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authorJustin Clark-Casey (justincc)2011-07-29 00:23:42 +0100
committerJustin Clark-Casey (justincc)2011-07-29 00:23:42 +0100
commit9c6227da661952ddc808e6c5fb0da5ebf774f0cb (patch)
treeb16941ee7b3ffd8ca05dc60951c83f946d3853e5 /OpenSim/Region/Physics/OdePlugin
parentWhen using osTeleportAgent() and osTeleportAvatar(), only teleport if the reg... (diff)
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refactor: unindent the OdeScene.Simulate() loop to ignore the long commented out ifs and locks
This is to make it more readable.
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdeScene.cs544
1 files changed, 274 insertions, 270 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index a307469..a6d737e 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -2687,320 +2687,321 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
2687 //if (!ode.lockquery()) 2687 //if (!ode.lockquery())
2688 //{ 2688 //{
2689 // ode.dlock(world); 2689 // ode.dlock(world);
2690 try
2691 {
2692 // Insert, remove Characters
2693 bool processedtaints = false;
2694 2690
2695 lock (_taintedActors) 2691 try
2696 { 2692 {
2697 if (_taintedActors.Count > 0) 2693 // Insert, remove Characters
2698 { 2694 bool processedtaints = false;
2699 foreach (OdeCharacter character in _taintedActors)
2700 {
2701 character.ProcessTaints(timeStep);
2702 2695
2703 processedtaints = true; 2696 lock (_taintedActors)
2704 //character.m_collisionscore = 0; 2697 {
2705 } 2698 if (_taintedActors.Count > 0)
2699 {
2700 foreach (OdeCharacter character in _taintedActors)
2701 {
2702 character.ProcessTaints(timeStep);
2706 2703
2707 if (processedtaints) 2704 processedtaints = true;
2708 _taintedActors.Clear(); 2705 //character.m_collisionscore = 0;
2709 }
2710 } 2706 }
2711 2707
2712 // Modify other objects in the scene. 2708 if (processedtaints)
2713 processedtaints = false; 2709 _taintedActors.Clear();
2710 }
2711 }
2712
2713 // Modify other objects in the scene.
2714 processedtaints = false;
2714 2715
2715 lock (_taintedPrimLock) 2716 lock (_taintedPrimLock)
2717 {
2718 foreach (OdePrim prim in _taintedPrimL)
2719 {
2720 if (prim.m_taintremove)
2716 { 2721 {
2717 foreach (OdePrim prim in _taintedPrimL) 2722 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2718 { 2723 RemovePrimThreadLocked(prim);
2719 if (prim.m_taintremove) 2724 }
2720 { 2725 else
2721 //Console.WriteLine("Simulate calls RemovePrimThreadLocked"); 2726 {
2722 RemovePrimThreadLocked(prim); 2727 //Console.WriteLine("Simulate calls ProcessTaints");
2723 } 2728 prim.ProcessTaints(timeStep);
2724 else 2729 }
2725 { 2730 processedtaints = true;
2726 //Console.WriteLine("Simulate calls ProcessTaints"); 2731 prim.m_collisionscore = 0;
2727 prim.ProcessTaints(timeStep); 2732
2728 } 2733 // This loop can block up the Heartbeat for a very long time on large regions.
