh); + m_meshState = MeshState.MeshFailed; + m_mesh = null; + return false; + } - hollowVolume *= hollowAmount; + IntPtr geo = IntPtr.Zero; - switch (_pbs.HollowShape) - { - case HollowShape.Same: - case HollowShape.Triangle: - hollowVolume *= .25f; - break; + try + { + _triMeshData = d.GeomTriMeshDataCreate(); - case HollowShape.Square: - hollowVolume *= 0.499849f * 3.07920140172638f; - break; + d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); + d.GeomTriMeshDataPreprocess(_triMeshData); - case HollowShape.Circle: + geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null); + } + + catch (Exception e) + { + m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); + if (_triMeshData != IntPtr.Zero) + { + try + { + d.GeomTriMeshDataDestroy(_triMeshData); + } + catch + { + } + } + _triMeshData = IntPtr.Zero; + + m_hasOBB = false; + m_OBBOffset = Vector3.Zero; + m_OBB = _size * 0.5f; + m_physCost = 0.1f; + m_streamCost = 1.0f; + + _parent_scene.mesher.ReleaseMesh(mesh); + m_meshState = MeshState.MeshFailed; + m_mesh = null; + return false; + } - hollowVolume *= 0.1963495f * 3.07920140172638f; - break; + m_physCost = 0.0013f * (float)indexCount; + // todo + m_streamCost = 1.0f; - default: - hollowVolume = 0; - break; - } - volume *= (1.0f - hollowVolume); - } + SetGeom(geo); + + return true; + } + + private void CreateGeom() + { + bool hasMesh = false; + + m_NoColide = false; + + if ((m_meshState & MeshState.FailMask) != 0) + m_NoColide = true; + + else if(m_mesh != null) + { + if (GetMeshGeom()) + hasMesh = true; + else + m_NoColide = true; + } + + + if (!hasMesh) + { + IntPtr geo = IntPtr.Zero; + + if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 + && _size.X == _size.Y && _size.Y == _size.Z) + { // it's a sphere + try + { + geo = d.CreateSphere(m_targetSpace, _size.X * 0.5f); + } + catch (Exception e) + { + m_log.WarnFormat("[PHYSICS]: Create sphere failed: {0}", e); + return; + } + } + else + {// do it as a box + try + { + geo = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + } + catch (Exception e) + { + m_log.Warn("[PHYSICS]: Create box failed: {0}", e); + return; + } + } + m_physCost = 0.1f; + m_streamCost = 1.0f; + SetGeom(geo); + } + } + + private void RemoveGeom() + { + if (prim_geom != IntPtr.Zero) + { + _parent_scene.actor_name_map.Remove(prim_geom); + + try + { + d.GeomDestroy(prim_geom); + if (_triMeshData != IntPtr.Zero) + { + d.GeomTriMeshDataDestroy(_triMeshData); + _triMeshData = IntPtr.Zero; + } + } + catch (Exception e) + { + m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); + } + + prim_geom = IntPtr.Zero; + collide_geom = IntPtr.Zero; + m_targetSpace = IntPtr.Zero; + } + else + { + m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction BAD {0}", Name); + } + + lock (m_meshlock) + { + if (m_mesh != null) + { + _parent_scene.mesher.ReleaseMesh(m_mesh); + m_mesh = null; + } + } + + Body = IntPtr.Zero; + m_hasOBB = false; + } + + //sets non physical prim m_targetSpace to right space in spaces grid for static prims + // should only be called for non physical prims unless they are becoming non physical + private void SetInStaticSpace(OdePrim prim) + { + IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace); + prim.m_targetSpace = targetSpace; + collide_geom = IntPtr.Zero; + } + + public void enableBodySoft() + { + m_disabled = false; + if (!childPrim && !m_isSelected) + { + if (m_isphysical && Body != IntPtr.Zero) + { + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + + d.BodyEnable(Body); + } + } + resetCollisionAccounting(); + } + + private void disableBodySoft() + { + m_disabled = true; + if (!childPrim) + { + if (m_isphysical && Body != IntPtr.Zero) + { + if (m_isSelected) + m_collisionFlags = CollisionCategories.Selected; + else + m_collisionCategories = 0; + m_collisionFlags = 0; + ApplyCollisionCatFlags(); + d.BodyDisable(Body); + } + } + } + + private void MakeBody() + { + if (!m_isphysical) // only physical get bodies + return; + + if (childPrim) // child prims don't get bodies; + return; + + if (m_building) + return; + + if (prim_geom == IntPtr.Zero) + { + m_log.Warn("[PHYSICS]: Unable to link the linkset. Root has no geom yet"); + return; + } + + if (Body != IntPtr.Zero) + { + DestroyBody(); + m_log.Warn("[PHYSICS]: MakeBody called having a body"); + } + + if (d.GeomGetBody(prim_geom) != IntPtr.Zero) + { + d.GeomSetBody(prim_geom, IntPtr.Zero); + m_log.Warn("[PHYSICS]: MakeBody root geom already had a body"); + } + + d.Matrix3 mymat = new d.Matrix3(); + d.Quaternion myrot = new d.Quaternion(); + d.Mass objdmass = new d.Mass { }; + + Body = d.BodyCreate(_parent_scene.world); + + objdmass = primdMass; + + // rotate inertia + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + + d.RfromQ(out mymat, ref myrot); + d.MassRotate(ref objdmass, ref mymat); + + // set the body rotation + d.BodySetRotation(Body, ref mymat); + + // recompute full object inertia if needed + if (childrenPrim.Count > 0) + { + d.Matrix3 mat = new d.Matrix3(); + d.Quaternion quat = new d.Quaternion(); + d.Mass tmpdmass = new d.Mass { }; + Vector3 rcm; + + rcm.X = _position.X; + rcm.Y = _position.Y; + rcm.Z = _position.Z; + + lock (childrenPrim) + { + foreach (OdePrim prm in childrenPrim) + { + if (prm.prim_geom == IntPtr.Zero) + { + m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements, skipping it. No geom yet"); + continue; + } + + tmpdmass = prm.primdMass; + + // apply prim current rotation to inertia + quat.X = prm._orientation.X; + quat.Y = prm._orientation.Y; + quat.Z = prm._orientation.Z; + quat.W = prm._orientation.W; + d.RfromQ(out mat, ref quat); + d.MassRotate(ref tmpdmass, ref mat); + + Vector3 ppos = prm._position; + ppos.X -= rcm.X; + ppos.Y -= rcm.Y; + ppos.Z -= rcm.Z; + // refer inertia to root prim center of mass position + d.MassTranslate(ref tmpdmass, + ppos.X, + ppos.Y, + ppos.Z); + + d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia + // fix prim colision cats + + if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero) + { + d.GeomSetBody(prm.prim_geom, IntPtr.Zero); + m_log.Warn("[PHYSICS]: MakeBody child geom already had a body"); } - break; - default: - break; - } + d.GeomClearOffset(prm.prim_geom); + d.GeomSetBody(prm.prim_geom, Body); + prm.Body = Body; + d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation + } + } + } + + d.GeomClearOffset(prim_geom); // make sure we don't have a hidden offset + // associate root geom with body + d.GeomSetBody(prim_geom, Body); + + d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z); + d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); + + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + myrot.X = -myrot.X; + myrot.Y = -myrot.Y; + myrot.Z = -myrot.Z; + + d.RfromQ(out mymat, ref myrot); + d.MassRotate(ref objdmass, ref mymat); + + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; - float taperX1; - float taperY1; - float taperX; - float taperY; - float pathBegin; - float pathEnd; - float profileBegin; - float profileEnd; + // disconnect from world gravity so we can apply buoyancy + d.BodySetGravityMode(Body, false); - if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) + d.BodySetAutoDisableFlag(Body, true); + d.BodySetAutoDisableSteps(Body, body_autodisable_frames); + d.BodySetDamping(Body, .005f, .005f); + + if (m_targetSpace != IntPtr.Zero) { - taperX1 = _pbs.PathScaleX * 0.01f; - if (taperX1 > 1.0f) - taperX1 = 2.0f - taperX1; - taperX = 1.0f - taperX1; + _parent_scene.waitForSpaceUnlock(m_targetSpace); + if (d.SpaceQuery(m_targetSpace, prim_geom)) + d.SpaceRemove(m_targetSpace, prim_geom); + } - taperY1 = _pbs.PathScaleY * 0.01f; - if (taperY1 > 1.0f) - taperY1 = 2.0f - taperY1; - taperY = 1.0f - taperY1; + if (childrenPrim.Count == 0) + { + collide_geom = prim_geom; + m_targetSpace = _parent_scene.ActiveSpace; } else { - taperX = _pbs.PathTaperX * 0.01f; - if (taperX < 0.0f) - taperX = -taperX; - taperX1 = 1.0f - taperX; + m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace); + d.HashSpaceSetLevels(m_targetSpace, -2, 8); + d.SpaceSetSublevel(m_targetSpace, 3); + d.SpaceSetCleanup(m_targetSpace, false); - taperY = _pbs.PathTaperY * 0.01f; - if (taperY < 0.0f) - taperY = -taperY; - taperY1 = 1.0f - taperY; + d.GeomSetCategoryBits(m_targetSpace, (uint)(CollisionCategories.Space | + CollisionCategories.Geom | + CollisionCategories.Phantom | + CollisionCategories.VolumeDtc + )); + d.GeomSetCollideBits(m_targetSpace, 0); + collide_geom = m_targetSpace; } - volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); + d.SpaceAdd(m_targetSpace, prim_geom); - pathBegin = (float)_pbs.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; - volume *= (pathEnd - pathBegin); + if (m_delaySelect) + { + m_isSelected = true; + m_delaySelect = false; + } -// this is crude aproximation - profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; - volume *= (profileEnd - profileBegin); + m_collisionscore = 0; - returnMass = m_density * volume; + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); - if (returnMass <= 0) - returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. -// else if (returnMass > _parent_scene.maximumMassObject) -// returnMass = _parent_scene.maximumMassObject; + _parent_scene.addActivePrim(this); - // Recursively calculate mass - bool HasChildPrim = false; lock (childrenPrim) { - if (childrenPrim.Count > 0) + foreach (OdePrim prm in childrenPrim) { - HasChildPrim = true; - } - } - - if (HasChildPrim) - { - OdePrim[] childPrimArr = new OdePrim[0]; + if (prm.prim_geom == IntPtr.Zero) + continue; - lock (childrenPrim) - childPrimArr = childrenPrim.ToArray(); + Vector3 ppos = prm._position; + d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position - for (int i = 0; i < childPrimArr.Length; i++) - { - if (childPrimArr[i] != null && !childPrimArr[i].m_taintremove) - returnMass += childPrimArr[i].CalculateMass(); - // failsafe, this shouldn't happen but with OpenSim, you never know :) - if (i > 256) - break; - } - } + if (prm.m_targetSpace != m_targetSpace) + { + if (prm.m_targetSpace != IntPtr.Zero) + { + _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 = m_targetSpace; + d.SpaceAdd(m_targetSpace, prm.prim_geom); + } - if (returnMass > _parent_scene.maximumMassObject) - returnMass = _parent_scene.maximumMassObject; + prm.m_collisionscore = 0; - return returnMass; - } + if(!m_disabled) + prm.m_disabled = false; - #endregion + _parent_scene.addActivePrim(prm); + } + } - private void setMass() - { - if (Body != (IntPtr) 0) + // The body doesn't already have a finite rotation mode set here + if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) { - float newmass = CalculateMass(); + createAMotor(m_angularlock); + } - //m_log.Info("[PHYSICS]: New Mass: " + newmass.ToString()); - d.MassSetBoxTotal(out pMass, newmass, _size.X, _size.Y, _size.Z); - d.BodySetMass(Body, ref pMass); + if (m_isSelected || m_disabled) + { + 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.addActiveGroups(this); } - /// - /// Stop a prim from being subject to physics. - /// - internal void disableBody() + private void DestroyBody() { - //this kills the body so things like 'mesh' can re-create it. - lock (this) + if (Body != IntPtr.Zero) { + _parent_scene.remActivePrim(this); + + collide_geom = IntPtr.Zero; + + if (m_disabled) + m_collisionCategories = 0; + else if (m_isSelected) + m_collisionCategories = CollisionCategories.Selected; + else if (m_isVolumeDetect) + m_collisionCategories = CollisionCategories.VolumeDtc; + else if (m_isphantom) + m_collisionCategories = CollisionCategories.Phantom; + else + m_collisionCategories = CollisionCategories.Geom; + + m_collisionFlags = 0; + + if (prim_geom != IntPtr.Zero) + { + if (m_NoColide) + { + d.GeomSetCategoryBits(prim_geom, 0); + d.GeomSetCollideBits(prim_geom, 0); + } + else + { + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + } + UpdateDataFromGeom(); + d.GeomSetBody(prim_geom, IntPtr.Zero); + SetInStaticSpace(this); + } + if (!childPrim) { - if (Body != IntPtr.Zero) + lock (childrenPrim) { - _parent_scene.DeactivatePrim(this); - m_collisionCategories &= ~CollisionCategories.Body; - m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); + foreach (OdePrim prm in childrenPrim) + { + _parent_scene.remActivePrim(prm); - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); + if (prm.m_isSelected) + prm.m_collisionCategories = CollisionCategories.Selected; + else if (prm.m_isVolumeDetect) + prm.m_collisionCategories = CollisionCategories.VolumeDtc; + else if (prm.m_isphantom) + prm.m_collisionCategories = CollisionCategories.Phantom; + else + prm.m_collisionCategories = CollisionCategories.Geom; - d.BodyDestroy(Body); - lock (childrenPrim) - { - if (childrenPrim.Count > 0) + prm.m_collisionFlags = 0; + + if (prm.prim_geom != IntPtr.Zero) { - foreach (OdePrim prm in childrenPrim) + if (prm.m_NoColide) { - _parent_scene.DeactivatePrim(prm); - prm.Body = IntPtr.Zero; + d.GeomSetCategoryBits(prm.prim_geom, 0); + d.GeomSetCollideBits(prm.prim_geom, 0); } + else + { + d.GeomSetCategoryBits(prm.prim_geom, (uint)prm.m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (uint)prm.m_collisionFlags); + } + prm.UpdateDataFromGeom(); + SetInStaticSpace(prm); } + prm.Body = IntPtr.Zero; + prm._mass = prm.primMass; + prm.m_collisionscore = 0; } - Body = IntPtr.Zero; } + if (Amotor != IntPtr.Zero) + { + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } + _parent_scene.remActiveGroup(this); + d.BodyDestroy(Body); } - else - { - _parent_scene.DeactivatePrim(this); - - m_collisionCategories &= ~CollisionCategories.Body; - m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); - - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - - Body = IntPtr.Zero; - } + Body = IntPtr.Zero; } - - m_disabled = true; + _mass = primMass; m_collisionscore = 0; } - private static Dictionary m_MeshToTriMeshMap = new Dictionary(); - - private void setMesh(OdeScene parent_scene, IMesh mesh) + private void FixInertia(Vector3 NewPos,Quaternion newrot) { -// m_log.DebugFormat("[ODE PRIM]: Setting mesh on {0} to {1}", Name, mesh); - - // This sleeper is there to moderate how long it takes between - // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object + d.Matrix3 mat = new d.Matrix3(); + d.Quaternion quat = new d.Quaternion(); - //Thread.Sleep(10); + d.Mass tmpdmass = new d.Mass { }; + d.Mass objdmass = new d.Mass { }; - //Kill Body so that mesh can re-make the geom - if (IsPhysical && Body != IntPtr.Zero) - { - if (childPrim) - { - if (_parent != null) - { - OdePrim parent = (OdePrim)_parent; - parent.ChildDelink(this); - } - } - else - { - disableBody(); - } - } + d.BodyGetMass(Body, out tmpdmass); + objdmass = tmpdmass; - IntPtr vertices, indices; - int vertexCount, indexCount; - int vertexStride, triStride; - mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount); // Note, that vertices are fixed in unmanaged heap - mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount); // Also fixed, needs release after usage - m_expectedCollisionContacts = indexCount; - mesh.releaseSourceMeshData(); // free up the original mesh data to save memory + d.Vector3 dobjpos; + d.Vector3 thispos; - // We must lock here since m_MeshToTriMeshMap is static and multiple scene threads may call this method at - // the same time. - lock (m_MeshToTriMeshMap) - { - if (m_MeshToTriMeshMap.ContainsKey(mesh)) - { - _triMeshData = m_MeshToTriMeshMap[mesh]; - } - else - { - _triMeshData = d.GeomTriMeshDataCreate(); - - d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); - d.GeomTriMeshDataPreprocess(_triMeshData); - m_MeshToTriMeshMap[mesh] = _triMeshData; - } - } + // get current object position and rotation + dobjpos = d.BodyGetPosition(Body); -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - try - { - SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); - } - catch (AccessViolationException) - { - m_log.ErrorFormat("[PHYSICS]: MESH LOCKED FOR {0}", Name); - return; - } + // get prim own inertia in its local frame + tmpdmass = primdMass; - // if (IsPhysical && Body == (IntPtr) 0) - // { - // Recreate the body - // m_interpenetrationcount = 0; - // m_collisionscore = 0; + // transform to object frame + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); - // enableBody(); - // } - } + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); - internal void ProcessTaints() - { -#if SPAM -Console.WriteLine("ZProcessTaints for " + Name); -#endif + // subtract current prim inertia from object + DMassSubPartFromObj(ref tmpdmass, ref objdmass); - // This must be processed as the very first taint so that later operations have a prim_geom to work with - // if this is a new prim. - if (m_taintadd) - changeadd(); + // back prim own inertia + tmpdmass = primdMass; - if (!_position.ApproxEquals(m_taintposition, 0f)) - changemove(); + // update to new position and orientation + _position = NewPos; + d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); + _orientation = newrot; + quat.X = newrot.X; + quat.Y = newrot.Y; + quat.Z = newrot.Z; + quat.W = newrot.W; + d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); - if (m_taintrot != _orientation) - { - if (childPrim && IsPhysical) // For physical child prim... - { - rotate(); - // KF: ODE will also rotate the parent prim! - // so rotate the root back to where it was - OdePrim parent = (OdePrim)_parent; - parent.rotate(); - } - else - { - //Just rotate the prim - rotate(); - } - } - - if (m_taintPhysics != IsPhysical && !(m_taintparent != _parent)) - changePhysicsStatus(); + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); - if (!_size.ApproxEquals(m_taintsize, 0f)) - changesize(); + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); - if (m_taintshape) - changeshape(); + d.MassAdd(ref objdmass, ref tmpdmass); - if (m_taintforce) - changeAddForce(); + // fix all positions + IntPtr g = d.BodyGetFirstGeom(Body); + while (g != IntPtr.Zero) + { + thispos = d.GeomGetOffsetPosition(g); + thispos.X -= objdmass.c.X; + thispos.Y -= objdmass.c.Y; + thispos.Z -= objdmass.c.Z; + d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); + g = d.dBodyGetNextGeom(g); + } + d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos); - if (m_taintaddangularforce) - changeAddAngularForce(); + d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + } - if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) - changeSetTorque(); - if (m_taintdisable) - changedisable(); - if (m_taintselected != m_isSelected) - changeSelectedStatus(); + private void FixInertia(Vector3 NewPos) + { + d.Matrix3 primmat = new d.Matrix3(); + d.Mass tmpdmass = new d.Mass { }; + d.Mass objdmass = new d.Mass { }; + d.Mass primmass = new d.Mass { }; - if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) - changevelocity(); + d.Vector3 dobjpos; + d.Vector3 thispos; - if (m_taintparent != _parent) - changelink(); + d.BodyGetMass(Body, out objdmass); - if (m_taintCollidesWater != m_collidesWater) - changefloatonwater(); + // get prim own inertia in its local frame + primmass = primdMass; + // transform to object frame + primmat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref primmass, ref primmat); - if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f)) - changeAngularLock(); - } + tmpdmass = primmass; - /// - /// Change prim in response to an angular lock taint. - /// - private void changeAngularLock() - { - // do we have a Physical object? - if (Body != IntPtr.Zero) - { - //Check that we have a Parent - //If we have a parent then we're not authorative here - if (_parent == null) - { - if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f)) - { - //d.BodySetFiniteRotationMode(Body, 0); - //d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z); - createAMotor(m_taintAngularLock); - } - else - { - if (Amotor != IntPtr.Zero) - { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - } - } - } + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); - // Store this for later in case we get turned into a separate body - m_angularlock = m_taintAngularLock; - } + // subtract current prim inertia from object + DMassSubPartFromObj(ref tmpdmass, ref objdmass); - /// - /// Change prim in response to a link taint. - /// - private void changelink() - { - // If the newly set parent is not null - // create link - if (_parent == null && m_taintparent != null) - { - if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) - { - OdePrim obj = (OdePrim)m_taintparent; - //obj.disableBody(); -//Console.WriteLine("changelink calls ParentPrim"); - obj.AddChildPrim(this); + // update to new position + _position = NewPos; + d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z); - /* - if (obj.Body != (IntPtr)0 && Body != (IntPtr)0 && obj.Body != Body) - { - _linkJointGroup = d.JointGroupCreate(0); - m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); - d.JointAttach(m_linkJoint, obj.Body, Body); - d.JointSetFixed(m_linkJoint); - } - */ - } - } - // If the newly set parent is null - // destroy link - else if (_parent != null && m_taintparent == null) - { -//Console.WriteLine(" changelink B"); - - if (_parent is OdePrim) - { - OdePrim obj = (OdePrim)_parent; - obj.ChildDelink(this); - childPrim = false; - //_parent = null; - } - - /* - if (Body != (IntPtr)0 && _linkJointGroup != (IntPtr)0) - d.JointGroupDestroy(_linkJointGroup); - - _linkJointGroup = (IntPtr)0; - m_linkJoint = (IntPtr)0; - */ - } - - _parent = m_taintparent; - m_taintPhysics = IsPhysical; - } + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref primmass, + thispos.X, + thispos.Y, + thispos.Z); - /// - /// Add a child prim to this parent prim. - /// - /// Child prim - private void AddChildPrim(OdePrim prim) - { - if (LocalID == prim.LocalID) - return; + d.MassAdd(ref objdmass, ref primmass); - if (Body == IntPtr.Zero) + // fix all positions + IntPtr g = d.BodyGetFirstGeom(Body); + while (g != IntPtr.Zero) { - Body = d.BodyCreate(_parent_scene.world); - setMass(); + thispos = d.GeomGetOffsetPosition(g); + thispos.X -= objdmass.c.X; + thispos.Y -= objdmass.c.Y; + thispos.Z -= objdmass.c.Z; + d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); + g = d.dBodyGetNextGeom(g); } - lock (childrenPrim) - { - if (childrenPrim.Contains(prim)) - return; + d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); -// m_log.DebugFormat( -// "[ODE PRIM]: Linking prim {0} {1} to {2} {3}", prim.Name, prim.LocalID, Name, LocalID); + // get current object position and rotation + dobjpos = d.BodyGetPosition(Body); - childrenPrim.Add(prim); + d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + } - foreach (OdePrim prm in childrenPrim) - { - d.Mass m2; - d.MassSetZero(out m2); - d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z); + private void FixInertia(Quaternion newrot) + { + d.Matrix3 mat = new d.Matrix3(); + d.Quaternion quat = new d.Quaternion(); - d.Quaternion quat = new d.Quaternion(); - quat.W = prm._orientation.W; - quat.X = prm._orientation.X; - quat.Y = prm._orientation.Y; - quat.Z = prm._orientation.Z; + d.Mass tmpdmass = new d.Mass { }; + d.Mass objdmass = new d.Mass { }; + d.Vector3 dobjpos; + d.Vector3 thispos; - d.Matrix3 mat = new d.Matrix3(); - d.RfromQ(out mat, ref quat); - d.MassRotate(ref m2, ref mat); - d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z); - d.MassAdd(ref pMass, ref m2); - } + d.BodyGetMass(Body, out objdmass); - foreach (OdePrim prm in childrenPrim) - { - prm.m_collisionCategories |= CollisionCategories.Body; - prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); + // get prim own inertia in its local frame + tmpdmass = primdMass; + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); + // transform to object frame + thispos = d.GeomGetOffsetPosition(prim_geom); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); -//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); - d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); - d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); + // subtract current prim inertia from object + DMassSubPartFromObj(ref tmpdmass, ref objdmass); - d.Quaternion quat = new d.Quaternion(); - quat.W = prm._orientation.W; - quat.X = prm._orientation.X; - quat.Y = prm._orientation.Y; - quat.Z = prm._orientation.Z; + // update to new orientation + _orientation = newrot; + quat.X = newrot.X; + quat.Y = newrot.Y; + quat.Z = newrot.Z; + quat.W = newrot.W; + d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat); - d.Matrix3 mat = new d.Matrix3(); - d.RfromQ(out mat, ref quat); - if (Body != IntPtr.Zero) - { - d.GeomSetBody(prm.prim_geom, Body); - prm.childPrim = true; - d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); - //d.GeomSetOffsetPosition(prim.prim_geom, - // (Position.X - prm.Position.X) - pMass.c.X, - // (Position.Y - prm.Position.Y) - pMass.c.Y, - // (Position.Z - prm.Position.Z) - pMass.c.Z); - d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); - //d.GeomSetOffsetRotation(prm.prim_geom, ref mat); - d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); - d.BodySetMass(Body, ref pMass); - } - else - { - m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); - } + tmpdmass = primdMass; + mat = d.GeomGetOffsetRotation(prim_geom); + d.MassRotate(ref tmpdmass, ref mat); + d.MassTranslate(ref tmpdmass, + thispos.X, + thispos.Y, + thispos.Z); - prm.m_interpenetrationcount = 0; - prm.m_collisionscore = 0; - prm.m_disabled = false; + d.MassAdd(ref objdmass, ref tmpdmass); - // The body doesn't already have a finite rotation mode set here - if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) - { - prm.createAMotor(m_angularlock); - } - prm.Body = Body; - _parent_scene.ActivatePrim(prm); - } - - m_collisionCategories |= CollisionCategories.Body; - m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); - -//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); -//Console.WriteLine(" Post GeomSetCategoryBits 2"); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - - d.Quaternion quat2 = new d.Quaternion(); - quat2.W = _orientation.W; - quat2.X = _orientation.X; - quat2.Y = _orientation.Y; - quat2.Z = _orientation.Z; - - d.Matrix3 mat2 = new d.Matrix3(); - d.RfromQ(out mat2, ref quat2); - d.GeomSetBody(prim_geom, Body); - d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); - //d.GeomSetOffsetPosition(prim.prim_geom, - // (Position.X - prm.Position.X) - pMass.c.X, - // (Position.Y - prm.Position.Y) - pMass.c.Y, - // (Position.Z - prm.Position.Z) - pMass.c.Z); - //d.GeomSetOffsetRotation(prim_geom, ref mat2); - d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); - d.BodySetMass(Body, ref pMass); - - d.BodySetAutoDisableFlag(Body, true); - d.BodySetAutoDisableSteps(Body, body_autodisable_frames); - - m_interpenetrationcount = 0; - m_collisionscore = 0; - m_disabled = false; + // fix all positions + IntPtr g = d.BodyGetFirstGeom(Body); + while (g != IntPtr.Zero) + { + thispos = d.GeomGetOffsetPosition(g); + thispos.X -= objdmass.c.X; + thispos.Y -= objdmass.c.Y; + thispos.Z -= objdmass.c.Z; + d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z); + g = d.dBodyGetNextGeom(g); + } - // The body doesn't already have a finite rotation mode set here - if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) - { - createAMotor(m_angularlock); - } + d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos); + // get current object position and rotation + dobjpos = d.BodyGetPosition(Body); - d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); + d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z); + d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body + d.BodySetMass(Body, ref objdmass); + _mass = objdmass.mass; + } - if (m_vehicle.Type != Vehicle.TYPE_NONE) - m_vehicle.Enable(Body, _parent_scene); - _parent_scene.ActivatePrim(this); - } - } + #region Mass Calculation - private void ChildSetGeom(OdePrim odePrim) + private void UpdatePrimBodyData() { -// m_log.DebugFormat( -// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); + primMass = m_density * primVolume; - //if (IsPhysical && Body != IntPtr.Zero) - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) - { - //prm.childPrim = true; - prm.disableBody(); - //prm.m_taintparent = null; - //prm._parent = null; - //prm.m_taintPhysics = false; - //prm.m_disabled = true; - //prm.childPrim = false; - } - } + if (primMass <= 0) + primMass = 0.0001f;//ckrinke: Mass must be greater then zero. + if (primMass > _parent_scene.maximumMassObject) + primMass = _parent_scene.maximumMassObject; - disableBody(); + _mass = primMass; // just in case - // Spurious - Body == IntPtr.Zero after disableBody() -// if (Body != IntPtr.Zero) -// { -// _parent_scene.DeactivatePrim(this); -// } + d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z); - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) - { -//Console.WriteLine("ChildSetGeom calls ParentPrim"); - AddChildPrim(prm); - } - } - } + d.MassTranslate(ref primdMass, + m_OBBOffset.X, + m_OBBOffset.Y, + m_OBBOffset.Z); - private void ChildDelink(OdePrim odePrim) - { -// m_log.DebugFormat( -// "[ODE PRIM]: Delinking prim {0} {1} from {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID); + primOOBradiusSQ = m_OBB.LengthSquared(); - // Okay, we have a delinked child.. need to rebuild the body. - lock (childrenPrim) + if (_triMeshData != IntPtr.Zero) { - foreach (OdePrim prm in childrenPrim) - { - prm.childPrim = true; - prm.disableBody(); - //prm.m_taintparent = null; - //prm._parent = null; - //prm.m_taintPhysics = false; - //prm.m_disabled = true; - //prm.childPrim = false; - } - } + float pc = m_physCost; + float psf = primOOBradiusSQ; + psf *= 1.33f * .2f; + pc *= psf; + if (pc < 0.1f) + pc = 0.1f; - disableBody(); - - lock (childrenPrim) - { - //Console.WriteLine("childrenPrim.Remove " + odePrim); - childrenPrim.Remove(odePrim); + m_physCost = pc; } + else + m_physCost = 0.1f; - // Spurious - Body == IntPtr.Zero after disableBody() -// if (Body != IntPtr.Zero) -// { -// _parent_scene.DeactivatePrim(this); -// } - - lock (childrenPrim) - { - foreach (OdePrim prm in childrenPrim) - { -//Console.WriteLine("ChildDelink calls ParentPrim"); - AddChildPrim(prm); - } - } + m_streamCost = 1.0f; } + #endregion + + /// - /// Change prim in response to a selection taint. + /// Add a child prim to this parent prim. /// - private void changeSelectedStatus() + /// Child prim + // I'm the parent + // prim is the child + public void ParentPrim(OdePrim prim) { - if (m_taintselected) + //Console.WriteLine("ParentPrim " + m_primName); + if (this.m_localID != prim.m_localID) { - m_collisionCategories = CollisionCategories.Selected; - m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); - - // We do the body disable soft twice because 'in theory' a collision could have happened - // in between the disabling and the collision properties setting - // which would wake the physical body up from a soft disabling and potentially cause it to fall - // through the ground. - - // NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select - // just one part of the assembly, the rest of the assembly is non-selected and still simulating, - // so that causes the selected part to wake up and continue moving. - - // even if you select all parts of a jointed assembly, it is not guaranteed that the entire - // assembly will stop simulating during the selection, because of the lack of atomicity - // of select operations (their processing could be interrupted by a thread switch, causing - // simulation to continue before all of the selected object notifications trickle down to - // the physics engine). - - // e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are - // selected and disabled. then, due to a thread switch, the selection processing is - // interrupted and the physics engine continues to simulate, so the last 50 items, whose - // selection was not yet processed, continues to simulate. this wakes up ALL of the - // first 50 again. then the last 50 are disabled. then the first 50, which were just woken - // up, start simulating again, which in turn wakes up the last 50. - - if (IsPhysical) - { - disableBodySoft(); - } + DestroyBody(); // for now we need to rebuil entire object on link change - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - - if (IsPhysical) + lock (childrenPrim) { - disableBodySoft(); - } - } - else - { - m_collisionCategories = CollisionCategories.Geom; - - if (IsPhysical) - m_collisionCategories |= CollisionCategories.Body; - - m_collisionFlags = m_default_collisionFlags; + // adopt the prim + if (!childrenPrim.Contains(prim)) + childrenPrim.Add(prim); - if (m_collidesLand) - m_collisionFlags |= CollisionCategories.Land; - if (m_collidesWater) - m_collisionFlags |= CollisionCategories.Water; + // see if this prim has kids and adopt them also + // should not happen for now + foreach (OdePrim prm in prim.childrenPrim) + { + if (!childrenPrim.Contains(prm)) + { + if (prm.Body != IntPtr.Zero) + { + if (prm.prim_geom != IntPtr.Zero) + d.GeomSetBody(prm.prim_geom, IntPtr.Zero); + if (prm.Body != prim.Body) + prm.DestroyBody(); // don't loose bodies around + prm.Body = IntPtr.Zero; + } - d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); + childrenPrim.Add(prm); + prm._parent = this; + } + } + } + //Remove old children from the prim + prim.childrenPrim.Clear(); - if (IsPhysical) + if (prim.Body != IntPtr.Zero) { - if (Body != IntPtr.Zero) - { - d.BodySetLinearVel(Body, 0f, 0f, 0f); - d.BodySetForce(Body, 0, 0, 0); - enableBodySoft(); - } + if (prim.prim_geom != IntPtr.Zero) + d.GeomSetBody(prim.prim_geom, IntPtr.Zero); + prim.DestroyBody(); // don't loose bodies around + prim.Body = IntPtr.Zero; } - } - resetCollisionAccounting(); - m_isSelected = m_taintselected; - }//end changeSelectedStatus + prim.childPrim = true; + prim._parent = this; + + MakeBody(); // full nasty reconstruction + } + } - internal void ResetTaints() + private void UpdateChildsfromgeom() { - m_taintposition = _position; - m_taintrot = _orientation; - m_taintPhysics = IsPhysical; - m_taintselected = m_isSelected; - m_taintsize = _size; - m_taintshape = false; - m_taintforce = false; - m_taintdisable = false; - m_taintVelocity = Vector3.Zero; + if (childrenPrim.Count > 0) + { + foreach (OdePrim prm in childrenPrim) + prm.UpdateDataFromGeom(); + } } - /// - /// Create a geometry for the given mesh in the given target space. - /// - /// - /// If null, then a mesh is used that is based on the profile shape data. - private void CreateGeom(IntPtr m_targetSpace, IMesh mesh) + private void UpdateDataFromGeom() { -#if SPAM -Console.WriteLine("CreateGeom:"); -#endif - if (mesh != null) + if (prim_geom != IntPtr.Zero) { - setMesh(_parent_scene, mesh); + d.Quaternion qtmp; + d.GeomCopyQuaternion(prim_geom, out qtmp); + _orientation.X = qtmp.X; + _orientation.Y = qtmp.Y; + _orientation.Z = qtmp.Z; + _orientation.W = qtmp.W; +/* +// Debug + float qlen = _orientation.Length(); + if (qlen > 1.01f || qlen < 0.99) + m_log.WarnFormat("[PHYSICS]: Got nonnorm quaternion from geom in Object {0} norm {1}", Name, qlen); +// +*/ + _orientation.Normalize(); + + d.Vector3 lpos = d.GeomGetPosition(prim_geom); + _position.X = lpos.X; + _position.Y = lpos.Y; + _position.Z = lpos.Z; } - else + } + + private void ChildDelink(OdePrim odePrim, bool remakebodies) + { + // Okay, we have a delinked child.. destroy all body and remake + if (odePrim != this && !childrenPrim.Contains(odePrim)) + return; + + DestroyBody(); + + if (odePrim == this) // delinking the root prim { - if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) + OdePrim newroot = null; + lock (childrenPrim) { - if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) + if (childrenPrim.Count > 0) { - if (((_size.X / 2f) > 0f)) + newroot = childrenPrim[0]; + childrenPrim.RemoveAt(0); + foreach (OdePrim prm in childrenPrim) { -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - try - { -//Console.WriteLine(" CreateGeom 1"); - SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); - m_expectedCollisionContacts = 3; - } - catch (AccessViolationException) - { - m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); - return; - } - } - else - { -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - try - { -//Console.WriteLine(" CreateGeom 2"); - SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); - m_expectedCollisionContacts = 4; - } - catch (AccessViolationException) - { - m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); - return; - } + newroot.childrenPrim.Add(prm); } + childrenPrim.Clear(); } - else + if (newroot != null) { -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - try - { -//Console.WriteLine(" CreateGeom 3"); - SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); - m_expectedCollisionContacts = 4; - } - catch (AccessViolationException) - { - m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); - return; - } + newroot.childPrim = false; + newroot._parent = null; + if (remakebodies) + newroot.MakeBody(); } } - else + } + + else + { + lock (childrenPrim) { -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - try - { -//Console.WriteLine(" CreateGeom 4"); - SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); - m_expectedCollisionContacts = 4; - } - catch (AccessViolationException) - { - m_log.WarnFormat("[PHYSICS]: Unable to create physics proxy for object {0}", Name); - return; - } + childrenPrim.Remove(odePrim); + odePrim.childPrim = false; + odePrim._parent = null; + // odePrim.UpdateDataFromGeom(); + if (remakebodies) + odePrim.MakeBody(); } } + if (remakebodies) + MakeBody(); } - /// - /// Remove the existing geom from this prim. - /// - /// - /// If null, then a mesh is used that is based on the profile shape data. - /// true if the geom was successfully removed, false if it was already gone or the remove failed. - internal bool RemoveGeom() + protected void ChildRemove(OdePrim odePrim, bool reMakeBody) { - if (prim_geom != IntPtr.Zero) + // Okay, we have a delinked child.. destroy all body and remake + if (odePrim != this && !childrenPrim.Contains(odePrim)) + return; + + DestroyBody(); + + if (odePrim == this) { - try - { - _parent_scene.geom_name_map.Remove(prim_geom); - _parent_scene.actor_name_map.Remove(prim_geom); - d.GeomDestroy(prim_geom); - m_expectedCollisionContacts = 0; - prim_geom = IntPtr.Zero; - } - catch (System.AccessViolationException) + OdePrim newroot = null; + lock (childrenPrim) { - prim_geom = IntPtr.Zero; - m_expectedCollisionContacts = 0; - m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name); - - return false; + if (childrenPrim.Count > 0) + { + newroot = childrenPrim[0]; + childrenPrim.RemoveAt(0); + foreach (OdePrim prm in childrenPrim) + { + newroot.childrenPrim.Add(prm); + } + childrenPrim.Clear(); + } + if (newroot != null) + { + newroot.childPrim = false; + newroot._parent = null; + newroot.MakeBody(); + } } - - return true; + if (reMakeBody) + MakeBody(); + return; } else { - m_log.WarnFormat( - "[ODE PRIM]: Called RemoveGeom() on {0} {1} where geometry was already null.", Name, LocalID); - - return false; + lock (childrenPrim) + { + childrenPrim.Remove(odePrim); + odePrim.childPrim = false; + odePrim._parent = null; + if (reMakeBody) + odePrim.MakeBody(); + } } + MakeBody(); } - /// - /// Add prim in response to an add taint. - /// - private void changeadd() - { -// m_log.DebugFormat("[ODE PRIM]: Adding prim {0}", Name); - - int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); - IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); - - if (targetspace == IntPtr.Zero) - targetspace = _parent_scene.createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); - - m_targetSpace = targetspace; - - IMesh mesh = null; - - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in SetMesh - mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); - // createmesh returns null when it's a shape that isn't a cube. - // m_log.Debug(m_localID); - if (mesh == null) - CheckMeshAsset(); - } - -#if SPAM -Console.WriteLine("changeadd 1"); -#endif - CreateGeom(m_targetSpace, mesh); - - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - if (IsPhysical && Body == IntPtr.Zero) - enableBody(); + #region changes - changeSelectedStatus(); - - m_taintadd = false; + private void changeadd() + { } - /// - /// Move prim in response to a move taint. - /// - private void changemove() + private void changeAngularLock(Vector3 newLock) { - if (IsPhysical) + // do we have a Physical object? + if (Body != IntPtr.Zero) { - if (!m_disabled && !m_taintremove && !childPrim) + //Check that we have a Parent + //If we have a parent then we're not authorative here + if (_parent == null) { - if (Body == IntPtr.Zero) - enableBody(); - - //Prim auto disable after 20 frames, - //if you move it, re-enable the prim manually. - if (_parent != null) + if (!newLock.ApproxEquals(Vector3.One, 0f)) + { + createAMotor(newLock); + } + else { - if (m_linkJoint != IntPtr.Zero) + if (Amotor != IntPtr.Zero) { - d.JointDestroy(m_linkJoint); - m_linkJoint = IntPtr.Zero; + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; } } + } + } + // Store this for later in case we get turned into a separate body + m_angularlock = newLock; + } - if (Body != IntPtr.Zero) + private void changeLink(OdePrim NewParent) + { + if (_parent == null && NewParent != null) + { + NewParent.ParentPrim(this); + } + else if (_parent != null) + { + if (_parent is OdePrim) + { + if (NewParent != _parent) { - d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); + (_parent as OdePrim).ChildDelink(this, false); // for now... + childPrim = false; - if (_parent != null) - { - OdePrim odParent = (OdePrim)_parent; - if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) - { -// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used?? -Console.WriteLine(" JointCreateFixed"); - m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); - d.JointAttach(m_linkJoint, Body, odParent.Body); - d.JointSetFixed(m_linkJoint); - } - } - d.BodyEnable(Body); - if (m_vehicle.Type != Vehicle.TYPE_NONE) + if (NewParent != null) { - m_vehicle.Enable(Body, _parent_scene); + NewParent.ParentPrim(this); } } - else - { - m_log.WarnFormat("[PHYSICS]: Body for {0} still null after enableBody(). This is a crash scenario.", Name); - } } - //else - // { - //m_log.Debug("[BUG]: race!"); - //} } + _parent = NewParent; + } - // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); - // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - - IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); - m_targetSpace = tempspace; -// _parent_scene.waitForSpaceUnlock(m_targetSpace); + private void Stop() + { + if (!childPrim) + { + m_force = Vector3.Zero; + m_forceacc = Vector3.Zero; + m_angularForceacc = Vector3.Zero; + _torque = Vector3.Zero; + _velocity = Vector3.Zero; + _acceleration = Vector3.Zero; + m_rotationalVelocity = Vector3.Zero; + _target_velocity = Vector3.Zero; + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + m_vehicle.Stop(); - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + _zeroFlag = false; + base.RequestPhysicsterseUpdate(); + } -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - d.SpaceAdd(m_targetSpace, prim_geom); + if (Body != IntPtr.Zero) + { + d.BodySetForce(Body, 0f, 0f, 0f); + d.BodySetTorque(Body, 0f, 0f, 0f); + d.BodySetLinearVel(Body, 0f, 0f, 0f); + d.BodySetAngularVel(Body, 0f, 0f, 0f); + } + } - changeSelectedStatus(); + private void changePhantomStatus(bool newval) + { + m_isphantom = newval; - resetCollisionAccounting(); - m_taintposition = _position; + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); } - internal void Move(float timestep) +/* not in use + internal void ChildSelectedChange(bool childSelect) { - float fx = 0; - float fy = 0; - float fz = 0; + if(childPrim) + return; + + if (childSelect == m_isSelected) + return; + + if (childSelect) + { + DoSelectedStatus(true); + } - if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. + else { - if (m_vehicle.Type != Vehicle.TYPE_NONE) + foreach (OdePrim prm in childrenPrim) { - // 'VEHICLES' are dealt with in ODEDynamics.cs - m_vehicle.Step(timestep, _parent_scene); + if (prm.m_isSelected) + return; } - else - { -//Console.WriteLine("Move " + Name); - if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 - // NON-'VEHICLES' are dealt with here -// if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) -// { -// d.Vector3 avel2 = d.BodyGetAngularVel(Body); -// /* -// if (m_angularlock.X == 1) -// avel2.X = 0; -// if (m_angularlock.Y == 1) -// avel2.Y = 0; -// if (m_angularlock.Z == 1) -// avel2.Z = 0; -// d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); -// */ -// } - //float PID_P = 900.0f; - - float m_mass = CalculateMass(); - -// fz = 0f; - //m_log.Info(m_collisionFlags.ToString()); - - - //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. - // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? - // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up - // gravityz multiplier = 1 - m_buoyancy - fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; - - if (m_usePID) - { -//Console.WriteLine("PID " + Name); - // KF - this is for object move? eg. llSetPos() ? - //if (!d.BodyIsEnabled(Body)) - //d.BodySetForce(Body, 0f, 0f, 0f); - // If we're using the PID controller, then we have no gravity - //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply... - fz = 0f; - - // no lock; for now it's only called from within Simulate() - - // If the PID Controller isn't active then we set our force - // calculating base velocity to the current position - - if ((m_PIDTau < 1) && (m_PIDTau != 0)) - { - //PID_G = PID_G / m_PIDTau; - m_PIDTau = 1; - } - - if ((PID_G - m_PIDTau) <= 0) - { - PID_G = m_PIDTau + 1; - } - //PidStatus = true; - - // PhysicsVector vec = new PhysicsVector(); - d.Vector3 vel = d.BodyGetLinearVel(Body); + DoSelectedStatus(false); + } + } +*/ + private void changeSelectedStatus(bool newval) + { + if (m_lastdoneSelected == newval) + return; - d.Vector3 pos = d.BodyGetPosition(Body); - _target_velocity = - new Vector3( - (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), - (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), - (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) - ); + m_lastdoneSelected = newval; + DoSelectedStatus(newval); + } - // if velocity is zero, use position control; otherwise, velocity control + private void CheckDelaySelect() + { + if (m_delaySelect) + { + DoSelectedStatus(m_isSelected); + } + } - if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f)) - { - // keep track of where we stopped. No more slippin' & slidin' - - // We only want to deactivate the PID Controller if we think we want to have our surrogate - // react to the physics scene by moving it's position. - // Avatar to Avatar collisions - // Prim to avatar collisions - - //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); - //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); - //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; - d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); - d.BodySetLinearVel(Body, 0, 0, 0); - d.BodyAddForce(Body, 0, 0, fz); - return; - } - else - { - _zeroFlag = false; + private void DoSelectedStatus(bool newval) + { + m_isSelected = newval; + Stop(); - // We're flying and colliding with something - fx = ((_target_velocity.X) - vel.X) * (PID_D); - fy = ((_target_velocity.Y) - vel.Y) * (PID_D); - - // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; + if (newval) + { + if (!childPrim && Body != IntPtr.Zero) + d.BodyDisable(Body); - fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); - } - } // end if (m_usePID) + if (m_delaySelect || m_isphysical) + { + m_collisionCategories = CollisionCategories.Selected; + m_collisionFlags = 0; - // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller - if (m_useHoverPID && !m_usePID) + if (!childPrim) { -//Console.WriteLine("Hover " + Name); - - // If we're using the PID controller, then we have no gravity - fz = (-1 * _parent_scene.gravityz) * m_mass; - - // no lock; for now it's only called from within Simulate() - - // If the PID Controller isn't active then we set our force - // calculating base velocity to the current position - - if ((m_PIDTau < 1)) - { - PID_G = PID_G / m_PIDTau; - } - - if ((PID_G - m_PIDTau) <= 0) + foreach (OdePrim prm in childrenPrim) { - PID_G = m_PIDTau + 1; - } + prm.m_collisionCategories = m_collisionCategories; + prm.m_collisionFlags = m_collisionFlags; - // Where are we, and where are we headed? - d.Vector3 pos = d.BodyGetPosition(Body); - d.Vector3 vel = d.BodyGetLinearVel(Body); + if (prm.prim_geom != null) + { - // Non-Vehicles have a limited set of Hover options. - // determine what our target height really is based on HoverType - switch (m_PIDHoverType) - { - case PIDHoverType.Ground: - m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); - m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; - break; - case PIDHoverType.GroundAndWater: - m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); - m_waterHeight = _parent_scene.GetWaterLevel(); - if (m_groundHeight > m_waterHeight) + if (prm.m_NoColide) { - m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + d.GeomSetCategoryBits(prm.prim_geom, 0); + d.GeomSetCollideBits(prm.prim_geom, 0); } else { - m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; + d.GeomSetCategoryBits(prm.prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prm.prim_geom, (uint)m_collisionFlags); } - break; - - } // end switch (m_PIDHoverType) - - - _target_velocity = - new Vector3(0.0f, 0.0f, - (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) - ); + } + prm.m_delaySelect = false; + } + } +// else if (_parent != null) +// ((OdePrim)_parent).ChildSelectedChange(true); - // if velocity is zero, use position control; otherwise, velocity control - if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f)) + if (prim_geom != null) + { + if (m_NoColide) { - // keep track of where we stopped. No more slippin' & slidin' - - // We only want to deactivate the PID Controller if we think we want to have our surrogate - // react to the physics scene by moving it's position. - // Avatar to Avatar collisions - // Prim to avatar collisions - - d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); - d.BodySetLinearVel(Body, vel.X, vel.Y, 0); - d.BodyAddForce(Body, 0, 0, fz); - return; + d.GeomSetCategoryBits(prim_geom, 0); + d.GeomSetCollideBits(prim_geom, 0); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, 0); + d.GeomSetCollideBits(collide_geom, 0); + } + } else { - _zeroFlag = false; - - // We're flying and colliding with something - fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); + d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags); + if (collide_geom != prim_geom && collide_geom != IntPtr.Zero) + { + d.GeomSetCategoryBits(collide_geom, (uint)m_collisionCategories); + d.GeomSetCollideBits(collide_geom, (uint)m_collisionFlags); + } } } - fx *= m_mass; - fy *= m_mass; - //fz *= m_mass; - - fx += m_force.X; - fy += m_force.Y; - fz += m_force.Z; - - //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); - if (fx != 0 || fy != 0 || fz != 0) - { - //m_taintdisable = true; - //base.RaiseOutOfBounds(Position); - //d.BodySetLinearVel(Body, fx, fy, 0f); - if (!d.BodyIsEnabled(Body)) - { - // A physical body at rest on a surface will auto-disable after a while, - // this appears to re-enable it incase the surface it is upon vanishes, - // and the body should fall again. - d.BodySetLinearVel(Body, 0f, 0f, 0f); - d.BodySetForce(Body, 0, 0, 0); - enableBodySoft(); - } - - // 35x10 = 350n times the mass per second applied maximum. - float nmax = 35f * m_mass; - float nmin = -35f * m_mass; - - if (fx > nmax) - fx = nmax; - if (fx < nmin) - fx = nmin; - if (fy > nmax) - fy = nmax; - if (fy < nmin) - fy = nmin; - d.BodyAddForce(Body, fx, fy, fz); -//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); - } + m_delaySelect = false; } - } - else - { // is not physical, or is not a body or is selected - // _zeroPosition = d.BodyGetPosition(Body); - return; -//Console.WriteLine("Nothing " + Name); - - } - } - - private void rotate() - { - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - if (Body != IntPtr.Zero) - { - // KF: If this is a root prim do BodySet - d.BodySetQuaternion(Body, ref myrot); - if (IsPhysical) + else if(!m_isphysical) { - if (!m_angularlock.ApproxEquals(Vector3.One, 0f)) - createAMotor(m_angularlock); + m_delaySelect = true; } } else { - // daughter prim, do Geom set - d.GeomSetQuaternion(prim_geom, ref myrot); - } - - resetCollisionAccounting(); - m_taintrot = _orientation; - } + if (!childPrim) + { + if (Body != IntPtr.Zero && !m_disabled) + d.BodyEnable(Body); + } +// else if (_parent != null) +// ((OdePrim)_parent).ChildSelectedChange(false); - private void resetCollisionAccounting() - { - m_collisionscore = 0; - m_interpenetrationcount = 0; - m_disabled = false; - } + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); - /// - /// Change prim in response to a disable taint. - /// - private void changedisable() - { - m_disabled = true; - if (Body != IntPtr.Zero) - { - d.BodyDisable(Body); - Body = IntPtr.Zero; + m_delaySelect = false; } - m_taintdisable = false; + resetCollisionAccounting(); } - /// - /// Change prim in response to a physics status taint - /// - private void changePhysicsStatus() + private void changePosition(Vector3 newPos) { - if (IsPhysical) + CheckDelaySelect(); + if (m_isphysical) { - if (Body == IntPtr.Zero) + if (childPrim) // inertia is messed, must rebuild { - if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) + if (m_building) { - changeshape(); + _position = newPos; } - else + + else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero) + { + FixInertia(newPos); + if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + } + else + { + if (_position != newPos) { - enableBody(); + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; } + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } } else { - if (Body != IntPtr.Zero) + if (prim_geom != IntPtr.Zero) { - if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) + if (newPos != _position) { - RemoveGeom(); - -//Console.WriteLine("changePhysicsStatus for " + Name); - changeadd(); - } + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; - if (childPrim) - { - if (_parent != null) - { - OdePrim parent = (OdePrim)_parent; - parent.ChildDelink(this); - } - } - else - { - disableBody(); + m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); } } } - - changeSelectedStatus(); - + givefakepos--; + if (givefakepos < 0) + givefakepos = 0; +// changeSelectedStatus(); resetCollisionAccounting(); - m_taintPhysics = IsPhysical; } - /// - /// Change prim in response to a size taint. - /// - private void changesize() + private void changeOrientation(Quaternion newOri) { -#if SPAM - m_log.DebugFormat("[ODE PRIM]: Called changesize"); -#endif - - if (_size.X <= 0) _size.X = 0.01f; - if (_size.Y <= 0) _size.Y = 0.01f; - if (_size.Z <= 0) _size.Z = 0.01f; - - //kill body to rebuild - if (IsPhysical && Body != IntPtr.Zero) + CheckDelaySelect(); + if (m_isphysical) { - if (childPrim) + if (childPrim) // inertia is messed, must rebuild { - if (_parent != null) + if (m_building) { - OdePrim parent = (OdePrim)_parent; - parent.ChildDelink(this); + _orientation = newOri; + } +/* + else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero) + { + FixInertia(_position, newOri); + if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } +*/ } else { - disableBody(); + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) + createAMotor(m_angularlock); + } + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } } - - if (d.SpaceQuery(m_targetSpace, prim_geom)) + else { -// _parent_scene.waitForSpaceUnlock(m_targetSpace); - d.SpaceRemove(m_targetSpace, prim_geom); + if (prim_geom != IntPtr.Zero) + { + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + } + } } + givefakeori--; + if (givefakeori < 0) + givefakeori = 0; + resetCollisionAccounting(); + } - RemoveGeom(); - - // we don't need to do space calculation because the client sends a position update also. - - IMesh mesh = null; - - // Construction of new prim - if (_parent_scene.needsMeshing(_pbs)) + private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri) + { + CheckDelaySelect(); + if (m_isphysical) { - float meshlod = _parent_scene.meshSculptLOD; - - if (IsPhysical) - meshlod = _parent_scene.MeshSculptphysicalLOD; - // Don't need to re-enable body.. it's done in SetMesh - - if (_parent_scene.needsMeshing(_pbs)) + if (childPrim && m_building) // inertia is messed, must rebuild { - mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical); - if (mesh == null) - CheckMeshAsset(); + _position = newPos; + _orientation = newOri; + } + else + { + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) + createAMotor(m_angularlock); + } + if (_position != newPos) + { + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; + } + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } - } - - CreateGeom(m_targetSpace, mesh); - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - myrot.W = _orientation.W; - d.GeomSetQuaternion(prim_geom, ref myrot); - - //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); - if (IsPhysical && Body == IntPtr.Zero && !childPrim) + else { - // Re creates body on size. - // EnableBody also does setMass() - enableBody(); - d.BodyEnable(Body); - } + // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); + // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); - changeSelectedStatus(); - - if (childPrim) - { - if (_parent is OdePrim) + if (prim_geom != IntPtr.Zero) { - OdePrim parent = (OdePrim)_parent; - parent.ChildSetGeom(this); + if (newOri != _orientation) + { + d.Quaternion myrot = new d.Quaternion(); + myrot.X = newOri.X; + myrot.Y = newOri.Y; + myrot.Z = newOri.Z; + myrot.W = newOri.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + _orientation = newOri; + } + + if (newPos != _position) + { + d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); + _position = newPos; + + m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace); + } } } + givefakepos--; + if (givefakepos < 0) + givefakepos = 0; + givefakeori--; + if (givefakeori < 0) + givefakeori = 0; resetCollisionAccounting(); - m_taintsize = _size; } - /// - /// Change prim in response to a float on water taint. - /// - /// - private void changefloatonwater() + private void changeDisable(bool disable) { - m_collidesWater = m_taintCollidesWater; - - if (m_collidesWater) + if (disable) { - m_collisionFlags |= CollisionCategories.Water; + if (!m_disabled) + disableBodySoft(); } else { - m_collisionFlags &= ~CollisionCategories.Water; + if (m_disabled) + enableBodySoft(); } - - d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); } - /// - /// Change prim in response to a shape taint. - /// - private void changeshape() + private void changePhysicsStatus(bool NewStatus) { - m_taintshape = false; + CheckDelaySelect(); - // Cleanup of old prim geometry and Bodies - if (IsPhysical && Body != IntPtr.Zero) + m_isphysical = NewStatus; + + if (!childPrim) { - if (childPrim) + if (NewStatus) { - if (_parent != null) - { - OdePrim parent = (OdePrim)_parent; - parent.ChildDelink(this); - } + if (Body == IntPtr.Zero) + MakeBody(); } else { - disableBody(); + if (Body != IntPtr.Zero) + { + DestroyBody(); + } + Stop(); } } - RemoveGeom(); + resetCollisionAccounting(); + } - // we don't need to do space calculation because the client sends a position update also. - if (_size.X <= 0) _size.X = 0.01f; - if (_size.Y <= 0) _size.Y = 0.01f; - if (_size.Z <= 0) _size.Z = 0.01f; - // Construction of new prim + private void changeSize(Vector3 newSize) + { + } - IMesh mesh = null; + private void changeShape(PrimitiveBaseShape newShape) + { + } + private void changeAddPhysRep(ODEPhysRepData repData) + { + _size = repData.size; //?? + _pbs = repData.pbs; + m_shapetype = repData.shapetype; - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in CreateMesh - float meshlod = _parent_scene.meshSculptLOD; + m_mesh = repData.mesh; - if (IsPhysical) - meshlod = _parent_scene.MeshSculptphysicalLOD; + m_assetID = repData.assetID; + m_meshState = repData.meshState; - // createmesh returns null when it doesn't mesh. - mesh = _parent_scene.mesher.CreateMesh(Name, _pbs, _size, meshlod, IsPhysical); - if (mesh == null) - CheckMeshAsset(); + m_hasOBB = repData.hasOBB; + m_OBBOffset = repData.OBBOffset; + m_OBB = repData.OBB; + + primVolume = repData.volume; + + CreateGeom(); + + if (prim_geom != IntPtr.Zero) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); } - CreateGeom(m_targetSpace, mesh); - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - //myrot.W = _orientation.w; - myrot.W = _orientation.W; - myrot.X = _orientation.X; - myrot.Y = _orientation.Y; - myrot.Z = _orientation.Z; - d.GeomSetQuaternion(prim_geom, ref myrot); + if (!m_isphysical) + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } + else + MakeBody(); - //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); - if (IsPhysical && Body == IntPtr.Zero) + if ((m_meshState & MeshState.NeedMask) != 0) { - // Re creates body on size. - // EnableBody also does setMass() - enableBody(); - if (Body != IntPtr.Zero) - { - d.BodyEnable(Body); - } + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMesh(repData); } + } - changeSelectedStatus(); + private void changePhysRepData(ODEPhysRepData repData) + { + CheckDelaySelect(); + + OdePrim parent = (OdePrim)_parent; - if (childPrim) + bool chp = childPrim; + + if (chp) { - if (_parent is OdePrim) + if (parent != null) { - OdePrim parent = (OdePrim)_parent; - parent.ChildSetGeom(this); + parent.DestroyBody(); } } + else + { + DestroyBody(); + } - resetCollisionAccounting(); -// m_taintshape = false; - } + RemoveGeom(); - /// - /// Change prim in response to an add force taint. - /// - private void changeAddForce() - { - if (!m_isSelected) + _size = repData.size; + _pbs = repData.pbs; + m_shapetype = repData.shapetype; + + m_mesh = repData.mesh; + + m_assetID = repData.assetID; + m_meshState = repData.meshState; + + m_hasOBB = repData.hasOBB; + m_OBBOffset = repData.OBBOffset; + m_OBB = repData.OBB; + + primVolume = repData.volume; + + CreateGeom(); + + if (prim_geom != IntPtr.Zero) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.X = _orientation.X; + myrot.Y = _orientation.Y; + myrot.Z = _orientation.Z; + myrot.W = _orientation.W; + d.GeomSetQuaternion(prim_geom, ref myrot); + } + + if (m_isphysical) { - lock (m_forcelist) + if (chp) { - //m_log.Info("[PHYSICS]: dequeing forcelist"); - if (IsPhysical) + if (parent != null) { - Vector3 iforce = Vector3.Zero; - int i = 0; - try - { - for (i = 0; i < m_forcelist.Count; i++) - { - - iforce = iforce + (m_forcelist[i] * 100); - } - } - catch (IndexOutOfRangeException) - { - m_forcelist = new List(); - m_collisionscore = 0; - m_interpenetrationcount = 0; - m_taintforce = false; - return; - } - catch (ArgumentOutOfRangeException) - { - m_forcelist = new List(); - m_collisionscore = 0; - m_interpenetrationcount = 0; - m_taintforce = false; - return; - } - d.BodyEnable(Body); - d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z); + parent.MakeBody(); } - m_forcelist.Clear(); } + else + MakeBody(); + } + else + { + SetInStaticSpace(this); + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); + } - m_collisionscore = 0; - m_interpenetrationcount = 0; + resetCollisionAccounting(); + + if ((m_meshState & MeshState.NeedMask) != 0) + { + repData.size = _size; + repData.pbs = _pbs; + repData.shapetype = m_shapetype; + _parent_scene.m_meshWorker.RequestMesh(repData); } + } + + private void changeFloatOnWater(bool newval) + { + m_collidesWater = newval; - m_taintforce = false; + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); } - /// - /// Change prim in response to a torque taint. - /// - private void changeSetTorque() + private void changeSetTorque(Vector3 newtorque) { if (!m_isSelected) { - if (IsPhysical && Body != IntPtr.Zero) + if (m_isphysical && Body != IntPtr.Zero) { - d.BodySetTorque(Body, m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z); + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + _torque = newtorque; } + } - m_taintTorque = Vector3.Zero; + private void changeForce(Vector3 force) + { + m_force = force; + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } - /// - /// Change prim in response to an angular force taint. - /// - private void changeAddAngularForce() + private void changeAddForce(Vector3 theforce) { + m_forceacc += theforce; if (!m_isSelected) { - lock (m_angularforcelist) + lock (this) { //m_log.Info("[PHYSICS]: dequeing forcelist"); - if (IsPhysical) + if (m_isphysical && Body != IntPtr.Zero) { - Vector3 iforce = Vector3.Zero; - for (int i = 0; i < m_angularforcelist.Count; i++) - { - iforce = iforce + (m_angularforcelist[i] * 100); - } - d.BodyEnable(Body); - d.BodyAddTorque(Body, iforce.X, iforce.Y, iforce.Z); - + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } - m_angularforcelist.Clear(); } - m_collisionscore = 0; - m_interpenetrationcount = 0; } - - m_taintaddangularforce = false; } - /// - /// Change prim in response to a velocity taint. - /// - private void changevelocity() + // actually angular impulse + private void changeAddAngularImpulse(Vector3 aimpulse) { + m_angularForceacc += aimpulse * m_invTimeStep; if (!m_isSelected) { - // Not sure exactly why this sleep is here, but from experimentation it appears to stop an avatar - // walking through a default rez size prim if it keeps kicking it around - justincc. - Thread.Sleep(20); - - if (IsPhysical) + lock (this) { - if (Body != IntPtr.Zero) + if (m_isphysical && Body != IntPtr.Zero) { - d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); } } - - //resetCollisionAccounting(); + m_collisionscore = 0; } - - m_taintVelocity = Vector3.Zero; } - internal void setPrimForRemoval() + private void changevelocity(Vector3 newVel) { - m_taintremove = true; - } + float len = newVel.LengthSquared(); + if (len > 100000.0f) // limit to 100m/s + { + len = 100.0f / (float)Math.Sqrt(len); + newVel *= len; + } - public override bool Flying - { - // no flying prims for you - get { return false; } - set { } - } + if (!m_isSelected) + { + if (Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); - public override bool IsColliding - { - get { return iscolliding; } - set { iscolliding = value; } + d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); + } + //resetCollisionAccounting(); + } + _velocity = newVel; } - public override bool CollidingGround + private void changeangvelocity(Vector3 newAngVel) { - get { return false; } - set { return; } + float len = newAngVel.LengthSquared(); + if (len > 144.0f) // limit to 12rad/s + { + len = 12.0f / (float)Math.Sqrt(len); + newAngVel *= len; + } + + if (!m_isSelected) + { + if (Body != IntPtr.Zero) + { + if (m_disabled) + enableBodySoft(); + else if (!d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + + + d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); + } + //resetCollisionAccounting(); + } + m_rotationalVelocity = newAngVel; } - public override bool CollidingObj + private void changeVolumedetetion(bool newVolDtc) { - get { return false; } - set { return; } + m_isVolumeDetect = newVolDtc; + m_fakeisVolumeDetect = newVolDtc; + UpdateCollisionCatFlags(); + ApplyCollisionCatFlags(); } - public override bool ThrottleUpdates + protected void changeBuilding(bool newbuilding) { - get { return m_throttleUpdates; } - set { m_throttleUpdates = value; } + // Check if we need to do anything + if (newbuilding == m_building) + return; + + if ((bool)newbuilding) + { + m_building = true; + if (!childPrim) + DestroyBody(); + } + else + { + m_building = false; + CheckDelaySelect(); + if (!childPrim) + MakeBody(); + } + if (!childPrim && childrenPrim.Count > 0) + { + foreach (OdePrim prm in childrenPrim) + prm.changeBuilding(m_building); // call directly + } } - public override bool Stopped + public void changeSetVehicle(VehicleData vdata) { - get { return _zeroFlag; } + if (m_vehicle == null) + m_vehicle = new ODEDynamics(this); + m_vehicle.DoSetVehicle(vdata); } - public override Vector3 Position + private void changeVehicleType(int value) { - get { return _position; } + if (value == (int)Vehicle.TYPE_NONE) + { + if (m_vehicle != null) + m_vehicle = null; + } + else + { + if (m_vehicle == null) + m_vehicle = new ODEDynamics(this); - set { _position = value; - //m_log.Info("[PHYSICS]: " + _position.ToString()); + m_vehicle.ProcessTypeChange((Vehicle)value); } } - public override Vector3 Size + private void changeVehicleFloatParam(strVehicleFloatParam fp) { - get { return _size; } - set - { - if (value.IsFinite()) - { - _size = value; -// m_log.DebugFormat("[PHYSICS]: Set size on {0} to {1}", Name, value); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Size on object {0}", Name); - } - } + if (m_vehicle == null) + return; + + m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); } - public override float Mass + private void changeVehicleVectorParam(strVehicleVectorParam vp) { - get { return CalculateMass(); } + if (m_vehicle == null) + return; + m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); } - public override Vector3 Force + private void changeVehicleRotationParam(strVehicleQuatParam qp) { - //get { return Vector3.Zero; } - get { return m_force; } - set - { - if (value.IsFinite()) - { - m_force = value; - } - else - { - m_log.WarnFormat("[PHYSICS]: NaN in Force Applied to an Object {0}", Name); - } - } + if (m_vehicle == null) + return; + m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); } - public override int VehicleType + private void changeVehicleFlags(strVehicleBoolParam bp) { - get { return (int)m_vehicle.Type; } - set { m_vehicle.ProcessTypeChange((Vehicle)value); } + if (m_vehicle == null) + return; + m_vehicle.ProcessVehicleFlags(bp.param, bp.value); } - public override void VehicleFloatParam(int param, float value) + private void changeBuoyancy(float b) { - m_vehicle.ProcessFloatVehicleParam((Vehicle) param, value); + m_buoyancy = b; } - public override void VehicleVectorParam(int param, Vector3 value) + private void changePIDTarget(Vector3 trg) { - m_vehicle.ProcessVectorVehicleParam((Vehicle) param, value); + m_PIDTarget = trg; } - public override void VehicleRotationParam(int param, Quaternion rotation) + private void changePIDTau(float tau) { - m_vehicle.ProcessRotationVehicleParam((Vehicle) param, rotation); + m_PIDTau = tau; } - public override void VehicleFlags(int param, bool remove) + private void changePIDActive(bool val) { - m_vehicle.ProcessVehicleFlags(param, remove); + m_usePID = val; } - public override void SetVolumeDetect(int param) + private void changePIDHoverHeight(float val) { - // We have to lock the scene here so that an entire simulate loop either uses volume detect for all - // possible collisions with this prim or for none of them. - lock (_parent_scene.OdeLock) - { - m_isVolumeDetect = (param != 0); - } + m_PIDHoverHeight = val; + if (val == 0) + m_useHoverPID = false; } - public override Vector3 CenterOfMass + private void changePIDHoverType(PIDHoverType type) { - get { return Vector3.Zero; } + m_PIDHoverType = type; } - public override Vector3 GeometricCenter + private void changePIDHoverTau(float tau) { - get { return Vector3.Zero; } + m_PIDHoverTau = tau; } - public override PrimitiveBaseShape Shape + private void changePIDHoverActive(bool active) { - set - { - _pbs = value; - m_assetFailed = false; - m_taintshape = true; - } + m_useHoverPID = active; } - public override Vector3 Velocity - { - get - { - // Average previous velocity with the new one so - // client object interpolation works a 'little' better - if (_zeroFlag) - return Vector3.Zero; + #endregion - Vector3 returnVelocity = Vector3.Zero; - returnVelocity.X = (m_lastVelocity.X + _velocity.X) * 0.5f; // 0.5f is mathematically equiv to '/ 2' - returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) * 0.5f; - returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) * 0.5f; - return returnVelocity; - } - set + public void Move() + { + if (!childPrim && m_isphysical && Body != IntPtr.Zero && + !m_disabled && !m_isSelected && !m_building && !m_outbounds) { - if (value.IsFinite()) + if (!d.BodyIsEnabled(Body)) { - _velocity = value; + // let vehicles sleep + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) + return; - m_taintVelocity = value; - _parent_scene.AddPhysicsActorTaint(this); - } - else - { - m_log.WarnFormat("[PHYSICS]: Got NaN Velocity in Object {0}", Name); - } + if (++bodydisablecontrol < 20) + return; - } - } + + d.BodyEnable(Body); + } - public override Vector3 Torque - { - get - { - if (!IsPhysical || Body == IntPtr.Zero) - return Vector3.Zero; + bodydisablecontrol = 0; - return _torque; - } + d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator - set - { - if (value.IsFinite()) + if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) { - m_taintTorque = value; - _parent_scene.AddPhysicsActorTaint(this); + // 'VEHICLES' are dealt with in ODEDynamics.cs + m_vehicle.Step(); + return; } - else + + float fx = 0; + float fy = 0; + float fz = 0; + + float m_mass = _mass; + + if (m_usePID && m_PIDTau > 0) { - m_log.WarnFormat("[PHYSICS]: Got NaN Torque in Object {0}", Name); - } - } - } + // for now position error + _target_velocity = + new Vector3( + (m_PIDTarget.X - lpos.X), + (m_PIDTarget.Y - lpos.Y), + (m_PIDTarget.Z - lpos.Z) + ); - public override float CollisionScore - { - get { return m_collisionscore; } - set { m_collisionscore = value; } - } + if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f)) + { + d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); + d.BodySetLinearVel(Body, 0, 0, 0); + return; + } + else + { + _zeroFlag = false; - public override bool Kinematic - { - get { return false; } - set { } - } + float tmp = 1 / m_PIDTau; + _target_velocity *= tmp; - public override Quaternion Orientation - { - get { return _orientation; } - set - { - if (QuaternionIsFinite(value)) - _orientation = value; - else - m_log.WarnFormat("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object {0}", Name); - } - } + // apply limits + tmp = _target_velocity.Length(); + if (tmp > 50.0f) + { + tmp = 50 / tmp; + _target_velocity *= tmp; + } + else if (tmp < 0.05f) + { + tmp = 0.05f / tmp; + _target_velocity *= tmp; + } - private static bool QuaternionIsFinite(Quaternion q) - { - if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) - return false; - if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) - return false; - if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) - return false; - if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) - return false; - return true; - } + d.Vector3 vel = d.BodyGetLinearVel(Body); + fx = (_target_velocity.X - vel.X) * m_invTimeStep; + fy = (_target_velocity.Y - vel.Y) * m_invTimeStep; + fz = (_target_velocity.Z - vel.Z) * m_invTimeStep; +// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z); + } + } // end if (m_usePID) - public override Vector3 Acceleration - { - get { return _acceleration; } - set { _acceleration = value; } - } + // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller + else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) + { - public override void AddForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { - lock (m_forcelist) - m_forcelist.Add(force); + // Non-Vehicles have a limited set of Hover options. + // determine what our target height really is based on HoverType - m_taintforce = true; - } - else - { - m_log.WarnFormat("[PHYSICS]: Got Invalid linear force vector from Scene in Object {0}", Name); - } - //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString()); - } + m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y); - public override void AddAngularForce(Vector3 force, bool pushforce) - { - if (force.IsFinite()) - { - m_angularforcelist.Add(force); - m_taintaddangularforce = true; - } - else - { - m_log.WarnFormat("[PHYSICS]: Got Invalid Angular force vector from Scene in Object {0}", Name); - } - } + switch (m_PIDHoverType) + { + case PIDHoverType.Ground: + m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + break; - public override Vector3 RotationalVelocity - { - get - { - Vector3 pv = Vector3.Zero; - if (_zeroFlag) - return pv; - m_lastUpdateSent = false; + case PIDHoverType.GroundAndWater: + m_waterHeight = _parent_scene.GetWaterLevel(); + if (m_groundHeight > m_waterHeight) + m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; + else + m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; + break; + } // end switch (m_PIDHoverType) - if (m_rotationalVelocity.ApproxEquals(pv, 0.2f)) - return pv; + // don't go underground unless volumedetector - return m_rotationalVelocity; - } - set - { - if (value.IsFinite()) - { - m_rotationalVelocity = value; + if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect) + { + d.Vector3 vel = d.BodyGetLinearVel(Body); + + fz = (m_targetHoverHeight - lpos.Z); + + // if error is zero, use position control; otherwise, velocity control + if (Math.Abs(fz) < 0.01f) + { + d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight); + d.BodySetLinearVel(Body, vel.X, vel.Y, 0); + } + else + { + _zeroFlag = false; + fz /= m_PIDHoverTau; + + float tmp = Math.Abs(fz); + if (tmp > 50) + fz = 50 * Math.Sign(fz); + else if (tmp < 0.1) + fz = 0.1f * Math.Sign(fz); + + fz = ((fz - vel.Z) * m_invTimeStep); + } + } } else { - m_log.WarnFormat("[PHYSICS]: Got NaN RotationalVelocity in Object {0}", Name); + float b = (1.0f - m_buoyancy); + fx = _parent_scene.gravityx * b; + fy = _parent_scene.gravityy * b; + fz = _parent_scene.gravityz * b; } - } - } - public override void CrossingFailure() - { - m_crossingfailures++; - if (m_crossingfailures > _parent_scene.geomCrossingFailuresBeforeOutofbounds) - { - base.RaiseOutOfBounds(_position); - return; - } - else if (m_crossingfailures == _parent_scene.geomCrossingFailuresBeforeOutofbounds) - { - m_log.Warn("[PHYSICS]: Too many crossing failures for: " + Name); - } - } + fx *= m_mass; + fy *= m_mass; + fz *= m_mass; - public override float Buoyancy - { - get { return m_buoyancy; } - set { m_buoyancy = value; } - } + // constant force + fx += m_force.X; + fy += m_force.Y; + fz += m_force.Z; - public override void link(PhysicsActor obj) - { - m_taintparent = obj; - } + fx += m_forceacc.X; + fy += m_forceacc.Y; + fz += m_forceacc.Z; - public override void delink() - { - m_taintparent = null; - } + m_forceacc = Vector3.Zero; - public override void LockAngularMotion(Vector3 axis) - { - // reverse the zero/non zero values for ODE. - if (axis.IsFinite()) - { - axis.X = (axis.X > 0) ? 1f : 0f; - axis.Y = (axis.Y > 0) ? 