From 9a8742e838cdefba925292d554a2f8bc9a6b3806 Mon Sep 17 00:00:00 2001 From: MW Date: Thu, 23 Aug 2007 10:53:42 +0000 Subject: Added danx0r's physics patch, although for now have disabled the lines in Scene.cs, as any changes to prims (like size or position changes) are only updated to the physics engine when you restart opensim. Also prims aren't deleted from the physics engine. These shouldn't be hard to fix. --- OpenSim/Region/Environment/Scenes/Scene.cs | 12 +++++++ .../Region/Environment/Scenes/SceneObjectGroup.cs | 1 + .../Region/Physics/Manager/PhysicsPluginManager.cs | 1 + OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 38 ++++++++++++++++++++-- 4 files changed, 50 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Environment/Scenes/Scene.cs b/OpenSim/Region/Environment/Scenes/Scene.cs index 91ff0a8..7317361 100644 --- a/OpenSim/Region/Environment/Scenes/Scene.cs +++ b/OpenSim/Region/Environment/Scenes/Scene.cs @@ -503,6 +503,11 @@ namespace OpenSim.Region.Environment.Scenes foreach (SceneObjectGroup prim in PrimsFromDB) { AddEntityFromStorage(prim); + // phyScene.AddPrim( + // new PhysicsVector(prim.RootPart.AbsolutePosition.X, prim.RootPart.AbsolutePosition.Y, prim.RootPart.AbsolutePosition.Z), + // new PhysicsVector(prim.RootPart.Scale.X, prim.RootPart.Scale.Y, prim.RootPart.Scale.Z), + // new Axiom.Math.Quaternion(prim.RootPart.RotationOffset.W, prim.RootPart.RotationOffset.X, + // prim.RootPart.RotationOffset.Y, prim.RootPart.RotationOffset.Z)); } MainLog.Instance.Verbose("Loaded " + PrimsFromDB.Count.ToString() + " SceneObject(s)"); } @@ -540,6 +545,8 @@ namespace OpenSim.Region.Environment.Scenes { SceneObjectGroup sceneOb = new SceneObjectGroup(this, this.m_regionHandle, ownerID, PrimIDAllocate(), pos, shape); AddEntity(sceneOb); + //phyScene.AddPrim(new PhysicsVector(pos.X, pos.Y, pos.Z), new PhysicsVector(shape.Scale.X, shape.Scale.Y, shape.Scale.Z), + // new Axiom.Math.Quaternion()); } public void RemovePrim(uint localID, LLUUID avatar_deleter) @@ -615,6 +622,11 @@ namespace OpenSim.Region.Environment.Scenes //if we want this to be a import method then we need new uuids for the object to avoid any clashes //obj.RegenerateFullIDs(); AddEntity(obj); + // phyScene.AddPrim( + // new PhysicsVector(obj.RootPart.AbsolutePosition.X, obj.RootPart.AbsolutePosition.Y, obj.RootPart.AbsolutePosition.Z), + // new PhysicsVector(obj.RootPart.Scale.X, obj.RootPart.Scale.Y, obj.RootPart.Scale.Z), + // new Axiom.Math.Quaternion(obj.RootPart.RotationOffset.W, obj.RootPart.RotationOffset.X, + // obj.RootPart.RotationOffset.Y, obj.RootPart.RotationOffset.Z)); primCount++; } } diff --git a/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs index c3d70ea..56ac9be 100644 --- a/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs +++ b/OpenSim/Region/Environment/Scenes/SceneObjectGroup.cs @@ -57,6 +57,7 @@ namespace OpenSim.Region.Environment.Scenes public SceneObjectPart RootPart { + get { return this.m_rootPart; } set { m_rootPart = value; } } diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs index 6ab4178..0341b3b 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs @@ -93,6 +93,7 @@ namespace OpenSim.Physics.Manager IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString())); plug.Init(); this._plugins.Add(plug.GetName(),plug); + Console.WriteLine("-----------------------------------------added physics eng: " + plug.GetName()); } diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index 397ba6d..ae46feb 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs @@ -26,6 +26,7 @@ * */ using System; +using System.Threading; using System.Collections.Generic; using Axiom.Math; using Ode.NET; @@ -83,7 +84,6 @@ namespace OpenSim.Region.Physics.OdePlugin private List _prims = new List(); private static d.ContactGeom[] contacts = new d.ContactGeom[30]; private static d.Contact contact; - public OdeScene() { contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP; @@ -92,24 +92,35 @@ namespace OpenSim.Region.Physics.OdePlugin contact.surface.soft_erp = 0.005f; contact.surface.soft_cfm = 0.00003f; + Monitor.Enter(typeof(OdeScene)); world = d.WorldCreate(); space = d.HashSpaceCreate(IntPtr.Zero); contactgroup = d.JointGroupCreate(0); d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f); d.WorldSetAutoDisableFlag(world, false); d.WorldSetContactSurfaceLayer(world, 0.001f); + Monitor.Exit(typeof(OdeScene)); + this._heightmap = new