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a few changes to ubode managed/umanaged interface

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UbitUmarov
2022-08-08 23:34:29 +01:00
parent 1b928c9fbd
commit 0f052f775d
4 changed files with 65 additions and 55 deletions
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67
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
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@@ -375,15 +375,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
catch
{
// i must RtC#FM
// i did!
}
// move to second level
SafeNativeMethods.SpaceSetSublevel(ActiveSpace, 1);
SafeNativeMethods.SpaceSetSublevel(CharsSpace, 1);
SafeNativeMethods.SpaceSetSublevel(StaticSpace, 1);
SafeNativeMethods.SpaceSetSublevel(GroundSpace, 1);
// move to high level
SafeNativeMethods.SpaceSetSublevel(ActiveSpace, 256);
SafeNativeMethods.SpaceSetSublevel(CharsSpace, 256);
SafeNativeMethods.SpaceSetSublevel(StaticSpace, 256);
SafeNativeMethods.SpaceSetSublevel(GroundSpace, 256);
SafeNativeMethods.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
@@ -407,8 +405,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
// CollisionCategories.Land |
// CollisionCategories.Water |
//CollisionCategories.Land |
//CollisionCategories.Water |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
@@ -424,7 +422,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
// checkThread();
//checkThread();
// Defaults
@@ -442,7 +440,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
// contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
//contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
@@ -485,7 +483,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
HalfOdeStep = ODE_STEPSIZE * 0.5f;
odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f);
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * SafeNativeMethods.ContactGeom.unmanagedSizeOf);
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
GlobalContactsArray = Marshal.AllocHGlobal((maxContactsbeforedeath + 100) * SafeNativeMethods.Contact.unmanagedSizeOf);
SharedTmpcontact.geom.g1 = IntPtr.Zero;
@@ -546,7 +544,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
#region Collision Detection
// sets a global contact for a joint for contactgeom , and base contact description)
private IntPtr CreateContacJoint(ref SafeNativeMethods.ContactGeom contactGeom,bool smooth)
private IntPtr CreateContacJoint(ref SafeNativeMethods.ContactGeomClass contactGeom,bool smooth)
{
if (m_global_contactcount >= maxContactsbeforedeath)
return IntPtr.Zero;
@@ -560,17 +558,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SharedTmpcontact.geom.normal = contactGeom.normal;
IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * SafeNativeMethods.Contact.unmanagedSizeOf));
Marshal.StructureToPtr(SharedTmpcontact, contact, true);
Marshal.StructureToPtr(SharedTmpcontact, contact, false);
return SafeNativeMethods.JointCreateContactPtr(world, contactgroup, contact);
}
private bool GetCurContactGeom(int index, ref SafeNativeMethods.ContactGeom newcontactgeom)
private bool GetCurContactGeom(int index, ref SafeNativeMethods.ContactGeomClass newcontactgeom)
{
if (ContactgeomsArray == IntPtr.Zero || index >= contactsPerCollision)
return false;
IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * SafeNativeMethods.ContactGeom.unmanagedSizeOf));
newcontactgeom = (SafeNativeMethods.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(SafeNativeMethods.ContactGeom));
IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * SafeNativeMethods.ContactGeomClass.unmanagedSizeOf));
Marshal.PtrToStructure(contactptr, newcontactgeom);
return true;
}
@@ -585,13 +583,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
// no lock here! It's invoked from within Simulate(), which is thread-locked
if (m_global_contactcount >= maxContactsbeforedeath)
return;
// Test if we're colliding a geom with a space.
// If so we have to drill down into the space recursively
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
@@ -607,34 +603,30 @@ namespace OpenSim.Region.PhysicsModule.ubOde
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide test a space");
return;
}
//here one should check collisions of geoms inside a space
// but on each space we only should have geoms that not colide amoung each other
// so we don't dig inside spaces
return;
}
if (g1 == g2)
return; // Can't collide with yourself
// Figure out how many contact points we have
int count = 0;
try
{
if (g1 == g2)
return; // Can't collide with yourself
if (SafeNativeMethods.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
SafeNativeMethods.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc)
{
int cflags = unchecked ((int)(1 | SafeNativeMethods.CONTACTS_UNIMPORTANT));
count = SafeNativeMethods.CollidePtr(g1, g2, cflags, ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(g1, g2, cflags, ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
}
else
count = SafeNativeMethods.CollidePtr(g1, g2, contactsPerCollision, ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(g1, g2, contactsPerCollision, ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
}
catch (SEHException)
{
m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
// ode.drelease(world);
//ode.drelease(world);
base.TriggerPhysicsBasedRestart();
}
catch (Exception e)
@@ -647,26 +639,25 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (count == 0)
return;
// get first contact
SafeNativeMethods.ContactGeom curContact = new SafeNativeMethods.ContactGeom();
if (!GetCurContactGeom(0, ref curContact))
return;
// try get physical actors
PhysicsActor p1;
if (!actor_name_map.TryGetValue(g1, out p1))
if (!actor_name_map.TryGetValue(g1, out PhysicsActor p1))
{
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 1");
return;
}
PhysicsActor p2;
if (!actor_name_map.TryGetValue(g2, out p2))
if (!actor_name_map.TryGetValue(g2, out PhysicsActor p2))
{
m_log.WarnFormat("[PHYSICS]: failed actor mapping for geom 2");
return;
}
// get first contact
SafeNativeMethods.ContactGeomClass curContact = new SafeNativeMethods.ContactGeomClass();
if (!GetCurContactGeom(0, ref curContact))
return;
// do volume detection case
if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
{
@@ -807,7 +798,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SharedTmpcontact.surface.mu = mu;
SharedTmpcontact.surface.bounce = bounce;
SafeNativeMethods.ContactGeom altContact = new SafeNativeMethods.ContactGeom();
SafeNativeMethods.ContactGeomClass altContact = new SafeNativeMethods.ContactGeomClass();
bool useAltcontact;
bool noskip;