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ubode things

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UbitUmarov
2022-08-19 14:49:25 +01:00
parent a578bfd2ac
commit d37bed10c9
6 changed files with 155 additions and 161 deletions
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2
OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
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@@ -233,7 +233,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
public abstract PrimitiveBaseShape Shape { set; }
uint m_baseLocalID;
public uint m_baseLocalID;
public virtual uint LocalID
{
set { m_baseLocalID = value; }

5
OpenSim/Region/PhysicsModules/SharedBase/PhysicsScene.cs
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@@ -27,10 +27,7 @@
using System;
using System.Collections.Generic;
using System.Reflection;
using log4net;
using Nini.Config;
using System.Runtime.CompilerServices;
using OpenSim.Framework;
using OpenMetaverse;

12
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@@ -171,7 +171,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
{
m_localID = localID;
m_baseLocalID = localID;
m_parent_scene = parent_scene;
m_sceneGravityZ = parent_scene.gravityz;
@@ -287,16 +287,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
private readonly uint m_localID = 0;
public override uint LocalID
{
[MethodImpl(MethodImplOptions.AggressiveInlining)]
get
{
return m_localID;
}
}
public override PhysicsActor ParentActor
{
[MethodImpl(MethodImplOptions.AggressiveInlining)]

17
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
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@@ -116,8 +116,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public bool m_disabled;
private uint m_localID;
private IMesh m_mesh;
private readonly object m_meshlock = new object();
private PrimitiveBaseShape m_pbs;
@@ -301,11 +299,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override uint LocalID
{
[MethodImpl(MethodImplOptions.AggressiveInlining)]
get { return m_localID; }
get { return m_baseLocalID; }
[MethodImpl(MethodImplOptions.AggressiveInlining)]
set
{
uint oldid = m_localID;
m_localID = value;
uint oldid = m_baseLocalID;
m_baseLocalID = value;
m_parentScene.changePrimID(this, oldid);
}
}
@@ -1207,7 +1206,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ContactPoint cp = kvp.Value;
cp.SurfaceNormal = - cp.SurfaceNormal;
cp.RelativeSpeed = -cp.RelativeSpeed;
other.AddCollisionEvent(ParentActor.LocalID,cp);
other.AddCollisionEvent(ParentActor.m_baseLocalID, cp);
}
}
if(CollisionVDTCEvents != null && CollisionVDTCEvents.m_objCollisionList.Count != 0)
@@ -1220,7 +1219,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
ContactPoint cp = kvp.Value;
cp.SurfaceNormal = - cp.SurfaceNormal;
cp.RelativeSpeed = -cp.RelativeSpeed;
other.AddCollisionEvent(ParentActor.LocalID,cp);
other.AddCollisionEvent(ParentActor.m_baseLocalID, cp);
}
}
}
@@ -1279,7 +1278,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_parentScene = parent_scene;
Name = primName;
m_localID = plocalID;
m_baseLocalID = plocalID;
m_vehicle = null;
@@ -2490,7 +2489,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public void ParentPrim(OdePrim prim)
{
//Console.WriteLine("ParentPrim " + m_primName);
if (this.m_localID != prim.m_localID)
if (m_baseLocalID != prim.m_baseLocalID)
{
DestroyBody(); // for now we need to rebuil entire object on link change

3
OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
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@@ -542,6 +542,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// closestHit for now only works for meshs, so must do it for others
if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
{
uint id = chr.LocalID;
// Loop all contacts, build results.
for (int i = 0; i < count; i++)
{
@@ -552,7 +553,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
m_contactResults.Add(new ContactResult
{
ConsumerID = chr.LocalID,
ConsumerID = id,
Pos = new Vector3(Sharedcontact.pos.X, Sharedcontact.pos.Y, Sharedcontact.pos.Z),
Normal = new Vector3(Sharedcontact.normal.X, Sharedcontact.normal.Y, Sharedcontact.normal.Z),
Depth = Sharedcontact.depth

