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c# things on physics; remove unused file (runprebuild)

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This commit is contained in:
UbitUmarov
2022-10-16 22:36:09 +01:00
parent bce31bda7d
commit 65925027f1
9 changed files with 283 additions and 489 deletions
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2
OpenSim/Framework/ClientManager.cs
View File

@@ -191,7 +191,7 @@ namespace OpenSim.Framework
IClientAPI[] localArray;
lock (m_syncRoot)
{
if (m_array == null)
if (m_array is null)
{
if (m_dictbyUUID.Count == 0)
return;

19
OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
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@@ -137,23 +137,22 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
public void AddCollider(uint localID, ContactPoint contact)
{
if (m_objCollisionList.TryGetValue(localID, out ContactPoint oldcp))
ref ContactPoint curcp = ref CollectionsMarshal.GetValueRefOrAddDefault(m_objCollisionList, localID, out bool ex);
if (ex)
{
float lastVel = oldcp.RelativeSpeed;
if (oldcp.PenetrationDepth < contact.PenetrationDepth)
if (curcp.PenetrationDepth < contact.PenetrationDepth)
{
if (Math.Abs(lastVel) > Math.Abs(contact.RelativeSpeed))
contact.RelativeSpeed = lastVel;
m_objCollisionList[localID] = contact;
if (Math.Abs(curcp.PenetrationDepth) > Math.Abs(contact.RelativeSpeed))
contact.RelativeSpeed = curcp.PenetrationDepth;
curcp = contact;
}
else if (Math.Abs(lastVel) < Math.Abs(contact.RelativeSpeed))
else if (MathF.Abs(curcp.RelativeSpeed) < MathF.Abs(contact.RelativeSpeed))
{
oldcp.RelativeSpeed = contact.RelativeSpeed;
m_objCollisionList[localID] = oldcp;
curcp.RelativeSpeed = contact.RelativeSpeed;
}
}
else
m_objCollisionList.Add(localID, contact);
curcp = contact;
}
/// <summary>

2
OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
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@@ -161,7 +161,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
{
PhysicsActor ret = AddAvatar(avName, position, velocity, size, isFlying);
if (ret != null)
if (ret is not null)
ret.LocalID = localID;
return ret;

186
OpenSim/Region/PhysicsModules/SharedBase/PhysicsVector.cs
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@@ -1,186 +0,0 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
namespace OpenSim.Region.PhysicsModules.SharedBase
{
/*public class PhysicsVector
{
public float X;
public float Y;
public float Z;
public Vector3()
{
}
public Vector3(float x, float y, float z)
{
X = x;
Y = y;
Z = z;
}
public Vector3(Vector3 pv) : this(pv.X, pv.Y, pv.Z)
{
}
public void setValues(float x, float y, float z)
{
X = x;
Y = y;
Z = z;
}
public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f);
public override string ToString()
{
return "<" + X + "," + Y + "," + Z + ">";
}
/// <summary>
/// These routines are the easiest way to store XYZ values in an Vector3 without requiring 3 calls.
/// </summary>
/// <returns></returns>
public byte[] GetBytes()
{
byte[] byteArray = new byte[12];
Buffer.BlockCopy(BitConverter.GetBytes(X), 0, byteArray, 0, 4);
Buffer.BlockCopy(BitConverter.GetBytes(Y), 0, byteArray, 4, 4);
Buffer.BlockCopy(BitConverter.GetBytes(Z), 0, byteArray, 8, 4);
if (!BitConverter.IsLittleEndian)
{
Array.Reverse(byteArray, 0, 4);
Array.Reverse(byteArray, 4, 4);
Array.Reverse(byteArray, 8, 4);
}
return byteArray;
}
public void FromBytes(byte[] byteArray, int pos)
{
byte[] conversionBuffer = null;
if (!BitConverter.IsLittleEndian)
{
// Big endian architecture
if (conversionBuffer == null)
conversionBuffer = new byte[12];
Buffer.BlockCopy(byteArray, pos, conversionBuffer, 0, 12);
Array.Reverse(conversionBuffer, 0, 4);
Array.Reverse(conversionBuffer, 4, 4);
Array.Reverse(conversionBuffer, 8, 4);
X = BitConverter.ToSingle(conversionBuffer, 0);
Y = BitConverter.ToSingle(conversionBuffer, 4);
Z = BitConverter.ToSingle(conversionBuffer, 8);
}
else
{
// Little endian architecture
X = BitConverter.ToSingle(byteArray, pos);
Y = BitConverter.ToSingle(byteArray, pos + 4);
Z = BitConverter.ToSingle(byteArray, pos + 8);
}
}
// Operations
public static PhysicsVector operator +(Vector3 a, Vector3 b)
{
return new PhysicsVector(a.X + b.X, a.Y + b.Y, a.Z + b.Z);
}
public static PhysicsVector operator -(Vector3 a, Vector3 b)
{
return new PhysicsVector(a.X - b.X, a.Y - b.Y, a.Z - b.Z);
}
public static PhysicsVector cross(Vector3 a, Vector3 b)
{
return new PhysicsVector(a.Y*b.Z - a.Z*b.Y, a.Z*b.X - a.X*b.Z, a.X*b.Y - a.Y*b.X);
}
public float length()
{
return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
}
public static float GetDistanceTo(Vector3 a, Vector3 b)
{
float dx = a.X - b.X;
float dy = a.Y - b.Y;
float dz = a.Z - b.Z;
return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
public static PhysicsVector operator /(Vector3 v, float f)
{
return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
}
public static PhysicsVector operator *(Vector3 v, float f)
{
return new PhysicsVector(v.X*f, v.Y*f, v.Z*f);
}
public static PhysicsVector operator *(float f, Vector3 v)
{
return v*f;
}
public static bool isFinite(Vector3 v)
{
if (v == null)
return false;
if (Single.IsInfinity(v.X) || Single.IsNaN(v.X))
return false;
if (Single.IsInfinity(v.Y) || Single.IsNaN(v.Y))
return false;
if (Single.IsInfinity(v.Z) || Single.IsNaN(v.Z))
return false;
return true;
}
public virtual bool IsIdentical(Vector3 v, float tolerance)
{
PhysicsVector diff = this - v;
float d = diff.length();
if (d <= tolerance)
return true;
return false;
}
}*/
}

78
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
View File

@@ -155,7 +155,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public int m_eventsubscription = 0;
private int m_cureventsubscription = 0;
private readonly CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
private readonly CollisionEventUpdate CollisionEventsThisFrame = new();
private bool SentEmptyCollisionsEvent;
public bool bad = false;