2729 processedtaints = true; 2734 // We need to let the Watchdog know that the Heartbeat is not dead
2730 prim.m_collisionscore = 0; 2735 // NOTE: This is currently commented out, but if things like OAR loading are
2731 2736 // timing the heartbeat out we will need to uncomment it
2732 // This loop can block up the Heartbeat for a very long time on large regions. 2737 //Watchdog.UpdateThread();
2733 // We need to let the Watchdog know that the Heartbeat is not dead 2738 }
2734 // NOTE: This is currently commented out, but if things like OAR loading are
2735 // timing the heartbeat out we will need to uncomment it
2736 //Watchdog.UpdateThread();
2737 }
2738 2739
2739 if (SupportsNINJAJoints) 2740 if (SupportsNINJAJoints)
2740 { 2741 {
2741 // Create pending joints, if possible 2742 // Create pending joints, if possible
2742 2743
2743 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating 2744 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2744 // a joint requires specifying the body id of both involved bodies 2745 // a joint requires specifying the body id of both involved bodies
2745 if (pendingJoints.Count > 0) 2746 if (pendingJoints.Count > 0)
2747 {
2748 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2749 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2750 foreach (PhysicsJoint joint in pendingJoints)
2751 {
2752 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2753 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
2754 List<IntPtr> jointBodies = new List<IntPtr>();
2755 bool allJointBodiesAreReady = true;
2756 foreach (string jointParam in jointParams)
2746 { 2757 {
2747 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>(); 2758 if (jointParam == "NULL")
2748 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2749 foreach (PhysicsJoint joint in pendingJoints)
2750 { 2759 {
2751 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams); 2760 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2752 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries); 2761 jointBodies.Add(IntPtr.Zero);
2753 List<IntPtr> jointBodies = new List<IntPtr>(); 2762 }
2754 bool allJointBodiesAreReady = true; 2763 else
2755 foreach (string jointParam in jointParams) 2764 {
2765 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2766 bool foundPrim = false;
2767 lock (_prims)
2756 { 2768 {
2757 if (jointParam == "NULL") 2769 foreach (OdePrim prim in _prims) // FIXME: inefficient
2758 {
2759 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2760 jointBodies.Add(IntPtr.Zero);
2761 }
2762 else
2763 { 2770 {
2764 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam); 2771 if (prim.SOPName == jointParam)
2765 bool foundPrim = false;
2766 lock (_prims)
2767 { 2772 {
2768 foreach (OdePrim prim in _prims) // FIXME: inefficient 2773 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2774 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2769 { 2775 {
2770 if (prim.SOPName == jointParam) 2776 jointBodies.Add(prim.Body);
2771 { 2777 foundPrim = true;
2772 //DoJointErrorMessage(joint, "found for prim name: " + jointParam); 2778 break;
2773 if (prim.IsPhysical && prim.Body != IntPtr.Zero) 2779 }
2774 { 2780 else
2775 jointBodies.Add(prim.Body); 2781 {
2776 foundPrim = true; 2782 DoJointErrorMessage(joint, "prim name " + jointParam +
2777 break; 2783 " exists but is not (yet) physical; deferring joint creation. " +
2778 } 2784 "IsPhysical property is " + prim.IsPhysical +
2779 else 2785 " and body is " + prim.Body);
2780 { 2786 foundPrim = false;
2781 DoJointErrorMessage(joint, "prim name " + jointParam + 2787 break;
2782 " exists but is not (yet) physical; deferring joint creation. " +
2783 "IsPhysical property is " + prim.IsPhysical +
2784 " and body is " + prim.Body);
2785 foundPrim = false;
2786 break;
2787 }
2788 }
2789 } 2788 }
2790 }
2791 if (foundPrim)
2792 {
2793 // all is fine
2794 }
2795 else
2796 {
2797 allJointBodiesAreReady = false;
2798 break;
2799 } 2789 }
2800 } 2790 }
2801 } 2791 }
2802 if (allJointBodiesAreReady) 2792 if (foundPrim)
2803 { 2793 {
2804 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams); 2794 // all is fine
2805 if (jointBodies[0] == jointBodies[1])
2806 {
2807 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2808 }
2809 else
2810 {
2811 switch (joint.Type)
2812 {
2813 case PhysicsJointType.Ball:
2814 {
2815 IntPtr odeJoint;
2816 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2817 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2818 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2819 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2820 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2821 d.JointSetBallAnchor(odeJoint,
2822 joint.Position.X,
2823 joint.Position.Y,
2824 joint.Position.Z);
2825 //DoJointErrorMessage(joint, "ODE joint setting OK");
2826 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2827 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2828 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2829 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2830
2831 if (joint is OdePhysicsJoint)
2832 {
2833 ((OdePhysicsJoint)joint).jointID = odeJoint;
2834 }
2835 else
2836 {
2837 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2838 }
2839 }
2840 break;
2841 case PhysicsJointType.Hinge:
2842 {
2843 IntPtr odeJoint;
2844 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2845 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2846 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2847 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2848 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2849 d.JointSetHingeAnchor(odeJoint,
2850 joint.Position.X,
2851 joint.Position.Y,
2852 joint.Position.Z);
2853 // We use the orientation of the x-axis of the joint's coordinate frame
2854 // as the axis for the hinge.
