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a few changtes to ubode

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UbitUmarov
2022-10-20 01:35:29 +01:00
parent cd037cd2ea
commit 47e485e19b
3 changed files with 72 additions and 117 deletions
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53
OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
View File

@@ -666,7 +666,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_ffactor = 1f;
}
public static Vector3 Xrot(Quaternion rot)
public static Vector3 Xrot(in Quaternion rot)
{
Vector3 vec;
rot.Normalize(); // just in case
@@ -676,7 +676,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return vec;
}
public static Vector3 Zrot(Quaternion rot)
public static Vector3 Zrot(in Quaternion rot)
{
Vector3 vec;
rot.Normalize(); // just in case
@@ -690,7 +690,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private const float pi = MathF.PI;
private const float halfpi = 0.5f * MathF.PI;
public static Vector3 ubRot2Euler(Quaternion rot)
public static Vector3 ubRot2Euler(in Quaternion rot)
{
// returns roll in X
// pitch in Y
@@ -732,7 +732,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return vec;
}
public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
public static void GetRollPitch(in Quaternion rot, out float roll, out float pitch)
{
// assuming rot is normalised
// rot.Normalize();
@@ -766,30 +766,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.BodyGetMass(Body, out SafeNativeMethods.Mass dmass);
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
Quaternion objrotq = new(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
Quaternion objrotq = SafeNativeMethods.BodyGetQuaternionOMV(Body);
Quaternion rotq = objrotq; // rotq = rotation of object
rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
Quaternion irotq = Quaternion.Inverse(rotq);
SafeNativeMethods.Vector3 dvtmp;
Vector3 tmpV;
Vector3 curVel; // velocity in world
Vector3 curAngVel; // angular velocity in world
Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
SafeNativeMethods.Vector3 dtorque = new();
dvtmp = SafeNativeMethods.BodyGetLinearVel(Body);
curVel.X = dvtmp.X;
curVel.Y = dvtmp.Y;
curVel.Z = dvtmp.Z;
Vector3 curVel = SafeNativeMethods.BodyGetLinearVelOMV(Body); // velocity in world
Vector3 curLocalVel = curVel * irotq; // current velocity in local
dvtmp = SafeNativeMethods.BodyGetAngularVel(Body);
curAngVel.X = dvtmp.X;
curAngVel.Y = dvtmp.Y;
curAngVel.Z = dvtmp.Z;
Vector3 curAngVel = SafeNativeMethods.BodyGetAngularVelOMV(Body); // angular velocity in world
Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
float ldampZ = 0;
@@ -852,7 +842,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// hover
if (m_VhoverTimescale < 300 && rootPrim.m_prim_geom != IntPtr.Zero)
{
// d.Vector3 pos = d.BodyGetPosition(Body);
SafeNativeMethods.Vector3 pos = SafeNativeMethods.GeomGetPosition(rootPrim.m_prim_geom);
pos.Z -= 0.21f; // minor offset that seems to be always there in sl
@@ -908,7 +897,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_linearDeflectionEfficiency > 0)
{
float len = curVel.Length();
if (len > 0.01) // if moving
if (len > 0.01f) // if moving
{
Vector3 atAxis;
atAxis = Xrot(rotq); // where are we pointing to
@@ -921,7 +910,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
tmpV -= curVel; // error to oposite
float lens = tmpV.LengthSquared();
if (len > 0.01 || lens > 0.01) // do nothing if close enougth
if (len > 0.01f || lens > 0.01f) // do nothing if close enougth
{
if (len < lens)
tmpV = atAxis;
@@ -1001,9 +990,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (vfact > 1.0f) vfact = 1.0f;
if (curLocalVel.X >= 0)
broll *= (1 + (vfact - 1) * m_bankingMix);
broll *= (1f + (vfact - 1f) * m_bankingMix);
else
broll *= -(1 + (vfact - 1) * m_bankingMix);
broll *= -(1f + (vfact - 1f) * m_bankingMix);
}
// make z rot be in world Z not local as seems to be in sl
@@ -1023,16 +1012,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
m_amdampZ = 1f / m_angularFrictionTimescale.Z;
m_amdampY = m_amdampX;
}
}
else
{
m_ampwr = 1.0f;
m_amdampX = 1 / m_angularFrictionTimescale.X;
m_amdampY = 1 / m_angularFrictionTimescale.Y;
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
m_amdampX = 1f / m_angularFrictionTimescale.X;
m_amdampY = 1f / m_angularFrictionTimescale.Y;
m_amdampZ = 1f / m_angularFrictionTimescale.Z;
}
if(mousemode)
@@ -1107,7 +1096,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
else
{
// angular motor
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000f)
{
tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
@@ -1165,26 +1154,26 @@ namespace OpenSim.Region.PhysicsModule.ubOde
force += rootPrim.m_forceacc;
rootPrim.m_forceacc = Vector3.Zero;
if (force.X != 0 || force.Y != 0 || force.Z != 0)
if (force.X != 0f || force.Y != 0f || force.Z != 0f)
{
SafeNativeMethods.BodyAddForce(Body, force.X, force.Y, force.Z);
}
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
if (torque.X != 0f || torque.Y != 0f || torque.Z != 0f)
{
torque *= m_referenceFrame; // to object frame
dtorque.X = torque.X ;
dtorque.X = torque.X;
dtorque.Y = torque.Y;
dtorque.Z = torque.Z;
SafeNativeMethods.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
SafeNativeMethods.MultiplyM3V3(out SafeNativeMethods.Vector3 dvtmp, ref dmass.I, ref dtorque);
SafeNativeMethods.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
}
torque = rootPrim.m_torque;
torque += rootPrim.m_angularForceacc;
rootPrim.m_angularForceacc = Vector3.Zero;
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
if (torque.X != 0f || torque.Y != 0f || torque.Z != 0f)
SafeNativeMethods.BodyAddTorque(Body,torque.X, torque.Y, torque.Z);
}
}

