From d4e28ed113659fa0e497aa0adedc31d1deddf2ec Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 11 Feb 2012 15:18:13 +0000 Subject: vehicle changes done by simulation thread and not calling one --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 325 ++++++++++++++--------- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 7 +- 2 files changed, 200 insertions(+), 132 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 073c37f..53a39d7 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -25,7 +25,7 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -/* Revision 2011 by Ubit Umarov +/* Revision 2011/12 by Ubit Umarov * * */ @@ -190,7 +190,7 @@ namespace OpenSim.Region.Physics.OdePlugin public ODEDynamics m_vehicle; internal int m_material = (int)Material.Wood; - protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f}; + protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f }; /// /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. @@ -209,7 +209,7 @@ namespace OpenSim.Region.Physics.OdePlugin AddChange(changes.Physical, value); } } - + public override bool Building // this is not reliable for internal use { get { return m_building; } @@ -225,23 +225,10 @@ namespace OpenSim.Region.Physics.OdePlugin { get { -/* - ODEDynamics v; - if(childPrim && _parent !=null) - { - v =((OdePrim)_parent).m_vehicle; - if(v != null && v.Type != Vehicle.TYPE_NONE) - return v.VehiculeContactData; - return primContactData; - } - - if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) - return m_vehicle.VehiculeContactData; -*/ - return primContactData; + return primContactData; } } - + public override int PhysicsActorType { get { return (int)ActorTypes.Prim; } @@ -276,11 +263,11 @@ namespace OpenSim.Region.Physics.OdePlugin { set { - if(value) + if (value) m_isSelected = value; AddChange(changes.Selected, value); } - } + } public override bool Flying { @@ -400,10 +387,9 @@ namespace OpenSim.Region.Physics.OdePlugin } } - public override void SetVolumeDetect(int param) { - AddChange(changes.VolumeDtc,(param != 0)); + AddChange(changes.VolumeDtc, (param != 0)); } public override Vector3 GeometricCenter @@ -483,14 +469,6 @@ namespace OpenSim.Region.Physics.OdePlugin // client object interpolation works a 'little' better if (_zeroFlag) return Vector3.Zero; -/* - Vector3 returnVelocity = Vector3.Zero; - returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2; - returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2; - returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2; - - return returnVelocity; - */ return _velocity; } set @@ -498,7 +476,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (value.IsFinite()) { AddChange(changes.Velocity, value); -// _velocity = value; + // _velocity = value; } else @@ -548,7 +526,7 @@ namespace OpenSim.Region.Physics.OdePlugin { get { - if (givefakeori>0) + if (givefakeori > 0) return fakeori; else @@ -603,7 +581,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } - + public override float Buoyancy { get { return m_buoyancy; } @@ -652,6 +630,7 @@ namespace OpenSim.Region.Physics.OdePlugin public override int VehicleType { + // we may need to put a fake on this get { if (m_vehicle == null) @@ -661,44 +640,32 @@ namespace OpenSim.Region.Physics.OdePlugin } set { - if (m_vehicle == null) - { - if (value != (int)Vehicle.TYPE_NONE) - { - m_vehicle = new ODEDynamics(this); - m_vehicle.ProcessTypeChange((Vehicle)value); - } - } - else - m_vehicle.ProcessTypeChange((Vehicle)value); + AddChange(changes.VehicleType, value); } } public override void VehicleFloatParam(int param, float value) { - if (m_vehicle == null) - return; - m_vehicle.ProcessFloatVehicleParam((Vehicle)param, value); - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + strVehicleFloatParam fp = new strVehicleFloatParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleFloatParam, fp); } public override void VehicleVectorParam(int param, Vector3 value) { - if (m_vehicle == null) - return; - m_vehicle.ProcessVectorVehicleParam((Vehicle)param, value); - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + strVehicleVectorParam fp = new strVehicleVectorParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleVectorParam, fp); } - public override void VehicleRotationParam(int param, Quaternion rotation) + public override void VehicleRotationParam(int param, Quaternion value) { - if (m_vehicle == null) - return; - m_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); - if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) - d.BodyEnable(Body); + strVehicleQuatParam fp = new strVehicleQuatParam(); + fp.param = param; + fp.value = value; + AddChange(changes.VehicleVectorParam, fp); } public override void VehicleFlags(int param, bool remove) @@ -829,7 +796,7 @@ namespace OpenSim.Region.Physics.OdePlugin return false; } - + public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) { @@ -866,7 +833,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (size.Z <= 0) size.Z = 0.01f; _size = size; - + if (!QuaternionIsFinite(rotation)) { @@ -1023,7 +990,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (_parent != null) { OdePrim parent = (OdePrim)_parent; - parent.ChildDelink(this,false); + parent.ChildDelink(this, false); } } else @@ -1093,23 +1060,23 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.geom_name_map[prim_geom] = Name; _parent_scene.actor_name_map[prim_geom] = this; -/* - if (childPrim) - { - if (_parent != null && _parent is OdePrim) - { - OdePrim parent = (OdePrim)_parent; - //Console.WriteLine("SetGeom calls ChildSetGeom"); - parent.ChildSetGeom(this); - } - } - */ + /* + if (childPrim) + { + if (_parent != null && _parent is OdePrim) + { + OdePrim parent = (OdePrim)_parent; + //Console.WriteLine("SetGeom calls ChildSetGeom"); + parent.ChildSetGeom(this); + } + } + */ } else m_log.Warn("Setting bad Geom"); } - + /// /// Create a geometry for the given mesh in the given target space. /// @@ -1128,10 +1095,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (_parent_scene.needsMeshing(_pbs)) { - haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims + haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims } - if(!haveMesh) + if (!haveMesh) { if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 && _size.X == _size.Y && _size.Y == _size.Z) @@ -1186,7 +1153,7 @@ namespace OpenSim.Region.Physics.OdePlugin // catch (System.AccessViolationException) catch (Exception e) { - m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name,e); + m_log.ErrorFormat("[PHYSICS]: PrimGeom destruction failed for {0} exception {1}", Name, e); } prim_geom = IntPtr.Zero; @@ -1526,7 +1493,7 @@ namespace OpenSim.Region.Physics.OdePlugin } #region Mass Calculation - + private float CalculatePrimVolume() { float volume = _size.X * _size.Y * _size.Z; // default @@ -1885,7 +1852,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (prm.prim_geom != IntPtr.Zero) d.GeomSetBody(prm.prim_geom, IntPtr.Zero); - if(prm.Body != prim.Body) + if (prm.Body != prim.Body) prm.DestroyBody(); // don't loose bodies around prm.Body = IntPtr.Zero; } @@ -2057,21 +2024,21 @@ namespace OpenSim.Region.Physics.OdePlugin SetInStaticSpace(this); } -// m_building = false; // REMOVE THIS LATER + // m_building = false; // REMOVE THIS LATER if (m_isphysical && Body == IntPtr.Zero) { -/* - if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) - { - changeShape(_pbs); - } - else - { - */ - MakeBody(); -// } + /* + if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) + { + changeShape(_pbs); + } + else + { + */ + MakeBody(); + // } } } @@ -2114,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (NewParent != _parent) { - (_parent as OdePrim).ChildDelink(this,false); // for now... + (_parent as OdePrim).ChildDelink(this, false); // for now... childPrim = false; if (NewParent != null) @@ -2130,7 +2097,7 @@ namespace OpenSim.Region.Physics.OdePlugin private void Stop() { - if(!childPrim) + if (!childPrim) { m_force = Vector3.Zero; m_forceacc = Vector3.Zero; @@ -2138,7 +2105,7 @@ namespace OpenSim.Region.Physics.OdePlugin _torque = Vector3.Zero; _velocity = Vector3.Zero; _acceleration = Vector3.Zero; - m_rotationalVelocity = Vector3.Zero; + m_rotationalVelocity = Vector3.Zero; _target_velocity = Vector3.Zero; if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Stop(); @@ -2150,7 +2117,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodySetTorque(Body, 0f, 0f, 0f); d.BodySetLinearVel(Body, 0f, 0f, 0f); d.BodySetAngularVel(Body, 0f, 0f, 0f); - + } } @@ -2236,7 +2203,7 @@ namespace OpenSim.Region.Physics.OdePlugin givefakepos--; if (givefakepos < 0) givefakepos = 0; -// changeSelectedStatus(); + // changeSelectedStatus(); resetCollisionAccounting(); } @@ -2381,17 +2348,17 @@ namespace OpenSim.Region.Physics.OdePlugin if (!childPrim) { - if (NewStatus) + if (NewStatus) { if (Body == IntPtr.Zero) { -/* - if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) - { - changeShape(_pbs); - } - else - */ + /* + if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) + { + changeShape(_pbs); + } + else + */ { MakeBody(); } @@ -2402,13 +2369,13 @@ namespace OpenSim.Region.Physics.OdePlugin if (Body != IntPtr.Zero) { // UpdateChildsfromgeom(); -/* if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) - { - changeShape(_pbs); - } - else - */ - DestroyBody(); + /* if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim) + { + changeShape(_pbs); + } + else + */ + DestroyBody(); } } } @@ -2417,7 +2384,7 @@ namespace OpenSim.Region.Physics.OdePlugin } private void changeprimsizeshape() - { + { OdePrim parent = (OdePrim)_parent; bool chp = childPrim; @@ -2609,6 +2576,57 @@ namespace OpenSim.Region.Physics.OdePlugin } } + private void changeVehicleType(int value) + { + if (m_vehicle == null) + { + if (value != (int)Vehicle.TYPE_NONE) + { + m_vehicle = new ODEDynamics(this); + m_vehicle.ProcessTypeChange((Vehicle)value); + } + } + else + m_vehicle.ProcessTypeChange((Vehicle)value); + } + + private void changeVehicleFloatParam(strVehicleFloatParam