diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs index aaeae86..a2c72c3 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs @@ -43,7 +43,8 @@ namespace OpenSim.Region.Physics.Manager Unknown = 0, Agent = 1, Prim = 2, - Ground = 3 + Ground = 3, + Water = 4 } public enum PIDHoverType @@ -114,7 +115,7 @@ namespace OpenSim.Region.Physics.Manager m_objCollisionList.Add(localID, contact); } else - { + { if (m_objCollisionList[localID].PenetrationDepth < contact.PenetrationDepth) m_objCollisionList[localID] = contact; } @@ -202,7 +203,7 @@ namespace OpenSim.Region.Physics.Manager /// XXX: Bizarrely, this cannot be "Terrain" or "Water" right now unless it really is simulating terrain or /// water. This is not a problem due to the formatting of names given by prims and avatars. /// </remarks> - public string Name { get; protected set; } + public string Name { get; set; } /// <summary> /// This is being used by ODE joint code. @@ -230,11 +231,6 @@ namespace OpenSim.Region.Physics.Manager } } - public virtual byte[] Serialize(bool PhysIsRunning) - { - return new byte[0]; - } - public virtual void RaiseOutOfBounds(Vector3 pos) { // Make a temporary copy of the event to avoid possibility of @@ -258,10 +254,7 @@ namespace OpenSim.Region.Physics.Manager handler(e); } - public virtual void SetMaterial (int material) - { - } - + public virtual void SetMaterial (int material) { } public virtual float Density { get; set; } public virtual float GravModifier { get; set; } public virtual float Friction { get; set; } @@ -373,13 +366,21 @@ namespace OpenSim.Region.Physics.Manager public abstract void SubscribeEvents(int ms); public abstract void UnSubscribeEvents(); public abstract bool SubscribedEvents(); + + public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { } + + // Warning in a parent part it returns itself, not null + public virtual PhysicsActor ParentActor { get { return this; } } + } public class NullPhysicsActor : PhysicsActor { + private ActorTypes m_actorType = ActorTypes.Unknown; + public override bool Stopped { - get{ return false; } + get{ return true; } } public override Vector3 Position @@ -396,6 +397,7 @@ namespace OpenSim.Region.Physics.Manager public override uint LocalID { + get { return 0; } set { return; } } @@ -455,49 +457,17 @@ namespace OpenSim.Region.Physics.Manager set { return; } } - public override void VehicleFloatParam(int param, float value) - { - } - - public override void VehicleVectorParam(int param, Vector3 value) - { - - } - - public override void VehicleRotationParam(int param, Quaternion rotation) - { - - } - - public override void VehicleFlags(int param, bool remove) - { - - } - - public override void SetVolumeDetect(int param) - { - - } - - public override void SetMaterial(int material) - { - - } - - public override Vector3 CenterOfMass - { - get { return Vector3.Zero; } - } + public override void VehicleFloatParam(int param, float value) {} + public override void VehicleVectorParam(int param, Vector3 value) { } + public override void VehicleRotationParam(int param, Quaternion rotation) { } + public override void VehicleFlags(int param, bool remove) { } + public override void SetVolumeDetect(int param) {} + public override void SetMaterial(int material) {} + public override Vector3 CenterOfMass { get { return Vector3.Zero; }} - public override Vector3 GeometricCenter - { - get { return Vector3.Zero; } - } + public override Vector3 GeometricCenter { get { return Vector3.Zero; }} - public override PrimitiveBaseShape Shape - { - set { return; } - } + public override PrimitiveBaseShape Shape { set { return; }} public override Vector3 Velocity { @@ -517,9 +487,7 @@ namespace OpenSim.Region.Physics.Manager set { } } - public override void CrossingFailure() - { - } + public override void CrossingFailure() {} public override Quaternion Orientation { @@ -559,8 +527,20 @@ namespace OpenSim.Region.Physics.Manager public override int PhysicsActorType { - get { return (int) ActorTypes.Unknown; } - set { return; } + get { return (int)m_actorType; } + set { + ActorTypes type = (ActorTypes)value; + switch (type) + { + case ActorTypes.Ground: + case ActorTypes.Water: + m_actorType = type; + break; + default: + m_actorType = ActorTypes.Unknown; + break; + } + } } public override bool Kinematic @@ -569,26 +549,11 @@ namespace OpenSim.Region.Physics.Manager set { return; } } - public override void link(PhysicsActor obj) - { - } - - public override void delink() - { - } - - public override void LockAngularMotion(Vector3 axis) - { - } - - public override void AddForce(Vector3 force, bool pushforce) - { - } - - public override void AddAngularForce(Vector3 force, bool pushforce) - { - - } + public override void link(PhysicsActor obj) { } + public override void delink() { } + public override void LockAngularMotion(Vector3 axis) { } + public override void AddForce(Vector3 force, bool pushforce) { } + public override void AddAngularForce(Vector3 force, bool pushforce) { } public override Vector3 RotationalVelocity { @@ -610,22 +575,10 @@ namespace OpenSim.Region.Physics.Manager public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } - public override void SetMomentum(Vector3 momentum) - { - } - - public override void SubscribeEvents(int ms) - { - - } - public override void UnSubscribeEvents() - { - - } - public override bool SubscribedEvents() - { - return false; - } + public override void SetMomentum(Vector3 momentum) { } + public override void SubscribeEvents(int ms) { } + public override void UnSubscribeEvents() { } + public override bool SubscribedEvents() { return false; } } } diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs index b506b1c..c363310 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs @@ -106,7 +106,7 @@ namespace OpenSim.Region.Physics.OdePlugin private bool m_freemove = false; // private CollisionLocker ode; - private string m_name = String.Empty; +// private string m_name = String.Empty; // other filter control int m_colliderfilter = 0; int m_colliderGroundfilter = 0; @@ -183,7 +183,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_isPhysical = false; // current status: no ODE information exists - m_name = avName; + Name = avName; AddChange(changes.Add, null); } @@ -218,6 +218,11 @@ namespace OpenSim.Region.Physics.OdePlugin set { m_localID = value; } } + public override PhysicsActor ParentActor + { + get { return (PhysicsActor)this; } + } + public override bool Grabbed { set { return; } @@ -740,7 +745,7 @@ namespace OpenSim.Region.Physics.OdePlugin //kill the Geometry if (Shell != IntPtr.Zero) { - _parent_scene.geom_name_map.Remove(Shell); +// _parent_scene.geom_name_map.Remove(Shell); _parent_scene.actor_name_map.Remove(Shell); _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace); d.GeomDestroy(Shell); @@ -1115,7 +1120,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_eventsubscription = 0; } - public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) + public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { if (CollisionEventsThisFrame == null) CollisionEventsThisFrame = new CollisionEventUpdate(); @@ -1184,7 +1189,7 @@ namespace OpenSim.Region.Physics.OdePlugin } AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); - _parent_scene.geom_name_map[Shell] = m_name; + _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; _parent_scene.AddCharacter(this); } @@ -1236,7 +1241,6 @@ namespace OpenSim.Region.Physics.OdePlugin Velocity = Vector3.Zero; - _parent_scene.geom_name_map[Shell] = m_name; _parent_scene.actor_name_map[Shell] = (PhysicsActor)this; } else diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs index 6d322e2..6bf5be1 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs @@ -176,7 +176,7 @@ namespace OpenSim.Region.Physics.OdePlugin private bool m_lastUpdateSent; public IntPtr Body = IntPtr.Zero; - public String Name { get; private set; } +// public String Name { get; private set; } private Vector3 _target_velocity; public Vector3 primOOBsize; // prim real dimensions from mesh @@ -295,14 +295,14 @@ namespace OpenSim.Region.Physics.OdePlugin set { m_localID = value; } } - public OdePrim Parent + public override PhysicsActor ParentActor { get { if (childPrim) - return (OdePrim)_parent; + return _parent; else - return this; + return (PhysicsActor)this; } } @@ -950,7 +950,7 