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few changes on ubode collisions

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UbitUmarov
2022-10-19 04:17:44 +01:00
parent 0ead627fd5
commit 7a3ff3b210
1 changed files with 43 additions and 39 deletions
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82
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
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@@ -635,13 +635,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// do volume detection case
if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
{
ref SafeNativeMethods.ContactGeom curctc0 = ref m_contacts[0];
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
new Vector3(curctc0.pos.X, curctc0.pos.Y, curctc0.pos.Z),
new Vector3(curctc0.normal.X, curctc0.normal.Y, curctc0.normal.Z),
curctc0.depth, false
);
collision_accounting_events(p1, p2, volDepthContact);
collision_accounting_events(p1, p2, ref volDepthContact);
return;
}
@@ -779,12 +780,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
for (int i = 0; i < count; ++i)
{
ref SafeNativeMethods.ContactGeom curctc = ref m_contacts[i];
noskip = true;
useAltcontact = false;
if (dop1ava)
{
if ((((OdeCharacter)p1).Collide(g1, g2, false, ref m_contacts[i], ref altWorkContact, ref useAltcontact, ref FeetCollision)))
if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curctc, ref altWorkContact, ref useAltcontact, ref FeetCollision)))
{
if (p2.PhysicsActorType == (int)ActorTypes.Agent)
{
@@ -799,7 +801,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else if (dop2ava)
{
if ((((OdeCharacter)p2).Collide(g2, g1, true, ref m_contacts[i], ref altWorkContact, ref useAltcontact, ref FeetCollision)))
if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curctc, ref altWorkContact, ref useAltcontact, ref FeetCollision)))
{
if (p1.PhysicsActorType == (int)ActorTypes.Agent)
{
@@ -817,7 +819,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Joint = useAltcontact ?
CreateContacJoint(ref altWorkContact, smoothMesh) :
CreateContacJoint(ref m_contacts[i], smoothMesh);
CreateContacJoint(ref curctc, smoothMesh);
if (Joint == IntPtr.Zero)
break;
@@ -825,29 +827,29 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ncontacts++;
if (m_contacts[i].depth > maxDepth)
if (curctc.depth > maxDepth)
{
maxDepth = m_contacts[i].depth;
maxDepth = curctc.depth;
maxDepthContact.PenetrationDepth = maxDepth;
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.Position.X = curctc.pos.X;
maxDepthContact.Position.Y = curctc.pos.Y;
maxDepthContact.Position.Z = curctc.pos.Z;
maxDepthContact.CharacterFeet = FeetCollision;
}
if (m_contacts[i].depth < minDepth)
if (curctc.depth < minDepth)
{
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;
minDepth = curctc.depth;
maxDepthContact.SurfaceNormal.X = curctc.normal.X;
maxDepthContact.SurfaceNormal.Y = curctc.normal.Y;
maxDepthContact.SurfaceNormal.Z = curctc.normal.Z;
}
}
}
if (ncontacts > 0)
{
collision_accounting_events(p1, p2, maxDepthContact);
collision_accounting_events(p1, p2, ref maxDepthContact);
}
}
@@ -895,9 +897,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
for (int i = 0; i < count; ++i)
{
ref SafeNativeMethods.ContactGeom curctc = ref m_contacts[i];
useAltcontact = false;
if (p1.Collide(p1.collider, p2.collider, false, ref m_contacts[i], ref altWorkContact, ref useAltcontact, ref FeetCollision))
if (p1.Collide(p1.collider, p2.collider, false, ref curctc, ref altWorkContact, ref useAltcontact, ref FeetCollision))
{
p1.CollidingObj = true;
p1.CollidingObj = true;
@@ -905,7 +908,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (useAltcontact)
Joint = CreateContacJoint(ref altWorkContact, false);
else
Joint = CreateContacJoint(ref m_contacts[i], false);
Joint = CreateContacJoint(ref curctc, false);
if (Joint == IntPtr.Zero)
break;
@@ -913,33 +916,33 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ncontacts++;
if (m_contacts[i].depth > maxDepth)
if (curctc.depth > maxDepth)
{
maxDepth = m_contacts[i].depth;
maxDepth = curctc.depth;
maxDepthContact.PenetrationDepth = maxDepth;
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.Position.X = curctc.pos.X;
maxDepthContact.Position.Y = curctc.pos.Y;
maxDepthContact.Position.Z = curctc.pos.Z;
maxDepthContact.CharacterFeet = FeetCollision;
}
if (m_contacts[i].depth < minDepth)
if (curctc.depth < minDepth)
{
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;
minDepth = curctc.depth;
maxDepthContact.SurfaceNormal.X = curctc.normal.X;
maxDepthContact.SurfaceNormal.Y = curctc.normal.Y;
maxDepthContact.SurfaceNormal.Z = curctc.normal.Z;
}
}
}
if (ncontacts > 0)
{
collision_accounting_events(p1, p2, maxDepthContact);
collision_accounting_events(p1, p2, ref maxDepthContact);
}
}
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ref ContactPoint contact)
{
// update actors collision score
@@ -1038,9 +1041,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
try
{
if (_charactersList.Count == 1)
Span<OdeCharacter> charsSpan = CollectionsMarshal.AsSpan(_charactersList);
if (charsSpan.Length == 1)
{
OdeCharacter chr = _charactersList[0];
OdeCharacter chr = charsSpan[0];
if (chr.Colliderfilter < -1)
chr.Colliderfilter = -1;
else
@@ -1057,9 +1061,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
for (int i = 0; i < _charactersList.Count; ++i)
for (int i = 0; i < charsSpan.Length; ++i)
{
OdeCharacter chr = _charactersList[i];
OdeCharacter chr = charsSpan[i];
if (chr.Colliderfilter < -1)
chr.Colliderfilter = -1;
@@ -1077,9 +1081,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float my = chr._AABB2D.miny;
float My = chr._AABB2D.maxy;
for (int j = i + 1; j < _charactersList.Count; ++j)
for (int j = i + 1 ; j < charsSpan.Length; ++j)
{
OdeCharacter chr2 = _charactersList[j];
OdeCharacter chr2 = charsSpan[j];
if (chr2.Colliderfilter < -1)
continue;
@@ -1680,7 +1684,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
lock (_collisionEventPrimRemove)
{
foreach (PhysicsActor obj in _collisionEventPrimRemove)
foreach (PhysicsActor obj in CollectionsMarshal.AsSpan(_collisionEventPrimRemove))
_collisionEventPrim.Remove(obj.LocalID);
_collisionEventPrimRemove.Clear();