From a5f08b430d644c7a4274db9fff3db0c63a6a7857 Mon Sep 17 00:00:00 2001 From: Jeff Ames Date: Sat, 17 May 2008 00:06:35 +0000 Subject: Formatting cleanup. --- OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 154 ++++------------------------ 1 file changed, 21 insertions(+), 133 deletions(-) (limited to 'OpenSim/Region/Physics/OdePlugin/ODEPrim.cs') diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 1f9a6b6..1ba4bb1 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs @@ -69,8 +69,6 @@ namespace OpenSim.Region.Physics.OdePlugin private float PID_G = 25f; private float m_tensor = 5f; private int body_autodisable_frames = 20; - - private bool m_usePID = false; @@ -98,7 +96,6 @@ namespace OpenSim.Region.Physics.OdePlugin public bool m_taintselected = false; public bool m_taintCollidesWater = false; - public uint m_localID = 0; //public GCHandle gc; @@ -148,11 +145,9 @@ namespace OpenSim.Region.Physics.OdePlugin private IntPtr m_linkJoint = (IntPtr)0; - public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { - _target_velocity = new PhysicsVector(0, 0, 0); //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); ode = dode; @@ -214,7 +209,6 @@ namespace OpenSim.Region.Physics.OdePlugin m_taintadd = true; _parent_scene.AddPhysicsActorTaint(this); // don't do .add() here; old geoms get recycled with the same hash - } public override int PhysicsActorType @@ -256,11 +250,9 @@ namespace OpenSim.Region.Physics.OdePlugin } else { - m_taintselected = value; m_isSelected = value; } - } } @@ -274,14 +266,12 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); } //m_log.Warn("Setting Geom to: " + prim_geom); - } public void enableBodySoft() { - if (m_isphysical) - if (Body != (IntPtr)0) - d.BodyEnable(Body); + if (m_isphysical && Body != (IntPtr)0) + d.BodyEnable(Body); m_disabled = false; } @@ -290,12 +280,10 @@ namespace OpenSim.Region.Physics.OdePlugin { m_disabled = true; - if (m_isphysical) - if (Body != (IntPtr)0) - d.BodyDisable(Body); + if (m_isphysical && Body != (IntPtr)0) + d.BodyDisable(Body); } - public void enableBody() { // Sets the geom to a body @@ -316,7 +304,6 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); - d.BodySetAutoDisableFlag(Body, true); d.BodySetAutoDisableSteps(Body, body_autodisable_frames); @@ -342,7 +329,6 @@ namespace OpenSim.Region.Physics.OdePlugin // No material is passed to the physics engines yet.. soo.. // we're using the m_density constant in the class definition - float returnMass = 0; switch (_pbs.ProfileShape) @@ -439,7 +425,6 @@ namespace OpenSim.Region.Physics.OdePlugin float hollowVolume = 0; switch (_pbs.HollowShape) { - case HollowShape.Same: case HollowShape.Circle: // Hollow shape is a perfect cyllinder in respect to the cube's scale @@ -459,8 +444,6 @@ namespace OpenSim.Region.Physics.OdePlugin hollowVolume = hollowsizex * hollowsizey * hollowsizez; break; - - case HollowShape.Triangle: // Equilateral Triangular Prism volume hollow calculation // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y @@ -493,7 +476,6 @@ namespace OpenSim.Region.Physics.OdePlugin // we treat this as a box currently volume = _size.X * _size.Y * _size.Z; } - } else { @@ -501,6 +483,7 @@ namespace OpenSim.Region.Physics.OdePlugin volume = _size.X * _size.Y * _size.Z; } break; + case ProfileShape.EquilateralTriangle: /* v = (abs((xB*yA-xA*yB)+(xC*yB-xB*yC)+(xA*yC-xC*yA))/2) * h @@ -533,7 +516,6 @@ namespace OpenSim.Region.Physics.OdePlugin float hollowVolume = 0; switch (_pbs.HollowShape) { - case HollowShape.Same: case HollowShape.Triangle: // Equilateral Triangular Prism volume hollow calculation @@ -562,7 +544,6 @@ namespace OpenSim.Region.Physics.OdePlugin hollowVolume = ((float)((Math.PI * Math.Pow(hRadius, 2) * hLength)/2) * hollowAmount); break; - default: hollowVolume = 0; break; @@ -642,7 +623,6 @@ namespace OpenSim.Region.Physics.OdePlugin #endregion - public void setMass() { if (Body != (IntPtr) 0) @@ -656,7 +636,6 @@ namespace OpenSim.Region.Physics.OdePlugin } } - public void disableBody() { //this kills the body so things like 'mesh' can re-create it. @@ -689,7 +668,6 @@ namespace OpenSim.Region.Physics.OdePlugin Thread.Sleep(10); - //Kill Body so that mesh can re-make the geom if (IsPhysical && Body != (IntPtr) 0) { @@ -707,7 +685,6 @@ namespace OpenSim.Region.Physics.OdePlugin 3*sizeof (int)); d.GeomTriMeshDataPreprocess(_triMeshData); - _parent_scene.waitForSpaceUnlock(m_targetSpace); try @@ -719,7 +696,6 @@ namespace OpenSim.Region.Physics.OdePlugin } catch (AccessViolationException) { - m_log.Error("[PHYSICS]: MESH LOCKED"); return; } @@ -730,14 +706,11 @@ namespace OpenSim.Region.Physics.OdePlugin m_collisionscore = 0; enableBody(); - } } public void ProcessTaints(float timestep) { - - if (m_taintadd) { changeadd(timestep); @@ -783,7 +756,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) changeAngularLock(timestep); - } else { @@ -812,7 +784,7 @@ namespace OpenSim.Region.Physics.OdePlugin { d.JointDestroy(Amotor); Amotor = (IntPtr)0; - } + } } } } @@ -822,7 +794,6 @@ namespace OpenSim.Region.Physics.OdePlugin private void changelink(float timestep) { - if (_parent == null && m_taintparent != null) { if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) @@ -836,7 +807,6 @@ namespace OpenSim.Region.Physics.OdePlugin d.JointSetFixed(m_linkJoint); } } - } else if (_parent != null && m_taintparent == null) { @@ -845,20 +815,15 @@ namespace OpenSim.Region.Physics.OdePlugin _linkJointGroup = (IntPtr)0; m_linkJoint = (IntPtr)0; - } - _parent = m_taintparent; } private void changeSelectedStatus(float timestep) { - if (m_taintselected) { - - m_collisionCategories = CollisionCategories.Selected; m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); @@ -882,17 +847,14 @@ namespace OpenSim.Region.Physics.OdePlugin { disableBodySoft(); } - } else { - m_collisionCategories = CollisionCategories.Geom; if (m_isphysical) m_collisionCategories |= CollisionCategories.Body; - m_collisionFlags = m_default_collisionFlags; if (m_collidesLand) @@ -910,42 +872,27 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodySetLinearVel(Body, 0f, 0f, 0f); enableBodySoft(); } - - } - resetCollisionAccounting(); m_isSelected = m_taintselected; } public void ResetTaints() { - m_taintposition = _position; - m_taintrot = _orientation; - m_taintPhysics = m_isphysical; - m_taintselected = m_isSelected; - m_taintsize = _size; - - m_taintshape = false; - m_taintforce = false; - m_taintdisable = false; - m_taintVelocity = PhysicsVector.Zero; } + public void changeadd(float timestep) { - - - int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); @@ -954,12 +901,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_targetSpace = targetspace; - - - if (_mesh != null) - { - } - else + if (_mesh == null) { if (_parent_scene.needsMeshing(_pbs)) { @@ -983,8 +925,6 @@ namespace OpenSim.Region.Physics.OdePlugin { if (((_size.X / 2f) > 0f)) { - - _parent_scene.waitForSpaceUnlock(m_targetSpace); try { @@ -1065,13 +1005,10 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetQuaternion(prim_geom, ref myrot); } - if (m_isphysical && Body == (IntPtr)0) { enableBody(); } - - } _parent_scene.geom_name_map[prim_geom] = this.m_primName; @@ -1080,14 +1017,10 @@ namespace