2855
2856 // Therefore, we must get the joint's coordinate frame based on the
2857 // joint.Rotation field, which originates from the orientation of the
2858 // joint's proxy object in the scene.
2859
2860 // The joint's coordinate frame is defined as the transformation matrix
2861 // that converts a vector from joint-local coordinates into world coordinates.
2862 // World coordinates are defined as the XYZ coordinate system of the sim,
2863 // as shown in the top status-bar of the viewer.
2864
2865 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2866 // and use that as the hinge axis.
2867
2868 //joint.Rotation.Normalize();
2869 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2870
2871 // Now extract the X axis of the joint's coordinate frame.
2872
2873 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2874 // tar pit of transposed, inverted, and generally messed-up orientations.
2875 // (In other words, Matrix4.AtAxis() is borked.)
2876 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2877
2878 // Instead, compute the X axis of the coordinate frame by transforming
2879 // the (1,0,0) vector. At least that works.
2880
2881 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2882 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2883 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2884 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2885 d.JointSetHingeAxis(odeJoint,
2886 jointAxis.X,
2887 jointAxis.Y,
2888 jointAxis.Z);
2889 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2890 if (joint is OdePhysicsJoint)
2891 {
2892 ((OdePhysicsJoint)joint).jointID = odeJoint;
2893 }
2894 else
2895 {
2896 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2897 }
2898 }
2899 break;
2900 }
2901 successfullyProcessedPendingJoints.Add(joint);
2902 }
2903 } 2795 }
2904 else 2796 else
2905 { 2797 {
2906 DoJointErrorMessage(joint, "joint could not yet be created; still pending"); 2798 allJointBodiesAreReady = false;
2799 break;
2907 } 2800 }
2908 } 2801 }
2909 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints) 2802 }
2803 if (allJointBodiesAreReady)
2804 {
2805 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2806 if (jointBodies[0] == jointBodies[1])
2910 { 2807 {
2911 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams); 2808 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2912 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending"); 2809 }
2913 InternalRemovePendingJoint(successfullyProcessedJoint); 2810 else
2914 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active"); 2811 {
2915 InternalAddActiveJoint(successfullyProcessedJoint); 2812 switch (joint.Type)
2916 //DoJointErrorMessage(successfullyProcessedJoint, "done"); 2813 {
2814 case PhysicsJointType.Ball:
2815 {
2816 IntPtr odeJoint;
2817 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2818 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2819 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2820 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2821 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2822 d.JointSetBallAnchor(odeJoint,
2823 joint.Position.X,
2824 joint.Position.Y,
2825 joint.Position.Z);
2826 //DoJointErrorMessage(joint, "ODE joint setting OK");
2827 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2828 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2829 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2830 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2831
2832 if (joint is OdePhysicsJoint)
2833 {
2834 ((OdePhysicsJoint)joint).jointID = odeJoint;
2835 }
2836 else
2837 {
2838 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2839 }
2840 }
2841 break;
2842 case PhysicsJointType.Hinge:
2843 {
2844 IntPtr odeJoint;
2845 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2846 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2847 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2848 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2849 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2850 d.JointSetHingeAnchor(odeJoint,
2851 joint.Position.X,
2852 joint.Position.Y,
2853 joint.Position.Z);
2854 // We use the orientation of the x-axis of the joint's coordinate frame
2855 // as the axis for the hinge.