1f : 0f; - axis.Z = (axis.Z > 0) ? 1f : 0f; - m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); - m_taintAngularLock = axis; + //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); + if (fx != 0 || fy != 0 || fz != 0) + { + d.BodyAddForce(Body, fx, fy, fz); + //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); + } + + Vector3 trq; + + trq = _torque; + trq += m_angularForceacc; + m_angularForceacc = Vector3.Zero; + if (trq.X != 0 || trq.Y != 0 || trq.Z != 0) + { + d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); + } } else - { - m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name); + { // is not physical, or is not a body or is selected + // _zeroPosition = d.BodyGetPosition(Body); + return; + //Console.WriteLine("Nothing " + Name); + } } - internal void UpdatePositionAndVelocity() + public void UpdatePositionAndVelocity() { - // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! - if (_parent == null) + if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) { - Vector3 pv = Vector3.Zero; - bool lastZeroFlag = _zeroFlag; - float m_minvelocity = 0; - if (Body != (IntPtr)0) // FIXME -> or if it is a joint - { - d.Vector3 vec = d.BodyGetPosition(Body); - d.Quaternion ori = d.BodyGetQuaternion(Body); - d.Vector3 vel = d.BodyGetLinearVel(Body); - d.Vector3 rotvel = d.BodyGetAngularVel(Body); - d.Vector3 torque = d.BodyGetTorque(Body); - _torque = new Vector3(torque.X, torque.Y, torque.Z); - Vector3 l_position = Vector3.Zero; - Quaternion l_orientation = Quaternion.Identity; - - // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) - //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - - m_lastposition = _position; - m_lastorientation = _orientation; - - l_position.X = vec.X; - l_position.Y = vec.Y; - l_position.Z = vec.Z; - l_orientation.X = ori.X; - l_orientation.Y = ori.Y; - l_orientation.Z = ori.Z; - l_orientation.W = ori.W; - - if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f) - { - //base.RaiseOutOfBounds(l_position); + if (d.BodyIsEnabled(Body) || !_zeroFlag) + { + bool lastZeroFlag = _zeroFlag; - if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) - { - _position = l_position; - //_parent_scene.remActivePrim(this); - if (_parent == null) - base.RequestPhysicsterseUpdate(); - return; - } - else - { - if (_parent == null) - base.RaiseOutOfBounds(l_position); - return; - } - } + d.Vector3 lpos = d.GeomGetPosition(prim_geom); - if (l_position.Z < 0) + // check outside region + if (lpos.Z < -100 || lpos.Z > 100000f) { - // This is so prim that get lost underground don't fall forever and suck up - // - // Sim resources and memory. - // Disables the prim's movement physics.... - // It's a hack and will generate a console message if it fails. - - //IsPhysical = false; - if (_parent == null) - base.RaiseOutOfBounds(_position); + m_outbounds = true; + lpos.Z = Util.Clip(lpos.Z, -100f, 100000f); _acceleration.X = 0; _acceleration.Y = 0; _acceleration.Z = 0; @@ -2698,589 +3401,437 @@ Console.WriteLine(" JointCreateFixed"); m_rotationalVelocity.Y = 0; m_rotationalVelocity.Z = 0; - if (_parent == null) - base.RequestPhysicsterseUpdate(); + 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; - m_throttleUpdates = false; - throttleCounter = 0; + base.RequestPhysicsterseUpdate(); + +// throttleCounter = 0; _zeroFlag = true; - //outofBounds = 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 + UnSubscribeEvents(); + + base.RequestPhysicsterseUpdate(); + return; } - //float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)); -//Console.WriteLine("Adiff " + Name + " = " + Adiff); - if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) - && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) - && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) -// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) - && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large + d.Quaternion ori; + d.GeomCopyQuaternion(prim_geom, out ori); + + // decide if moving + // use positions since this are integrated quantities + // tolerance values depende a lot on simulation noise... + // use simple math.abs since we dont need to be exact + + if ( + (Math.Abs(_position.X - lpos.X) < 0.001f) + && (Math.Abs(_position.Y - lpos.Y) < 0.001f) + && (Math.Abs(_position.Z - lpos.Z) < 0.001f) + && (Math.Abs(_orientation.X - ori.X) < 0.0001f) + && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f) + && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W + ) { _zeroFlag = true; -//Console.WriteLine("ZFT 2"); - m_throttleUpdates = false; } else - { - //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); _zeroFlag = false; - m_lastUpdateSent = false; - //m_throttleUpdates = false; - } - if (_zeroFlag) + // update velocities and aceleration + if (!(_zeroFlag && lastZeroFlag)) { - _velocity.X = 0.0f; - _velocity.Y = 0.0f; - _velocity.Z = 0.0f; + d.Vector3 vel = d.BodyGetLinearVel(Body); - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; + _acceleration = _velocity; - //_orientation.w = 0f; - //_orientation.X = 0f; - //_orientation.Y = 0f; - //_orientation.Z = 0f; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - if (!m_lastUpdateSent) + if ((Math.Abs(vel.X) < 0.001f) && + (Math.Abs(vel.Y) < 0.001f) && + (Math.Abs(vel.Z) < 0.001f)) { - m_throttleUpdates = false; - throttleCounter = 0; - m_rotationalVelocity = pv; - - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - - m_lastUpdateSent = true; + _velocity = Vector3.Zero; + float t = -m_invTimeStep; + _acceleration = _acceleration * t; } - } - else - { - if (lastZeroFlag != _zeroFlag) + else { - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } + _velocity.X = vel.X; + _velocity.Y = vel.Y; + _velocity.Z = vel.Z; + _acceleration = (_velocity - _acceleration) * m_invTimeStep; } - m_lastVelocity = _velocity; - - _position = l_position; - - _velocity.X = vel.X; - _velocity.Y = vel.Y; - _velocity.Z = vel.Z; - - _acceleration = ((_velocity - m_lastVelocity) / 0.1f); - _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); - //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); - - // Note here that linearvelocity is affecting angular velocity... so I'm guessing this is a vehicle specific thing... - // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. - // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles - // adding these logical exclusion situations to maintain this where I think it was intended to be. - if (m_throttleUpdates || m_usePID || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) - { - m_minvelocity = 0.5f; - } - else + if ((Math.Abs(_acceleration.X) < 0.01f) && + (Math.Abs(_acceleration.Y) < 0.01f) && + (Math.Abs(_acceleration.Z) < 0.01f)) { - m_minvelocity = 0.02f; + _acceleration = Vector3.Zero; } - if (_velocity.ApproxEquals(pv, m_minvelocity)) + if ((Math.Abs(_orientation.X - ori.X) < 0.0001) && + (Math.Abs(_orientation.Y - ori.Y) < 0.0001) && + (Math.Abs(_orientation.Z - ori.Z) < 0.0001) + ) { - m_rotationalVelocity = pv; + m_rotationalVelocity = Vector3.Zero; } else { - m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z); + vel = d.BodyGetAngularVel(Body); + m_rotationalVelocity.X = vel.X; + m_rotationalVelocity.Y = vel.Y; + m_rotationalVelocity.Z = vel.Z; } + } - //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); - _orientation.X = ori.X; - _orientation.Y = ori.Y; - _orientation.Z = ori.Z; - _orientation.W = ori.W; - m_lastUpdateSent = false; - if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) + if (_zeroFlag) + { + if (lastZeroFlag) { - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } + _velocity = Vector3.Zero; + _acceleration = Vector3.Zero; + m_rotationalVelocity = Vector3.Zero; } - else + + if (!m_lastUpdateSent) { - throttleCounter++; + base.RequestPhysicsterseUpdate(); + if (lastZeroFlag) + m_lastUpdateSent = true; } + return; } - m_lastposition = l_position; - } - else - { - // Not a body.. so Make sure the client isn't interpolating - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; + _position.X = lpos.X; + _position.Y = lpos.Y; + _position.Z = lpos.Z; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - _zeroFlag = true; + _orientation.X = ori.X; + _orientation.Y = ori.Y; + _orientation.Z = ori.Z; + _orientation.W = ori.W; + base.RequestPhysicsterseUpdate(); + m_lastUpdateSent = false; } } } - public override bool FloatOnWater + internal static bool QuaternionIsFinite(Quaternion q) { - set { - m_taintCollidesWater = value; - _parent_scene.AddPhysicsActorTaint(this); - } + if (Single.IsNaN(q.X) || Single.IsInfinity(q.X)) + return false; + if (Single.IsNaN(q.Y) || Single.IsInfinity(q.Y)) + return false; + if (Single.IsNaN(q.Z) || Single.IsInfinity(q.Z)) + return false; + if (Single.IsNaN(q.W) || Single.IsInfinity(q.W)) + return false; + return true; } - public override void SetMomentum(Vector3 momentum) + internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) { - } - - public override Vector3 PIDTarget - { - set - { - if (value.IsFinite()) - { - m_PIDTarget = value; - } - else - m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); - } - } - public override bool PIDActive { set { m_usePID = value; } } - public override float PIDTau { set { m_PIDTau = value; } } - - public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } - public override bool PIDHoverActive { set { m_useHoverPID = value; } } - public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } - public override float PIDHoverTau { set { m_PIDHoverTau = value; } } - - public override Quaternion APIDTarget{ set { return; } } + // assumes object center of mass is zero + float smass = part.mass; + theobj.mass -= smass; - public override bool APIDActive{ set { return; } } + smass *= 1.0f / (theobj.mass); ; - public override float APIDStrength{ set { return; } } + theobj.c.X -= part.c.X * smass; + theobj.c.Y -= part.c.Y * smass; + theobj.c.Z -= part.c.Z * smass; - public override float APIDDamping{ set { return; } } + theobj.I.M00 -= part.I.M00; + theobj.I.M01 -= part.I.M01; + theobj.I.M02 -= part.I.M02; + theobj.I.M10 -= part.I.M10; + theobj.I.M11 -= part.I.M11; + theobj.I.M12 -= part.I.M12; + theobj.I.M20 -= part.I.M20; + theobj.I.M21 -= part.I.M21; + theobj.I.M22 -= part.I.M22; + } - private void createAMotor(Vector3 axis) + private void donullchange() { - if (Body == IntPtr.Zero) - return; + } - if (Amotor != IntPtr.Zero) + public bool DoAChange(changes what, object arg) + { + if (prim_geom == IntPtr.Zero && what != changes.Add && what != changes.AddPhysRep && what != changes.Remove) { - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; + return false; } - float axisnum = 3; + // nasty switch + switch (what) + { + case changes.Add: + changeadd(); + break; - axisnum = (axisnum - (axis.X + axis.Y + axis.Z)); + case changes.AddPhysRep: + changeAddPhysRep((ODEPhysRepData)arg); + break; - // PhysicsVector totalSize = new PhysicsVector(_size.X, _size.Y, _size.Z); + case changes.Remove: + //If its being removed, we don't want to rebuild the physical rep at all, so ignore this stuff... + //When we return true, it destroys all of the prims in the linkset anyway + if (_parent != null) + { + OdePrim parent = (OdePrim)_parent; + parent.ChildRemove(this, false); + } + else + ChildRemove(this, false); - - // Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again. - d.Mass objMass; - d.MassSetZero(out objMass); - DMassCopy(ref pMass, ref objMass); + m_vehicle = null; + RemoveGeom(); + m_targetSpace = IntPtr.Zero; + UnSubscribeEvents(); + return true; - //m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); + case changes.Link: + OdePrim tmp = (OdePrim)arg; + changeLink(tmp); + break; - Matrix4 dMassMat = FromDMass(objMass); + case changes.DeLink: + changeLink(null); + break; - Matrix4 mathmat = Inverse(dMassMat); + case changes.Position: + changePosition((Vector3)arg); + break; - /* - //m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]); + case changes.Orientation: + changeOrientation((Quaternion)arg); + break; - mathmat = Inverse(mathmat); + case changes.PosOffset: + donullchange(); + break; + case changes.OriOffset: + donullchange(); + break; - objMass = FromMatrix4(mathmat, ref objMass); - //m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); + case changes.Velocity: + changevelocity((Vector3)arg); + break; - mathmat = Inverse(mathmat); - */ - if (axis.X == 0) - { - mathmat.M33 = 50.0000001f; - //objMass.I.M22 = 0; - } - if (axis.Y == 0) - { - mathmat.M22 = 50.0000001f; - //objMass.I.M11 = 0; - } - if (axis.Z == 0) - { - mathmat.M11 = 50.0000001f; - //objMass.I.M00 = 0; - } - - +// case changes.Acceleration: +// changeacceleration((Vector3)arg); +// break; - mathmat = Inverse(mathmat); - objMass = FromMatrix4(mathmat, ref objMass); - //m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); - - //return; - if (d.MassCheck(ref objMass)) - { - d.BodySetMass(Body, ref objMass); - } - else - { - //m_log.Debug("[PHYSICS]: Mass invalid, ignoring"); - } + case changes.AngVelocity: + changeangvelocity((Vector3)arg); + break; - if (axisnum <= 0) - return; - // int dAMotorEuler = 1; + case changes.Force: + changeForce((Vector3)arg); + break; - Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); - d.JointAttach(Amotor, Body, IntPtr.Zero); - d.JointSetAMotorMode(Amotor, 0); + case changes.Torque: + changeSetTorque((Vector3)arg); + break; - d.JointSetAMotorNumAxes(Amotor,(int)axisnum); - int i = 0; + case changes.AddForce: + changeAddForce((Vector3)arg); + break; - if (axis.X == 0) - { - d.JointSetAMotorAxis(Amotor, i, 0, 1, 0, 0); - i++; - } + case changes.AddAngForce: + changeAddAngularImpulse((Vector3)arg); + break; - if (axis.Y == 0) - { - d.JointSetAMotorAxis(Amotor, i, 0, 0, 1, 0); - i++; - } + case changes.AngLock: + changeAngularLock((Vector3)arg); + break; - if (axis.Z == 0) - { - d.JointSetAMotorAxis(Amotor, i, 0, 0, 0, 1); - i++; - } + case changes.Size: + changeSize((Vector3)arg); + break; - for (int j = 0; j < (int)axisnum; j++) - { - //d.JointSetAMotorAngle(Amotor, j, 0); - } + case changes.Shape: + changeShape((PrimitiveBaseShape)arg); + break; - //d.JointSetAMotorAngle(Amotor, 1, 0); - //d.JointSetAMotorAngle(Amotor, 2, 0); + case changes.PhysRepData: + changePhysRepData((ODEPhysRepData) arg); + break; - // These lowstops and high stops are effectively (no wiggle room) - d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); - d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f); - //d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 9000f); - d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); - d.JointSetAMotorParam(Amotor, (int)dParam.FMax, Mass * 50f);// - } + case changes.CollidesWater: + changeFloatOnWater((bool)arg); + break; - private Matrix4 FromDMass(d.Mass pMass) - { - Matrix4 obj; - obj.M11 = pMass.I.M00; - obj.M12 = pMass.I.M01; - obj.M13 = pMass.I.M02; - obj.M14 = 0; - obj.M21 = pMass.I.M10; - obj.M22 = pMass.I.M11; - obj.M23 = pMass.I.M12; - obj.M24 = 0; - obj.M31 = pMass.I.M20; - obj.M32 = pMass.I.M21; - obj.M33 = pMass.I.M22; - obj.M34 = 0; - obj.M41 = 0; - obj.M42 = 0; - obj.M43 = 0; - obj.M44 = 1; - return obj; - } + case changes.VolumeDtc: + changeVolumedetetion((bool)arg); + break; - private d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj) - { - obj.I.M00 = pMat[0, 0]; - obj.I.M01 = pMat[0, 1]; - obj.I.M02 = pMat[0, 2]; - obj.I.M10 = pMat[1, 0]; - obj.I.M11 = pMat[1, 1]; - obj.I.M12 = pMat[1, 2]; - obj.I.M20 = pMat[2, 0]; - obj.I.M21 = pMat[2, 1]; - obj.I.M22 = pMat[2, 2]; - return obj; - } + case changes.Phantom: + changePhantomStatus((bool)arg); + break; - public override void SubscribeEvents(int ms) - { - m_eventsubscription = ms; - _parent_scene.AddCollisionEventReporting(this); - } + case changes.Physical: + changePhysicsStatus((bool)arg); + break; - public override void UnSubscribeEvents() - { - _parent_scene.RemoveCollisionEventReporting(this); - m_eventsubscription = 0; - } + case changes.Selected: + changeSelectedStatus((bool)arg); + break; - public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) - { - CollisionEventsThisFrame.AddCollider(CollidedWith, contact); - } + case changes.disabled: + changeDisable((bool)arg); + break; - public void SendCollisions() - { - if (m_collisionsOnPreviousFrame || CollisionEventsThisFrame.Count > 0) - { - base.SendCollisionUpdate(CollisionEventsThisFrame); + case changes.building: + changeBuilding((bool)arg); + break; - if (CollisionEventsThisFrame.Count > 0) - { - m_collisionsOnPreviousFrame = true; - CollisionEventsThisFrame.Clear(); - } - else - { - m_collisionsOnPreviousFrame = false; - } - } - } + case changes.VehicleType: + changeVehicleType((int)arg); + break; - public override bool SubscribedEvents() - { - if (m_eventsubscription > 0) - return true; - return false; - } + case changes.VehicleFlags: + changeVehicleFlags((strVehicleBoolParam) arg); + break; - public static Matrix4 Inverse(Matrix4 pMat) - { - if (determinant3x3(pMat) == 0) - { - return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible - } + case changes.VehicleFloatParam: + changeVehicleFloatParam((strVehicleFloatParam) arg); + break; - return (Adjoint(pMat) / determinant3x3(pMat)); - } + case changes.VehicleVectorParam: + changeVehicleVectorParam((strVehicleVectorParam) arg); + break; - public static Matrix4 Adjoint(Matrix4 pMat) - { - Matrix4 adjointMatrix = new Matrix4(); - for (int i=0; i<4; i++) - { - for (int j=0; j<4; j++) - { - Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j))))); - } - } + case changes.VehicleRotationParam: + changeVehicleRotationParam((strVehicleQuatParam) arg); + break; - adjointMatrix = Transpose(adjointMatrix); - return adjointMatrix; - } + case changes.SetVehicle: + changeSetVehicle((VehicleData) arg); + break; - public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol) - { - Matrix4 minor = new Matrix4(); - int m = 0, n = 0; - for (int i = 0; i < 4; i++) - { - if (i == iRow) - continue; - n = 0; - for (int j = 0; j < 4; j++) - { - if (j == iCol) - continue; - Matrix4SetValue(ref minor, m,n, matrix[i, j]); - n++; - } - m++; - } + case changes.Buoyancy: + changeBuoyancy((float)arg); + break; - return minor; - } + case changes.PIDTarget: + changePIDTarget((Vector3)arg); + break; - public static Matrix4 Transpose(Matrix4 pMat) - { - Matrix4 transposeMatrix = new Matrix4(); - for (int i = 0; i < 4; i++) - for (int j = 0; j < 4; j++) - Matrix4SetValue(ref transposeMatrix, i, j, pMat[j, i]); - return transposeMatrix; - } + case changes.PIDTau: + changePIDTau((float)arg); + break; - public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val) - { - switch (r) - { - case 0: - switch (c) - { - case 0: - pMat.M11 = val; - break; - case 1: - pMat.M12 = val; - break; - case 2: - pMat.M13 = val; - break; - case 3: - pMat.M14 = val; - break; - } + case changes.PIDActive: + changePIDActive((bool)arg); + break; + case changes.PIDHoverHeight: + changePIDHoverHeight((float)arg); break; - case 1: - switch (c) - { - case 0: - pMat.M21 = val; - break; - case 1: - pMat.M22 = val; - break; - case 2: - pMat.M23 = val; - break; - case 3: - pMat.M24 = val; - break; - } + case changes.PIDHoverType: + changePIDHoverType((PIDHoverType)arg); break; - case 2: - switch (c) - { - case 0: - pMat.M31 = val; - break; - case 1: - pMat.M32 = val; - break; - case 2: - pMat.M33 = val; - break; - case 3: - pMat.M34 = val; - break; - } + case changes.PIDHoverTau: + changePIDHoverTau((float)arg); break; - case 3: - switch (c) - { - case 0: - pMat.M41 = val; - break; - case 1: - pMat.M42 = val; - break; - case 2: - pMat.M43 = val; - break; - case 3: - pMat.M44 = val; - break; - } + case changes.PIDHoverActive: + changePIDHoverActive((bool)arg); + break; + + case changes.Null: + donullchange(); + break; + + + + default: + donullchange(); break; } + return false; } - private static float determinant3x3(Matrix4 pMat) + public void AddChange(changes what, object arg) { - float det = 0; - float diag1 = pMat[0, 0]*pMat[1, 1]*pMat[2, 2]; - float diag2 = pMat[0, 1]*pMat[2, 1]*pMat[2, 0]; - float diag3 = pMat[0, 2]*pMat[1, 0]*pMat[2, 1]; - float diag4 = pMat[2, 0]*pMat[1, 1]*pMat[0, 2]; - float diag5 = pMat[2, 1]*pMat[1, 2]*pMat[0, 0]; - float diag6 = pMat[2, 2]*pMat[1, 0]*pMat[0, 1]; - - det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6); - return det; - } - - private static void DMassCopy(ref d.Mass src, ref d.Mass dst) - { - dst.c.W = src.c.W; - dst.c.X = src.c.X; - dst.c.Y = src.c.Y; - dst.c.Z = src.c.Z; - dst.mass = src.mass; - dst.I.M00 = src.I.M00; - dst.I.M01 = src.I.M01; - dst.I.M02 = src.I.M02; - dst.I.M10 = src.I.M10; - dst.I.M11 = src.I.M11; - dst.I.M12 = src.I.M12; - dst.I.M20 = src.I.M20; - dst.I.M21 = src.I.M21; - dst.I.M22 = src.I.M22; + _parent_scene.AddChange((PhysicsActor) this, what, arg); } - public override void SetMaterial(int pMaterial) + + private struct strVehicleBoolParam { - m_material = pMaterial; + public int param; + public bool value; } - private void CheckMeshAsset() + private struct strVehicleFloatParam { - if (_pbs.SculptEntry && !m_assetFailed && _pbs.SculptTexture != UUID.Zero) - { - m_assetFailed = true; - Util.FireAndForget(delegate - { - RequestAssetDelegate assetProvider = _parent_scene.RequestAssetMethod; - if (assetProvider != null) - assetProvider(_pbs.SculptTexture, MeshAssetReveived); - }); - } + public int param; + public float value; } - void MeshAssetReveived(AssetBase asset) + private struct strVehicleQuatParam { - if (asset.Data != null && asset.Data.Length > 0) - { - if (!_pbs.SculptEntry) - return; - if (_pbs.SculptTexture.ToString() != asset.ID) - return; + public int param; + public Quaternion value; + } - _pbs.SculptData = new byte[asset.Data.Length]; - asset.Data.CopyTo(_pbs.SculptData, 0); - m_assetFailed = false; - m_taintshape = true; - _parent_scene.AddPhysicsActorTaint(this); - } - } + private struct strVehicleVectorParam + { + public int param; + public Vector3 value; + } } -} \ No newline at end of file +} diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 7a50c4c..03048a4 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -25,26 +25,21 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -//#define USE_DRAWSTUFF //#define SPAM using System; using System.Collections.Generic; -using System.Diagnostics; -using System.IO; -using System.Linq; using System.Reflection; using System.Runtime.InteropServices; using System.Threading; +using System.IO; +using System.Diagnostics; using log4net; using Nini.Config; -using Ode.NET; -using OpenMetaverse; -#if USE_DRAWSTUFF -using Drawstuff.NET; -#endif +using OdeAPI; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenMetaverse; namespace OpenSim.Region.Physics.OdePlugin { @@ -55,29 +50,42 @@ namespace OpenSim.Region.Physics.OdePlugin End = 2 } -// public struct sCollisionData -// { -// public uint ColliderLocalId; -// public uint CollidedWithLocalId; -// public int NumberOfCollisions; -// public int CollisionType; -// public int StatusIndicator; -// public int lastframe; -// } + public struct sCollisionData + { + public uint ColliderLocalId; + public uint CollidedWithLocalId; + public int NumberOfCollisions; + public int CollisionType; + public int StatusIndicator; + public int lastframe; + } + + + // colision flags of things others can colide with + // rays, sensors, probes removed since can't be colided with + // The top space where things are placed provided further selection + // ie physical are in active space nonphysical in static + // this should be exclusive as possible [Flags] - public enum CollisionCategories : int + public enum CollisionCategories : uint { Disabled = 0, - Geom = 0x00000001, - Body = 0x00000002, - Space = 0x00000004, - Character = 0x00000008, - Land = 0x00000010, - Water = 0x00000020, - Wind = 0x00000040, - Sensor = 0x00000080, - Selected = 0x00000100 + //by 'things' types + Space = 0x01, + Geom = 0x02, // aka prim/part + Character = 0x04, + Land = 0x08, + Water = 0x010, + + // by state + Phantom = 0x01000, + VolumeDtc = 0x02000, + Selected = 0x04000, + NoShape = 0x08000, + + + All = 0xffffffff } /// @@ -98,400 +106,213 @@ namespace OpenSim.Region.Physics.OdePlugin /// Plastic = 5, /// - Rubber = 6 + Rubber = 6, + + light = 7 // compatibility with old viewers + } + + public enum changes : int + { + Add = 0, // arg null. finishs the prim creation. should be used internally only ( to remove later ?) + Remove, + Link, // arg AuroraODEPrim new parent prim or null to delink. Makes the prim part of a object with prim parent as root + // or removes from a object if arg is null + DeLink, + Position, // arg Vector3 new position in world coords. Changes prim position. Prim must know if it is root or child + Orientation, // arg Quaternion new orientation in world coords. Changes prim position. Prim must know it it is root or child + PosOffset, // not in use + // arg Vector3 new position in local coords. Changes prim position in object + OriOffset, // not in use + // arg Vector3 new position in local coords. Changes prim position in object + Velocity, + AngVelocity, + Acceleration, + Force, + Torque, + Momentum, + + AddForce, + AddAngForce, + AngLock, + + Buoyancy, + + PIDTarget, + PIDTau, + PIDActive, + + PIDHoverHeight, + PIDHoverType, + PIDHoverTau, + PIDHoverActive, + + Size, + Shape, + PhysRepData, + AddPhysRep, + + CollidesWater, + VolumeDtc, + + Physical, + Phantom, + Selected, + disabled, + building, + + VehicleType, + VehicleFloatParam, + VehicleVectorParam, + VehicleRotationParam, + VehicleFlags, + SetVehicle, + + Null //keep this last used do dim the methods array. does nothing but pulsing the prim } + public struct ODEchangeitem + { + public PhysicsActor actor; + public OdeCharacter character; + public changes what; + public Object arg; + } + public class OdeScene : PhysicsScene { private readonly ILog m_log; // private Dictionary m_storedCollisions = new Dictionary(); - /// - /// Provide a sync object so that only one thread calls d.Collide() at a time across all OdeScene instances. - /// - /// - /// With ODE as of r1755 (though also tested on r1860), only one thread can call d.Collide() at a - /// time, even where physics objects are in entirely different ODE worlds. This is because generating contacts - /// uses a static cache at the ODE level. - /// - /// Without locking, simulators running multiple regions will eventually crash with a native stack trace similar - /// to - /// - /// mono() [0x489171] - /// mono() [0x4d154f] - /// /lib/x86_64-linux-gnu/libpthread.so.0(+0xfc60) [0x7f6ded592c60] - /// .../opensim/bin/libode-x86_64.so(_ZN6Opcode11OBBCollider8_CollideEPKNS_14AABBNoLeafNodeE+0xd7a) [0x7f6dd822628a] - /// - /// ODE provides an experimental option to cache in thread local storage but compiling ODE with this option - /// causes OpenSimulator to immediately crash with a native stack trace similar to - /// - /// mono() [0x489171] - /// mono() [0x4d154f] - /// /lib/x86_64-linux-gnu/libpthread.so.0(+0xfc60) [0x7f03c9849c60] - /// .../opensim/bin/libode-x86_64.so(_Z12dCollideCCTLP6dxGeomS0_iP12dContactGeomi+0x92) [0x7f03b44bcf82] - /// - internal static Object UniversalColliderSyncObject = new Object(); - - /// - /// Is stats collecting enabled for this ODE scene? - /// - public bool CollectStats { get; set; } - - /// - /// Statistics for this scene. - /// - private Dictionary m_stats = new Dictionary(); - - /// - /// Stat name for total number of avatars in this ODE scene. - /// - public const string ODETotalAvatarsStatName = "ODETotalAvatars"; - - /// - /// Stat name for total number of prims in this ODE scene. - /// - public const string ODETotalPrimsStatName = "ODETotalPrims"; - - /// - /// Stat name for total number of prims with active physics in this ODE scene. - /// - public const string ODEActivePrimsStatName = "ODEActivePrims"; - - /// - /// Stat name for the total time spent in ODE frame processing. - /// - /// - /// A sanity check for the main scene loop physics time. - /// - public const string ODETotalFrameMsStatName = "ODETotalFrameMS"; - - /// - /// Stat name for time spent processing avatar taints per frame - /// - public const string ODEAvatarTaintMsStatName = "ODEAvatarTaintFrameMS"; - - /// - /// Stat name for time spent processing prim taints per frame - /// - public const string ODEPrimTaintMsStatName = "ODEPrimTaintFrameMS"; - - /// - /// Stat name for time spent calculating avatar forces per frame. - /// - public const string ODEAvatarForcesFrameMsStatName = "ODEAvatarForcesFrameMS"; - - /// - /// Stat name for time spent calculating prim forces per frame - /// - public const string ODEPrimForcesFrameMsStatName = "ODEPrimForcesFrameMS"; - - /// - /// Stat name for time spent fulfilling raycasting requests per frame - /// - public const string ODERaycastingFrameMsStatName = "ODERaycastingFrameMS"; - - /// - /// Stat name for time spent in native code that actually steps through the simulation. - /// - public const string ODENativeStepFrameMsStatName = "ODENativeStepFrameMS"; - - /// - /// Stat name for the number of milliseconds that ODE spends in native space collision code. - /// - public const string ODENativeSpaceCollisionFrameMsStatName = "ODENativeSpaceCollisionFrameMS"; - - /// - /// Stat name for milliseconds that ODE spends in native geom collision code. - /// - public const string ODENativeGeomCollisionFrameMsStatName = "ODENativeGeomCollisionFrameMS"; - - /// - /// Time spent in collision processing that is not spent in native space or geom collision code. - /// - public const string ODEOtherCollisionFrameMsStatName = "ODEOtherCollisionFrameMS"; - - /// - /// Stat name for time spent notifying listeners of collisions - /// - public const string ODECollisionNotificationFrameMsStatName = "ODECollisionNotificationFrameMS"; - - /// - /// Stat name for milliseconds spent updating avatar position and velocity - /// - public const string ODEAvatarUpdateFrameMsStatName = "ODEAvatarUpdateFrameMS"; - - /// - /// Stat name for the milliseconds spent updating prim position and velocity - /// - public const string ODEPrimUpdateFrameMsStatName = "ODEPrimUpdateFrameMS"; - - /// - /// Stat name for avatar collisions with another entity. - /// - public const string ODEAvatarContactsStatsName = "ODEAvatarContacts"; - - /// - /// Stat name for prim collisions with another entity. - /// - public const string ODEPrimContactsStatName = "ODEPrimContacts"; - - /// - /// Used to hold tick numbers for stat collection purposes. - /// - private int m_nativeCollisionStartTick; - - /// - /// A messy way to tell if we need to avoid adding a collision time because this was already done in the callback. - /// - private bool m_inCollisionTiming; - - /// - /// A temporary holder for the number of avatar collisions in a frame, so we can work out how many object - /// collisions occured using the _perloopcontact if stats collection is enabled. - /// - private int m_tempAvatarCollisionsThisFrame; + public bool OdeUbitLib = false; +// private int threadid = 0; + private Random fluidRandomizer = new Random(Environment.TickCount); - /// - /// Used in calculating physics frame time dilation - /// - private int tickCountFrameRun; + const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; + const float MaxERP = 0.8f; + const float minERP = 0.1f; + const float comumContactCFM = 0.0001f; + + float frictionMovementMult = 0.8f; - /// - /// Used in calculating physics frame time dilation - /// - private int latertickcount; + float TerrainBounce = 0.1f; + float TerrainFriction = 0.3f; - private Random fluidRandomizer = new Random(Environment.TickCount); + public float AvatarFriction = 0;// 0.9f * 0.5f; private const uint m_regionWidth = Constants.RegionSize; private const uint m_regionHeight = Constants.RegionSize; - private float ODE_STEPSIZE = 0.0178f; - private float metersInSpace = 29.9f; + public float ODE_STEPSIZE = 0.020f; + public float HalfOdeStep = 0.01f; + public int odetimestepMS = 20; // rounded + private float metersInSpace = 25.6f; private float m_timeDilation = 1.0f; + private DateTime m_lastframe; + private DateTime m_lastMeshExpire; + public float gravityx = 0f; public float gravityy = 0f; public float gravityz = -9.8f; - public float AvatarTerminalVelocity { get; set; } - - private float contactsurfacelayer = 0.001f; - - private int worldHashspaceLow = -4; - private int worldHashspaceHigh = 128; - - private int smallHashspaceLow = -4; - private int smallHashspaceHigh = 66; - private float waterlevel = 0f; private int framecount = 0; - //private int m_returncollisions = 10; - private readonly IntPtr contactgroup; + private int m_meshExpireCntr; - internal IntPtr WaterGeom; +// private IntPtr WaterGeom = IntPtr.Zero; +// private IntPtr WaterHeightmapData = IntPtr.Zero; +// private GCHandle WaterMapHandler = new GCHandle(); - private float nmTerrainContactFriction = 255.0f; - private float nmTerrainContactBounce = 0.1f; - private float nmTerrainContactERP = 0.1025f; - - private float mTerrainContactFriction = 75f; - private float mTerrainContactBounce = 0.1f; - private float mTerrainContactERP = 0.05025f; - - private float nmAvatarObjectContactFriction = 250f; - private float nmAvatarObjectContactBounce = 0.1f; - - private float mAvatarObjectContactFriction = 75f; - private float mAvatarObjectContactBounce = 0.1f; - - private float avPIDD = 3200f; - private float avPIDP = 1400f; + public float avPIDD = 2200f; // make it visible + public float avPIDP = 900f; // make it visible private float avCapRadius = 0.37f; - private float avStandupTensor = 2000000f; - - /// - /// true = old compatibility mode with leaning capsule; false = new corrected mode - /// - /// - /// Even when set to false, the capsule still tilts but this is done in a different way. - /// - public bool IsAvCapsuleTilted { get; private set; } - - private float avDensity = 80f; -// private float avHeightFudgeFactor = 0.52f; + private float avDensity = 3f; private float avMovementDivisorWalk = 1.3f; private float avMovementDivisorRun = 0.8f; private float minimumGroundFlightOffset = 3f; public float maximumMassObject = 10000.01f; - public bool meshSculptedPrim = true; - public bool forceSimplePrimMeshing = false; - - public float meshSculptLOD = 32; - public float MeshSculptphysicalLOD = 16; public float geomDefaultDensity = 10.000006836f; public int geomContactPointsStartthrottle = 3; public int geomUpdatesPerThrottledUpdate = 15; - private const int avatarExpectedContacts = 3; public float bodyPIDD = 35f; public float bodyPIDG = 25; - public int geomCrossingFailuresBeforeOutofbounds = 5; - - public float bodyMotorJointMaxforceTensor = 2; +// public int geomCrossingFailuresBeforeOutofbounds = 6; - public int bodyFramesAutoDisable = 20; + public int bodyFramesAutoDisable = 5; - private float[] _watermap; - private bool m_filterCollisions = true; private d.NearCallback nearCallback; - public d.TriCallback triCallback; - public d.TriArrayCallback triArrayCallback; - - /// - /// Avatars in the physics scene. - /// - private readonly HashSet _characters = new HashSet(); - - /// - /// Prims in the physics scene. - /// - private readonly HashSet _prims = new HashSet(); - /// - /// Prims in the physics scene that are subject to physics, not just collisions. - /// - private readonly HashSet _activeprims = new HashSet(); + private HashSet _characters = new HashSet(); + private HashSet _prims = new HashSet(); + private HashSet _activeprims = new HashSet(); + private HashSet _activegroups = new HashSet(); - /// - /// Prims that the simulator has created/deleted/updated and so need updating in ODE. - /// - private readonly HashSet _taintedPrims = new HashSet(); + public OpenSim.Framework.LocklessQueue ChangesQueue = new OpenSim.Framework.LocklessQueue(); /// - /// Record a character that has taints to be processed. + /// A list of actors that should receive collision events. /// - private readonly HashSet _taintedActors = new HashSet(); + private List _collisionEventPrim = new List(); + private List _collisionEventPrimRemove = new List(); + + private HashSet _badCharacter = new HashSet(); +// public Dictionary geom_name_map = new Dictionary(); + public Dictionary actor_name_map = new Dictionary(); - /// - /// Keep record of contacts in the physics loop so that we can remove duplicates. - /// - private readonly List _perloopContact = new List(); + private float contactsurfacelayer = 0.002f; - /// - /// A dictionary of actors that should receive collision events. - /// - private readonly Dictionary m_collisionEventActors = new Dictionary(); + private int contactsPerCollision = 80; + internal IntPtr ContactgeomsArray = IntPtr.Zero; + private IntPtr GlobalContactsArray = IntPtr.Zero; - /// - /// A dictionary of collision event changes that are waiting to be processed. - /// - private readonly Dictionary m_collisionEventActorsChanges = new Dictionary(); + const int maxContactsbeforedeath = 4000; + private volatile int m_global_contactcount = 0; - /// - /// Maps a unique geometry id (a memory location) to a physics actor name. - /// - /// - /// Only actors participating in collisions have geometries. This has to be maintained separately from - /// actor_name_map because terrain and water currently don't conceptually have a physics actor of their own - /// apart from the singleton PANull - /// - public Dictionary geom_name_map = new Dictionary(); + private IntPtr contactgroup; - /// - /// Maps a unique geometry id (a memory location) to a physics actor. - /// - /// - /// Only actors participating in collisions have geometries. - /// - public Dictionary actor_name_map = new Dictionary(); + public ContactData[] m_materialContactsData = new ContactData[8]; - /// - /// Defects list to remove characters that no longer have finite positions due to some other bug. - /// - /// - /// Used repeatedly in Simulate() but initialized once here. - /// - private readonly List defects = new List(); + private Dictionary RegionTerrain = new Dictionary(); + private Dictionary TerrainHeightFieldHeights = new Dictionary(); + private Dictionary TerrainHeightFieldHeightsHandlers = new Dictionary(); + + private int m_physicsiterations = 10; + private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag +// private PhysicsActor PANull = new NullPhysicsActor(); + private float step_time = 0.0f; - private bool m_NINJA_physics_joints_enabled = false; - //private Dictionary jointpart_name_map = new Dictionary(); - private readonly Dictionary> joints_connecting_actor = new Dictionary>(); - private d.ContactGeom[] contacts; + public IntPtr world; - /// - /// Lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active - /// - private readonly List requestedJointsToBeCreated = new List(); - /// - /// can lock for longer. accessed only by OdeScene. - /// - private readonly List pendingJoints = new List(); + // split the spaces acording to contents type + // ActiveSpace contains characters and active prims + // StaticSpace contains land and other that is mostly static in enviroment + // this can contain subspaces, like the grid in staticspace + // as now space only contains this 2 top spaces - /// - /// can lock for longer. accessed only by OdeScene. - /// - private readonly List activeJoints = new List(); + public IntPtr TopSpace; // the global space + public IntPtr ActiveSpace; // space for active prims + public IntPtr StaticSpace; // space for the static things around + public IntPtr GroundSpace; // space for ground - /// - /// lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active - /// - private readonly List requestedJointsToBeDeleted = new List(); - - private Object externalJointRequestsLock = new Object(); - private readonly Dictionary SOPName_to_activeJoint = new Dictionary(); - private readonly Dictionary SOPName_to_pendingJoint = new Dictionary(); - private readonly DoubleDictionary RegionTerrain = new DoubleDictionary(); - private readonly Dictionary TerrainHeightFieldHeights = new Dictionary(); - - private d.Contact contact; - private d.Contact TerrainContact; - private d.Contact AvatarMovementprimContact; - private d.Contact AvatarMovementTerrainContact; - private d.Contact WaterContact; - private d.Contact[,] m_materialContacts; - -//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it -//Ckrinke private int m_randomizeWater = 200; - private int m_physicsiterations = 10; - private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag - private readonly PhysicsActor PANull = new NullPhysicsActor(); -// private float step_time = 0.0f; -//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it -//Ckrinke private int ms = 0; - public IntPtr world; - //private bool returncollisions = false; - // private uint obj1LocalID = 0; - private uint obj2LocalID = 0; - //private int ctype = 0; - private OdeCharacter cc1; - private OdePrim cp1; - private OdeCharacter cc2; - private OdePrim cp2; - private int p1ExpectedPoints = 0; - private int p2ExpectedPoints = 0; - //private int cStartStop = 0; - //private string cDictKey = ""; - - public IntPtr space; - - //private IntPtr tmpSpace; - // split static geometry collision handling into spaces of 30 meters - public IntPtr[,] staticPrimspace; + // some speedup variables + private int spaceGridMaxX; + private int spaceGridMaxY; + private float spacesPerMeter; - /// - /// Used to lock the entire physics scene. Locked during the main part of Simulate() - /// - internal Object OdeLock = new Object(); + // split static geometry collision into a grid as before + private IntPtr[,] staticPrimspace; + private IntPtr[] staticPrimspaceOffRegion; - private bool _worldInitialized = false; + public Object OdeLock; + public static Object SimulationLock; public IMesher mesher; @@ -501,461 +322,340 @@ namespace OpenSim.Region.Physics.OdePlugin public int physics_logging_interval = 0; public bool physics_logging_append_existing_logfile = false; - - public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); - public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); - - // TODO: unused: private uint heightmapWidth = m_regionWidth + 1; - // TODO: unused: private uint heightmapHeight = m_regionHeight + 1; - // TODO: unused: private uint heightmapWidthSamples; - // TODO: unused: private uint heightmapHeightSamples; - - private volatile int m_global_contactcount = 0; - 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; +/* maybe needed if ode uses tls + private void checkThread() + { + + int th = Thread.CurrentThread.ManagedThreadId; + if(th != threadid) + { + threadid = th; + d.AllocateODEDataForThread(~0U); + } + } + */ /// /// Initiailizes the scene /// Sets many properties that ODE requires to be stable /// These settings need to be tweaked 'exactly' right or weird stuff happens. /// - /// Name of the scene. Useful in debug messages. - public OdeScene(string name) - { - m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + name); + public OdeScene(string sceneIdentifier) + { + m_log + = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier); - Name = name; +// checkThread(); + Name = sceneIdentifier; + + OdeLock = new Object(); + SimulationLock = new Object(); nearCallback = near; - triCallback = TriCallback; - triArrayCallback = TriArrayCallback; + m_rayCastManager = new ODERayCastRequestManager(this); + + + lock (OdeLock) + { + // Create the world and the first space + try + { + world = d.WorldCreate(); + TopSpace = d.HashSpaceCreate(IntPtr.Zero); - // Create the world and the first space - world = d.WorldCreate(); - space = d.HashSpaceCreate(IntPtr.Zero); + // now the major subspaces + ActiveSpace = d.HashSpaceCreate(TopSpace); + StaticSpace = d.HashSpaceCreate(TopSpace); + GroundSpace = d.HashSpaceCreate(TopSpace); + } + catch + { + // i must RtC#FM + } - contactgroup = d.JointGroupCreate(0); + d.HashSpaceSetLevels(TopSpace, -2, 8); + d.HashSpaceSetLevels(ActiveSpace, -2, 8); + d.HashSpaceSetLevels(StaticSpace, -2, 8); + d.HashSpaceSetLevels(GroundSpace, 0, 8); - d.WorldSetAutoDisableFlag(world, false); + // demote to second level + d.SpaceSetSublevel(ActiveSpace, 1); + d.SpaceSetSublevel(StaticSpace, 1); + d.SpaceSetSublevel(GroundSpace, 1); - #if USE_DRAWSTUFF - Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization)); - viewthread.Start(); - #endif + d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space | + CollisionCategories.Geom | + CollisionCategories.Character | + CollisionCategories.Phantom | + CollisionCategories.VolumeDtc + )); + d.GeomSetCollideBits(ActiveSpace, 0); + d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space | + CollisionCategories.Geom | + CollisionCategories.Land | + CollisionCategories.Water | + CollisionCategories.Phantom | + CollisionCategories.VolumeDtc + )); + d.GeomSetCollideBits(StaticSpace, 0); - _watermap = new float[258 * 258]; + d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land)); + d.GeomSetCollideBits(GroundSpace, 0); - // Zero out the prim spaces array (we split our space into smaller spaces so - // we can hit test less. - } + contactgroup = d.JointGroupCreate(0); + //contactgroup -#if USE_DRAWSTUFF - public void startvisualization(object o) - { - ds.Functions fn; - fn.version = ds.VERSION; - fn.start = new ds.CallbackFunction(start); - fn.step = new ds.CallbackFunction(step); - fn.command = new ds.CallbackFunction(command); - fn.stop = null; - fn.path_to_textures = "./textures"; - string[] args = new string[0]; - ds.SimulationLoop(args.Length, args, 352, 288, ref fn); + d.WorldSetAutoDisableFlag(world, false); + } } -#endif // Initialize the mesh plugin +// public override void Initialise(IMesher meshmerizer, IConfigSource config, RegionInfo region ) public override void Initialise(IMesher meshmerizer, IConfigSource config) { - InitializeExtraStats(); - +// checkThread(); mesher = meshmerizer; m_config = config; - // Defaults - if (Environment.OSVersion.Platform == PlatformID.Unix) + string ode_config = d.GetConfiguration(); + if (ode_config != null && ode_config != "") { - avPIDD = 3200.0f; - avPIDP = 1400.0f; - avStandupTensor = 2000000f; - } - else - { - avPIDD = 2200.0f; - avPIDP = 900.0f; - avStandupTensor = 550000f; + m_log.WarnFormat("ODE configuration: {0}", ode_config); + + if (ode_config.Contains("ODE_Ubit")) + { + OdeUbitLib = true; + } } + /* + if (region != null) + { + WorldExtents.X = region.RegionSizeX; + WorldExtents.Y = region.RegionSizeY; + } + */ + + // Defaults + int contactsPerCollision = 80; + IConfig physicsconfig = null; + if (m_config != null) { - IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; + physicsconfig = m_config.Configs["ODEPhysicsSettings"]; if (physicsconfig != null) { - CollectStats = physicsconfig.GetBoolean("collect_stats", false); - - gravityx = physicsconfig.GetFloat("world_gravityx", 0f); - gravityy = physicsconfig.GetFloat("world_gravityy", 0f); - gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); - - float avatarTerminalVelocity = physicsconfig.GetFloat("avatar_terminal_velocity", 54f); - AvatarTerminalVelocity = Util.Clamp(avatarTerminalVelocity, 0, 255f); - if (AvatarTerminalVelocity != avatarTerminalVelocity) - { - m_log.WarnFormat( - "[ODE SCENE]: avatar_terminal_velocity of {0} is invalid. Clamping to {1}", - avatarTerminalVelocity, AvatarTerminalVelocity); - } - - worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4); - worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128); - - metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f); - smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4); - smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66); + gravityx = physicsconfig.GetFloat("world_gravityx", gravityx); + gravityy = physicsconfig.GetFloat("world_gravityy", gravityy); + gravityz = physicsconfig.GetFloat("world_gravityz", gravityz); - contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f); + metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); - nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f); - nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f); - nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f); - - mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f); - mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f); - mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f); - - nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f); - nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f); - - mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f); - mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f); + contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); - m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); + m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); - avDensity = physicsconfig.GetFloat("av_density", 80f); -// avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f); - avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); - avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); - avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); - IsAvCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false); + avDensity = physicsconfig.GetFloat("av_density", avDensity); + avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); + avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun); + avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius); - contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); + contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); - geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 5); + geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); - geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); - - geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); - bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); +// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); - bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f); - bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f); - - forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); - meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true); - meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); - MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); - m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false); - - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f); - avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f); - avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f); - bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f); - } - else - { - avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f); - avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f); - avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f); - bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f); - } + geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); + bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable); physics_logging = physicsconfig.GetBoolean("physics_logging", false); physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); - m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false); - minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f); - maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f); + minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset); + maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject); } } - contacts = new d.ContactGeom[contactsPerCollision]; - - staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)]; - - // Centeral contact friction and bounce - // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why - // an avatar falls through in Z but not in X or Y when walking on a prim. - contact.surface.mode |= d.ContactFlags.SoftERP; - contact.surface.mu = nmAvatarObjectContactFriction; - contact.surface.bounce = nmAvatarObjectContactBounce; - contact.surface.soft_cfm = 0.010f; - contact.surface.soft_erp = 0.010f; - - // Terrain contact friction and Bounce - // This is the *non* moving version. Use this when an avatar - // isn't moving to keep it in place better - TerrainContact.surface.mode |= d.ContactFlags.SoftERP; - TerrainContact.surface.mu = nmTerrainContactFriction; - TerrainContact.surface.bounce = nmTerrainContactBounce; - TerrainContact.surface.soft_erp = nmTerrainContactERP; - - WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM); - WaterContact.surface.mu = 0f; // No friction - WaterContact.surface.bounce = 0.0f; // No bounce - WaterContact.surface.soft_cfm = 0.010f; - WaterContact.surface.soft_erp = 0.010f; - - // Prim contact friction and bounce - // THis is the *non* moving version of friction and bounce - // Use this when an avatar comes in contact with a prim - // and is moving - AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction; - AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce; - - // Terrain contact friction bounce and various error correcting calculations - // Use this when an avatar is in contact with the terrain and moving. - AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP; - AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction; - AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce; - AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP; + m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); - /* - - Stone = 0, - /// - Metal = 1, - /// - Glass = 2, - /// - Wood = 3, - /// - Flesh = 4, - /// - Plastic = 5, - /// - Rubber = 6 - */ + HalfOdeStep = ODE_STEPSIZE * 0.5f; + odetimestepMS = (int)(1000.0f * ODE_STEPSIZE +0.5f); - m_materialContacts = new d.Contact[7,2]; - - m_materialContacts[(int)Material.Stone, 0] = new d.Contact(); - m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction; - m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce; - m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Stone, 1] = new d.Contact(); - m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction; - m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce; - m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Metal, 0] = new d.Contact(); - m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction; - m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce; - m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Metal, 1] = new d.Contact(); - m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction; - m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce; - m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Glass, 0] = new d.Contact(); - m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f; - m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f; - m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f; + ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); + GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); - /* - private float nmAvatarObjectContactFriction = 250f; - private float nmAvatarObjectContactBounce = 0.1f; + m_materialContactsData[(int)Material.Stone].mu = 0.8f; + m_materialContactsData[(int)Material.Stone].bounce = 0.4f; - private float mAvatarObjectContactFriction = 75f; - private float mAvatarObjectContactBounce = 0.1f; - */ - m_materialContacts[(int)Material.Glass, 1] = new d.Contact(); - m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f; - m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f; - m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Wood, 0] = new d.Contact(); - m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction; - m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce; - m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Wood, 1] = new d.Contact(); - m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction; - m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce; - m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Flesh, 0] = new d.Contact(); - m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction; - m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce; - m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Flesh, 1] = new d.Contact(); - m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction; - m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce; - m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Plastic, 0] = new d.Contact(); - m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction; - m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce; - m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Plastic, 1] = new d.Contact(); - m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction; - m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce; - m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Rubber, 0] = new d.Contact(); - m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction; - m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce; - m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f; - - m_materialContacts[(int)Material.Rubber, 1] = new d.Contact(); - m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP; - m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction; - m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce; - m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f; - m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f; - - d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh); + m_materialContactsData[(int)Material.Metal].mu = 0.3f; + m_materialContactsData[(int)Material.Metal].bounce = 0.4f; + + m_materialContactsData[(int)Material.Glass].mu = 0.2f; + m_materialContactsData[(int)Material.Glass].bounce = 0.7f; + + m_materialContactsData[(int)Material.Wood].mu = 0.6f; + m_materialContactsData[(int)Material.Wood].bounce = 0.5f; + + m_materialContactsData[(int)Material.Flesh].mu = 0.9f; + m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; + + m_materialContactsData[(int)Material.Plastic].mu = 0.4f; + m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; + + m_materialContactsData[(int)Material.Rubber].mu = 0.9f; + m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; + + m_materialContactsData[(int)Material.light].mu = 0.0f; + m_materialContactsData[(int)Material.light].bounce = 0.0f; // Set the gravity,, don't disable things automatically (we set it explicitly on some things) d.WorldSetGravity(world, gravityx, gravityy, gravityz); d.WorldSetContactSurfaceLayer(world, contactsurfacelayer); - d.WorldSetLinearDamping(world, 256f); - d.WorldSetAngularDamping(world, 256f); - d.WorldSetAngularDampingThreshold(world, 256f); - d.WorldSetLinearDampingThreshold(world, 256f); - d.WorldSetMaxAngularSpeed(world, 256f); + d.WorldSetLinearDamping(world, 0.002f); + d.WorldSetAngularDamping(world, 0.002f); + d.WorldSetAngularDampingThreshold(world, 0f); + d.WorldSetLinearDampingThreshold(world, 0f); + d.WorldSetMaxAngularSpeed(world, 100f); + + d.WorldSetCFM(world,1e-6f); // a bit harder than default + //d.WorldSetCFM(world, 1e-4f); // a bit harder than default + d.WorldSetERP(world, 0.6f); // higher than original // Set how many steps we go without running collision testing // This is in addition to the step size. // Essentially Steps * m_physicsiterations d.WorldSetQuickStepNumIterations(world, m_physicsiterations); - //d.WorldSetContactMaxCorrectingVel(world, 1000.0f); - for (int i = 0; i < staticPrimspace.GetLength(0); i++) - { - for (int j = 0; j < staticPrimspace.GetLength(1); j++) + d.WorldSetContactMaxCorrectingVel(world, 60.0f); + + spacesPerMeter = 1 / metersInSpace; + spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); + spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeter); + + staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY]; + + // create all spaces now + int i, j; + IntPtr newspace; + + for (i = 0; i < spaceGridMaxX; i++) + for (j = 0; j < spaceGridMaxY; j++) + { + newspace = d.HashSpaceCreate(StaticSpace); + d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); + waitForSpaceUnlock(newspace); + d.SpaceSetSublevel(newspace, 2); + d.HashSpaceSetLevels(newspace, -2, 8); + d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | + CollisionCategories.Geom | + CollisionCategories.Land | + CollisionCategories.Water | + CollisionCategories.Phantom | + CollisionCategories.VolumeDtc + )); + d.GeomSetCollideBits(newspace, 0); + + staticPrimspace[i, j] = newspace; + } + // let this now be real maximum values + spaceGridMaxX--; + spaceGridMaxY--; + + // create 4 off world spaces (x<0,x>max,y<0,y>max) + staticPrimspaceOffRegion = new IntPtr[4]; + + for (i = 0; i < 4; i++) { - staticPrimspace[i, j] = IntPtr.Zero; + newspace = d.HashSpaceCreate(StaticSpace); + d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space); + waitForSpaceUnlock(newspace); + d.SpaceSetSublevel(newspace, 2); + d.HashSpaceSetLevels(newspace, -2, 8); + d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space | + CollisionCategories.Geom | + CollisionCategories.Land | + CollisionCategories.Water | + CollisionCategories.Phantom | + CollisionCategories.VolumeDtc + )); + d.GeomSetCollideBits(newspace, 0); + + staticPrimspaceOffRegion[i] = newspace; } - } - _worldInitialized = true; + m_lastframe = DateTime.UtcNow; + m_lastMeshExpire = m_lastframe; } -// internal void waitForSpaceUnlock(IntPtr space) -// { -// //if (space != IntPtr.Zero) -// //while (d.SpaceLockQuery(space)) { } // Wait and do nothing -// } - -// /// -// /// Debug space message for printing the space that a prim/avatar is in. -// /// -// /// -// /// Returns which split up space the given position is in. -// public string whichspaceamIin(Vector3 pos) -// { -// return calculateSpaceForGeom(pos).ToString(); -// } + internal void waitForSpaceUnlock(IntPtr space) + { + //if (space != IntPtr.Zero) + //while (d.SpaceLockQuery(space)) { } // Wait and do nothing + } #region Collision Detection - /// - /// Collides two geometries. - /// - /// - /// - /// /param> - /// - /// - /// - private int CollideGeoms( - IntPtr geom1, IntPtr geom2, int maxContacts, Ode.NET.d.ContactGeom[] contactsArray, int contactGeomSize) + // sets a global contact for a joint for contactgeom , and base contact description) + + private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale) { - int count; + if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) + return IntPtr.Zero; - lock (OdeScene.UniversalColliderSyncObject) - { - // We do this inside the lock so that we don't count any delay in acquiring it - if (CollectStats) - m_nativeCollisionStartTick = Util.EnvironmentTickCount(); + float erp = contactGeom.depth; + erp *= erpscale; + if (erp < minERP) + erp = minERP; + else if (erp > MaxERP) + erp = MaxERP; - count = d.Collide(geom1, geom2, maxContacts, contactsArray, contactGeomSize); - } + float depth = contactGeom.depth * dscale; + if (depth > 0.5f) + depth = 0.5f; - // We do this outside the lock so that any waiting threads aren't held up, though the effect is probably - // negligable - if (CollectStats) - m_stats[ODENativeGeomCollisionFrameMsStatName] - += Util.EnvironmentTickCountSubtract(m_nativeCollisionStartTick); + d.Contact newcontact = new d.Contact(); + newcontact.geom.depth = depth; + newcontact.geom.g1 = contactGeom.g1; + newcontact.geom.g2 = contactGeom.g2; + newcontact.geom.pos = contactGeom.pos; + newcontact.geom.normal = contactGeom.normal; + newcontact.geom.side1 = contactGeom.side1; + newcontact.geom.side2 = contactGeom.side2; - return count; + // this needs bounce also + newcontact.surface.mode = comumContactFlags; + newcontact.surface.mu = mu; + newcontact.surface.bounce = bounce; + newcontact.surface.soft_cfm = cfm; + newcontact.surface.soft_erp = erp; + + IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); + Marshal.StructureToPtr(newcontact, contact, true); + return d.JointCreateContactPtr(world, contactgroup, contact); } - /// - /// Collide two spaces or a space and a geometry. - /// - /// - /// /param> - /// - private void CollideSpaces(IntPtr space1, IntPtr space2, IntPtr data) + private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) { - if (CollectStats) - { - m_inCollisionTiming = true; - m_nativeCollisionStartTick = Util.EnvironmentTickCount(); - } - - d.SpaceCollide2(space1, space2, data, nearCallback); + if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision) + return false; - if (CollectStats && m_inCollisionTiming) - { - m_stats[ODENativeSpaceCollisionFrameMsStatName] - += Util.EnvironmentTickCountSubtract(m_nativeCollisionStartTick); - m_inCollisionTiming = false; - } + IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf)); + newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom)); + return true; } /// @@ -964,76 +664,50 @@ namespace OpenSim.Region.Physics.OdePlugin /// The space that contains the geoms. Remember, spaces are also geoms /// a geometry or space /// another geometry or space + /// + private void near(IntPtr space, IntPtr g1, IntPtr g2) { - if (CollectStats && m_inCollisionTiming) - { - m_stats[ODENativeSpaceCollisionFrameMsStatName] - += Util.EnvironmentTickCountSubtract(m_nativeCollisionStartTick); - m_inCollisionTiming = false; - } - -// m_log.DebugFormat("[PHYSICS]: Colliding {0} and {1} in {2}", g1, g2, space); // no lock here! It's invoked from within Simulate(), which is thread-locked + if (m_global_contactcount >= maxContactsbeforedeath) + return; + // Test if we're colliding a geom with a space. // If so we have to drill down into the space recursively + if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) + return; + if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) { - if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) - return; - - // Separating static prim geometry spaces. // We'll be calling near recursivly if one // of them is a space to find all of the // contact points in the space try { - CollideSpaces(g1, g2, IntPtr.Zero); + d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); } catch (AccessViolationException) { - m_log.Error("[ODE SCENE]: Unable to collide test a space"); + m_log.Warn("[PHYSICS]: Unable to collide test a space"); return; } - //Colliding a space or a geom with a space or a geom. so drill down - - //Collide all geoms in each space.. - //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback); - //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback); + //here one should check collisions of geoms inside a space + // but on each space we only should have geoms that not colide amoung each other + // so we don't dig inside spaces return; } - if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) - return; - + // get geom bodies to check if we already a joint contact + // guess this shouldn't happen now IntPtr b1 = d.GeomGetBody(g1); IntPtr b2 = d.GeomGetBody(g2); // d.GeomClassID id = d.GeomGetClass(g1); - String name1 = null; - String name2 = null; - - if (!geom_name_map.TryGetValue(g1, out name1)) - { - name1 = "null"; - } - if (!geom_name_map.TryGetValue(g2, out name2)) - { - name2 = "null"; - } - - //if (id == d.GeomClassId.TriMeshClass) - //{ - // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2); - //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2); - //} - // Figure out how many contact points we have int count = 0; - try { // Colliding Geom To Geom @@ -1045,914 +719,611 @@ namespace OpenSim.Region.Physics.OdePlugin if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) return; - count = CollideGeoms(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf); +// debug + PhysicsActor dp2; + if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) + { + d.AABB aabb; + d.GeomGetAABB(g2, out aabb); + float x = aabb.MaxX - aabb.MinX; + float y = aabb.MaxY - aabb.MinY; + float z = aabb.MaxZ - aabb.MinZ; + if (x > 60.0f || y > 60.0f || z > 60.0f) + { + if (!actor_name_map.TryGetValue(g2, out dp2)) + m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); + else + m_log.WarnFormat("[PHYSICS]: land versus large prim geo {0},size {1}, AABBsize <{2},{3},{4}>, at {5} ori {6},({7})", + dp2.Name, dp2.Size, x, y, z, + dp2.Position.ToString(), + dp2.Orientation.ToString(), + dp2.Orientation.Length()); + return; + } + } +// + - // All code after this is only relevant if we have any collisions - if (count <= 0) - return; - if (count > contacts.Length) - m_log.Error("[ODE SCENE]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length); + if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || + d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) + { + int cflags; + unchecked + { + cflags = (int)(1 | d.CONTACTS_UNIMPORTANT); + } + count = d.CollidePtr(g1, g2, cflags, ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); + } + else + count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray, d.ContactGeom.unmanagedSizeOf); } catch (SEHException) { - m_log.Error( - "[ODE SCENE]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); + m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); +// ode.drelease(world); base.TriggerPhysicsBasedRestart(); } catch (Exception e) { - m_log.ErrorFormat("[ODE SCENE]: Unable to collide test an object: {0}", e.Message); + m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message); return; } + // contacts done + if (count == 0) + return; + + // try get physical actors PhysicsActor p1; PhysicsActor p2; - - p1ExpectedPoints = 0; - p2ExpectedPoints = 0; - + if (!actor_name_map.TryGetValue(g1, out p1)) { - p1 = PANull; + m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1"); + return; } if (!actor_name_map.TryGetValue(g2, out p2)) { - p2 = PANull; + m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); + return; } - ContactPoint maxDepthContact = new ContactPoint(); - if (p1.CollisionScore + count >= float.MaxValue) + // update actors collision score + if (p1.CollisionScore >= float.MaxValue - count) p1.CollisionScore = 0; p1.CollisionScore += count; - if (p2.CollisionScore + count >= float.MaxValue) + if (p2.CollisionScore >= float.MaxValue - count) p2.CollisionScore = 0; p2.CollisionScore += count; - for (int i = 0; i < count; i++) - { - d.ContactGeom curContact = contacts[i]; - - if (curContact.depth > maxDepthContact.PenetrationDepth) - { - maxDepthContact = new ContactPoint( + // get first contact + d.ContactGeom curContact = new d.ContactGeom(); + if (!GetCurContactGeom(0, ref curContact)) + return; + // for now it's the one with max depth + ContactPoint maxDepthContact = new ContactPoint( new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), curContact.depth - ); - } - - //m_log.Warn("[CCOUNT]: " + count); - IntPtr joint; - // If we're colliding with terrain, use 'TerrainContact' instead of contact. - // allows us to have different settings - - // We only need to test p2 for 'jump crouch purposes' - if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim) - { - // Testing if the collision is at the feet of the avatar + ); + // do volume detection case + if ( + (p1.IsVolumeDtc || p2.IsVolumeDtc)) + { + collision_accounting_events(p1, p2, maxDepthContact); + return; + } - //m_log.DebugFormat("[PHYSICS]: {0} - {1} - {2} - {3}", curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f)); - if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)) - p2.IsColliding = true; - } - else - { - p2.IsColliding = true; - } - - //if ((framecount % m_returncollisions) == 0) + // big messy collision analises - switch (p1.PhysicsActorType) - { - case (int)ActorTypes.Agent: - p1ExpectedPoints = avatarExpectedContacts; - p2.CollidingObj = true; - break; - case (int)ActorTypes.Prim: - if (p1 != null && p1 is OdePrim) - p1ExpectedPoints = ((OdePrim) p1).ExpectedCollisionContacts; + Vector3 normoverride = Vector3.Zero; //damm c# - if (p2.Velocity.LengthSquared() > 0.0f) - p2.CollidingObj = true; - break; - case (int)ActorTypes.Unknown: - p2.CollidingGround = true; - break; - default: - p2.CollidingGround = true; - break; - } + float mu = 0; + float bounce = 0; + float cfm = 0.0001f; + float erpscale = 1.0f; + float dscale = 1.0f; + bool IgnoreNegSides = false; - // we don't want prim or avatar to explode + ContactData contactdata1 = new ContactData(0, 0, false); + ContactData contactdata2 = new ContactData(0, 0, false); - #region InterPenetration Handling - Unintended physics explosions -# region disabled code1 + bool dop1foot = false; + bool dop2foot = false; + bool ignore = false; + bool AvanormOverride = false; - if (curContact.depth >= 0.08f) - { - //This is disabled at the moment only because it needs more tweaking - //It will eventually be uncommented - /* - if (contact.depth >= 1.00f) + switch (p1.PhysicsActorType) + { + case (int)ActorTypes.Agent: { - //m_log.Debug("[PHYSICS]: " + contact.depth.ToString()); - } + AvanormOverride = true; + Vector3 tmp = p2.Position - p1.Position; + normoverride = p2.Velocity - p1.Velocity; + mu = normoverride.LengthSquared(); - //If you interpenetrate a prim with an agent - if ((p2.PhysicsActorType == (int) ActorTypes.Agent && - p1.PhysicsActorType == (int) ActorTypes.Prim) || - (p1.PhysicsActorType == (int) ActorTypes.Agent && - p2.PhysicsActorType == (int) ActorTypes.Prim)) - { - - //contact.depth = contact.depth * 4.15f; - /* - if (p2.PhysicsActorType == (int) ActorTypes.Agent) + if (mu > 1e-6) { - p2.CollidingObj = true; - contact.depth = 0.003f; - p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f); - OdeCharacter character = (OdeCharacter) p2; - character.SetPidStatus(true); - 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)); - + mu = 1.0f / (float)Math.Sqrt(mu); + normoverride *= mu; + mu = Vector3.Dot(tmp, normoverride); + if (mu > 0) + normoverride *= -1; } else { - - //contact.depth = 0.0000000f; + tmp.Normalize(); + normoverride = -tmp; } - if (p1.PhysicsActorType == (int) ActorTypes.Agent) - { - p1.CollidingObj = true; - contact.depth = 0.003f; - p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f); - 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)); - OdeCharacter character = (OdeCharacter)p1; - character.SetPidStatus(true); - } - else + switch (p2.PhysicsActorType) { + case (int)ActorTypes.Agent: + p1.CollidingObj = true; + p2.CollidingObj = true; + break; + + case (int)ActorTypes.Prim: + if (p2.Velocity.LengthSquared() > 0.0f) + p2.CollidingObj = true; + dop1foot = true; + break; - //contact.depth = 0.0000000f; + default: + ignore = true; // avatar to terrain and water ignored + break; } - - - - } -*/ - // If you interpenetrate a prim with another prim - /* - if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim) - { - #region disabledcode2 - //OdePrim op1 = (OdePrim)p1; - //OdePrim op2 = (OdePrim)p2; - //op1.m_collisionscore++; - //op2.m_collisionscore++; - - //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000) - //{ - //op1.m_taintdisable = true; - //AddPhysicsActorTaint(p1); - //op2.m_taintdisable = true; - //AddPhysicsActorTaint(p2); - //} - - //if (contact.depth >= 0.25f) - //{ - // Don't collide, one or both prim will expld. - - //op1.m_interpenetrationcount++; - //op2.m_interpenetrationcount++; - //interpenetrations_before_disable = 200; - //if (op1.m_interpenetrationcount >= interpenetrations_before_disable) - //{ - //op1.m_taintdisable = true; - //AddPhysicsActorTaint(p1); - //} - //if (op2.m_interpenetrationcount >= interpenetrations_before_disable) - //{ - // op2.m_taintdisable = true; - //AddPhysicsActorTaint(p2); - //} - - //contact.depth = contact.depth / 8f; - //contact.normal = new d.Vector3(0, 0, 1); - //} - //if (op1.m_disabled || op2.m_disabled) - //{ - //Manually disabled objects stay disabled - //contact.depth = 0f; - //} - #endregion + break; } - */ -#endregion - if (curContact.depth >= 1.00f) + + case (int)ActorTypes.Prim: + switch (p2.PhysicsActorType) { - //m_log.Info("[P]: " + contact.depth.ToString()); - if ((p2.PhysicsActorType == (int) ActorTypes.Agent && - p1.PhysicsActorType == (int) ActorTypes.Unknown) || - (p1.PhysicsActorType == (int) ActorTypes.Agent && - p2.PhysicsActorType == (int) ActorTypes.Unknown)) - { - if (p2.PhysicsActorType == (int) ActorTypes.Agent) + case (int)ActorTypes.Agent: + AvanormOverride = true; + + Vector3 tmp = p2.Position - p1.Position; + normoverride = p2.Velocity - p1.Velocity; + mu = normoverride.LengthSquared(); + if (mu > 1e-6) { - if (p2 is OdeCharacter) - { - OdeCharacter character = (OdeCharacter) p2; - - //p2.CollidingObj = true; - curContact.depth = 0.00000003f; - p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f); - curContact.pos = - new d.Vector3(curContact.pos.X + (p1.Size.X/2), - curContact.pos.Y + (p1.Size.Y/2), - curContact.pos.Z + (p1.Size.Z/2)); - character.SetPidStatus(true); - } + mu = 1.0f / (float)Math.Sqrt(mu); + normoverride *= mu; + mu = Vector3.Dot(tmp, normoverride); + if (mu > 0) + normoverride *= -1; + } + else + { + tmp.Normalize(); + normoverride = -tmp; + } + + bounce = 0; + mu = 0; + cfm = 0.0001f; + + dop2foot = true; + if (p1.Velocity.LengthSquared() > 0.0f) + p1.CollidingObj = true; + break; + + case (int)ActorTypes.Prim: + if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) + { + p1.CollidingObj = true; + p2.CollidingObj = true; } + p1.getContactData(ref contactdata1); + p2.getContactData(ref contactdata2); + bounce = contactdata1.bounce * contactdata2.bounce; + mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); + + cfm = p1.Mass; + if (cfm > p2.Mass) + cfm = p2.Mass; + dscale = 10 / cfm; + dscale = (float)Math.Sqrt(dscale); + if (dscale > 1.0f) + dscale = 1.0f; + erpscale = cfm * 0.01f; + cfm = 0.0001f / cfm; + if (cfm > 0.01f) + cfm = 0.01f; + else if (cfm < 0.00001f) + cfm = 0.00001f; + + if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) + mu *= frictionMovementMult; + + break; - if (p1.PhysicsActorType == (int) ActorTypes.Agent) + case (int)ActorTypes.Ground: + p1.getContactData(ref contactdata1); + bounce = contactdata1.bounce * TerrainBounce; + mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); + if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) + mu *= frictionMovementMult; + p1.CollidingGround = true; + + cfm = p1.Mass; + dscale = 10 / cfm; + dscale = (float)Math.Sqrt(dscale); + if (dscale > 1.0f) + dscale = 1.0f; + erpscale = cfm * 0.01f; + cfm = 0.0001f / cfm; + if (cfm > 0.01f) + cfm = 0.01f; + else if (cfm < 0.00001f) + cfm = 0.00001f; + + if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) { - if (p1 is OdeCharacter) - { - OdeCharacter character = (OdeCharacter) p1; - - //p2.CollidingObj = true; - curContact.depth = 0.00000003f; - p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f); - curContact.pos = - new d.Vector3(curContact.pos.X + (p1.Size.X/2), - curContact.pos.Y + (p1.Size.Y/2), - curContact.pos.Z + (p1.Size.Z/2)); - character.SetPidStatus(true); - } + if (curContact.side1 > 0) + IgnoreNegSides = true; } - } + break; + + case (int)ActorTypes.Water: + default: + ignore = true; + break; } - } + break; + + case (int)ActorTypes.Ground: + if (p2.PhysicsActorType == (int)ActorTypes.Prim) + { + p2.CollidingGround = true; + p2.getContactData(ref contactdata2); + bounce = contactdata2.bounce * TerrainBounce; + mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); - #endregion + cfm = p2.Mass; + dscale = 10 / cfm; + dscale = (float)Math.Sqrt(dscale); - // Logic