OpenSim.Region.Physics.OdePlugin changeSelectedStatus(timestep); m_taintadd = false; - - } + public void changemove(float timestep) { - - - if (m_isphysical) { // This is a fallback.. May no longer be necessary. @@ -1115,7 +1048,6 @@ namespace OpenSim.Region.Physics.OdePlugin } } d.BodyEnable(Body); - } else { @@ -1136,7 +1068,6 @@ namespace OpenSim.Region.Physics.OdePlugin } } - changeSelectedStatus(timestep); resetCollisionAccounting(); @@ -1151,21 +1082,15 @@ namespace OpenSim.Region.Physics.OdePlugin if (IsPhysical && Body != (IntPtr)0 && !m_isSelected) { - //float PID_P = 900.0f; - float m_mass = CalculateMass(); fz = 0f; //m_log.Info(m_collisionFlags.ToString()); - - - if (m_buoyancy != 0) { - if (m_buoyancy > 0) { fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); @@ -1177,8 +1102,6 @@ namespace OpenSim.Region.Physics.OdePlugin { fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); } - - } if (m_usePID) @@ -1190,28 +1113,21 @@ namespace OpenSim.Region.Physics.OdePlugin // If the PID Controller isn't active then we set our force // calculating base velocity to the current position - - if ((m_PIDTau < 1)) { PID_G = PID_G / m_PIDTau; } - if ((PID_G - m_PIDTau) <= 0) { PID_G = m_PIDTau + 1; } //PidStatus = true; - - - PhysicsVector vec = new PhysicsVector(); d.Vector3 vel = d.BodyGetLinearVel(Body); - d.Vector3 pos = d.BodyGetPosition(Body); _target_velocity = new PhysicsVector( @@ -1220,20 +1136,17 @@ namespace OpenSim.Region.Physics.OdePlugin (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) ); - // if velocity is zero, use position control; otherwise, velocity control if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f)) { // keep track of where we stopped. No more slippin' & slidin' - // We only want to deactivate the PID Controller if we think we want to have our surrogate // react to the physics scene by moving it's position. // Avatar to Avatar collisions // Prim to avatar collisions - //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; @@ -1241,25 +1154,19 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodySetLinearVel(Body, 0, 0, 0); d.BodyAddForce(Body, 0, 0, fz); return; - } else { - _zeroFlag = false; // We're flying and colliding with something fx = ((_target_velocity.X) - vel.X) * (PID_D); fy = ((_target_velocity.Y) - vel.Y) * (PID_D); - - - - // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; + // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); } - } fx *= m_mass; @@ -1285,8 +1192,6 @@ namespace OpenSim.Region.Physics.OdePlugin public void rotate(float timestep) { - - d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; @@ -1313,7 +1218,6 @@ namespace OpenSim.Region.Physics.OdePlugin public void changedisable(float timestep) { - m_disabled = true; if (Body != (IntPtr)0) { @@ -1321,14 +1225,11 @@ namespace OpenSim.Region.Physics.OdePlugin Body = (IntPtr)0; } - m_taintdisable = false; } public void changePhysicsStatus(float timestep) { - - if (m_isphysical == true) { if (Body == (IntPtr)0) @@ -1366,7 +1267,6 @@ namespace OpenSim.Region.Physics.OdePlugin public void changesize(float timestamp) { - //if (!