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authorUbitUmarov2015-11-21 02:14:19 +0000
committerUbitUmarov2015-11-21 02:14:19 +0000
commit0b36d4ea2f5977c5e1e7f0e3fcf890a66ff89348 (patch)
treec2aaf4d741063f02bf20a80b8a7465ec8d84548d
parent remove a warning (diff)
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some cleanup, allow cast rays to collide with terrain within limited range (old ode)
Diffstat
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs1
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs73
-rw-r--r--OpenSim/Region/PhysicsModules/Ode/OdeScene.cs300
3 files changed, 8 insertions, 366 deletions
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index 8f2215a..7c4dc46 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -203,7 +203,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
203 public int m_interpenetrationcount { get; private set; } 203 public int m_interpenetrationcount { get; private set; }
204 internal float m_collisionscore; 204 internal float m_collisionscore;
205 public int m_roundsUnderMotionThreshold { get; private set; } 205 public int m_roundsUnderMotionThreshold { get; private set; }
206 private int m_crossingfailures;
207 206
208 public bool outofBounds { get; private set; } 207 public bool outofBounds { get; private set; }
209 private float m_density = 10.000006836f; // Aluminum g/cm3; 208 private float m_density = 10.000006836f; // Aluminum g/cm3;
diff --git a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
index e39b8c7..a21ec2b 100644
--- a/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
@@ -175,8 +175,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
175 // this value may still be too large, depending on machine configuration 175 // this value may still be too large, depending on machine configuration
176 // of maximum stack 176 // of maximum stack
177 float len = req.length; 177 float len = req.length;
178 if (len > 250f) 178 if (len > 100f)
179 len = 250f; 179 len = 100f;
180 180
181 // Create the ray 181 // Create the ray
182 IntPtr ray = d.CreateRay(m_scene.space, len); 182 IntPtr ray = d.CreateRay(m_scene.space, len);
@@ -226,8 +226,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
226 { 226 {
227 // limit ray length or collisions will take all avaiable stack space 227 // limit ray length or collisions will take all avaiable stack space
228 float len = req.length; 228 float len = req.length;
229 if (len > 250f) 229 if (len > 100f)
230 len = 250f; 230 len = 100f;
231 231
232 // Create the ray 232 // Create the ray
233 IntPtr ray = d.CreateRay(m_scene.space, len); 233 IntPtr ray = d.CreateRay(m_scene.space, len);
@@ -252,71 +252,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
252 private void near(IntPtr space, IntPtr g1, IntPtr g2) 252 private void near(IntPtr space, IntPtr g1, IntPtr g2)
253 { 253 {
254 254
255 //Don't test against heightfield Geom, or you'll be sorry!
256
257 /*
258 terminate called after throwing an instance of 'std::bad_alloc'
259 what(): std::bad_alloc
260 Stacktrace:
261
262 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
263 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
264 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
265 at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
266 fffff>
267 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
268 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
269 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
270 0x00114>
271 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
272 at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
273 at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
274 at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
275 at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
276 at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
277
278 Native stacktrace:
279
280 mono [0x80d2a42]
281 [0xb7f5840c]
282 /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
283 /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
284 /usr/lib/libstdc++.so.6 [0xb45fa865]
285 /usr/lib/libstdc++.so.6 [0xb45fa8a2]
286 /usr/lib/libstdc++.so.6 [0xb45fa9da]
287 /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
288 /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
289 libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
290 libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
291 libode.so(dCollide+0x102) [0xb46571b2]
292 [0x95cfdec9]
293 [0x8ea07fe1]
294 [0xab260146]
295 libode.so [0xb465a5c4]
296 libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
297 libode.so(dSpaceCollide2+0x177) [0xb465ac67]
298 [0x95cf978e]
299 [0x8ea07945]
300 [0x95cf2bbc]
301 [0xab2787e7]
302 [0xab419fb3]
303 [0xab416657]
304 [0xab415bda]
305 [0xb609b08e]
306 mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
307 mono [0x81a2f0f]
308 mono [0x81d28b6]
309 mono [0x81ea2c6]
310 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
311 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
312 */
313
314 // Exclude heightfield geom
315
316 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero) 255 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
317 return; 256 return;
318 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass) 257// if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