for collision handling - // Note, that if *all* contacts are skipped (VolumeDetect) - // The prim still detects (and forwards) collision events but - // appears to be phantom for the world - Boolean skipThisContact = false; + if (dscale > 1.0f) + dscale = 1.0f; - if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect)) - skipThisContact = true; // No collision on volume detect prims + erpscale = cfm * 0.01f; + cfm = 0.0001f / cfm; + if (cfm > 0.01f) + cfm = 0.01f; + else if (cfm < 0.00001f) + cfm = 0.00001f; - if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect)) - skipThisContact = true; // No collision on volume detect prims + if (curContact.side1 > 0) // should be 2 ? + IgnoreNegSides = true; - if (!skipThisContact && curContact.depth < 0f) - skipThisContact = true; + if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) + mu *= frictionMovementMult; + } + else + ignore = true; + break; + + case (int)ActorTypes.Water: + default: + break; + } + if (ignore) + return; + + IntPtr Joint; - if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType)) - skipThisContact = true; + int i = 0; + while(true) + { + + if (IgnoreNegSides && curContact.side1 < 0) + { + if (++i >= count) + break; - const int maxContactsbeforedeath = 4000; - joint = IntPtr.Zero; + if (!GetCurContactGeom(i, ref curContact)) + break; + } + else - if (!skipThisContact) { - _perloopContact.Add(curContact); - if (name1 == "Terrain" || name2 == "Terrain") + if (AvanormOverride) { - if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && - (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) + if (curContact.depth > 0.3f) { - p2ExpectedPoints = avatarExpectedContacts; - // Avatar is moving on terrain, use the movement terrain contact - AvatarMovementTerrainContact.geom = curContact; - - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact); - m_global_contactcount++; - } + if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f) + p1.IsColliding = true; + if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) + p2.IsColliding = true; + curContact.normal.X = normoverride.X; + curContact.normal.Y = normoverride.Y; + curContact.normal.Z = normoverride.Z; } + else { - if (p2.PhysicsActorType == (int)ActorTypes.Agent) - { - p2ExpectedPoints = avatarExpectedContacts; - // Avatar is standing on terrain, use the non moving terrain contact - TerrainContact.geom = curContact; - - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref TerrainContact); - m_global_contactcount++; - } - } - else + if (dop1foot) { - if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim) + float sz = p1.Size.Z; + Vector3 vtmp = p1.Position; + float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f; + if (ppos > 0f) { - // prim prim contact - // int pj294950 = 0; - int movintYN = 0; - int material = (int) Material.Wood; - // prim terrain contact - if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) - { - movintYN = 1; - } - - if (p2 is OdePrim) + if (!p1.Flying) { - material = ((OdePrim) p2).m_material; - p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; - } - - // Unnessesary because p1 is defined above - //if (p1 is OdePrim) - // { - // p1ExpectedPoints = ((OdePrim)p1).ExpectedCollisionContacts; - // } - //m_log.DebugFormat("Material: {0}", material); + d.AABB aabb; + d.GeomGetAABB(g2, out aabb); + float tmp = vtmp.Z - sz * .18f; - m_materialContacts[material, movintYN].geom = curContact; - - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); - m_global_contactcount++; + if (aabb.MaxZ < tmp) + { + vtmp.X = curContact.pos.X - vtmp.X; + vtmp.Y = curContact.pos.Y - vtmp.Y; + vtmp.Z = -0.2f; + vtmp.Normalize(); + curContact.normal.X = vtmp.X; + curContact.normal.Y = vtmp.Y; + curContact.normal.Z = vtmp.Z; + } } } else - { - int movintYN = 0; - // prim terrain contact - if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) - { - movintYN = 1; - } - - int material = (int)Material.Wood; - - if (p2 is OdePrim) - { - material = ((OdePrim)p2).m_material; - p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; - } - - //m_log.DebugFormat("Material: {0}", material); - m_materialContacts[material, movintYN].geom = curContact; + p1.IsColliding = true; - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); - m_global_contactcount++; - } - } } - } - //if (p2.PhysicsActorType == (int)ActorTypes.Prim) - //{ - //m_log.Debug("[PHYSICS]: prim contacting with ground"); - //} - } - else if (name1 == "Water" || name2 == "Water") - { - /* - if ((p2.PhysicsActorType == (int) ActorTypes.Prim)) - { - } - else - { - } - */ - //WaterContact.surface.soft_cfm = 0.0000f; - //WaterContact.surface.soft_erp = 0.00000f; - if (curContact.depth > 0.1f) - { - curContact.depth *= 52; - //contact.normal = new d.Vector3(0, 0, 1); - //contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f); - } - - WaterContact.geom = curContact; - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref WaterContact); - m_global_contactcount++; - } - //m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth); - } - else - { - if ((p2.PhysicsActorType == (int)ActorTypes.Agent)) - { - p2ExpectedPoints = avatarExpectedContacts; - if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) + if (dop2foot) { - // Avatar is moving on a prim, use the Movement prim contact - AvatarMovementprimContact.geom = curContact; - - if (m_global_contactcount < maxContactsbeforedeath) + float sz = p2.Size.Z; + Vector3 vtmp = p2.Position; + float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f; + if (ppos > 0f) { - joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact); - m_global_contactcount++; - } - } - else - { - // Avatar is standing still on a prim, use the non movement contact - contact.geom = curContact; + if (!p2.Flying) + { + d.AABB aabb; + d.GeomGetAABB(g1, out aabb); + float tmp = vtmp.Z - sz * .18f; - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref contact); - m_global_contactcount++; + if (aabb.MaxZ < tmp) + { + vtmp.X = curContact.pos.X - vtmp.X; + vtmp.Y = curContact.pos.Y - vtmp.Y; + vtmp.Z = -0.2f; + vtmp.Normalize(); + curContact.normal.X = vtmp.X; + curContact.normal.Y = vtmp.Y; + curContact.normal.Z = vtmp.Z; + } + } } - } - } - else if (p2.PhysicsActorType == (int)ActorTypes.Prim) - { - //p1.PhysicsActorType - int material = (int)Material.Wood; - - if (p2 is OdePrim) - { - material = ((OdePrim)p2).m_material; - p2ExpectedPoints = ((OdePrim)p2).ExpectedCollisionContacts; - } - - //m_log.DebugFormat("Material: {0}", material); - m_materialContacts[material, 0].geom = curContact; + else + p2.IsColliding = true; - if (m_global_contactcount < maxContactsbeforedeath) - { - joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]); - m_global_contactcount++; } } } - if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide! - { - d.JointAttach(joint, b1, b2); - m_global_contactcount++; - } - } - - collision_accounting_events(p1, p2, maxDepthContact); - - if (count > ((p1ExpectedPoints + p2ExpectedPoints) * 0.25) + (geomContactPointsStartthrottle)) - { - // If there are more then 3 contact points, it's likely - // that we've got a pile of objects, so ... - // We don't want to send out hundreds of terse updates over and over again - // so lets throttle them and send them again after it's somewhat sorted out. - p2.ThrottleUpdates = true; - } - //m_log.Debug(count.ToString()); - //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2); - } - } - - private bool checkDupe(d.ContactGeom contactGeom, int atype) - { - if (!m_filterCollisions) - return false; + Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); + d.JointAttach(Joint, b1, b2); - bool result = false; + if (++m_global_contactcount >= maxContactsbeforedeath) + break; - ActorTypes at = (ActorTypes)atype; + if (++i >= count) + break; - foreach (d.ContactGeom contact in _perloopContact) - { - //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2)) - //{ - // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2) - if (at == ActorTypes.Agent) - { - 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))) - { - if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f) - { - //contactGeom.depth *= .00005f; - //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); - // 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)); - result = true; - break; - } -// else -// { -// //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); -// } - } -// else -// { -// //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)); -// //int i = 0; -// } - } - else if (at == ActorTypes.Prim) - { - //d.AABB aabb1 = new d.AABB(); - //d.AABB aabb2 = new d.AABB(); + if (!GetCurContactGeom(i, ref curContact)) + break; - //d.GeomGetAABB(contactGeom.g2, out aabb2); - //d.GeomGetAABB(contactGeom.g1, out aabb1); - //aabb1. - 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))) + if (curContact.depth > maxDepthContact.PenetrationDepth) { - if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z) - { - if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f) - { - result = true; - break; - } - } - //m_log.DebugFormat("[Collision]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth)); - //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)); + maxDepthContact.Position.X = curContact.pos.X; + maxDepthContact.Position.Y = curContact.pos.Y; + maxDepthContact.Position.Z = curContact.pos.Z; + maxDepthContact.SurfaceNormal.X = curContact.normal.X; + maxDepthContact.SurfaceNormal.Y = curContact.normal.Y; + maxDepthContact.SurfaceNormal.Z = curContact.normal.Z; + maxDepthContact.PenetrationDepth = curContact.depth; } } } - return result; + collision_accounting_events(p1, p2, maxDepthContact); + +/* + if (notskipedcount > geomContactPointsStartthrottle) + { + // If there are more then 3 contact points, it's likely + // that we've got a pile of objects, so ... + // We don't want to send out hundreds of terse updates over and over again + // so lets throttle them and send them again after it's somewhat sorted out. + this needs checking so out for now + if (b1 != IntPtr.Zero) + p1.ThrottleUpdates = true; + if (b2 != IntPtr.Zero) + p2.ThrottleUpdates = true; + + } + */ } private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) { - // obj1LocalID = 0; - //returncollisions = false; - obj2LocalID = 0; - //ctype = 0; - //cStartStop = 0; - if (!p2.SubscribedEvents() && !p1.SubscribedEvents()) - return; - - switch ((ActorTypes)p2.PhysicsActorType) - { - case ActorTypes.Agent: - cc2 = (OdeCharacter)p2; + uint obj2LocalID = 0; - // obj1LocalID = cc2.m_localID; - switch ((ActorTypes)p1.PhysicsActorType) - { - case ActorTypes.Agent: - cc1 = (OdeCharacter)p1; - obj2LocalID = cc1.LocalID; - cc1.AddCollisionEvent(cc2.LocalID, contact); - //ctype = (int)CollisionCategories.Character; - - //if (cc1.CollidingObj) - //cStartStop = (int)StatusIndicators.Generic; - //else - //cStartStop = (int)StatusIndicators.Start; - - //returncollisions = true; - break; + bool p1events = p1.SubscribedEvents(); + bool p2events = p2.SubscribedEvents(); - case ActorTypes.Prim: - if (p1 is OdePrim) - { - cp1 = (OdePrim) p1; - obj2LocalID = cp1.LocalID; - cp1.AddCollisionEvent(cc2.LocalID, contact); - } - //ctype = (int)CollisionCategories.Geom; + if (p1.IsVolumeDtc) + p2events = false; + if (p2.IsVolumeDtc) + p1events = false; - //if (cp1.CollidingObj) - //cStartStop = (int)StatusIndicators.Generic; - //else - //cStartStop = (int)StatusIndicators.Start; + if (!p2events && !p1events) + return; - //returncollisions = true; - break; + Vector3 vel = Vector3.Zero; + if (p2 != null && p2.IsPhysical) + vel = p2.Velocity; - case ActorTypes.Ground: - case ActorTypes.Unknown: - obj2LocalID = 0; - //ctype = (int)CollisionCategories.Land; - //returncollisions = true; - break; - } + if (p1 != null && p1.IsPhysical) + vel -= p1.Velocity; - cc2.AddCollisionEvent(obj2LocalID, contact); - break; + contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal); + switch ((ActorTypes)p1.PhysicsActorType) + { + case ActorTypes.Agent: case ActorTypes.Prim: - - if (p2 is OdePrim) { - cp2 = (OdePrim) p2; - - // obj1LocalID = cp2.m_localID; - switch ((ActorTypes) p1.PhysicsActorType) + switch ((ActorTypes)p2.PhysicsActorType) { case ActorTypes.Agent: - if (p1 is OdeCharacter) - { - cc1 = (OdeCharacter) p1; - obj2LocalID = cc1.LocalID; - cc1.AddCollisionEvent(cp2.LocalID, contact); - //ctype = (int)CollisionCategories.Character; - - //if (cc1.CollidingObj) - //cStartStop = (int)StatusIndicators.Generic; - //else - //cStartStop = (int)StatusIndicators.Start; - //returncollisions = true; - } - break; case ActorTypes.Prim: - - if (p1 is OdePrim) + if (p2events) { - cp1 = (OdePrim) p1; - obj2LocalID = cp1.LocalID; - cp1.AddCollisionEvent(cp2.LocalID, contact); - //ctype = (int)CollisionCategories.Geom; - - //if (cp1.CollidingObj) - //cStartStop = (int)StatusIndicators.Generic; - //else - //cStartStop = (int)StatusIndicators.Start; - - //returncollisions = true; + AddCollisionEventReporting(p2); + p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); } + obj2LocalID = p2.ParentActor.LocalID; break; case ActorTypes.Ground: case ActorTypes.Unknown: + default: obj2LocalID = 0; - //ctype = (int)CollisionCategories.Land; - - //returncollisions = true; break; } - - cp2.AddCollisionEvent(obj2LocalID, contact); + if (p1events) + { + contact.SurfaceNormal = -contact.SurfaceNormal; + AddCollisionEventReporting(p1); + p1.AddCollisionEvent(obj2LocalID, contact); + } + break; } - break; - } - //if (returncollisions) - //{ - - //lock (m_storedCollisions) - //{ - //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString(); - //if (m_storedCollisions.ContainsKey(cDictKey)) - //{ - //sCollisionData objd = m_storedCollisions[cDictKey]; - //objd.NumberOfCollisions += 1; - //objd.lastframe = framecount; - //m_storedCollisions[cDictKey] = objd; - //} - //else - //{ - //sCollisionData objd = new sCollisionData(); - //objd.ColliderLocalId = obj1LocalID; - //objd.CollidedWithLocalId = obj2LocalID; - //objd.CollisionType = ctype; - //objd.NumberOfCollisions = 1; - //objd.lastframe = framecount; - //objd.StatusIndicator = cStartStop; - //m_storedCollisions.Add(cDictKey, objd); - //} - //} - // } - } - - private int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount) - { - /* String name1 = null; - String name2 = null; - - if (!geom_name_map.TryGetValue(trimesh, out name1)) - { - name1 = "null"; - } - if (!geom_name_map.TryGetValue(refObject, out name2)) + case ActorTypes.Ground: + case ActorTypes.Unknown: + default: + { + if (p2events && !p2.IsVolumeDtc) { - name2 = "null"; + AddCollisionEventReporting(p2); + p2.AddCollisionEvent(0, contact); } - - m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2); - */ - return 1; - } - - private int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex) - { -// String name1 = null; -// String name2 = null; -// -// if (!geom_name_map.TryGetValue(trimesh, out name1)) -// { -// name1 = "null"; -// } -// -// if (!geom_name_map.TryGetValue(refObject, out name2)) -// { -// name2 = "null"; -// } - - // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex); - - d.Vector3 v0 = new d.Vector3(); - d.Vector3 v1 = new d.Vector3(); - d.Vector3 v2 = new d.Vector3(); - - d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2); - // 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); - - return 1; + break; + } + } } /// /// This is our collision testing routine in ODE /// + /// private void collision_optimized() { - _perloopContact.Clear(); - - foreach (OdeCharacter chr in _characters) - { - // Reset the collision values to false - // since we don't know if we're colliding yet - if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) - continue; - - chr.IsColliding = false; - chr.CollidingGround = false; - chr.CollidingObj = false; - - // Test the avatar's geometry for collision with the space - // This will return near and the space that they are the closest to - // And we'll run this again against the avatar and the space segment - // This will return with a bunch of possible objects in the space segment - // and we'll run it again on all of them. + lock (_characters) + { try { - CollideSpaces(space, chr.Shell, IntPtr.Zero); + foreach (OdeCharacter chr in _characters) + { + if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero) + continue; + + chr.IsColliding = false; + // chr.CollidingGround = false; not done here + chr.CollidingObj = false; + // do colisions with static space + d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback); + // no coll with gnd + } } catch (AccessViolationException) { - m_log.ErrorFormat("[ODE SCENE]: Unable to space collide {0}", Name); + m_log.Warn("[PHYSICS]: Unable to collide Character to static space"); } - - //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); - //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) - //{ - //chr.Position.Z = terrainheight + 10.0f; - //forcedZ = true; - //} + } - if (CollectStats) + lock (_activeprims) { - m_tempAvatarCollisionsThisFrame = _perloopContact.Count; - m_stats[ODEAvatarContactsStatsName] += m_tempAvatarCollisionsThisFrame; + foreach (OdePrim aprim in _activeprims) + { + aprim.CollisionScore = 0; + aprim.IsColliding = false; + } } - List removeprims = null; - foreach (OdePrim chr in _activeprims) + // collide active prims with static enviroment + lock (_activegroups) { - if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) + try { - try + foreach (OdePrim prm in _activegroups) { - lock (chr) + if (!prm.m_outbounds) { - if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false) - { - CollideSpaces(space, chr.prim_geom, IntPtr.Zero); - } - else + if (d.BodyIsEnabled(prm.Body)) { - if (removeprims == null) - { - removeprims = new List(); - } - removeprims.Add(chr); - m_log.Error( - "[ODE SCENE]: unable to collide test active prim against space. The space was zero, the geom was zero or it was in the process of being removed. Removed it from the active prim list. This needs to be fixed!"); + d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback); + d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback); } } } - catch (AccessViolationException) - { - m_log.Error("[ODE SCENE]: Unable to space collide"); - } } - } - - if (CollectStats) - m_stats[ODEPrimContactsStatName] += _perloopContact.Count - m_tempAvatarCollisionsThisFrame; - - if (removeprims != null) - { - foreach (OdePrim chr in removeprims) + catch (AccessViolationException) { - _activeprims.Remove(chr); + m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); } } - } - - #endregion - - public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) - { - m_worldOffset = offset; - WorldExtents = new Vector2(extents.X, extents.Y); - m_parentScene = pScene; - } - - // Recovered for use by fly height. Kitto Flora - internal float GetTerrainHeightAtXY(float x, float y) - { - int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - - IntPtr heightFieldGeom = IntPtr.Zero; - - if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom)) + // finally colide active things amoung them + try { - if (heightFieldGeom != IntPtr.Zero) - { - if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) - { - - int index; - - - if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y || - (int)x < 0.001f || (int)y < 0.001f) - return 0; - - x = x - offsetX; - y = y - offsetY; - - index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y); - - if (index < TerrainHeightFieldHeights[heightFieldGeom].Length) - { - //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]); - return (float)TerrainHeightFieldHeights[heightFieldGeom][index]; - } - - else - return 0f; - } - else - { - return 0f; - } - - } - else - { - return 0f; - } - + d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback); } - else + catch (AccessViolationException) { - return 0f; + m_log.Warn("[PHYSICS]: Unable to collide in Active space"); } - } -// End recovered. Kitto Flora +// _perloopContact.Clear(); + } + #endregion /// /// Add actor to the list that should receive collision events in the simulate loop. /// /// - internal void AddCollisionEventReporting(PhysicsActor obj) + public void AddCollisionEventReporting(PhysicsActor obj) { -// m_log.DebugFormat("[PHYSICS]: Adding {0} {1} to collision event reporting", obj.SOPName, obj.LocalID); - - lock (m_collisionEventActorsChanges) - m_collisionEventActorsChanges[obj.LocalID] = obj; + if (!_collisionEventPrim.Contains(obj)) + _collisionEventPrim.Add(obj); } /// /// Remove actor from the list that should receive collision events in the simulate loop. /// /// - internal void RemoveCollisionEventReporting(PhysicsActor obj) + public void RemoveCollisionEventReporting(PhysicsActor obj) + { + if (_collisionEventPrim.Contains(obj) && !_collisionEventPrimRemove.Contains(obj)) + _collisionEventPrimRemove.Add(obj); + } + + public override float TimeDilation { -// m_log.DebugFormat("[PHYSICS]: Removing {0} {1} from collision event reporting", obj.SOPName, obj.LocalID); + get { return m_timeDilation; } + } - lock (m_collisionEventActorsChanges) - m_collisionEventActorsChanges[obj.LocalID] = null; + public override bool SupportsNINJAJoints + { + get { return false; } } #region Add/Remove Entities @@ -1963,1266 +1334,613 @@ namespace OpenSim.Region.Physics.OdePlugin pos.X = position.X; pos.Y = position.Y; pos.Z = position.Z; - - OdeCharacter newAv - = new OdeCharacter( - avName, this, pos, size, avPIDD, avPIDP, - avCapRadius, avStandupTensor, avDensity, - avMovementDivisorWalk, avMovementDivisorRun); - + OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun); newAv.Flying = isFlying; newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; return newAv; } - public override void RemoveAvatar(PhysicsActor actor) + public void AddCharacter(OdeCharacter chr) { -// m_log.DebugFormat( -// "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2}", -// actor.Name, actor.LocalID, Name); - - ((OdeCharacter) actor).Destroy(); + lock (_characters) + { + if (!_characters.Contains(chr)) + { + _characters.Add(chr); + if (chr.bad) + m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid); + } + } } - internal void AddCharacter(OdeCharacter chr) + public void RemoveCharacter(OdeCharacter chr) { - if (!_characters.Contains(chr)) + lock (_characters) { - _characters.Add(chr); - -// m_log.DebugFormat( -// "[ODE SCENE]: Adding physics character {0} {1} to physics scene {2}. Count now {3}", -// chr.Name, chr.LocalID, Name, _characters.Count); - - if (chr.bad) - m_log.ErrorFormat("[ODE SCENE]: Added BAD actor {0} to characters list", chr.m_uuid); + if (_characters.Contains(chr)) + { + _characters.Remove(chr); + } } - else + } + + public void BadCharacter(OdeCharacter chr) + { + lock (_badCharacter) { - m_log.ErrorFormat( - "[ODE SCENE]: Tried to add character {0} {1} but they are already in the set!", - chr.Name, chr.LocalID); + if (!_badCharacter.Contains(chr)) + _badCharacter.Add(chr); } } - internal void RemoveCharacter(OdeCharacter chr) + public override void RemoveAvatar(PhysicsActor actor) { - if (_characters.Contains(chr)) - { - _characters.Remove(chr); + //m_log.Debug("[PHYSICS]:ODELOCK"); + ((OdeCharacter) actor).Destroy(); + } + -// m_log.DebugFormat( -// "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2}. Count now {3}", -// chr.Name, chr.LocalID, Name, _characters.Count); + public void addActivePrim(OdePrim activatePrim) + { + // adds active prim.. + lock (_activeprims) + { + if (!_activeprims.Contains(activatePrim)) + _activeprims.Add(activatePrim); } - else + } + + public void addActiveGroups(OdePrim activatePrim) + { + lock (_activegroups) { - m_log.ErrorFormat( - "[ODE SCENE]: Tried to remove character {0} {1} but they are not in the list!", - chr.Name, chr.LocalID); + if (!_activegroups.Contains(activatePrim)) + _activegroups.Add(activatePrim); } } private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, - PrimitiveBaseShape pbs, bool isphysical, uint localID) + PrimitiveBaseShape pbs, bool isphysical, bool isPhantom, byte shapeType, uint localID) { - Vector3 pos = position; - Vector3 siz = size; - Quaternion rot = rotation; - OdePrim newPrim; lock (OdeLock) { - newPrim = new OdePrim(name, this, pos, siz, rot, pbs, isphysical); - + newPrim = new OdePrim(name, this, position, size, rotation, pbs, isphysical, isPhantom, shapeType, localID); lock (_prims) _prims.Add(newPrim); } - newPrim.LocalID = localID; return newPrim; } - /// - /// Make this prim subject to physics. - /// - /// - internal void ActivatePrim(OdePrim prim) + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid) { - // adds active prim.. (ones that should be iterated over in collisions_optimized - if (!_activeprims.Contains(prim)) - _activeprims.Add(prim); - //else - // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); + return AddPrim(primName, position, size, rotation, pbs, isPhysical, isPhantom, 0 , localid); } + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, uint localid) { -// m_log.DebugFormat("[ODE SCENE]: Adding physics prim {0} {1} to physics scene {2}", primName, localid, Name); - - return AddPrim(primName, position, size, rotation, pbs, isPhysical, localid); + return AddPrim(primName, position, size, rotation, pbs, isPhysical,false, 0, localid); } - public override float TimeDilation + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapeType, uint localid) { - get { return m_timeDilation; } + + return AddPrim(primName, position, size, rotation, pbs, isPhysical,isPhantom, shapeType, localid); } - public override bool SupportsNINJAJoints + public void remActivePrim(OdePrim deactivatePrim) { - get { return m_NINJA_physics_joints_enabled; } + lock (_activeprims) + { + _activeprims.Remove(deactivatePrim); + } } - - // internal utility function: must be called within a lock (OdeLock) - private void InternalAddActiveJoint(PhysicsJoint joint) + public void remActiveGroup(OdePrim deactivatePrim) { - activeJoints.Add(joint); - SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint); + lock (_activegroups) + { + _activegroups.Remove(deactivatePrim); + } } - // internal utility function: must be called within a lock (OdeLock) - private void InternalAddPendingJoint(OdePhysicsJoint joint) + public override void RemovePrim(PhysicsActor prim) { - pendingJoints.Add(joint); - SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint); + // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be + // removed in the next physics simulate pass. + if (prim is OdePrim) + { +// lock (OdeLock) + { + + OdePrim p = (OdePrim)prim; + p.setPrimForRemoval(); + } + } } - - // internal utility function: must be called within a lock (OdeLock) - private void InternalRemovePendingJoint(PhysicsJoint joint) + /// + /// This is called from within simulate but outside the locked portion + /// We need to do our own locking here + /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in + /// Simulate() -- justincc). + /// + /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. + /// + /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory + /// that the space was using. + /// + /// + public void RemovePrimThreadLocked(OdePrim prim) { - pendingJoints.Remove(joint); - SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene); + //Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); + lock (prim) + { +// RemoveCollisionEventReporting(prim); + lock (_prims) + _prims.Remove(prim); + } + } - // internal utility function: must be called within a lock (OdeLock) - private void InternalRemoveActiveJoint(PhysicsJoint joint) + public bool havePrim(OdePrim prm) { - activeJoints.Remove(joint); - SOPName_to_activeJoint.Remove(joint.ObjectNameInScene); + lock (_prims) + return _prims.Contains(prm); } - public override void DumpJointInfo() + public bool haveActor(PhysicsActor actor) { - string hdr = "[NINJA] JOINTINFO: "; - foreach (PhysicsJoint j in pendingJoints) - { - m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams); - } - m_log.Debug(hdr + pendingJoints.Count + " total pending joints"); - foreach (string jointName in SOPName_to_pendingJoint.Keys) - { - m_log.Debug(hdr + " pending joints dict contains Name: " + jointName); - } - m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries"); - foreach (PhysicsJoint j in activeJoints) - { - m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams); - } - m_log.Debug(hdr + activeJoints.Count + " total active joints"); - foreach (string jointName in SOPName_to_activeJoint.Keys) + if (actor is OdePrim) { - m_log.Debug(hdr + " active joints dict contains Name: " + jointName); + lock (_prims) + return _prims.Contains((OdePrim)actor); } - m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries"); - - m_log.Debug(hdr + " Per-body joint connectivity information follows."); - m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints."); - foreach (string actorName in joints_connecting_actor.Keys) + else if (actor is OdeCharacter) { - m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it"); - foreach (PhysicsJoint j in joints_connecting_actor[actorName]) - { - m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams); - } - m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor"); + lock (_characters) + return _characters.Contains((OdeCharacter)actor); } + return false; } - public override void RequestJointDeletion(string ObjectNameInScene) - { - lock (externalJointRequestsLock) - { - if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously - { - requestedJointsToBeDeleted.Add(ObjectNameInScene); - } - } - } + #endregion + + #region Space Separation Calculation - private void DeleteRequestedJoints() + /// + /// Called when a static prim moves or becomes static + /// Places the prim in a space one the static sub-spaces grid + /// + /// the pointer to the geom that moved + /// the position that the geom moved to + /// a pointer to the space it was in before it was moved. + /// a pointer to the new space it's in + public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace) { - List myRequestedJointsToBeDeleted; - lock (externalJointRequestsLock) - { - // make a local copy of the shared list for processing (threading issues) - myRequestedJointsToBeDeleted = new List(requestedJointsToBeDeleted); - } + // moves a prim into another static sub-space or from another space into a static sub-space - foreach (string jointName in myRequestedJointsToBeDeleted) + // Called ODEPrim so + // it's already in locked space. + + if (geom == IntPtr.Zero) // shouldn't happen + return IntPtr.Zero; + + // get the static sub-space for current position + IntPtr newspace = calculateSpaceForGeom(pos); + + if (newspace == currentspace) // if we are there all done + return newspace; + + // else remove it from its current space + if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom)) { - lock (OdeLock) + if (d.GeomIsSpace(currentspace)) { - //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName); - if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName)) - { - OdePhysicsJoint joint = null; - if (SOPName_to_activeJoint.ContainsKey(jointName)) - { - joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint; - InternalRemoveActiveJoint(joint); - } - else if (SOPName_to_pendingJoint.ContainsKey(jointName)) - { - joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint; - InternalRemovePendingJoint(joint); - } - - if (joint != null) - { - //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames); - for (int iBodyName = 0; iBodyName < 2; iBodyName++) - { - string bodyName = joint.BodyNames[iBodyName]; - if (bodyName != "NULL") - { - joints_connecting_actor[bodyName].Remove(joint); - if (joints_connecting_actor[bodyName].Count == 0) - { - joints_connecting_actor.Remove(bodyName); - } - } - } + waitForSpaceUnlock(currentspace); + d.SpaceRemove(currentspace, geom); - DoJointDeactivated(joint); - if (joint.jointID != IntPtr.Zero) - { - d.JointDestroy(joint.jointID); - joint.jointID = IntPtr.Zero; - //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName); - } - else - { - //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName); - } - } - else - { - // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName); - } - } - else + if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) { - // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName); + d.SpaceDestroy(currentspace); } } - } - - // remove processed joints from the shared list - lock (externalJointRequestsLock) - { - foreach (string jointName in myRequestedJointsToBeDeleted) + else { - requestedJointsToBeDeleted.Remove(jointName); + m_log.Info("[Physics]: Invalid or empty Space passed to 'MoveGeomToStaticSpace':" + currentspace + + " Geom:" + geom); } } - } - - // for pending joints we don't know if their associated bodies exist yet or not. - // the joint is actually created during processing of the taints - private void CreateRequestedJoints() - { - List myRequestedJointsToBeCreated; - lock (externalJointRequestsLock) - { - // make a local copy of the shared list for processing (threading issues) - myRequestedJointsToBeCreated = new List(requestedJointsToBeCreated); - } - - foreach (PhysicsJoint joint in myRequestedJointsToBeCreated) + else // odd currentspace is null or doesn't contain the geom? lets try the geom ideia of current space { - lock (OdeLock) + currentspace = d.GeomGetSpace(geom); + if (currentspace != IntPtr.Zero) { - if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null) - { - DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation); - continue; - } - if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null) + if (d.GeomIsSpace(currentspace)) { - DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation); - continue; - } - - InternalAddPendingJoint(joint as OdePhysicsJoint); + waitForSpaceUnlock(currentspace); + d.SpaceRemove(currentspace, geom); - if (joint.BodyNames.Count >= 2) - { - for (int iBodyName = 0; iBodyName < 2; iBodyName++) + if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0) { - string bodyName = joint.BodyNames[iBodyName]; - if (bodyName != "NULL") - { - if (!joints_connecting_actor.ContainsKey(bodyName)) - { - joints_connecting_actor.Add(bodyName, new List()); - } - joints_connecting_actor[bodyName].Add(joint); - } + d.SpaceDestroy(currentspace); } + } } } - // remove processed joints from shared list - lock (externalJointRequestsLock) - { - foreach (PhysicsJoint joint in myRequestedJointsToBeCreated) - { - requestedJointsToBeCreated.Remove(joint); - } - } + // put the geom in the newspace + waitForSpaceUnlock(newspace); + d.SpaceAdd(newspace, geom); + + // let caller know this newspace + return newspace; } /// - /// Add a request for joint creation. + /// Calculates the space the prim should be in by its position /// - /// - /// this joint will just be added to a waiting list that is NOT processed during the main - /// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests. - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - public override PhysicsJoint RequestJointCreation( - string objectNameInScene, PhysicsJointType jointType, Vector3 position, - Quaternion rotation, string parms, List bodyNames, string trackedBodyName, Quaternion localRotation) + /// + /// a pointer to the space. This could be a new space or reused space. + public IntPtr calculateSpaceForGeom(Vector3 pos) { - OdePhysicsJoint joint = new OdePhysicsJoint(); - joint.ObjectNameInScene = objectNameInScene; - joint.Type = jointType; - joint.Position = position; - joint.Rotation = rotation; - joint.RawParams = parms; - joint.BodyNames = new List(bodyNames); - joint.TrackedBodyName = trackedBodyName; - joint.LocalRotation = localRotation; - joint.jointID = IntPtr.Zero; - joint.ErrorMessageCount = 0; - - lock (externalJointRequestsLock) - { - if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice - { - requestedJointsToBeCreated.Add(joint); - } - } + int x, y; - return joint; - } - - private void RemoveAllJointsConnectedToActor(PhysicsActor actor) - { - //m_log.Debug("RemoveAllJointsConnectedToActor: start"); - if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null) - { - List jointsToRemove = new List(); - //TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism) - foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName]) - { - jointsToRemove.Add(j); - } - foreach (PhysicsJoint j in jointsToRemove) - { - //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene); - RequestJointDeletion(j.ObjectNameInScene); - //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene); - j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing) - } - } - } + if (pos.X < 0) + return staticPrimspaceOffRegion[0]; - public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor) - { - //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start"); - lock (OdeLock) - { - //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock"); - RemoveAllJointsConnectedToActor(actor); - } - } + if (pos.Y < 0) + return staticPrimspaceOffRegion[2]; - // normally called from within OnJointMoved, which is called from within a lock (OdeLock) - public override Vector3 GetJointAnchor(PhysicsJoint joint) - { - Debug.Assert(joint.IsInPhysicsEngine); - d.Vector3 pos = new d.Vector3(); + x = (int)(pos.X * spacesPerMeter); + if (x > spaceGridMaxX) + return staticPrimspaceOffRegion[1]; + + y = (int)(pos.Y * spacesPerMeter); + if (y > spaceGridMaxY) + return staticPrimspaceOffRegion[3]; - if (!(joint is OdePhysicsJoint)) - { - DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene); - } - else - { - OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint; - switch (odeJoint.Type) - { - case PhysicsJointType.Ball: - d.JointGetBallAnchor(odeJoint.jointID, out pos); - break; - case PhysicsJointType.Hinge: - d.JointGetHingeAnchor(odeJoint.jointID, out pos); - break; - } - } - return new Vector3(pos.X, pos.Y, pos.Z); + return staticPrimspace[x, y]; } + + #endregion - /// - /// Get joint axis. - /// - /// - /// normally called from within OnJointMoved, which is called from within a lock (OdeLock) - /// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function - /// appears to be unreliable. Fortunately we can compute the joint axis ourselves by - /// keeping track of the joint's original orientation relative to one of the involved bodies. - /// - /// - /// - public override Vector3 GetJointAxis(PhysicsJoint joint) - { - Debug.Assert(joint.IsInPhysicsEngine); - d.Vector3 axis = new d.Vector3(); - - if (!