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ode modules: rename native api classes

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This commit is contained in:
UbitUmarov
2022-11-08 18:18:07 +00:00
parent dc5a07fdb4
commit 4ec3fce8f1
15 changed files with 1016 additions and 1030 deletions
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128
OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
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@@ -68,7 +68,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private Vector3 _position;
private SafeNativeMethods.Vector3 _zeroPosition;
private OdeNative.Vector3 _zeroPosition;
private bool _zeroFlag = false;
private bool m_lastUpdateSent = false;
private Vector3 _velocity;
@@ -151,7 +151,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
internal IntPtr Shell { get; private set; }
private IntPtr Amotor = IntPtr.Zero;
private SafeNativeMethods.Mass ShellMass;
private OdeNative.Mass ShellMass;
private int m_eventsubscription = 0;
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
@@ -569,12 +569,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
//m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
}
/// <summary>
@@ -812,11 +812,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (m_pidControllerActive == false)
{
_zeroPosition = SafeNativeMethods.BodyGetPosition(Body);
_zeroPosition = OdeNative.BodyGetPosition(Body);
}
//PidStatus = true;
SafeNativeMethods.Vector3 localpos = SafeNativeMethods.BodyGetPosition(Body);
OdeNative.Vector3 localpos = OdeNative.BodyGetPosition(Body);
Vector3 localPos = new Vector3(localpos.X, localpos.Y, localpos.Z);
if (!localPos.IsFinite())
@@ -831,7 +831,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
Vector3 vec = Vector3.Zero;
SafeNativeMethods.Vector3 vel = SafeNativeMethods.BodyGetLinearVel(Body);
OdeNative.Vector3 vel = OdeNative.BodyGetLinearVel(Body);
// m_log.DebugFormat(
// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
@@ -855,7 +855,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = SafeNativeMethods.BodyGetPosition(Body);
_zeroPosition = OdeNative.BodyGetPosition(Body);
}
if (m_pidControllerActive)
@@ -865,7 +865,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// Avatar to Avatar collisions
// Prim to avatar collisions
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
OdeNative.Vector3 pos = OdeNative.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
vec.Y = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
if (flying)
@@ -913,7 +913,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running.
SafeNativeMethods.Vector3 pos = SafeNativeMethods.BodyGetPosition(Body);
OdeNative.Vector3 pos = OdeNative.BodyGetPosition(Body);
vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
@@ -947,7 +947,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (vec.IsFinite())
{
// Apply the total force acting on this avatar
SafeNativeMethods.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
OdeNative.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
if (!_zeroFlag)
AlignAvatarTiltWithCurrentDirectionOfMovement(vec);
@@ -963,7 +963,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
return;
}
SafeNativeMethods.Vector3 newVel = SafeNativeMethods.BodyGetLinearVel(Body);
OdeNative.Vector3 newVel = OdeNative.BodyGetLinearVel(Body);
if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
{
// m_log.DebugFormat(
@@ -979,7 +979,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
else
newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
SafeNativeMethods.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
OdeNative.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
}
}
@@ -992,16 +992,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
SafeNativeMethods.Vector3 newPos;
OdeNative.Vector3 newPos;
try
{
newPos = SafeNativeMethods.BodyGetPosition(Body);
newPos = OdeNative.BodyGetPosition(Body);
}
catch (NullReferenceException)
{
bad = true;
defects.Add(this);
newPos = new SafeNativeMethods.Vector3(_position.X, _position.Y, _position.Z);
newPos = new OdeNative.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
@@ -1038,11 +1038,11 @@ namespace OpenSim.Region.PhysicsModule.ODE
else
{
m_lastUpdateSent = false;
SafeNativeMethods.Vector3 newVelocity;
OdeNative.Vector3 newVelocity;
try
{
newVelocity = SafeNativeMethods.BodyGetLinearVel(Body);
newVelocity = OdeNative.BodyGetLinearVel(Body);
}
catch (NullReferenceException)
{
@@ -1109,14 +1109,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
// lock (OdeScene.UniversalColliderSyncObject)
Shell = SafeNativeMethods.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
Shell = OdeNative.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