@@ -602,9 +602,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (size.Z < 0.01f)
size.Z = 0.01f;
strAvatarSize st = new strAvatarSize();
st.size = size;
st.offset = feetOffset;
strAvatarSize st = new()
{
size = size,
offset = feetOffset
};
AddChange(changes.AvatarSize, st);
}
else
@@ -1085,7 +1087,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (r > 1.0f)
return false;
float dp = 1.0f - (float)Math.Sqrt(r);
float dp = 1.0f - MathF.Sqrt(r);
if (dp > 0.05f)
dp = 0.05f;
@@ -1147,7 +1149,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float tdp = contact.depth;
float t = offset.X;
t = Math.Abs(t);
t = MathF.Abs(t);
if (t > 1e-6)
{
tdp /= t;
@@ -1298,8 +1300,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float terrainheight = m_parent_scene.GetTerrainHeightAtXY(tmpX, tmpY);
if (aabbminz < terrainheight)
{
if (ctz.Z < 0)
ctz.Z = 0;
if (ctz.Z < 0f)
ctz.Z = 0f;
if (!m_haveLastFallVel)
{
@@ -1317,9 +1319,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
vec.Z += -vel.Z * PID_D;
if (n.Z < 0.4f)
{
vec.X = depth * PID_P * 50 - vel.X * PID_D;
vec.X = depth * PID_P * 50f - vel.X * PID_D;
vec.X *= n.X;
vec.Y = depth * PID_P * 50 - vel.Y * PID_D;
vec.Y = depth * PID_P * 50f - vel.Y * PID_D;
vec.Y *= n.Y;
vec.Z *= n.Z;
if (n.Z < 0.1f)
@@ -1350,14 +1352,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_iscollidingGround = true;
ContactPoint contact = new ContactPoint();
contact.PenetrationDepth = depth;
contact.Position.X = _position.X;
contact.Position.Y = _position.Y;
contact.Position.Z = terrainheight;
contact.SurfaceNormal = -n;
contact.RelativeSpeed = Vector3.Dot(m_lastFallVel,n);
contact.CharacterFeet = true;
ContactPoint contact = new()
{
PenetrationDepth = depth,
Position = new( _position.X, _position.Y, terrainheight),
SurfaceNormal = -n,
RelativeSpeed = Vector3.Dot(m_lastFallVel, n),
CharacterFeet = true
};
AddCollisionEvent(0,contact);
m_lastFallVel = vel;
@@ -1412,7 +1414,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float fz = (m_targetHoverHeight - _position.Z);
// if error is zero, use position control; otherwise, velocity control
if (Math.Abs(fz) < 0.01f)
if (MathF.Abs(fz) < 0.01f)
{
ctz.Z = 0;
}
@@ -1421,11 +1423,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_zeroFlag = false;
fz /= m_PIDHoverTau;
float tmp = Math.Abs(fz);
if (tmp > 50)
fz = 50 * Math.Sign(fz);
else if (tmp < 0.1)
fz = 0.1f * Math.Sign(fz);
float tmp = MathF.Abs(fz);
if (tmp > 50f)
fz = 50f * MathF.Sign(fz);
else if (tmp < 0.1f)
fz = 0.1f * MathF.Sign(fz);
ctz.Z = fz;
}
@@ -1444,14 +1446,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// movement relative to surface if moving on it
// dont disturbe vertical movement, ie jumps
if (m_iscolliding && !m_flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
if (m_iscolliding && !m_flying && ctz.Z == 0f && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
{
float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y;
ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
ctz.Y *= (float)Math.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y);
ctz.X *= MathF.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
ctz.Y *= MathF.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y);
ctz.Z -= p;
if (ctz.Z < 0)
ctz.Z *= 2;
if (ctz.Z < 0f)
ctz.Z *= 2f;
}
}
@@ -1535,9 +1537,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
}
if (Math.Abs(ctz.X) > Math.Abs(vel.X))
if (MathF.Abs(ctz.X) > MathF.Abs(vel.X))
vec.X += (ctz.X - vel.X) * PID_D;
if (Math.Abs(ctz.Y) > Math.Abs(vel.Y))
if (MathF.Abs(ctz.Y) > MathF.Abs(vel.Y))
vec.Y += (ctz.Y - vel.Y) * PID_D;
}
}
@@ -1642,22 +1644,22 @@ namespace OpenSim.Region.PhysicsModule.ubOde
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void round(ref Vector3 v, int digits)
{
v.X = (float)Math.Round(v.X, digits);
v.Y = (float)Math.Round(v.Y, digits);
v.Z = (float)Math.Round(v.Z, digits);
v.X = MathF.Round(v.X, digits);
v.Y = MathF.Round(v.Y, digits);
v.Z = MathF.Round(v.Z, digits);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void SetSmooth(ref Vector3 dst, ref Vector3 value, int rounddigits)
{
dst.X = 0.4f * dst.X + 0.6f * value.X;
dst.X = (float)Math.Round(dst.X, rounddigits);
dst.X = MathF.Round(dst.X, rounddigits);
dst.Y = 0.4f * dst.Y + 0.6f * value.Y;
dst.Y = (float)Math.Round(dst.Y, rounddigits);
dst.Y = MathF.Round(dst.Y, rounddigits);
dst.Z = 0.4f * dst.Z + 0.6f * value.Z;
dst.Z = (float)Math.Round(dst.Z, rounddigits);
dst.Z = MathF.Round(dst.Z, rounddigits);
}
/// <summary>
@@ -1998,7 +2000,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z;
if (t > 0)
{
t = 1.0f / (float)Math.Sqrt(t);
t = 1.0f / MathF.Sqrt(t);
m_orientation2D.W *= t;
m_orientation2D.Z *= t;
}

101
OpenSim/Region/PhysicsModules/ubOde/ODEDynamics.cs
View File

@@ -53,8 +53,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
get { return m_type; }
}
private OdePrim rootPrim;
private ODEScene _pParentScene;
private readonly OdePrim rootPrim;
private readonly ODEScene _pParentScene;
// Vehicle properties
// WARNING this are working copies for internel use
@@ -77,27 +77,27 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
private float m_linearMotorDecayTimescale = 120;
private float m_linearMotorTimescale = 1000;
private Vector3 m_linearFrictionTimescale = new(1000f, 1000f, 1000f);
private float m_linearMotorDecayTimescale = 120f;
private float m_linearMotorTimescale = 1000f;
private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
private float m_angularMotorTimescale = 1000f; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 120f; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = new(1000f, 1000f, 1000f); // body angular velocity decay rate
//Deflection properties
private float m_angularDeflectionEfficiency = 0;
private float m_angularDeflectionTimescale = 1000;
private float m_linearDeflectionEfficiency = 0;
private float m_linearDeflectionTimescale = 1000;
private float m_angularDeflectionEfficiency = 0f;
private float m_angularDeflectionTimescale = 1000f;
