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authorMW2007-08-23 10:53:42 +0000
committerMW2007-08-23 10:53:42 +0000
commit9a8742e838cdefba925292d554a2f8bc9a6b3806 (patch)
tree53da4c3f519202b09727c9e3fc1d4110faa23a90 /OpenSim
parentMore lsl functions (thanks to ldviopeng and wjordan!) (diff)
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Added danx0r's physics patch, although for now have disabled the lines in Scene.cs, as any changes to prims (like size or position changes) are only updated to the physics engine when you restart opensim. Also prims aren't deleted from the physics engine. These shouldn't be hard to fix.
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Environment/Scenes/Scene.cs12
-rw-r--r--OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs1
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs1
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs38
4 files changed, 50 insertions, 2 deletions
diff --git a/OpenSim/Region/Environment/Scenes/Scene.cs b/OpenSim/Region/Environment/Scenes/Scene.cs
index 91ff0a8..7317361 100644
--- a/OpenSim/Region/Environment/Scenes/Scene.cs
+++ b/OpenSim/Region/Environment/Scenes/Scene.cs
@@ -503,6 +503,11 @@ namespace OpenSim.Region.Environment.Scenes
503 foreach (SceneObjectGroup prim in PrimsFromDB) 503 foreach (SceneObjectGroup prim in PrimsFromDB)
504 { 504 {
505 AddEntityFromStorage(prim); 505 AddEntityFromStorage(prim);
506 // phyScene.AddPrim(
507 // new PhysicsVector(prim.RootPart.AbsolutePosition.X, prim.RootPart.AbsolutePosition.Y, prim.RootPart.AbsolutePosition.Z),
508 // new PhysicsVector(prim.RootPart.Scale.X, prim.RootPart.Scale.Y, prim.RootPart.Scale.Z),
509 // new Axiom.Math.Quaternion(prim.RootPart.RotationOffset.W, prim.RootPart.RotationOffset.X,
510 // prim.RootPart.RotationOffset.Y, prim.RootPart.RotationOffset.Z));
506 } 511 }
507 MainLog.Instance.Verbose("Loaded " + PrimsFromDB.Count.ToString() + " SceneObject(s)"); 512 MainLog.Instance.Verbose("Loaded " + PrimsFromDB.Count.ToString() + " SceneObject(s)");
508 } 513 }
@@ -540,6 +545,8 @@ namespace OpenSim.Region.Environment.Scenes
540 { 545 {
541 SceneObjectGroup sceneOb = new SceneObjectGroup(this, this.m_regionHandle, ownerID, PrimIDAllocate(), pos, shape); 546 SceneObjectGroup sceneOb = new SceneObjectGroup(this, this.m_regionHandle, ownerID, PrimIDAllocate(), pos, shape);
542 AddEntity(sceneOb); 547 AddEntity(sceneOb);
548 //phyScene.AddPrim(new PhysicsVector(pos.X, pos.Y, pos.Z), new PhysicsVector(shape.Scale.X, shape.Scale.Y, shape.Scale.Z),
549 // new Axiom.Math.Quaternion());
543 } 550 }
544 551
545 public void RemovePrim(uint localID, LLUUID avatar_deleter) 552 public void RemovePrim(uint localID, LLUUID avatar_deleter)
@@ -615,6 +622,11 @@ namespace OpenSim.Region.Environment.Scenes
615 //if we want this to be a import method then we need new uuids for the object to avoid any clashes 622 //if we want this to be a import method then we need new uuids for the object to avoid any clashes
616 //obj.RegenerateFullIDs(); 623 //obj.RegenerateFullIDs();
617 AddEntity(obj); 624 AddEntity(obj);
625 // phyScene.AddPrim(
626 // new PhysicsVector(obj.RootPart.AbsolutePosition.X, obj.RootPart.AbsolutePosition.Y, obj.RootPart.AbsolutePosition.Z),
627 // new PhysicsVector(obj.RootPart.Scale.X, obj.RootPart.Scale.Y, obj.RootPart.Scale.Z),
628 // new Axiom.Math.Quaternion(obj.RootPart.RotationOffset.W, obj.RootPart.RotationOffset.X,
629 // obj.RootPart.RotationOffset.Y, obj.RootPart.RotationOffset.Z));
618 primCount++; 630 primCount++;
619 } 631 }
620 } 632 }
