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ubode: change managed/unmanaged contacts shared memory again

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UbitUmarov
2022-08-21 05:00:27 +01:00
parent 20c12e195b
commit 1456f43bc3
5 changed files with 93 additions and 166 deletions
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14
OpenSim/Region/PhysicsModules/ubOde/ODEApi.cs
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@@ -261,20 +261,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
internal static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeom));
}
[StructLayout(LayoutKind.Sequential)]
internal class ContactGeomClass
{
internal Vector3 pos;
internal Vector3 normal;
internal dReal depth;
internal IntPtr g1;
internal IntPtr g2;
internal int side1;
internal int side2;
internal static readonly int unmanagedSizeOf = Marshal.SizeOf(typeof(ContactGeomClass));
}
/*
[StructLayout(LayoutKind.Sequential)]
internal struct GeomClass

7
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@@ -1059,8 +1059,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
internal bool Collide(IntPtr me, IntPtr other, bool reverse, ref SafeNativeMethods.ContactGeomClass contact,
ref SafeNativeMethods.ContactGeomClass altContact, ref bool useAltcontact, ref bool feetcollision)
internal bool Collide(IntPtr me, IntPtr other, bool reverse, ref SafeNativeMethods.ContactGeom contact,
ref SafeNativeMethods.ContactGeom altContact, ref bool useAltcontact, ref bool feetcollision)
{
feetcollision = false;
useAltcontact = false;
@@ -2314,9 +2314,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return false;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void AddChange(changes what, object arg)
{
m_parent_scene.AddChange((PhysicsActor)this, what, arg);
m_parent_scene.AddChange(this, what, arg);
}
private struct strAvatarSize

2
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
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@@ -4246,7 +4246,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void AddChange(changes what, object arg)
{
m_parentScene.AddChange((PhysicsActor) this, what, arg);
m_parentScene.AddChange(this, what, arg);
}
private struct strVehicleBoolParam

105
OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
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@@ -53,6 +53,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
/// Scene that created this object.
/// </summary>
private readonly ODEScene m_scene;
private readonly SafeNativeMethods.ContactGeom[] m_contacts;
IntPtr ray; // the ray. we only need one for our lifetime
@@ -69,11 +70,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private RayFilterFlags CurrentRayFilter;
private int CurrentMaxCount;
ContactResult SharedCollisionResult = new ContactResult();
SafeNativeMethods.ContactGeomClass Sharedcontact = new SafeNativeMethods.ContactGeomClass();
public ODERayCastRequestManager(ODEScene pScene)
{
m_scene = pScene;
m_contacts = pScene.m_contacts;
nearCallback = near;
ray = SafeNativeMethods.CreateRay(IntPtr.Zero, 1.0f);
SafeNativeMethods.GeomSetCategoryBits(ray, 0);
@@ -384,18 +385,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
private bool GetCurContactGeom(int index, ref SafeNativeMethods.ContactGeomClass newcontactgeom)
{
IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
if (index >= CollisionContactGeomsPerTest)
return false;
IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * SafeNativeMethods.ContactGeomClass.unmanagedSizeOf));
Marshal.PtrToStructure(contactptr, newcontactgeom);
return true;
}
// This is the standard Near. g1 is the ray
private void near(IntPtr dummy, IntPtr g1, IntPtr g2)
{
@@ -421,7 +410,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int count = 0;
try
{
count = SafeNativeMethods.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
}
catch (Exception e)
{
@@ -472,17 +461,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// Loop all contacts, build results.