319 return; 258// return;
320 259
321 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms. 260 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
322 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) 261 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
diff --git a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
index 6f14121..8b369c8 100644
--- a/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
@@ -58,16 +58,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
58 End = 2 58 End = 2
59 } 59 }
60 60
61// public struct sCollisionData
62// {
63// public uint ColliderLocalId;
64// public uint CollidedWithLocalId;
65// public int NumberOfCollisions;
66// public int CollisionType;
67// public int StatusIndicator;
68// public int lastframe;
69// }
70
71 [Flags] 61 [Flags]
72 public enum CollisionCategories : int 62 public enum CollisionCategories : int
73 { 63 {
@@ -323,7 +313,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
323 public bool IsAvCapsuleTilted { get; private set; } 313 public bool IsAvCapsuleTilted { get; private set; }
324 314
325 private float avDensity = 80f; 315 private float avDensity = 80f;
326// private float avHeightFudgeFactor = 0.52f;
327 private float avMovementDivisorWalk = 1.3f; 316 private float avMovementDivisorWalk = 1.3f;
328 private float avMovementDivisorRun = 0.8f; 317 private float avMovementDivisorRun = 0.8f;
329 private float minimumGroundFlightOffset = 3f; 318 private float minimumGroundFlightOffset = 3f;
@@ -346,7 +335,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
346 335
347 public int bodyFramesAutoDisable = 20; 336 public int bodyFramesAutoDisable = 20;
348 337
349 private float[] _watermap;
350 private bool m_filterCollisions = true; 338 private bool m_filterCollisions = true;
351 339
352 private d.NearCallback nearCallback; 340 private d.NearCallback nearCallback;
@@ -457,31 +445,21 @@ namespace OpenSim.Region.PhysicsModule.ODE
457 private d.Contact WaterContact; 445 private d.Contact WaterContact;
458 private d.Contact[,] m_materialContacts; 446 private d.Contact[,] m_materialContacts;
459 447
460//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
461//Ckrinke private int m_randomizeWater = 200;
462 private int m_physicsiterations = 10; 448 private int m_physicsiterations = 10;
463 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag 449 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
464 private readonly PhysicsActor PANull = new NullPhysicsActor(); 450 private readonly PhysicsActor PANull = new NullPhysicsActor();
465 private float step_time = 0.0f; 451 private float step_time = 0.0f;
466//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
467//Ckrinke private int ms = 0;
468 public IntPtr world; 452 public IntPtr world;
469 //private bool returncollisions = false;
470 // private uint obj1LocalID = 0;
471 private uint obj2LocalID = 0; 453 private uint obj2LocalID = 0;
472 //private int ctype = 0;
473 private OdeCharacter cc1; 454 private OdeCharacter cc1;
474 private OdePrim cp1; 455 private OdePrim cp1;
475 private OdeCharacter cc2; 456 private OdeCharacter cc2;
476 private OdePrim cp2; 457 private OdePrim cp2;
477 private int p1ExpectedPoints = 0; 458 private int p1ExpectedPoints = 0;
478 private int p2ExpectedPoints = 0; 459 private int p2ExpectedPoints = 0;
479 //private int cStartStop = 0;
480 //private string cDictKey = "";
481 460
482 public IntPtr space; 461 public IntPtr space;
483 462
484 //private IntPtr tmpSpace;
485 // split static geometry collision handling into spaces of 30 meters 463 // split static geometry collision handling into spaces of 30 meters
486 public IntPtr[,] staticPrimspace; 464 public IntPtr[,] staticPrimspace;
487 465
@@ -565,8 +543,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
565 m_suportCombine = false; 543 m_suportCombine = false;
566 544
567 nearCallback = near; 545 nearCallback = near;
568// triCallback = TriCallback;
569// triArrayCallback = TriArrayCallback;
570 m_rayCastManager = new ODERayCastRequestManager(this); 546 m_rayCastManager = new ODERayCastRequestManager(this);
571 547
572 // Create the world and the first space 548 // Create the world and the first space
@@ -576,11 +552,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
576 contactgroup = d.JointGroupCreate(0); 552 contactgroup = d.JointGroupCreate(0);
577 553
578 d.WorldSetAutoDisableFlag(world, false); 554 d.WorldSetAutoDisableFlag(world, false);
579
580// _watermap = new float[258 * 258];
581
582 // Zero out the prim spaces array (we split our space into smaller spaces so
583 // we can hit test less.
584 } 555 }
585 556
586 // Initialize from configs 557 // Initialize from configs
@@ -708,8 +679,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
708 spaceGridMaxX--; 679 spaceGridMaxX--;
709 spaceGridMaxY--; 680 spaceGridMaxY--;
710 681
711
712
713 // Centeral contact friction and bounce 682 // Centeral contact friction and bounce
714 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why 683 // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
715 // an avatar falls through in Z but not in X or Y when walking on a prim. 684 // an avatar falls through in Z but not in X or Y when walking on a prim.
