5 files changed, 140 insertions, 62 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 6e4e41f..865180f 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -740,6 +740,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (Shell != IntPtr.Zero)
             {
                 _parent_scene.geom_name_map.Remove(Shell);
+                _parent_scene.actor_name_map.Remove(Shell);
                 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
                 d.GeomDestroy(Shell);
                 Shell = IntPtr.Zero;
@@ -1188,6 +1189,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
                 else
                 {
+                    _parent_scene.RemoveCollisionEventReporting(this);
                     _parent_scene.RemoveCharacter(this);
                     // destroy avatar capsule and related ODE data
                     AvatarGeomAndBodyDestroy();
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index e27be1e..e900c02 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         float m_amdampY;
         float m_amdampZ;
 
+
         public float FrictionFactor
         {
             get
@@ -145,6 +146,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+
         public ODEDynamics(OdePrim rootp)
         {
             rootPrim = rootp;
@@ -345,7 +347,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
                     m_lmEfect = 1.0f; // turn it on
 
-                    m_ffactor = 0.01f;
+                    m_ffactor = 0.0f;
                     if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
                             && !rootPrim.m_isSelected && !rootPrim.m_disabled)
                         d.BodyEnable(rootPrim.Body);
@@ -401,7 +403,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     m_lmEfect = 1.0f; // turn it on
                     m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
 
-                    m_ffactor = 0.01f;
+                    m_ffactor = 0.0f;
                     if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
                             && !rootPrim.m_isSelected && !rootPrim.m_disabled)
                         d.BodyEnable(rootPrim.Body);
@@ -805,7 +807,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
 
                 m_lmEfect *= m_lmDecay;
-                m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
+//                m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
+                m_ffactor = 0.0f;
             }
             else
             {
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 9b3b51b..ff17a6e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -275,6 +275,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                 if (veh != null && veh.Type != Vehicle.TYPE_NONE)

                     cdata.mu *= veh.FrictionFactor;

+//                    cdata.mu *= 0;

             }

         }    

 

@@ -582,8 +583,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (value.IsFinite())

                 {

                     AddChange(changes.Velocity, value);

-//                    _velocity = value;

-

                 }

                 else

                 {

@@ -675,9 +674,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             {

                 if (value.IsFinite())

                 {

-                    m_rotationalVelocity = value;

-                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

-                        d.BodyEnable(Body);

+                    AddChange(changes.AngVelocity, value);

                 }

                 else

                 {

@@ -686,7 +683,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

-

         public override float Buoyancy

         {

             get { return m_buoyancy; }

@@ -947,6 +943,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 CollisionEventsThisFrame = null;

             }

             m_eventsubscription = 0;

+            // for now still done on odescene

+//            _parent_scene.RemoveCollisionEventReporting(this);

         }

 

         public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)

@@ -1736,17 +1734,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             d.BodySetAutoDisableFlag(Body, true);

             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);

-//            d.BodySetLinearDampingThreshold(Body, 0.01f);

-//            d.BodySetAngularDampingThreshold(Body, 0.001f);

-            d.BodySetDamping(Body, .002f, .002f);

-

-                if (m_targetSpace != IntPtr.Zero)

-                {

-                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

-                    if (d.SpaceQuery(m_targetSpace, prim_geom))

-                        d.SpaceRemove(m_targetSpace, prim_geom);

-                }

+            d.BodySetDamping(Body, .005f, .005f);

 

+            if (m_targetSpace != IntPtr.Zero)

+            {

+                _parent_scene.waitForSpaceUnlock(m_targetSpace);

+                if (d.SpaceQuery(m_targetSpace, prim_geom))

+                    d.SpaceRemove(m_targetSpace, prim_geom);

+            }

 

             if (childrenPrim.Count == 0)

             {

@@ -3295,6 +3290,13 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         private void changevelocity(Vector3 newVel)

         {

+            float len = newVel.LengthSquared();

+            if (len > 100000.0f) // limit to 100m/s

+            {

+                len = 100.0f / (float)Math.Sqrt(len);

+                newVel *= len;

+            }

+

             if (!m_isSelected)

             {

                 if (Body != IntPtr.Zero)

@@ -3311,6 +3313,33 @@ namespace OpenSim.Region.Physics.OdePlugin
             _velocity = newVel;

         }

 

+

+        private void changeangvelocity(Vector3 newAngVel)

+        {

+            float len = newAngVel.LengthSquared();