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref Sharedcontact))
break;
lock (m_contactResults)
{
m_contactResults.Add(new ContactResult
{
ConsumerID = ID,
Pos = new Vector3(Sharedcontact.pos.X, Sharedcontact.pos.Y, Sharedcontact.pos.Z),
Normal = new Vector3(Sharedcontact.normal.X, Sharedcontact.normal.Y, Sharedcontact.normal.Z),
Depth = Sharedcontact.depth
Pos = new Vector3(m_contacts[i].pos.X, m_contacts[i].pos.Y, m_contacts[i].pos.Z),
Normal = new Vector3(m_contacts[i].normal.X, m_contacts[i].normal.Y, m_contacts[i].normal.Z),
Depth = m_contacts[i].depth
});
if (m_contactResults.Count >= CurrentMaxCount)
return;
@@ -497,18 +483,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref Sharedcontact))
break;
if (Sharedcontact.depth < SharedCollisionResult.Depth)
if (m_contacts[i].depth < SharedCollisionResult.Depth)
{
SharedCollisionResult.Pos.X = Sharedcontact.pos.X;
SharedCollisionResult.Pos.Y = Sharedcontact.pos.Y;
SharedCollisionResult.Pos.Z = Sharedcontact.pos.Z;
SharedCollisionResult.Normal.X = Sharedcontact.normal.X;
SharedCollisionResult.Normal.Y = Sharedcontact.normal.Y;
SharedCollisionResult.Normal.Z = Sharedcontact.normal.Z;
SharedCollisionResult.Depth = Sharedcontact.depth;
SharedCollisionResult.Pos.X = m_contacts[i].pos.X;
SharedCollisionResult.Pos.Y = m_contacts[i].pos.Y;
SharedCollisionResult.Pos.Z = m_contacts[i].pos.Z;
SharedCollisionResult.Normal.X = m_contacts[i].normal.X;
SharedCollisionResult.Normal.Y = m_contacts[i].normal.Y;
SharedCollisionResult.Normal.Z = m_contacts[i].normal.Z;
SharedCollisionResult.Depth = m_contacts[i].depth;
}
}
@@ -529,7 +512,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int count = 0;
try
{
count = SafeNativeMethods.CollidePtr(ray, chr.collider, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(ray, chr.collider, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
if (count == 0)
return;
}
@@ -546,17 +529,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// Loop all contacts, build results.
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref Sharedcontact))
break;
lock (m_contactResults)
{
m_contactResults.Add(new ContactResult
{
ConsumerID = id,
Pos = new Vector3(Sharedcontact.pos.X, Sharedcontact.pos.Y, Sharedcontact.pos.Z),
Normal = new Vector3(Sharedcontact.normal.X, Sharedcontact.normal.Y, Sharedcontact.normal.Z),
Depth = Sharedcontact.depth
Pos = new Vector3(m_contacts[i].pos.X, m_contacts[i].pos.Y, m_contacts[i].pos.Z),
Normal = new Vector3(m_contacts[i].normal.X, m_contacts[i].normal.Y, m_contacts[i].normal.Z),
Depth = m_contacts[i].depth
});
if (m_contactResults.Count >= CurrentMaxCount)
return;
@@ -571,18 +551,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref Sharedcontact))
break;
if (Sharedcontact.depth < SharedCollisionResult.Depth)
if (m_contacts[i].depth < SharedCollisionResult.Depth)
{
SharedCollisionResult.Pos.X = Sharedcontact.pos.X;
SharedCollisionResult.Pos.Y = Sharedcontact.pos.Y;
SharedCollisionResult.Pos.Z = Sharedcontact.pos.Z;
SharedCollisionResult.Normal.X = Sharedcontact.normal.X;
SharedCollisionResult.Normal.Y = Sharedcontact.normal.Y;
SharedCollisionResult.Normal.Z = Sharedcontact.normal.Z;
SharedCollisionResult.Depth = Sharedcontact.depth;
SharedCollisionResult.Pos.X = m_contacts[i].pos.X;
SharedCollisionResult.Pos.Y = m_contacts[i].pos.Y;
SharedCollisionResult.Pos.Z = m_contacts[i].pos.Z;
SharedCollisionResult.Normal.X = m_contacts[i].normal.X;
SharedCollisionResult.Normal.Y = m_contacts[i].normal.Y;
SharedCollisionResult.Normal.Z = m_contacts[i].normal.Z;
SharedCollisionResult.Depth = m_contacts[i].depth;
}
}
@@ -603,7 +580,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int count = 0;
try
{
count = SafeNativeMethods.CollidePtr(ray, terrain, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(ray, terrain, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
if (count == 0)
return;
}
@@ -619,17 +596,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// Loop all contacts, build results.