277
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
View File

@@ -1017,12 +1017,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (p2events)
{
//AddCollisionEventReporting(p2);
p2.AddCollisionEvent(p1.ParentActor.LocalID, contact);
p2.AddCollisionEvent(p1.ParentActor.m_baseLocalID, contact);
}
else if(p1.IsVolumeDtc)
p2.AddVDTCCollisionEvent(p1.ParentActor.LocalID, contact);
p2.AddVDTCCollisionEvent(p1.ParentActor.m_baseLocalID, contact);
obj2LocalID = p2.ParentActor.LocalID;
obj2LocalID = p2.ParentActor.m_baseLocalID;
break;
case ActorTypes.Ground:
@@ -1069,31 +1069,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
lock (_characters)
{
try
if (_charactersList.Count > 0)
{
if (_charactersList.Count == 1)
try
{
OdeCharacter chr = _charactersList[0];
if (chr.Colliderfilter < -1)
chr.Colliderfilter = -1;
else
if (_charactersList.Count == 1)
{
chr.IsColliding = false;
chr.CollidingObj = false;
if (chr.Body != IntPtr.Zero && chr.collider != IntPtr.Zero)
{
SafeNativeMethods.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, NearCallback);
SafeNativeMethods.SpaceCollide2(chr.collider, ActiveSpace, IntPtr.Zero, NearCallback);
}
}
}
else if (_charactersList.Count > 1)
{
for (int i = 0; i < _charactersList.Count; ++i)
{
OdeCharacter chr = _charactersList[i];
OdeCharacter chr = _charactersList[0];
if (chr.Colliderfilter < -1)
chr.Colliderfilter = -1;
else
@@ -1101,97 +1083,119 @@ namespace OpenSim.Region.PhysicsModule.ubOde
chr.IsColliding = false;
chr.CollidingObj = false;
// do colisions with static space
SafeNativeMethods.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, NearCallback);
SafeNativeMethods.SpaceCollide2(chr.collider, ActiveSpace, IntPtr.Zero, NearCallback);
float mx = chr._AABB2D.minx;
float Mx = chr._AABB2D.maxx;
float my = chr._AABB2D.miny;
float My = chr._AABB2D.maxy;
for (int j = i + 1; j < _charactersList.Count; ++j)
if (chr.Body != IntPtr.Zero && chr.collider != IntPtr.Zero)
{
OdeCharacter chr2 = _charactersList[j];
if (chr2.Colliderfilter < -1)
continue;
if(Mx < chr2._AABB2D.minx ||
mx > chr2._AABB2D.maxx ||
My < chr2._AABB2D.miny ||
my > chr2._AABB2D.maxy)
continue;
/*
//avatar is always vertical
float r = chr.CapsuleRadius + chr2.CapsuleRadius;
float t = Math.Abs(chr2._position.X - chr._position.X);
if (t > r)
continue;
t = Math.Abs(chr2._position.Y - chr._position.Y);
if (t > r)
continue;
r = chr.CapsuleSizeZ + chr2.CapsuleSizeZ;
t = Math.Abs(chr2._position.Z - chr._position.Z);
if (t > r)
continue;
*/
CollideCharChar(chr, chr2);
SafeNativeMethods.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, NearCallback);
SafeNativeMethods.SpaceCollide2(chr.collider, ActiveSpace, IntPtr.Zero, NearCallback);
}
}
}
}
// chars with chars
//SafeNativeMethods.SpaceCollide(CharsSpace, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
}
}
lock (_activeprims)
{
foreach (OdePrim aprim in _activeprims)
{
aprim.CollisionScore = 0;
aprim.IsColliding = false;
if(!aprim.m_outbounds && SafeNativeMethods.BodyIsEnabled(aprim.Body))
aprim.clearSleeperCollisions();
}
}
lock (_activegroups)
{
try
{
foreach (OdePrim aprim in _activegroups)
{
if(!aprim.m_outbounds && SafeNativeMethods.BodyIsEnabled(aprim.Body) &&
aprim.m_collide_geom != IntPtr.Zero)
else
{
SafeNativeMethods.SpaceCollide2(StaticSpace, aprim.m_collide_geom, IntPtr.Zero, NearCallback);