+            if (len > 144.0f) // limit to 12rad/s

+            {

+                len = 12.0f / (float)Math.Sqrt(len);

+                newAngVel *= len;

+            }

+

+            if (!m_isSelected)

+            {

+                if (Body != IntPtr.Zero)

+                {

+                    if (m_disabled)

+                        enableBodySoft();

+                    else if (!d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+

+

+                    d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);

+                }

+                //resetCollisionAccounting();           

+            }

+            m_rotationalVelocity = newAngVel;

+        }

+

         private void changeVolumedetetion(bool newVolDtc)

         {

             m_isVolumeDetect = newVolDtc;

@@ -3947,9 +3976,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 //                case changes.Acceleration:

 //                    changeacceleration((Vector3)arg);

 //                    break;

-//                case changes.AngVelocity:

-//                    changeangvelocity((Vector3)arg);

-//                    break;

+

+                case changes.AngVelocity:

+                    changeangvelocity((Vector3)arg);

+                    break;

 

                 case changes.Force:

                     changeForce((Vector3)arg);

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
index 0e4961b..2341186 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -1312,7 +1312,14 @@ namespace OdeAPI
         public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
 
         [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
-        public static extern string GetConfiguration(string str);
+        public static extern IntPtr iGetConfiguration();
+
+        public static string GetConfiguration()
+        {
+            IntPtr ptr = iGetConfiguration();
+            string s = Marshal.PtrToStringAnsi(ptr);
+            return s;
+        }
 
                 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
                 public static extern IntPtr HashSpaceCreate(IntPtr space);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 6c72324..7848b35 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -237,20 +237,20 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private d.NearCallback nearCallback;
 
-        private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
-        private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
-        private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
-        private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
+        private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
+        private HashSet<OdePrim> _prims = new HashSet<OdePrim>();
+        private HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
+        private HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
 
         public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
 
         /// <summary>
         /// A list of actors that should receive collision events.
         /// </summary>
-        private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
-        private readonly List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
+        private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
+        private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
         
-        private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
+        private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
         public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
         public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
 
@@ -264,26 +264,21 @@ namespace OpenSim.Region.Physics.OdePlugin
         private volatile int m_global_contactcount = 0;
 
 
-        private readonly IntPtr contactgroup;
+        private IntPtr contactgroup;
 
         public ContactData[] m_materialContactsData = new ContactData[8];
 
-        private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
-        private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
-        private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
+        private Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
+        private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
+        private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
        
         private int m_physicsiterations = 10;
         private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
-        private readonly PhysicsActor PANull = new NullPhysicsActor();
+        private PhysicsActor PANull = new NullPhysicsActor();
         private float step_time = 0.0f;
 
         public IntPtr world;
 
-        private uint obj2LocalID = 0;
-        private OdeCharacter cc1;
-        private OdePrim cp1;
-        private OdeCharacter cc2;
-        private OdePrim cp2;
 
         // split the spaces acording to contents type
         // ActiveSpace contains characters and active prims
@@ -408,8 +403,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 //            checkThread();
             mesher = meshmerizer;
             m_config = config;
-/*
-            string ode_config = d.GetConfiguration("ODE");
+
+            string ode_config = d.GetConfiguration();
             if (ode_config != null && ode_config != "")
             {
                 m_log.WarnFormat("ODE configuration: {0}", ode_config);
@@ -419,7 +414,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     OdeUbitLib = true;
                 }
             }
-*/
+
             /*
                         if (region != null)
                         {
@@ -526,8 +521,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.WorldSetGravity(world, gravityx, gravityy, gravityz);
             d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
 
-            d.WorldSetLinearDamping(world, 0.001f);
-            d.WorldSetAngularDamping(world, 0.001f);
+            d.WorldSetLinearDamping(world, 0.002f);
+            d.WorldSetAngularDamping(world, 0.002f);
             d.WorldSetAngularDampingThreshold(world, 0f);
             d.WorldSetLinearDampingThreshold(world, 0f);
             d.WorldSetMaxAngularSpeed(world, 100f);
@@ -921,6 +916,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             cfm = 0.0001f / cfm;
                             if (cfm > 0.01f)
                                 cfm = 0.01f;
+                            else if (cfm < 0.00001f)
+                                cfm = 0.00001f;
 
