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* Committing some collision stuffs that I'm working on.

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* Nothing user facing yet.
This commit is contained in:
Teravus Ovares
2008-05-03 04:33:17 +00:00
parent 18362b25bf
commit 07167c9a3f
10 changed files with 365 additions and 102 deletions
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12
OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
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@@ -398,5 +398,17 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
}

12
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@@ -996,6 +996,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
/// <summary>

35
OpenSim/Region/Physics/Manager/PhysicsActor.cs
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@@ -51,9 +51,9 @@ namespace OpenSim.Region.Physics.Manager
public int m_colliderType;
public int m_GenericStartEnd;
//public uint m_LocalID;
public List<uint> m_objCollisionList;
public Dictionary<uint,float> m_objCollisionList = new Dictionary<uint,float>();
public CollisionEventUpdate(uint localID, int colliderType, int GenericStartEnd, List<uint> objCollisionList)
public CollisionEventUpdate(uint localID, int colliderType, int GenericStartEnd, Dictionary<uint, float> objCollisionList)
{
m_colliderType = colliderType;
m_GenericStartEnd = GenericStartEnd;
@@ -64,7 +64,8 @@ namespace OpenSim.Region.Physics.Manager
{
m_colliderType = (int) ActorTypes.Unknown;
m_GenericStartEnd = 1;
m_objCollisionList = null;
// m_objCollisionList = null;
m_objCollisionList = new Dictionary<uint, float>();
}
public int collidertype
@@ -79,9 +80,17 @@ namespace OpenSim.Region.Physics.Manager
set { m_GenericStartEnd = value; }
}
public void addCollider(uint localID)
public void addCollider(uint localID, float depth)
{
m_objCollisionList.Add(localID);
if (!m_objCollisionList.ContainsKey(localID))
{
m_objCollisionList.Add(localID, depth);
}
else
{
if (m_objCollisionList[localID] < depth)
m_objCollisionList[localID] = depth;
}
}
}
@@ -189,6 +198,9 @@ namespace OpenSim.Region.Physics.Manager
public abstract void AddForce(PhysicsVector force);
public abstract void SetMomentum(PhysicsVector momentum);
public abstract void SubscribeEvents(int ms);
public abstract void UnSubscribeEvents();
public abstract bool SubscribedEvents();
}
public class NullPhysicsActor : PhysicsActor
@@ -370,5 +382,18 @@ namespace OpenSim.Region.Physics.Manager
public override void SetMomentum(PhysicsVector momentum)
{
}
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
}

31
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
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@@ -112,6 +112,9 @@ namespace OpenSim.Region.Physics.OdePlugin
public d.Mass ShellMass;
public bool collidelock = false;
public int m_eventsubscription = 0;
private CollisionEventUpdate CollisionEventsThisFrame = null;
public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size)
{
ode = dode;
@@ -863,5 +866,33 @@ namespace OpenSim.Region.Physics.OdePlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
m_eventsubscription = ms;
}
public override void UnSubscribeEvents()
{
m_eventsubscription = 0;
}
public void AddCollisionEvent(uint CollidedWith, float depth)
{
if (m_eventsubscription > 0)
CollisionEventsThisFrame.addCollider(CollidedWith,depth);
}
public void SendCollisions()
{
if (m_eventsubscription > 0)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
CollisionEventsThisFrame = new CollisionEventUpdate();
}
}
public override bool SubscribedEvents()
{
if (m_eventsubscription > 0)
return true;
return false;
}
}
}

47
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
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@@ -136,8 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsVector _target_velocity;
public d.Mass pMass;
public int m_eventsubscription = 0;
private CollisionEventUpdate CollisionEventsThisFrame = null;
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)
{
@@ -201,12 +205,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
/// <summary>
/// Nasty, however without this you get
/// 'invalid operation for locked space' when things are really loaded down
/// </summary>
/// <param name="space"></param>
public override int PhysicsActorType
{
get { return (int) ActorTypes.Prim; }
@@ -2229,5 +2227,42 @@ 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)
CollisionEventsThisFrame = new CollisionEventUpdate();
CollisionEventsThisFrame.addCollider(CollidedWith,depth);
}
public void SendCollisions()
{
if (CollisionEventsThisFrame == null)
return;
//if (CollisionEventsThisFrame.m_objCollisionList == null)
// return;
if (CollisionEventsThisFrame.m_objCollisionList.Count > 0)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
CollisionEventsThisFrame = new CollisionEventUpdate();
}
}
public override bool SubscribedEvents()
{
if (m_eventsubscription > 0)
return true;
return false;
}
}
}

