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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28//#define USE_DRAWSTUFF
29
30using System;
31using System.Collections.Generic;
32using System.Reflection;
33using System.Runtime.InteropServices;
34using System.Threading;
35using System.IO;
36using System.Diagnostics;
37using log4net;
38using Nini.Config;
39using Ode.NET;
40#if USE_DRAWSTUFF
41using Drawstuff.NET;
42#endif
43using OpenSim.Framework;
44using OpenSim.Region.Physics.Manager;
45using OpenMetaverse;
46
47//using OpenSim.Region.Physics.OdePlugin.Meshing;
48
49namespace OpenSim.Region.Physics.OdePlugin
50{
51 /// <summary>
52 /// ODE plugin
53 /// </summary>
54 public class OdePlugin : IPhysicsPlugin
55 {
56 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
57
58 private CollisionLocker ode;
59 private OdeScene _mScene;
60
61 public OdePlugin()
62 {
63 ode = new CollisionLocker();
64 }
65
66 public bool Init()
67 {
68 return true;
69 }
70
71 public PhysicsScene GetScene(String sceneIdentifier)
72 {
73 if (_mScene == null)
74 {
75 if (Util.IsWindows())
76 Util.LoadArchSpecificWindowsDll("ode.dll");
77
78 // Initializing ODE only when a scene is created allows alternative ODE plugins to co-habit (according to
79 // http://opensimulator.org/mantis/view.php?id=2750).
80 d.InitODE();
81
82 _mScene = new OdeScene(ode, sceneIdentifier);
83 }
84 return (_mScene);
85 }
86
87 public string GetName()
88 {
89 return ("ChODE");
90 }
91
92 public void Dispose()
93 {
94 }
95 }
96
97 public enum StatusIndicators : int
98 {
99 Generic = 0,
100 Start = 1,
101 End = 2
102 }
103
104 public struct sCollisionData
105 {
106 public uint ColliderLocalId;
107 public uint CollidedWithLocalId;
108 public int NumberOfCollisions;
109 public int CollisionType;
110 public int StatusIndicator;
111 public int lastframe;
112 }
113
114 [Flags]
115 public enum CollisionCategories : int
116 {
117 Disabled = 0,
118 Geom = 0x00000001,
119 Body = 0x00000002,
120 Space = 0x00000004,
121 Character = 0x00000008,
122 Land = 0x00000010,
123 Water = 0x00000020,
124 Wind = 0x00000040,
125 Sensor = 0x00000080,
126 Selected = 0x00000100
127 }
128
129 /// <summary>
130 /// Material type for a primitive
131 /// </summary>
132 public enum Material : int
133 {
134 /// <summary></summary>
135 Stone = 0,
136 /// <summary></summary>
137 Metal = 1,
138 /// <summary></summary>
139 Glass = 2,
140 /// <summary></summary>
141 Wood = 3,
142 /// <summary></summary>
143 Flesh = 4,
144 /// <summary></summary>
145 Plastic = 5,
146 /// <summary></summary>
147 Rubber = 6
148
149 }
150
151 public sealed class OdeScene : PhysicsScene
152 {
153 private readonly ILog m_log;
154 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
155
156 CollisionLocker ode;
157
158 private Random fluidRandomizer = new Random(Environment.TickCount);
159
160 private const uint m_regionWidth = Constants.RegionSize;
161 private const uint m_regionHeight = Constants.RegionSize;
162
163 private float ODE_STEPSIZE = 0.020f;
164 private float metersInSpace = 29.9f;
165 private float m_timeDilation = 1.0f;
166
167 public float gravityx = 0f;
168 public float gravityy = 0f;
169 public float gravityz = -9.8f;
170
171 private float contactsurfacelayer = 0.001f;
172
173 private int worldHashspaceLow = -4;
174 private int worldHashspaceHigh = 128;
175
176 private int smallHashspaceLow = -4;
177 private int smallHashspaceHigh = 66;
178
179 private float waterlevel = 0f;
180 private int framecount = 0;
181 //private int m_returncollisions = 10;
182
183 private readonly IntPtr contactgroup;
184
185 internal IntPtr LandGeom;
186 internal IntPtr WaterGeom;
187
188 private float nmTerrainContactFriction = 255.0f;
189 private float nmTerrainContactBounce = 0.1f;
190 private float nmTerrainContactERP = 0.1025f;
191
192 private float mTerrainContactFriction = 75f;
193 private float mTerrainContactBounce = 0.1f;
194 private float mTerrainContactERP = 0.05025f;
195
196 private float nmAvatarObjectContactFriction = 250f;
197 private float nmAvatarObjectContactBounce = 0.1f;
198
199 private float mAvatarObjectContactFriction = 75f;
200 private float mAvatarObjectContactBounce = 0.1f;
201
202 private float avPIDD = 3200f;
203 private float avPIDP = 1400f;
204 private float avCapRadius = 0.37f;
205 private float avStandupTensor = 2000000f;
206 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
207 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
208 private float avDensity = 80f;
209 private float avHeightFudgeFactor = 0.52f;
210 private float avMovementDivisorWalk = 1.3f;
211 private float avMovementDivisorRun = 0.8f;
212 private float minimumGroundFlightOffset = 3f;
213 public float maximumMassObject = 10000.01f;
214
215 public bool meshSculptedPrim = true;
216 public bool forceSimplePrimMeshing = false;
217
218 public float meshSculptLOD = 32;
219 public float MeshSculptphysicalLOD = 16;
220
221 public float geomDefaultDensity = 10.000006836f;
222
223 public int geomContactPointsStartthrottle = 3;
224 public int geomUpdatesPerThrottledUpdate = 15;
225
226 public float bodyPIDD = 35f;
227 public float bodyPIDG = 25;
228
229 public int geomCrossingFailuresBeforeOutofbounds = 5;
230 public float geomRegionFence = 0.0f;
231
232 public float bodyMotorJointMaxforceTensor = 2;
233
234 public int bodyFramesAutoDisable = 20;
235
236 private DateTime m_lastframe = DateTime.UtcNow;
237
238 private float[] _watermap;
239 private bool m_filterCollisions = true;
240
241 private d.NearCallback nearCallback;
242 public d.TriCallback triCallback;
243 public d.TriArrayCallback triArrayCallback;
244 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
245 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
246 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
247 private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
248 private readonly Object _taintedPrimLock = new Object();
249 private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
250 private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
251 private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
252 private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
253 private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
254 public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
255 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
256 private bool m_NINJA_physics_joints_enabled = false;
257 //private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
258 private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
259 private d.ContactGeom[] contacts;
260 private readonly List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
261 private readonly List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
262 private readonly List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
263 private readonly List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
264 private Object externalJointRequestsLock = new Object();
265 private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
266 private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
267 private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
268 private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
269
270 private d.Contact ContactCopy; // local copy that can be modified
271 private d.Contact TerrainContact;
272 private d.Contact AvatarStaticprimContact; // was 'contact'
273 private d.Contact AvatarMovementprimContact;
274 private d.Contact AvatarMovementTerrainContact;
275 private d.Contact WaterContact;
276 private d.Contact[,] m_materialContacts;
277
278//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
279//Ckrinke private int m_randomizeWater = 200;
280 private int m_physicsiterations = 10;
281 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
282 private readonly PhysicsActor PANull = new NullPhysicsActor();
283 private float step_time = 0.0f;
284//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
285//Ckrinke private int ms = 0;
286 public IntPtr world;
287 //private bool returncollisions = false;
288 // private uint obj1LocalID = 0;
289 private uint obj2LocalID = 0;
290 //private int ctype = 0;
291 private OdeCharacter cc1;
292 private OdePrim cp1;
293 private OdeCharacter cc2;
294 private OdePrim cp2;
295 //private int cStartStop = 0;
296 //private string cDictKey = "";
297
298 public IntPtr space;
299
300 //private IntPtr tmpSpace;
301 // split static geometry collision handling into spaces of 30 meters
302 public IntPtr[,] staticPrimspace;
303
304 public Object OdeLock;
305
306 public IMesher mesher;
307
308 private IConfigSource m_config;
309
310 public bool physics_logging = false;
311 public int physics_logging_interval = 0;
312 public bool physics_logging_append_existing_logfile = false;
313
314 public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
315 public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
316
317 // TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
318 // TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
319 // TODO: unused: private uint heightmapWidthSamples;
320 // TODO: unused: private uint heightmapHeightSamples;
321
322 private volatile int m_global_contactcount = 0;
323
324 private Vector3 m_worldOffset = Vector3.Zero;
325 public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
326 private PhysicsScene m_parentScene = null;
327
328 private ODERayCastRequestManager m_rayCastManager;
329
330 /// <summary>
331 /// Initiailizes the scene
332 /// Sets many properties that ODE requires to be stable
333 /// These settings need to be tweaked 'exactly' right or weird stuff happens.
334 /// </summary>
335 public OdeScene(CollisionLocker dode, string sceneIdentifier)
336 {
337 m_log
338 = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
339
340 OdeLock = new Object();
341 ode = dode;
342 nearCallback = near;
343 triCallback = TriCallback;
344 triArrayCallback = TriArrayCallback;
345 m_rayCastManager = new ODERayCastRequestManager(this);
346 lock (OdeLock)
347 {
348 // Create the world and the first space
349 world = d.WorldCreate();
350 space = d.HashSpaceCreate(IntPtr.Zero);
351
352
353 contactgroup = d.JointGroupCreate(0);
354 //contactgroup
355
356 d.WorldSetAutoDisableFlag(world, false);
357 #if USE_DRAWSTUFF
358
359 Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
360 viewthread.Start();
361 #endif
362 }
363
364
365 _watermap = new float[258 * 258];
366
367 // Zero out the prim spaces array (we split our space into smaller spaces so
368 // we can hit test less.
369 }
370
371#if USE_DRAWSTUFF
372 public void startvisualization(object o)
373 {
374 ds.Functions fn;
375 fn.version = ds.VERSION;
376 fn.start = new ds.CallbackFunction(start);
377 fn.step = new ds.CallbackFunction(step);
378 fn.command = new ds.CallbackFunction(command);
379 fn.stop = null;
380 fn.path_to_textures = "./textures";
381 string[] args = new string[0];
382 ds.SimulationLoop(args.Length, args, 352, 288, ref fn);
383 }
384#endif
385
386 // Initialize the mesh plugin
387 public override void Initialise(IMesher meshmerizer, IConfigSource config)
388 {
389 mesher = meshmerizer;
390 m_config = config;
391 // Defaults
392
393 if (Environment.OSVersion.Platform == PlatformID.Unix)
394 {
395 avPIDD = 3200.0f;
396 avPIDP = 1400.0f;
397 avStandupTensor = 2000000f;
398 }
399 else
400 {
401 avPIDD = 2200.0f;
402 avPIDP = 900.0f;
403 avStandupTensor = 550000f;
404 }
405
406 int contactsPerCollision = 80;
407
408 if (m_config != null)
409 {
410 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
411 if (physicsconfig != null)
412 {
413 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
414 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
415 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
416
417 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
418 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
419
420 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
421 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
422 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
423
424 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
425
426 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
427 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
428 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
429
430 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
431 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
432 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
433
434 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
435 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
436
437 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
438 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
439
440 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
441 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
442
443 avDensity = physicsconfig.GetFloat("av_density", 80f);
444 avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
445 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
446 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
447 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
448 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
449
450 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
451
452 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
453 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
454 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
455 geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
456
457 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
458 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
459
460 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
461 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
462
463 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
464 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
465 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
466 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
467 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
468
469 if (Environment.OSVersion.Platform == PlatformID.Unix)
470 {
471 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
472 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
473 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
474 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
475 }
476 else
477 {
478 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
479 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
480 avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
481 bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
482 }
483
484 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
485 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
486 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
487
488 m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
489 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
490 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
491 }
492 }
493
494 contacts = new d.ContactGeom[contactsPerCollision];
495
496 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
497
498 // Avatar static on a Prim parameters
499 AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
500 AvatarStaticprimContact.surface.mu = 255.0f;
501 AvatarStaticprimContact.surface.bounce = 0.0f;
502 AvatarStaticprimContact.surface.soft_cfm = 0.0f;
503 AvatarStaticprimContact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
504
505 // Avatar moving on a Prim parameters
506 AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
507 AvatarMovementprimContact.surface.mu = 255.0f;
508 AvatarMovementprimContact.surface.bounce = 0.0f;
509 AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs!
510 AvatarMovementprimContact.surface.soft_erp = 0.3f;
511
512 // Static Avatar on Terrain parameters
513 // Keeps Avatar in place better
514 TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
515 TerrainContact.surface.mu = 255.0f;
516 TerrainContact.surface.bounce = 0.0f;
517 TerrainContact.surface.soft_cfm = 0.0f;
518 TerrainContact.surface.soft_erp = 0.05f;
519
520 // Moving Avatar on Terrain parameters
521 AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
522 AvatarMovementTerrainContact.surface.mu = 75f;
523 AvatarMovementTerrainContact.surface.bounce = 0.0f;
524 AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
525 AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
526
527 // Avatar or prim the the water, this may not be used, possibly water is same as air?