private float m_linearDeflectionEfficiency = 0f;
private float m_linearDeflectionTimescale = 1000f;
//Banking properties
private float m_bankingEfficiency = 0;
private float m_bankingMix = 0;
private float m_bankingTimescale = 1000;
private float m_bankingEfficiency = 0f;
private float m_bankingMix = 0f;
private float m_bankingTimescale = 1000f;
//Hover and Buoyancy properties
private float m_VhoverHeight = 0f;
@@ -122,8 +122,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float m_ffactor = 1.0f;
private float m_timestep = 0.02f;
private float m_invtimestep = 50;
private readonly float m_timestep = 0.02f;
private readonly float m_invtimestep = 50;
float m_ampwr;
@@ -687,10 +687,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return vec;
}
private const float pi = (float)Math.PI;
private const float halfpi = 0.5f * (float)Math.PI;
private const float twopi = 2.0f * pi;
private const float pi = MathF.PI;
private const float halfpi = 0.5f * MathF.PI;
public static Vector3 ubRot2Euler(Quaternion rot)
{
// returns roll in X
@@ -707,28 +706,28 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
vec.X = 0;
vec.Y = -halfpi;
vec.Z = (float)(-2d * Math.Atan(rot.X / rot.W));
vec.Z = -2f * MathF.Atan(rot.X / rot.W);
}
else if (zX > 0.49999f)
{
vec.X = 0;
vec.Y = halfpi;
vec.Z = (float)(2d * Math.Atan(rot.X / rot.W));
vec.Z = 2f * MathF.Atan(rot.X / rot.W);
}
else
{
vec.Y = (float)Math.Asin(2 * zX);
vec.Y = MathF.Asin(2 * zX);
float sqw = rot.W * rot.W;
float minuszY = rot.X * rot.W - rot.Y * rot.Z;
float zZ = rot.Z * rot.Z + sqw - 0.5f;
vec.X = (float)Math.Atan2(minuszY, zZ);
vec.X = MathF.Atan2(minuszY, zZ);
float yX = rot.Z * rot.W - rot.X * rot.Y; //( have negative ?)
float yY = rot.X * rot.X + sqw - 0.5f;
vec.Z = (float)Math.Atan2(yX, yY);
vec.Z = MathF.Atan2(yX, yY);
}
return vec;
}
@@ -752,25 +751,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
pitch = (float)Math.Asin(2 * zX);
pitch = MathF.Asin(2 * zX);
float minuszY = rot.X * rot.W - rot.Y * rot.Z;
float zZ = rot.Z * rot.Z + rot.W * rot.W - 0.5f;
roll = (float)Math.Atan2(minuszY, zZ);
roll = MathF.Atan2(minuszY, zZ);
}
return ;
}
internal void Step()
{
IntPtr Body = rootPrim.Body;
SafeNativeMethods.Mass dmass;
SafeNativeMethods.BodyGetMass(Body, out dmass);
SafeNativeMethods.BodyGetMass(Body, out SafeNativeMethods.Mass dmass);
SafeNativeMethods.Quaternion rot = SafeNativeMethods.BodyGetQuaternion(Body);
Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
Quaternion objrotq = new(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
Quaternion rotq = objrotq; // rotq = rotation of object
rotq *= m_referenceFrame; // rotq is now rotation in vehicle reference frame
Quaternion irotq = Quaternion.Inverse(rotq);
@@ -781,7 +778,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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 SafeNativeMethods.Vector3();
SafeNativeMethods.Vector3 dtorque = new();
dvtmp = SafeNativeMethods.BodyGetLinearVel(Body);
curVel.X = dvtmp.X;
@@ -946,7 +943,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
tmpV *= rotq; // to world
if(ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z))
if(ldampZ != 0 && MathF.Abs(ldampZ) > MathF.Abs(tmpV.Z))
tmpV.Z = ldampZ;
force.X += tmpV.X;
force.Y += tmpV.Y;
@@ -956,18 +953,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// vertical atractor
if (verticalAttractionTimescale < 300)
{
float roll;
float pitch;
float ftmp = m_invtimestep / verticalAttractionTimescale / verticalAttractionTimescale;
float ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
float ftmp2;
ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
m_amdampX = ftmp2;
m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency;
GetRollPitch(irotq, out roll, out pitch);
GetRollPitch(irotq, out float roll, out float pitch);
if (roll > halfpi)
roll = pi - roll;
@@ -991,7 +984,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
torque.Y += effpitch * ftmp;
}
if (bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
if (bankingEfficiency != 0 && MathF.Abs(effroll) > 0.01f)
{
float broll = effroll;
@@ -1004,7 +997,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
broll *= m_bankingEfficiency;
if (m_bankingMix != 0)
{
float vfact = Math.Abs(curLocalVel.X) / 10.0f;
float vfact = MathF.Abs(curLocalVel.X) / 10.0f;
if (vfact > 1.0f) vfact = 1.0f;
if (curLocalVel.X >= 0)
@@ -1014,7 +1007,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
// make z rot be in world Z not local as seems to be in sl
broll = broll / m_bankingTimescale;
broll /= m_bankingTimescale;
tmpV = Zrot(irotq);
@@ -1024,7 +1017,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
torque.Y += tmpV.Y;
torque.Z += tmpV.Z;
m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
m_amdampZ = MathF.Abs(m_bankingEfficiency) / m_bankingTimescale;
m_amdampY = m_amdampZ;
}
@@ -1053,12 +1046,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float tmp;
// get out of x == 0 plane
if(Math.Abs(dirv.X) < 0.001f)
if(MathF.Abs(dirv.X) < 0.001f)
dirv.X = 0.001f;
if (Math.Abs(dirv.Z) > 0.01)
if (MathF.Abs(dirv.Z) > 0.01f)
{
tmp = -(float)Math.Atan2(dirv.Z, dirv.X) * m_angularMotorDirection.Y;
tmp = -MathF.Atan2(dirv.Z, dirv.X) * m_angularMotorDirection.Y;
if(tmp < -4f)
tmp = -4f;
else if(tmp > 4f)
@@ -1069,11 +1062,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
else
torque.Y -= curLocalAngVel.Y * m_invtimestep;
if (Math.Abs(dirv.Y) > 0.01)
if (MathF.Abs(dirv.Y) > 0.01f)
{
if(mousemodebank)
{
tmp = -(float)Math.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.X;
tmp = -MathF.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.X;
if(tmp < -4f)
tmp = -4f;
else if(tmp > 4f)
@@ -1082,7 +1075,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
tmp = (float)Math.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.Z;
tmp = MathF.Atan2(dirv.Y, dirv.X) * m_angularMotorDirection.Z;
tmp *= invamts;
if(tmp < -4f)
tmp = -4f;
@@ -1147,14 +1140,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float ftmp = m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