diff --git a/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
index c3d70ea..56ac9be 100644
--- a/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs
@@ -57,6 +57,7 @@ namespace OpenSim.Region.Environment.Scenes
57 57
58 public SceneObjectPart RootPart 58 public SceneObjectPart RootPart
59 { 59 {
60 get { return this.m_rootPart; }
60 set { m_rootPart = value; } 61 set { m_rootPart = value; }
61 } 62 }
62 63
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 6ab4178..0341b3b 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -93,6 +93,7 @@ namespace OpenSim.Physics.Manager
93 IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString())); 93 IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
94 plug.Init(); 94 plug.Init();
95 this._plugins.Add(plug.GetName(),plug); 95 this._plugins.Add(plug.GetName(),plug);
96 Console.WriteLine("-----------------------------------------added physics eng: " + plug.GetName());
96 97
97 } 98 }
98 99
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 397ba6d..ae46feb 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -26,6 +26,7 @@
26* 26*
27*/ 27*/
28using System; 28using System;
29using System.Threading;
29using System.Collections.Generic; 30using System.Collections.Generic;
30using Axiom.Math; 31using Axiom.Math;
31using Ode.NET; 32using Ode.NET;
@@ -83,7 +84,6 @@ namespace OpenSim.Region.Physics.OdePlugin
83 private List<OdePrim> _prims = new List<OdePrim>(); 84 private List<OdePrim> _prims = new List<OdePrim>();
84 private static d.ContactGeom[] contacts = new d.ContactGeom[30]; 85 private static d.ContactGeom[] contacts = new d.ContactGeom[30];
85 private static d.Contact contact; 86 private static d.Contact contact;
86
87 public OdeScene() 87 public OdeScene()
88 { 88 {
89 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP; 89 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
@@ -92,24 +92,35 @@ namespace OpenSim.Region.Physics.OdePlugin
92 contact.surface.soft_erp = 0.005f; 92 contact.surface.soft_erp = 0.005f;
93 contact.surface.soft_cfm = 0.00003f; 93 contact.surface.soft_cfm = 0.00003f;
94 94
95 Monitor.Enter(typeof(OdeScene));
95 world = d.WorldCreate(); 96 world = d.WorldCreate();
96 space = d.HashSpaceCreate(IntPtr.Zero); 97 space = d.HashSpaceCreate(IntPtr.Zero);
97 contactgroup = d.JointGroupCreate(0); 98 contactgroup = d.JointGroupCreate(0);
98 d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f); 99 d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
99 d.WorldSetAutoDisableFlag(world, false); 100 d.WorldSetAutoDisableFlag(world, false);
100 d.WorldSetContactSurfaceLayer(world, 0.001f); 101 d.WorldSetContactSurfaceLayer(world, 0.001f);
102 Monitor.Exit(typeof(OdeScene));
103
101 this._heightmap = new double[65536]; 104 this._heightmap = new double[65536];
102 } 105 }
103 106
104 // This function blatantly ripped off from BoxStack.cs 107 // This function blatantly ripped off from BoxStack.cs
105 static private void near(IntPtr space, IntPtr g1, IntPtr g2) 108 static private void near(IntPtr space, IntPtr g1, IntPtr g2)
106 { 109 {
110 // no lock here! It's invoked from within Simulate(), which is thread-locked
107 IntPtr b1 = d.GeomGetBody(g1); 111 IntPtr b1 = d.GeomGetBody(g1);
108 IntPtr b2 = d.GeomGetBody(g2); 112 IntPtr b2 = d.GeomGetBody(g2);
109 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) 113 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
110 return; 114 return;
111 115
112 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); 116 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
117 if (count>0)
118 {
119 if (b2 != IntPtr.Zero)
120 {