528 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
529 WaterContact.surface.mu = 0.0f; // No friction
530 WaterContact.surface.bounce = 0.0f; // No bounce
531 WaterContact.surface.soft_cfm = 0.010f;
532 WaterContact.surface.soft_erp = 0.010f;
533
534
535 // Prim static or moving on a prim, depends on material type
536 m_materialContacts = new d.Contact[7,2];
537 // V 1 = Sliding; 0 = static or fell onto
538 m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
539 m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
540 m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f; // friction, 1 = slippery, 255 = no slip
541 m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f;
542 m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f;
543 m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; // erp also changes friction, more erp=less friction
544
545 m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
546 m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
547 m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
548 m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
549 m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
550 m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
551
552 m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
553 m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
554 m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
555 m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
556 m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
557 m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
558
559 m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
560 m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
561 m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
562 m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
563 m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
564 m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
565
566 m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
567 m_materialContacts[(int)Material.Glass, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
568 m_materialContacts[(int)Material.Glass, 0].surface.mu = 7.5f;
569 m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f;
570 m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f;
571 m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f;
572
573 m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
574 m_materialContacts[(int)Material.Glass, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
575 m_materialContacts[(int)Material.Glass, 1].surface.mu = 5f;
576 m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f;
577 m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f;
578 m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
579
580 m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
581 m_materialContacts[(int)Material.Wood, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
582 m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
583 m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
584 m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
585 m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
586
587 m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
588 m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
589 m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
590 m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
591 m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
592 m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
593
594 m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
595 m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
596 m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
597 m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
598 m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
599 m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
600
601 m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
602 m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
603 m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
604 m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
605 m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
606 m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
607
608 m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
609 m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
610 m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
611 m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
612 m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
613 m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
614
615 m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
616 m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
617 m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
618 m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
619 m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
620 m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
621
622 m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
623 m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
624 m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
625 m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
626 m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
627 m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
628
629 m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
630 m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
631 m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
632 m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
633 m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
634 m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
635
636 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
637
638 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
639
640 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
641 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
642
643
644 d.WorldSetLinearDampingThreshold(world, 256f);
645 d.WorldSetLinearDamping(world, 256f);
646// d.WorldSetLinearDampingThreshold(world, 0.01f);
647// d.WorldSetLinearDamping(world, 0.1f);
648 d.WorldSetAngularDampingThreshold(world, 256f);
649 d.WorldSetAngularDamping(world, 256f);
650 d.WorldSetMaxAngularSpeed(world, 256f);
651
652 // Set how many steps we go without running collision testing
653 // This is in addition to the step size.
654 // Essentially Steps * m_physicsiterations
655 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
656 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
657
658
659
660 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
661 {
662 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
663 {
664 staticPrimspace[i, j] = IntPtr.Zero;
665 }
666 }
667 }
668
669 internal void waitForSpaceUnlock(IntPtr space)
670 {
671 //if (space != IntPtr.Zero)
672 //while (d.SpaceLockQuery(space)) { } // Wait and do nothing
673 }
674
675 /// <summary>
676 /// Debug space message for printing the space that a prim/avatar is in.
677 /// </summary>
678 /// <param name="pos"></param>
679 /// <returns>Returns which split up space the given position is in.</returns>
680 public string whichspaceamIin(Vector3 pos)
681 {
682 return calculateSpaceForGeom(pos).ToString();
683 }
684
685 #region Collision Detection
686
687 /// <summary>
688 /// This is our near callback. A geometry is near a body
689 /// </summary>
690 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
691 /// <param name="g1">a geometry or space</param>
692 /// <param name="g2">another geometry or space</param>
693 private void near(IntPtr space, IntPtr g1, IntPtr g2)
694 {
695 // no lock here! It's invoked from within Simulate(), which is thread-locked
696
697 // Test if we're colliding a geom with a space.
698 // If so we have to drill down into the space recursively
699//Console.WriteLine("near -----------"); //##
700 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
701 {
702 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
703 return;
704
705 // Separating static prim geometry spaces.
706 // We'll be calling near recursivly if one
707 // of them is a space to find all of the
708 // contact points in the space
709 try
710 {
711 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
712 }
713 catch (AccessViolationException)
714 {
715 m_log.Warn("[PHYSICS]: Unable to collide test a space");
716 return;
717 }
718 //Colliding a space or a geom with a space or a geom. so drill down
719
720 //Collide all geoms in each space..
721 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
722 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
723 return;
724 }
725
726 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
727 return;
728
729 IntPtr b1 = d.GeomGetBody(g1);
730 IntPtr b2 = d.GeomGetBody(g2);
731
732 // d.GeomClassID id = d.GeomGetClass(g1);
733
734 String name1 = null;
735 String name2 = null;
736
737 if (!geom_name_map.TryGetValue(g1, out name1))
738 {
739 name1 = "null";
740 }
741 if (!geom_name_map.TryGetValue(g2, out name2))
742 {
743 name2 = "null";
744 }
745
746 //if (id == d.GeomClassId.TriMeshClass)
747 //{
748 // m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
749 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
750 //}
751
752 // Figure out how many contact points we have
753 int count = 0;
754 try
755 {
756 // Colliding Geom To Geom
757 // This portion of the function 'was' blatantly ripped off from BoxStack.cs
758
759 if (g1 == g2)
760 return; // Can't collide with yourself
761
762 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
763 return;
764
765 lock (contacts)
766 {
767 count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
768 if (count > contacts.Length)
769 m_log.Error("[PHYSICS]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
770 }
771 }
772 catch (SEHException)
773 {
774 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.");
775 ode.drelease(world);
776 base.TriggerPhysicsBasedRestart();
777 }
778 catch (Exception e)
779 {
780 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
781 return;
782 }
783
784 PhysicsActor p1;
785 PhysicsActor p2;
786
787 if (!actor_name_map.TryGetValue(g1, out p1))
788 {
789 p1 = PANull;
790 }
791
792 if (!actor_name_map.TryGetValue(g2, out p2))
793 {
794 p2 = PANull;
795 }
796
797 ContactPoint maxDepthContact = new ContactPoint();
798 if (p1.CollisionScore + count >= float.MaxValue)
799 p1.CollisionScore = 0;
800 p1.CollisionScore += count;
801
802 if (p2.CollisionScore + count >= float.MaxValue)
803 p2.CollisionScore = 0;
804 p2.CollisionScore += count;
805 for (int i = 0; i < count; i++)
806 {
807 d.ContactGeom curContact = contacts[i];
808
809 if (curContact.depth > maxDepthContact.PenetrationDepth)
810 {
811 maxDepthContact = new ContactPoint(
812 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
813 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
814 curContact.depth
815 );
816 }
817
818 //m_log.Warn("[CCOUNT]: " + count);
819 IntPtr joint;
820 // If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
821 // allows us to have different settings
822
823 // We only need to test p2 for 'jump crouch purposes'
824 if (p2 is OdeCharacter && p1.PhysicsActorType == (int)ActorTypes.Prim)
825 {
826 // Testing if the collision is at the feet of the avatar
827
828 //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));
829//#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f))
830//#@ p2.IsColliding = true;
831 if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //##
832 p2.IsColliding = true; //##
833 }else{
834
835 } //##
836 }
837 else
838 {
839 p2.IsColliding = true;
840 }
841
842 //if ((framecount % m_returncollisions) == 0)
843
844 switch (p1.PhysicsActorType)
845 {
846 case (int)ActorTypes.Agent:
847 p2.CollidingObj = true;
848 break;
849 case (int)ActorTypes.Prim:
850 if (p2.Velocity.LengthSquared() > 0.0f)
851 p2.CollidingObj = true;
852 break;
853 case (int)ActorTypes.Unknown:
854 p2.CollidingGround = true;
855 break;
856 default:
857 p2.CollidingGround = true;
858 break;
859 }
860
861 // we don't want prim or avatar to explode
862
863 #region InterPenetration Handling - Unintended physics explosions
864# region disabled code1
865
866 if (curContact.depth >= 0.08f)
867 {
868 //This is disabled at the moment only because it needs more tweaking
869 //It will eventually be uncommented
870 /*
871 if (AvatarStaticprimContact.depth >= 1.00f)
872 {
873 //m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
874 }
875
876 //If you interpenetrate a prim with an agent
877 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
878 p1.PhysicsActorType == (int) ActorTypes.Prim) ||
879 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
880 p2.PhysicsActorType == (int) ActorTypes.Prim))
881 {
882
883 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
884 /*
885 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
886 {
887 p2.CollidingObj = true;
888 AvatarStaticprimContact.depth = 0.003f;
889 p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
890 OdeCharacter character = (OdeCharacter) p2;
891 character.SetPidStatus(true);
892 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
893
894 }
895 else
896 {
897
898 //AvatarStaticprimContact.depth = 0.0000000f;
899 }
900 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
901 {
902
903 p1.CollidingObj = true;
904 AvatarStaticprimContact.depth = 0.003f;
905 p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
906 AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
907 OdeCharacter character = (OdeCharacter)p1;
908 character.SetPidStatus(true);
909 }
910 else
911 {
912
913 //AvatarStaticprimContact.depth = 0.0000000f;
914 }
915
916
917
918 }
919*/
920 // If you interpenetrate a prim with another prim
921 /*
922 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
923 {
924 #region disabledcode2
925 //OdePrim op1 = (OdePrim)p1;
926 //OdePrim op2 = (OdePrim)p2;
927 //op1.m_collisionscore++;
928 //op2.m_collisionscore++;
929
930 //if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
931 //{
932 //op1.m_taintdisable = true;
933 //AddPhysicsActorTaint(p1);
934 //op2.m_taintdisable = true;
935 //AddPhysicsActorTaint(p2);
936 //}
937
938 //if (AvatarStaticprimContact.depth >= 0.25f)
939 //{
940 // Don't collide, one or both prim will expld.
941
942 //op1.m_interpenetrationcount++;
943 //op2.m_interpenetrationcount++;
944 //interpenetrations_before_disable = 200;
945 //if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
946 //{
947 //op1.m_taintdisable = true;
948 //AddPhysicsActorTaint(p1);
949 //}
950 //if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
951 //{
952 // op2.m_taintdisable = true;
953 //AddPhysicsActorTaint(p2);
954 //}
955
956 //AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
957 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
958 //}
959 //if (op1.m_disabled || op2.m_disabled)
960 //{
961 //Manually disabled objects stay disabled
962 //AvatarStaticprimContact.depth = 0f;
963 //}
964 #endregion
965 }
966 */
967#endregion
968 if (curContact.depth >= 1.00f)
969 {
970 //m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
971 if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
972 p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
973 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
974 p2.PhysicsActorType == (int) ActorTypes.Unknown))
975 {
976 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
977 {
978 if (p2 is OdeCharacter)
979 {
980 OdeCharacter character = (OdeCharacter) p2;
981
982 //p2.CollidingObj = true;
983 curContact.depth = 0.00000003f;
984 p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
985 curContact.pos =
986 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
987 curContact.pos.Y + (p1.Size.Y/2),
988 curContact.pos.Z + (p1.Size.Z/2));
989 character.SetPidStatus(true);
990 }
991 }
992
993
994 if (p1.PhysicsActorType == (int) ActorTypes.Agent)
995 {
996 if (p1 is OdeCharacter)
997 {
998 OdeCharacter character = (OdeCharacter) p1;
999
1000 //p2.CollidingObj = true;
1001 curContact.depth = 0.00000003f;
1002 p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
1003 curContact.pos =
1004 new d.Vector3(curContact.pos.X + (p1.Size.X/2),
1005 curContact.pos.Y + (p1.Size.Y/2),
1006 curContact.pos.Z + (p1.Size.Z/2));
1007 character.SetPidStatus(true);
1008 }
1009 }
1010 }
1011 }
1012 }
1013
1014 #endregion
1015
1016 // Logic for collision handling
1017 // Note, that if *all* contacts are skipped (VolumeDetect)
1018 // The prim still detects (and forwards) collision events but
1019 // appears to be phantom for the world
1020 Boolean skipThisContact = false;
1021
1022 if ((p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect))
1023 skipThisContact = true; // No collision on volume detect prims
1024
1025 if (!skipThisContact && (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
1026 skipThisContact = true; // No collision on volume detect prims
1027
1028 if (!skipThisContact && curContact.depth < 0f)
1029 skipThisContact = true;
1030
1031 if (!skipThisContact && checkDupe(curContact, p2.PhysicsActorType))
1032 skipThisContact = true;
1033
1034 const int maxContactsbeforedeath = 4000;
1035 joint = IntPtr.Zero;
1036
1037 if (!skipThisContact)
1038 {
1039 // Add contact joints with materials params----------------------------------
1040 // p1 is what is being hit, p2 is the physical object doing the hitting
1041 int material = (int) Material.Wood;
1042 int movintYN = 0; // 1 = Sliding; 0 = static or fell onto
1043 if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
1044
1045 // If we're colliding against terrain
1046 if (name1 == "Terrain" || name2 == "Terrain")
1047 {
1048 // If we're moving
1049 if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
1050 {
1051 //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
1052 AvatarMovementTerrainContact.geom = curContact;
1053 _perloopContact.Add(curContact);
1054 if (m_global_contactcount < maxContactsbeforedeath)
1055 {
1056 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
1057 m_global_contactcount++;
1058 }
1059 }
1060 else
1061 {
1062 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
1063 {
1064 //$ Av standing on terrain, Use the non moving Avata terrain contact
1065 TerrainContact.geom = curContact;
1066 _perloopContact.Add(curContact);
1067 if (m_global_contactcount < maxContactsbeforedeath)
1068 {
1069 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
1070 m_global_contactcount++;
1071 }
1072 }
1073 else
1074 {
1075 if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
1076 {
1077 //& THIS NEVER HAPPENS? prim prim contact In terrain contact?
