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for fix old ode for linux and others by using again same unmanaged lib as ubode. Otherwise mono will just use the wrong one, since they have same api, and are both always loaded by mono

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UbitUmarov
2022-11-09 01:54:16 +00:00
parent c060ce1c9c
commit 89b13e1db2
21 changed files with 1552 additions and 1563 deletions
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156
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@@ -91,7 +91,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int m_colliderObjectfilter = 0;
int m_colliderGroundfilter = 0;
private SafeNativeMethods.Quaternion m_NativeOrientation2D;
private UBOdeNative.Quaternion m_NativeOrientation2D;
private Vector3 _zeroPosition;
internal Quaternion m_orientation;
private Vector3 _velocity;
@@ -156,7 +156,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public IntPtr Amotor = IntPtr.Zero;
internal SafeNativeMethods.Mass ShellMass;
internal UBOdeNative.Mass ShellMass;
public int m_eventsubscription = 0;
private int m_cureventsubscription = 0;
@@ -834,7 +834,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_pidControllerActive = true;
_acceleration = accel;
if (Body != IntPtr.Zero)
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodyEnable(Body);
}
/// <summary>
@@ -905,19 +905,19 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float l = sz - CapsuleRadius;
CapsuleSizeZ = sz;
collider = SafeNativeMethods.CreateCapsule(m_parent_scene.TopSpace, CapsuleRadius, 2.0f * l);
SafeNativeMethods.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
SafeNativeMethods.GeomSetCollideBits(collider, (uint)m_collisionFlags);
collider = UBOdeNative.CreateCapsule(m_parent_scene.TopSpace, CapsuleRadius, 2.0f * l);
UBOdeNative.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
UBOdeNative.GeomSetCollideBits(collider, (uint)m_collisionFlags);
// update mass
m_mass = 8f * m_density * sx * sy * sz;
SafeNativeMethods.MassSetBoxTotal(out ShellMass, m_mass, 2f * sx, 2f * sy, 2f * sz);
UBOdeNative.MassSetBoxTotal(out ShellMass, m_mass, 2f * sx, 2f * sy, 2f * sz);
m_massInvTimeScaled = m_mass * m_sceneInverseTimeStep;
PID_D = basePID_D * m_massInvTimeScaled;
PID_P = basePID_P * m_massInvTimeScaled;
m_scenegravityForceZ = m_parent_scene.gravityz * m_mass;
Body = SafeNativeMethods.BodyCreate(m_parent_scene.world);
Body = UBOdeNative.BodyCreate(m_parent_scene.world);
_zeroFlag = false;
m_pidControllerActive = true;
@@ -926,52 +926,52 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_velocity = Vector3.Zero;
// SafeNativeMethods.BodySetAutoDisableFlag(Body,false);
SafeNativeMethods.BodySetAutoDisableFlag(Body, true);
UBOdeNative.BodySetAutoDisableFlag(Body, true);
m_bodydisablecontrol = 0;
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
UBOdeNative.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
SafeNativeMethods.BodySetMass(Body, ref ShellMass);
UBOdeNative.BodySetMass(Body, ref ShellMass);
//SafeNativeMethods.GeomSetBody(capsule, Body);
SafeNativeMethods.GeomSetBody(collider, Body);
UBOdeNative.GeomSetBody(collider, Body);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
Amotor = SafeNativeMethods.JointCreateAMotor(m_parent_scene.world, IntPtr.Zero);
SafeNativeMethods.JointAttach(Amotor, Body, IntPtr.Zero);
Amotor = UBOdeNative.JointCreateAMotor(m_parent_scene.world, IntPtr.Zero);
UBOdeNative.JointAttach(Amotor, Body, IntPtr.Zero);
SafeNativeMethods.JointSetAMotorMode(Amotor, 0);
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);
UBOdeNative.JointSetAMotorMode(Amotor, 0);
UBOdeNative.JointSetAMotorNumAxes(Amotor, 3);
UBOdeNative.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
UBOdeNative.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
UBOdeNative.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 0, 0);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 1, 0);
SafeNativeMethods.JointSetAMotorAngle(Amotor, 2, 0);
UBOdeNative.JointSetAMotorAngle(Amotor, 0, 0);
UBOdeNative.JointSetAMotorAngle(Amotor, 1, 0);
UBOdeNative.JointSetAMotorAngle(Amotor, 2, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f); // make it HARD
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
// These lowstops and high stops are effectively (no wiggle room)