SafeNativeMethods.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
OdeNative.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
OdeNative.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
SafeNativeMethods.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = SafeNativeMethods.BodyCreate(_parent_scene.world);
SafeNativeMethods.BodySetPosition(Body, npositionX, npositionY, npositionZ);
OdeNative.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = OdeNative.BodyCreate(_parent_scene.world);
OdeNative.BodySetPosition(Body, npositionX, npositionY, npositionZ);
_position.X = npositionX;
_position.Y = npositionY;
@@ -1124,45 +1124,45 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_taintPosition = _position;
SafeNativeMethods.BodySetMass(Body, ref ShellMass);
SafeNativeMethods.Matrix3 m_caprot;
OdeNative.BodySetMass(Body, ref ShellMass);
OdeNative.Matrix3 m_caprot;
// 90 Stand up on the cap of the capped cyllinder
if (_parent_scene.IsAvCapsuleTilted)
{
SafeNativeMethods.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
OdeNative.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
}
else
{
SafeNativeMethods.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
OdeNative.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
}
SafeNativeMethods.GeomSetRotation(Shell, ref m_caprot);
SafeNativeMethods.BodySetRotation(Body, ref m_caprot);
OdeNative.GeomSetRotation(Shell, ref m_caprot);
OdeNative.BodySetRotation(Body, ref m_caprot);
SafeNativeMethods.GeomSetBody(Shell, Body);
OdeNative.GeomSetBody(Shell, Body);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
Amotor = SafeNativeMethods.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
SafeNativeMethods.JointSetAMotorMode(Amotor, dAMotorEuler);
SafeNativeMethods.JointSetAMotorNumAxes(Amotor, 3);
SafeNativeMethods.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
SafeNativeMethods.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
SafeNativeMethods.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 1, 0);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 2, 0);
Amotor = OdeNative.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
OdeNative.JointAttach(Amotor, Body, IntPtr.Zero);
OdeNative.JointSetAMotorMode(Amotor, dAMotorEuler);
OdeNative.JointSetAMotorNumAxes(Amotor, 3);
OdeNative.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
OdeNative.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
OdeNative.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
OdeNative.JointSetAMotorAngle(Amotor, 0, 0);
OdeNative.JointSetAMotorAngle(Amotor, 1, 0);
OdeNative.JointSetAMotorAngle(Amotor, 2, 0);
// These lowstops and high stops are effectively (no wiggle room)
if (_parent_scene.IsAvCapsuleTilted)
{
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
}
else
{
@@ -1174,18 +1174,18 @@ namespace OpenSim.Region.PhysicsModule.ODE
// to be comprehended in their entirety.
#endregion
AlignAvatarTiltWithCurrentDirectionOfMovement(Vector3.Zero);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
}
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
// capped cyllinder will fall over
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
OdeNative.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//d.QfromR(
@@ -1224,7 +1224,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (Amotor != IntPtr.Zero)
{
// Kill the Amotor
SafeNativeMethods.JointDestroy(Amotor);
OdeNative.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
@@ -1234,14 +1234,14 @@ namespace OpenSim.Region.PhysicsModule.ODE
if (Body != IntPtr.Zero)
{
//kill the body
SafeNativeMethods.BodyDestroy(Body);
OdeNative.BodyDestroy(Body);
Body = IntPtr.Zero;
}
if (Shell != IntPtr.Zero)
{
// lock (OdeScene.UniversalColliderSyncObject)
SafeNativeMethods.GeomDestroy(Shell);
OdeNative.GeomDestroy(Shell);
_parent_scene.geom_name_map.Remove(Shell);
_parent_scene.actor_name_map.Remove(Shell);
@@ -1332,7 +1332,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
if (Body != IntPtr.Zero)
{
SafeNativeMethods.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
OdeNative.BodySetPosition(Body, m_taintPosition.X, m_taintPosition.Y, m_taintPosition.Z);
_position = m_taintPosition;
}
}
@@ -1344,7 +1344,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
// FIXME: This is not a good solution since it's subject to a race condition if a force is another
// thread sets a new force while we're in this loop (since it could be obliterated by
// m_taintForce = Vector3.Zero. Need to lock ProcessTaints() when we set a new tainted force.
SafeNativeMethods.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
OdeNative.BodyAddForce(Body, m_taintForce.X, m_taintForce.Y, m_taintForce.Z);
}
m_taintForce = Vector3.Zero;