1078 // int pj294950 = 0;
1079 // prim terrain contact
1080
1081 if (p2 is OdePrim)
1082 material = ((OdePrim)p2).m_material;
1083 //m_log.DebugFormat("Material: {0}", material);
1084 m_materialContacts[material, movintYN].geom = curContact;
1085 _perloopContact.Add(curContact);
1086
1087 if (m_global_contactcount < maxContactsbeforedeath)
1088 {
1089 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1090 m_global_contactcount++;
1091
1092 }
1093
1094 }
1095 else
1096 {
1097 //$ prim on terrain contact
1098 if (p2 is OdePrim)
1099 material = ((OdePrim)p2).m_material;
1100 //m_log.DebugFormat("Material: {0}", material);
1101 m_materialContacts[material, movintYN].geom = curContact;
1102 _perloopContact.Add(curContact);
1103
1104 ContactCopy = m_materialContacts[material, movintYN];
1105 if(movintYN == 1)
1106 {
1107 // prevent excessive slide on terrain
1108 ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
1109 }
1110
1111 if (m_global_contactcount < maxContactsbeforedeath)
1112 {
1113 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1114 m_global_contactcount++;
1115 }
1116 }
1117 }
1118 }
1119 }
1120 else if (name1 == "Water" || name2 == "Water")
1121 {
1122 //$ This never happens! Perhaps water is treated like air?
1123 /*
1124 if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
1125 {
1126 }
1127 else
1128 {
1129 }
1130 */
1131 //WaterContact.surface.soft_cfm = 0.0000f;
1132 //WaterContact.surface.soft_erp = 0.00000f;
1133 if (curContact.depth > 0.1f)
1134 {
1135 curContact.depth *= 52;
1136 //AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
1137 //AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
1138 }
1139 WaterContact.geom = curContact;
1140 _perloopContact.Add(curContact);
1141 if (m_global_contactcount < maxContactsbeforedeath)
1142 {
1143 joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
1144 m_global_contactcount++;
1145 }
1146 //m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
1147 }
1148 else
1149 {
1150
1151 // no terrain and no water, we're colliding with prim or avatar
1152 // check if we're moving
1153 if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
1154 {
1155 //$ Avatar on Prim or other Avatar
1156 if (movintYN == 1)
1157 {
1158 // Use the AV Movement / prim contact
1159 AvatarMovementprimContact.geom = curContact;
1160 _perloopContact.Add(curContact);
1161 if (m_global_contactcount < maxContactsbeforedeath)
1162 {
1163 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
1164 m_global_contactcount++;
1165 }
1166 }
1167 else
1168 {
1169 // Use the Av non movement / prim contact
1170 AvatarStaticprimContact.geom = curContact;
1171 _perloopContact.Add(curContact);
1172 ContactCopy = AvatarStaticprimContact; // local copy so we can change locally
1173
1174 if (m_global_contactcount < maxContactsbeforedeath)
1175 {
1176 if (curContact.depth > 0.2)
1177 { // embedded, eject slowly
1178 ContactCopy.surface.soft_erp = 0.1f;
1179 ContactCopy.surface.soft_cfm = 0.1f;
1180 }
1181 else
1182 { // keep on the surface
1183 ContactCopy.surface.soft_erp = 0.3f;
1184 ContactCopy.surface.soft_cfm = 0.0f;
1185 }
1186 joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
1187 m_global_contactcount++;
1188 }
1189 }
1190 }
1191 else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
1192 {
1193 //$ Prim on Prim
1194 //p1.PhysicsActorType
1195
1196 if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
1197 //m_log.DebugFormat("Material: {0}", material);
1198
1199 m_materialContacts[material, movintYN].geom = curContact;
1200 _perloopContact.Add(curContact);
1201
1202 if (m_global_contactcount < maxContactsbeforedeath)
1203 {
1204 joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
1205 m_global_contactcount++;
1206 }
1207 }
1208 }
1209
1210 if (m_global_contactcount < maxContactsbeforedeath && joint != IntPtr.Zero) // stack collide!
1211 {
1212 d.JointAttach(joint, b1, b2);
1213 m_global_contactcount++;
1214 }
1215
1216 }
1217 collision_accounting_events(p1, p2, maxDepthContact);
1218 if (count > geomContactPointsStartthrottle)
1219 {
1220 // If there are more then 3 contact points, it's likely
1221 // that we've got a pile of objects, so ...
1222 // We don't want to send out hundreds of terse updates over and over again
1223 // so lets throttle them and send them again after it's somewhat sorted out.
1224 p2.ThrottleUpdates = true;
1225 }
1226 //m_log.Debug(count.ToString());
1227 //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2);
1228 } // end for i.. loop
1229 } // end near
1230
1231 private bool checkDupe(d.ContactGeom contactGeom, int atype)
1232 {
1233 bool result = false;
1234 //return result;
1235 if (!m_filterCollisions)
1236 return false;
1237
1238 ActorTypes at = (ActorTypes)atype;
1239 lock (_perloopContact)
1240 {
1241 foreach (d.ContactGeom contact in _perloopContact)
1242 {
1243 //if ((contact.g1 == contactGeom.g1 && contact.g2 == contactGeom.g2))
1244 //{
1245 // || (contact.g2 == contactGeom.g1 && contact.g1 == contactGeom.g2)
1246 if (at == ActorTypes.Agent)
1247 {
1248 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)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1249 {
1250
1251 if (Math.Abs(contact.depth - contactGeom.depth) < 0.052f)
1252 {
1253 //contactGeom.depth *= .00005f;
1254 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1255 // 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));
1256 result = true;
1257 break;
1258 }
1259 else
1260 {
1261 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1262 }
1263 }
1264 else
1265 {
1266 //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));
1267 //int i = 0;
1268 }
1269 }
1270 else if (at == ActorTypes.Prim)
1271 {
1272 //d.AABB aabb1 = new d.AABB();
1273 //d.AABB aabb2 = new d.AABB();
1274
1275 //d.GeomGetAABB(contactGeom.g2, out aabb2);
1276 //d.GeomGetAABB(contactGeom.g1, out aabb1);
1277 //aabb1.
1278 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)) && contactGeom.g1 != LandGeom && contactGeom.g2 != LandGeom)
1279 {
1280 if (contactGeom.normal.X == contact.normal.X && contactGeom.normal.Y == contact.normal.Y && contactGeom.normal.Z == contact.normal.Z)
1281 {
1282 if (Math.Abs(contact.depth - contactGeom.depth) < 0.272f)
1283 {
1284 result = true;
1285 break;
1286 }
1287 }
1288 //m_log.DebugFormat("[Collsion]: Depth {0}", Math.Abs(contact.depth - contactGeom.depth));
1289 //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));
1290 }
1291
1292 }
1293
1294 //}
1295
1296 }
1297 }
1298 return result;
1299 }
1300
1301 private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
1302 {
1303 // obj1LocalID = 0;
1304 //returncollisions = false;
1305 obj2LocalID = 0;
1306 //ctype = 0;
1307 //cStartStop = 0;
1308 if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
1309 return;
1310
1311 switch ((ActorTypes)p2.PhysicsActorType)
1312 {
1313 case ActorTypes.Agent:
1314 cc2 = (OdeCharacter)p2;
1315
1316 // obj1LocalID = cc2.m_localID;
1317 switch ((ActorTypes)p1.PhysicsActorType)
1318 {
1319 case ActorTypes.Agent:
1320 cc1 = (OdeCharacter)p1;
1321 obj2LocalID = cc1.m_localID;
1322 cc1.AddCollisionEvent(cc2.m_localID, contact);
1323 //ctype = (int)CollisionCategories.Character;
1324
1325 //if (cc1.CollidingObj)
1326 //cStartStop = (int)StatusIndicators.Generic;
1327 //else
1328 //cStartStop = (int)StatusIndicators.Start;
1329
1330 //returncollisions = true;
1331 break;
1332 case ActorTypes.Prim:
1333 if (p1 is OdePrim)
1334 {
1335 cp1 = (OdePrim) p1;
1336 obj2LocalID = cp1.m_localID;
1337 cp1.AddCollisionEvent(cc2.m_localID, contact);
1338 }
1339 //ctype = (int)CollisionCategories.Geom;
1340
1341 //if (cp1.CollidingObj)
1342 //cStartStop = (int)StatusIndicators.Generic;
1343 //else
1344 //cStartStop = (int)StatusIndicators.Start;
1345
1346 //returncollisions = true;
1347 break;
1348
1349 case ActorTypes.Ground:
1350 case ActorTypes.Unknown:
1351 obj2LocalID = 0;
1352 //ctype = (int)CollisionCategories.Land;
1353 //returncollisions = true;
1354 break;
1355 }
1356
1357 cc2.AddCollisionEvent(obj2LocalID, contact);
1358 break;
1359 case ActorTypes.Prim:
1360
1361 if (p2 is OdePrim)
1362 {
1363 cp2 = (OdePrim) p2;
1364
1365 // obj1LocalID = cp2.m_localID;
1366 switch ((ActorTypes) p1.PhysicsActorType)
1367 {
1368 case ActorTypes.Agent:
1369 if (p1 is OdeCharacter)
1370 {
1371 cc1 = (OdeCharacter) p1;
1372 obj2LocalID = cc1.m_localID;
1373 cc1.AddCollisionEvent(cp2.m_localID, contact);
1374 //ctype = (int)CollisionCategories.Character;
1375
1376 //if (cc1.CollidingObj)
1377 //cStartStop = (int)StatusIndicators.Generic;
1378 //else
1379 //cStartStop = (int)StatusIndicators.Start;
1380 //returncollisions = true;
1381 }
1382 break;
1383 case ActorTypes.Prim:
1384
1385 if (p1 is OdePrim)
1386 {
1387 cp1 = (OdePrim) p1;
1388 obj2LocalID = cp1.m_localID;
1389 cp1.AddCollisionEvent(cp2.m_localID, contact);
1390 //ctype = (int)CollisionCategories.Geom;
1391
1392 //if (cp1.CollidingObj)
1393 //cStartStop = (int)StatusIndicators.Generic;
1394 //else
1395 //cStartStop = (int)StatusIndicators.Start;
1396
1397 //returncollisions = true;
1398 }
1399 break;
1400
1401 case ActorTypes.Ground:
1402 case ActorTypes.Unknown:
1403 obj2LocalID = 0;
1404 //ctype = (int)CollisionCategories.Land;
1405
1406 //returncollisions = true;
1407 break;
1408 }
1409
1410 cp2.AddCollisionEvent(obj2LocalID, contact);
1411 }
1412 break;
1413 }
1414 //if (returncollisions)
1415 //{
1416
1417 //lock (m_storedCollisions)
1418 //{
1419 //cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
1420 //if (m_storedCollisions.ContainsKey(cDictKey))
1421 //{
1422 //sCollisionData objd = m_storedCollisions[cDictKey];
1423 //objd.NumberOfCollisions += 1;
1424 //objd.lastframe = framecount;
1425 //m_storedCollisions[cDictKey] = objd;
1426 //}
1427 //else
1428 //{
1429 //sCollisionData objd = new sCollisionData();
1430 //objd.ColliderLocalId = obj1LocalID;
1431 //objd.CollidedWithLocalId = obj2LocalID;
1432 //objd.CollisionType = ctype;
1433 //objd.NumberOfCollisions = 1;
1434 //objd.lastframe = framecount;
1435 //objd.StatusIndicator = cStartStop;
1436 //m_storedCollisions.Add(cDictKey, objd);
1437 //}
1438 //}
1439 // }
1440 }
1441
1442 public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
1443 {
1444 /* String name1 = null;
1445 String name2 = null;
1446
1447 if (!geom_name_map.TryGetValue(trimesh, out name1))
1448 {
1449 name1 = "null";
1450 }
1451 if (!geom_name_map.TryGetValue(refObject, out name2))
1452 {
1453 name2 = "null";
1454 }
1455
1456 m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
1457 */
1458 return 1;
1459 }
1460
1461 public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
1462 {
1463 String name1 = null;
1464 String name2 = null;
1465
1466 if (!geom_name_map.TryGetValue(trimesh, out name1))
1467 {
1468 name1 = "null";
1469 }
1470
1471 if (!geom_name_map.TryGetValue(refObject, out name2))
1472 {
1473 name2 = "null";
1474 }
1475
1476 // m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
1477
1478 d.Vector3 v0 = new d.Vector3();
1479 d.Vector3 v1 = new d.Vector3();
1480 d.Vector3 v2 = new d.Vector3();
1481
1482 d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
1483 // 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);
1484
1485 return 1;
1486 }
1487
1488 /// <summary>
1489 /// This is our collision testing routine in ODE
1490 /// </summary>
1491 /// <param name="timeStep"></param>
1492 private void collision_optimized(float timeStep)
1493 {
1494 _perloopContact.Clear();
1495
1496 lock (_characters)
1497 {
1498 foreach (OdeCharacter chr in _characters)
1499 {
1500 // Reset the collision values to false
1501 // since we don't know if we're colliding yet
1502
1503 // For some reason this can happen. Don't ask...
1504 //
1505 if (chr == null)
1506 continue;
1507
1508 if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
1509 continue;
1510
1511 chr.IsColliding = false;
1512 chr.CollidingGround = false;
1513 chr.CollidingObj = false;
1514
1515 // test the avatar's geometry for collision with the space
1516 // This will return near and the space that they are the closest to
1517 // And we'll run this again against the avatar and the space segment
1518 // This will return with a bunch of possible objects in the space segment
1519 // and we'll run it again on all of them.