SafeNativeMethods.SpaceCollide2(TerrainGeom, aprim.m_collide_geom, IntPtr.Zero, NearCallback);
for (int i = 0; i < _charactersList.Count; ++i)
{
OdeCharacter chr = _charactersList[i];
if (chr.Colliderfilter < -1)
chr.Colliderfilter = -1;
else
{
chr.IsColliding = false;
chr.CollidingObj = false;
// do colisions with static space
SafeNativeMethods.SpaceCollide2(chr.collider, StaticSpace, IntPtr.Zero, NearCallback);
SafeNativeMethods.SpaceCollide2(chr.collider, ActiveSpace, IntPtr.Zero, NearCallback);
float mx = chr._AABB2D.minx;
float Mx = chr._AABB2D.maxx;
float my = chr._AABB2D.miny;
float My = chr._AABB2D.maxy;
for (int j = i + 1; j < _charactersList.Count; ++j)
{
OdeCharacter chr2 = _charactersList[j];
if (chr2.Colliderfilter < -1)
continue;
if(Mx < chr2._AABB2D.minx ||
mx > chr2._AABB2D.maxx ||
My < chr2._AABB2D.miny ||
my > chr2._AABB2D.maxy)
continue;
/*
//avatar is always vertical
float r = chr.CapsuleRadius + chr2.CapsuleRadius;
float t = Math.Abs(chr2._position.X - chr._position.X);
if (t > r)
continue;
t = Math.Abs(chr2._position.Y - chr._position.Y);
if (t > r)
continue;
r = chr.CapsuleSizeZ + chr2.CapsuleSizeZ;
t = Math.Abs(chr2._position.Z - chr._position.Z);
if (t > r)
continue;
*/
CollideCharChar(chr, chr2);
}
}
}
}
// chars with chars
//SafeNativeMethods.SpaceCollide(CharsSpace, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
}
}
}
if(_activeprims.Count > 0)
{
lock (_activeprims)
{
foreach (OdePrim aprim in _activeprims)
{
aprim.CollisionScore = 0;
aprim.IsColliding = false;
if(!aprim.m_outbounds && SafeNativeMethods.BodyIsEnabled(aprim.Body))
aprim.clearSleeperCollisions();
}
}
lock (_activegroups)
{
try
{
foreach (OdePrim aprim in _activegroups)
{
if(!aprim.m_outbounds && SafeNativeMethods.BodyIsEnabled(aprim.Body) &&
aprim.m_collide_geom != IntPtr.Zero)
{
SafeNativeMethods.SpaceCollide2(StaticSpace, aprim.m_collide_geom, IntPtr.Zero, NearCallback);
SafeNativeMethods.SpaceCollide2(TerrainGeom, aprim.m_collide_geom, IntPtr.Zero, NearCallback);
}
}
}
catch (Exception e)
{
m_log.Warn("[PHYSICS]: Unable to collide Active to Static: " + e.Message);
}
}
// colide active amoung them
try
{
SafeNativeMethods.SpaceCollide(ActiveSpace, IntPtr.Zero, NearCallback);
}
catch (Exception e)
{
m_log.Warn("[PHYSICS]: Unable to collide Active to Static: " + e.Message);
m_log.Warn("[PHYSICS]: Unable to collide in Active: " + e.Message);
}
}
// colide active amoung them
try
{
SafeNativeMethods.SpaceCollide(ActiveSpace, IntPtr.Zero, NearCallback);
}
catch (Exception e)
{
m_log.Warn("[PHYSICS]: Unable to collide in Active: " + e.Message);
}
/*
// and with chars
try
@@ -1262,7 +1266,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
else
chr._charsListIndex = -1;
if (chr.bad)
m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.LocalID);
m_log.DebugFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_baseLocalID);
}
}
@@ -1385,14 +1389,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
lock (_prims)
_prims.Remove(prim.LocalID);
_prims.Remove(prim.m_baseLocalID);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void addToPrims(OdePrim prim)
{
lock (_prims)
_prims[prim.LocalID] = prim;
{
_prims[prim.m_baseLocalID] = prim;
}