2856
2857 // Therefore, we must get the joint's coordinate frame based on the
2858 // joint.Rotation field, which originates from the orientation of the
2859 // joint's proxy object in the scene.
2860
2861 // The joint's coordinate frame is defined as the transformation matrix
2862 // that converts a vector from joint-local coordinates into world coordinates.
2863 // World coordinates are defined as the XYZ coordinate system of the sim,
2864 // as shown in the top status-bar of the viewer.
2865
2866 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2867 // and use that as the hinge axis.
2868
2869 //joint.Rotation.Normalize();
2870 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2871
2872 // Now extract the X axis of the joint's coordinate frame.
2873
2874 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2875 // tar pit of transposed, inverted, and generally messed-up orientations.
2876 // (In other words, Matrix4.AtAxis() is borked.)
2877 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2878
2879 // Instead, compute the X axis of the coordinate frame by transforming
2880 // the (1,0,0) vector. At least that works.
2881
2882 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2883 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2884 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2885 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2886 d.JointSetHingeAxis(odeJoint,
2887 jointAxis.X,
2888 jointAxis.Y,
2889 jointAxis.Z);
2890 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2891 if (joint is OdePhysicsJoint)
2892 {
2893 ((OdePhysicsJoint)joint).jointID = odeJoint;
2894 }
2895 else
2896 {
2897 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2898 }
2899 }
2900 break;
2901 }
2902 successfullyProcessedPendingJoints.Add(joint);
2917 } 2903 }
2918 } 2904 }
2919 } 2905 else
2920
2921 if (processedtaints)
2922//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2923 _taintedPrimH.Clear();
2924 _taintedPrimL.Clear();
2925 }
2926
2927 // Move characters
2928 lock (_characters)
2929 {
2930 List<OdeCharacter> defects = new List<OdeCharacter>();
2931 foreach (OdeCharacter actor in _characters)
2932 {
2933 if (actor != null)
2934 actor.Move(timeStep, defects);
2935 }
2936 if (0 != defects.Count)
2937 {
2938 foreach (OdeCharacter defect in defects)
2939 { 2906 {
2940 RemoveCharacter(defect); 2907 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2941 } 2908 }
2942 } 2909 }
2943 } 2910 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2944
2945 // Move other active objects
2946 lock (_activeprims)
2947 {
2948 foreach (OdePrim prim in _activeprims)
2949 { 2911 {
2950 prim.m_collisionscore = 0; 2912 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2951 prim.Move(timeStep); 2913 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2914 InternalRemovePendingJoint(successfullyProcessedJoint);
2915 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2916 InternalAddActiveJoint(successfullyProcessedJoint);
2917 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2952 } 2918 }
2953 } 2919 }
2920 }
2954 2921
2955 //if ((framecount % m_randomizeWater) == 0) 2922 if (processedtaints)
2956 // randomizeWater(waterlevel); 2923//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2924 _taintedPrimH.Clear();
2925 _taintedPrimL.Clear();
2926 }
2957 2927
2958 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests(); 2928 // Move characters
2959 m_rayCastManager.ProcessQueuedRequests(); 2929 lock (_characters)
2930 {
2931 List<OdeCharacter> defects = new List<OdeCharacter>();
2932 foreach (OdeCharacter actor in _characters)
2933 {
2934 if (actor != null)
2935 actor.Move(timeStep, defects);