1520 try
1521 {
1522 d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
1523 }
1524 catch (AccessViolationException)
1525 {
1526 m_log.Warn("[PHYSICS]: Unable to space collide");
1527 }
1528 //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
1529 //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
1530 //{
1531 //chr.Position.Z = terrainheight + 10.0f;
1532 //forcedZ = true;
1533 //}
1534 }
1535 }
1536
1537 lock (_activeprims)
1538 {
1539 List<OdePrim> removeprims = null;
1540 foreach (OdePrim chr in _activeprims)
1541 {
1542 if (chr.Body != IntPtr.Zero && d.BodyIsEnabled(chr.Body) && (!chr.m_disabled) && !chr.m_outofBounds)
1543 {
1544 try
1545 {
1546 lock (chr)
1547 {
1548 if (space != IntPtr.Zero && chr.prim_geom != IntPtr.Zero && chr.m_taintremove == false)
1549 {
1550 d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
1551 }
1552 else
1553 {
1554 if (removeprims == null)
1555 {
1556 removeprims = new List<OdePrim>();
1557 }
1558 removeprims.Add(chr);
1559 /// Commented this because it triggers on every bullet
1560 //m_log.Debug("[PHYSICS]: 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!");
1561 }
1562 }
1563 }
1564 catch (AccessViolationException)
1565 {
1566 m_log.Warn("[PHYSICS]: Unable to space collide");
1567 }
1568 }
1569 }
1570 if (removeprims != null)
1571 {
1572 foreach (OdePrim chr in removeprims)
1573 {
1574 _activeprims.Remove(chr);
1575 }
1576 }
1577 }
1578
1579 _perloopContact.Clear();
1580 }
1581
1582 #endregion
1583
1584 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
1585 {
1586 m_worldOffset = offset;
1587 WorldExtents = new Vector2(extents.X, extents.Y);
1588 m_parentScene = pScene;
1589
1590 }
1591
1592 // Recovered for use by fly height. Kitto Flora
1593 public float GetTerrainHeightAtXY(float x, float y)
1594 {
1595
1596 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1597 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
1598
1599 IntPtr heightFieldGeom = IntPtr.Zero;
1600
1601 if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
1602 {
1603 if (heightFieldGeom != IntPtr.Zero)
1604 {
1605 if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
1606 {
1607
1608 int index;
1609
1610
1611 if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
1612 (int)x < 0.001f || (int)y < 0.001f)
1613 return 0;
1614
1615 x = x - offsetX;
1616 y = y - offsetY;
1617
1618 index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
1619
1620 if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
1621 {
1622 //m_log.DebugFormat("x{0} y{1} = {2}", x, y, (float)TerrainHeightFieldHeights[heightFieldGeom][index]);
1623 return (float)TerrainHeightFieldHeights[heightFieldGeom][index];
1624 }
1625
1626 else
1627 return 0f;
1628 }
1629 else
1630 {
1631 return 0f;
1632 }
1633
1634 }
1635 else
1636 {
1637 return 0f;
1638 }
1639
1640 }
1641 else
1642 {
1643 return 0f;
1644 }
1645
1646
1647 }
1648// End recovered. Kitto Flora
1649
1650 public void addCollisionEventReporting(PhysicsActor obj)
1651 {
1652 lock (_collisionEventPrim)
1653 {
1654 if (!_collisionEventPrim.Contains(obj))
1655 _collisionEventPrim.Add(obj);
1656 }
1657 }
1658
1659 public void remCollisionEventReporting(PhysicsActor obj)
1660 {
1661 lock (_collisionEventPrim)
1662 {
1663 if (!_collisionEventPrim.Contains(obj))
1664 _collisionEventPrim.Remove(obj);
1665 }
1666 }
1667
1668 #region Add/Remove Entities
1669
1670 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
1671 {
1672 Vector3 pos;
1673 pos.X = position.X;
1674 pos.Y = position.Y;
1675 pos.Z = position.Z;
1676 OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
1677 newAv.Flying = isFlying;
1678 newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
1679
1680 return newAv;
1681 }
1682
1683 public void AddCharacter(OdeCharacter chr)
1684 {
1685 lock (_characters)
1686 {
1687 if (!_characters.Contains(chr))
1688 {
1689 _characters.Add(chr);
1690 if (chr.bad)
1691 m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
1692 }
1693 }
1694 }
1695
1696 public void RemoveCharacter(OdeCharacter chr)
1697 {
1698 lock (_characters)
1699 {
1700 if (_characters.Contains(chr))
1701 {
1702 _characters.Remove(chr);
1703 }
1704 }
1705 }
1706 public void BadCharacter(OdeCharacter chr)
1707 {
1708 lock (_badCharacter)
1709 {
1710 if (!_badCharacter.Contains(chr))
1711 _badCharacter.Add(chr);
1712 }
1713 }
1714
1715 public override void RemoveAvatar(PhysicsActor actor)
1716 {
1717 //m_log.Debug("[PHYSICS]:ODELOCK");
1718 ((OdeCharacter) actor).Destroy();
1719
1720 }
1721
1722 private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
1723 IMesh mesh, PrimitiveBaseShape pbs, bool isphysical, bool isphantom, byte shapetype, uint localid)
1724 {
1725
1726 Vector3 pos = position;
1727 Vector3 siz = size;
1728 Quaternion rot = rotation;
1729
1730 OdePrim newPrim;
1731 lock (OdeLock)
1732 {
1733 newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, isphantom, shapetype, ode, localid);
1734
1735 lock (_prims)
1736 _prims.Add(newPrim);
1737 }
1738
1739 return newPrim;
1740 }
1741
1742
1743 public void addActivePrim(OdePrim activatePrim)
1744 {
1745 // adds active prim.. (ones that should be iterated over in collisions_optimized
1746 lock (_activeprims)
1747 {
1748 if (!_activeprims.Contains(activatePrim))
1749 _activeprims.Add(activatePrim);
1750 //else
1751 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent");
1752 }
1753 }
1754
1755 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1756 Vector3 size, Quaternion rotation, bool isPhysical, uint localid)
1757 {
1758 PhysicsActor result;
1759 IMesh mesh = null;
1760
1761 if (needsMeshing(pbs))
1762 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1763
1764 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical,false,0, localid);
1765
1766 return result;
1767 }
1768
1769 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1770 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, uint localid)
1771 {
1772 PhysicsActor result;
1773 IMesh mesh = null;
1774
1775 if (needsMeshing(pbs))
1776 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1777
1778 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom,0, localid);
1779
1780 return result;
1781 }
1782
1783 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
1784 Vector3 size, Quaternion rotation, bool isPhysical, bool isPhantom, byte shapetype, uint localid)
1785 {
1786 PhysicsActor result;
1787 IMesh mesh = null;
1788
1789 if (needsMeshing(pbs))
1790 mesh = mesher.CreateMesh(primName, pbs, size, (int)LevelOfDetail.High, true);
1791
1792 result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical, isPhantom, shapetype, localid);
1793
1794 return result;
1795 }
1796
1797 public override float TimeDilation
1798 {
1799 get { return m_timeDilation; }
1800 }
1801
1802 public override bool SupportsNINJAJoints
1803 {
1804 get { return m_NINJA_physics_joints_enabled; }
1805 }
1806
1807 // internal utility function: must be called within a lock (OdeLock)
1808 private void InternalAddActiveJoint(PhysicsJoint joint)
1809 {
1810 activeJoints.Add(joint);
1811 SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
1812 }
1813
1814 // internal utility function: must be called within a lock (OdeLock)
1815 private void InternalAddPendingJoint(OdePhysicsJoint joint)
1816 {
1817 pendingJoints.Add(joint);
1818 SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
1819 }
1820
1821 // internal utility function: must be called within a lock (OdeLock)
1822 private void InternalRemovePendingJoint(PhysicsJoint joint)
1823 {
1824 pendingJoints.Remove(joint);
1825 SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
1826 }
1827
1828 // internal utility function: must be called within a lock (OdeLock)
1829 private void InternalRemoveActiveJoint(PhysicsJoint joint)
1830 {
1831 activeJoints.Remove(joint);
1832 SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
1833 }
1834
1835 public override void DumpJointInfo()
1836 {
1837 string hdr = "[NINJA] JOINTINFO: ";
1838 foreach (PhysicsJoint j in pendingJoints)
1839 {
1840 m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1841 }
1842 m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
1843 foreach (string jointName in SOPName_to_pendingJoint.Keys)
1844 {
1845 m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
1846 }
1847 m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
1848 foreach (PhysicsJoint j in activeJoints)
1849 {
1850 m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1851 }
1852 m_log.Debug(hdr + activeJoints.Count + " total active joints");
1853 foreach (string jointName in SOPName_to_activeJoint.Keys)
1854 {
1855 m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
1856 }
1857 m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
1858
1859 m_log.Debug(hdr + " Per-body joint connectivity information follows.");
1860 m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
1861 foreach (string actorName in joints_connecting_actor.Keys)
1862 {
1863 m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
1864 foreach (PhysicsJoint j in joints_connecting_actor[actorName])
1865 {
1866 m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
1867 }
1868 m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
1869 }
1870 }
1871
1872 public override void RequestJointDeletion(string ObjectNameInScene)
1873 {
1874 lock (externalJointRequestsLock)
1875 {
1876 if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
1877 {
1878 requestedJointsToBeDeleted.Add(ObjectNameInScene);
1879 }
1880 }
1881 }
1882
1883 private void DeleteRequestedJoints()
1884 {
1885 List<string> myRequestedJointsToBeDeleted;
1886 lock (externalJointRequestsLock)
1887 {
1888 // make a local copy of the shared list for processing (threading issues)
1889 myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
1890 }
1891
1892 foreach (string jointName in myRequestedJointsToBeDeleted)
1893 {
1894 lock (OdeLock)
1895 {
1896 //m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
1897 if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
1898 {
1899 OdePhysicsJoint joint = null;
1900 if (SOPName_to_activeJoint.ContainsKey(jointName))
1901 {
1902 joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
1903 InternalRemoveActiveJoint(joint);
1904 }
1905 else if (SOPName_to_pendingJoint.ContainsKey(jointName))
1906 {
1907 joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
1908 InternalRemovePendingJoint(joint);
1909 }
1910
1911 if (joint != null)
1912 {
1913 //m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
1914 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1915 {
1916 string bodyName = joint.BodyNames[iBodyName];
1917 if (bodyName != "NULL")
1918 {
1919 joints_connecting_actor[bodyName].Remove(joint);
1920 if (joints_connecting_actor[bodyName].Count == 0)
1921 {
1922 joints_connecting_actor.Remove(bodyName);
1923 }
1924 }
1925 }
1926
1927 DoJointDeactivated(joint);
1928 if (joint.jointID != IntPtr.Zero)
1929 {
1930 d.JointDestroy(joint.jointID);
1931 joint.jointID = IntPtr.Zero;
1932 //DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
1933 }
1934 else
1935 {
1936 //m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
1937 }
1938 }
1939 else
1940 {
1941 // DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
1942 }
1943 }
1944 else
1945 {
1946 // DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
1947 }
1948 }
1949 }
1950
1951 // remove processed joints from the shared list
1952 lock (externalJointRequestsLock)
1953 {
1954 foreach (string jointName in myRequestedJointsToBeDeleted)
1955 {
1956 requestedJointsToBeDeleted.Remove(jointName);
1957 }
1958 }
1959 }
1960
1961 // for pending joints we don't know if their associated bodies exist yet or not.