213
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@@ -131,7 +131,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private float waterlevel = 0f;
private int framecount = 0;
private int m_returncollisions = 10;
//private int m_returncollisions = 10;
private IntPtr contactgroup;
private IntPtr LandGeom = (IntPtr) 0;
@@ -151,6 +151,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private List<OdePrim> _prims = new List<OdePrim>();
private List<OdePrim> _activeprims = new List<OdePrim>();
private List<OdePrim> _taintedPrim = new List<OdePrim>();
private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
private d.ContactGeom[] contacts = new d.ContactGeom[80];
@@ -171,16 +172,16 @@ namespace OpenSim.Region.Physics.OdePlugin
//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
//Ckrinke private int ms = 0;
public IntPtr world;
private bool returncollisions = false;
//private bool returncollisions = false;
private uint obj1LocalID = 0;
private uint obj2LocalID = 0;
private int ctype = 0;
//private int ctype = 0;
private OdeCharacter cc1;
private OdePrim cp1;
private OdeCharacter cc2;
private OdePrim cp2;
private int cStartStop = 0;
private string cDictKey = "";
//private int cStartStop = 0;
//private string cDictKey = "";
public IntPtr space;
@@ -413,27 +414,32 @@ namespace OpenSim.Region.Physics.OdePlugin
PhysicsActor p1;
PhysicsActor p2;
if (!actor_name_map.TryGetValue(g1, out p1))
{
p1 = PANull;
}
if (!actor_name_map.TryGetValue(g2, out p2))
{
p2 = PANull;
}
float max_collision_depth = 0f;
for (int i = 0; i < count; i++)
{
max_collision_depth = (contacts[i].depth > max_collision_depth) ? contacts[i].depth : max_collision_depth;
//m_log.Warn("[CCOUNT]: " + count);
IntPtr joint;
// If we're colliding with terrain, use 'TerrainContact' instead of contact.
// allows us to have different settings
if (!actor_name_map.TryGetValue(g1, out p1))
{
p1 = PANull;
}
if (!actor_name_map.TryGetValue(g2, out p2))
{
p2 = PANull;
}
// We only need to test p2 for 'jump crouch purposes'
p2.IsColliding = true;
//if ((framecount % m_returncollisions) == 0)
//collision_accounting_events(p1, p2);
switch (p1.PhysicsActorType)
@@ -674,7 +680,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
d.JointAttach(joint, b1, b2);
}
collision_accounting_events(p1, p2, max_collision_depth);
if (count > 3)
{
// If there are more then 3 contact points, it's likely
@@ -690,130 +696,134 @@ namespace OpenSim.Region.Physics.OdePlugin
}
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2)
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, float collisiondepth)
{
obj1LocalID = 0;
returncollisions = false;
//returncollisions = false;
obj2LocalID = 0;
ctype = 0;
cStartStop = 0;
//ctype = 0;
//cStartStop = 0;
if (!p2.SubscribedEvents() && !p1.SubscribedEvents())
return;
switch ((ActorTypes)p2.PhysicsActorType)
{
case ActorTypes.Agent:
cc2 = (OdeCharacter)p2;
if (cc2.m_returnCollisions)
{
obj1LocalID = cc2.m_localID;
switch ((ActorTypes)p1.PhysicsActorType)
{
case ActorTypes.Agent:
cc1 = (OdeCharacter)p1;
obj2LocalID = cc1.m_localID;
ctype = (int)CollisionCategories.Character;
cc1.AddCollisionEvent(cc2.m_localID, collisiondepth);
//ctype = (int)CollisionCategories.Character;
if (cc1.CollidingObj)
cStartStop = (int)StatusIndicators.Generic;
else
cStartStop = (int)StatusIndicators.Start;
//if (cc1.CollidingObj)
//cStartStop = (int)StatusIndicators.Generic;
//else
//cStartStop = (int)StatusIndicators.Start;
returncollisions = true;
//returncollisions = true;
break;
case ActorTypes.Prim:
cp1 = (OdePrim)p1;
obj2LocalID = cp1.m_localID;
ctype = (int)CollisionCategories.Geom;
cp1.AddCollisionEvent(cc2.m_localID, collisiondepth);
//ctype = (int)CollisionCategories.Geom;
if (cp1.CollidingObj)
cStartStop = (int)StatusIndicators.Generic;
else
cStartStop = (int)StatusIndicators.Start;
//if (cp1.CollidingObj)
//cStartStop = (int)StatusIndicators.Generic;
//else
//cStartStop = (int)StatusIndicators.Start;
returncollisions = true;
//returncollisions = true;
break;
case ActorTypes.Ground:
case ActorTypes.Unknown:
obj2LocalID = 0;
ctype = (int)CollisionCategories.Land;
returncollisions = true;
//ctype = (int)CollisionCategories.Land;
//returncollisions = true;
break;
}
}
cc2.AddCollisionEvent(obj2LocalID, collisiondepth);
break;
case ActorTypes.Prim:
cp2 = (OdePrim)p2;
if (cp2.m_returnCollisions)
{
obj1LocalID = cp2.m_localID;
switch ((ActorTypes)p1.PhysicsActorType)
{
case ActorTypes.Agent:
cc1 = (OdeCharacter)p1;
obj2LocalID = cc1.m_localID;