125
OpenSim/Region/PhysicsModules/ubOde/ODEMeshWorker.cs
View File

@@ -3,7 +3,6 @@
*/
using System;
using System.Collections.Concurrent;
using OpenSim.Framework;
using OpenSim.Region.PhysicsModules.SharedBase;
using log4net;
@@ -77,7 +76,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private ObjectJobEngine workQueue;
private bool m_running;
private readonly object m_threadLock = new object();
private readonly object m_threadLock = new();
public ODEMeshWorker(ODEScene pScene, ILog pLog, IMesher pMesher, IConfig pConfig)
{
@@ -85,7 +84,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_log = pLog;
m_mesher = pMesher;
if (pConfig != null)
if (pConfig is not null)
{
meshSculptedPrim = pConfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
meshSculptLOD = pConfig.GetFloat("mesh_lod", meshSculptLOD);
@@ -96,8 +95,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Util.FireAndForget(DoCacheExpire, null, "OdeCacheExpire", false);
lock(m_threadLock)
{
if(workQueue == null)
workQueue = new ObjectJobEngine(DoWork, "OdeMeshWorker");
workQueue ??= new ObjectJobEngine(DoWork, "OdeMeshWorker");
}
}
@@ -113,8 +111,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void DoWork(object rep)
{
ODEPhysRepData nextRep = rep as ODEPhysRepData;
if (m_running && nextRep != null && m_scene.haveActor(nextRep.actor))
if (m_running && rep is ODEPhysRepData nextRep && m_scene.haveActor(nextRep.actor))
{
switch (nextRep.comand)
{
@@ -148,11 +145,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public void ChangeActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs,
Vector3 size, byte shapetype)
{
ODEPhysRepData repData = new ODEPhysRepData();
repData.actor = actor;
repData.pbs = pbs;
repData.size = size;
repData.shapetype = shapetype;
ODEPhysRepData repData = new()
{
actor = actor,
pbs = pbs,
size = size,
shapetype = shapetype
};
CheckMesh(repData);
CalcVolumeData(repData);
@@ -163,11 +162,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public ODEPhysRepData NewActorPhysRep(PhysicsActor actor, PrimitiveBaseShape pbs,
Vector3 size, byte shapetype)
{
ODEPhysRepData repData = new ODEPhysRepData();
repData.actor = actor;
repData.pbs = pbs;
repData.size = size;
repData.shapetype = shapetype;
ODEPhysRepData repData = new()
{
actor = actor,
pbs = pbs,
size = size,
shapetype = shapetype
};
CheckMesh(repData);
CalcVolumeData(repData);
@@ -204,14 +205,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
IMesh mesh = repData.mesh;
if (mesh != null)
if (mesh is not null)
{
IntPtr vertices, indices;
int vertexCount, indexCount;
int vertexStride, triStride;
mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount);
mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount);
mesh.getVertexListAsPtrToFloatArray(out _, out _, out int vertexCount);
mesh.getIndexListAsPtrToIntArray(out _, out _, out int indexCount);
if (vertexCount == 0 || indexCount == 0)
{
@@ -245,7 +242,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
else
repData.pbs.SculptData = Utils.EmptyBytes;
repData.pbs.SculptData = Array.Empty<byte>();
}
public void DoRepDataGetMesh(ODEPhysRepData repData)
@@ -256,7 +253,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (repData.meshState != MeshState.loadingAsset)
return;
if (repData.assetID == null || repData.assetID.Value.IsZero())
if (repData.assetID is null || repData.assetID.Value.IsZero())
return;
if (repData.assetID != repData.pbs.SculptTexture)
@@ -272,9 +269,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
RequestAssetDelegate assetProvider = m_scene.RequestAssetMethod;
if (assetProvider == null)
if (assetProvider is null)
return;
ODEAssetRequest asr = new ODEAssetRequest(this, assetProvider, repData, m_log);
ODEAssetRequest asr = new(this, assetProvider, repData, m_log);
}
@@ -426,17 +423,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
}
IMesh mesh = null;
Vector3 size = repData.size;
int clod = (int)LevelOfDetail.High;
byte shapetype = repData.shapetype;
bool convex = shapetype == 2;
mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex);
IMesh mesh = m_mesher.GetMesh(actor.Name, pbs, size, clod, true, convex);
if (mesh == null)
if (mesh is null)
{
if (pbs.SculptEntry)
{
@@ -454,7 +448,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
repData.meshState = MeshState.needMesh;
mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
if (mesh == null)
if (mesh is null)
{
repData.meshState = MeshState.MeshFailed;
return;
@@ -473,7 +467,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