@@ -884,9 +853,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
884 d.WorldSetLinearDampingThreshold(world, 256f); 853 d.WorldSetLinearDampingThreshold(world, 256f);
885 d.WorldSetMaxAngularSpeed(world, 256f); 854 d.WorldSetMaxAngularSpeed(world, 256f);
886 855
887 // Set how many steps we go without running collision testing
888 // This is in addition to the step size.
889 // Essentially Steps * m_physicsiterations
890 d.WorldSetQuickStepNumIterations(world, m_physicsiterations); 856 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
891 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f); 857 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
892 858
@@ -901,22 +867,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
901 _worldInitialized = true; 867 _worldInitialized = true;
902 } 868 }
903 869
904// internal void waitForSpaceUnlock(IntPtr space)
905// {
906// //if (space != IntPtr.Zero)
907// //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
908// }
909
910// /// <summary>
911// /// Debug space message for printing the space that a prim/avatar is in.
912// /// </summary>
913// /// <param name="pos"></param>
914// /// <returns>Returns which split up space the given position is in.</returns>
915// public string whichspaceamIin(Vector3 pos)
916// {
917// return calculateSpaceForGeom(pos).ToString();
918// }
919
920 #region Collision Detection 870 #region Collision Detection
921 871
922 /// <summary> 872 /// <summary>
@@ -1042,12 +992,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1042 name2 = "null"; 992 name2 = "null";
1043 } 993 }
1044 994
1045 //if (id == d.GeomClassId.TriMeshClass)
1046 //{
1047 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
1048 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1049 //}
1050
1051 // Figure out how many contact points we have 995 // Figure out how many contact points we have
1052 int count = 0; 996 int count = 0;
1053 997
@@ -1166,110 +1110,9 @@ namespace OpenSim.Region.PhysicsModule.ODE
1166 // we don't want prim or avatar to explode 1110 // we don't want prim or avatar to explode
1167 1111
1168 #region InterPenetration Handling - Unintended physics explosions 1112 #region InterPenetration Handling - Unintended physics explosions
1169# region disabled code1
1170 1113
1171 if (curContact.depth >= 0.08f) 1114 if (curContact.depth >= 0.08f)
1172 { 1115 {
1173 //This is disabled at the moment only because it needs more tweaking
1174 //It will eventually be uncommented
1175 /*
1176 if (contact.depth >= 1.00f)
1177 {
1178 //m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
1179 }
1180
1181 //If you interpenetrate a prim with an agent
1182 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
1183 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
1184 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
1185 p2.PhysicsActorType == (int) ActorTypes.Prim))
1186 {
1187
1188 //contact.depth = contact.depth * 4.15f;
1189 /*
1190 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
1191 {
1192 p2.CollidingObj = true;
1193 contact.depth = 0.003f;
1194 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
1195 OdeCharacter character = (OdeCharacter) p2;
1196 character.SetPidStatus(true);
1197 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));
1198
1199 }
1200 else
1201 {
1202
1203 //contact.depth = 0.0000000f;
1204 }
1205 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
1206 {
1207
1208 p1.CollidingObj = true;
1209 contact.depth = 0.003f;
1210 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
1211 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));
1212 OdeCharacter character = (OdeCharacter)p1;
1213 character.SetPidStatus(true);
1214 }
1215 else
1216 {
1217
1218 //contact.depth = 0.0000000f;
1219 }
1220
1221
1222
1223 }
1224*/
1225 // If you interpenetrate a prim with another prim
1226 /*
1227 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
1228 {
1229 #region disabledcode2
1230 //OdePrim op1 = (OdePrim)p1;
1231 //OdePrim op2 = (OdePrim)p2;
1232 //op1.m_collisionscore++;
1233 //op2.m_collisionscore++;
1234
1235 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
1236 //{
1237 //op1.m_taintdisable = true;
1238 //AddPhysicsActorTaint(p1);
1239 //op2.m_taintdisable = true;
1240 //AddPhysicsActorTaint(p2);
1241 //}
1242
1243 //if (contact.depth >= 0.25f)
1244 //{
1245 // Don't collide, one or both prim will expld.