if (Math.Abs(dirv.Z) > 0.01)
if (MathF.Abs(dirv.Z) > 0.01f)
{
torque.Y += - (float)Math.Atan2(dirv.Z, dirv.X) * ftmp;
torque.Y -= MathF.Atan2(dirv.Z, dirv.X) * ftmp;
}
if (Math.Abs(dirv.Y) > 0.01)
if (MathF.Abs(dirv.Y) > 0.01f)
{
torque.Z += (float)Math.Atan2(dirv.Y, dirv.X) * ftmp;
torque.Z += MathF.Atan2(dirv.Y, dirv.X) * ftmp;
}
}

215
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@@ -90,7 +90,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float m_targetHoverHeight;
private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
private int m_body_autodisable_frames;
private readonly int m_body_autodisable_frames;
public int m_bodydisablecontrol = 0;
private float m_gravmod = 1.0f;
@@ -117,7 +117,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public bool m_disabled;
private IMesh m_mesh;
private readonly object m_meshlock = new object();
private readonly object m_meshlock = new();
private PrimitiveBaseShape m_pbs;
private UUID? m_assetID;
@@ -134,7 +134,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private PhysicsActor _parent;
private List<OdePrim> childrenPrim = new List<OdePrim>();
private readonly List<OdePrim> childrenPrim = new();
public float m_collisionscore;
private int m_colliderfilter = 0;
@@ -478,8 +478,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return _parent.GetInertiaData();
else
{
inertia = new PhysicsInertiaData();
inertia.TotalMass = -1;
inertia = new PhysicsInertiaData
{
TotalMass = -1
};
return inertia;
}
}
@@ -489,16 +491,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// double buffering
if(m_fakeInertiaOverride != null)
{
SafeNativeMethods.Mass objdmass = new SafeNativeMethods.Mass();
SafeNativeMethods.Mass objdmass = new();
objdmass.I.M00 = m_fakeInertiaOverride.Inertia.X;
objdmass.I.M11 = m_fakeInertiaOverride.Inertia.Y;
objdmass.I.M22 = m_fakeInertiaOverride.Inertia.Z;
objdmass.mass = m_fakeInertiaOverride.TotalMass;
if(Math.Abs(m_fakeInertiaOverride.InertiaRotation.W) < 0.999)
if(MathF.Abs(m_fakeInertiaOverride.InertiaRotation.W) < 0.999)
{
SafeNativeMethods.Matrix3 inertiarotmat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Matrix3 inertiarotmat = new();
SafeNativeMethods.RfromQ(ref inertiarotmat, ref m_fakeInertiaOverride.InertiaRotation);
SafeNativeMethods.MassRotate(ref objdmass, ref inertiarotmat);
}
@@ -525,7 +527,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
SafeNativeMethods.Vector3 dtmp;
SafeNativeMethods.Mass m = new SafeNativeMethods.Mass();
SafeNativeMethods.Mass m = new();
lock(m_parentScene.OdeLock)
{
SafeNativeMethods.AllocateODEDataForThread(0);
@@ -533,10 +535,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.BodyGetMass(Body, out m);
}
Vector3 cm = new Vector3(-dtmp.X, -dtmp.Y, -dtmp.Z);
Vector3 cm = new(-dtmp.X, -dtmp.Y, -dtmp.Z);
inertia.CenterOfMass = cm;
inertia.Inertia = new Vector3(m.I.M00, m.I.M11, m.I.M22);
inertia.InertiaRotation = new Vector4(m.I.M01, m.I.M02 , m.I.M12, 0);
inertia.Inertia = new(m.I.M00, m.I.M11, m.I.M22);
inertia.InertiaRotation = new(m.I.M01, m.I.M02 , m.I.M12, 0);
return inertia;
}
@@ -576,7 +578,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Vector3 Ptot = SafeNativeMethods.GeomGetPositionOMV(m_prim_geom);
Quaternion q = SafeNativeMethods.GeomGetQuaternionOMV(m_prim_geom);
Ptot = Ptot + m_OBBOffset * q;
Ptot += m_OBBOffset * q;
return Ptot;
/*
float tmass = _mass;
@@ -901,36 +903,44 @@ namespace OpenSim.Region.PhysicsModule.ubOde
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public override void VehicleFloatParam(int param, float value)
{
strVehicleFloatParam fp = new strVehicleFloatParam();
fp.param = param;
fp.value = value;
strVehicleFloatParam fp = new()
{
param = param,
value = value
};
AddChange(changes.VehicleFloatParam, fp);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public override void VehicleVectorParam(int param, Vector3 value)
{
strVehicleVectorParam fp = new strVehicleVectorParam();
fp.param = param;
fp.value = value;
strVehicleVectorParam fp = new()
{
param = param,
value = value
};
AddChange(changes.VehicleVectorParam, fp);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public override void VehicleRotationParam(int param, Quaternion value)
{
strVehicleQuatParam fp = new strVehicleQuatParam();
fp.param = param;
fp.value = value;
strVehicleQuatParam fp = new()
{
param = param,
value = value
};
AddChange(changes.VehicleRotationParam, fp);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public override void VehicleFlags(int param, bool value)
{
strVehicleBoolParam bp = new strVehicleBoolParam();
bp.param = param;
bp.value = value;
strVehicleBoolParam bp = new()
{
param = param,
value = value
};
AddChange(changes.VehicleFlags, bp);
}
@@ -1148,10 +1158,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
m_eventsubscription = ms;
m_cureventsubscription = 0;
if (CollisionEvents == null)
CollisionEvents = new CollisionEventUpdate();
if (CollisionVDTCEvents == null)
CollisionVDTCEvents = new CollisionEventUpdate();
CollisionEvents ??= new CollisionEventUpdate();
CollisionVDTCEvents ??= new CollisionEventUpdate();
SentEmptyCollisionsEvent = false;
}
@@ -1175,8 +1183,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
{
if (CollisionEvents == null)
CollisionEvents = new CollisionEventUpdate();
CollisionEvents ??= new CollisionEventUpdate();
CollisionEvents.AddCollider(CollidedWith, contact);
m_parentScene.AddCollisionEventReporting(this);
@@ -1185,8 +1192,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public override void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact)
{
if (CollisionVDTCEvents == null)
CollisionVDTCEvents = new CollisionEventUpdate();
CollisionVDTCEvents ??= new CollisionEventUpdate();
CollisionVDTCEvents.AddCollider(CollidedWith, contact);
m_parentScene.AddCollisionEventReporting(this);
@@ -1324,7 +1330,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_targetSpace = IntPtr.Zero;