(joint is OdePhysicsJoint)) - { - DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene); - } - else - { - OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint; - switch (odeJoint.Type) - { - case PhysicsJointType.Ball: - DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene); - break; - case PhysicsJointType.Hinge: - d.JointGetHingeAxis(odeJoint.jointID, out axis); - break; - } - } - return new Vector3(axis.X, axis.Y, axis.Z); - } /// - /// Stop this prim being subject to physics + /// Called to queue a change to a actor + /// to use in place of old taint mechanism so changes do have a time sequence /// - /// - internal void DeactivatePrim(OdePrim prim) - { - _activeprims.Remove(prim); - } - public override void RemovePrim(PhysicsActor prim) + public void AddChange(PhysicsActor actor, changes what, Object arg) { - // As with all ODE physics operations, we don't remove the prim immediately but signal that it should be - // removed in the next physics simulate pass. - if (prim is OdePrim) - { - lock (OdeLock) - { - OdePrim p = (OdePrim) prim; - - p.setPrimForRemoval(); - AddPhysicsActorTaint(prim); - } - } + ODEchangeitem item = new ODEchangeitem(); + item.actor = actor; + item.what = what; + item.arg = arg; + ChangesQueue.Enqueue(item); } /// - /// This is called from within simulate but outside the locked portion - /// We need to do our own locking here - /// (Note: As of 20110801 this no longer appears to be true - this is being called within lock (odeLock) in - /// Simulate() -- justincc). - /// - /// Essentially, we need to remove the prim from our space segment, whatever segment it's in. - /// - /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory - /// that the space was using. + /// Called after our prim properties are set Scale, position etc. + /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex + /// This assures us that we have no race conditions /// /// - internal void RemovePrimThreadLocked(OdePrim prim) + public override void AddPhysicsActorTaint(PhysicsActor prim) { -// m_log.DebugFormat("[ODE SCENE]: Removing physical prim {0} {1}", prim.Name, prim.LocalID); - - lock (prim) - { - RemoveCollisionEventReporting(prim); - - if (prim.prim_geom != IntPtr.Zero) - { - prim.ResetTaints(); - - if (prim.IsPhysical) - { - prim.disableBody(); - if (prim.childPrim) - { - prim.childPrim = false; - prim.Body = IntPtr.Zero; - prim.m_disabled = true; - prim.IsPhysical = false; - } - - - } - // we don't want to remove the main space - - // If the geometry is in the targetspace, remove it from the target space - //m_log.Warn(prim.m_targetSpace); - - //if (prim.m_targetSpace != IntPtr.Zero) - //{ - //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom)) - //{ - - //if (d.GeomIsSpace(prim.m_targetSpace)) - //{ - //waitForSpaceUnlock(prim.m_targetSpace); - //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom); - prim.m_targetSpace = IntPtr.Zero; - //} - //else - //{ - // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + - //((OdePrim)prim).m_targetSpace.ToString()); - //} - - //} - //} - //m_log.Warn(prim.prim_geom); - - if (!prim.RemoveGeom()) - m_log.Warn("[ODE SCENE]: Unable to remove prim from physics scene"); - - lock (_prims) - _prims.Remove(prim); - - //If there are no more geometries in the sub-space, we don't need it in the main space anymore - //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0) - //{ - //if (prim.m_targetSpace != null) - //{ - //if (d.GeomIsSpace(prim.m_targetSpace)) - //{ - //waitForSpaceUnlock(prim.m_targetSpace); - //d.SpaceRemove(space, prim.m_targetSpace); - // free up memory used by the space. - //d.SpaceDestroy(prim.m_targetSpace); - //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position); - //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]); - //} - //else - //{ - //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + - //((OdePrim) prim).m_targetSpace.ToString()); - //} - //} - //} - - if (SupportsNINJAJoints) - RemoveAllJointsConnectedToActorThreadLocked(prim); - } - } } - #endregion - - #region Space Separation Calculation - - /// - /// Takes a space pointer and zeros out the array we're using to hold the spaces - /// - /// - private void resetSpaceArrayItemToZero(IntPtr pSpace) + // does all pending changes generated during region load process + public override void PrepareSimulation() { - for (int x = 0; x < staticPrimspace.GetLength(0); x++) + lock (OdeLock) { - for (int y = 0; y < staticPrimspace.GetLength(1); y++) + if (world == IntPtr.Zero) { - if (staticPrimspace[x, y] == pSpace) - staticPrimspace[x, y] = IntPtr.Zero; + ChangesQueue.Clear(); + return; } - } - } - -// private void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY) -// { -// staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero; -// } - - /// - /// Called when a static prim moves. Allocates a space for the prim based on its position - /// - /// the pointer to the geom that moved - /// the position that the geom moved to - /// a pointer to the space it was in before it was moved. - /// a pointer to the new space it's in - internal IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace) - { - // Called from setting the Position and Size of an ODEPrim so - // it's already in locked space. - // we don't want to remove the main space - // we don't need to test physical here because this function should - // never be called if the prim is physical(active) + ODEchangeitem item; - // All physical prim end up in the root space - //Thread.Sleep(20); - if (currentspace != space) - { - //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString()); - //if (currentspace == IntPtr.Zero) - //{ - //int adfadf = 0; - //} - if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero) - { - if (d.GeomIsSpace(currentspace)) - { -// waitForSpaceUnlock(currentspace); - d.SpaceRemove(currentspace, geom); - } - else - { - m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + currentspace + - " Geom:" + geom); - } - } - else + int donechanges = 0; + if (ChangesQueue.Count > 0) { - IntPtr sGeomIsIn = d.GeomGetSpace(geom); - if (sGeomIsIn != IntPtr.Zero) - { - if (d.GeomIsSpace(currentspace)) - { -// waitForSpaceUnlock(sGeomIsIn); - d.SpaceRemove(sGeomIsIn, geom); - } - else - { - m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + - sGeomIsIn + " Geom:" + geom); - } - } - } + m_log.InfoFormat("[ODE] start processing pending actor operations"); + int tstart = Util.EnvironmentTickCount(); - //If there are no more geometries in the sub-space, we don't need it in the main space anymore - if (d.SpaceGetNumGeoms(currentspace) == 0) - { - if (currentspace != IntPtr.Zero) + while (ChangesQueue.Dequeue(out item)) { - if (d.GeomIsSpace(currentspace)) - { -// waitForSpaceUnlock(currentspace); -// waitForSpaceUnlock(space); - d.SpaceRemove(space, currentspace); - // free up memory used by the space. - - //d.SpaceDestroy(currentspace); - resetSpaceArrayItemToZero(currentspace); - } - else + if (item.actor != null) { - m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + - currentspace + " Geom:" + geom); - } - } - } - } - else - { - // this is a physical object that got disabled. ;.; - if (currentspace != IntPtr.Zero && geom != IntPtr.Zero) - { - if (d.SpaceQuery(currentspace, geom)) - { - if (d.GeomIsSpace(currentspace)) - { -// waitForSpaceUnlock(currentspace); - d.SpaceRemove(currentspace, geom); - } - else - { - m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + - currentspace + " Geom:" + geom); - } - } - else - { - IntPtr sGeomIsIn = d.GeomGetSpace(geom); - if (sGeomIsIn != IntPtr.Zero) - { - if (d.GeomIsSpace(sGeomIsIn)) + try { -// waitForSpaceUnlock(sGeomIsIn); - d.SpaceRemove(sGeomIsIn, geom); + if (item.actor is OdeCharacter) + ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); + else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) + RemovePrimThreadLocked((OdePrim)item.actor); } - else + catch { - m_log.Info("[ODE SCENE]: Invalid Scene passed to 'recalculatespace':" + - sGeomIsIn + " Geom:" + geom); + m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}", + item.actor.Name, item.what.ToString()); } } + donechanges++; } - } - } - - // The routines in the Position and Size sections do the 'inserting' into the space, - // so all we have to do is make sure that the space that we're putting the prim into - // is in the 'main' space. - int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos); - IntPtr newspace = calculateSpaceForGeom(pos); - - if (newspace == IntPtr.Zero) - { - newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); - d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh); - } - - return newspace; - } - - /// - /// Creates a new space at X Y - /// - /// - /// - /// A pointer to the created space - internal IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY) - { - // creating a new space for prim and inserting it into main space. - staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero); - d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space); -// waitForSpaceUnlock(space); - d.SpaceSetSublevel(space, 1); - d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]); - - return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]; - } - - /// - /// Calculates the space the prim should be in by its position - /// - /// - /// a pointer to the space. This could be a new space or reused space. - internal IntPtr calculateSpaceForGeom(Vector3 pos) - { - int[] xyspace = calculateSpaceArrayItemFromPos(pos); - //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString()); - return staticPrimspace[xyspace[0], xyspace[1]]; - } - - /// - /// Holds the space allocation logic - /// - /// - /// an array item based on the position - internal int[] calculateSpaceArrayItemFromPos(Vector3 pos) - { - int[] returnint = new int[2]; - - returnint[0] = (int) (pos.X/metersInSpace); - - if (returnint[0] > ((int) (259f/metersInSpace))) - returnint[0] = ((int) (259f/metersInSpace)); - if (returnint[0] < 0) - returnint[0] = 0; - - returnint[1] = (int) (pos.Y/metersInSpace); - if (returnint[1] > ((int) (259f/metersInSpace))) - returnint[1] = ((int) (259f/metersInSpace)); - if (returnint[1] < 0) - returnint[1] = 0; - - return returnint; - } - - #endregion - - /// - /// Routine to figure out if we need to mesh this prim with our mesher - /// - /// - /// - internal bool needsMeshing(PrimitiveBaseShape pbs) - { - // most of this is redundant now as the mesher will return null if it cant mesh a prim - // but we still need to check for sculptie meshing being enabled so this is the most - // convenient place to do it for now... - - // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f) - // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString()); - int iPropertiesNotSupportedDefault = 0; - - if (pbs.SculptEntry && !meshSculptedPrim) - { -#if SPAM - m_log.Warn("NonMesh"); -#endif - return false; - } - - // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim - if (!forceSimplePrimMeshing && !pbs.SculptEntry) - { - if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) - || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 - && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) - { - - if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 - && pbs.ProfileHollow == 0 - && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 - && pbs.PathBegin == 0 && pbs.PathEnd == 0 - && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 - && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 - && pbs.PathShearX == 0 && pbs.PathShearY == 0) - { -#if SPAM - m_log.Warn("NonMesh"); -#endif - return false; - } - } - } - - if (pbs.ProfileHollow != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) - iPropertiesNotSupportedDefault++; - - if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) - iPropertiesNotSupportedDefault++; - - // test for torus - if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - - // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - - if (pbs.SculptEntry && meshSculptedPrim) - iPropertiesNotSupportedDefault++; - - if (iPropertiesNotSupportedDefault == 0) - { -#if SPAM - m_log.Warn("NonMesh"); -#endif - return false; - } -#if SPAM - m_log.Debug("Mesh"); -#endif - return true; - } - - /// - /// Called after our prim properties are set Scale, position etc. - /// - /// - /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex - /// This assures us that we have no race conditions - /// - /// - public override void AddPhysicsActorTaint(PhysicsActor actor) - { - if (actor is OdePrim) - { - OdePrim taintedprim = ((OdePrim)actor); - lock (_taintedPrims) - _taintedPrims.Add(taintedprim); - } - else if (actor is OdeCharacter) - { - OdeCharacter taintedchar = ((OdeCharacter)actor); - lock (_taintedActors) - { - _taintedActors.Add(taintedchar); - if (taintedchar.bad) - m_log.ErrorFormat("[ODE SCENE]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid); + int time = Util.EnvironmentTickCountSubtract(tstart); + m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time); } } } /// /// This is our main simulate loop - /// - /// /// It's thread locked by a Mutex in the scene. /// It holds Collisions, it instructs ODE to step through the physical reactions /// It moves the objects around in memory /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup) - /// + /// /// - /// The number of frames simulated over that period. + /// public override float Simulate(float timeStep) { - if (!_worldInitialized) return 11f; - - int startFrameTick = CollectStats ? Util.EnvironmentTickCount() : 0; - int tempTick = 0, tempTick2 = 0; - if (framecount >= int.MaxValue) - framecount = 0; - - framecount++; - - float fps = 0; - - float timeLeft = timeStep; - - //m_log.Info(timeStep.ToString()); -// step_time += timeSte -// -// // If We're loaded down by something else, -// // or debugging with the Visual Studio project on pause -// // skip a few frames to catch up gracefully. -// // without shooting the physicsactors all over the place -// -// if (step_time >= m_SkipFramesAtms) -// { -// // Instead of trying to catch up, it'll do 5 physics frames only -// step_time = ODE_STEPSIZE; -// m_physicsiterations = 5; -// } -// else -// { -// m_physicsiterations = 10; -// } - - // We change _collisionEventPrimChanges to avoid locking _collisionEventPrim itself and causing potential - // deadlock if the collision event tries to lock something else later on which is already locked by a - // caller that is adding or removing the collision event. - lock (m_collisionEventActorsChanges) - { - foreach (KeyValuePair kvp in m_collisionEventActorsChanges) - { - if (kvp.Value == null) - m_collisionEventActors.Remove(kvp.Key); - else - m_collisionEventActors[kvp.Key] = kvp.Value; - } - - m_collisionEventActorsChanges.Clear(); - } - - if (SupportsNINJAJoints) - { - DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks - CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks - } - - lock (OdeLock) - { - // Process 10 frames if the sim is running normal.. - // process 5 frames if the sim is running slow - //try - //{ - //d.WorldSetQuickStepNumIterations(world, m_physicsiterations); - //} - //catch (StackOverflowException) - //{ - // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim."); - // ode.drelease(world); - //base.TriggerPhysicsBasedRestart(); - //} - - // Figure out the Frames Per Second we're going at. - //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size - - fps = (timeStep / ODE_STEPSIZE) * 1000; - // HACK: Using a time dilation of 1.0 to debug rubberbanding issues - //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f); - - while (timeLeft > 0.0f) - { - try - { - if (CollectStats) - tempTick = Util.EnvironmentTickCount(); + DateTime now = DateTime.UtcNow; + TimeSpan timedif = now - m_lastframe; + m_lastframe = now; + timeStep = (float)timedif.TotalSeconds; + + // acumulate time so we can reduce error + step_time += timeStep; - lock (_taintedActors) - { - foreach (OdeCharacter character in _taintedActors) - character.ProcessTaints(); + if (step_time < HalfOdeStep) + return 0; - _taintedActors.Clear(); - } + if (framecount < 0) + framecount = 0; - if (CollectStats) - { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODEAvatarTaintMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; - } + framecount++; - lock (_taintedPrims) - { - foreach (OdePrim prim in _taintedPrims) - { - if (prim.m_taintremove) - { -// Console.WriteLine("Simulate calls RemovePrimThreadLocked for {0}", prim.Name); - RemovePrimThreadLocked(prim); - } - else - { -// Console.WriteLine("Simulate calls ProcessTaints for {0}", prim.Name); - prim.ProcessTaints(); - } + int curphysiteractions; - prim.m_collisionscore = 0; + // if in trouble reduce step resolution + if (step_time >= m_SkipFramesAtms) + curphysiteractions = m_physicsiterations / 2; + else + curphysiteractions = m_physicsiterations; - // This loop can block up the Heartbeat for a very long time on large regions. - // We need to let the Watchdog know that the Heartbeat is not dead - // NOTE: This is currently commented out, but if things like OAR loading are - // timing the heartbeat out we will need to uncomment it - //Watchdog.UpdateThread(); - } + int nodeframes = 0; - if (SupportsNINJAJoints) - SimulatePendingNINJAJoints(); +// checkThread(); - _taintedPrims.Clear(); - } + lock (SimulationLock) + lock(OdeLock) + { + if (world == IntPtr.Zero) + { + ChangesQueue.Clear(); + return 0; + } - if (CollectStats) - { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODEPrimTaintMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; - } + ODEchangeitem item; - // Move characters - foreach (OdeCharacter actor in _characters) - actor.Move(defects); + if (ChangesQueue.Count > 0) + { + int ttmpstart = Util.EnvironmentTickCount(); + int ttmp; - if (defects.Count != 0) + while (ChangesQueue.Dequeue(out item)) + { + if (item.actor != null) { - foreach (OdeCharacter actor in defects) + try { - m_log.ErrorFormat( - "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when moving", - actor.Name, actor.LocalID, Name); - - RemoveCharacter(actor); - actor.DestroyOdeStructures(); + if (item.actor is OdeCharacter) + ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); + else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) + RemovePrimThreadLocked((OdePrim)item.actor); + } + catch + { + m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", + item.actor.Name, item.what.ToString()); } - - defects.Clear(); } + ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); + if (ttmp > 20) + break; + } + } + + d.WorldSetQuickStepNumIterations(world, curphysiteractions); - if (CollectStats) - { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODEAvatarForcesFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; - } + while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever + { + try + { + // clear pointer/counter to contacts to pass into joints + m_global_contactcount = 0; - // Move other active objects - foreach (OdePrim prim in _activeprims) + + // Move characters + lock (_characters) { - prim.m_collisionscore = 0; - prim.Move(timeStep); + List defects = new List(); + foreach (OdeCharacter actor in _characters) + { + if (actor != null) + actor.Move(ODE_STEPSIZE, defects); + } + if (defects.Count != 0) + { + foreach (OdeCharacter defect in defects) + { + RemoveCharacter(defect); + } + defects.Clear(); + } } - if (CollectStats) + // Move other active objects + lock (_activegroups) { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODEPrimForcesFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; + foreach (OdePrim aprim in _activegroups) + { + aprim.Move(); + } } //if ((framecount % m_randomizeWater) == 0) - // randomizeWater(waterlevel); + // randomizeWater(waterlevel); - //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests(); m_rayCastManager.ProcessQueuedRequests(); - if (CollectStats) - { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODERaycastingFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; - } - collision_optimized(); - if (CollectStats) + foreach (PhysicsActor obj in _collisionEventPrim) { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODEOtherCollisionFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; - } - - foreach (PhysicsActor obj in m_collisionEventActors.Values) - { -// m_log.DebugFormat("[PHYSICS]: Assessing {0} {1} for collision events", obj.SOPName, obj.LocalID); + if (obj == null) + continue; switch ((ActorTypes)obj.PhysicsActorType) { case ActorTypes.Agent: OdeCharacter cobj = (OdeCharacter)obj; - cobj.AddCollisionFrameTime(100); + cobj.AddCollisionFrameTime((int)(odetimestepMS)); cobj.SendCollisions(); break; case ActorTypes.Prim: OdePrim pobj = (OdePrim)obj; - pobj.SendCollisions(); + if (pobj.Body == IntPtr.Zero || (d.BodyIsEnabled(pobj.Body) && !pobj.m_outbounds)) + if (!pobj.m_outbounds) + { + pobj.AddCollisionFrameTime((int)(odetimestepMS)); + pobj.SendCollisions(); + } break; } } -// if (m_global_contactcount > 0) -// m_log.DebugFormat( -// "[PHYSICS]: Collision contacts to process this frame = {0}", m_global_contactcount); - - m_global_contactcount = 0; + foreach (PhysicsActor obj in _collisionEventPrimRemove) + _collisionEventPrim.Remove(obj); - if (CollectStats) - { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODECollisionNotificationFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; - } + _collisionEventPrimRemove.Clear(); + // do a ode simulation step d.WorldQuickStep(world, ODE_STEPSIZE); + d.JointGroupEmpty(contactgroup); + + // update managed ideia of physical data and do updates to core + /* + lock (_characters) + { + foreach (OdeCharacter actor in _characters) + { + if (actor != null) + { + if (actor.bad) + m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); - if (CollectStats) - m_stats[ODENativeStepFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick); + actor.UpdatePositionAndVelocity(); + } + } + } + */ - d.JointGroupEmpty(contactgroup); + lock (_activegroups) + { + { + foreach (OdePrim actor in _activegroups) + { + if (actor.IsPhysical) + { + actor.UpdatePositionAndVelocity(); + } + } + } + } } catch (Exception e) { - m_log.ErrorFormat("[ODE SCENE]: {0}, {1}, {2}", e.Message, e.TargetSite, e); + m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); +// ode.dunlock(world); } - timeLeft -= ODE_STEPSIZE; - } - - if (CollectStats) - tempTick = Util.EnvironmentTickCount(); - foreach (OdeCharacter actor in _characters) - { - if (actor.bad) - m_log.ErrorFormat("[ODE SCENE]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid); - - actor.UpdatePositionAndVelocity(defects); + step_time -= ODE_STEPSIZE; + nodeframes++; } - if (defects.Count != 0) + lock (_badCharacter) { - foreach (OdeCharacter actor in defects) + if (_badCharacter.Count > 0) { - m_log.ErrorFormat( - "[ODE SCENE]: Removing physics character {0} {1} from physics scene {2} due to defect found when updating position and velocity", - actor.Name, actor.LocalID, Name); + foreach (OdeCharacter chr in _badCharacter) + { + RemoveCharacter(chr); + } - RemoveCharacter(actor); - actor.DestroyOdeStructures(); + _badCharacter.Clear(); } - - defects.Clear(); } - if (CollectStats) + timedif = now - m_lastMeshExpire; + + if (timedif.Seconds > 10) { - tempTick2 = Util.EnvironmentTickCount(); - m_stats[ODEAvatarUpdateFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick2, tempTick); - tempTick = tempTick2; + mesher.ExpireReleaseMeshs(); + m_lastMeshExpire = now; } - //if (timeStep < 0.2f) +// information block running in debug only +/* + int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace); + int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace); + int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace); + + int nactivegeoms = 0; + int nactivespaces = 0; - foreach (OdePrim prim in _activeprims) + int nstaticgeoms = 0; + int nstaticspaces = 0; + IntPtr sp; + + for (int i = 0; i < ntopactivegeoms; i++) { - if (prim.IsPhysical && (d.BodyIsEnabled(prim.Body) || !prim._zeroFlag)) + sp = d.SpaceGetGeom(ActiveSpace, i); + if (d.GeomIsSpace(sp)) { - prim.UpdatePositionAndVelocity(); - - if (SupportsNINJAJoints) - SimulateActorPendingJoints(prim); + nactivespaces++; + nactivegeoms += d.SpaceGetNumGeoms(sp); } + else + nactivegeoms++; } - if (CollectStats) - m_stats[ODEPrimUpdateFrameMsStatName] += Util.EnvironmentTickCountSubtract(tempTick); + for (int i = 0; i < ntopstaticgeoms; i++) + { + sp = d.SpaceGetGeom(StaticSpace, i); + if (d.GeomIsSpace(sp)) + { + nstaticspaces++; + nstaticgeoms += d.SpaceGetNumGeoms(sp); + } + else + nstaticgeoms++; + } - //DumpJointInfo(); + int ntopgeoms = d.SpaceGetNumGeoms(TopSpace); + int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray + int nbodies = d.NTotalBodies; + int ngeoms = d.NTotalGeoms; +*/ // Finished with all sim stepping. If requested, dump world state to file for debugging. // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots? @@ -3241,256 +1959,26 @@ namespace OpenSim.Region.Physics.OdePlugin d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); } - - latertickcount = Util.EnvironmentTickCountSubtract(tickCountFrameRun); - - // OpenSimulator above does 10 fps. 10 fps = means that the main thread loop and physics - // has a max of 100 ms to run theoretically. - // If the main loop stalls, it calls Simulate later which makes the tick count ms larger. - // If Physics stalls, it takes longer which makes the tick count ms larger. - - if (latertickcount < 100) - { + + // think time dilation as to do with dinamic step size that we dont' have + // even so tell something to world + if (nodeframes < 10) // we did the requested loops m_timeDilation = 1.0f; - } - else + else if (step_time > 0) { - m_timeDilation = 100f / latertickcount; - //m_timeDilation = Math.Min((Math.Max(100 - (Util.EnvironmentTickCount() - tickCountFrameRun), 1) / 100f), 1.0f); + m_timeDilation = timeStep / step_time; + if (m_timeDilation > 1) + m_timeDilation = 1; + if (step_time > m_SkipFramesAtms) + step_time = 0; } - - tickCountFrameRun = Util.EnvironmentTickCount(); - - if (CollectStats) - m_stats[ODETotalFrameMsStatName] += Util.EnvironmentTickCountSubtract(startFrameTick); } - return fps; - } - - /// - /// Simulate pending NINJA joints. - /// - /// - /// Called by the main Simulate() loop if NINJA joints are active. Should not be called from anywhere else. - /// - private void SimulatePendingNINJAJoints() - { - // Create pending joints, if possible - - // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating - // a joint requires specifying the body id of both involved bodies - if (pendingJoints.Count > 0) - { - List successfullyProcessedPendingJoints = new List(); - //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints"); - foreach (PhysicsJoint joint in pendingJoints) - { - //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams); - string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries); - List jointBodies = new List(); - bool allJointBodiesAreReady = true; - foreach (string jointParam in jointParams) - { - if (jointParam == "NULL") - { - //DoJointErrorMessage(joint, "attaching NULL joint to world"); - jointBodies.Add(IntPtr.Zero); - } - else - { - //DoJointErrorMessage(joint, "looking for prim name: " + jointParam); - bool foundPrim = false; - lock (_prims) - { - foreach (OdePrim prim in _prims) // FIXME: inefficient - { - if (prim.SOPName == jointParam) - { - //DoJointErrorMessage(joint, "found for prim name: " + jointParam); - if (prim.IsPhysical && prim.Body != IntPtr.Zero) - { - jointBodies.Add(prim.Body); - foundPrim = true; - break; - } - else - { - DoJointErrorMessage(joint, "prim name " + jointParam + - " exists but is not (yet) physical; deferring joint creation. " + - "IsPhysical property is " + prim.IsPhysical + - " and body is " + prim.Body); - foundPrim = false; - break; - } - } - } - } - if (foundPrim) - { - // all is fine - } - else - { - allJointBodiesAreReady = false; - break; - } - } - } - - if (allJointBodiesAreReady) - { - //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams); - if (jointBodies[0] == jointBodies[1]) - { - DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams); - } - else - { - switch (joint.Type) - { - case PhysicsJointType.Ball: - { - IntPtr odeJoint; - //DoJointErrorMessage(joint, "ODE creating ball joint "); - odeJoint = d.JointCreateBall(world, IntPtr.Zero); - //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]); - d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]); - //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position); - d.JointSetBallAnchor(odeJoint, - joint.Position.X, - joint.Position.Y, - joint.Position.Z); - //DoJointErrorMessage(joint, "ODE joint setting OK"); - //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: "); - //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment")); - //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: "); - //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment")); - - if (joint is OdePhysicsJoint) - { - ((OdePhysicsJoint)joint).jointID = odeJoint; - } - else - { - DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!"); - } - } - break; - case PhysicsJointType.Hinge: - { - IntPtr odeJoint; - //DoJointErrorMessage(joint, "ODE creating hinge joint "); - odeJoint = d.JointCreateHinge(world, IntPtr.Zero); - //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]); - d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]); - //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position); - d.JointSetHingeAnchor(odeJoint, - joint.Position.X, - joint.Position.Y, - joint.Position.Z); - // We use the orientation of the x-axis of the joint's coordinate frame - // as the axis for the hinge. - - // Therefore, we must get the joint's coordinate frame based on the - // joint.Rotation field, which originates from the orientation of the - // joint's proxy object in the scene. - - // The joint's coordinate frame is defined as the transformation matrix - // that converts a vector from joint-local coordinates into world coordinates. - // World coordinates are defined as the XYZ coordinate system of the sim, - // as shown in the top status-bar of the viewer. - - // Once we have the joint's coordinate frame, we extract its X axis (AtAxis) - // and use that as the hinge axis. - - //joint.Rotation.Normalize(); - Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation); - - // Now extract the X axis of the joint's coordinate frame. - - // Do not try to use proxyFrame.AtAxis or you will become mired in the - // tar pit of transposed, inverted, and generally messed-up orientations. - // (In other words, Matrix4.AtAxis() is borked.) - // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness - - // Instead, compute the X axis of the coordinate frame by transforming - // the (1,0,0) vector. At least that works. - - //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame); - Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame); - //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis); - //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis); - d.JointSetHingeAxis(odeJoint, - jointAxis.X, - jointAxis.Y, - jointAxis.Z); - //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f); - if (joint is OdePhysicsJoint) - { - ((OdePhysicsJoint)joint).jointID = odeJoint; - } - else - { - DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!"); - } - } - break; - } - successfullyProcessedPendingJoints.Add(joint); - } - } - else - { - DoJointErrorMessage(joint, "joint could not yet be created; still pending"); - } - } - - foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints) - { - //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams); - //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending"); - InternalRemovePendingJoint(successfullyProcessedJoint); - //DoJointErrorMessage(successfullyProcessedJoint, "adding to active"); - InternalAddActiveJoint(successfullyProcessedJoint); - //DoJointErrorMessage(successfullyProcessedJoint, "done"); - } - } +// return nodeframes * ODE_STEPSIZE; // return real simulated time + return 1000 * nodeframes; // return steps for now * 1000 to keep core happy } /// - /// Simulate the joint proxies of a NINJA actor. - /// - /// - /// Called as part of the Simulate() loop if NINJA physics is active. Must only be called from there. - /// - /// - private void SimulateActorPendingJoints(OdePrim actor) - { - // If an actor moved, move its joint proxy objects as well. - // There seems to be an event PhysicsActor.OnPositionUpdate that could be used - // for this purpose but it is never called! So we just do the joint - // movement code here. - - if (actor.SOPName != null && - joints_connecting_actor.ContainsKey(actor.SOPName) && - joints_connecting_actor[actor.SOPName] != null && - joints_connecting_actor[actor.SOPName].Count > 0) - { - foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName]) - { - if (affectedJoint.IsInPhysicsEngine) - { - DoJointMoved(affectedJoint); - } - else - { - DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams); - } - } - } - } - public override void GetResults() { } @@ -3498,275 +1986,141 @@ namespace OpenSim.Region.Physics.OdePlugin public override bool IsThreaded { // for now we won't be multithreaded - get { return false; } + get { return (false); } } - #region ODE Specific Terrain Fixes - private float[] ResizeTerrain512NearestNeighbour(float[] heightMap) + public float GetTerrainHeightAtXY(float x, float y) { - float[] returnarr = new float[262144]; - float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y]; - // Filling out the array into its multi-dimensional components - for (int y = 0; y < WorldExtents.Y; y++) - { - for (int x = 0; x < WorldExtents.X; x++) - { - resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x]; - } - } - // Resize using Nearest Neighbour - - // This particular way is quick but it only works on a multiple of the original - - // The idea behind this method can be described with the following diagrams - // second pass and third pass happen in the same loop really.. just separated - // them to show what this does. - - // First Pass - // ResultArr: - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - - // Second Pass - // ResultArr2: - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - - // Third pass fills in the blanks - // ResultArr2: - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - - // X,Y = . - // X+1,y = ^ - // X,Y+1 = * - // X+1,Y+1 = # - - // Filling in like this; - // .* - // ^# - // 1st . - // 2nd * - // 3rd ^ - // 4th # - // on single loop. - - float[,] resultarr2 = new float[512, 512]; - for (int y = 0; y < WorldExtents.Y; y++) - { - for (int x = 0; x < WorldExtents.X; x++) - { - resultarr2[y * 2, x * 2] = resultarr[y, x]; + int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize; + int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - if (y < WorldExtents.Y) - { - resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x]; - } - if (x < WorldExtents.X) - { - resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x]; - } - if (x < WorldExtents.X && y < WorldExtents.Y) - { - resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x]; - } - } - } - //Flatten out the array - int i = 0; - for (int y = 0; y < 512; y++) - { - for (int x = 0; x < 512; x++) - { - if (resultarr2[y, x] <= 0) - returnarr[i] = 0.0000001f; - else - returnarr[i] = resultarr2[y, x]; + IntPtr heightFieldGeom = IntPtr.Zero; - i++; - } - } + // get region map + if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom)) + return 0f; - return returnarr; - } + if (heightFieldGeom == IntPtr.Zero) + return 0f; - private float[] ResizeTerrain512Interpolation(float[] heightMap) - { - float[] returnarr = new float[262144]; - float[,] resultarr = new float[512,512]; + if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom)) + return 0f; + + // TerrainHeightField for ODE as offset 1m + x += 1f - offsetX; + y += 1f - offsetY; - // Filling out the array into its multi-dimensional components - for (int y = 0; y < 256; y++) + // make position fit into array + if (x < 0) + x = 0; + if (y < 0) + y = 0; + + // integer indexs + int ix; + int iy; + // interpolators offset + float dx; + float dy; + + int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples + + if (OdeUbitLib) { - for (int x = 0; x < 256; x++) + if (x < regsize - 1) + { + ix = (int)x; + dx = x - (float)ix; + } + else // out world use external height + { + ix = regsize - 2; + dx = 0; + } + if (y < regsize - 1) + { + iy = (int)y; + dy = y - (float)iy; + } + else { - resultarr[y, x] = heightMap[y * 256 + x]; + iy = regsize - 2; + dy = 0; } } - // Resize using interpolation - - // This particular way is quick but it only works on a multiple of the original - - // The idea behind this method can be described with the following diagrams - // second pass and third pass happen in the same loop really.. just separated - // them to show what this does. - - // First Pass - // ResultArr: - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - // 1,1,1,1,1,1 - - // Second Pass - // ResultArr2: - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - // ,,,,,,,,,, - // 1,,1,,1,,1,,1,,1, - - // Third pass fills in the blanks - // ResultArr2: - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - // 1,1,1,1,1,1,1,1,1,1,1,1 - - // X,Y = . - // X+1,y = ^ - // X,Y+1 = * - // X+1,Y+1 = # - - // Filling in like this; - // .