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.RemoveCollisionEventReporting(this); } - public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) + public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { if (CollisionEventsThisFrame == null) CollisionEventsThisFrame = new CollisionEventUpdate(); @@ -1431,6 +1431,7 @@ namespace OpenSim.Region.Physics.OdePlugin //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); if (prim_geom != IntPtr.Zero) { + if (m_NoColide) { d.GeomSetCategoryBits(prim_geom, 0); @@ -1452,7 +1453,6 @@ namespace OpenSim.Region.Physics.OdePlugin CalcPrimBodyData(); - _parent_scene.geom_name_map[prim_geom] = Name; _parent_scene.actor_name_map[prim_geom] = this; } @@ -1526,7 +1526,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (prim_geom != IntPtr.Zero) { - _parent_scene.geom_name_map.Remove(prim_geom); +// _parent_scene.geom_name_map.Remove(prim_geom); _parent_scene.actor_name_map.Remove(prim_geom); try { diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs index 3d108f8..21fe9c0 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs @@ -470,56 +470,77 @@ namespace OpenSim.Region.Physics.OdePlugin if (p2 == null) { - string name; - - if (!m_scene.geom_name_map.TryGetValue(g2, out name)) - return; - - if (name == "Terrain") - { - // land colision - if ((CurrentRayFilter & RayFilterFlags.land) == 0) - return; - } - else if (name == "Water") - { - if ((CurrentRayFilter & RayFilterFlags.water) == 0) - return; - } - else - return; + /* + string name; + + if (!m_scene.geom_name_map.TryGetValue(g2, out name)) + return; + + if (name == "Terrain") + { + // land colision + if ((CurrentRayFilter & RayFilterFlags.land) == 0) + return; + } + else if (name == "Water") + { + if ((CurrentRayFilter & RayFilterFlags.water) == 0) + return; + } + else + return; + */ + return; } else { - if (p2 is OdePrim) + switch (p2.PhysicsActorType) { - RayFilterFlags thisFlags; + case (int)ActorTypes.Prim: - if (p2.IsPhysical) - thisFlags = RayFilterFlags.physical; - else - thisFlags = RayFilterFlags.nonphysical; + RayFilterFlags thisFlags; - if (p2.Phantom) - thisFlags |= RayFilterFlags.phantom; + if (p2.IsPhysical) + thisFlags = RayFilterFlags.physical; + else + thisFlags = RayFilterFlags.nonphysical; - if (p2.IsVolumeDtc) - thisFlags |= RayFilterFlags.volumedtc; + if (p2.Phantom) + thisFlags |= RayFilterFlags.phantom; - if ((thisFlags & CurrentRayFilter) == 0) - return; + if (p2.IsVolumeDtc) + thisFlags |= RayFilterFlags.volumedtc; - ID = ((OdePrim)p2).LocalID; - } - else if (p2 is OdeCharacter) - { - if ((CurrentRayFilter & RayFilterFlags.agent) == 0) + if ((thisFlags & CurrentRayFilter) == 0) + return; + + ID = ((OdePrim)p2).LocalID; + break; + + case (int)ActorTypes.Agent: + + if ((CurrentRayFilter & RayFilterFlags.agent) == 0) + return; + else + ID = ((OdeCharacter)p2).LocalID; + break; + + case (int)ActorTypes.Ground: + + if ((CurrentRayFilter & RayFilterFlags.land) == 0) + return; + break; + + case (int)ActorTypes.Water: + + if ((CurrentRayFilter & RayFilterFlags.water) == 0) + return; + break; + + default: return; - else - ID = ((OdeCharacter)p2).LocalID; + break; } - else //?? - return; } d.ContactGeom curcontact = new d.ContactGeom(); diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs index ee48db5..403a4ce 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs @@ -903,7 +903,7 @@ namespace OdeAPI public static extern GeomClassID GeomGetClass(IntPtr geom); [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetData(IntPtr geom); + public static extern IntPtr GeomGetData(IntPtr geom); [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); @@ -1096,8 +1096,8 @@ namespace OdeAPI [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetData(IntPtr geom, IntPtr data); + [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetData(IntPtr geom, IntPtr data); [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 659180d..1104f45 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -251,7 +251,7 @@ namespace OpenSim.Region.Physics.OdePlugin private List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>(); private HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>(); - public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); +// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); private