1962 // the joint is actually created during processing of the taints
1963 private void CreateRequestedJoints()
1964 {
1965 List<PhysicsJoint> myRequestedJointsToBeCreated;
1966 lock (externalJointRequestsLock)
1967 {
1968 // make a local copy of the shared list for processing (threading issues)
1969 myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
1970 }
1971
1972 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
1973 {
1974 lock (OdeLock)
1975 {
1976 if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
1977 {
1978 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);
1979 continue;
1980 }
1981 if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
1982 {
1983 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);
1984 continue;
1985 }
1986
1987 InternalAddPendingJoint(joint as OdePhysicsJoint);
1988
1989 if (joint.BodyNames.Count >= 2)
1990 {
1991 for (int iBodyName = 0; iBodyName < 2; iBodyName++)
1992 {
1993 string bodyName = joint.BodyNames[iBodyName];
1994 if (bodyName != "NULL")
1995 {
1996 if (!joints_connecting_actor.ContainsKey(bodyName))
1997 {
1998 joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
1999 }
2000 joints_connecting_actor[bodyName].Add(joint);
2001 }
2002 }
2003 }
2004 }
2005 }
2006
2007 // remove processed joints from shared list
2008 lock (externalJointRequestsLock)
2009 {
2010 foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
2011 {
2012 requestedJointsToBeCreated.Remove(joint);
2013 }
2014 }
2015
2016 }
2017
2018 // public function to add an request for joint creation
2019 // this joint will just be added to a waiting list that is NOT processed during the main
2020 // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
2021
2022 public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
2023 Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
2024
2025 {
2026
2027 OdePhysicsJoint joint = new OdePhysicsJoint();
2028 joint.ObjectNameInScene = objectNameInScene;
2029 joint.Type = jointType;
2030 joint.Position = position;
2031 joint.Rotation = rotation;
2032 joint.RawParams = parms;
2033 joint.BodyNames = new List<string>(bodyNames);
2034 joint.TrackedBodyName = trackedBodyName;
2035 joint.LocalRotation = localRotation;
2036 joint.jointID = IntPtr.Zero;
2037 joint.ErrorMessageCount = 0;
2038
2039 lock (externalJointRequestsLock)
2040 {
2041 if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
2042 {
2043 requestedJointsToBeCreated.Add(joint);
2044 }
2045 }
2046 return joint;
2047 }
2048
2049 private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
2050 {
2051 //m_log.Debug("RemoveAllJointsConnectedToActor: start");
2052 if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
2053 {
2054
2055 List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
2056 //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)
2057 foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
2058 {
2059 jointsToRemove.Add(j);
2060 }
2061 foreach (PhysicsJoint j in jointsToRemove)
2062 {
2063 //m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
2064 RequestJointDeletion(j.ObjectNameInScene);
2065 //m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
2066 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)
2067 }
2068 }
2069 }
2070
2071 public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
2072 {
2073 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
2074 lock (OdeLock)
2075 {
2076 //m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
2077 RemoveAllJointsConnectedToActor(actor);
2078 }
2079 }
2080
2081 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2082 public override Vector3 GetJointAnchor(PhysicsJoint joint)
2083 {
2084 Debug.Assert(joint.IsInPhysicsEngine);
2085 d.Vector3 pos = new d.Vector3();
2086
2087 if (!(joint is OdePhysicsJoint))
2088 {
2089 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2090 }
2091 else
2092 {
2093 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2094 switch (odeJoint.Type)
2095 {
2096 case PhysicsJointType.Ball:
2097 d.JointGetBallAnchor(odeJoint.jointID, out pos);
2098 break;
2099 case PhysicsJointType.Hinge:
2100 d.JointGetHingeAnchor(odeJoint.jointID, out pos);
2101 break;
2102 }
2103 }
2104 return new Vector3(pos.X, pos.Y, pos.Z);
2105 }
2106
2107 // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
2108 // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
2109 // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
2110 // keeping track of the joint's original orientation relative to one of the involved bodies.
2111 public override Vector3 GetJointAxis(PhysicsJoint joint)
2112 {
2113 Debug.Assert(joint.IsInPhysicsEngine);
2114 d.Vector3 axis = new d.Vector3();
2115
2116 if (!(joint is OdePhysicsJoint))
2117 {
2118 DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
2119 }
2120 else
2121 {
2122 OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
2123 switch (odeJoint.Type)
2124 {
2125 case PhysicsJointType.Ball:
2126 DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
2127 break;
2128 case PhysicsJointType.Hinge:
2129 d.JointGetHingeAxis(odeJoint.jointID, out axis);
2130 break;
2131 }
2132 }
2133 return new Vector3(axis.X, axis.Y, axis.Z);
2134 }
2135
2136
2137 public void remActivePrim(OdePrim deactivatePrim)
2138 {
2139 lock (_activeprims)
2140 {
2141 _activeprims.Remove(deactivatePrim);
2142 }
2143 }
2144
2145 public override void RemovePrim(PhysicsActor prim)
2146 {
2147 if (prim is OdePrim)
2148 {
2149 lock (OdeLock)
2150 {
2151 OdePrim p = (OdePrim) prim;
2152
2153 p.setPrimForRemoval();
2154 AddPhysicsActorTaint(prim);
2155 //RemovePrimThreadLocked(p);
2156 }
2157 }
2158 }
2159
2160 /// <summary>
2161 /// This is called from within simulate but outside the locked portion
2162 /// We need to do our own locking here
2163 /// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
2164 ///
2165 /// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
2166 /// that the space was using.
2167 /// </summary>
2168 /// <param name="prim"></param>
2169 public void RemovePrimThreadLocked(OdePrim prim)
2170 {
2171//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
2172 lock (prim)
2173 {
2174 remCollisionEventReporting(prim);
2175 lock (ode)
2176 {
2177 if (prim.prim_geom != IntPtr.Zero)
2178 {
2179 prim.ResetTaints();
2180
2181 try
2182 {
2183 if (prim._triMeshData != IntPtr.Zero)
2184 {
2185 d.GeomTriMeshDataDestroy(prim._triMeshData);
2186 prim._triMeshData = IntPtr.Zero;
2187 }
2188 }
2189 catch { };
2190
2191 if (prim.IsPhysical)
2192 {
2193 prim.disableBody();
2194 if (prim.childPrim)
2195 {
2196 prim.childPrim = false;
2197 prim.Body = IntPtr.Zero;
2198 prim.m_disabled = true;
2199 prim.IsPhysical = false;
2200 }
2201
2202 }
2203 // we don't want to remove the main space
2204
2205 // If the geometry is in the targetspace, remove it from the target space
2206 //m_log.Warn(prim.m_targetSpace);
2207
2208 //if (prim.m_targetSpace != IntPtr.Zero)
2209 //{
2210 //if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
2211 //{
2212
2213 //if (d.GeomIsSpace(prim.m_targetSpace))
2214 //{
2215 //waitForSpaceUnlock(prim.m_targetSpace);
2216 //d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
2217 prim.m_targetSpace = IntPtr.Zero;
2218 //}
2219 //else
2220 //{
2221 // m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2222 //((OdePrim)prim).m_targetSpace.ToString());
2223 //}
2224
2225 //}
2226 //}
2227 //m_log.Warn(prim.prim_geom);
2228 try
2229 {
2230 if (prim.prim_geom != IntPtr.Zero)
2231 {
2232
2233//string tPA;
2234//geom_name_map.TryGetValue(prim.prim_geom, out tPA);
2235//Console.WriteLine("**** Remove {0}", tPA);
2236 if(geom_name_map.ContainsKey(prim.prim_geom)) geom_name_map.Remove(prim.prim_geom);
2237 if(actor_name_map.ContainsKey(prim.prim_geom)) actor_name_map.Remove(prim.prim_geom);
2238 d.GeomDestroy(prim.prim_geom);
2239 prim.prim_geom = IntPtr.Zero;
2240 }
2241 else
2242 {
2243 m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
2244 }
2245 }
2246 catch (AccessViolationException)
2247 {
2248 m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
2249 }
2250 lock (_prims)
2251 _prims.Remove(prim);
2252
2253 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2254 //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
2255 //{
2256 //if (prim.m_targetSpace != null)
2257 //{
2258 //if (d.GeomIsSpace(prim.m_targetSpace))
2259 //{
2260 //waitForSpaceUnlock(prim.m_targetSpace);
2261 //d.SpaceRemove(space, prim.m_targetSpace);
2262 // free up memory used by the space.
2263 //d.SpaceDestroy(prim.m_targetSpace);
2264 //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
2265 //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
2266 //}
2267 //else
2268 //{
2269 //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
2270 //((OdePrim) prim).m_targetSpace.ToString());
2271 //}
2272 //}
2273 //}
2274
2275 if (SupportsNINJAJoints)
2276 {
2277 RemoveAllJointsConnectedToActorThreadLocked(prim);
2278 }
2279 }
2280 }
2281 }
2282 }
2283
2284 #endregion
2285
2286 #region Space Separation Calculation
2287
2288 /// <summary>
2289 /// Takes a space pointer and zeros out the array we're using to hold the spaces
2290 /// </summary>
2291 /// <param name="pSpace"></param>
2292 public void resetSpaceArrayItemToZero(IntPtr pSpace)
2293 {
2294 for (int x = 0; x < staticPrimspace.GetLength(0); x++)
2295 {
2296 for (int y = 0; y < staticPrimspace.GetLength(1); y++)
2297 {
2298 if (staticPrimspace[x, y] == pSpace)
2299 staticPrimspace[x, y] = IntPtr.Zero;
2300 }
2301 }
2302 }
2303
2304 public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
2305 {
2306 staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
2307 }
2308
2309 /// <summary>
2310 /// Called when a static prim moves. Allocates a space for the prim based on its position
2311 /// </summary>
2312 /// <param name="geom">the pointer to the geom that moved</param>
2313 /// <param name="pos">the position that the geom moved to</param>
2314 /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
2315 /// <returns>a pointer to the new space it's in</returns>
2316 public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
2317 {
2318 // Called from setting the Position and Size of an ODEPrim so
2319 // it's already in locked space.
2320
2321 // we don't want to remove the main space
2322 // we don't need to test physical here because this function should
2323 // never be called if the prim is physical(active)
2324
2325 // All physical prim end up in the root space
2326 //Thread.Sleep(20);
2327 if (currentspace != space)
2328 {
2329 //m_log.Info("[SPACE]: C:" + currentspace.ToString() + " g:" + geom.ToString());
2330 //if (currentspace == IntPtr.Zero)
2331 //{
2332 //int adfadf = 0;
2333 //}
2334 if (d.SpaceQuery(currentspace, geom) && currentspace != IntPtr.Zero)
2335 {
2336 if (d.GeomIsSpace(currentspace))
2337 {
2338 waitForSpaceUnlock(currentspace);
2339 d.SpaceRemove(currentspace, geom);
2340 }
2341 else
2342 {
2343 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace +
2344 " Geom:" + geom);
2345 }
2346 }
2347 else
2348 {
2349 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2350 if (sGeomIsIn != IntPtr.Zero)
2351 {
2352 if (d.GeomIsSpace(currentspace))
2353 {
2354 waitForSpaceUnlock(sGeomIsIn);
2355 d.SpaceRemove(sGeomIsIn, geom);
2356 }
2357 else
2358 {
2359 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2360 sGeomIsIn + " Geom:" + geom);
2361 }
2362 }
2363 }
2364
2365 //If there are no more geometries in the sub-space, we don't need it in the main space anymore
2366 if (d.SpaceGetNumGeoms(currentspace) == 0)
2367 {
2368 if (currentspace != IntPtr.Zero)
2369 {
2370 if (d.GeomIsSpace(currentspace))
2371 {
2372 waitForSpaceUnlock(currentspace);
2373 waitForSpaceUnlock(space);
2374 d.SpaceRemove(space, currentspace);
2375 // free up memory used by the space.
2376
2377 //d.SpaceDestroy(currentspace);
2378 resetSpaceArrayItemToZero(currentspace);
2379 }
2380 else
2381 {
2382 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2383 currentspace + " Geom:" + geom);
2384 }
2385 }
2386 }
2387 }
2388 else
2389 {
2390 // this is a physical object that got disabled. ;.;
2391 if (currentspace != IntPtr.Zero && geom != IntPtr.Zero)
2392 {
2393 if (d.SpaceQuery(currentspace, geom))
2394 {
2395 if (d.GeomIsSpace(currentspace))
2396 {
2397 waitForSpaceUnlock(currentspace);
2398 d.SpaceRemove(currentspace, geom);
2399 }
2400 else
2401 {
2402 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2403 currentspace + " Geom:" + geom);
2404 }
2405 }
2406 else
2407 {
2408 IntPtr sGeomIsIn = d.GeomGetSpace(geom);
2409 if (sGeomIsIn != IntPtr.Zero)
2410 {
2411 if (d.GeomIsSpace(sGeomIsIn))
2412 {
2413 waitForSpaceUnlock(sGeomIsIn);
2414 d.SpaceRemove(sGeomIsIn, geom);
2415 }
2416 else
2417 {
2418 m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
2419 sGeomIsIn + " Geom:" + geom);
2420 }
2421 }
2422 }
2423 }
2424 }
2425
2426 // The routines in the Position and Size sections do the 'inserting' into the space,
2427 // so all we have to do is make sure that the space that we're putting the prim into
2428 // is in the 'main' space.
2429 int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
2430 IntPtr newspace = calculateSpaceForGeom(pos);
2431
2432 if (newspace == IntPtr.Zero)
2433 {
2434 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
2435 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
2436 }
2437
2438 return newspace;
2439 }
2440
2441 /// <summary>
2442 /// Creates a new space at X Y
2443 /// </summary>
2444 /// <param name="iprimspaceArrItemX"></param>
2445 /// <param name="iprimspaceArrItemY"></param>
2446 /// <returns>A pointer to the created space</returns>
2447 public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
2448 {
2449 // creating a new space for prim and inserting it into main space.
2450 staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
2451 d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
2452 waitForSpaceUnlock(space);
2453 d.SpaceSetSublevel(space, 1);
2454 d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
2455 return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
2456 }
2457
2458 /// <summary>
2459 /// Calculates the space the prim should be in by its position
2460 /// </summary>
2461 /// <param name="pos"></param>
2462 /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
2463 public IntPtr calculateSpaceForGeom(Vector3 pos)
2464 {
2465 int[] xyspace = calculateSpaceArrayItemFromPos(pos);
2466 //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
2467 return staticPrimspace[xyspace[0], xyspace[1]];
2468 }
2469
2470 /// <summary>
2471 /// Holds the space allocation logic
2472 /// </summary>
2473 /// <param name="pos"></param>
2474 /// <returns>an array item based on the position</returns>
2475 public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
2476 {
2477 int[] returnint = new int[2];
2478
2479 returnint[0] = (int) (pos.X/metersInSpace);
2480
2481 if (returnint[0] > ((int) (259f/metersInSpace)))
2482 returnint[0] = ((int) (259f/metersInSpace));
2483 if (returnint[0] < 0)
2484 returnint[0] = 0;
2485
2486 returnint[1] = (int) (pos.Y/metersInSpace);
2487 if (returnint[1] > ((int) (259f/metersInSpace)))
2488 returnint[1] = ((int) (259f/metersInSpace));
2489 if (returnint[1] < 0)
2490 returnint[1] = 0;
2491
2492 return returnint;
2493 }
2494
2495 #endregion
2496
2497 /// <summary>
2498 /// Routine to figure out if we need to mesh this prim with our mesher
2499 /// </summary>
2500 /// <param name="pbs"></param>
2501 /// <returns></returns>
2502 public bool needsMeshing(PrimitiveBaseShape pbs)
2503 {
2504 // most of this is redundant now as the mesher will return null if it cant mesh a prim
2505 // but we still need to check for sculptie meshing being enabled so this is the most
2506 // convenient place to do it for now...