121 Console.WriteLine("+++++ collision twixt: " + b1 + " & " + b2);
122 }
123 }
113 for (int i = 0; i < count; ++i) 124 for (int i = 0; i < count; ++i)
114 { 125 {
115 contact.geom = contacts[i]; 126 contact.geom = contacts[i];
@@ -137,6 +148,7 @@ namespace OpenSim.Region.Physics.OdePlugin
137 148
138 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) 149 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
139 { 150 {
151 Console.WriteLine("+++++++++++++++++++++++++++++++++AddPrim pos: " + position + " size: " + size + " quat: " + rotation);
140 PhysicsVector pos = new PhysicsVector(); 152 PhysicsVector pos = new PhysicsVector();
141 pos.X = position.X; 153 pos.X = position.X;
142 pos.Y = position.Y; 154 pos.Y = position.Y;
@@ -157,6 +169,11 @@ namespace OpenSim.Region.Physics.OdePlugin
157 169
158 public override void Simulate(float timeStep) 170 public override void Simulate(float timeStep)
159 { 171 {
172 Monitor.Enter(typeof(OdeScene));
173 foreach (OdePrim p in _prims)
174 {
175// Console.WriteLine("+++ prim: " + p.Position);
176 }
160 foreach (OdeCharacter actor in _characters) 177 foreach (OdeCharacter actor in _characters)
161 { 178 {
162 actor.Move(timeStep); 179 actor.Move(timeStep);
@@ -172,6 +189,7 @@ namespace OpenSim.Region.Physics.OdePlugin
172 { 189 {
173 actor.UpdatePosition(); 190 actor.UpdatePosition();
174 } 191 }
192 Monitor.Exit(typeof(OdeScene));
175 } 193 }
176 194
177 public override void GetResults() 195 public override void GetResults()
@@ -198,6 +216,8 @@ namespace OpenSim.Region.Physics.OdePlugin
198 this._heightmap[i] = (double)heightMap[x * 256 + y]; 216 this._heightmap[i] = (double)heightMap[x * 256 + y];
199 } 217 }
200 IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); 218 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
219
220 Monitor.Enter(typeof(OdeScene));
201 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); 221 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
202 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); 222 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
203 LandGeom = d.CreateHeightfield(space, HeightmapData, 1); 223 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
@@ -215,7 +235,8 @@ namespace OpenSim.Region.Physics.OdePlugin
215 235
216 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); 236 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
217 d.GeomSetRotation(LandGeom, ref R); 237 d.GeomSetRotation(LandGeom, ref R);
218 d.GeomSetPosition(LandGeom, 128, 128, 0); 238 d.GeomSetPosition(LandGeom, 128, 128, 0);
239 Monitor.Exit(typeof(OdeScene));
219 } 240 }
220 241
221 public override void DeleteTerrain() 242 public override void DeleteTerrain()
@@ -240,12 +261,14 @@ namespace OpenSim.Region.Physics.OdePlugin
240 _velocity = new PhysicsVector(); 261 _velocity = new PhysicsVector();
241 _position = pos; 262 _position = pos;
242 _acceleration = new PhysicsVector(); 263 _acceleration = new PhysicsVector();
264 Monitor.Enter(typeof(OdeScene));
243 d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f); 265 d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
244 capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble 266 capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
245 this.BoundingCapsule = d.BodyCreate(OdeScene.world); 267 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
246 d.BodySetMass(BoundingCapsule, ref capsule_mass); 268 d.BodySetMass(BoundingCapsule, ref capsule_mass);
247 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); 269 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