repData.assetID = pbs.SculptTexture;
}
pbs.SculptData = Utils.EmptyBytes;
pbs.SculptData = Array.Empty<byte>();
return ;
}
@@ -506,7 +500,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
repData.meshState = MeshState.noNeed;
IMesh mesh = null;
Vector3 size = repData.size;
byte shapetype = repData.shapetype;
@@ -521,9 +514,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
clod = (int)LevelOfDetail.Low;
}
mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
IMesh mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
if (mesh == null)
if (mesh is null)
{
if (pbs.SculptEntry)
{
@@ -532,7 +525,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
repData.assetID = pbs.SculptTexture;
if (pbs.SculptData == null || pbs.SculptData.Length == 0)
if (pbs.SculptData is null || pbs.SculptData.Length == 0)
{
repData.meshState = MeshState.needAsset;
return;
@@ -543,7 +536,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
repData.mesh = mesh;
repData.pbs.SculptData = Utils.EmptyBytes;
if (mesh == null)
if (mesh is null)
{
if (pbs.SculptEntry)
repData.meshState = MeshState.AssetFailed;
@@ -558,7 +551,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return;
}
private void CalculateBasicPrimVolume(ODEPhysRepData repData)
private static void CalculateBasicPrimVolume(ODEPhysRepData repData)
{
Vector3 _size = repData.size;
@@ -572,7 +565,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
PrimitiveBaseShape _pbs = repData.pbs;
float tmp;
float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
float hollowAmount = ((float)_pbs.ProfileHollow) * 2.0e-5f;
float hollowVolume = hollowAmount * hollowAmount;
switch (_pbs.ProfileShape)
@@ -728,9 +721,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
hollowVolume *= 0.909f;
break;
// case HollowShape.Triangle:
// hollowVolume *= .827f;
// break;
//case HollowShape.Triangle:
// hollowVolume *= .827f;
// break;
default:
hollowVolume = 0;
break;
@@ -865,20 +858,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
repData.volume = volume;
}
private void CalcVolumeData(ODEPhysRepData repData)
private static void CalcVolumeData(ODEPhysRepData repData)
{
if (repData.hasOBB)
if (!repData.hasOBB)
{
Vector3 OBB = repData.OBB;
}
else
{
Vector3 OBB = repData.size;
OBB.X *= 0.5f;
OBB.Y *= 0.5f;
OBB.Z *= 0.5f;
repData.OBB = OBB;
repData.OBB = repData.size * 0.5f;
repData.OBBOffset = Vector3.Zero;
}
@@ -888,9 +872,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public class ODEAssetRequest
{
ODEMeshWorker m_worker;
private ILog m_log;
ODEPhysRepData repData;
private readonly ODEMeshWorker m_worker;
private readonly ILog m_log;
private readonly ODEPhysRepData repData;
public ODEAssetRequest(ODEMeshWorker pWorker, RequestAssetDelegate provider,
ODEPhysRepData pRepData, ILog plog)
@@ -899,27 +883,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_log = plog;
repData = pRepData;
repData.meshState = MeshState.AssetFailed;
if (provider == null)
return;
if (repData.assetID == null)
return;
UUID assetID = (UUID) repData.assetID;
if (assetID.IsZero())
return;
repData.meshState = MeshState.loadingAsset;
provider(assetID, ODEassetReceived);
provider((UUID)repData.assetID, ODEassetReceived);
}
void ODEassetReceived(AssetBase asset)
{
repData.meshState = MeshState.AssetFailed;
if (asset != null)
if (asset is not null)
{
if (asset.Data != null && asset.Data.Length > 0)
if (asset.Data is not null && asset.Data.Length > 0)
{
repData.meshState = MeshState.noNeed;
@@ -928,8 +901,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (repData.pbs.SculptTexture != repData.assetID)
return;
// repData.pbs.SculptData = new byte[asset.Data.Length];
// asset.Data.CopyTo(repData.pbs.SculptData,0);
//repData.pbs.SculptData = new byte[asset.Data.Length];
//asset.Data.CopyTo(repData.pbs.SculptData,0);
repData.pbs.SculptData = asset.Data;
repData.meshState = MeshState.AssetOK;
m_worker.AssetLoaded(repData);

11
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@@ -1037,15 +1037,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.AllocateODEDataForThread(0);
if(Body != IntPtr.Zero)
{
SafeNativeMethods.Vector3 dtmp = SafeNativeMethods.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
dtmp = SafeNativeMethods.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
m_rotationalVelocity = SafeNativeMethods.BodyGetAngularVelOMV(Body);
_velocity = SafeNativeMethods.BodyGetLinearVelOMV(Body);
SafeNativeMethods.BodySetLinearVel(Body, 0, 0, 0); // stop it
SafeNativeMethods.BodySetAngularVel(Body, 0, 0, 0);