float contactsurfacelayer = 0.002f; @@ -274,7 +274,7 @@ namespace OpenSim.Region.Physics.OdePlugin private int m_physicsiterations = 10; private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag - private PhysicsActor PANull = new NullPhysicsActor(); +// private PhysicsActor PANull = new NullPhysicsActor(); private float step_time = 0.0f; public IntPtr world; @@ -713,6 +713,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) return; + if(d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc || d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc) { @@ -738,7 +739,7 @@ namespace OpenSim.Region.Physics.OdePlugin return; } - // id contacts done + // contacts done if (count == 0) return; @@ -748,12 +749,14 @@ namespace OpenSim.Region.Physics.OdePlugin if (!actor_name_map.TryGetValue(g1, out p1)) { - p1 = PANull; + m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1"); + return; } if (!actor_name_map.TryGetValue(g2, out p2)) { - p2 = PANull; + m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2"); + return; } // update actors collision score @@ -765,7 +768,6 @@ namespace OpenSim.Region.Physics.OdePlugin p2.CollisionScore = 0; p2.CollisionScore += count; - // get first contact d.ContactGeom curContact = new d.ContactGeom(); if (!GetCurContactGeom(0, ref curContact)) @@ -798,7 +800,6 @@ namespace OpenSim.Region.Physics.OdePlugin ContactData contactdata1 = new ContactData(0, 0, false); ContactData contactdata2 = new ContactData(0, 0, false); - String name = null; bool dop1foot = false; bool dop2foot = false; bool ignore = false; @@ -830,34 +831,16 @@ namespace OpenSim.Region.Physics.OdePlugin switch (p2.PhysicsActorType) { case (int)ActorTypes.Agent: -/* - p1.getContactData(ref contactdata1); - p2.getContactData(ref contactdata2); - - mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); - - if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) - mu *= frictionMovementMult; -*/ p1.CollidingObj = true; p2.CollidingObj = true; break; - case (int)ActorTypes.Prim: -/* - p1.getContactData(ref contactdata1); - p2.getContactData(ref contactdata2); - - mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); - - if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) - mu *= frictionMovementMult; - */ + case (int)ActorTypes.Prim: if (p2.Velocity.LengthSquared() > 0.0f) p2.CollidingObj = true; - dop1foot = true; break; + default: ignore = true; // avatar to terrain and water ignored break; @@ -869,9 +852,6 @@ namespace OpenSim.Region.Physics.OdePlugin switch (p2.PhysicsActorType) { case (int)ActorTypes.Agent: - // p1.getContactData(ref contactdata1); - // p2.getContactData(ref contactdata2); - AvanormOverride = true; Vector3 tmp = p2.Position - p1.Position; @@ -894,16 +874,12 @@ namespace OpenSim.Region.Physics.OdePlugin bounce = 0; mu = 0; cfm = 0.0001f; - /* - mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); - if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) - mu *= frictionMovementMult; - */ dop2foot = true; if (p1.Velocity.LengthSquared() > 0.0f) p1.CollidingObj = true; break; + case (int)ActorTypes.Prim: if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) { @@ -933,95 +909,77 @@ namespace OpenSim.Region.Physics.OdePlugin mu *= frictionMovementMult; break; - default: - if (geom_name_map.TryGetValue(g2, out name)) - { - if (name == "Terrain") - { - p1.getContactData(ref contactdata1); - bounce = contactdata1.bounce * TerrainBounce; - mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); - if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) - mu *= frictionMovementMult; - p1.CollidingGround = true; - - cfm = p1.