ctype = (int)CollisionCategories.Character;
cc1.AddCollisionEvent(cp2.m_localID, collisiondepth);
//ctype = (int)CollisionCategories.Character;
if (cc1.CollidingObj)
cStartStop = (int)StatusIndicators.Generic;
else
cStartStop = (int)StatusIndicators.Start;
returncollisions = true;
//if (cc1.CollidingObj)
//cStartStop = (int)StatusIndicators.Generic;
//else
//cStartStop = (int)StatusIndicators.Start;
//returncollisions = true;
break;
case ActorTypes.Prim:
cp1 = (OdePrim)p1;
obj2LocalID = cp1.m_localID;
ctype = (int)CollisionCategories.Geom;
cp1.AddCollisionEvent(cp2.m_localID, collisiondepth);
//ctype = (int)CollisionCategories.Geom;
if (cp1.CollidingObj)
cStartStop = (int)StatusIndicators.Generic;
else
cStartStop = (int)StatusIndicators.Start;
//if (cp1.CollidingObj)
//cStartStop = (int)StatusIndicators.Generic;
//else
//cStartStop = (int)StatusIndicators.Start;
returncollisions = true;
//returncollisions = true;
break;
case ActorTypes.Ground:
case ActorTypes.Unknown:
obj2LocalID = 0;
ctype = (int)CollisionCategories.Land;
//ctype = (int)CollisionCategories.Land;
returncollisions = true;
//returncollisions = true;
break;
}
}
cp2.AddCollisionEvent(obj2LocalID, collisiondepth);
break;
}
if (returncollisions)
{
//if (returncollisions)
//{
lock (m_storedCollisions)
{
cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
if (m_storedCollisions.ContainsKey(cDictKey))
{
sCollisionData objd = m_storedCollisions[cDictKey];
objd.NumberOfCollisions += 1;
objd.lastframe = framecount;
m_storedCollisions[cDictKey] = objd;
}
else
{
sCollisionData objd = new sCollisionData();
objd.ColliderLocalId = obj1LocalID;
objd.CollidedWithLocalId = obj2LocalID;
objd.CollisionType = ctype;
objd.NumberOfCollisions = 1;
objd.lastframe = framecount;
objd.StatusIndicator = cStartStop;
m_storedCollisions.Add(cDictKey, objd);
}
}
}
//lock (m_storedCollisions)
//{
//cDictKey = obj1LocalID.ToString() + obj2LocalID.ToString() + cStartStop.ToString() + ctype.ToString();
//if (m_storedCollisions.ContainsKey(cDictKey))
//{
//sCollisionData objd = m_storedCollisions[cDictKey];
//objd.NumberOfCollisions += 1;
//objd.lastframe = framecount;
//m_storedCollisions[cDictKey] = objd;
//}
//else
//{
//sCollisionData objd = new sCollisionData();
//objd.ColliderLocalId = obj1LocalID;
//objd.CollidedWithLocalId = obj2LocalID;
//objd.CollisionType = ctype;
//objd.NumberOfCollisions = 1;
//objd.lastframe = framecount;
//objd.StatusIndicator = cStartStop;
//m_storedCollisions.Add(cDictKey, objd);
//}
//}
// }
}
public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
@@ -940,6 +950,26 @@ namespace OpenSim.Region.Physics.OdePlugin
// return (float)_origheightmap[(int)y * Constants.RegionSize + (int)x];
// }
public void addCollisionEventReporting(PhysicsActor obj)
{
lock(_collisionEventPrim)
{
if (!_collisionEventPrim.Contains(obj))
_collisionEventPrim.Add(obj);
}
}
public void remCollisionEventReporting(PhysicsActor obj)
{
lock (_collisionEventPrim)
{
if (!_collisionEventPrim.Contains(obj))
_collisionEventPrim.Remove(obj);
}
}
#region Add/Remove Entities
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
@@ -1068,6 +1098,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
lock (prim)
{
remCollisionEventReporting(prim);
lock (ode)
{
if (prim.prim_geom != (IntPtr)0)
@@ -1551,6 +1582,28 @@ namespace OpenSim.Region.Physics.OdePlugin
collision_optimized(timeStep);
lock (_collisionEventPrim)
{
foreach (PhysicsActor obj in _collisionEventPrim)
{
if (obj == null)
continue;
switch ((ActorTypes)obj.PhysicsActorType)
{
case ActorTypes.Agent:
OdeCharacter cobj = (OdeCharacter)obj;
cobj.SendCollisions();
break;
case ActorTypes.Prim:
OdePrim pobj = (OdePrim)obj;
pobj.SendCollisions();
break;
}
}
}
d.WorldQuickStep(world, ODE_STEPSIZE);
d.JointGroupEmpty(contactgroup);

24
OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
View File

@@ -527,6 +527,18 @@ namespace OpenSim.Region.Physics.POSPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
public class POSPrim : PhysicsActor
@@ -728,5 +740,17 @@ namespace OpenSim.Region.Physics.POSPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
}

25
OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
View File

@@ -441,6 +441,18 @@ namespace OpenSim.Region.Physics.PhysXPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
@@ -666,5 +678,18 @@ namespace OpenSim.Region.Physics.PhysXPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}
public override void UnSubscribeEvents()
{
}
public override bool SubscribedEvents()
{
return false;
}
}
}