m_isphysical = pos.Z < Constants.MinSimulationHeight || pos.Z > Constants.MaxSimulationHeight ? false : pisPhysical;
m_isphysical = pos.Z >= Constants.MinSimulationHeight && pos.Z <= Constants.MaxSimulationHeight && pisPhysical;
m_fakeisphysical = m_isphysical;
m_isVolumeDetect = false;
@@ -1652,17 +1658,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private bool GetMeshGeom()
{
IntPtr vertices, indices;
int vertexCount, indexCount;
int vertexStride, triStride;
IMesh mesh = m_mesh;
if (mesh == null)
if (mesh is null)
return false;
mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount);
mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount);
mesh.getVertexListAsPtrToFloatArray(out IntPtr vertices, out int vertexStride, out int vertexCount);
mesh.getIndexListAsPtrToIntArray(out IntPtr indices, out int triStride, out int indexCount);
if (vertexCount == 0 || indexCount == 0)
{
@@ -1756,7 +1757,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (!hasMesh)
{
IntPtr geo = IntPtr.Zero;
IntPtr geo;
if (m_pbs.ProfileShape == ProfileShape.HalfCircle && m_pbs.PathCurve == (byte)Extrusion.Curve1
&& m_size.X == m_size.Y && m_size.Y == m_size.Z)
@@ -1911,11 +1912,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Body = SafeNativeMethods.BodyCreate(m_parentScene.world);
// set the body rotation
SafeNativeMethods.Matrix3 mymat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Matrix3 mymat = new();
SafeNativeMethods.RfromQ(ref mymat, ref m_orientation);
SafeNativeMethods.BodySetRotation(Body, ref mymat);
SafeNativeMethods.Mass objdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Mass objdmass = new();
if (noInertiaOverride)
@@ -1927,8 +1928,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// recompute full object inertia if needed
if (childrenPrim.Count > 0)
{
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Mass tmpdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Matrix3 mat = new();
SafeNativeMethods.Mass tmpdmass;
Vector3 rcm;
rcm = m_position;
@@ -2017,9 +2018,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
objdmass.mass = m_InertiaOverride.TotalMass;
if(Math.Abs(m_InertiaOverride.InertiaRotation.W) < 0.999)
if(MathF.Abs(m_InertiaOverride.InertiaRotation.W) < 0.999f)
{
SafeNativeMethods.Matrix3 inertiarotmat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Matrix3 inertiarotmat = new();
SafeNativeMethods.RfromQ(ref inertiarotmat, ref m_InertiaOverride.InertiaRotation);
SafeNativeMethods.MassRotate(ref objdmass, ref inertiarotmat);
}
@@ -2233,14 +2234,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void FixInertia(Vector3 NewPos,Quaternion newrot)
{
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
SafeNativeMethods.Mass tmpdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Mass objdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.BodyGetMass(Body, out tmpdmass);
objdmass = tmpdmass;
SafeNativeMethods.BodyGetMass(Body, out SafeNativeMethods.Mass tmpdmass);
SafeNativeMethods.Mass objdmass = tmpdmass;
SafeNativeMethods.Vector3 dobjpos;
SafeNativeMethods.Vector3 thispos;
@@ -2252,7 +2247,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
tmpdmass = primdMass;
// transform to object frame
mat = SafeNativeMethods.GeomGetOffsetRotation(m_prim_geom);
SafeNativeMethods.Matrix3 mat = SafeNativeMethods.GeomGetOffsetRotation(m_prim_geom);
SafeNativeMethods.MassRotate(ref tmpdmass, ref mat);
thispos = SafeNativeMethods.GeomGetOffsetPosition(m_prim_geom);
@@ -2271,10 +2266,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_position = NewPos;
SafeNativeMethods.GeomSetOffsetWorldPosition(m_prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
m_orientation = newrot;
quat.X = newrot.X;
quat.Y = newrot.Y;
quat.Z = newrot.Z;
quat.W = newrot.W;
SafeNativeMethods.Quaternion quat = new()
{
X = newrot.X,
Y = newrot.Y,
Z = newrot.Z,
W = newrot.W
};
SafeNativeMethods.GeomSetOffsetWorldQuaternion(m_prim_geom, ref quat);
mat = SafeNativeMethods.GeomGetOffsetRotation(m_prim_geom);
@@ -2309,15 +2307,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void FixInertia(Vector3 NewPos)
{
SafeNativeMethods.Matrix3 primmat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Mass tmpdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Mass objdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Mass primmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Matrix3 primmat;
SafeNativeMethods.Mass tmpdmass;
SafeNativeMethods.Mass primmass;
SafeNativeMethods.Vector3 dobjpos;
SafeNativeMethods.Vector3 thispos;
SafeNativeMethods.BodyGetMass(Body, out objdmass);
SafeNativeMethods.BodyGetMass(Body, out SafeNativeMethods.Mass objdmass);
// get prim own inertia in its local frame
primmass = primdMass;
@@ -2373,18 +2370,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void FixInertia(Quaternion newrot)
{
SafeNativeMethods.Matrix3 mat = new SafeNativeMethods.Matrix3();
SafeNativeMethods.Quaternion quat = new SafeNativeMethods.Quaternion();
SafeNativeMethods.Matrix3 mat;
SafeNativeMethods.Quaternion quat = new();
SafeNativeMethods.Mass tmpdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Mass objdmass = new SafeNativeMethods.Mass { };
SafeNativeMethods.Vector3 dobjpos;
SafeNativeMethods.Vector3 thispos;
SafeNativeMethods.BodyGetMass(Body, out objdmass);
SafeNativeMethods.BodyGetMass(Body, out SafeNativeMethods.Mass objdmass);
// get prim own inertia in its local frame
tmpdmass = primdMass;
SafeNativeMethods.Mass tmpdmass = primdMass;
mat = SafeNativeMethods.GeomGetOffsetRotation(m_prim_geom);
SafeNativeMethods.MassRotate(ref tmpdmass, ref mat);
// transform to object frame
@@ -2957,7 +2952,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (newOri.NotEqual(m_orientation))
{
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion()
SafeNativeMethods.Quaternion myrot = new()
{
X = newOri.X,
Y = newOri.Y,
@@ -2987,7 +2982,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (newOri.NotEqual(m_orientation))
{