double[65536]; } // This function blatantly ripped off from BoxStack.cs static private void near(IntPtr space, IntPtr g1, IntPtr g2) { + // no lock here! It's invoked from within Simulate(), which is thread-locked IntPtr b1 = d.GeomGetBody(g1); IntPtr b2 = d.GeomGetBody(g2); if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) return; int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); + if (count>0) + { + if (b2 != IntPtr.Zero) + { + Console.WriteLine("+++++ collision twixt: " + b1 + " & " + b2); + } + } for (int i = 0; i < count; ++i) { contact.geom = contacts[i]; @@ -137,6 +148,7 @@ namespace OpenSim.Region.Physics.OdePlugin public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) { + Console.WriteLine("+++++++++++++++++++++++++++++++++AddPrim pos: " + position + " size: " + size + " quat: " + rotation); PhysicsVector pos = new PhysicsVector(); pos.X = position.X; pos.Y = position.Y; @@ -157,6 +169,11 @@ namespace OpenSim.Region.Physics.OdePlugin public override void Simulate(float timeStep) { + Monitor.Enter(typeof(OdeScene)); + foreach (OdePrim p in _prims) + { +// Console.WriteLine("+++ prim: " + p.Position); + } foreach (OdeCharacter actor in _characters) { actor.Move(timeStep); @@ -172,6 +189,7 @@ namespace OpenSim.Region.Physics.OdePlugin { actor.UpdatePosition(); } + Monitor.Exit(typeof(OdeScene)); } public override void GetResults() @@ -198,6 +216,8 @@ namespace OpenSim.Region.Physics.OdePlugin this._heightmap[i] = (double)heightMap[x * 256 + y]; } IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); + + Monitor.Enter(typeof(OdeScene)); d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); LandGeom = d.CreateHeightfield(space, HeightmapData, 1); @@ -215,7 +235,8 @@ namespace OpenSim.Region.Physics.OdePlugin d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); d.GeomSetRotation(LandGeom, ref R); - d.GeomSetPosition(LandGeom, 128, 128, 0); + d.GeomSetPosition(LandGeom, 128, 128, 0); + Monitor.Exit(typeof(OdeScene)); } public override void DeleteTerrain() @@ -240,12 +261,14 @@ namespace OpenSim.Region.Physics.OdePlugin _velocity = new PhysicsVector(); _position = pos; _acceleration = new PhysicsVector(); + Monitor.Enter(typeof(OdeScene)); d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f); capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble this.BoundingCapsule = d.BodyCreate(OdeScene.world); d.BodySetMass(BoundingCapsule, ref capsule_mass); d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); d.GeomSetBody(capsule_geom, BoundingCapsule); + Monitor.Exit(typeof(OdeScene)); } public override bool Flying @@ -345,6 +368,7 @@ namespace OpenSim.Region.Physics.OdePlugin public void Move(float timeStep) { + // no lock; for now it's only called from within Simulate() PhysicsVector vec = new PhysicsVector(); d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule); vec.X = (vel.X - this._velocity.X) * -75000.0f; @@ -358,6 +382,7 @@ namespace OpenSim.Region.Physics.OdePlugin public void UpdatePosition() { + // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); this._position.X = vec.X; this._position.Y = vec.Y; @@ -382,6 +407,7 @@ namespace OpenSim.Region.Physics.OdePlugin _acceleration = new PhysicsVector(); _orientation = rotation; prim_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z); + Monitor.Enter(typeof(OdeScene)); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = rotation.w; @@ -389,6 +415,7 @@ namespace OpenSim.Region.Physics.OdePlugin myrot.Y = rotation.y; myrot.Z = rotation.z; d.GeomSetQuaternion(prim_geom, ref myrot); + Monitor.Exit(typeof(OdeScene)); } public override bool Flying @@ -410,8 +437,12 @@ namespace OpenSim.Region.Physics.OdePlugin } set { + Console.WriteLine("+++++++++++++++++++++++++++++++++++++++++++ setting pos: " + value); _position = value; + Monitor.Enter(typeof(OdeScene)); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + Monitor.Exit(typeof(OdeScene)); + } } @@ -423,6 +454,7 @@ namespace OpenSim.Region.Physics.OdePlugin } set { + Console.WriteLine("+++++++++++++++++++++++++++++++++++++++++++ setting size: " + value); _size = value; } } @@ -459,12 +491,14 @@ namespace OpenSim.Region.Physics.OdePlugin set { _orientation = value; + Monitor.Enter(typeof(OdeScene)); d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; myrot.Y = _orientation.y; myrot.Z = _orientation.z; d.GeomSetQuaternion(prim_geom, ref myrot); + Monitor.Exit(typeof(OdeScene)); } } -- cgit v1.1