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref Sharedcontact))
break;
lock (m_contactResults)
{
m_contactResults.Add(new ContactResult
{
ConsumerID = 0,
Pos = new Vector3(Sharedcontact.pos.X, Sharedcontact.pos.Y, Sharedcontact.pos.Z),
Normal = new Vector3(Sharedcontact.normal.X, Sharedcontact.normal.Y, Sharedcontact.normal.Z),
Depth = Sharedcontact.depth
Pos = new Vector3(m_contacts[i].pos.X, m_contacts[i].pos.Y, m_contacts[i].pos.Z),
Normal = new Vector3(m_contacts[i].normal.X, m_contacts[i].normal.Y, m_contacts[i].normal.Z),
Depth = m_contacts[i].depth
});
if (m_contactResults.Count >= CurrentMaxCount)
return;
@@ -644,18 +618,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref Sharedcontact))
break;
if (Sharedcontact.depth < SharedCollisionResult.Depth)
if (m_contacts[i].depth < SharedCollisionResult.Depth)
{
SharedCollisionResult.Pos.X = Sharedcontact.pos.X;
SharedCollisionResult.Pos.Y = Sharedcontact.pos.Y;
SharedCollisionResult.Pos.Z = Sharedcontact.pos.Z;
SharedCollisionResult.Normal.X = Sharedcontact.normal.X;
SharedCollisionResult.Normal.Y = Sharedcontact.normal.Y;
SharedCollisionResult.Normal.Z = Sharedcontact.normal.Z;
SharedCollisionResult.Depth = Sharedcontact.depth;
SharedCollisionResult.Pos.X = m_contacts[i].pos.X;
SharedCollisionResult.Pos.Y = m_contacts[i].pos.Y;
SharedCollisionResult.Pos.Z = m_contacts[i].pos.Z;
SharedCollisionResult.Normal.X = m_contacts[i].normal.X;
SharedCollisionResult.Normal.Y = m_contacts[i].normal.Y;
SharedCollisionResult.Normal.Z = m_contacts[i].normal.Z;
SharedCollisionResult.Depth = m_contacts[i].depth;
}
}

131
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
View File

@@ -244,7 +244,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private int contactsPerCollision = 80;
internal IntPtr ContactgeomsArray = IntPtr.Zero;
private IntPtr GlobalContactsArray = IntPtr.Zero;
internal SafeNativeMethods.ContactGeom[] m_contacts;
internal GCHandle m_contactsHandler;
private IntPtr GlobalContactsArray;
private SafeNativeMethods.Contact contactSharedForJoints = new SafeNativeMethods.Contact();
const int maxContactJoints = 6000;
@@ -343,8 +347,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_charactersList = new List<OdeCharacter>(m_frameWorkScene.RegionInfo.AgentCapacity);
m_rayCastManager = new ODERayCastRequestManager(this);
WorldExtents.X = m_frameWorkScene.RegionInfo.RegionSizeX;
m_regionWidth = (int)WorldExtents.X;
WorldExtents.Y = m_frameWorkScene.RegionInfo.RegionSizeY;
@@ -469,7 +471,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
HalfOdeStep = ODE_STEPSIZE * 0.5f;
odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f);
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
m_contacts = new SafeNativeMethods.ContactGeom[contactsPerCollision];
m_contactsHandler = GCHandle.Alloc(m_contacts, GCHandleType.Pinned);
ContactgeomsArray = m_contactsHandler.AddrOfPinnedObject();
GlobalContactsArray = Marshal.AllocHGlobal((maxContactJoints + 100) * SafeNativeMethods.Contact.unmanagedSizeOf);
contactSharedForJoints.geom.g1 = IntPtr.Zero;
@@ -515,6 +520,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_lastMeshExpire = m_lastframe;
step_time = -1;
m_rayCastManager = new ODERayCastRequestManager(this);
base.Initialise(m_frameWorkScene.PhysicsRequestAsset,
(m_frameWorkScene.Heightmap != null ? m_frameWorkScene.Heightmap.GetFloatsSerialised() : new float[m_frameWorkScene.RegionInfo.RegionSizeX * m_frameWorkScene.RegionInfo.RegionSizeY]),
@@ -530,10 +536,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
*/
#region Collision Detection
// sets a global contact for a joint for contactgeom , and base contact description)
[MethodImpl(MethodImplOptions.AggressiveInlining)]
private IntPtr CreateContacJoint(ref SafeNativeMethods.ContactGeomClass contactGeom, bool smooth)
private IntPtr CreateContacJoint(ref SafeNativeMethods.ContactGeom contactGeom, bool smooth)
{
if (ContactJointCount >= maxContactJoints)
return IntPtr.Zero;
@@ -548,19 +552,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return SafeNativeMethods.JointCreateContactPtr(world, JointContactGroup, contact);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