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -1408,10 +1414,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool havePrim(OdePrim prm)
public bool havePrim(OdePrim prim)
{
lock (_prims)
return _prims.ContainsKey(prm.LocalID);
return _prims.ContainsKey(prim.m_baseLocalID);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -1420,7 +1426,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
lock (_prims)
{
_prims.Remove(oldID);
_prims[prim.LocalID] = prim;
_prims[prim.m_baseLocalID] = prim;
}
}
@@ -1429,7 +1435,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (actor is OdePrim)
{
lock (_prims)
return _prims.ContainsKey(((OdePrim)actor).LocalID);
return _prims.ContainsKey(((OdePrim)actor).m_baseLocalID);
}
else if (actor is OdeCharacter)
{
@@ -1630,16 +1636,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
double maxChangestime = (int)(reqTimeStep * 500f) + loopstartMS; // half the time
double maxLoopTime = (int)(reqTimeStep * 1200f) + loopstartMS; // 1.2 the time
/*
double collisionTime = 0;
double qstepTIme = 0;
double tmpTime = 0;
double changestot = 0;
double collisonRepo = 0;
double updatesTime = 0;
double moveTime = 0;
double rayTime = 0;
*/
//double collisionTime = 0;
//double qstepTIme = 0;
//double tmpTime = 0;
//double changestot = 0;
//double collisonRepo = 0;
//double updatesTime = 0;
//double moveTime = 0;
//double rayTime = 0;
SafeNativeMethods.AllocateODEDataForThread(~0U);
@@ -1708,7 +1714,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
//collisionTime += Util.GetTimeStampMS() - tmpTime;
//tmpTime = Util.GetTimeStampMS();
lock(_collisionEventPrimRemove)
lock (_collisionEventPrimRemove)
{
foreach (PhysicsActor obj in _collisionEventPrimRemove)
_collisionEventPrim.Remove(obj);
@@ -1746,10 +1752,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
foreach(OdePrim prm in sleepers)
prm.SleeperAddCollisionEvents();
sleepers.Clear();
// collisonRepo += Util.GetTimeStampMS() - tmpTime;
//collisonRepo += Util.GetTimeStampMS() - tmpTime;
//tmpTime = Util.GetTimeStampMS();
// do a ode simulation step
// tmpTime = Util.GetTimeStampMS();
lock (SimulationLock)
{
SafeNativeMethods.WorldQuickStep(world, ODE_STEPSIZE);
@@ -1791,7 +1798,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
//updatesTime += Util.GetTimeStampMS() - tmpTime;
//updatesTime += Util.GetTimeStampMS() - tmpTime;
}
catch (Exception e)
{
@@ -1862,22 +1869,22 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int ngeoms = SafeNativeMethods.NTotalGeoms;
*/
/*
//looptimeMS /= nodeframes;
collisionTime /= nodeframes;
qstepTIme /= nodeframes;
changestot /= nodeframes;
collisonRepo /= nodeframes;
updatesTime /= nodeframes;
moveTime /= nodeframes;
rayTime /= nodeframes;
//collisionTime /= nodeframes;
//qstepTIme /= nodeframes;
//changestot /= nodeframes;
//collisonRepo /= nodeframes;
//updatesTime /= nodeframes;
//moveTime /= nodeframes;
//rayTime /= nodeframes;
//if(looptimeMS > .05)
{
}
*/
fps = (float)nodeframes * ODE_STEPSIZE / reqTimeStep;
if(step_time < HalfOdeStep)
@@ -2283,7 +2290,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
orderedPrims = new List<OdePrim>(_activeprims);
orderedPrims.Sort(compareByCollisionsDesc);
topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
topColliders = orderedPrims.Take(25).ToDictionary(p => p.m_baseLocalID, p => p.CollisionScore);
return topColliders;
}