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion()
SafeNativeMethods.Quaternion myrot = new()
{
X = newOri.X,
Y = newOri.Y,
@@ -3020,7 +3015,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (newOri.NotEqual(m_orientation))
{
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion()
SafeNativeMethods.Quaternion myrot = new()
{
X = newOri.X,
Y = newOri.Y,
@@ -3054,7 +3049,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (newOri.NotEqual(m_orientation))
{
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion()
SafeNativeMethods.Quaternion myrot = new()
{
X = newOri.X,
Y = newOri.Y,
@@ -3157,11 +3152,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_prim_geom != IntPtr.Zero)
{
SafeNativeMethods.GeomSetPosition(m_prim_geom, m_position.X, m_position.Y, m_position.Z);
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.X = m_orientation.X;
myrot.Y = m_orientation.Y;
myrot.Z = m_orientation.Z;
myrot.W = m_orientation.W;
SafeNativeMethods.Quaternion myrot = new()
{
X = m_orientation.X,
Y = m_orientation.Y,
Z = m_orientation.Z,
W = m_orientation.W
};
SafeNativeMethods.GeomSetQuaternion(m_prim_geom, ref myrot);
}
@@ -3234,11 +3231,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_prim_geom != IntPtr.Zero)
{
SafeNativeMethods.GeomSetPosition(m_prim_geom, m_position.X, m_position.Y, m_position.Z);
SafeNativeMethods.Quaternion myrot = new SafeNativeMethods.Quaternion();
myrot.X = m_orientation.X;
myrot.Y = m_orientation.Y;
myrot.Z = m_orientation.Z;
myrot.W = m_orientation.W;
SafeNativeMethods.Quaternion myrot = new()
{
X = m_orientation.X,
Y = m_orientation.Y,
Z = m_orientation.Z,
W = m_orientation.W
};
SafeNativeMethods.GeomSetQuaternion(m_prim_geom, ref myrot);
}
@@ -3367,7 +3366,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float len = newVel.LengthSquared();
if (len > 100000.0f) // limit to 100m/s
{
len = 100.0f / (float)Math.Sqrt(len);
len = 100.0f / MathF.Sqrt(len);
newVel *= len;
}
@@ -3395,7 +3394,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float len = newAngVel.LengthSquared();
if (len > m_parentScene.maxAngVelocitySQ)
{
len = m_parentScene.maximumAngularVelocity / (float)Math.Sqrt(len);
len = m_parentScene.maximumAngularVelocity / MathF.Sqrt(len);
newAngVel *= len;
}
@@ -3456,8 +3455,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void changeSetVehicle(VehicleData vdata)
{
if (m_vehicle == null)
m_vehicle = new ODEDynamics(this);
m_vehicle ??= new ODEDynamics(this);
m_vehicle.DoSetVehicle(vdata);
}
@@ -3471,8 +3469,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
if (m_vehicle == null)
m_vehicle = new ODEDynamics(this);
m_vehicle ??= new ODEDynamics(this);
m_vehicle.ProcessTypeChange((Vehicle)value);
}
@@ -3742,7 +3739,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
fz = (m_targetHoverHeight - lpos.Z);
// if error is zero, use position control; otherwise, velocity control
if (Math.Abs(fz) < 0.01f)
if (MathF.Abs(fz) < 0.01f)
{
SafeNativeMethods.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
SafeNativeMethods.BodySetLinearVel(Body, vel.X, vel.Y, 0);
@@ -3911,13 +3908,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
angerror = 0.0005f;
}
if (
(Math.Abs(m_position.X - lpos.X) < poserror)
&& (Math.Abs(m_position.Y - lpos.Y) < poserror)
&& (Math.Abs(m_position.Z - lpos.Z) < poserror)
&& (Math.Abs(m_orientation.X - ori.X) < angerror)
&& (Math.Abs(m_orientation.Y - ori.Y) < angerror)
&& (Math.Abs(m_orientation.Z - ori.Z) < angerror) // ignore W
if (
(MathF.Abs(m_position.X - lpos.X) < poserror)
&& (MathF.Abs(m_position.Y - lpos.Y) < poserror)
&& (MathF.Abs(m_position.Z - lpos.Z) < poserror)
&& (MathF.Abs(m_orientation.X - ori.X) < angerror)
&& (MathF.Abs(m_orientation.Y - ori.Y) < angerror)
&& (MathF.Abs(m_orientation.Z - ori.Z) < angerror) // ignore W
)
_zeroFlag = true;
else
@@ -3943,14 +3940,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Vector3 vel = SafeNativeMethods.BodyGetLinearVelOMV(Body);
m_acceleration = _velocity;
if ((Math.Abs(vel.X) < 0.005f) &&
(Math.Abs(vel.Y) < 0.005f) &&
(Math.Abs(vel.Z) < 0.005f))
if (vel.ApproxZero(0.005f))
{
_velocity = Vector3.Zero;
float t = -m_sceneInverseTimeStep;
m_acceleration = m_acceleration * t;
m_acceleration *= t;
}
else
{
@@ -3958,18 +3952,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_acceleration = (_velocity - m_acceleration) * m_sceneInverseTimeStep;
}
if ((Math.Abs(m_acceleration.X) < 0.01f) &&
(Math.Abs(m_acceleration.Y) < 0.01f) &&
(Math.Abs(m_acceleration.Z) < 0.01f))
if (m_acceleration.ApproxZero(0.01f))
{
m_acceleration = Vector3.Zero;
}
vel = SafeNativeMethods.BodyGetAngularVelOMV(Body);
if ((Math.Abs(vel.X) < 0.0001) &&
(Math.Abs(vel.Y) < 0.0001) &&
(Math.Abs(vel.Z) < 0.0001)
)
if (vel.ApproxZero(0.0001f))
{
m_rotationalVelocity = Vector3.Zero;
}

156
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
View File

@@ -177,8 +177,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
const float commonContactCFM = 0.0001f;
const float commomContactSLIP = 0f;
float TerrainBounce = 0.001f;
float TerrainFriction = 0.3f;
readonly float TerrainBounce = 0.001f;
readonly float TerrainFriction = 0.3f;
public float AvatarFriction = 0;// 0.9f * 0.5f;
@@ -223,33 +223,33 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private SafeNativeMethods.NearCallback NearCallback;
private readonly Dictionary<uint, OdePrim> _prims = new Dictionary<uint, OdePrim>();
private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
private readonly Dictionary<uint, OdePrim> _prims = new();
private readonly HashSet<OdeCharacter> _characters = new();
private readonly HashSet<OdePrim> _activeprims = new();
private readonly HashSet<OdePrim> _activegroups = new();
public List<OdeCharacter> _charactersList;
public readonly ConcurrentQueue<ODEchangeitem> ChangesQueue = new ConcurrentQueue<ODEchangeitem>();
public readonly ConcurrentQueue<ODEchangeitem> ChangesQueue = new();
/// <summary>
/// A list of actors that should receive collision events.