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.ContactGeomClass.unmanagedSizeOf));
Marshal.PtrToStructure(contactptr, newcontactgeom);
return true;
}
SafeNativeMethods.ContactGeomClass CurWorkContact = new SafeNativeMethods.ContactGeomClass();
SafeNativeMethods.ContactGeomClass altWorkContact = new SafeNativeMethods.ContactGeomClass();
SafeNativeMethods.ContactGeom altWorkContact = new SafeNativeMethods.ContactGeom();
/// <summary>
/// This is our near callback. A geometry is near a body
@@ -607,10 +599,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc)
{
int cflags = unchecked((int)(1 | SafeNativeMethods.CONTACTS_UNIMPORTANT));
count = SafeNativeMethods.CollidePtr(g1, g2, cflags, ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(g1, g2, cflags, ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
}
else
count = SafeNativeMethods.CollidePtr(g1, g2, contactsPerCollision, ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(g1, g2, contactsPerCollision, ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
}
catch (SEHException)
{
@@ -641,17 +633,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
}
// get first contact
if (!GetCurContactGeom(0, ref CurWorkContact))
return;
// do volume detection case
if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
{
ContactPoint volDepthContact = new ContactPoint(
new Vector3(CurWorkContact.pos.X, CurWorkContact.pos.Y, CurWorkContact.pos.Z),
new Vector3(CurWorkContact.normal.X, CurWorkContact.normal.Y, CurWorkContact.normal.Z),
CurWorkContact.depth, false
new Vector3(m_contacts[0].pos.X, m_contacts[0].pos.Y, m_contacts[0].pos.Z),
new Vector3(m_contacts[0].normal.X, m_contacts[0].normal.Y, m_contacts[0].normal.Z),
m_contacts[0].depth, false
);
collision_accounting_events(p1, p2, volDepthContact);
@@ -773,8 +761,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bool FeetCollision = false;
int ncontacts = 0;
int i = 0;
ContactPoint maxDepthContact = new ContactPoint();
float minDepth = float.MaxValue;
@@ -791,15 +777,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
IntPtr b1 = SafeNativeMethods.GeomGetBody(g1);
IntPtr b2 = SafeNativeMethods.GeomGetBody(g2);
while (true)
for (int i = 0; i < count; ++i)
{
noskip = true;
useAltcontact = false;
if (dop1ava)
{
if ((((OdeCharacter)p1).Collide(g1, g2, false, ref CurWorkContact, ref altWorkContact, ref useAltcontact, ref FeetCollision)))
if ((((OdeCharacter)p1).Collide(g1, g2, false, ref m_contacts[i], ref altWorkContact, ref useAltcontact, ref FeetCollision)))
{
if (p2.PhysicsActorType == (int)ActorTypes.Agent)
{
@@ -814,7 +800,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else if (dop2ava)
{
if ((((OdeCharacter)p2).Collide(g2, g1, true, ref CurWorkContact, ref altWorkContact, ref useAltcontact, ref FeetCollision)))
if ((((OdeCharacter)p2).Collide(g2, g1, true, ref m_contacts[i], ref altWorkContact, ref useAltcontact, ref FeetCollision)))
{
if (p1.PhysicsActorType == (int)ActorTypes.Agent)
{
@@ -832,7 +818,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Joint = useAltcontact ?
CreateContacJoint(ref altWorkContact, smoothMesh) :
CreateContacJoint(ref CurWorkContact, smoothMesh);
CreateContacJoint(ref m_contacts[i], smoothMesh);
if (Joint == IntPtr.Zero)
break;
@@ -840,30 +826,24 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ncontacts++;
if (CurWorkContact.depth > maxDepth)
if (m_contacts[i].depth > maxDepth)
{
maxDepth = CurWorkContact.depth;
maxDepth = m_contacts[i].depth;
maxDepthContact.PenetrationDepth = maxDepth;
maxDepthContact.Position.X = CurWorkContact.pos.X;
maxDepthContact.Position.Y = CurWorkContact.pos.Y;
maxDepthContact.Position.Z = CurWorkContact.pos.Z;
maxDepthContact.Position.X = m_contacts[i].pos.X;
maxDepthContact.Position.Y = m_contacts[i].pos.Y;
maxDepthContact.Position.Z = m_contacts[i].pos.Z;
maxDepthContact.CharacterFeet = FeetCollision;
}
if (CurWorkContact.depth < minDepth)
if (m_contacts[i].depth < minDepth)
{
minDepth = CurWorkContact.depth;
maxDepthContact.SurfaceNormal.X = CurWorkContact.normal.X;