1246
1247 //op1.m_interpenetrationcount++;
1248 //op2.m_interpenetrationcount++;
1249 //interpenetrations_before_disable = 200;
1250 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
1251 //{
1252 //op1.m_taintdisable = true;
1253 //AddPhysicsActorTaint(p1);
1254 //}
1255 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
1256 //{
1257 // op2.m_taintdisable = true;
1258 //AddPhysicsActorTaint(p2);
1259 //}
1260
1261 //contact.depth = contact.depth / 8f;
1262 //contact.normal = new d.Vector3(0, 0, 1);
1263 //}
1264 //if (op1.m_disabled || op2.m_disabled)
1265 //{
1266 //Manually disabled objects stay disabled
1267 //contact.depth = 0f;
1268 //}
1269 #endregion
1270 }
1271 */
1272#endregion
1273 if (curContact.depth >= 1.00f) 1116 if (curContact.depth >= 1.00f)
1274 { 1117 {
1275 //m_log.Info("[P]: " + contact.depth.ToString()); 1118 //m_log.Info("[P]: " + contact.depth.ToString());
@@ -1584,12 +1427,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1584 } 1427 }
1585 else if (at == ActorTypes.Prim) 1428 else if (at == ActorTypes.Prim)
1586 { 1429 {
1587 //d.AABB aabb1 = new d.AABB();
1588 //d.AABB aabb2 = new d.AABB();
1589
1590 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1591 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1592 //aabb1.
1593 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))) 1430 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)))
1594 { 1431 {
1595 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z) 1432 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
@@ -1631,14 +1468,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1631 cc1 = (OdeCharacter)p1; 1468 cc1 = (OdeCharacter)p1;
1632 obj2LocalID = cc1.LocalID; 1469 obj2LocalID = cc1.LocalID;
1633 cc1.AddCollisionEvent(cc2.LocalID, contact); 1470 cc1.AddCollisionEvent(cc2.LocalID, contact);
1634 //ctype = (int)CollisionCategories.Character;
1635
1636 //if (cc1.CollidingObj)
1637 //cStartStop = (int)StatusIndicators.Generic;
1638 //else
1639 //cStartStop = (int)StatusIndicators.Start;
1640
1641 //returncollisions = true;
1642 break; 1471 break;
1643 1472
1644 case ActorTypes.Prim: 1473 case ActorTypes.Prim:
@@ -1648,21 +1477,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
1648 obj2LocalID = cp1.LocalID; 1477 obj2LocalID = cp1.LocalID;
1649 cp1.AddCollisionEvent(cc2.LocalID, contact); 1478 cp1.AddCollisionEvent(cc2.LocalID, contact);
1650 } 1479 }
1651 //ctype = (int)CollisionCategories.Geom;
1652
1653 //if (cp1.CollidingObj)
1654 //cStartStop = (int)StatusIndicators.Generic;
1655 //else
1656 //cStartStop = (int)StatusIndicators.Start;
1657
1658 //returncollisions = true;
1659 break; 1480 break;
1660 1481
1661 case ActorTypes.Ground: 1482 case ActorTypes.Ground:
1662 case ActorTypes.Unknown: 1483 case ActorTypes.Unknown:
1663 obj2LocalID = 0; 1484 obj2LocalID = 0;
1664 //ctype = (int)CollisionCategories.Land;
1665 //returncollisions = true;
1666 break; 1485 break;
1667 } 1486 }
1668 1487
@@ -1684,13 +1503,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
1684 cc1 = (OdeCharacter) p1; 1503 cc1 = (OdeCharacter) p1;
1685 obj2LocalID = cc1.LocalID; 1504 obj2LocalID = cc1.LocalID;
1686 cc1.AddCollisionEvent(cp2.LocalID, contact); 1505 cc1.AddCollisionEvent(cp2.LocalID, contact);
1687 //ctype = (int)CollisionCategories.Character;
1688
1689 //if (cc1.CollidingObj)
1690 //cStartStop = (int)StatusIndicators.Generic;
1691 //else
1692 //cStartStop = (int)StatusIndicators.Start;
1693 //returncollisions = true;
1694 } 1506 }
1695 break; 1507 break;
1696 case ActorTypes.Prim: 1508 case ActorTypes.Prim:
@@ -1700,23 +1512,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
1700 cp1 = (OdePrim) p1; 1512 cp1 = (OdePrim) p1;
1701 obj2LocalID = cp1.LocalID; 1513 obj2LocalID = cp1.LocalID;
1702 cp1.AddCollisionEvent(cp2.LocalID, contact); 1514 cp1.AddCollisionEvent(cp2.LocalID, contact);
1703 //ctype = (int)CollisionCategories.Geom;
1704
1705 //if (cp1.CollidingObj)
1706 //cStartStop = (int)StatusIndicators.Generic;
1707 //else
1708 //cStartStop = (int)StatusIndicators.Start;
1709
1710 //returncollisions = true;
1711 } 1515 }
1712 break; 1516 break;
1713 1517
1714 case ActorTypes.Ground: 1518 case ActorTypes.Ground:
1715 case ActorTypes.Unknown: 1519 case ActorTypes.Unknown:
1716 obj2LocalID = 0; 1520 obj2LocalID = 0;