/// </summary>
private readonly List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
private readonly List<PhysicsActor> _collisionEventPrimRemove = new List<PhysicsActor>();
private readonly Dictionary<uint, PhysicsActor> _collisionEventPrim = new();
private readonly List<PhysicsActor> _collisionEventPrimRemove = new();
private readonly List<OdeCharacter> _badCharacter = new List<OdeCharacter>();
public readonly Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
private readonly List<OdeCharacter> _badCharacter = new();
public readonly Dictionary<IntPtr, PhysicsActor> actor_name_map = new();
private float contactsurfacelayer = 0.002f;
private readonly float contactsurfacelayer = 0.002f;
private int contactsPerCollision = 80;
private readonly int contactsPerCollision = 80;
internal IntPtr ContactgeomsArray = IntPtr.Zero;
internal SafeNativeMethods.ContactGeom[] m_contacts;
internal GCHandle m_contactsHandler;
private IntPtr GlobalContactsArray;
private SafeNativeMethods.Contact contactSharedForJoints = new SafeNativeMethods.Contact();
private SafeNativeMethods.Contact contactSharedForJoints = new();
const int maxContactJoints = 6000;
private volatile int ContactJointCount = 0;
@@ -260,12 +260,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public IntPtr TerrainGeom;
private float[] m_terrainHeights;
private GCHandle m_terrainHeightsHandler = new GCHandle();
private GCHandle m_terrainHeightsHandler = new();
private IntPtr HeightmapData;
private int m_lastRegionWidth;
private int m_lastRegionHeight;
private int m_physicsiterations = 15;
private readonly int m_physicsiterations = 15;
private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
//private PhysicsActor PANull = new NullPhysicsActor();
private float step_time = 0.0f;
@@ -282,13 +282,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public IntPtr ActiveSpace; // space for active prims
public IntPtr StaticSpace; // space for the static things around
public readonly object OdeLock = new object();
public static readonly object SimulationLock = new object();
public readonly object OdeLock = new();
public static readonly object SimulationLock = new();
public IMesher mesher;
public IConfigSource m_config;
public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
public Vector2 WorldExtents = new((int)Constants.RegionSize, (int)Constants.RegionSize);
private ODERayCastRequestManager m_rayCastManager;
public ODEMeshWorker m_meshWorker;
@@ -362,7 +362,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ActiveSpace = SafeNativeMethods.SimpleSpaceCreate(TopSpace);
float sx = m_regionWidth + 16;
float sy = m_regionHeight + 16;
SafeNativeMethods.Vector3 px = new SafeNativeMethods.Vector3(sx * 0.5f, sy * 0.5f, 0);
SafeNativeMethods.Vector3 px = new(sx * 0.5f, sy * 0.5f, 0);
if (sx < sy)
sx = sy;
int dp = Util.intLog2((uint)sx);
@@ -546,12 +546,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
contactSharedForJoints.geom.pos = contactGeom.pos;
contactSharedForJoints.geom.normal = contactGeom.normal;
IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(ContactJointCount * SafeNativeMethods.Contact.unmanagedSizeOf));
IntPtr contact = new(GlobalContactsArray.ToInt64() + (Int64)(ContactJointCount * SafeNativeMethods.Contact.unmanagedSizeOf));
Marshal.StructureToPtr(contactSharedForJoints, contact, false);
return SafeNativeMethods.JointCreateContactPtr(world, JointContactGroup, contact);
}
SafeNativeMethods.ContactGeom altWorkContact = new SafeNativeMethods.ContactGeom();
SafeNativeMethods.ContactGeom altWorkContact = new();
/// <summary>
/// This is our near callback. A geometry is near a body
@@ -635,7 +635,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// do volume detection case
if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
{
ContactPoint volDepthContact = new ContactPoint(
ContactPoint volDepthContact = new(
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
@@ -650,8 +650,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float bounce = 0;
//bool IgnoreNegSides = false;
ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false);
ContactData contactdata1 = new(0, 0, false);
ContactData contactdata2 = new(0, 0, false);
bool dop1ava = false;
bool dop2ava = false;
@@ -760,7 +760,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bool FeetCollision = false;
int ncontacts = 0;
ContactPoint maxDepthContact = new ContactPoint();
ContactPoint maxDepthContact = new();
float minDepth = float.MaxValue;
float maxDepth = float.MinValue;
@@ -879,16 +879,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (count == 0)
return;
// get first contact
ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false);
IntPtr Joint;
bool FeetCollision = false;
int ncontacts = 0;
ContactPoint maxDepthContact = new ContactPoint();
ContactPoint maxDepthContact = new();
float minDepth = float.MaxValue;
float maxDepth = float.MinValue;
@@ -946,7 +941,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
{
uint obj2LocalID = 0;
// update actors collision score
if (p1.CollisionScore < float.MaxValue)
@@ -974,6 +968,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
contact.RelativeSpeed = Vector3.Dot(vel, contact.SurfaceNormal);
uint obj2LocalID;
switch ((ActorTypes)p1.PhysicsActorType)
{
case ActorTypes.Agent:
@@ -1185,8 +1181,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
/// <param name="obj"></param>
public void AddCollisionEventReporting(PhysicsActor obj)
{
if (!_collisionEventPrim.Contains(obj))
_collisionEventPrim.Add(obj);
_collisionEventPrim[obj.LocalID] = obj;
}
/// <summary>
@@ -1215,10 +1210,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, float feetOffset, bool isFlying)
{
OdeCharacter newAv = new OdeCharacter(localID, avName, this, position,
size, feetOffset, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
newAv.Flying = isFlying;
newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
OdeCharacter newAv = new(localID, avName, this, position,
size, feetOffset, avDensity, avMovementDivisorWalk, avMovementDivisorRun)
{
Flying = isFlying,
MinimumGroundFlightOffset = minimumGroundFlightOffset
};
return newAv;
}
@@ -1346,9 +1343,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
// As with all ODE physics operations, we don't remove the prim immediately but signal that it should be
// removed in the next physics simulate pass.