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - if (dscale > 1.0f) - dscale = 1.0f; - erpscale = cfm * 0.01f; - 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) - { - if (curContact.side1 > 0) - IgnoreNegSides = true; - } - - } - else if (name == "Water") - { - ignore = true; - } - } - else - ignore = true; - break; - } - break; - - default: - if (geom_name_map.TryGetValue(g1, out name)) - { - if (name == "Terrain") - { - if (p2.PhysicsActorType == (int)ActorTypes.Prim) - { - p2.CollidingGround = true; - p2.getContactData(ref contactdata2); - bounce = contactdata2.bounce * TerrainBounce; - mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); - - cfm = p2.Mass; - dscale = 10 / cfm; - dscale = (float)Math.Sqrt(dscale); - if (dscale > 1.0f) - dscale = 1.0f; + case (int)ActorTypes.Ground: + p1.getContactData(ref contactdata1); + bounce = contactdata1.bounce * TerrainBounce; + mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); + if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) + mu *= frictionMovementMult; + p1.CollidingGround = true; - erpscale = cfm * 0.01f; - cfm = 0.0001f / cfm; - if (cfm > 0.01f) - cfm = 0.01f; - else if (cfm < 0.00001f) - cfm = 0.00001f; + cfm = p1.Mass; + dscale = 10 / cfm; + dscale = (float)Math.Sqrt(dscale); + if (dscale > 1.0f) + dscale = 1.0f; + erpscale = cfm * 0.01f; + 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 ? + if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) + { + if (curContact.side1 > 0) IgnoreNegSides = true; - - if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) - mu *= frictionMovementMult; } - else - ignore = true; + break; - } - else if (name == "Water" && - (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent)) - { + case (int)ActorTypes.Water: + default: ignore = true; - } + break; + } + break; + + case (int)ActorTypes.Ground: + if (p2.PhysicsActorType == (int)ActorTypes.Prim) + { + p2.CollidingGround = true; + p2.getContactData(ref contactdata2); + bounce = contactdata2.bounce * TerrainBounce; + mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); + + cfm = p2.Mass; + dscale = 10 / cfm; + dscale = (float)Math.Sqrt(dscale); + + if (dscale > 1.0f) + dscale = 1.0f; + + erpscale = cfm * 0.01f; + 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; + + if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) + mu *= frictionMovementMult; } else ignore = true; break; - } + case (int)ActorTypes.Water: + default: + break; + } if (ignore) return; @@ -1162,36 +1120,23 @@ namespace OpenSim.Region.Physics.OdePlugin } */ - } + } private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact) - { - - OdeCharacter cc1; - OdePrim cp1; - OdeCharacter cc2; - OdePrim cp2; - OdePrim cp1Parent; - OdePrim cp2Parent; - + { uint obj2LocalID = 0; + bool p1events = p1.SubscribedEvents(); bool p2events = p2.SubscribedEvents(); - + if (p1.IsVolumeDtc) p2events = false; if (p2.IsVolumeDtc) p1events = false; - if (!(p2events || p1events)) + if (!p2events && !p1events) return; - if (p1events) - AddCollisionEventReporting(p1); - - if (p2events) - AddCollisionEventReporting(p2); - Vector3 vel = Vector3.Zero; if (p2 != null && p2.IsPhysical) vel = p2.Velocity; @@ -1200,71 +1145,22 @@ namespace OpenSim.Region.Physics.OdePlugin vel -= p1.Velocity; contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal); - + switch ((ActorTypes)p1.PhysicsActorType) - { + { case ActorTypes.Agent: - cc1 = (OdeCharacter)p1; - switch ((ActorTypes)p2.PhysicsActorType) - { - case ActorTypes.Agent: - cc2 = (OdeCharacter)p2; - obj2LocalID = cc2.LocalID; - if (p2events) - cc2.AddCollisionEvent(cc1.LocalID, contact); - break; - - case ActorTypes.Prim: - if (p2 is OdePrim) - { - cp2 = (OdePrim)p2; - if (p2events) - cp2.AddCollisionEvent(cc1.LocalID, contact); - cp2 = cp2.Parent; - obj2LocalID = cp2.LocalID; - } - break; - - case ActorTypes.Ground: - case ActorTypes.Unknown: - default: - obj2LocalID = 0; - break; - } - if (p1events) - { - contact.SurfaceNormal = -contact.SurfaceNormal; - cc1.AddCollisionEvent(obj2LocalID, contact); - } - break; - case ActorTypes.Prim: - - if (p1 is OdePrim) - { - cp1 = (OdePrim)p1; - cp1Parent = cp1.Parent; + { switch ((ActorTypes)p2.PhysicsActorType) - { + { case ActorTypes.Agent: - if (p2 is OdeCharacter) - { - cc2 = (OdeCharacter)p2; - obj2LocalID = cc2.LocalID; - if (p2events) - cc2.AddCollisionEvent(cp1Parent.LocalID, contact); - } - break; case ActorTypes.Prim: - - if (p2 is OdePrim) - { - cp2 = (OdePrim)p2; - if (p2events) - cp2.AddCollisionEvent(cp1Parent.LocalID, contact); - cp2 = cp2.Parent; - obj2LocalID = cp2.LocalID; - } + if (p2events) + { + AddCollisionEventReporting(p2); + p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); + } + obj2LocalID = p2.ParentActor.LocalID; break; case ActorTypes.Ground: @@ -1272,41 +1168,28 @@ namespace OpenSim.Region.Physics.OdePlugin default: obj2LocalID = 0; break; - } + } if (p1events) - { + { contact.SurfaceNormal = -contact.SurfaceNormal; - cp1.AddCollisionEvent(obj2LocalID, contact); - } + AddCollisionEventReporting(p1); + p1.AddCollisionEvent(obj2LocalID, contact); } - break; + break; + } case ActorTypes.Ground: case ActorTypes.Unknown: default: - switch ((ActorTypes)p2.PhysicsActorType) + { + if (p2events && !p2.IsVolumeDtc) { - case ActorTypes.Agent: - if (p2 is OdeCharacter) - { - cc2 = (OdeCharacter)p2; - obj2LocalID = cc2.LocalID; - if (p2events) - cc2.AddCollisionEvent(0, contact); - } - break; - case ActorTypes.Prim: - if (p2 is OdePrim) - { - cp2 = (OdePrim)p2; - obj2LocalID = cp2.LocalID; - if (p2events) - cp2.AddCollisionEvent(0, contact); - } - break; + AddCollisionEventReporting(p2); + p2.AddCollisionEvent(0, contact); } break; - } + } } + } /// <summary> /// This is our collision testing routine in ODE @@ -2369,6 +2252,7 @@ namespace OpenSim.Region.Physics.OdePlugin RegionTerrain.Remove(pOffset); if (GroundGeom != IntPtr.Zero) { + actor_name_map.Remove(GroundGeom); d.GeomDestroy(GroundGeom); if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) @@ -2394,27 +2278,32 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); d.GeomSetCollideBits(GroundGeom, 0); - } - geom_name_map[GroundGeom] = "Terrain"; + PhysicsActor pa = new NullPhysicsActor(); + pa.Name = "Terrain"; + pa.PhysicsActorType = (int)ActorTypes.Ground; + actor_name_map[GroundGeom] = pa; - d.Matrix3 R = new d.Matrix3(); +// geom_name_map[GroundGeom] = "Terrain"; - Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); - Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); - + d.Matrix3 R = new d.Matrix3(); - q1 = q1 * q2; - - Vector3 v3; - float angle; - q1.GetAxisAngle(out v3, out angle); + Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); + Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); + + + q1 = q1 * q2; + + Vector3 v3; + float angle; + q1.GetAxisAngle(out v3, out angle); - 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); - TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); - TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); + 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); + TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); + TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); + } } } @@ -2478,6 +2367,7 @@ namespace OpenSim.Region.Physics.OdePlugin RegionTerrain.Remove(pOffset); if (GroundGeom != IntPtr.Zero) { + actor_name_map.Remove(GroundGeom); d.GeomDestroy(GroundGeom); if (TerrainHeightFieldHeights.ContainsKey(GroundGeom)) @@ -2509,13 +2399,18 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land)); d.GeomSetCollideBits(GroundGeom, 0); - } - geom_name_map[GroundGeom] = "Terrain"; + PhysicsActor pa = new NullPhysicsActor(); + pa.Name = "Terrain"; + pa.PhysicsActorType = (int)ActorTypes.Ground; + actor_name_map[GroundGeom] = pa; - d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0); - RegionTerrain.Add(pOffset, GroundGeom); - TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); - TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); +// 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); + TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); + TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler); + } } } @@ -2632,6 +2527,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (WaterGeom != IntPtr.Zero) { + actor_name_map.Remove(WaterGeom); d.GeomDestroy(WaterGeom); d.GeomHeightfieldDataDestroy(WaterHeightmapData); WaterGeom = IntPtr.Zero; @@ -2654,7 +2550,13 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetCategoryBits(WaterGeom, (uint)(CollisionCategories.Water)); d.GeomSetCollideBits(WaterGeom, 0); - geom_name_map[WaterGeom] = "Water"; + + PhysicsActor pa = new NullPhysicsActor(); + pa.Name = "Water"; + pa.PhysicsActorType = (int)ActorTypes.Water; + + actor_name_map[WaterGeom] = pa; +// geom_name_map[WaterGeom] = "Water"; d.Matrix3 R = new d.Matrix3();