_parent_scene.geom_name_map.ContainsKey(prim_geom)) //{ // m_taintsize = _size; @@ -1418,7 +1318,6 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); - //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); if (IsPhysical && Body == (IntPtr)0) { @@ -1520,7 +1419,6 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); - //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); if (IsPhysical && Body == (IntPtr) 0) { @@ -1559,7 +1457,6 @@ namespace OpenSim.Region.Physics.OdePlugin public void changeshape(float timestamp) { - string oldname = _parent_scene.geom_name_map[prim_geom]; // Cleanup of old prim geometry and Bodies @@ -1574,7 +1471,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (_size.Y <= 0) _size.Y = 0.01f; if (_size.Z <= 0) _size.Z = 0.01f; // Construction of new prim - + if (_parent_scene.needsMeshing(_pbs)) { // Don't need to re-enable body.. it's done in SetMesh @@ -1596,14 +1493,12 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); - //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); if (IsPhysical && Body == (IntPtr)0) { // Re creates body on size. // EnableBody also does setMass() enableBody(); - } } else @@ -1623,7 +1518,6 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.waitForSpaceUnlock(m_targetSpace); SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } - } else { @@ -1698,7 +1592,6 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); - //d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z); if (IsPhysical && Body == (IntPtr)0) { @@ -1709,7 +1602,6 @@ namespace OpenSim.Region.Physics.OdePlugin } } - _parent_scene.geom_name_map[prim_geom] = oldname; changeSelectedStatus(timestamp); @@ -1722,9 +1614,6 @@ namespace OpenSim.Region.Physics.OdePlugin { if (!m_isSelected) { - - - lock (m_forcelist) { //m_log.Info("[PHYSICS]: dequeing forcelist"); @@ -1741,19 +1630,17 @@ namespace OpenSim.Region.Physics.OdePlugin m_forcelist.Clear(); } - m_collisionscore = 0; m_interpenetrationcount = 0; } m_taintforce = false; } + private void changevelocity(float timestep) { if (!m_isSelected) { - - Thread.Sleep(20); if (IsPhysical) { @@ -1767,6 +1654,7 @@ namespace OpenSim.Region.Physics.OdePlugin } m_taintVelocity = PhysicsVector.Zero; } + public override bool IsPhysical { get { return m_isphysical; } @@ -1974,10 +1862,7 @@ namespace OpenSim.Region.Physics.OdePlugin public void UpdatePositionAndVelocity() { // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! - if (_parent != null) - { - } - else + if (_parent == null) { PhysicsVector pv = new PhysicsVector(0, 0, 0); bool lastZeroFlag = _zeroFlag; @@ -2173,6 +2058,7 @@ namespace OpenSim.Region.Physics.OdePlugin public override void SetMomentum(PhysicsVector momentum) { } + public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } } public override bool PIDActive { set { m_usePID = value; } } public override float PIDTau { set { m_PIDTau = value; } } @@ -2188,8 +2074,6 @@ namespace OpenSim.Region.Physics.OdePlugin Amotor = IntPtr.Zero; } - - float axisnum = 3; axisnum = (axisnum - (axis.X + axis.Y + axis.Z)); @@ -2217,17 +2101,17 @@ namespace OpenSim.Region.Physics.OdePlugin i++; } - if (axis.Z == 0) { d.JointSetAMotorAxis(Amotor, i, 0, 0, 0, 1); i++; } + for (int j = 0; j < (int)axisnum; j++) { //d.JointSetAMotorAngle(Amotor, j, 0); } - // + //d.JointSetAMotorAngle(Amotor, 1, 0); //d.JointSetAMotorAngle(Amotor, 2, 0); @@ -2242,16 +2126,19 @@ namespace OpenSim.Region.Physics.OdePlugin d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); d.JointSetAMotorParam(Amotor, (int)dParam.FMax, m_tensor); } + public override void SubscribeEvents(int ms) { m_eventsubscription = ms; _parent_scene.addCollisionEventReporting(this); } + public override void UnSubscribeEvents() { _parent_scene.remCollisionEventReporting(this); m_eventsubscription = 0; } + public void AddCollisionEvent(uint CollidedWith, float depth) { if (CollisionEventsThisFrame == null) @@ -2273,6 +2160,7 @@ namespace OpenSim.Region.Physics.OdePlugin CollisionEventsThisFrame = new CollisionEventUpdate(); } } + public override bool SubscribedEvents() { if (m_eventsubscription > 0) -- cgit v1.1