2507
2508 // //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
2509 // //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
2510 int iPropertiesNotSupportedDefault = 0;
2511
2512 if (pbs.SculptEntry && !meshSculptedPrim)
2513 {
2514#if SPAM
2515 m_log.Warn("NonMesh");
2516#endif
2517 return false;
2518 }
2519
2520 // 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
2521 if (!forceSimplePrimMeshing && !pbs.SculptEntry)
2522 {
2523 if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
2524 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
2525 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
2526 {
2527
2528 if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
2529 && pbs.ProfileHollow == 0
2530 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
2531 && pbs.PathBegin == 0 && pbs.PathEnd == 0
2532 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
2533 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
2534 && pbs.PathShearX == 0 && pbs.PathShearY == 0)
2535 {
2536#if SPAM
2537 m_log.Warn("NonMesh");
2538#endif
2539 return false;
2540 }
2541 }
2542 }
2543
2544 if (forceSimplePrimMeshing)
2545 return true;
2546
2547 if (pbs.ProfileHollow != 0)
2548 iPropertiesNotSupportedDefault++;
2549
2550 if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
2551 iPropertiesNotSupportedDefault++;
2552
2553 if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
2554 iPropertiesNotSupportedDefault++;
2555
2556 if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
2557 iPropertiesNotSupportedDefault++;
2558
2559 if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
2560 iPropertiesNotSupportedDefault++;
2561
2562 if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
2563 iPropertiesNotSupportedDefault++;
2564
2565 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))
2566 iPropertiesNotSupportedDefault++;
2567
2568 if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
2569 iPropertiesNotSupportedDefault++;
2570
2571 // test for torus
2572 if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
2573 {
2574 if (pbs.PathCurve == (byte)Extrusion.Curve1)
2575 {
2576 iPropertiesNotSupportedDefault++;
2577 }
2578 }
2579 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
2580 {
2581 if (pbs.PathCurve == (byte)Extrusion.Straight)
2582 {
2583 iPropertiesNotSupportedDefault++;
2584 }
2585
2586 // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
2587 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2588 {
2589 iPropertiesNotSupportedDefault++;
2590 }
2591 }
2592 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
2593 {
2594 if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
2595 {
2596 iPropertiesNotSupportedDefault++;
2597 }
2598 }
2599 else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
2600 {
2601 if (pbs.PathCurve == (byte)Extrusion.Straight)
2602 {
2603 iPropertiesNotSupportedDefault++;
2604 }
2605 else if (pbs.PathCurve == (byte)Extrusion.Curve1)
2606 {
2607 iPropertiesNotSupportedDefault++;
2608 }
2609 }
2610
2611 if (pbs.SculptEntry && meshSculptedPrim)
2612 iPropertiesNotSupportedDefault++;
2613
2614 if (iPropertiesNotSupportedDefault == 0)
2615 {
2616#if SPAM
2617 m_log.Warn("NonMesh");
2618#endif
2619 return false;
2620 }
2621#if SPAM
2622 m_log.Debug("Mesh");
2623#endif
2624 return true;
2625 }
2626
2627 /// <summary>
2628 /// Called after our prim properties are set Scale, position etc.
2629 /// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
2630 /// This assures us that we have no race conditions
2631 /// </summary>
2632 /// <param name="prim"></param>
2633 public override void AddPhysicsActorTaint(PhysicsActor prim)
2634 {
2635
2636 if (prim is OdePrim)
2637 {
2638 OdePrim taintedprim = ((OdePrim) prim);
2639 lock (_taintedPrimLock)
2640 {
2641 if (!(_taintedPrimH.Contains(taintedprim)))
2642 {
2643//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
2644 _taintedPrimH.Add(taintedprim); // HashSet for searching
2645 _taintedPrimL.Add(taintedprim); // List for ordered readout
2646 }
2647 }
2648 return;
2649 }
2650 else if (prim is OdeCharacter)
2651 {
2652 OdeCharacter taintedchar = ((OdeCharacter)prim);
2653 lock (_taintedActors)
2654 {
2655 if (!(_taintedActors.Contains(taintedchar)))
2656 {
2657 _taintedActors.Add(taintedchar);
2658 if (taintedchar.bad)
2659 m_log.DebugFormat("[PHYSICS]: Added BAD actor {0} to tainted actors", taintedchar.m_uuid);
2660 }
2661 }
2662 }
2663 }
2664
2665 /// <summary>
2666 /// This is our main simulate loop
2667 /// It's thread locked by a Mutex in the scene.
2668 /// It holds Collisions, it instructs ODE to step through the physical reactions
2669 /// It moves the objects around in memory
2670 /// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
2671 /// </summary>
2672 /// <param name="timeStep"></param>
2673 /// <returns></returns>
2674 public override float Simulate(float timeStep)
2675 {
2676 if (framecount >= int.MaxValue)
2677 framecount = 0;
2678 //if (m_worldOffset != Vector3.Zero)
2679 // return 0;
2680
2681 framecount++;
2682
2683 DateTime now = DateTime.UtcNow;
2684 TimeSpan SinceLastFrame = now - m_lastframe;
2685 m_lastframe = now;
2686 float realtime = (float)SinceLastFrame.TotalSeconds;
2687// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
2688 timeStep = realtime;
2689
2690 // float fps = 1.0f / realtime;
2691 float fps = 0.0f; // number of ODE steps in this Simulate step
2692 //m_log.Info(timeStep.ToString());
2693 step_time += timeStep;
2694
2695 // If We're loaded down by something else,
2696 // or debugging with the Visual Studio project on pause
2697 // skip a few frames to catch up gracefully.
2698 // without shooting the physicsactors all over the place
2699
2700 if (step_time >= m_SkipFramesAtms)
2701 {
2702 // Instead of trying to catch up, it'll do 5 physics frames only
2703 step_time = ODE_STEPSIZE;
2704 m_physicsiterations = 5;
2705 }
2706 else
2707 {
2708 m_physicsiterations = 10;
2709 }
2710
2711 if (SupportsNINJAJoints)
2712 {
2713 DeleteRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2714 CreateRequestedJoints(); // this must be outside of the lock (OdeLock) to avoid deadlocks
2715 }
2716
2717 lock (OdeLock)
2718 {
2719 // Process 10 frames if the sim is running normal..
2720 // process 5 frames if the sim is running slow
2721 //try
2722 //{
2723 //d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
2724 //}
2725 //catch (StackOverflowException)
2726 //{
2727 // m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
2728 // ode.drelease(world);
2729 //base.TriggerPhysicsBasedRestart();
2730 //}
2731
2732 int i = 0;
2733
2734 // Figure out the Frames Per Second we're going at.
2735 //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
2736
2737 // fps = (step_time / ODE_STEPSIZE) * 1000;
2738 // HACK: Using a time dilation of 1.0 to debug rubberbanding issues
2739 //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
2740
2741 // step_time = 0.09375f;
2742
2743 while (step_time > 0.0f)
2744 {
2745 //lock (ode)
2746 //{
2747 //if (!ode.lockquery())
2748 //{
2749 // ode.dlock(world);
2750 try
2751 {
2752 // Insert, remove Characters
2753 bool processedtaints = false;
2754
2755 lock (_taintedActors)
2756 {
2757 if (_taintedActors.Count > 0)
2758 {
2759 foreach (OdeCharacter character in _taintedActors)
2760 {
2761
2762 character.ProcessTaints(ODE_STEPSIZE);
2763
2764 processedtaints = true;
2765 //character.m_collisionscore = 0;
2766 }
2767
2768 if (processedtaints)
2769 _taintedActors.Clear();
2770 }
2771 } // end lock _taintedActors
2772
2773 // Modify other objects in the scene.
2774 processedtaints = false;
2775
2776 lock (_taintedPrimLock)
2777 {
2778 foreach (OdePrim prim in _taintedPrimL)
2779 {
2780 if (prim.m_taintremove)
2781 {
2782 //Console.WriteLine("Simulate calls RemovePrimThreadLocked");
2783 RemovePrimThreadLocked(prim);
2784 }
2785 else
2786 {
2787 //Console.WriteLine("Simulate calls ProcessTaints");
2788 prim.ProcessTaints(ODE_STEPSIZE);
2789 }
2790 processedtaints = true;
2791 prim.m_collisionscore = 0;
2792
2793 // This loop can block up the Heartbeat for a very long time on large regions.
2794 // We need to let the Watchdog know that the Heartbeat is not dead
2795 // NOTE: This is currently commented out, but if things like OAR loading are
2796 // timing the heartbeat out we will need to uncomment it
2797 //Watchdog.UpdateThread();
2798 }
2799
2800 if (SupportsNINJAJoints)
2801 {
2802 // Create pending joints, if possible
2803
2804 // joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
2805 // a joint requires specifying the body id of both involved bodies
2806 if (pendingJoints.Count > 0)
2807 {
2808 List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
2809 //DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
2810 foreach (PhysicsJoint joint in pendingJoints)
2811 {
2812 //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
2813 string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
2814 System.StringSplitOptions.RemoveEmptyEntries);
2815 List<IntPtr> jointBodies = new List<IntPtr>();
2816 bool allJointBodiesAreReady = true;
2817 foreach (string jointParam in jointParams)
2818 {
2819 if (jointParam == "NULL")
2820 {
2821 //DoJointErrorMessage(joint, "attaching NULL joint to world");
2822 jointBodies.Add(IntPtr.Zero);
2823 }
2824 else
2825 {
2826 //DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
2827 bool foundPrim = false;
2828 lock (_prims)
2829 {
2830 foreach (OdePrim prim in _prims) // FIXME: inefficient
2831 {
2832 if (prim.SOPName == jointParam)
2833 {
2834 //DoJointErrorMessage(joint, "found for prim name: " + jointParam);
2835 if (prim.IsPhysical && prim.Body != IntPtr.Zero)
2836 {
2837 jointBodies.Add(prim.Body);
2838 foundPrim = true;
2839 break;
2840 }
2841 else
2842 {
2843 DoJointErrorMessage(joint, "prim name " + jointParam +
2844 " exists but is not (yet) physical; deferring joint creation. " +
2845 "IsPhysical property is " + prim.IsPhysical +
2846 " and body is " + prim.Body);
2847 foundPrim = false;
2848 break;
2849 }
2850 }
2851 }
2852 }
2853 if (foundPrim)
2854 {
2855 // all is fine
2856 }
2857 else
2858 {
2859 allJointBodiesAreReady = false;
2860 break;
2861 }
2862 }
2863 }
2864 if (allJointBodiesAreReady)
2865 {
2866 //DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
2867 if (jointBodies[0] == jointBodies[1])
2868 {
2869 DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
2870 }
2871 else
2872 {
2873 switch (joint.Type)
2874 {
2875 case PhysicsJointType.Ball:
2876 {
2877 IntPtr odeJoint;
2878 //DoJointErrorMessage(joint, "ODE creating ball joint ");
2879 odeJoint = d.JointCreateBall(world, IntPtr.Zero);
2880 //DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2881 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2882 //DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
2883 d.JointSetBallAnchor(odeJoint,
2884 joint.Position.X,
2885 joint.Position.Y,
2886 joint.Position.Z);
2887 //DoJointErrorMessage(joint, "ODE joint setting OK");
2888 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
2889 //DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
2890 //DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
2891 //DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
2892
2893 if (joint is OdePhysicsJoint)
2894 {
2895 ((OdePhysicsJoint)joint).jointID = odeJoint;
2896 }
2897 else
2898 {
2899 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2900 }
2901 }
2902 break;
2903 case PhysicsJointType.Hinge:
2904 {
2905 IntPtr odeJoint;
2906 //DoJointErrorMessage(joint, "ODE creating hinge joint ");
2907 odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
2908 //DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
2909 d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
2910 //DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
2911 d.JointSetHingeAnchor(odeJoint,
2912 joint.Position.X,
2913 joint.Position.Y,
2914 joint.Position.Z);
2915 // We use the orientation of the x-axis of the joint's coordinate frame
2916 // as the axis for the hinge.
2917
2918 // Therefore, we must get the joint's coordinate frame based on the
2919 // joint.Rotation field, which originates from the orientation of the
2920 // joint's proxy object in the scene.
2921
2922 // The joint's coordinate frame is defined as the transformation matrix
2923 // that converts a vector from joint-local coordinates into world coordinates.
2924 // World coordinates are defined as the XYZ coordinate system of the sim,
2925 // as shown in the top status-bar of the viewer.
2926
2927 // Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
2928 // and use that as the hinge axis.
2929
2930 //joint.Rotation.Normalize();
2931 Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
2932
2933 // Now extract the X axis of the joint's coordinate frame.
2934
2935 // Do not try to use proxyFrame.AtAxis or you will become mired in the
2936 // tar pit of transposed, inverted, and generally messed-up orientations.
2937 // (In other words, Matrix4.AtAxis() is borked.)