maxDepthContact.SurfaceNormal.Y = CurWorkContact.normal.Y;
maxDepthContact.SurfaceNormal.Z = CurWorkContact.normal.Z;
minDepth = m_contacts[i].depth;
maxDepthContact.SurfaceNormal.X = m_contacts[i].normal.X;
maxDepthContact.SurfaceNormal.Y = m_contacts[i].normal.Y;
maxDepthContact.SurfaceNormal.Z = m_contacts[i].normal.Z;
}
}
if (++i >= count)
break;
if (!GetCurContactGeom(i, ref CurWorkContact))
break;
}
if (ncontacts > 0)
@@ -882,7 +862,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int count = 0;
try
{
count = SafeNativeMethods.CollidePtr(p1.collider, p2.collider, contactsPerCollision, ContactgeomsArray, SafeNativeMethods.ContactGeomClass.unmanagedSizeOf);
count = SafeNativeMethods.CollidePtr(p1.collider, p2.collider, contactsPerCollision, ContactgeomsArray, SafeNativeMethods.ContactGeom.unmanagedSizeOf);
}
catch (SEHException)
{
@@ -901,8 +881,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
// get first contact
if (!GetCurContactGeom(0, ref CurWorkContact))
return;
ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false);
@@ -911,8 +889,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bool FeetCollision = false;
int ncontacts = 0;
int i = 0;
ContactPoint maxDepthContact = new ContactPoint();
float minDepth = float.MaxValue;
@@ -923,11 +899,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bool useAltcontact;
while (true)
for (int i = 0; i < count; ++i)
{
useAltcontact = false;
if (p1.Collide(p1.collider, p2.collider, false, ref CurWorkContact, ref altWorkContact, ref useAltcontact, ref FeetCollision))
if (p1.Collide(p1.collider, p2.collider, false, ref m_contacts[i], ref altWorkContact, ref useAltcontact, ref FeetCollision))
{
p1.CollidingObj = true;
p1.CollidingObj = true;
@@ -935,7 +911,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (useAltcontact)
Joint = CreateContacJoint(ref altWorkContact, false);
else
Joint = CreateContacJoint(ref CurWorkContact, false);
Joint = CreateContacJoint(ref m_contacts[i], false);
if (Joint == IntPtr.Zero)
break;
@@ -943,30 +919,24 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ncontacts++;
if (CurWorkContact.depth > maxDepth)
if (m_contacts[i].depth > maxDepth)
{
maxDepth = CurWorkContact.depth;
maxDepth = m_contacts[i].depth;
maxDepthContact.PenetrationDepth = maxDepth;
maxDepthContact.Position.X = CurWorkContact.pos.X;
maxDepthContact.Position.Y = CurWorkContact.pos.Y;
maxDepthContact.Position.Z = CurWorkContact.pos.Z;
maxDepthContact.Position.X = m_contacts[i].pos.X;
maxDepthContact.Position.Y = m_contacts[i].pos.Y;
maxDepthContact.Position.Z = m_contacts[i].pos.Z;
maxDepthContact.CharacterFeet = FeetCollision;
}
if (CurWorkContact.depth < minDepth)
if (m_contacts[i].depth < minDepth)
{
minDepth = CurWorkContact.depth;
maxDepthContact.SurfaceNormal.X = CurWorkContact.normal.X;
maxDepthContact.SurfaceNormal.Y = CurWorkContact.normal.Y;
maxDepthContact.SurfaceNormal.Z = CurWorkContact.normal.Z;
minDepth = m_contacts[i].depth;
maxDepthContact.SurfaceNormal.X = m_contacts[i].normal.X;
maxDepthContact.SurfaceNormal.Y = m_contacts[i].normal.Y;
maxDepthContact.SurfaceNormal.Z = m_contacts[i].normal.Z;
}
}
if (++i >= count)
break;
if (!GetCurContactGeom(i, ref CurWorkContact))
break;
}
if (ncontacts > 0)
@@ -1522,12 +1492,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
/// Called to queue a change to a actor
/// to use in place of old taint mechanism so changes do have a time sequence
/// </summary>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void AddChange(PhysicsActor _actor, changes _what, Object _arg)
{
if (world == IntPtr.Zero)
return;
ODEchangeitem item = new ODEchangeitem
{
actor = _actor,
@@ -2240,14 +2209,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_terrainHeightsHandler.IsAllocated)
m_terrainHeightsHandler.Free();
m_terrainHeights = null;
if (ContactgeomsArray != IntPtr.Zero)
if (m_contactsHandler != null && m_contactsHandler.IsAllocated)
{
Marshal.FreeHGlobal(ContactgeomsArray);
m_contactsHandler.Free();
ContactgeomsArray = IntPtr.Zero;
}
if (GlobalContactsArray != IntPtr.Zero)
{
Marshal.FreeHGlobal(GlobalContactsArray);