if (prim is OdePrim)
if (prim is OdePrim p)
{
OdePrim p = (OdePrim)prim;
p.setPrimForRemoval();
}
}
@@ -1401,15 +1397,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public bool haveActor(PhysicsActor actor)
{
if (actor is OdePrim)
if (actor is OdePrim prim)
{
lock (_prims)
return _prims.ContainsKey(((OdePrim)actor).m_baseLocalID);
return _prims.ContainsKey(prim.m_baseLocalID);
}
else if (actor is OdeCharacter)
else if (actor is OdeCharacter ch)
{
lock (_characters)
return _characters.Contains((OdeCharacter)actor);
return _characters.Contains(ch);
}
return false;
}
@@ -1496,7 +1492,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (world == IntPtr.Zero)
return;
ODEchangeitem item = new ODEchangeitem
ODEchangeitem item = new()
{
actor = _actor,
what = _what,
@@ -1539,8 +1535,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
lock (SimulationLock)
{
if (item.actor is OdeCharacter)
((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
if (item.actor is OdeCharacter character)
character.DoAChange(item.what, item.arg);
else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
RemovePrimThreadLocked((OdePrim)item.actor);
}
@@ -1623,8 +1619,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
lock (SimulationLock)
{
if (item.actor is OdeCharacter)
((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
if (item.actor is OdeCharacter ch)
ch.DoAChange(item.what, item.arg);
else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
RemovePrimThreadLocked((OdePrim)item.actor);
}
@@ -1685,26 +1681,26 @@ namespace OpenSim.Region.PhysicsModule.ubOde
lock (_collisionEventPrimRemove)
{
foreach (PhysicsActor obj in _collisionEventPrimRemove)
_collisionEventPrim.Remove(obj);
_collisionEventPrim.Remove(obj.LocalID);
_collisionEventPrimRemove.Clear();
}
List<OdePrim> sleepers = new List<OdePrim>();
foreach (PhysicsActor obj in _collisionEventPrim)
List<OdePrim> sleepers = new();
foreach (PhysicsActor obj in _collisionEventPrim.Values)
{
switch ((ActorTypes)obj.PhysicsActorType)
{
case ActorTypes.Agent:
OdeCharacter cobj = (OdeCharacter)obj;
cobj.SendCollisions((int)(odetimestepMS));
cobj.SendCollisions(odetimestepMS);
break;
case ActorTypes.Prim:
OdePrim pobj = (OdePrim)obj;
if (!pobj.m_outbounds)
{
pobj.SendCollisions((int)(odetimestepMS));
pobj.SendCollisions(odetimestepMS);
lock(SimulationLock)
{
if(pobj.Body != IntPtr.Zero && !pobj.m_isSelected &&
@@ -2185,7 +2181,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
foreach (OdePrim prm in _prims.Values)
{
prm.DoAChange(changes.Remove, null);
_collisionEventPrim.Remove(prm);
_collisionEventPrim.Remove(prm.LocalID);
}
_prims.Clear();
}
@@ -2255,7 +2251,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (retMethod != null)
{
ODERayRequest req = new ODERayRequest()
ODERayRequest req = new()
{
actor = null,
callbackMethod = retMethod,
@@ -2273,14 +2269,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (retMethod != null)
{
ODERayRequest req = new ODERayRequest();
req.actor = null;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = Count;
req.filter = RayFilterFlags.AllPrims;
ODERayRequest req = new()
{
actor = null,
callbackMethod = retMethod,
length = length,
Normal = direction,
Origin = position,
Count = Count,
filter = RayFilterFlags.AllPrims
};
m_rayCastManager.QueueRequest(req);
}
@@ -2288,8 +2286,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
{
List<ContactResult> ourresults = new List<ContactResult>();
object SyncObject = new object();
List<ContactResult> ourresults = new();
object SyncObject = new();
RayCallback retMethod = delegate(List<ContactResult> results)
{
@@ -2300,7 +2298,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
};
ODERayRequest req = new ODERayRequest
ODERayRequest req = new()
{
actor = null,
callbackMethod = retMethod,
@@ -2328,8 +2326,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
{
object SyncObject = new object();
List<ContactResult> ourresults = new List<ContactResult>();
object SyncObject = new();
List<ContactResult> ourresults = new();
RayCallback retMethod = delegate(List<ContactResult> results)
{
@@ -2340,7 +2338,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
};
ODERayRequest req = new ODERayRequest()
ODERayRequest req = new()
{
actor = null,
callbackMethod = retMethod,
@@ -2367,10 +2365,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return new List<ContactResult>();
IntPtr geom;
if (actor is OdePrim)
geom = ((OdePrim)actor).m_prim_geom;
else if (actor is OdeCharacter)
geom = ((OdePrim)actor).m_prim_geom;
if (actor is OdePrim prim)
geom = prim.m_prim_geom;
else if (actor is OdeCharacter ch)
geom = ch.collider;
else
return new List<ContactResult>();
@@ -2378,7 +2376,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return new List<ContactResult>();
List<ContactResult> ourResults = null;
object SyncObject = new object();
object SyncObject = new();
RayCallback retMethod = delegate(List<ContactResult> results)
{
@@ -2389,7 +2387,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
};
ODERayRequest req = new ODERayRequest
ODERayRequest req = new()
{
actor = actor,
callbackMethod = retMethod,
@@ -2416,8 +2414,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Util.FireAndForget( delegate
{
ODESitAvatar sitAvatar = new ODESitAvatar(this, m_rayCastManager);
if(sitAvatar != null)
ODESitAvatar sitAvatar = new(this, m_rayCastManager);
if(sitAvatar is not null)
sitAvatar.Sit(actor, AbsolutePosition, CameraPosition, offset, AvatarSize, PhysicsSitResponse);
});
return 1;

13
OpenSim/Region/PhysicsModules/ubOde/ODESitAvatar.cs
View File

@@ -45,15 +45,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_raymanager = raymanager;
}
private static readonly Vector3 SitAjust = new Vector3(0, 0, 0.4f);
private static readonly Vector3 SitAjust = new(0, 0, 0.4f);
private const RayFilterFlags RaySitFlags = RayFilterFlags.AllPrims | RayFilterFlags.ClosestHit;
private void RotAroundZ(float x, float y, ref Quaternion ori)
{
double ang = Math.Atan2(y, x);
ang *= 0.5d;
float s = (float)Math.Sin(ang);
float c = (float)Math.Cos(ang);
float ang = 0.5f * MathF.Atan2(y, x);
float s = MathF.Sin(ang);
float c = MathF.Cos(ang);
ori.X = 0;
ori.Y = 0;
@@ -64,7 +63,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse)
{
if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).m_prim_geom == IntPtr.Zero)
if (!m_scene.haveActor(actor) || actor is not OdePrim || ((OdePrim)actor).m_prim_geom == IntPtr.Zero)
{
PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
return;
@@ -205,7 +204,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (rayResults.Count == 0)
break;
if (Math.Abs(rayResults[0].Normal.Z) < 0.7f)
if (MathF.Abs(rayResults[0].Normal.Z) < 0.7f)
{
rayDist -= rayResults[0].Depth;
if (rayDist < 0f)