2936 }
2937 if (0 != defects.Count)
2938 {
2939 foreach (OdeCharacter defect in defects)
2940 {
2941 RemoveCharacter(defect);
2942 }
2943 }
2944 }
2960 2945
2961 collision_optimized(timeStep); 2946 // Move other active objects
2947 lock (_activeprims)
2948 {
2949 foreach (OdePrim prim in _activeprims)
2950 {
2951 prim.m_collisionscore = 0;
2952 prim.Move(timeStep);
2953 }
2954 }
2962 2955
2963 lock (_collisionEventPrim) 2956 //if ((framecount % m_randomizeWater) == 0)
2964 { 2957 // randomizeWater(waterlevel);
2965 foreach (PhysicsActor obj in _collisionEventPrim)
2966 {
2967 if (obj == null)
2968 continue;
2969 2958
2970 switch ((ActorTypes)obj.PhysicsActorType) 2959 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
2971 { 2960 m_rayCastManager.ProcessQueuedRequests();
2972 case ActorTypes.Agent:
2973 OdeCharacter cobj = (OdeCharacter)obj;
2974 cobj.AddCollisionFrameTime(100);
2975 cobj.SendCollisions();
2976 break;
2977 case ActorTypes.Prim:
2978 OdePrim pobj = (OdePrim)obj;
2979 pobj.SendCollisions();
2980 break;
2981 }
2982 }
2983 }
2984 2961
2985 //if (m_global_contactcount > 5) 2962 collision_optimized(timeStep);
2986 //{
2987 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
2988 //}
2989 2963
2990 m_global_contactcount = 0; 2964 lock (_collisionEventPrim)
2991 2965 {
2992 d.WorldQuickStep(world, ODE_STEPSIZE); 2966 foreach (PhysicsActor obj in _collisionEventPrim)
2993 d.JointGroupEmpty(contactgroup);
2994 //ode.dunlock(world);
2995 }
2996 catch (Exception e)
2997 { 2967 {
2998 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); 2968 if (obj == null)
2999 ode.dunlock(world); 2969 continue;
2970
2971 switch ((ActorTypes)obj.PhysicsActorType)
2972 {
2973 case ActorTypes.Agent:
2974 OdeCharacter cobj = (OdeCharacter)obj;
2975 cobj.AddCollisionFrameTime(100);
2976 cobj.SendCollisions();
2977 break;
2978 case ActorTypes.Prim:
2979 OdePrim pobj = (OdePrim)obj;
2980 pobj.SendCollisions();
2981 break;
2982 }
3000 } 2983 }
2984 }
3001 2985
3002 step_time -= ODE_STEPSIZE; 2986 //if (m_global_contactcount > 5)
3003 i++; 2987 //{
2988 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
2989 //}
2990
2991 m_global_contactcount = 0;
2992
2993 d.WorldQuickStep(world, ODE_STEPSIZE);
2994 d.JointGroupEmpty(contactgroup);
2995 //ode.dunlock(world);
2996 }
2997 catch (Exception e)
2998 {
2999 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3000 ode.dunlock(world);
3001 }
3002
3003 step_time -= ODE_STEPSIZE;
3004 i++;
3004 //} 3005 //}
3005 //else 3006 //else
3006 //{ 3007 //{
@@ -3091,8 +3092,10 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
3091 fwriter.WriteLine(header); 3092 fwriter.WriteLine(header);
3092 fwriter.Close(); 3093 fwriter.Close();
3093 } 3094 }
3095
3094 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); 3096 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3095 } 3097 }
3098
3096 latertickcount = Util.EnvironmentTickCount() - tickCountFrameRun; 3099 latertickcount = Util.EnvironmentTickCount() - tickCountFrameRun;
3097 3100
3098 // OpenSimulator above does 10 fps. 10 fps = means that the main thread loop and physics 3101 // OpenSimulator above does 10 fps. 10 fps = means that the main thread loop and physics
@@ -3694,6 +3697,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
3694 //d.CloseODE(); 3697 //d.CloseODE();
3695 } 3698 }
3696 } 3699 }
3700
3697 public override Dictionary<uint, float> GetTopColliders() 3701 public override Dictionary<uint, float> GetTopColliders()
3698 { 3702 {
3699 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>(); 3703 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
generated by cgit v1.1 at 2024-12-26 02:51:40 +0000