fp) + { + if (m_vehicle == null) + return; + + m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value); + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + + private void changeVehicleVectorParam(strVehicleVectorParam vp) + { + if (m_vehicle == null) + return; + m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value); + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + + private void changeVehicleRotationParam(strVehicleQuatParam qp) + { + if (m_vehicle == null) + return; + m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value); + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + + private void changeVehicleFlags(strVehicleBoolParam bp) + { + if (m_vehicle == null) + return; + m_vehicle.ProcessVehicleFlags(bp.param, bp.value); + if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) + d.BodyEnable(Body); + } + #endregion public void Move() @@ -2616,10 +2634,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (!childPrim && m_isphysical && Body != IntPtr.Zero && !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims. { -// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 + // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 float timestep = _parent_scene.ODE_STEPSIZE; - + float fx = 0; float fy = 0; float fz = 0; @@ -2631,13 +2649,13 @@ namespace OpenSim.Region.Physics.OdePlugin } else { - float m_mass = _mass; - + float m_mass = _mass; + // fz = 0f; //m_log.Info(m_collisionFlags.ToString()); if (m_usePID) { - + // If the PID Controller isn't active then we set our force // calculating base velocity to the current position @@ -2795,7 +2813,7 @@ namespace OpenSim.Region.Physics.OdePlugin fz += m_forceacc.Z; m_forceacc = Vector3.Zero; - + //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); if (fx != 0 || fy != 0 || fz != 0) { @@ -2871,10 +2889,10 @@ namespace OpenSim.Region.Physics.OdePlugin bool lastZeroFlag = _zeroFlag; d.Vector3 lpos; - d.GeomCopyPosition(prim_geom,out lpos); // root position that is seem by rest of simulator - + d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator + // we need to use root position since that's all the rest of scene uses - if ( lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X + if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X || lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y ) { @@ -3137,10 +3155,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (_parent != null) { OdePrim parent = (OdePrim)_parent; - parent.ChildRemove(this,false); + parent.ChildRemove(this, false); } else - ChildRemove(this,false); + ChildRemove(this, false); RemoveGeom(); m_targetSpace = IntPtr.Zero; @@ -3177,12 +3195,12 @@ namespace OpenSim.Region.Physics.OdePlugin changevelocity((Vector3)arg); break; -// case changes.Acceleration: -// changeacceleration((Vector3)arg); -// break; -// case changes.AngVelocity: -// changeangvelocity((Vector3)arg); -// break; + // case changes.Acceleration: + // changeacceleration((Vector3)arg); + // break; + // case changes.AngVelocity: + // changeangvelocity((Vector3)arg); + // break; case changes.Force: changeForce((Vector3)arg); @@ -3209,7 +3227,7 @@ namespace OpenSim.Region.Physics.OdePlugin break; case changes.Shape: - changeShape((PrimitiveBaseShape) arg); + changeShape((PrimitiveBaseShape)arg); break; case changes.CollidesWater: @@ -3229,13 +3247,33 @@ namespace OpenSim.Region.Physics.OdePlugin break; case changes.disabled: - changeDisable((bool) arg); + changeDisable((bool)arg); break; case changes.building: changeBuilding((bool)arg); break; + case changes.VehicleType: + changeVehicleType((int)arg); + break; + + case changes.VehicleFlags: + changeVehicleFlags((strVehicleBoolParam) arg); + break; + + case changes.VehicleFloatParam: + changeVehicleFloatParam((strVehicleFloatParam) arg); + break; + + case changes.VehicleVectorParam: + changeVehicleVectorParam((strVehicleVectorParam) arg); + break; + + case changes.VehicleRotationParam: + changeVehicleRotationParam((strVehicleQuatParam) arg); + break; + case changes.Null: donullchange(); break; @@ -3251,5 +3289,30 @@ namespace OpenSim.Region.Physics.OdePlugin { _parent_scene.AddChange(this, what, arg); } + + + private struct strVehicleBoolParam + { + public int param; + public bool value; + } + + private struct strVehicleFloatParam + { + public int param; + public float value; + } + + private struct strVehicleQuatParam + { + public int param; + public Quaternion value; + } + + private struct strVehicleVectorParam + { + public int param; + public Vector3 value; + } } -} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index fc59c32..86385bf 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -1,4 +1,3 @@ - /* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. @@ -137,6 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin disabled, building, + VehicleType, + VehicleFloatParam, + VehicleVectorParam, + VehicleRotationParam, + VehicleFlags, + Null //keep this last used do dim the methods array. does nothing but pulsing the prim } -- cgit v1.1