2938 // Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
2939
2940 // Instead, compute the X axis of the coordinate frame by transforming
2941 // the (1,0,0) vector. At least that works.
2942
2943 //m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
2944 Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
2945 //m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
2946 //DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
2947 d.JointSetHingeAxis(odeJoint,
2948 jointAxis.X,
2949 jointAxis.Y,
2950 jointAxis.Z);
2951 //d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
2952 if (joint is OdePhysicsJoint)
2953 {
2954 ((OdePhysicsJoint)joint).jointID = odeJoint;
2955 }
2956 else
2957 {
2958 DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
2959 }
2960 }
2961 break;
2962 }
2963 successfullyProcessedPendingJoints.Add(joint);
2964 }
2965 }
2966 else
2967 {
2968 DoJointErrorMessage(joint, "joint could not yet be created; still pending");
2969 }
2970 }
2971 foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
2972 {
2973 //DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
2974 //DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
2975 InternalRemovePendingJoint(successfullyProcessedJoint);
2976 //DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
2977 InternalAddActiveJoint(successfullyProcessedJoint);
2978 //DoJointErrorMessage(successfullyProcessedJoint, "done");
2979 }
2980 }
2981 } // end SupportsNINJAJoints
2982
2983 if (processedtaints)
2984//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
2985 _taintedPrimH.Clear(); // ??? if this only ???
2986 _taintedPrimL.Clear();
2987 } // end lock _taintedPrimLock
2988
2989 // Move characters
2990 lock (_characters)
2991 {
2992 List<OdeCharacter> defects = new List<OdeCharacter>();
2993 foreach (OdeCharacter actor in _characters)
2994 {
2995 if (actor != null)
2996 actor.Move(ODE_STEPSIZE, defects);
2997 }
2998 if (0 != defects.Count)
2999 {
3000 foreach (OdeCharacter defect in defects)
3001 {
3002 RemoveCharacter(defect);
3003 }
3004 }
3005 } // end lock _characters
3006
3007 // Move other active objects
3008 lock (_activeprims)
3009 {
3010 foreach (OdePrim prim in _activeprims)
3011 {
3012 prim.m_collisionscore = 0;
3013 prim.Move(ODE_STEPSIZE);
3014 }
3015 } // end lock _activeprims
3016
3017 //if ((framecount % m_randomizeWater) == 0)
3018 // randomizeWater(waterlevel);
3019
3020 //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
3021 m_rayCastManager.ProcessQueuedRequests();
3022
3023 collision_optimized(ODE_STEPSIZE);
3024
3025 lock (_collisionEventPrim)
3026 {
3027 foreach (PhysicsActor obj in _collisionEventPrim)
3028 {
3029 if (obj == null)
3030 continue;
3031
3032 switch ((ActorTypes)obj.PhysicsActorType)
3033 {
3034 case ActorTypes.Agent:
3035 OdeCharacter cobj = (OdeCharacter)obj;
3036 cobj.AddCollisionFrameTime(100);
3037 cobj.SendCollisions();
3038 break;
3039 case ActorTypes.Prim:
3040 OdePrim pobj = (OdePrim)obj;
3041 pobj.SendCollisions();
3042 break;
3043 }
3044 }
3045 } // end lock _collisionEventPrim
3046
3047 //if (m_global_contactcount > 5)
3048 //{
3049 // m_log.DebugFormat("[PHYSICS]: Contacts:{0}", m_global_contactcount);
3050 //}
3051
3052 m_global_contactcount = 0;
3053
3054 d.WorldQuickStep(world, ODE_STEPSIZE);
3055 d.JointGroupEmpty(contactgroup);
3056 fps++;
3057 //ode.dunlock(world);
3058 } // end try
3059 catch (Exception e)
3060 {
3061 m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
3062 ode.dunlock(world);
3063 }
3064
3065 step_time -= ODE_STEPSIZE;
3066 i++;
3067 //}
3068 //else
3069 //{
3070 //fps = 0;
3071 //}
3072 //}
3073 } // end while (step_time > 0.0f)
3074
3075 lock (_characters)
3076 {
3077 foreach (OdeCharacter actor in _characters)
3078 {
3079 if (actor != null)
3080 {
3081 if (actor.bad)
3082 m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
3083 actor.UpdatePositionAndVelocity();
3084 }
3085 }
3086 }
3087
3088 lock (_badCharacter)
3089 {
3090 if (_badCharacter.Count > 0)
3091 {
3092 foreach (OdeCharacter chr in _badCharacter)
3093 {
3094 RemoveCharacter(chr);
3095 }
3096 _badCharacter.Clear();
3097 }
3098 }
3099
3100 lock (_activeprims)
3101 {
3102 //if (timeStep < 0.2f)
3103 {
3104 foreach (OdePrim actor in _activeprims)
3105 {
3106 if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
3107 {
3108 actor.UpdatePositionAndVelocity();
3109
3110 if (SupportsNINJAJoints)
3111 {
3112 // If an actor moved, move its joint proxy objects as well.
3113 // There seems to be an event PhysicsActor.OnPositionUpdate that could be used
3114 // for this purpose but it is never called! So we just do the joint
3115 // movement code here.
3116
3117 if (actor.SOPName != null &&
3118 joints_connecting_actor.ContainsKey(actor.SOPName) &&
3119 joints_connecting_actor[actor.SOPName] != null &&
3120 joints_connecting_actor[actor.SOPName].Count > 0)
3121 {
3122 foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
3123 {
3124 if (affectedJoint.IsInPhysicsEngine)
3125 {
3126 DoJointMoved(affectedJoint);
3127 }
3128 else
3129 {
3130 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);
3131 }
3132 }
3133 }
3134 }
3135 }
3136 }
3137 }
3138 } // end lock _activeprims
3139
3140 //DumpJointInfo();
3141
3142 // Finished with all sim stepping. If requested, dump world state to file for debugging.
3143 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
3144 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
3145 if (physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0))
3146 {
3147 string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
3148 string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
3149
3150 if (physics_logging_append_existing_logfile)
3151 {
3152 string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
3153 TextWriter fwriter = File.AppendText(fname);
3154 fwriter.WriteLine(header);
3155 fwriter.Close();
3156 }
3157 d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
3158 }
3159 } // end lock OdeLock
3160
3161 return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
3162 } // end Simulate
3163
3164 public override void GetResults()
3165 {
3166 }
3167
3168 public override bool IsThreaded
3169 {
3170 // for now we won't be multithreaded
3171 get { return (false); }
3172 }
3173
3174 #region ODE Specific Terrain Fixes
3175 public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
3176 {
3177 float[] returnarr = new float[262144];
3178 float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
3179
3180 // Filling out the array into its multi-dimensional components
3181 for (int y = 0; y < WorldExtents.Y; y++)
3182 {
3183 for (int x = 0; x < WorldExtents.X; x++)
3184 {
3185 resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
3186 }
3187 }
3188
3189 // Resize using Nearest Neighbour
3190
3191 // This particular way is quick but it only works on a multiple of the original
3192
3193 // The idea behind this method can be described with the following diagrams
3194 // second pass and third pass happen in the same loop really.. just separated
3195 // them to show what this does.
3196
3197 // First Pass
3198 // ResultArr:
3199 // 1,1,1,1,1,1
3200 // 1,1,1,1,1,1
3201 // 1,1,1,1,1,1
3202 // 1,1,1,1,1,1
3203 // 1,1,1,1,1,1
3204 // 1,1,1,1,1,1
3205
3206 // Second Pass
3207 // ResultArr2:
3208 // 1,,1,,1,,1,,1,,1,
3209 // ,,,,,,,,,,
3210 // 1,,1,,1,,1,,1,,1,
3211 // ,,,,,,,,,,
3212 // 1,,1,,1,,1,,1,,1,
3213 // ,,,,,,,,,,
3214 // 1,,1,,1,,1,,1,,1,
3215 // ,,,,,,,,,,
3216 // 1,,1,,1,,1,,1,,1,
3217 // ,,,,,,,,,,
3218 // 1,,1,,1,,1,,1,,1,
3219
3220 // Third pass fills in the blanks
3221 // ResultArr2:
3222 // 1,1,1,1,1,1,1,1,1,1,1,1
3223 // 1,1,1,1,1,1,1,1,1,1,1,1
3224 // 1,1,1,1,1,1,1,1,1,1,1,1
3225 // 1,1,1,1,1,1,1,1,1,1,1,1
3226 // 1,1,1,1,1,1,1,1,1,1,1,1
3227 // 1,1,1,1,1,1,1,1,1,1,1,1
3228 // 1,1,1,1,1,1,1,1,1,1,1,1
3229 // 1,1,1,1,1,1,1,1,1,1,1,1
3230 // 1,1,1,1,1,1,1,1,1,1,1,1
3231 // 1,1,1,1,1,1,1,1,1,1,1,1
3232 // 1,1,1,1,1,1,1,1,1,1,1,1
3233
3234 // X,Y = .
3235 // X+1,y = ^
3236 // X,Y+1 = *
3237 // X+1,Y+1 = #
3238
3239 // Filling in like this;
3240 // .*
3241 // ^#
3242 // 1st .
3243 // 2nd *
3244 // 3rd ^
3245 // 4th #
3246 // on single loop.
3247
3248 float[,] resultarr2 = new float[512, 512];
3249 for (int y = 0; y < WorldExtents.Y; y++)
3250 {
3251 for (int x = 0; x < WorldExtents.X; x++)
3252 {
3253 resultarr2[y * 2, x * 2] = resultarr[y, x];
3254
3255 if (y < WorldExtents.Y)
3256 {
3257 resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
3258 }
3259 if (x < WorldExtents.X)
3260 {
3261 resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
3262 }
3263 if (x < WorldExtents.X && y < WorldExtents.Y)
3264 {
3265 resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
3266 }
3267 }
3268 }
3269
3270 //Flatten out the array
3271 int i = 0;
3272 for (int y = 0; y < 512; y++)
3273 {
3274 for (int x = 0; x < 512; x++)
3275 {
3276 if (resultarr2[y, x] <= 0)
3277 returnarr[i] = 0.0000001f;
3278 else
3279 returnarr[i] = resultarr2[y, x];
3280
3281 i++;
3282 }
3283 }
3284
3285 return returnarr;
3286 }
3287
3288 public float[] ResizeTerrain512Interpolation(float[] heightMap)
3289 {
3290 float[] returnarr = new float[262144];
3291 float[,] resultarr = new float[512,512];
3292
3293 // Filling out the array into its multi-dimensional components
3294 for (int y = 0; y < 256; y++)
3295 {
3296 for (int x = 0; x < 256; x++)
3297 {
3298 resultarr[y, x] = heightMap[y * 256 + x];
3299 }
3300 }
3301
3302 // Resize using interpolation
3303
3304 // This particular way is quick but it only works on a multiple of the original
3305
3306 // The idea behind this method can be described with the following diagrams
3307 // second pass and third pass happen in the same loop really.. just separated
3308 // them to show what this does.
3309
3310 // First Pass
3311 // ResultArr:
3312 // 1,1,1,1,1,1
3313 // 1,1,1,1,1,1
3314 // 1,1,1,1,1,1
3315 // 1,1,1,1,1,1
3316 // 1,1,1,1,1,1
3317 // 1,1,1,1,1,1
3318
3319 // Second Pass
3320 // ResultArr2:
3321 // 1,,1,,1,,1,,1,,1,
3322 // ,,,,,,,,,,
3323 // 1,,1,,1,,1,,1,,1,
3324 // ,,,,,,,,,,
3325 // 1,,1,,1,,1,,1,,1,
3326 // ,,,,,,,,,,
3327 // 1,,1,,1,,1,,1,,1,
3328 // ,,,,,,,,,,
3329 // 1,,1,,1,,1,,1,,1,
3330 // ,,,,,,,,,,
3331 // 1,,1,,1,,1,,1,,1,
3332
3333 // Third pass fills in the blanks
3334 // ResultArr2:
3335 // 1,1,1,1,1,1,1,1,1,1,1,1
3336 // 1,1,1,1,1,1,1,1,1,1,1,1
3337 // 1,1,1,1,1,1,1,1,1,1,1,1
3338 // 1,1,1,1,1,1,1,1,1,1,1,1
3339 // 1,1,1,1,1,1,1,1,1,1,1,1
3340 // 1,1,1,1,1,1,1,1,1,1,1,1
3341 // 1,1,1,1,1,1,1,1,1,1,1,1
3342 // 1,1,1,1,1,1,1,1,1,1,1,1
3343 // 1,1,1,1,1,1,1,1,1,1,1,1
3344 // 1,1,1,1,1,1,1,1,1,1,1,1
3345 // 1,1,1,1,1,1,1,1,1,1,1,1
3346
3347 // X,Y = .
3348 // X+1,y = ^
3349 // X,Y+1 = *
3350 // X+1,Y+1 = #
3351
3352 // Filling in like this;
3353 // .*
3354 // ^#
3355 // 1st .
3356 // 2nd *
3357 // 3rd ^
3358 // 4th #
3359 // on single loop.