                             if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
                                 mu *= frictionMovementMult;
@@ -947,6 +944,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     cfm = 0.0001f / cfm;
                                     if (cfm > 0.01f)
                                         cfm = 0.01f;
+                                    else if (cfm < 0.00001f)
+                                        cfm = 0.00001f;
 
                                     if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
                                     {
@@ -989,6 +988,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 cfm = 0.0001f / cfm;
                                 if (cfm > 0.01f)
                                     cfm = 0.01f;
+                                else if (cfm < 0.00001f)
+                                    cfm = 0.00001f;
 
                                 if (curContact.side1 > 0) // should be 2 ?
                                     IgnoreNegSides = true;
@@ -1155,7 +1156,13 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
             {
-            obj2LocalID = 0;
+            
+            OdeCharacter cc1;
+            OdePrim cp1;
+            OdeCharacter cc2;
+            OdePrim cp2;
+
+            uint obj2LocalID = 0;
             bool p1events = p1.SubscribedEvents();
             bool p2events = p2.SubscribedEvents();
            
@@ -1892,18 +1899,22 @@ namespace OpenSim.Region.Physics.OdePlugin
             lock (SimulationLock)
                 lock(OdeLock)
             {
+                if (world == IntPtr.Zero)
+                    return 0;
+
                 // adjust number of iterations per step
-                try
-                {
+
+//                try
+//                {
                     d.WorldSetQuickStepNumIterations(world, curphysiteractions);
-                }
+/*                }
                 catch (StackOverflowException)
                 {
                     m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation.  Restarting the sim.");
 //                    ode.drelease(world);
                     base.TriggerPhysicsBasedRestart();
                 }
-
+*/
                 while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
                 {
                     try
@@ -1955,6 +1966,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 {
                                     RemoveCharacter(defect);
                                 }
+                                defects.Clear();
                             }
                         }
 
@@ -2060,13 +2072,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                         _badCharacter.Clear();
                     }
                 }
-
+/*
                 int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
                 int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
                 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
                 int nbodies = d.NTotalBodies;
                 int ngeoms = d.NTotalGeoms;
-
+*/
                 // Finished with all sim stepping. If requested, dump world state to file for debugging.
                 // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
                 // TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
@@ -2383,11 +2395,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
                 d.GeomSetRotation(GroundGeom, ref R);
                 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
-                RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
-//                TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
+                RegionTerrain.Add(pOffset, GroundGeom);
                 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
-                TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
-               
+                TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);             
             }
         }
 
@@ -2486,8 +2496,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 geom_name_map[GroundGeom] = "Terrain";
 
                 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
-                RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
-                //                TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
+                RegionTerrain.Add(pOffset, GroundGeom);
                 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
                 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
             }
@@ -2649,19 +2658,42 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void Dispose()
         {
-            m_rayCastManager.Dispose();
-            m_rayCastManager = null;
-
             lock (OdeLock)
             {
+                m_rayCastManager.Dispose();
+                m_rayCastManager = null;
+
                 lock (_prims)
                 {
+                    ChangesQueue.Clear();
                     foreach (OdePrim prm in _prims)
                     {
-                        RemovePrim(prm);
+                        prm.DoAChange(changes.Remove, null);
+                        _collisionEventPrim.Remove(prm);
                     }
+                    _prims.Clear();
                 }
 
+                OdeCharacter[] chtorem;
+                lock (_characters)
+                {
+                    chtorem = new OdeCharacter[_characters.Count];
+                    _characters.CopyTo(chtorem);
+                }
+
+                ChangesQueue.Clear();
+                foreach (OdeCharacter ch in chtorem)
+                    ch.DoAChange(changes.Remove, null);
+
+                               
+                foreach (IntPtr GroundGeom in RegionTerrain.Values)
+                {
+                    if (GroundGeom != IntPtr.Zero)
+                        d.GeomDestroy(GroundGeom);
+                }
+
+                RegionTerrain.Clear();
+
                 if (TerrainHeightFieldHeightsHandlers.Count > 0)
                 {
                     foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
@@ -2671,6 +2703,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }
                 }
 
+                TerrainHeightFieldHeightsHandlers.Clear();
+                TerrainHeightFieldHeights.Clear();
+
                 if (WaterGeom != IntPtr.Zero)
                 {
                     d.GeomDestroy(WaterGeom);
@@ -2691,6 +2726,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
 
                 d.WorldDestroy(world);
+                world = IntPtr.Zero;
                 //d.CloseODE();
             }
         }