* - // ^# - // 1st . - // 2nd * - // 3rd ^ - // 4th # - // on single loop. - - float[,] resultarr2 = new float[512,512]; - for (int y = 0; y < (int)Constants.RegionSize; y++) + else { - for (int x = 0; x < (int)Constants.RegionSize; x++) + // we still have square fixed size regions + // also flip x and y because of how map is done for ODE fliped axis + // so ix,iy,dx and dy are inter exchanged + if (x < regsize - 1) { - resultarr2[y*2, x*2] = resultarr[y, x]; - - if (y < (int)Constants.RegionSize) - { - if (y + 1 < (int)Constants.RegionSize) - { - if (x + 1 < (int)Constants.RegionSize) - { - resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] + - resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); - } - else - { - resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2); - } - } - else - { - resultarr2[(y*2) + 1, x*2] = resultarr[y, x]; - } - } - if (x < (int)Constants.RegionSize) - { - if (x + 1 < (int)Constants.RegionSize) - { - if (y + 1 < (int)Constants.RegionSize) - { - resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + - resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); - } - else - { - resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2); - } - } - else - { - resultarr2[y*2, (x*2) + 1] = resultarr[y, x]; - } - } - if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize) - { - if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize)) + iy = (int)x; + dy = x - (float)iy; + } + else // out world use external height + { + iy = regsize - 2; + dy = 0; + } + if (y < regsize - 1) + { + ix = (int)y; + dx = y - (float)ix; + } + else + { + ix = regsize - 2; + dx = 0; + } + } + + float h0; + float h1; + float h2; + + iy *= regsize; + iy += ix; // all indexes have iy + ix + + float[] heights = TerrainHeightFieldHeights[heightFieldGeom]; + /* + if ((dx + dy) <= 1.0f) { - resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + - resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); + h0 = ((float)heights[iy]); // 0,0 vertice + h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0 + h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0 } else { - resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x]; + h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice + h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0 + h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1 } - } - } + */ + h0 = ((float)heights[iy]); // 0,0 vertice + + if ((dy > dx)) + { + iy += regsize; + h2 = (float)heights[iy]; // 0,1 vertice + h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0 + h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1 } - //Flatten out the array - int i = 0; - for (int y = 0; y < 512; y++) + else { - for (int x = 0; x < 512; x++) - { - if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x])) - { - m_log.Warn("[ODE SCENE]: Non finite heightfield element detected. Setting it to 0"); - resultarr2[y, x] = 0; - } - returnarr[i] = resultarr2[y, x]; - i++; - } + iy++; + h2 = (float)heights[iy]; // vertice 1,0 + h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0 + h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0 } - return returnarr; + return h0 + h1 + h2; } - #endregion public override void SetTerrain(float[] heightMap) { @@ -3783,78 +2137,75 @@ namespace OpenSim.Region.Physics.OdePlugin } } - private void SetTerrain(float[] heightMap, Vector3 pOffset) + public override void CombineTerrain(float[] heightMap, Vector3 pOffset) { - int startTime = Util.EnvironmentTickCount(); - m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset); - - // this._heightmap[i] = (double)heightMap[i]; - // dbm (danx0r) -- creating a buffer zone of one extra sample all around - //_origheightmap = heightMap; - - float[] _heightmap; - - // zero out a heightmap array float array (single dimension [flattened])) - //if ((int)Constants.RegionSize == 256) - // _heightmap = new float[514 * 514]; - //else + SetTerrain(heightMap, pOffset); + } - _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))]; + public void SetTerrain(float[] heightMap, Vector3 pOffset) + { + if (OdeUbitLib) + UbitSetTerrain(heightMap, pOffset); + else + OriSetTerrain(heightMap, pOffset); + } - uint heightmapWidth = Constants.RegionSize + 1; - uint heightmapHeight = Constants.RegionSize + 1; + public void OriSetTerrain(float[] heightMap, Vector3 pOffset) + { + // assumes 1m size grid and constante size square regions + // needs to know about sims around in future - uint heightmapWidthSamples; + float[] _heightmap; - uint heightmapHeightSamples; + uint heightmapWidth = Constants.RegionSize + 2; + uint heightmapHeight = Constants.RegionSize + 2; - //if (((int)Constants.RegionSize) == 256) - //{ - // heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2; - // heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2; - // heightmapWidth++; - // heightmapHeight++; - //} - //else - //{ + uint heightmapWidthSamples = heightmapWidth + 1; + uint heightmapHeightSamples = heightmapHeight + 1; - heightmapWidthSamples = (uint)Constants.RegionSize + 1; - heightmapHeightSamples = (uint)Constants.RegionSize + 1; - //} + _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; const float scale = 1.0f; const float offset = 0.0f; - const float thickness = 0.2f; + const float thickness = 10f; const int wrap = 0; - int regionsize = (int) Constants.RegionSize + 2; - //Double resolution - //if (((int)Constants.RegionSize) == 256) - // heightMap = ResizeTerrain512Interpolation(heightMap); + uint regionsize = Constants.RegionSize; + + float hfmin = float.MaxValue; + float hfmax = float.MinValue; + float val; + uint xx; + uint yy; + uint maxXXYY = regionsize - 1; + // flipping map adding one margin all around so things don't fall in edges - // if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256) - // regionsize = 512; + uint xt = 0; + xx = 0; - float hfmin = 2000; - float hfmax = -2000; - - for (int x = 0; x < heightmapWidthSamples; x++) + for (uint x = 0; x < heightmapWidthSamples; x++) { - for (int y = 0; y < heightmapHeightSamples; y++) + if (x > 1 && xx < maxXXYY) + xx++; + yy = 0; + for (uint y = 0; y < heightmapHeightSamples; y++) { - int xx = Util.Clip(x - 1, 0, regionsize - 1); - int yy = Util.Clip(y - 1, 0, regionsize - 1); - - - float val= heightMap[yy * (int)Constants.RegionSize + xx]; - _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val; - - hfmin = (val < hfmin) ? val : hfmin; - hfmax = (val > hfmax) ? val : hfmax; + if (y > 1 && y < maxXXYY) + yy += regionsize; + + val = heightMap[yy + xx]; + if (val < 0.0f) + val = 0.0f; // no neg terrain as in chode + _heightmap[xt + y] = val; + + if (hfmin > val) + hfmin = val; + if (hfmax < val) + hfmax = val; } + xt += heightmapHeightSamples; } - lock (OdeLock) { IntPtr GroundGeom = IntPtr.Zero; @@ -3863,62 +2214,177 @@ namespace OpenSim.Region.Physics.OdePlugin RegionTerrain.Remove(pOffset); if (GroundGeom != IntPtr.Zero) { + actor_name_map.Remove(GroundGeom); + d.GeomDestroy(GroundGeom); + if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) - { + { + TerrainHeightFieldHeightsHandlers[GroundGeom].Free(); + TerrainHeightFieldHeightsHandlers.Remove(GroundGeom); TerrainHeightFieldHeights.Remove(GroundGeom); - } - d.SpaceRemove(space, GroundGeom); - d.GeomDestroy(GroundGeom); + } } - } IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); - d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1, - (int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale, + + GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); + + d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, heightmapWidth , heightmapHeight, + (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, offset, thickness, wrap); + d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); - GroundGeom = d.CreateHeightfield(space, HeightmapData, 1); + + GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1); + if (GroundGeom != IntPtr.Zero) { - d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land)); - d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space)); + d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); + d.GeomSetCollideBits(GroundGeom, 0); + PhysicsActor pa = new NullPhysicsActor(); + pa.Name = "Terrain"; + pa.PhysicsActorType = (int)ActorTypes.Ground; + actor_name_map[GroundGeom] = pa; + +// geom_name_map[GroundGeom] = "Terrain"; + + d.Matrix3 R = new d.Matrix3(); + + Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); + Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); + + + q1 = q1 * q2; + + Vector3 v3; + float angle; + q1.GetAxisAngle(out v3, out angle); + + 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, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); + RegionTerrain.Add(pOffset, GroundGeom); + TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); + TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); } - geom_name_map[GroundGeom] = "Terrain"; + } + } + + public void UbitSetTerrain(float[] heightMap, Vector3 pOffset) + { + // assumes 1m size grid and constante size square regions + // needs to know about sims around in future + + float[] _heightmap; + + uint heightmapWidth = Constants.RegionSize + 2; + uint heightmapHeight = Constants.RegionSize + 2; + + uint heightmapWidthSamples = heightmapWidth + 1; + uint heightmapHeightSamples = heightmapHeight + 1; + + _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples]; - d.Matrix3 R = new d.Matrix3(); - Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); - Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); - //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); + uint regionsize = Constants.RegionSize; - q1 = q1 * q2; - //q1 = q1 * q3; - Vector3 v3; - float angle; - q1.GetAxisAngle(out v3, out angle); + float hfmin = float.MaxValue; +// float hfmax = float.MinValue; + float val; - d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); - d.GeomSetRotation(GroundGeom, ref R); - d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)), (pOffset.Y + ((int)Constants.RegionSize * 0.5f)), 0); - IntPtr testGround = IntPtr.Zero; - if (RegionTerrain.TryGetValue(pOffset, out testGround)) + + uint maxXXYY = regionsize - 1; + // adding one margin all around so things don't fall in edges + + uint xx; + uint yy = 0; + uint yt = 0; + + for (uint y = 0; y < heightmapHeightSamples; y++) + { + if (y > 1 && y < maxXXYY) + yy += regionsize; + xx = 0; + for (uint x = 0; x < heightmapWidthSamples; x++) { - RegionTerrain.Remove(pOffset); + if (x > 1 && x < maxXXYY) + xx++; + + val = heightMap[yy + xx]; + if (val < 0.0f) + val = 0.0f; // no neg terrain as in chode + _heightmap[yt + x] = val; + + if (hfmin > val) + hfmin = val; +// if (hfmax < val) +// hfmax = val; } - RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); - TerrainHeightFieldHeights.Add(GroundGeom,_heightmap); + yt += heightmapWidthSamples; } + lock (OdeLock) + { + IntPtr GroundGeom = IntPtr.Zero; + if (RegionTerrain.TryGetValue(pOffset, out GroundGeom)) + { + 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); + } + } + } + IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); + + const int wrap = 0; + float thickness = hfmin; + if (thickness < 0) + thickness = 1; + + GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned); + + d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f, + (int)heightmapWidthSamples, (int)heightmapHeightSamples, + thickness, wrap); + +// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); + GroundGeom = d.CreateUbitTerrain(GroundSpace, HeightmapData, 1); + if (GroundGeom != IntPtr.Zero) + { + d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); + d.GeomSetCollideBits(GroundGeom, 0); + + + PhysicsActor pa = new NullPhysicsActor(); + pa.Name = "Terrain"; + pa.PhysicsActorType = (int)ActorTypes.Ground; + actor_name_map[GroundGeom] = pa; - m_log.DebugFormat( - "[ODE SCENE]: Setting terrain for {0} took {1}ms", Name, Util.EnvironmentTickCountSubtract(startTime)); +// geom_name_map[GroundGeom] = "Terrain"; + + d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); + RegionTerrain.Add(pOffset, GroundGeom); + TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); + TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); + } + } } + public override void DeleteTerrain() { } - internal float GetWaterLevel() + public float GetWaterLevel() { return waterlevel; } @@ -3927,169 +2393,252 @@ namespace OpenSim.Region.Physics.OdePlugin { return true; } +/* + public override void UnCombine(PhysicsScene pScene) + { + IntPtr localGround = IntPtr.Zero; +// float[] localHeightfield; + bool proceed = false; + List geomDestroyList = new List(); -// public override void UnCombine(PhysicsScene pScene) -// { -// IntPtr localGround = IntPtr.Zero; -//// float[] localHeightfield; -// bool proceed = false; -// List geomDestroyList = new List(); -// -// lock (OdeLock) -// { -// if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) -// { -// foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) -// { -// if (geom == localGround) -// { -//// localHeightfield = TerrainHeightFieldHeights[geom]; -// proceed = true; -// } -// else -// { -// geomDestroyList.Add(geom); -// } -// } -// -// if (proceed) -// { -// m_worldOffset = Vector3.Zero; -// WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); -// m_parentScene = null; -// -// foreach (IntPtr g in geomDestroyList) -// { -// // removingHeightField needs to be done or the garbage collector will -// // collect the terrain data before we tell ODE to destroy it causing -// // memory corruption -// if (TerrainHeightFieldHeights.ContainsKey(g)) -// { -//// float[] removingHeightField = TerrainHeightFieldHeights[g]; -// TerrainHeightFieldHeights.Remove(g); -// -// if (RegionTerrain.ContainsKey(g)) -// { -// RegionTerrain.Remove(g); -// } -// -// d.GeomDestroy(g); -// //removingHeightField = new float[0]; -// } -// } -// -// } -// else -// { -// m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); -// } -// } -// } -// } + lock (OdeLock) + { + if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround)) + { + foreach (IntPtr geom in TerrainHeightFieldHeights.Keys) + { + if (geom == localGround) + { +// localHeightfield = TerrainHeightFieldHeights[geom]; + proceed = true; + } + else + { + geomDestroyList.Add(geom); + } + } + + if (proceed) + { + m_worldOffset = Vector3.Zero; + WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); + m_parentScene = null; + + foreach (IntPtr g in geomDestroyList) + { + // removingHeightField needs to be done or the garbage collector will + // collect the terrain data before we tell ODE to destroy it causing + // memory corruption + if (TerrainHeightFieldHeights.ContainsKey(g)) + { +// float[] removingHeightField = TerrainHeightFieldHeights[g]; + TerrainHeightFieldHeights.Remove(g); + + if (RegionTerrain.ContainsKey(g)) + { + RegionTerrain.Remove(g); + } + + d.GeomDestroy(g); + //removingHeightField = new float[0]; + } + } + } + else + { + m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); + } + } + } + } +*/ public override void SetWaterLevel(float baseheight) { waterlevel = baseheight; - randomizeWater(waterlevel); +// randomizeWater(waterlevel); } - - private void randomizeWater(float baseheight) +/* + public void randomizeWater(float baseheight) { - const uint heightmapWidth = m_regionWidth + 2; - const uint heightmapHeight = m_regionHeight + 2; - const uint heightmapWidthSamples = m_regionWidth + 2; - const uint heightmapHeightSamples = m_regionHeight + 2; + const uint heightmapWidth = Constants.RegionSize + 2; + const uint heightmapHeight = Constants.RegionSize + 2; + const uint heightmapWidthSamples = heightmapWidth + 1; + const uint heightmapHeightSamples = heightmapHeight + 1; + const float scale = 1.0f; const float offset = 0.0f; - const float thickness = 2.9f; const int wrap = 0; - for (int i = 0; i < (258 * 258); i++) + float[] _watermap = new float[heightmapWidthSamples * heightmapWidthSamples]; + + float maxheigh = float.MinValue; + float minheigh = float.MaxValue; + float val; + for (int i = 0; i < (heightmapWidthSamples * heightmapHeightSamples); i++) { - _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f); - // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f)); + + val = (baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f); + _watermap[i] = val; + if (maxheigh < val) + maxheigh = val; + if (minheigh > val) + minheigh = val; } + float thickness = minheigh; + lock (OdeLock) { if (WaterGeom != IntPtr.Zero) { - d.SpaceRemove(space, WaterGeom); + actor_name_map.Remove(WaterGeom); + d.GeomDestroy(WaterGeom); + d.GeomHeightfieldDataDestroy(WaterHeightmapData); + WaterGeom = IntPtr.Zero; + WaterHeightmapData = IntPtr.Zero; + if(WaterMapHandler.IsAllocated) + WaterMapHandler.Free(); } - IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); - d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight, + + WaterHeightmapData = d.GeomHeightfieldDataCreate(); + + WaterMapHandler = GCHandle.Alloc(_watermap, GCHandleType.Pinned); + + d.GeomHeightfieldDataBuildSingle(WaterHeightmapData, WaterMapHandler.AddrOfPinnedObject(), 0, heightmapWidth, heightmapHeight, (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale, offset, thickness, wrap); - d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight); - WaterGeom = d.CreateHeightfield(space, HeightmapData, 1); + d.GeomHeightfieldDataSetBounds(WaterHeightmapData, minheigh, maxheigh); + WaterGeom = d.CreateHeightfield(StaticSpace, WaterHeightmapData, 1); if (WaterGeom != IntPtr.Zero) { - d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water)); - d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space)); - } + d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water)); + d.GeomSetCollideBits(WaterGeom, 0); - geom_name_map[WaterGeom] = "Water"; - d.Matrix3 R = new d.Matrix3(); + PhysicsActor pa = new NullPhysicsActor(); + pa.Name = "Water"; + pa.PhysicsActorType = (int)ActorTypes.Water; - Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); - Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); - //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1)); + actor_name_map[WaterGeom] = pa; +// geom_name_map[WaterGeom] = "Water"; - q1 = q1 * q2; - //q1 = q1 * q3; - Vector3 v3; - float angle; - q1.GetAxisAngle(out v3, out angle); + d.Matrix3 R = new d.Matrix3(); - d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); - d.GeomSetRotation(WaterGeom, ref R); - d.GeomSetPosition(WaterGeom, 128, 128, 0); + Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); + Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); + + q1 = q1 * q2; + Vector3 v3; + float angle; + q1.GetAxisAngle(out v3, out angle); + + d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); + d.GeomSetRotation(WaterGeom, ref R); + d.GeomSetPosition(WaterGeom, (float)Constants.RegionSize * 0.5f, (float)Constants.RegionSize * 0.5f, 0); + } } } - +*/ public override void Dispose() { - _worldInitialized = false; - - m_rayCastManager.Dispose(); - m_rayCastManager = null; + if (m_meshWorker != null) + m_meshWorker.Stop(); lock (OdeLock) { + m_rayCastManager.Dispose(); + m_rayCastManager = null; + lock (_prims) { + ChangesQueue.Clear(); foreach (OdePrim prm in _prims) { - RemovePrim(prm); + prm.DoAChange(changes.Remove, null); + _collisionEventPrim.Remove(prm); + } + _prims.Clear(); + } + + OdeCharacter[] chtorem; + lock (_characters) + { + chtorem = new OdeCharacter[_characters.Count]; + _characters.CopyTo(chtorem); + } + + ChangesQueue.Clear(); + foreach (OdeCharacter ch in chtorem) + ch.DoAChange(changes.Remove, null); + + + 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(); } } - //foreach (OdeCharacter act in _characters) - //{ - //RemoveAvatar(act); - //} + TerrainHeightFieldHeightsHandlers.Clear(); + TerrainHeightFieldHeights.Clear(); +/* + if (WaterGeom != IntPtr.Zero) + { + d.GeomDestroy(WaterGeom); + WaterGeom = IntPtr.Zero; + if (WaterHeightmapData != IntPtr.Zero) + d.GeomHeightfieldDataDestroy(WaterHeightmapData); + WaterHeightmapData = IntPtr.Zero; + + if (WaterMapHandler.IsAllocated) + WaterMapHandler.Free(); + } +*/ + if (ContactgeomsArray != IntPtr.Zero) + Marshal.FreeHGlobal(ContactgeomsArray); + if (GlobalContactsArray != IntPtr.Zero) + Marshal.FreeHGlobal(GlobalContactsArray); + + d.WorldDestroy(world); + world = IntPtr.Zero; //d.CloseODE(); } - } public override Dictionary GetTopColliders() { - Dictionary topColliders; - + Dictionary returncolliders = new Dictionary(); + int cnt = 0; lock (_prims) { - List orderedPrims = new List(_prims); - orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25); - topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore); - - foreach (OdePrim p in _prims) - p.CollisionScore = 0; + foreach (OdePrim prm in _prims) + { + if (prm.CollisionScore > 0) + { + returncolliders.Add(prm.LocalID, prm.CollisionScore); + cnt++; + prm.CollisionScore = 0f; + if (cnt > 25) + { + break; + } + } + } } - - return topColliders; + return returncolliders; } public override bool SupportsRayCast() @@ -4113,6 +2662,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } + // don't like this public override List RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) { ContactResult[] ourResults = null; @@ -4129,182 +2679,107 @@ namespace OpenSim.Region.Physics.OdePlugin waitTime++; } if (ourResults == null) - return new List (); + return new List(); return new List(ourResults); } -#if USE_DRAWSTUFF - // Keyboard callback - public void command(int cmd) + public override bool SuportsRaycastWorldFiltered() { - IntPtr geom; - d.Mass mass; - d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f); - - - - Char ch = Char.ToLower((Char)cmd); - switch ((Char)ch) - { - case 'w': - try - { - 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)); - - xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z; - ds.SetViewpoint(ref xyz, ref hpr); - } - catch (ArgumentException) - { hpr.X = 0; } - break; - - case 'a': - hpr.X++; - ds.SetViewpoint(ref xyz, ref hpr); - break; - - case 's': - try - { - 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)); - - xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z; - ds.SetViewpoint(ref xyz, ref hpr); - } - catch (ArgumentException) - { hpr.X = 0; } - break; - case 'd': - hpr.X--; - ds.SetViewpoint(ref xyz, ref hpr); - break; - case 'r': - xyz.Z++; - ds.SetViewpoint(ref xyz, ref hpr); - break; - case 'f': - xyz.Z--; - ds.SetViewpoint(ref xyz, ref hpr); - break; - case 'e': - xyz.Y++; - ds.SetViewpoint(ref xyz, ref hpr); - break; - case 'q': - xyz.Y--; - ds.SetViewpoint(ref xyz, ref hpr); - break; - } + return true; } - public void step(int pause) + public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) { - - ds.SetColor(1.0f, 1.0f, 0.0f); - ds.SetTexture(ds.Texture.Wood); - lock (_prims) + object SyncObject = new object(); + List ourresults = new List(); + + RayCallback retMethod = delegate(List results) { - foreach (OdePrim prm in _prims) + lock (SyncObject) { - //IntPtr body = d.GeomGetBody(prm.prim_geom); - if (prm.prim_geom != IntPtr.Zero) - { - d.Vector3 pos; - d.GeomCopyPosition(prm.prim_geom, out pos); - //d.BodyCopyPosition(body, out pos); - - d.Matrix3 R; - d.GeomCopyRotation(prm.prim_geom, out R); - //d.BodyCopyRotation(body, out R); - - - d.Vector3 sides = new d.Vector3(); - sides.X = prm.Size.X; - sides.Y = prm.Size.Y; - sides.Z = prm.Size.Z; - - ds.DrawBox(ref pos, ref R, ref sides); - } + ourresults = results; + Monitor.PulseAll(SyncObject); } - } - ds.SetColor(1.0f, 0.0f, 0.0f); + }; - foreach (OdeCharacter chr in _characters) + lock (SyncObject) { - if (chr.Shell != IntPtr.Zero) - { - IntPtr body = d.GeomGetBody(chr.Shell); - - d.Vector3 pos; - d.GeomCopyPosition(chr.Shell, out pos); - //d.BodyCopyPosition(body, out pos); - - d.Matrix3 R; - d.GeomCopyRotation(chr.Shell, out R); - //d.BodyCopyRotation(body, out R); - - ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f); - d.Vector3 sides = new d.Vector3(); - sides.X = 0.5f; - sides.Y = 0.5f; - sides.Z = 0.5f; - - ds.DrawBox(ref pos, ref R, ref sides); - } + m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod); + if (!Monitor.Wait(SyncObject, 500)) + return null; + else + return ourresults; } } - public void start(int unused) + public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) { - ds.SetViewpoint(ref xyz, ref hpr); + if (retMethod != null && actor !=null) + { + IntPtr geom; + if (actor is OdePrim) + geom = ((OdePrim)actor).prim_geom; + else if (actor is OdeCharacter) + geom = ((OdePrim)actor).prim_geom; + else + return; + if (geom == IntPtr.Zero) + return; + m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod); + } } -#endif - public override Dictionary GetStats() + public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { - if (!CollectStats) - return null; - - Dictionary returnStats; - - lock (OdeLock) + if (retMethod != null && actor != null) { - returnStats = new Dictionary(m_stats); - - // FIXME: This is a SUPER DUMB HACK until we can establish stats that aren't subject to a division by - // 3 from the SimStatsReporter. - returnStats[ODETotalAvatarsStatName] = _characters.Count * 3; - returnStats[ODETotalPrimsStatName] = _prims.Count * 3; - returnStats[ODEActivePrimsStatName] = _activeprims.Count * 3; + IntPtr geom; + if (actor is OdePrim) + geom = ((OdePrim)actor).prim_geom; + else if (actor is OdeCharacter) + geom = ((OdePrim)actor).prim_geom; + else + return; + if (geom == IntPtr.Zero) + return; - InitializeExtraStats(); + m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); } - - returnStats[ODEOtherCollisionFrameMsStatName] - = returnStats[ODEOtherCollisionFrameMsStatName] - - returnStats[ODENativeSpaceCollisionFrameMsStatName] - - returnStats[ODENativeGeomCollisionFrameMsStatName]; - - return returnStats; } - private void InitializeExtraStats() + // don't like this + public override List RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count) { - m_stats[ODETotalFrameMsStatName] = 0; - m_stats[ODEAvatarTaintMsStatName] = 0; - m_stats[ODEPrimTaintMsStatName] = 0; - m_stats[ODEAvatarForcesFrameMsStatName] = 0; - m_stats[ODEPrimForcesFrameMsStatName] = 0; - m_stats[ODERaycastingFrameMsStatName] = 0; - m_stats[ODENativeStepFrameMsStatName] = 0; - m_stats[ODENativeSpaceCollisionFrameMsStatName] = 0; - m_stats[ODENativeGeomCollisionFrameMsStatName] = 0; - m_stats[ODEOtherCollisionFrameMsStatName] = 0; - m_stats[ODECollisionNotificationFrameMsStatName] = 0; - m_stats[ODEAvatarContactsStatsName] = 0; - m_stats[ODEPrimContactsStatName] = 0; - m_stats[ODEAvatarUpdateFrameMsStatName] = 0; - m_stats[ODEPrimUpdateFrameMsStatName] = 0; + if (actor != null) + { + IntPtr geom; + if (actor is OdePrim) + geom = ((OdePrim)actor).prim_geom; + else if (actor is OdeCharacter) + geom = ((OdePrim)actor).prim_geom; + else + return new List(); + if (geom == IntPtr.Zero) + return new List(); + + ContactResult[] ourResults = null; + RayCallback retMethod = delegate(List results) + { + ourResults = new ContactResult[results.Count]; + results.CopyTo(ourResults, 0); + }; + int waitTime = 0; + m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod); + while (ourResults == null && waitTime < 1000) + { + Thread.Sleep(1); + waitTime++; + } + if (ourResults == null) + return new List(); + return new List(ourResults); + } + return new List(); } } -} \ No newline at end of file +} -- cgit v1.1 From 6e217965841d474ba7e19c99dcfa5e86c1c459da Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Fri, 12 Oct 2012 23:37:28 +0100 Subject: [TEST] disk cache meshs --- OpenSim/Region/Physics/UbitMeshing/Mesh.cs | 551 +++++++++++++--------- OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 259 +++++++--- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 4 +- 3 files changed, 532 insertions(+), 282 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs index a0a18c4..1e9b8bc 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Mesh.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Mesh.cs @@ -32,30 +32,49 @@ using System.Runtime.InteropServices; using OpenSim.Region.Physics.Manager; using PrimMesher; using OpenMetaverse; +using System.Runtime.Serialization; +using System.Runtime.Serialization.Formatters.Binary; namespace OpenSim.Region.Physics.Meshing { - public class Mesh : IMesh + public class MeshBuildingData { + public Dictionary m_vertices; + public List m_triangles; + public float m_obbXmin; + public float m_obbXmax; + public float m_obbYmin; + public float m_obbYmax; + public float m_obbZmin; + public float m_obbZmax; + public Vector3 m_centroid; + public int m_centroidDiv; + } - private Dictionary m_vertices; - private List m_triangles; - GCHandle m_pinnedVertexes; - GCHandle m_pinnedIndex; + [Serializable()] + public class Mesh : IMesh + { + float[] vertices; + int[] indexes; + Vector3 m_obb; + Vector3 m_obboffset; + [NonSerialized()] + MeshBuildingData m_bdata; + [NonSerialized()] + GCHandle vhandler; + [NonSerialized()] + GCHandle ihandler; + [NonSerialized()] IntPtr m_verticesPtr = IntPtr.Zero; - int m_vertexCount = 0; + [NonSerialized()] IntPtr m_indicesPtr = IntPtr.Zero; + [NonSerialized()] + int m_vertexCount = 0; + [NonSerialized()] int m_indexCount = 0; - public float[] m_normals; - Vector3 m_centroid; - float m_obbXmin; - float m_obbXmax; - float m_obbYmin; - float m_obbYmax; - float m_obbZmin; - float m_obbZmax; - int m_centroidDiv; + public int RefCount { get; set; } + public AMeshKey Key { get; set; } private class vertexcomp : IEqualityComparer { @@ -79,42 +98,82 @@ namespace OpenSim.Region.Physics.Meshing { vertexcomp vcomp = new vertexcomp(); - m_vertices = new Dictionary(vcomp); - m_triangles = new List(); - m_centroid = Vector3.Zero; - m_centroidDiv = 0; - m_obbXmin = float.MaxValue; - m_obbXmax = float.MinValue; - m_obbYmin = float.MaxValue; - m_obbYmax = float.MinValue; - m_obbZmin = float.MaxValue; - m_obbZmax = float.MinValue; + m_bdata = new MeshBuildingData(); + m_bdata.m_vertices = new Dictionary(vcomp); + m_bdata.m_triangles = new List(); + m_bdata.m_centroid = Vector3.Zero; + m_bdata.m_centroidDiv = 0; + m_bdata.m_obbXmin = float.MaxValue; + m_bdata.m_obbXmax = float.MinValue; + m_bdata.m_obbYmin = float.MaxValue; + m_bdata.m_obbYmax = float.MinValue; + m_bdata.m_obbZmin = float.MaxValue; + m_bdata.m_obbZmax = float.MinValue; + m_obb = new Vector3(0.5f, 0.5f, 0.5f); + m_obboffset = Vector3.Zero; } - public int RefCount { get; set; } - - public AMeshKey Key { get; set; } - public void Scale(Vector3 scale) + public Mesh Scale(Vector3 scale) { + if (m_verticesPtr == null || m_indicesPtr == null) + return null; + + Mesh result = new Mesh(); + + float x = scale.X; + float y = scale.Y; + float z = scale.Z; + + result.m_obb.X = m_obb.X * x; + result.m_obb.Y = m_obb.Y * y; + result.m_obb.Z = m_obb.Z * z; + result.m_obboffset.X = m_obboffset.X * x; + result.m_obboffset.Y = m_obboffset.Y * y; + result.m_obboffset.Z = m_obboffset.Z * z; + + result.vertices = new float[vertices.Length]; + int j = 0; + for (int i = 0; i < m_vertexCount; i++) + { + result.vertices[j] = vertices[j] * x; + j++; + result.vertices[j] = vertices[j] * y; + j++; + result.vertices[j] = vertices[j] * z; + j++; + } + + result.indexes = new int[indexes.Length]; + indexes.CopyTo(result.indexes,0); + + result.pinMemory(); + + return result; } public Mesh Clone() { Mesh result = new Mesh(); - foreach (Triangle t in m_triangles) + if (m_bdata != null) { - result.Add(new Triangle(t.v1.Clone(), t.v2.Clone(), t.v3.Clone())); + result.m_bdata = new MeshBuildingData(); + foreach (Triangle t in m_bdata.m_triangles) + { + result.Add(new Triangle(t.v1.Clone(), t.v2.Clone(), t.v3.Clone())); + } + result.m_bdata.m_centroid = m_bdata.m_centroid; + result.m_bdata.m_centroidDiv = m_bdata.m_centroidDiv; + result.m_bdata.m_obbXmin = m_bdata.m_obbXmin; + result.m_bdata.m_obbXmax = m_bdata.m_obbXmax; + result.m_bdata.m_obbYmin = m_bdata.m_obbYmin; + result.m_bdata.m_obbYmax = m_bdata.m_obbYmax; + result.m_bdata.m_obbZmin = m_bdata.m_obbZmin; + result.m_bdata.m_obbZmax = m_bdata.m_obbZmax; } - result.m_centroid = m_centroid; - result.m_centroidDiv = m_centroidDiv; - result.m_obbXmin = m_obbXmin; - result.m_obbXmax = m_obbXmax; - result.m_obbYmin = m_obbYmin; - result.m_obbYmax = m_obbYmax; - result.m_obbZmin = m_obbZmin; - result.m_obbZmax = m_obbZmax; + result.m_obb = m_obb; + result.m_obboffset = m_obboffset; return result; } @@ -124,37 +183,34 @@ namespace OpenSim.Region.Physics.Meshing float y = v.Y; float z = v.Z; - m_centroid.X += x; - m_centroid.Y += y; - m_centroid.Z += z; - m_centroidDiv++; + m_bdata.m_centroid.X += x; + m_bdata.m_centroid.Y += y; + m_bdata.m_centroid.Z += z; + m_bdata.m_centroidDiv++; - if (x > m_obbXmax) - m_obbXmax = x; - else if (x < m_obbXmin) - m_obbXmin = x; + if (x > m_bdata.m_obbXmax) + m_bdata.m_obbXmax = x; + else if (x < m_bdata.m_obbXmin) + m_bdata.m_obbXmin = x; - if (y > m_obbYmax) - m_obbYmax = y; - else if (y < m_obbYmin) - m_obbYmin = y; + if (y > m_bdata.m_obbYmax) + m_bdata.m_obbYmax = y; + else if (y < m_bdata.m_obbYmin) + m_bdata.m_obbYmin = y; - if (z > m_obbZmax) - m_obbZmax = z; - else if (z < m_obbZmin) - m_obbZmin = z; + if (z > m_bdata.m_obbZmax) + m_bdata.m_obbZmax = z; + else if (z < m_bdata.m_obbZmin) + m_bdata.m_obbZmin = z; } public void Add(Triangle triangle) { - if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) + if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) throw new NotSupportedException("Attempt to Add to a pinned Mesh"); - // If a vertex of the triangle is not yet in the vertices list, - // add it and set its index to the current index count - // vertex == seems broken - // skip colapsed triangles + if ((triangle.v1.X == triangle.v2.X && triangle.v1.Y == triangle.v2.Y && triangle.v1.Z == triangle.v2.Z) || (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z) || (triangle.v2.X == triangle.v3.X && triangle.v2.Y == triangle.v3.Y && triangle.v2.Z == triangle.v3.Z) @@ -163,46 +219,45 @@ namespace OpenSim.Region.Physics.Meshing return; } - if (m_vertices.Count == 0) + if (m_bdata.m_vertices.Count == 0) { - m_centroidDiv = 0; - m_centroid = Vector3.Zero; + m_bdata.m_centroidDiv = 0; + m_bdata.m_centroid = Vector3.Zero; } - if (!m_vertices.ContainsKey(triangle.v1)) + if (!m_bdata.m_vertices.ContainsKey(triangle.v1)) { - m_vertices[triangle.v1] = m_vertices.Count; + m_bdata.m_vertices[triangle.v1] = m_bdata.m_vertices.Count; addVertexLStats(triangle.v1); } - if (!m_vertices.ContainsKey(triangle.v2)) + if (!m_bdata.m_vertices.ContainsKey(triangle.v2)) { - m_vertices[triangle.v2] = m_vertices.Count; + m_bdata.m_vertices[triangle.v2] = m_bdata.m_vertices.Count; addVertexLStats(triangle.v2); } - if (!m_vertices.ContainsKey(triangle.v3)) + if (!m_bdata.m_vertices.ContainsKey(triangle.v3)) { - m_vertices[triangle.v3] = m_vertices.Count; + m_bdata.m_vertices[triangle.v3] = m_bdata.m_vertices.Count; addVertexLStats(triangle.v3); } - m_triangles.Add(triangle); + m_bdata.m_triangles.Add(triangle); } public Vector3 GetCentroid() { - if (m_centroidDiv > 0) - return new Vector3(m_centroid.X / m_centroidDiv, m_centroid.Y / m_centroidDiv, m_centroid.Z / m_centroidDiv); - else - return Vector3.Zero; + return m_obboffset; + } public Vector3 GetOBB() { + return m_obb; float x, y, z; - if (m_centroidDiv > 0) + if (m_bdata.m_centroidDiv > 0) { - x = (m_obbXmax - m_obbXmin) * 0.5f; - y = (m_obbYmax - m_obbYmin) * 0.5f; - z = (m_obbZmax - m_obbZmin) * 0.5f; + x = (m_bdata.m_obbXmax - m_bdata.m_obbXmin) * 0.5f; + y = (m_bdata.m_obbYmax - m_bdata.m_obbYmin) * 0.5f; + z = (m_bdata.m_obbZmax - m_bdata.m_obbZmin) * 0.5f; } else // ?? { @@ -213,72 +268,10 @@ namespace OpenSim.Region.Physics.Meshing return new Vector3(x, y, z); } - public void CalcNormals() - { - int iTriangles = m_triangles.Count; - - this.m_normals = new float[iTriangles * 3]; - - int i = 0; - foreach (Triangle t in m_triangles) - { - float ux, uy, uz; - float vx, vy, vz; - float wx, wy, wz; - - ux = t.v1.X; - uy = t.v1.Y; - uz = t.v1.Z; - - vx = t.v2.X; - vy = t.v2.Y; - vz = t.v2.Z; - - wx = t.v3.X; - wy = t.v3.Y; - wz = t.v3.Z; - - - // Vectors for edges - float e1x, e1y, e1z; - float e2x, e2y, e2z; - - e1x = ux - vx; - e1y = uy - vy; - e1z = uz - vz; - - e2x = ux - wx; - e2y = uy - wy; - e2z = uz - wz; - - - // Cross product for normal - float nx, ny, nz; - nx = e1y * e2z - e1z * e2y; - ny = e1z * e2x - e1x * e2z; - nz = e1x * e2y - e1y * e2x; - - // Length - float l = (float)Math.Sqrt(nx * nx + ny * ny + nz * nz); - float lReciprocal = 1.0f / l; - - // Normalized "normal" - //nx /= l; - //ny /= l; - //nz /= l; - - m_normals[i] = nx * lReciprocal; - m_normals[i + 1] = ny * lReciprocal; - m_normals[i + 2] = nz * lReciprocal; - - i += 3; - } - } - public List getVertexList() { List result = new List(); - foreach (Vertex v in m_vertices.Keys) + foreach (Vertex v in m_bdata.m_vertices.Keys) { result.Add(new Vector3(v.X, v.Y, v.Z)); } @@ -287,10 +280,10 @@ namespace OpenSim.Region.Physics.Meshing private float[] getVertexListAsFloat() { - if (m_vertices == null) + if (m_bdata.m_vertices == null) throw new NotSupportedException(); - float[] result = new float[m_vertices.Count * 3]; - foreach (KeyValuePair kvp in m_vertices) + float[] result = new float[m_bdata.m_vertices.Count * 3]; + foreach (KeyValuePair kvp in m_bdata.m_vertices) { Vertex v = kvp.Key; int i = kvp.Value; @@ -303,74 +296,39 @@ namespace OpenSim.Region.Physics.Meshing public float[] getVertexListAsFloatLocked() { - if (m_pinnedVertexes.IsAllocated) - return (float[])(m_pinnedVertexes.Target); - - float[] result = getVertexListAsFloat(); - m_pinnedVertexes = GCHandle.Alloc(result, GCHandleType.Pinned); - // Inform the garbage collector of this unmanaged allocation so it can schedule - // the next GC round more intelligently - GC.AddMemoryPressure(Buffer.ByteLength(result)); - - return result; - } - - public void PrepForOde() - { - // If there isn't an unmanaged array allocated yet, do it now - if (m_verticesPtr == IntPtr.Zero) - { - float[] vertexList = getVertexListAsFloat(); - // Each vertex is 3 elements (floats) - m_vertexCount = vertexList.Length / 3; - int byteCount = m_vertexCount * 3 * sizeof(float); - m_verticesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount); - System.Runtime.InteropServices.Marshal.Copy(vertexList, 0, m_verticesPtr, m_vertexCount * 3); - } - - // If there isn't an unmanaged array allocated yet, do it now - if (m_indicesPtr == IntPtr.Zero) - { - int[] indexList = getIndexListAsInt(); - m_indexCount = indexList.Length; - int byteCount = m_indexCount * sizeof(int); - m_indicesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount); - System.Runtime.InteropServices.Marshal.Copy(indexList, 0, m_indicesPtr, m_indexCount); - } - - releaseSourceMeshData(); + return null; } - public void getVertexListAsPtrToFloatArray(out IntPtr vertices, out int vertexStride, out int vertexCount) + public void getVertexListAsPtrToFloatArray(out IntPtr _vertices, out int vertexStride, out int vertexCount) { // A vertex is 3 floats vertexStride = 3 * sizeof(float); // If there isn't an unmanaged array allocated yet, do it now - if (m_verticesPtr == IntPtr.Zero) + if (m_verticesPtr == IntPtr.Zero && m_bdata != null) { - float[] vertexList = getVertexListAsFloat(); + vertices = getVertexListAsFloat(); // Each vertex is 3 elements (floats) - m_vertexCount = vertexList.Length / 3; - int byteCount = m_vertexCount * vertexStride; - m_verticesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount); - System.Runtime.InteropServices.Marshal.Copy(vertexList, 0, m_verticesPtr, m_vertexCount * 3); + m_vertexCount = vertices.Length / 3; + vhandler = GCHandle.Alloc(vertices, GCHandleType.Pinned); + m_verticesPtr = vhandler.AddrOfPinnedObject(); + GC.AddMemoryPressure(Buffer.ByteLength(vertices)); } - vertices = m_verticesPtr; + _vertices = m_verticesPtr; vertexCount = m_vertexCount; } public int[] getIndexListAsInt() { - if (m_triangles == null) + if (m_bdata.m_triangles == null) throw new NotSupportedException(); - int[] result = new int[m_triangles.Count * 3]; - for (int i = 0; i < m_triangles.Count; i++) + int[] result = new int[m_bdata.m_triangles.Count * 3]; + for (int i = 0; i < m_bdata.m_triangles.Count; i++) { - Triangle t = m_triangles[i]; - result[3 * i + 0] = m_vertices[t.v1]; - result[3 * i + 1] = m_vertices[t.v2]; - result[3 * i + 2] = m_vertices[t.v3]; + Triangle t = m_bdata.m_triangles[i]; + result[3 * i + 0] = m_bdata.m_vertices[t.v1]; + result[3 * i + 1] = m_bdata.m_vertices[t.v2]; + result[3 * i + 2] = m_bdata.m_vertices[t.v3]; } return result; } @@ -381,28 +339,19 @@ namespace OpenSim.Region.Physics.Meshing /// public int[] getIndexListAsIntLocked() { - if (m_pinnedIndex.IsAllocated) - return (int[])(m_pinnedIndex.Target); - - int[] result = getIndexListAsInt(); - m_pinnedIndex = GCHandle.Alloc(result, GCHandleType.Pinned); - // Inform the garbage collector of this unmanaged allocation so it can schedule - // the next GC round more intelligently - GC.AddMemoryPressure(Buffer.ByteLength(result)); - - return result; + return null; } public void getIndexListAsPtrToIntArray(out IntPtr indices, out int triStride, out int indexCount) { // If there isn't an unmanaged array allocated yet, do it now - if (m_indicesPtr == IntPtr.Zero) + if (m_indicesPtr == IntPtr.Zero && m_bdata != null) { - int[] indexList = getIndexListAsInt(); - m_indexCount = indexList.Length; - int byteCount = m_indexCount * sizeof(int); - m_indicesPtr = System.Runtime.InteropServices.Marshal.AllocHGlobal(byteCount); - System.Runtime.InteropServices.Marshal.Copy(indexList, 0, m_indicesPtr, m_indexCount); + indexes = getIndexListAsInt(); + m_indexCount = indexes.Length; + ihandler = GCHandle.Alloc(indexes, GCHandleType.Pinned); + m_indicesPtr = ihandler.AddrOfPinnedObject(); + GC.AddMemoryPressure(Buffer.ByteLength(indexes)); } // A triangle is 3 ints (indices) triStride = 3 * sizeof(int); @@ -412,18 +361,16 @@ namespace OpenSim.Region.Physics.Meshing public void releasePinned() { - if (m_pinnedVertexes.IsAllocated) - m_pinnedVertexes.Free(); - if (m_pinnedIndex.IsAllocated) - m_pinnedIndex.Free(); if (m_verticesPtr != IntPtr.Zero) { - System.Runtime.InteropServices.Marshal.FreeHGlobal(m_verticesPtr); + vhandler.Free(); + vertices = null; m_verticesPtr = IntPtr.Zero; } if (m_indicesPtr != IntPtr.Zero) { - System.Runtime.InteropServices.Marshal.FreeHGlobal(m_indicesPtr); + ihandler.Free(); + indexes = null; m_indicesPtr = IntPtr.Zero; } } @@ -433,29 +380,42 @@ namespace OpenSim.Region.Physics.Meshing /// public void releaseSourceMeshData() { - m_triangles = null; - m_vertices = null; + if (m_bdata != null) + { + m_bdata.m_triangles = null; + m_bdata.m_vertices = null; + } + } + + public void releaseBuildingMeshData() + { + if (m_bdata != null) + { + m_bdata.m_triangles = null; + m_bdata.m_vertices = null; + m_bdata = null; + } } public void Append(IMesh newMesh) { - if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) + if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) throw new NotSupportedException("Attempt to Append to a pinned Mesh"); if (!