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -1e-5f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 1e-5f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -1e-5f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 1e-5f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -1e-5f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 1e-5f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Vel, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Vel2, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)SafeNativeMethods.JointParam.Vel3, 0);
UBOdeNative.JointSetAMotorParam(Amotor, (int)UBOdeNative.JointParam.Vel, 0);
UBOdeNative.JointSetAMotorParam(Amotor, (int)UBOdeNative.JointParam.Vel2, 0);
UBOdeNative.JointSetAMotorParam(Amotor, (int)UBOdeNative.JointParam.Vel3, 0);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
SafeNativeMethods.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
UBOdeNative.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
}
/// <summary>
@@ -983,14 +983,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// Kill the Amotor
if (Amotor != IntPtr.Zero)
{
SafeNativeMethods.JointDestroy(Amotor);
UBOdeNative.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
}
if (Body != IntPtr.Zero)
{
//kill the body
SafeNativeMethods.BodyDestroy(Body);
UBOdeNative.BodyDestroy(Body);
Body = IntPtr.Zero;
}
@@ -1014,7 +1014,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
m_parent_scene.actor_name_map.Remove(collider);
//m_parent_scene.waitForSpaceUnlock(m_parent_scene.CharsSpace);
SafeNativeMethods.GeomDestroy(collider);
UBOdeNative.GeomDestroy(collider);
collider = IntPtr.Zero;
}
}
@@ -1053,8 +1053,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
internal bool Collide(IntPtr other, bool reverse, ref SafeNativeMethods.ContactGeom contact,
ref SafeNativeMethods.ContactGeom altContact, ref bool useAltcontact, ref bool feetcollision)
internal bool Collide(IntPtr other, bool reverse, ref UBOdeNative.ContactGeom contact,
ref UBOdeNative.ContactGeom altContact, ref bool useAltcontact, ref bool feetcollision)
{
feetcollision = false;
useAltcontact = false;
@@ -1067,11 +1067,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
offset.X = contact.pos.X - _position.X;
offset.Y = contact.pos.Y - _position.Y;
SafeNativeMethods.GeomClassID gtype = SafeNativeMethods.GeomGetClass(other);
UBOdeNative.GeomClassID gtype = UBOdeNative.GeomGetClass(other);
if (gtype == SafeNativeMethods.GeomClassID.SphereClass && SafeNativeMethods.GeomGetBody(other) != IntPtr.Zero)
if (gtype == UBOdeNative.GeomClassID.SphereClass && UBOdeNative.GeomGetBody(other) != IntPtr.Zero)
{
if (SafeNativeMethods.GeomSphereGetRadius(other) < 0.5)
if (UBOdeNative.GeomSphereGetRadius(other) < 0.5)
return true;
}
@@ -1082,7 +1082,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
feetcollision = true;
if (h < boneOff)
{
CollideNormal = Unsafe.As<SafeNativeMethods.Vector3, Vector3>(ref contact.normal);
CollideNormal = Unsafe.As<UBOdeNative.Vector3, Vector3>(ref contact.normal);
IsColliding = true;
}
}
@@ -1095,7 +1095,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
feetcollision = true;
if (h < boneOff)
{
CollideNormal = Unsafe.As<SafeNativeMethods.Vector3, Vector3>(ref contact.normal);
CollideNormal = Unsafe.As<UBOdeNative.Vector3, Vector3>(ref contact.normal);
IsColliding = true;
}
@@ -1124,7 +1124,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (reverse)
{
altContact.normal = Unsafe.As<Vector3, SafeNativeMethods.Vector3>(ref offset);
altContact.normal = Unsafe.As<Vector3, UBOdeNative.Vector3>(ref offset);
}
else
{
@@ -1145,25 +1145,25 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (Body == IntPtr.Zero)
return;
if (!SafeNativeMethods.BodyIsEnabled(Body))
if (!UBOdeNative.BodyIsEnabled(Body))
{
if (++m_bodydisablecontrol < 50)
return;
// clear residuals
SafeNativeMethods.BodySetAngularVel(Body, 0f, 0f, 0f);
SafeNativeMethods.BodySetLinearVel(Body, 0f, 0f, 0f);
UBOdeNative.BodySetAngularVel(Body, 0f, 0f, 0f);
UBOdeNative.BodySetLinearVel(Body, 0f, 0f, 0f);
_zeroFlag = true;
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodyEnable(Body);
}
m_bodydisablecontrol = 0;
// the Amotor still lets avatar rotation to drift during colisions
// so force it back to identity
SafeNativeMethods.BodySetQuaternion(Body, ref m_NativeOrientation2D);