248 d.GeomSetBody(capsule_geom, BoundingCapsule); 270 d.GeomSetBody(capsule_geom, BoundingCapsule);
271 Monitor.Exit(typeof(OdeScene));
249 } 272 }
250 273
251 public override bool Flying 274 public override bool Flying
@@ -345,6 +368,7 @@ namespace OpenSim.Region.Physics.OdePlugin
345 368
346 public void Move(float timeStep) 369 public void Move(float timeStep)
347 { 370 {
371 // no lock; for now it's only called from within Simulate()
348 PhysicsVector vec = new PhysicsVector(); 372 PhysicsVector vec = new PhysicsVector();
349 d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule); 373 d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
350 vec.X = (vel.X - this._velocity.X) * -75000.0f; 374 vec.X = (vel.X - this._velocity.X) * -75000.0f;
@@ -358,6 +382,7 @@ namespace OpenSim.Region.Physics.OdePlugin
358 382
359 public void UpdatePosition() 383 public void UpdatePosition()
360 { 384 {
385 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
361 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); 386 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
362 this._position.X = vec.X; 387 this._position.X = vec.X;
363 this._position.Y = vec.Y; 388 this._position.Y = vec.Y;
@@ -382,6 +407,7 @@ namespace OpenSim.Region.Physics.OdePlugin
382 _acceleration = new PhysicsVector(); 407 _acceleration = new PhysicsVector();
383 _orientation = rotation; 408 _orientation = rotation;
384 prim_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z); 409 prim_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z);
410 Monitor.Enter(typeof(OdeScene));
385 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 411 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
386 d.Quaternion myrot = new d.Quaternion(); 412 d.Quaternion myrot = new d.Quaternion();
387 myrot.W = rotation.w; 413 myrot.W = rotation.w;
@@ -389,6 +415,7 @@ namespace OpenSim.Region.Physics.OdePlugin
389 myrot.Y = rotation.y; 415 myrot.Y = rotation.y;
390 myrot.Z = rotation.z; 416 myrot.Z = rotation.z;
391 d.GeomSetQuaternion(prim_geom, ref myrot); 417 d.GeomSetQuaternion(prim_geom, ref myrot);
418 Monitor.Exit(typeof(OdeScene));
392 } 419 }
393 420
394 public override bool Flying 421 public override bool Flying
@@ -410,8 +437,12 @@ namespace OpenSim.Region.Physics.OdePlugin
410 } 437 }
411 set 438 set
412 { 439 {
440 Console.WriteLine("+++++++++++++++++++++++++++++++++++++++++++ setting pos: " + value);
413 _position = value; 441 _position = value;
442 Monitor.Enter(typeof(OdeScene));
414 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 443 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
444 Monitor.Exit(typeof(OdeScene));
445
415 } 446 }
416 } 447 }
417 448
@@ -423,6 +454,7 @@ namespace OpenSim.Region.Physics.OdePlugin
423 } 454 }
424 set 455 set
425 { 456 {
457 Console.WriteLine("+++++++++++++++++++++++++++++++++++++++++++ setting size: " + value);
426 _size = value; 458 _size = value;
427 } 459 }
428 } 460 }
@@ -459,12 +491,14 @@ namespace OpenSim.Region.Physics.OdePlugin
459 set 491 set
460 { 492 {
461 _orientation = value; 493 _orientation = value;
494 Monitor.Enter(typeof(OdeScene));
462 d.Quaternion myrot = new d.Quaternion(); 495 d.Quaternion myrot = new d.Quaternion();
463 myrot.W = _orientation.w; 496 myrot.W = _orientation.w;
464 myrot.X = _orientation.x; 497 myrot.X = _orientation.x;
465 myrot.Y = _orientation.y; 498 myrot.Y = _orientation.y;
466 myrot.Z = _orientation.z; 499 myrot.Z = _orientation.z;
467 d.GeomSetQuaternion(prim_geom, ref myrot); 500 d.GeomSetQuaternion(prim_geom, ref myrot);
501 Monitor.Exit(typeof(OdeScene));
468 } 502 }
469 } 503 }
470 504