1717 //ctype = (int)CollisionCategories.Land;
1718
1719 //returncollisions = true;
1720 break; 1521 break;
1721 } 1522 }
1722 1523
@@ -1724,80 +1525,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
1724 } 1525 }
1725 break; 1526 break;
1726 } 1527 }
1727 //if (returncollisions)
1728 //{
1729
1730 //lock (m_storedCollisions)
1731 //{
1732 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1733 //if (m_storedCollisions.ContainsKey(cDictKey))
1734 //{
1735 //sCollisionData objd = m_storedCollisions[cDictKey];
1736 //objd.NumberOfCollisions += 1;
1737 //objd.lastframe = framecount;
1738 //m_storedCollisions[cDictKey] = objd;
1739 //}
1740 //else
1741 //{
1742 //sCollisionData objd = new sCollisionData();
1743 //objd.ColliderLocalId = obj1LocalID;
1744 //objd.CollidedWithLocalId = obj2LocalID;
1745 //objd.CollisionType = ctype;
1746 //objd.NumberOfCollisions = 1;
1747 //objd.lastframe = framecount;
1748 //objd.StatusIndicator = cStartStop;
1749 //m_storedCollisions.Add(cDictKey, objd);
1750 //}
1751 //}
1752 // }
1753 } 1528 }
1754/*
1755 private int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1756 {
1757 String name1 = null;
1758 String name2 = null;
1759
1760 if (!geom_name_map.TryGetValue(trimesh, out name1))
1761 {
1762 name1 = "null";
1763 }
1764 if (!geom_name_map.TryGetValue(refObject, out name2))
1765 {
1766 name2 = "null";
1767 }
1768
1769 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1770
1771 return 1;
1772 }
1773
1774 private int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1775 {
1776// String name1 = null;
1777// String name2 = null;
1778//
1779// if (!geom_name_map.TryGetValue(trimesh, out name1))
1780// {
1781// name1 = "null";
1782// }
1783//
1784// if (!geom_name_map.TryGetValue(refObject, out name2))
1785// {
1786// name2 = "null";
1787// }
1788
1789 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1790
1791 d.Vector3 v0 = new d.Vector3();
1792 d.Vector3 v1 = new d.Vector3();
1793 d.Vector3 v2 = new d.Vector3();
1794
1795 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1796 // 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);
1797
1798 return 1;
1799 }
1800*/
1801 /// <summary> 1529 /// <summary>
1802 /// This is our collision testing routine in ODE 1530 /// This is our collision testing routine in ODE
1803 /// </summary> 1531 /// </summary>
@@ -2988,27 +2716,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
2988 2716
2989 lock (OdeLock) 2717 lock (OdeLock)
2990 { 2718 {
2991 // Process 10 frames if the sim is running normal.. 2719 while (step_time > HalfOdeStep)
2992 // process 5 frames if the sim is running slow
2993 //try
2994 //{
2995 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2996 //}
2997 //catch (StackOverflowException)
2998 //{
2999 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
3000 // ode.drelease(world);
3001 //base.TriggerPhysicsBasedRestart();
3002 //}
3003
3004 // Figure out the Frames Per Second we're going at.
3005 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
3006
3007
3008 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
3009 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
3010
3011 while (step_time > HalfOdeStep)
3012 { 2720 {
3013 try 2721 try
3014 { 2722 {
@@ -3107,10 +2815,6 @@ namespace OpenSim.Region.PhysicsModule.ODE
3107 tempTick = tempTick2; 2815 tempTick = tempTick2;
3108 } 2816 }
3109 2817
3110 //if ((framecount % m_randomizeWater) == 0)
3111 // randomizeWater(waterlevel);
3112
3113 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3114 m_rayCastManager.ProcessQueuedRequests(); 2818 m_rayCastManager.ProcessQueuedRequests();
3115 2819
3116 if (CollectStats) 2820 if (CollectStats)
@@ -3131,7 +2835,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
3131 2835
3132 foreach (PhysicsActor obj in m_collisionEventActors.Values) 2836 foreach (PhysicsActor obj in m_collisionEventActors.Values)
3133 { 2837 {
3134// m_log.DebugFormat("[PHYSICS]: Assessing {0} {1} for collision events", obj.SOPName, obj.LocalID); 2838 // m_log.DebugFormat("[PHYSICS]: Assessing {0} {1} for collision events", obj.SOPName, obj.LocalID);
3135 2839
3136 switch ((ActorTypes)obj.PhysicsActorType) 2840 switch ((ActorTypes)obj.PhysicsActorType)
3137 { 2841 {
generated by cgit v1.1 at 2024-12-28 05:29:25 +0000