UBOdeNative.BodySetQuaternion(Body, ref m_NativeOrientation2D);
_position = SafeNativeMethods.BodyGetPositionOMV(Body);
_position = UBOdeNative.BodyGetPositionOMV(Body);
// check outbounds forcing to be in world
bool fixbody = false;
if ((Single.IsNaN(_position.X) || Single.IsInfinity(_position.X)))
@@ -1207,7 +1207,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (fixbody)
{
m_freemove = false;
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
UBOdeNative.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
}
if (!m_pidControllerActive)
@@ -1240,7 +1240,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
Vector3 vel = SafeNativeMethods.BodyGetLinearVelOMV(Body);
Vector3 vel = UBOdeNative.BodyGetLinearVelOMV(Body);
//******************************************
// colide with land
@@ -1579,7 +1579,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
if ((vec.Z != 0 || vec.X != 0 || vec.Y != 0))
SafeNativeMethods.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
UBOdeNative.BodyAddForce(Body, vec.X, vec.Y, vec.Z);
if (_zeroFlag)
{
@@ -1594,7 +1594,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
a = (_velocity - a) * m_sceneInverseTimeStep;
SetSmooth(ref _acceleration, ref a, 2);
m_rotationalVelocity = SafeNativeMethods.BodyGetAngularVelOMVforAvatar(Body);
m_rotationalVelocity = UBOdeNative.BodyGetAngularVelOMVforAvatar(Body);
}
}
@@ -1779,7 +1779,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_cureventsubscription < m_eventsubscription)
return;
if (Body != IntPtr.Zero && !SafeNativeMethods.BodyIsEnabled(Body))
if (Body != IntPtr.Zero && !UBOdeNative.BodyIsEnabled(Body))
return;
lock (CollisionEventsThisFrame)
@@ -1895,19 +1895,19 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float l = sz - CapsuleRadius;
CapsuleSizeZ= sz;
SafeNativeMethods.GeomCapsuleSetParams(collider, CapsuleRadius, 2f * l);
UBOdeNative.GeomCapsuleSetParams(collider, CapsuleRadius, 2f * l);
m_mass = 8f * m_density * sx * sy * sz; // update mass
m_massInvTimeScaled = m_mass * m_sceneInverseTimeStep;
PID_D = basePID_D * m_massInvTimeScaled;
PID_P = basePID_P * m_massInvTimeScaled;
SafeNativeMethods.MassSetBoxTotal(out ShellMass, m_mass, 2f * sx, 2f * sy, 2f * sz);
SafeNativeMethods.BodySetMass(Body, ref ShellMass);
UBOdeNative.MassSetBoxTotal(out ShellMass, m_mass, 2f * sx, 2f * sy, 2f * sz);
UBOdeNative.BodySetMass(Body, ref ShellMass);
m_scenegravityForceZ = m_parent_scene.gravityz * m_mass;
_position.Z += sz - oldsz;
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
UBOdeNative.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
UpdateAABB2D();
@@ -1930,8 +1930,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (Body != IntPtr.Zero)
{
SafeNativeMethods.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
UBOdeNative.BodyEnable(Body);
}
_position = newPos;
UpdateAABB2D();
@@ -1959,12 +1959,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (Body != IntPtr.Zero)
{
SafeNativeMethods.BodySetQuaternion(Body, ref m_NativeOrientation2D);
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodySetQuaternion(Body, ref m_NativeOrientation2D);
UBOdeNative.BodyEnable(Body);
}
}
else if (Body != IntPtr.Zero)
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodyEnable(Body);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -1975,8 +1975,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (Body != IntPtr.Zero)
{
SafeNativeMethods.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
UBOdeNative.BodyEnable(Body);
}
}
@@ -1987,7 +1987,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
//m_freemove = false;
m_targetVelocity = newVel;
if (Body != IntPtr.Zero)
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodyEnable(Body);
}
/*
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -2062,8 +2062,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (Body != IntPtr.Zero)
{
if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
SafeNativeMethods.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodyAddForce(Body, newForce.X, newForce.Y, newForce.Z);
UBOdeNative.BodyEnable(Body);
}
}
@@ -2076,8 +2076,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (Body != IntPtr.Zero)
{
SafeNativeMethods.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
SafeNativeMethods.BodyEnable(Body);
UBOdeNative.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
UBOdeNative.BodyEnable(Body);
}
}