(newMesh is Mesh)) return; - foreach (Triangle t in ((Mesh)newMesh).m_triangles) + foreach (Triangle t in ((Mesh)newMesh).m_bdata.m_triangles) Add(t); } // Do a linear transformation of mesh. public void TransformLinear(float[,] matrix, float[] offset) { - if (m_pinnedIndex.IsAllocated || m_pinnedVertexes.IsAllocated || m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) + if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero) throw new NotSupportedException("Attempt to TransformLinear a pinned Mesh"); - - foreach (Vertex v in m_vertices.Keys) + + foreach (Vertex v in m_bdata.m_vertices.Keys) { if (v == null) continue; @@ -473,10 +433,12 @@ namespace OpenSim.Region.Physics.Meshing { if (path == null) return; + if (m_bdata == null) + return; String fileName = name + "_" + title + ".raw"; String completePath = System.IO.Path.Combine(path, fileName); StreamWriter sw = new StreamWriter(completePath); - foreach (Triangle t in m_triangles) + foreach (Triangle t in m_bdata.m_triangles) { String s = t.ToStringRaw(); sw.WriteLine(s); @@ -486,7 +448,144 @@ namespace OpenSim.Region.Physics.Meshing public void TrimExcess() { - m_triangles.TrimExcess(); + m_bdata.m_triangles.TrimExcess(); + } + + public void pinMemory() + { + m_vertexCount = vertices.Length / 3; + vhandler = GCHandle.Alloc(vertices, GCHandleType.Pinned); + m_verticesPtr = vhandler.AddrOfPinnedObject(); + GC.AddMemoryPressure(Buffer.ByteLength(vertices)); + + m_indexCount = indexes.Length; + ihandler = GCHandle.Alloc(indexes, GCHandleType.Pinned); + m_indicesPtr = ihandler.AddrOfPinnedObject(); + GC.AddMemoryPressure(Buffer.ByteLength(indexes)); + } + + public void PrepForOde() + { + // If there isn't an unmanaged array allocated yet, do it now + if (m_verticesPtr == IntPtr.Zero) + vertices = getVertexListAsFloat(); + + // If there isn't an unmanaged array allocated yet, do it now + if (m_indicesPtr == IntPtr.Zero) + indexes = getIndexListAsInt(); + + pinMemory(); + + float x, y, z; + + if (m_bdata.m_centroidDiv > 0) + { + m_obboffset = new Vector3(m_bdata.m_centroid.X / m_bdata.m_centroidDiv, m_bdata.m_centroid.Y / m_bdata.m_centroidDiv, m_bdata.m_centroid.Z / m_bdata.m_centroidDiv); + x = (m_bdata.m_obbXmax - m_bdata.m_obbXmin) * 0.5f; + y = (m_bdata.m_obbYmax - m_bdata.m_obbYmin) * 0.5f; + z = (m_bdata.m_obbZmax - m_bdata.m_obbZmin) * 0.5f; + } + + else + { + m_obboffset = Vector3.Zero; + x = 0.5f; + y = 0.5f; + z = 0.5f; + } + m_obb = new Vector3(x, y, z); + + releaseBuildingMeshData(); + } + public bool ToStream(Stream st) + { + if (m_indicesPtr == IntPtr.Zero || m_verticesPtr == IntPtr.Zero) + return false; + + BinaryWriter bw = new BinaryWriter(st); + bool ok = true; + + try + { + + bw.Write(m_vertexCount); + bw.Write(m_indexCount); + + for (int i = 0; i < 3 * m_vertexCount; i++) + bw.Write(vertices[i]); + for (int i = 0; i < m_indexCount; i++) + bw.Write(indexes[i]); + bw.Write(m_obb.X); + bw.Write(m_obb.Y); + bw.Write(m_obb.Z); + bw.Write(m_obboffset.X); + bw.Write(m_obboffset.Y); + bw.Write(m_obboffset.Z); + } + catch + { + ok = false; + } + + if (bw != null) + { + bw.Flush(); + bw.Close(); + } + + return ok; + } + + public static Mesh FromStream(Stream st, AMeshKey key) + { + Mesh mesh = new Mesh(); + mesh.releaseBuildingMeshData(); + + BinaryReader br = new BinaryReader(st); + + bool ok = true; + try + { + mesh.m_vertexCount = br.ReadInt32(); + mesh.m_indexCount = br.ReadInt32(); + + int n = 3 * mesh.m_vertexCount; + mesh.vertices = new float[n]; + for (int i = 0; i < n; i++) + mesh.vertices[i] = br.ReadSingle(); + + mesh.indexes = new int[mesh.m_indexCount]; + for (int i = 0; i < mesh.m_indexCount; i++) + mesh.indexes[i] = br.ReadInt32(); + + mesh.m_obb.X = br.ReadSingle(); + mesh.m_obb.Y = br.ReadSingle(); + mesh.m_obb.Z = br.ReadSingle(); + + mesh.m_obboffset.X = br.ReadSingle(); + mesh.m_obboffset.Y = br.ReadSingle(); + mesh.m_obboffset.Z = br.ReadSingle(); + } + catch + { + ok = false; + } + + br.Close(); + + if (ok) + { + mesh.pinMemory(); + + mesh.Key = key; + mesh.RefCount = 1; + + return mesh; + } + + mesh.vertices = null; + mesh.indexes = null; + return null; } } } diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index dec5eb7..952ecc8 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -42,6 +42,8 @@ using System.Reflection; using System.IO; using ComponentAce.Compression.Libs.zlib; using OpenSim.Region.Physics.ConvexDecompositionDotNet; +using System.Runtime.Serialization; +using System.Runtime.Serialization.Formatters.Binary; namespace OpenSim.Region.Physics.Meshing { @@ -68,18 +70,20 @@ namespace OpenSim.Region.Physics.Meshing // Setting baseDir to a path will enable the dumping of raw files // raw files can be imported by blender so a visual inspection of the results can be done -#if SPAM - const string baseDir = "rawFiles"; -#else + + public object diskLock = new object(); + + public bool doMeshFileCache = true; + + public string cachePath = "MeshCache"; + +// const string baseDir = "rawFiles"; private const string baseDir = null; //"rawFiles"; -#endif private bool useMeshiesPhysicsMesh = false; private float minSizeForComplexMesh = 0.2f; // prims with all dimensions smaller than this will have a bounding box mesh -// private Dictionary m_uniqueMeshes = new Dictionary(); -// private Dictionary m_uniqueReleasedMeshes = new Dictionary(); private Dictionary m_uniqueMeshes = new Dictionary(); private Dictionary m_uniqueReleasedMeshes = new Dictionary(); @@ -89,8 +93,16 @@ namespace OpenSim.Region.Physics.Meshing IConfig mesh_config = config.Configs["Mesh"]; if(mesh_config != null) + { useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); - + if(useMeshiesPhysicsMesh) + { + doMeshFileCache = mesh_config.GetBoolean("MeshFileCache", doMeshFileCache); + cachePath = mesh_config.GetString("MeshFileCachePath", cachePath); + } + else + doMeshFileCache = false; + } } /// @@ -188,7 +200,7 @@ namespace OpenSim.Region.Physics.Meshing /// Size of entire object /// /// - private void AddSubMesh(OSDMap subMeshData, Vector3 size, List coords, List faces) + private void AddSubMesh(OSDMap subMeshData, List coords, List faces) { // Console.WriteLine("subMeshMap for {0} - {1}", primName, Util.GetFormattedXml((OSD)subMeshMap)); @@ -221,9 +233,9 @@ namespace OpenSim.Region.Physics.Meshing ushort uZ = Utils.BytesToUInt16(posBytes, i + 4); Coord c = new Coord( - Utils.UInt16ToFloat(uX, posMin.X, posMax.X) * size.X, - Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y) * size.Y, - Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z) * size.Z); + Utils.UInt16ToFloat(uX, posMin.X, posMax.X), + Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y), + Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z)); coords.Add(c); } @@ -247,7 +259,7 @@ namespace OpenSim.Region.Physics.Meshing /// /// /// - private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool convex) + private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, float lod, bool convex) { // m_log.DebugFormat( // "[MESH]: Creating physics proxy for {0}, shape {1}", @@ -263,18 +275,18 @@ namespace OpenSim.Region.Physics.Meshing if (!useMeshiesPhysicsMesh) return null; - if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, size, out coords, out faces, convex)) + if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, out coords, out faces, convex)) return null; } else { - if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, size, lod, out coords, out faces)) + if (!GenerateCoordsAndFacesFromPrimSculptData(primName, primShape, lod, out coords, out faces)) return null; } } else { - if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, size, lod, out coords, out faces)) + if (!GenerateCoordsAndFacesFromPrimShapeData(primName, primShape, lod, out coords, out faces)) return null; } @@ -309,7 +321,7 @@ namespace OpenSim.Region.Physics.Meshing /// Faces are added to this list by the method. /// true if coords and faces were successfully generated, false if not private bool GenerateCoordsAndFacesFromPrimMeshData( - string primName, PrimitiveBaseShape primShape, Vector3 size, out List coords, out List faces, bool convex) + string primName, PrimitiveBaseShape primShape, out List coords, out List faces, bool convex) { // m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName); @@ -382,7 +394,7 @@ namespace OpenSim.Region.Physics.Meshing OSD decodedMeshOsd = new OSD(); byte[] meshBytes = new byte[physSize]; System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize); -// byte[] decompressed = new byte[physSize * 5]; + try { using (MemoryStream inMs = new MemoryStream(meshBytes)) @@ -420,13 +432,13 @@ namespace OpenSim.Region.Physics.Meshing // physics_shape is an array of OSDMaps, one for each submesh if (decodedMeshOsd is OSDArray) { -// Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd)); +// Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd)); decodedMeshOsdArray = (OSDArray)decodedMeshOsd; foreach (OSD subMeshOsd in decodedMeshOsdArray) { if (subMeshOsd is OSDMap) - AddSubMesh(subMeshOsd as OSDMap, size, coords, faces); + AddSubMesh(subMeshOsd as OSDMap, coords, faces); } } } @@ -498,9 +510,9 @@ namespace OpenSim.Region.Physics.Meshing t3 = data[ptr++]; t3 += data[ptr++] << 8; - f3 = new float3((t1 * range.X + min.X) * size.X, - (t2 * range.Y + min.Y) * size.Y, - (t3 * range.Z + min.Z) * size.Z); + f3 = new float3((t1 * range.X + min.X), + (t2 * range.Y + min.Y), + (t3 * range.Z + min.Z)); vs.Add(f3); } @@ -597,9 +609,9 @@ namespace OpenSim.Region.Physics.Meshing t3 = data[i++]; t3 += data[i++] << 8; - f3 = new float3((t1 * range.X + min.X) * size.X, - (t2 * range.Y + min.Y) * size.Y, - (t3 * range.Z + min.Z) * size.Z); + f3 = new float3((t1 * range.X + min.X), + (t2 * range.Y + min.Y), + (t3 * range.Z + min.Z)); vs.Add(f3); } @@ -687,7 +699,7 @@ namespace OpenSim.Region.Physics.Meshing /// Faces are added to this list by the method. /// true if coords and faces were successfully generated, false if not private bool GenerateCoordsAndFacesFromPrimSculptData( - string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List coords, out List faces) + string primName, PrimitiveBaseShape primShape, float lod, out List coords, out List faces) { coords = new List(); faces = new List(); @@ -757,9 +769,7 @@ namespace OpenSim.Region.Physics.Meshing idata.Dispose(); - sculptMesh.DumpRaw(baseDir, primName, "primMesh"); - - sculptMesh.Scale(size.X, size.Y, size.Z); +// sculptMesh.DumpRaw(baseDir, primName, "primMesh"); coords = sculptMesh.coords; faces = sculptMesh.faces; @@ -777,7 +787,7 @@ namespace OpenSim.Region.Physics.Meshing /// Faces are added to this list by the method. /// true if coords and faces were successfully generated, false if not private bool GenerateCoordsAndFacesFromPrimShapeData( - string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, out List coords, out List faces) + string primName, PrimitiveBaseShape primShape, float lod, out List coords, out List faces) { PrimMesh primMesh; coords = new List(); @@ -912,9 +922,7 @@ namespace OpenSim.Region.Physics.Meshing } } - primMesh.DumpRaw(baseDir, primName, "primMesh"); - - primMesh.Scale(size.X, size.Y, size.Z); +// primMesh.DumpRaw(baseDir, primName, "primMesh"); coords = primMesh.coords; faces = primMesh.faces; @@ -934,6 +942,7 @@ namespace OpenSim.Region.Physics.Meshing { key.uuid = primShape.SculptTexture; key.hashB = mdjb2(key.hashB, primShape.SculptType); + key.hashB = mdjb2(key.hashB, primShape.PCode); } else { @@ -956,6 +965,7 @@ namespace OpenSim.Region.Physics.Meshing hash = mdjb2(hash, primShape.ProfileBegin); hash = mdjb2(hash, primShape.ProfileEnd); hash = mdjb2(hash, primShape.ProfileHollow); + hash = mdjb2(hash, primShape.PCode); key.hashA = hash; } @@ -1001,8 +1011,6 @@ namespace OpenSim.Region.Physics.Meshing return CreateMesh(primName, primShape, size, lod, false,false,false); } - private static Vector3 m_MeshUnitSize = new Vector3(0.5f, 0.5f, 0.5f); - public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex) { Mesh mesh = null; @@ -1031,7 +1039,13 @@ namespace OpenSim.Region.Physics.Meshing { m_uniqueReleasedMeshes.Remove(key); lock (m_uniqueMeshes) - m_uniqueMeshes.Add(key, mesh); + { + try + { + m_uniqueMeshes.Add(key, mesh); + } + catch { } + } mesh.RefCount = 1; return mesh; } @@ -1039,6 +1053,8 @@ namespace OpenSim.Region.Physics.Meshing return null; } + private static Vector3 m_MeshUnitSize = new Vector3(1.0f, 1.0f, 1.0f); + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde) { #if SPAM @@ -1074,41 +1090,78 @@ namespace OpenSim.Region.Physics.Meshing { m_uniqueReleasedMeshes.Remove(key); lock (m_uniqueMeshes) - m_uniqueMeshes.Add(key, mesh); + { + try + { + m_uniqueMeshes.Add(key, mesh); + } + catch { } + } mesh.RefCount = 1; return mesh; } } - mesh = CreateMeshFromPrimMesher(primName, primShape, size, lod,convex); + Mesh UnitMesh = null; + AMeshKey unitKey = GetMeshUniqueKey(primShape, m_MeshUnitSize, (byte)lod, convex); - if (mesh != null) + lock (m_uniqueReleasedMeshes) { - if ((!isPhysical) && size.X < minSizeForComplexMesh && size.Y < minSizeForComplexMesh && size.Z < minSizeForComplexMesh) + m_uniqueReleasedMeshes.TryGetValue(unitKey, out UnitMesh); + if (UnitMesh != null) { -#if SPAM - m_log.Debug("Meshmerizer: prim " + primName + " has a size of " + size.ToString() + " which is below threshold of " + - minSizeForComplexMesh.ToString() + " - creating simple bounding box"); -#endif - mesh = CreateBoundingBoxMesh(mesh); - mesh.DumpRaw(baseDir, primName, "Z extruded"); + UnitMesh.RefCount = 1; } + } + + if (UnitMesh == null && primShape.SculptEntry && doMeshFileCache) + UnitMesh = GetFromFileCache(unitKey); + + if (UnitMesh == null) + { + UnitMesh = CreateMeshFromPrimMesher(primName, primShape, lod, convex); + + if (UnitMesh == null) + return null; + + UnitMesh.DumpRaw(baseDir, unitKey.ToString(), "Z"); if (forOde) { // force pinned mem allocation - mesh.PrepForOde(); + UnitMesh.PrepForOde(); } else - mesh.TrimExcess(); + UnitMesh.TrimExcess(); - mesh.Key = key; - mesh.RefCount = 1; + UnitMesh.Key = unitKey; + UnitMesh.RefCount = 1; - lock(m_uniqueMeshes) - m_uniqueMeshes.Add(key, mesh); + if (doMeshFileCache && primShape.SculptEntry) + StoreToFileCache(unitKey, UnitMesh); + + lock (m_uniqueReleasedMeshes) + { + try + { + m_uniqueReleasedMeshes.Add(unitKey, UnitMesh); + } + catch { } + } } + mesh = UnitMesh.Scale(size); + mesh.Key = key; + mesh.RefCount = 1; + lock (m_uniqueMeshes) + { + try + { + m_uniqueMeshes.Add(key, mesh); + } + catch { } + } + return mesh; } @@ -1133,7 +1186,13 @@ namespace OpenSim.Region.Physics.Meshing mesh.RefCount = 0; m_uniqueMeshes.Remove(mesh.Key); lock (m_uniqueReleasedMeshes) - m_uniqueReleasedMeshes.Add(mesh.Key, mesh); + { + try + { + m_uniqueReleasedMeshes.Add(mesh.Key, mesh); + } + catch { } + } } } @@ -1160,10 +1219,102 @@ namespace OpenSim.Region.Physics.Meshing foreach (Mesh m in meshstodelete) { m_uniqueReleasedMeshes.Remove(m.Key); - m.releaseSourceMeshData(); + m.releaseBuildingMeshData(); m.releasePinned(); } } } + + public void FileNames(AMeshKey key, out string dir,out string fullFileName) + { + string id = key.ToString(); + string init = id.Substring(0, 1); + dir = System.IO.Path.Combine(cachePath, init); + fullFileName = System.IO.Path.Combine(dir, id); + } + + public string FullFileName(AMeshKey key) + { + string id = key.ToString(); + string init = id.Substring(0,1); + id = System.IO.Path.Combine(init, id); + id = System.IO.Path.Combine(cachePath, id); + return id; + } + + private Mesh GetFromFileCache(AMeshKey key) + { + Mesh mesh = null; + string filename = FullFileName(key); + bool ok = true; + + lock (diskLock) + { + if (File.Exists(filename)) + { + FileStream stream = null; + try + { + stream = File.Open(filename, FileMode.Open, FileAccess.Read, FileShare.Read); + BinaryFormatter bformatter = new BinaryFormatter(); + + mesh = Mesh.FromStream(stream, key); + } + catch (Exception e) + { + ok = false; + m_log.ErrorFormat( + "[MESH CACHE]: Failed to get file {0}. Exception {1} {2}", + filename, e.Message, e.StackTrace); + } + if (stream != null) + stream.Close(); + + if (mesh == null || !ok) + File.Delete(filename); + } + } + + return mesh; + } + + private void StoreToFileCache(AMeshKey key, Mesh mesh) + { + Stream stream = null; + bool ok = false; + + // Make sure the target cache directory exists + string dir = String.Empty; + string filename = String.Empty; + + FileNames(key, out dir, out filename); + + lock (diskLock) + { + try + { + if (!Directory.Exists(dir)) + { + Directory.CreateDirectory(dir); + } + + stream = File.Open(filename, FileMode.Create); + ok = mesh.ToStream(stream); + } + catch (IOException e) + { + m_log.ErrorFormat( + "[MESH CACHE]: Failed to write file {0}. Exception {1} {2}.", + filename, e.Message, e.StackTrace); + ok = false; + } + + if (stream != null) + stream.Close(); + + if (!ok && File.Exists(filename)) + File.Delete(filename); + } + } } } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 03048a4..6592e6c 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -718,7 +718,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) return; - +/* // debug PhysicsActor dp2; if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass) @@ -742,7 +742,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } // - +*/ if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || -- cgit v1.1 From 13cb64a2c57db34bcb6706075d3d7998bb416392 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Fri, 12 Oct 2012 23:46:48 +0100 Subject: missing file --- OpenSim/Region/Physics/Manager/IMesher.cs | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index fdba6ee..d7ab20b 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -58,6 +58,7 @@ namespace OpenSim.Region.Physics.Manager { } + [Serializable()] [StructLayout(LayoutKind.Explicit)] public struct AMeshKey { @@ -67,6 +68,11 @@ namespace OpenSim.Region.Physics.Manager public ulong hashA; [FieldOffset(8)] public ulong hashB; + + public override string ToString() + { + return uuid.ToString(); + } } public interface IMesh -- cgit v1.1 From 48d2258f41b3ce8e9a1bfe98e9835f5ea947a815 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 13 Oct 2012 00:41:19 +0100 Subject: longer meshs identification keys, so first part on disk cache is it's asset id --- OpenSim/Region/Physics/Manager/IMesher.cs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index d7ab20b..d0e3996 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -68,10 +68,12 @@ namespace OpenSim.Region.Physics.Manager public ulong hashA; [FieldOffset(8)] public ulong hashB; + [FieldOffset(16)] + public ulong hashC; public override string ToString() { - return uuid.ToString(); + return uuid.ToString() + "-" + hashC.ToString() ; } } -- cgit v1.1 From 9ada03bcdd8bff22fea162672b5a3dde88d4d0c5 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 13 Oct 2012 00:49:08 +0100 Subject: missing file (again) --- OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 952ecc8..2fe34e3 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -936,13 +936,14 @@ namespace OpenSim.Region.Physics.Meshing Byte[] someBytes; key.hashB = 5181; + key.hashC = 5181; ulong hash = 5381; if (primShape.SculptEntry) { key.uuid = primShape.SculptTexture; - key.hashB = mdjb2(key.hashB, primShape.SculptType); - key.hashB = mdjb2(key.hashB, primShape.PCode); + key.hashC = mdjb2(key.hashC, primShape.SculptType); + key.hashC = mdjb2(key.hashC, primShape.PCode); } else { @@ -954,6 +955,9 @@ namespace OpenSim.Region.Physics.Meshing hash = mdjb2(hash, primShape.PathScaleX); hash = mdjb2(hash, primShape.PathScaleY); hash = mdjb2(hash, primShape.PathShearX); + key.hashA = hash; + key.hashA |= 0xf000000000000000; + hash = key.hashB; hash = mdjb2(hash, primShape.PathShearY); hash = mdjb2(hash, (byte)primShape.PathTwist); hash = mdjb2(hash, (byte)primShape.PathTwistBegin); @@ -966,10 +970,10 @@ namespace OpenSim.Region.Physics.Meshing hash = mdjb2(hash, primShape.ProfileEnd); hash = mdjb2(hash, primShape.ProfileHollow); hash = mdjb2(hash, primShape.PCode); - key.hashA = hash; + key.hashB = hash; } - hash = key.hashB; + hash = key.hashC; someBytes = size.GetBytes(); for (int i = 0; i < someBytes.Length; i++) -- cgit v1.1 From 666fb744a36ca5497dc8868298f47c23cd72b1a8 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 13 Oct 2012 01:41:18 +0100 Subject: retouch mesh ids --- OpenSim/Region/Physics/Manager/IMesher.cs | 2 +- OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 30 +++++++++++++++-------- 2 files changed, 21 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index d0e3996..21a5fa0 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -73,7 +73,7 @@ namespace OpenSim.Region.Physics.Manager public override string ToString() { - return uuid.ToString() + "-" + hashC.ToString() ; + return uuid.ToString() + "-" + hashC.ToString("x") ; } } diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 2fe34e3..35eabd4 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -956,7 +956,6 @@ namespace OpenSim.Region.Physics.Meshing hash = mdjb2(hash, primShape.PathScaleY); hash = mdjb2(hash, primShape.PathShearX); key.hashA = hash; - key.hashA |= 0xf000000000000000; hash = key.hashB; hash = mdjb2(hash, primShape.PathShearY); hash = mdjb2(hash, (byte)primShape.PathTwist); @@ -975,21 +974,32 @@ namespace OpenSim.Region.Physics.Meshing hash = key.hashC; - someBytes = size.GetBytes(); - for (int i = 0; i < someBytes.Length; i++) - hash = mdjb2(hash, someBytes[i]); - hash = mdjb2(hash, lod); - - hash &= 0x3fffffffffffffff; + + if (size == m_MeshUnitSize) + { + hash = hash << 8; + hash |= 8; + } + else + { + someBytes = size.GetBytes(); + for (int i = 0; i < someBytes.Length; i++) + hash = mdjb2(hash, someBytes[i]); + hash = hash << 8; + } if (convex) - hash |= 0x4000000000000000; + hash |= 4; if (primShape.SculptEntry) - hash |= 0x8000000000000000; + { + hash |= 1; + if (primShape.SculptType == (byte)SculptType.Mesh) + hash |= 2; + } - key.hashB = hash; + key.hashC = hash; return key; } -- cgit v1.1 From 5986b4ee3980d27d6e8524c4b8f5ad4c9a701288 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 13 Oct 2012 22:30:34 +0100 Subject: add mesh cache expire on region startup. Expires will be relative to previus expire (assumed done only once at startup). File 'cntr' on cache folder stores time. Deleting it will force a skip on expire. Default time is 48hours before previus startup to account for failed ones etc. --- OpenSim/Region/Physics/Manager/IMesher.cs | 1 + OpenSim/Region/Physics/Manager/ZeroMesher.cs | 1 + OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 1 + OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 88 ++++++++++++++++++++++- 4 files changed, 88 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index 21a5fa0..ecc2918 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -41,6 +41,7 @@ namespace OpenSim.Region.Physics.Manager IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex); void ReleaseMesh(IMesh mesh); void ExpireReleaseMeshs(); + void ExpireFileCache(); } // Values for level of detail to be passed to the mesher. diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs index 1411165..16846e6 100644 --- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs +++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs @@ -87,5 +87,6 @@ namespace OpenSim.Region.Physics.Manager public void ReleaseMesh(IMesh mesh) { } public void ExpireReleaseMeshs() { } + public void ExpireFileCache() { } } } diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index fd4ac7f..f629c4d 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -755,5 +755,6 @@ namespace OpenSim.Region.Physics.Meshing public void ReleaseMesh(IMesh imesh) { } public void ExpireReleaseMeshs() { } + public void ExpireFileCache() { } } } diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 35eabd4..6550b66 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -76,6 +76,8 @@ namespace OpenSim.Region.Physics.Meshing public bool doMeshFileCache = true; public string cachePath = "MeshCache"; + public TimeSpan CacheExpire; + public bool doCacheExpire = true; // const string baseDir = "rawFiles"; private const string baseDir = null; //"rawFiles"; @@ -92,17 +94,29 @@ namespace OpenSim.Region.Physics.Meshing IConfig start_config = config.Configs["Startup"]; IConfig mesh_config = config.Configs["Mesh"]; + + float fcache = 48.0f; +// float fcache = 0.02f; + if(mesh_config != null) { useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); - if(useMeshiesPhysicsMesh) + if (useMeshiesPhysicsMesh) { doMeshFileCache = mesh_config.GetBoolean("MeshFileCache", doMeshFileCache); cachePath = mesh_config.GetString("MeshFileCachePath", cachePath); + fcache = mesh_config.GetFloat("MeshFileCacheExpireHours", fcache); + doCacheExpire = mesh_config.GetBoolean("MeshFileCacheDoExpire", doCacheExpire); } else + { doMeshFileCache = false; + doCacheExpire = false; + } } + + CacheExpire = TimeSpan.FromHours(fcache); + } /// @@ -1273,6 +1287,7 @@ namespace OpenSim.Region.Physics.Meshing BinaryFormatter bformatter = new BinaryFormatter(); mesh = Mesh.FromStream(stream, key); + } catch (Exception e) { @@ -1281,11 +1296,14 @@ namespace OpenSim.Region.Physics.Meshing "[MESH CACHE]: Failed to get file {0}. Exception {1} {2}", filename, e.Message, e.StackTrace); } + if (stream != null) stream.Close(); if (mesh == null || !ok) File.Delete(filename); + else + File.SetLastAccessTimeUtc(filename, DateTime.UtcNow); } } @@ -1326,8 +1344,72 @@ namespace OpenSim.Region.Physics.Meshing if (stream != null) stream.Close(); - if (!ok && File.Exists(filename)) - File.Delete(filename); + if (File.Exists(filename)) + { + if (ok) + File.SetLastAccessTimeUtc(filename, DateTime.UtcNow); + else + File.Delete(filename); + } + } + } + + public void ExpireFileCache() + { + if (!doCacheExpire) + return; + + string controlfile = System.IO.Path.Combine(cachePath, "cntr"); + + lock (diskLock) + { + try + { + if (File.Exists(controlfile)) + { + int ndeleted = 0; + int totalfiles = 0; + int ndirs = 0; + DateTime OlderTime = File.GetLastAccessTimeUtc(controlfile) - CacheExpire; + File.SetLastAccessTimeUtc(controlfile, DateTime.UtcNow); + + foreach (string dir in Directory.GetDirectories(cachePath)) + { + try + { + foreach (string file in Directory.GetFiles(dir)) + { + try + { + if (File.GetLastAccessTimeUtc(file) < OlderTime) + { + File.Delete(file); + ndeleted++; + } + } + catch { } + totalfiles++; + } + } + catch { } + ndirs++; + } + + if (ndeleted == 0) + m_log.InfoFormat("[MESH CACHE]: {0} Files in {1} cache folders, no expires", + totalfiles,ndirs); + else + m_log.InfoFormat("[MESH CACHE]: {0} Files in {1} cache folders, expired {2} files accessed before {3}", + totalfiles,ndirs, ndeleted, OlderTime.ToString()); + } + else + { + m_log.Info("[MESH CACHE]: Expire delayed to next startup"); + FileStream fs = File.Create(controlfile,4096,FileOptions.WriteThrough); + fs.Close(); + } + } + catch { } } } } -- cgit v1.1 From 1e0334441138cb6fcb8853344310c6dbfc9ac047 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 13 Oct 2012 22:45:09 +0100 Subject: missing file --- OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 24f76d62..768b0e6 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -103,6 +103,8 @@ namespace OpenSim.Region.Physics.OdePlugin private void DoWork() { + m_mesher.ExpireFileCache(); + while(m_running) { ODEPhysRepData nextRep = createqueue.Dequeue(); -- cgit v1.1 From 91b83fd45e8648febc8176aa50110ff60ece167c Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 16 Oct 2012 11:26:05 +0100 Subject: fixes --- .../Region/Physics/UbitOdePlugin/ODEMeshWorker.cs | 87 ++++++++++++---------- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 9 ++- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 53 ++++++------- 3 files changed, 82 insertions(+), 67 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs index 768b0e6..73dd2fd 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs @@ -32,7 +32,9 @@ namespace OpenSim.Region.Physics.OdePlugin FailMask = 0xC0, // 11000000 AssetFailed = 0x40, // 01000000 - MeshFailed = 0x80 // 10000000 + MeshFailed = 0x80, // 10000000 + + MeshNoColide = FailMask | needAsset } public enum meshWorkerCmnds : byte @@ -119,13 +121,10 @@ namespace OpenSim.Region.Physics.OdePlugin case meshWorkerCmnds.changefull: case meshWorkerCmnds.changeshapetype: case meshWorkerCmnds.changesize: + GetMesh(nextRep); if (CreateActorPhysRep(nextRep) && m_scene.haveActor(nextRep.actor)) m_scene.AddChange(nextRep.actor, changes.PhysRepData, nextRep); break; - case meshWorkerCmnds.addnew: - if (CreateActorPhysRep(nextRep)) - m_scene.AddChange(nextRep.actor, changes.AddPhysRep, nextRep); - break; case meshWorkerCmnds.getmesh: DoRepDataGetMesh(nextRep); break; @@ -155,13 +154,13 @@ namespace OpenSim.Region.Physics.OdePlugin repData.size = size; repData.shapetype = shapetype; - CheckMeshDone(repData); + CheckMesh(repData); CalcVolumeData(repData); m_scene.AddChange(actor, changes.PhysRepData, repData); return; } - public void NewActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, + public ODEPhysRepData NewActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs, Vector3 size, byte shapetype) { ODEPhysRepData repData = new ODEPhysRepData(); @@ -170,21 +169,17 @@ namespace OpenSim.Region.Physics.OdePlugin repData.size = size; repData.shapetype = shapetype; - CheckMeshDone(repData); + CheckMesh(repData); CalcVolumeData(repData); m_scene.AddChange(actor, changes.AddPhysRep, repData); + return repData; } public void RequestMesh(ODEPhysRepData repData) { repData.mesh = null; - if (repData.meshState == MeshState.needMesh) - { - repData.comand = meshWorkerCmnds.changefull; - createqueue.Enqueue(repData); - } - else if (repData.meshState == MeshState.needAsset) + if (repData.meshState == MeshState.needAsset) { PrimitiveBaseShape pbs = repData.pbs; @@ -196,9 +191,7 @@ namespace OpenSim.Region.Physics.OdePlugin return; } - if (pbs.SculptTexture != repData.assetID) - return; - + repData.assetID = pbs.SculptTexture; repData.meshState = MeshState.loadingAsset; repData.comand = meshWorkerCmnds.getmesh; @@ -209,7 +202,6 @@ namespace OpenSim.Region.Physics.OdePlugin // creates and prepares a mesh to use and calls parameters estimation public bool CreateActorPhysRep(ODEPhysRepData repData) { - getMesh(repData); IMesh mesh = repData.mesh; if (mesh != null) @@ -270,6 +262,15 @@ namespace OpenSim.Region.Physics.OdePlugin if (repData.assetID != repData.pbs.SculptTexture) return; + // check if it is in cache + GetMesh(repData); + if (repData.meshState != MeshState.needAsset) + { + CreateActorPhysRep(repData); + m_scene.AddChange(repData.actor, changes.PhysRepData, repData); + return; + } + RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod; if (assetProvider == null) return; @@ -400,7 +401,7 @@ namespace OpenSim.Region.Physics.OdePlugin // see if we need a mesh and if so if we have a cached one // called with a new repData - public bool CheckMeshDone(ODEPhysRepData repData) + public void CheckMesh(ODEPhysRepData repData) { PhysicsActor actor = repData.actor; PrimitiveBaseShape pbs = repData.pbs; @@ -408,7 +409,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (!needsMeshing(pbs)) { repData.meshState = MeshState.noNeed; - return true; + return; } IMesh mesh = null; @@ -437,29 +438,38 @@ namespace OpenSim.Region.Physics.OdePlugin if (pbs.SculptTexture != null && pbs.SculptTexture != UUID.Zero) { repData.assetID = pbs.SculptTexture; - repData.meshState = MeshState.needAsset; + repData.meshState = MeshState.needAsset; } else repData.meshState = MeshState.MeshFailed; + + return; } else + { repData.meshState = MeshState.needMesh; - - return false; + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); + if (mesh == null) + { + repData.meshState = MeshState.MeshFailed; + return; + } + } } + repData.meshState = MeshState.AssetOK; repData.mesh = mesh; + if (pbs.SculptEntry) { - repData.meshState = MeshState.AssetOK; repData.assetID = pbs.SculptTexture; } pbs.SculptData = Utils.EmptyBytes; - return true; + return ; } - public bool getMesh(ODEPhysRepData repData) + public void GetMesh(ODEPhysRepData repData) { PhysicsActor actor = repData.actor; @@ -469,17 +479,20 @@ namespace OpenSim.Region.Physics.OdePlugin repData.hasOBB = false; if (!needsMeshing(pbs)) - return false; + { + repData.meshState = MeshState.noNeed; + return; + } if (repData.meshState == MeshState.MeshFailed) - return false; + return; if (pbs.SculptEntry) { if (repData.meshState == MeshState.AssetFailed) { if (pbs.SculptTexture == repData.assetID) - return true; + return; } } @@ -500,27 +513,23 @@ namespace OpenSim.Region.Physics.OdePlugin clod = (int)LevelOfDetail.Low; } - // check cached - mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex); - + mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true); + if (mesh == null) { if (pbs.SculptEntry) { if (pbs.SculptTexture == UUID.Zero) - return false; + return; repData.assetID = pbs.SculptTexture; - repData.meshState = MeshState.AssetOK; if (pbs.SculptData == null || pbs.SculptData.Length == 0) { repData.meshState = MeshState.needAsset; - return false; + return; } } - - mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex,true); } repData.mesh = mesh; @@ -533,12 +542,12 @@ namespace OpenSim.Region.Physics.OdePlugin else repData.meshState = MeshState.MeshFailed; - return false; + return; } repData.meshState = MeshState.AssetOK; - return true; + return; } private void CalculateBasicPrimVolume(ODEPhysRepData repData) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index f083d38..ce67cc4 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -1104,7 +1104,12 @@ namespace OpenSim.Region.Physics.OdePlugin m_building = true; // control must set this to false when done - _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); + // get basic mass parameters + ODEPhysRepData repData = _parent_scene.m_meshWorker.NewActorPhysRep(this, _pbs, _size, m_shapetype); + + primVolume = repData.volume; + + UpdatePrimBodyData(); } private void resetCollisionAccounting() @@ -1466,7 +1471,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_NoColide = false; - if ((m_meshState & MeshState.FailMask) != 0) + if ((m_meshState & MeshState.MeshNoColide) != 0) m_NoColide = true; else if(m_mesh != null) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 6592e6c..b98f177 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -1729,33 +1729,7 @@ namespace OpenSim.Region.Physics.OdePlugin ODEchangeitem item; - if (ChangesQueue.Count > 0) - { - int ttmpstart = Util.EnvironmentTickCount(); - int ttmp; - while (ChangesQueue.Dequeue(out item)) - { - if (item.actor != null) - { - try - { - if (item.actor is OdeCharacter) - ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); - else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) - RemovePrimThreadLocked((OdePrim)item.actor); - } - catch - { - m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", - item.actor.Name, item.what.ToString()); - } - } - ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); - if (ttmp > 20) - break; - } - } d.WorldSetQuickStepNumIterations(world, curphysiteractions); @@ -1766,6 +1740,33 @@ namespace OpenSim.Region.Physics.OdePlugin // clear pointer/counter to contacts to pass into joints m_global_contactcount = 0; + if (ChangesQueue.Count > 0) + { + int ttmpstart = Util.EnvironmentTickCount(); + int ttmp; + + while (ChangesQueue.Dequeue(out item)) + { + if (item.actor != null) + { + try + { + if (item.actor is OdeCharacter) + ((OdeCharacter)item.actor).DoAChange(item.what, item.arg); + else if (((OdePrim)item.actor).DoAChange(item.what, item.arg)) + RemovePrimThreadLocked((OdePrim)item.actor); + } + catch + { + m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}", + item.actor.Name, item.what.ToString()); + } + } + ttmp = Util.EnvironmentTickCountSubtract(ttmpstart); + if (ttmp > 20) + break; + } + } // Move characters lock (_characters) -- cgit v1.1 From e8936366f55c588b02c7aa29e40c478f52f16494 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Tue, 16 Oct 2012 11:39:58 +0100 Subject: coment a debug warning --- OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs index 6550b66..29fdda4 100644 --- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs @@ -347,7 +347,7 @@ namespace OpenSim.Region.Physics.Meshing if (primShape.SculptData.Length <= 0) { - m_log.InfoFormat("[MESH]: asset data for {0} is zero length", primName); +// m_log.InfoFormat("[MESH]: asset data for {0} is zero length", primName); return false; } -- cgit v1.1 From 322eefbb6f6c3cc418a327a3b51357a12ee5036f Mon Sep 17 00:00:00 2001 From: Melanie Date: Wed, 17 Oct 2012 01:31:05 +0200 Subject: Allow the console to be used by gods as well as region owners. --- OpenSim/Region/ClientStack/Linden/Caps/RegionConsoleModule.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/ClientStack/Linden/Caps/RegionConsoleModule.cs b/OpenSim/Region/ClientStack/Linden/Caps/RegionConsoleModule.cs index 413536d..0a5ad0f 100644 --- a/OpenSim/Region/ClientStack/Linden/Caps/RegionConsoleModule.cs +++ b/OpenSim/Region/ClientStack/Linden/Caps/RegionConsoleModule.cs @@ -104,7 +104,7 @@ namespace OpenSim.Region.ClientStack.Linden public void RegisterCaps(UUID agentID, Caps caps) { - if (!m_scene.RegionInfo.EstateSettings.IsEstateManagerOrOwner(agentID)) + if (!m_scene.RegionInfo.EstateSettings.IsEstateManagerOrOwner(agentID) && !m_scene.Permissions.IsGod(agentID)) return; UUID capID = UUID.Random(); -- cgit v1.1 From 2e8e8d576e342e4036b278805137ad68066dcbad Mon Sep 17 00:00:00 2001 From: Melanie Date: Thu, 18 Oct 2012 13:20:50 +0200 Subject: Remove redundant and annoyingly modal message box in upload processing. --- .../Linden/Caps/BunchOfCaps/BunchOfCaps.cs | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs index c705f10..650cd50 100644 --- a/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs +++ b/OpenSim/Region/ClientStack/Linden/Caps/BunchOfCaps/BunchOfCaps.cs @@ -1116,17 +1116,17 @@ namespace OpenSim.Region.ClientStack.Linden else { AddNewInventoryItem(m_HostCapsObj.AgentID, item, (uint)cost); - if (client != null) - { - // let users see anything.. i don't so far - string str; - if (cost > 0) - // dont remember where is money unit name to put here - str = "Upload complete. charged " + cost.ToString() + "$"; - else - str = "Upload complete"; - client.SendAgentAlertMessage(str, true); - } +// if (client != null) +// { +// // let users see anything.. i don't so far +// string str; +// if (cost > 0) +// // dont remember where is money unit name to put here +// str = "Upload complete. charged " + cost.ToString() + "$"; +// else +// str = "Upload complete"; +// client.SendAgentAlertMessage(str, true); +// } } } -- cgit v1.1