3360
3361 float[,] resultarr2 = new float[512,512];
3362 for (int y = 0; y < (int)Constants.RegionSize; y++)
3363 {
3364 for (int x = 0; x < (int)Constants.RegionSize; x++)
3365 {
3366 resultarr2[y*2, x*2] = resultarr[y, x];
3367
3368 if (y < (int)Constants.RegionSize)
3369 {
3370 if (y + 1 < (int)Constants.RegionSize)
3371 {
3372 if (x + 1 < (int)Constants.RegionSize)
3373 {
3374 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
3375 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3376 }
3377 else
3378 {
3379 resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
3380 }
3381 }
3382 else
3383 {
3384 resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
3385 }
3386 }
3387 if (x < (int)Constants.RegionSize)
3388 {
3389 if (x + 1 < (int)Constants.RegionSize)
3390 {
3391 if (y + 1 < (int)Constants.RegionSize)
3392 {
3393 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3394 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3395 }
3396 else
3397 {
3398 resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
3399 }
3400 }
3401 else
3402 {
3403 resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
3404 }
3405 }
3406 if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
3407 {
3408 if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
3409 {
3410 resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
3411 resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
3412 }
3413 else
3414 {
3415 resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
3416 }
3417 }
3418 }
3419 }
3420 //Flatten out the array
3421 int i = 0;
3422 for (int y = 0; y < 512; y++)
3423 {
3424 for (int x = 0; x < 512; x++)
3425 {
3426 if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
3427 {
3428 m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
3429 resultarr2[y, x] = 0;
3430 }
3431 returnarr[i] = resultarr2[y, x];
3432 i++;
3433 }
3434 }
3435
3436 return returnarr;
3437 }
3438
3439 #endregion
3440
3441 public override void SetTerrain(float[] heightMap)
3442 {
3443 if (m_worldOffset != Vector3.Zero && m_parentScene != null)
3444 {
3445 if (m_parentScene is OdeScene)
3446 {
3447 ((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
3448 }
3449 }
3450 else
3451 {
3452 SetTerrain(heightMap, m_worldOffset);
3453 }
3454 }
3455
3456 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3457 {
3458
3459 int regionsize = (int) Constants.RegionSize; // visible region size eg. 256(M)
3460
3461 int heightmapWidth = regionsize + 2; // ODE map size 257 x 257 (Meters) (1 extra
3462 int heightmapHeight = regionsize + 2;
3463
3464 int heightmapWidthSamples = (int)regionsize + 2; // Sample file size, 258 x 258 samples
3465 int heightmapHeightSamples = (int)regionsize + 2;
3466
3467 // Array of height samples for ODE
3468 float[] _heightmap;
3469 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
3470
3471 // Other ODE parameters
3472 const float scale = 1.0f;
3473 const float offset = 0.0f;
3474 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3475 const int wrap = 0;
3476
3477 float hfmin = 2000f;
3478 float hfmax = -2000f;
3479 float minele = 0.0f; // Dont allow -ve heights
3480
3481 int x = 0;
3482 int y = 0;
3483 int xx = 0;
3484 int yy = 0;
3485
3486 // load the height samples array from the heightMap
3487 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3488 {
3489 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3490 {
3491 xx = x - 1;
3492 if (xx < 0) xx = 0;
3493 if (xx > (regionsize - 1)) xx = regionsize - 1;
3494
3495 yy = y - 1;
3496 if (yy < 0) yy = 0;
3497 if (yy > (regionsize - 1)) yy = regionsize - 1;
3498 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3499 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3500 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3501 if (val < minele) val = minele;
3502 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3503 hfmin = (val < hfmin) ? val : hfmin;
3504 hfmax = (val > hfmax) ? val : hfmax;
3505 }
3506 }
3507
3508 lock (OdeLock)
3509 {
3510 IntPtr GroundGeom = IntPtr.Zero;
3511 if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
3512 {
3513 RegionTerrain.Remove(pOffset);
3514 if (GroundGeom != IntPtr.Zero)
3515 {
3516 if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
3517 {
3518 TerrainHeightFieldHeights.Remove(GroundGeom);
3519 }
3520 d.SpaceRemove(space, GroundGeom);
3521 d.GeomDestroy(GroundGeom);
3522 }
3523 }
3524 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3525 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3526 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3527 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3528 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3529 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3530 if (GroundGeom != IntPtr.Zero)
3531 {
3532 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3533 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3534 }
3535 geom_name_map[GroundGeom] = "Terrain";
3536
3537 d.Matrix3 R = new d.Matrix3();
3538
3539 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3540 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3541 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3542
3543 q1 = q1 * q2;
3544 //q1 = q1 * q3;
3545 Vector3 v3;
3546 float angle;
3547 q1.GetAxisAngle(out v3, out angle);
3548
3549 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3550 d.GeomSetRotation(GroundGeom, ref R);
3551 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3552 IntPtr testGround = IntPtr.Zero;
3553 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3554 {
3555 RegionTerrain.Remove(pOffset);
3556 }
3557 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3558 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3559 }
3560 }
3561
3562 public override void DeleteTerrain()
3563 {
3564 }
3565
3566 public float GetWaterLevel()
3567 {
3568 return waterlevel;
3569 }
3570
3571 public override bool SupportsCombining()
3572 {
3573 return true;
3574 }
3575
3576 public override void UnCombine(PhysicsScene pScene)
3577 {
3578 IntPtr localGround = IntPtr.Zero;
3579// float[] localHeightfield;
3580 bool proceed = false;
3581 List<IntPtr> geomDestroyList = new List<IntPtr>();
3582
3583 lock (OdeLock)
3584 {
3585 if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
3586 {
3587 foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
3588 {
3589 if (geom == localGround)
3590 {
3591// localHeightfield = TerrainHeightFieldHeights[geom];
3592 proceed = true;
3593 }
3594 else
3595 {
3596 geomDestroyList.Add(geom);
3597 }
3598 }
3599
3600 if (proceed)
3601 {
3602 m_worldOffset = Vector3.Zero;
3603 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
3604 m_parentScene = null;
3605
3606 foreach (IntPtr g in geomDestroyList)
3607 {
3608 // removingHeightField needs to be done or the garbage collector will
3609 // collect the terrain data before we tell ODE to destroy it causing
3610 // memory corruption
3611 if (TerrainHeightFieldHeights.ContainsKey(g))
3612 {
3613// float[] removingHeightField = TerrainHeightFieldHeights[g];
3614 TerrainHeightFieldHeights.Remove(g);
3615
3616 if (RegionTerrain.ContainsKey(g))
3617 {
3618 RegionTerrain.Remove(g);
3619 }
3620
3621 d.GeomDestroy(g);
3622 //removingHeightField = new float[0];
3623 }
3624 }
3625
3626 }
3627 else
3628 {
3629 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3630
3631 }
3632 }
3633 }
3634 }
3635
3636 public override void SetWaterLevel(float baseheight)
3637 {
3638 waterlevel = baseheight;
3639 randomizeWater(waterlevel);
3640 }
3641
3642 public void randomizeWater(float baseheight)
3643 {
3644 const uint heightmapWidth = m_regionWidth + 2;
3645 const uint heightmapHeight = m_regionHeight + 2;
3646 const uint heightmapWidthSamples = m_regionWidth + 2;
3647 const uint heightmapHeightSamples = m_regionHeight + 2;
3648 const float scale = 1.0f;
3649 const float offset = 0.0f;
3650 const float thickness = 2.9f;
3651 const int wrap = 0;
3652
3653 for (int i = 0; i < (258 * 258); i++)
3654 {
3655 _watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
3656 // m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
3657 }
3658
3659 lock (OdeLock)
3660 {
3661 if (WaterGeom != IntPtr.Zero)
3662 {
3663 d.SpaceRemove(space, WaterGeom);
3664 }
3665 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3666 d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
3667 (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
3668 offset, thickness, wrap);
3669 d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
3670 WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
3671 if (WaterGeom != IntPtr.Zero)
3672 {
3673 d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
3674 d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
3675
3676 }
3677 geom_name_map[WaterGeom] = "Water";
3678
3679 d.Matrix3 R = new d.Matrix3();
3680
3681 Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
3682 Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
3683 //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
3684
3685 q1 = q1 * q2;
3686 //q1 = q1 * q3;
3687 Vector3 v3;
3688 float angle;
3689 q1.GetAxisAngle(out v3, out angle);
3690
3691 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3692 d.GeomSetRotation(WaterGeom, ref R);
3693 d.GeomSetPosition(WaterGeom, 128, 128, 0);
3694
3695 }
3696
3697 }
3698
3699 public override void Dispose()
3700 {
3701 m_rayCastManager.Dispose();
3702 m_rayCastManager = null;
3703
3704 lock (OdeLock)
3705 {
3706 lock (_prims)
3707 {
3708 foreach (OdePrim prm in _prims)
3709 {
3710 RemovePrim(prm);
3711 }
3712 }
3713
3714 //foreach (OdeCharacter act in _characters)
3715 //{
3716 //RemoveAvatar(act);
3717 //}
3718 d.WorldDestroy(world);
3719 //d.CloseODE();
3720 }
3721 }
3722 public override Dictionary<uint, float> GetTopColliders()
3723 {
3724 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
3725 int cnt = 0;
3726 lock (_prims)
3727 {
3728 foreach (OdePrim prm in _prims)
3729 {
3730 if (prm.CollisionScore > 0)
3731 {
3732 returncolliders.Add(prm.m_localID, prm.CollisionScore);
3733 cnt++;
3734 prm.CollisionScore = 0f;
3735 if (cnt > 25)
3736 {
3737 break;
3738 }
3739 }
3740 }
3741 }
3742 return returncolliders;
3743 }
3744
3745 public override bool SupportsRayCast()
3746 {
3747 return true;
3748 }
3749
3750 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
3751 {
3752 if (retMethod != null)
3753 {
3754 m_rayCastManager.QueueRequest(position, direction, length, retMethod);
3755 }
3756 }
3757
3758#if USE_DRAWSTUFF
3759 // Keyboard callback
3760 public void command(int cmd)
3761 {
3762 IntPtr geom;
3763 d.Mass mass;
3764 d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
3765
3766
3767
3768 Char ch = Char.ToLower((Char)cmd);
3769 switch ((Char)ch)
3770 {
3771 case 'w':
3772 try
3773 {
3774 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));
3775
3776 xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
3777 ds.SetViewpoint(ref xyz, ref hpr);
3778 }
3779 catch (ArgumentException)
3780 { hpr.X = 0; }
3781 break;
3782
3783 case 'a':
3784 hpr.X++;
3785 ds.SetViewpoint(ref xyz, ref hpr);
3786 break;
3787
3788 case 's':
3789 try
3790 {
3791 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));
3792
3793 xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
3794 ds.SetViewpoint(ref xyz, ref hpr);
3795 }
3796 catch (ArgumentException)
3797 { hpr.X = 0; }
3798 break;
3799 case 'd':
3800 hpr.X--;
3801 ds.SetViewpoint(ref xyz, ref hpr);
3802 break;
3803 case 'r':
3804 xyz.Z++;
3805 ds.SetViewpoint(ref xyz, ref hpr);
3806 break;
3807 case 'f':
3808 xyz.Z--;
3809 ds.SetViewpoint(ref xyz, ref hpr);
3810 break;
3811 case 'e':
3812 xyz.Y++;
3813 ds.SetViewpoint(ref xyz, ref hpr);
3814 break;
3815 case 'q':
3816 xyz.Y--;
3817 ds.SetViewpoint(ref xyz, ref hpr);
3818 break;
3819 }
3820 }
3821
3822 public void step(int pause)
3823 {
3824
3825 ds.SetColor(1.0f, 1.0f, 0.0f);
3826 ds.SetTexture(ds.Texture.Wood);
3827 lock (_prims)
3828 {
3829 foreach (OdePrim prm in _prims)
3830 {
3831 //IntPtr body = d.GeomGetBody(prm.prim_geom);
3832 if (prm.prim_geom != IntPtr.Zero)
3833 {
3834 d.Vector3 pos;
3835 d.GeomCopyPosition(prm.prim_geom, out pos);
3836 //d.BodyCopyPosition(body, out pos);
3837
3838 d.Matrix3 R;
3839 d.GeomCopyRotation(prm.prim_geom, out R);
3840 //d.BodyCopyRotation(body, out R);
3841
3842
3843 d.Vector3 sides = new d.Vector3();
3844 sides.X = prm.Size.X;
3845 sides.Y = prm.Size.Y;
3846 sides.Z = prm.Size.Z;
3847
3848 ds.DrawBox(ref pos, ref R, ref sides);
3849 }
3850 }
3851 }
3852 ds.SetColor(1.0f, 0.0f, 0.0f);
3853 lock (_characters)
3854 {
3855 foreach (OdeCharacter chr in _characters)
3856 {
3857 if (chr.Shell != IntPtr.Zero)
3858 {
3859 IntPtr body = d.GeomGetBody(chr.Shell);
3860
3861 d.Vector3 pos;
3862 d.GeomCopyPosition(chr.Shell, out pos);
3863 //d.BodyCopyPosition(body, out pos);
3864
3865 d.Matrix3 R;
3866 d.GeomCopyRotation(chr.Shell, out R);
3867 //d.BodyCopyRotation(body, out R);
3868
3869 ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
3870 d.Vector3 sides = new d.Vector3();
3871 sides.X = 0.5f;
3872 sides.Y = 0.5f;
3873 sides.Z = 0.5f;
3874
3875 ds.DrawBox(ref pos, ref R, ref sides);
3876 }
3877 }
3878 }
3879 }
3880
3881 public void start(int unused)
3882 {
3883 ds.SetViewpoint(ref xyz, ref hpr);
3884 }
3885#endif
3886 }
3887}
generated by cgit v1.1 at 2024-08-22 16:03:16 +0000