From 227db07f2ff8a1ba840a0d3018bb242a34d6038f Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Thu, 13 Oct 2011 18:19:13 +0100 Subject: refactor: move 3x copy/pasted ode structure removal code in ODECharacter into a DestroyOdeStructures() method also adds some method doc --- OpenSim/Region/Physics/Manager/PhysicsScene.cs | 23 +++- OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 147 +++++++++-------------- 2 files changed, 79 insertions(+), 91 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 04efc1d..052ee9e 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs @@ -75,8 +75,25 @@ namespace OpenSim.Region.Physics.Manager public abstract void Initialise(IMesher meshmerizer, IConfigSource config); + /// + /// Add an avatar + /// + /// + /// + /// + /// + /// public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying); + /// + /// Add an avatar + /// + /// + /// + /// + /// + /// + /// public virtual PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) { PhysicsActor ret = AddAvatar(avName, position, size, isFlying); @@ -84,10 +101,14 @@ namespace OpenSim.Region.Physics.Manager return ret; } + /// + /// Remove an avatar. + /// + /// public abstract void RemoveAvatar(PhysicsActor actor); /// - /// Remove a prim from the physics scene. + /// Remove a prim. /// /// public abstract void RemovePrim(PhysicsActor prim); diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 4cc8c59..92927e4 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs @@ -39,7 +39,6 @@ namespace OpenSim.Region.Physics.OdePlugin /// /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. /// - public enum dParam : int { LowStop = 0, @@ -64,6 +63,7 @@ namespace OpenSim.Region.Physics.OdePlugin StopERP3 = 7 + 512, StopCFM3 = 8 + 512 } + public class OdeCharacter : PhysicsActor { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); @@ -107,9 +107,12 @@ namespace OpenSim.Region.Physics.OdePlugin public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing) public float MinimumGroundFlightOffset = 3f; - private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. - private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider + private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. + /// + /// Used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider + /// + private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; private float m_buoyancy = 0f; @@ -891,12 +894,14 @@ namespace OpenSim.Region.Physics.OdePlugin { } - /// /// Called from Simulate /// This is the avatar's movement control + PID Controller /// /// + /// + /// If there is something wrong with the character (e.g. its position is non-finite) + /// then it is added to this list. The ODE structures associated with it are also destroyed. public void Move(float timeStep, List defects) { // no lock; for now it's only called from within Simulate() @@ -918,36 +923,12 @@ namespace OpenSim.Region.Physics.OdePlugin if (!localPos.IsFinite()) { - m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); + defects.Add(this); // _parent_scene.RemoveCharacter(this); - // destroy avatar capsule and related ODE data - if (Amotor != IntPtr.Zero) - { - // Kill the Amotor - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - - //kill the Geometry - _parent_scene.waitForSpaceUnlock(_parent_scene.space); - - if (Body != IntPtr.Zero) - { - //kill the body - d.BodyDestroy(Body); - - Body = IntPtr.Zero; - } - - if (Shell != IntPtr.Zero) - { - d.GeomDestroy(Shell); - _parent_scene.geom_name_map.Remove(Shell); - Shell = IntPtr.Zero; - } + DestroyOdeStructures(); return; } @@ -975,6 +956,7 @@ namespace OpenSim.Region.Physics.OdePlugin _zeroFlag = true; _zeroPosition = d.BodyGetPosition(Body); } + if (m_pidControllerActive) { // We only want to deactivate the PID Controller if we think we want to have our surrogate @@ -1005,14 +987,14 @@ namespace OpenSim.Region.Physics.OdePlugin else if (m_iscolliding && flying) { // We're flying and colliding with something - vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16); - vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16); + vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16); + vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16); } else if (!m_iscolliding && flying) { // we're in mid air suspended - vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6); - vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6); + vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6); + vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6); } if (m_iscolliding && !flying && _target_velocity.Z > 0.0f) @@ -1023,11 +1005,11 @@ namespace OpenSim.Region.Physics.OdePlugin vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P; if (_target_velocity.X > 0) { - vec.X = ((_target_velocity.X - vel.X)/1.2f)*PID_D; + vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D; } if (_target_velocity.Y > 0) { - vec.Y = ((_target_velocity.Y - vel.Y)/1.2f)*PID_D; + vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D; } } else if (!m_iscolliding && !flying) @@ -1051,9 +1033,10 @@ namespace OpenSim.Region.Physics.OdePlugin vec.Z = (_target_velocity.Z - vel.Z) * (PID_D); } } + if (flying) { - vec.Z += ((-1 * _parent_scene.gravityz)*m_mass); + vec.Z += ((-1 * _parent_scene.gravityz) * m_mass); //Added for auto fly height. Kitto Flora //d.Vector3 pos = d.BodyGetPosition(Body); @@ -1065,13 +1048,13 @@ namespace OpenSim.Region.Physics.OdePlugin } // end add Kitto Flora } + if (vec.IsFinite()) { doForce(vec); + if (!_zeroFlag) - { - AlignAvatarTiltWithCurrentDirectionOfMovement(vec); - } + AlignAvatarTiltWithCurrentDirectionOfMovement(vec); } else { @@ -1079,30 +1062,8 @@ namespace OpenSim.Region.Physics.OdePlugin m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); defects.Add(this); // _parent_scene.RemoveCharacter(this); - // destroy avatar capsule and related ODE data - if (Amotor != IntPtr.Zero) - { - // Kill the Amotor - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - //kill the Geometry - _parent_scene.waitForSpaceUnlock(_parent_scene.space); - if (Body != IntPtr.Zero) - { - //kill the body - d.BodyDestroy(Body); - - Body = IntPtr.Zero; - } - - if (Shell != IntPtr.Zero) - { - d.GeomDestroy(Shell); - _parent_scene.geom_name_map.Remove(Shell); - Shell = IntPtr.Zero; - } + DestroyOdeStructures(); } } @@ -1125,7 +1086,6 @@ namespace OpenSim.Region.Physics.OdePlugin base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid); } - // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) if (vec.X < 0.0f) vec.X = 0.0f; @@ -1204,6 +1164,38 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.AddPhysicsActorTaint(this); } + /// + /// Used internally to destroy the ODE structures associated with this character. + /// + public void DestroyOdeStructures() + { + // destroy avatar capsule and related ODE data + if (Amotor != IntPtr.Zero) + { + // Kill the Amotor + d.JointDestroy(Amotor); + Amotor = IntPtr.Zero; + } + + //kill the Geometry + _parent_scene.waitForSpaceUnlock(_parent_scene.space); + + if (Body != IntPtr.Zero) + { + //kill the body + d.BodyDestroy(Body); + + Body = IntPtr.Zero; + } + + if (Shell != IntPtr.Zero) + { + d.GeomDestroy(Shell); + _parent_scene.geom_name_map.Remove(Shell); + Shell = IntPtr.Zero; + } + } + public override void CrossingFailure() { } @@ -1273,7 +1265,6 @@ namespace OpenSim.Region.Physics.OdePlugin public void ProcessTaints(float timestep) { - if (m_tainted_isPhysical != m_isPhysical) { if (m_tainted_isPhysical) @@ -1295,31 +1286,7 @@ namespace OpenSim.Region.Physics.OdePlugin else { _parent_scene.RemoveCharacter(this); - // destroy avatar capsule and related ODE data - if (Amotor != IntPtr.Zero) - { - // Kill the Amotor - d.JointDestroy(Amotor); - Amotor = IntPtr.Zero; - } - //kill the Geometry - _parent_scene.waitForSpaceUnlock(_parent_scene.space); - - if (Body != IntPtr.Zero) - { - //kill the body - d.BodyDestroy(Body); - - Body = IntPtr.Zero; - } - - if (Shell != IntPtr.Zero) - { - d.GeomDestroy(Shell); - _parent_scene.geom_name_map.Remove(Shell); - Shell = IntPtr.Zero; - } - + DestroyOdeStructures(); } m_isPhysical = m_tainted_isPhysical; -- cgit v1.1