/// <summary>
/// This is our near callback. A geometry is near a body
/// </summary>
/// <param name="gspace">The space that contains the geoms. Remember, spaces are also geoms</param>
/// <param name="g1">a geometry or space</param>
/// <param name="g2">another geometry or space</param>
void IsNearBody(IntPtr gspace, IntPtr g1, IntPtr g2)
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero || g1 == g2 || !ContinueCollisionProcessing)
return;
// Test if we're colliding a geom with a space.
// If so we have to drill down into the space recursively
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
{
// Separating static prim geometry spaces.
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
try
{
lock(_activeprimsLock)
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (Exception e)
{
MainConsole.Instance.WarnFormat("[ODE Physics]: SpaceCollide2 failed: {0} ", e);
return;
}
return;
}
IntPtr b1 = d.GeomGetBody(g1);
IntPtr b2 = d.GeomGetBody(g2);
// Figure out how many contact points we have
int count;
try
{
// Colliding Geom To Geom
// This portion of the function 'was' blatantly ripped off from BoxStack.cs
if (g1 == g2)
return; // Can't collide with yourself
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return;
count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray,
d.ContactGeom.unmanagedSizeOf);
}
catch (Exception e)
{
MainConsole.Instance.WarnFormat("[ODE Physics]: ode Collide failed: {0} ", e);
PhysicsActor badObj;
if (actor_name_map.TryGetValue(g1, out badObj))
if (badObj is ODEPrim)
RemovePrim((ODEPrim) badObj);
else if (badObj is ODECharacter)
RemoveAvatar((ODECharacter) badObj);
if (actor_name_map.TryGetValue(g2, out badObj))
if (badObj is ODEPrim)
RemovePrim((ODEPrim) badObj);
else if (badObj is ODECharacter)
RemoveAvatar((ODECharacter) badObj);
return;
}
if (count == 0)
return;
PhysicsActor p1;
PhysicsActor p2;
if (!actor_name_map.TryGetValue(g1, out p1))
p1 = PANull;
if (!actor_name_map.TryGetValue(g2, out p2))
p2 = PANull;
if (p1.CollisionScore >= float.MaxValue - count)
p1.CollisionScore = 0;
p1.CollisionScore += count;
if (p2.CollisionScore >= float.MaxValue - count)
p2.CollisionScore = 0;
p2.CollisionScore += count;
ContactPoint maxDepthContact = new ContactPoint();
d.ContactGeom curContact = new d.ContactGeom();
// 20131224 not used d.ContactGeom maxContact = new d.ContactGeom();
int NotSkipedCount = 0;
//StatContactLoopTime = CollectTime(() =>
#region Contact Loop
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curContact))
break;
if (curContact.depth > maxDepthContact.PenetrationDepth)
{
maxDepthContact.PenetrationDepth = curContact.depth;
maxDepthContact.Position.X = curContact.pos.X;
maxDepthContact.Position.Y = curContact.pos.Y;
maxDepthContact.Position.Z = curContact.pos.Z;
maxDepthContact.Type = (ActorTypes)p1.PhysicsActorType;
maxDepthContact.SurfaceNormal.X = curContact.normal.X;
maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
// 20131224 not used maxContact = curContact;
}
}
if (p1 is ODECharacter || p2 is ODECharacter)
//This really should be maxContact, but there are crashes that users have reported when this is used...
//AddODECollision(maxContact, p1, p2, b1, b2, maxDepthContact, ref NotSkipedCount);
AddODECollision(curContact, p1, p2, b1, b2, maxDepthContact, ref NotSkipedCount);
else
{
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curContact))
break;
AddODECollision(curContact, p1, p2, b1, b2, maxDepthContact, ref NotSkipedCount);
}
}
#endregion
//StatCollisionAccountingTime = CollectTime(() =>
{
if (NotSkipedCount > 0)
{
if (NotSkipedCount > geomContactPointsStartthrottle)
{
// If there are more then 3 contact points, it's likely
// that we've got a pile of objects, so ...
// We don't want to send out hundreds of terse updates over and over again
// so lets throttle them and send them again after it's somewhat sorted out.
p2.ThrottleUpdates = true;
}
}
Collision_accounting_events(p1, p2, maxDepthContact);
} //);
}
// This is the standard Near. Uses space AABBs to speed up detection.
void NearSpace(IntPtr space, IntPtr g1, IntPtr g2)
{
//Don't test against heightfield Geom, or you'll be sorry!
/*
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Stacktrace:
at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
fffff>
at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
0x00114>
at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
Native stacktrace:
mono [0x80d2a42]
[0xb7f5840c]
/lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
/usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
/usr/lib/libstdc++.so.6 [0xb45fa865]
/usr/lib/libstdc++.so.6 [0xb45fa8a2]
/usr/lib/libstdc++.so.6 [0xb45fa9da]
/usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
/usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
libode.so(dCollide+0x102) [0xb46571b2]
[0x95cfdec9]
[0x8ea07fe1]
[0xab260146]
libode.so [0xb465a5c4]
libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
libode.so(dSpaceCollide2+0x177) [0xb465ac67]
[0x95cf978e]
[0x8ea07945]
[0x95cf2bbc]
[0xab2787e7]
[0xab419fb3]
[0xab416657]
[0xab415bda]
[0xb609b08e]
mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
mono [0x81a2f0f]
mono [0x81d28b6]
mono [0x81ea2c6]
/lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
/lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
*/
// Exclude heightfield geom
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass ||
d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
return;
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
{
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
// Separating static prim geometry spaces.
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
MainConsole.Instance.Warn("[PHYSICS]: Unable to collide test a space");
return;
}
//Colliding a space or a geom with a space or a geom. so drill down
//Collide all geoms in each space..
//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
return;
}
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
int count = 0;
try
{
if (g1 == g2)
return; // Can't collide with yourself
count = d.CollidePtr(g1, g2, (contactsPerCollision & 0xffff), ContactgeomsArray,
d.ContactGeom.unmanagedSizeOf);
}
catch (SEHException)
{
MainConsole.Instance.Error(
"[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
}
catch (Exception e)
{
MainConsole.Instance.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e);
return;
}
PhysicsActor p1 = null;
if (g1 != IntPtr.Zero)
m_scene.actor_name_map.TryGetValue(g1, out p1);
// Loop over contacts, build results.
d.ContactGeom curContact = new d.ContactGeom();
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curContact))
break;
if (p1 != null)
{
if (p1 is ODEPrim)
{
ContactResult collisionresult = new ContactResult
{
ConsumerID = ((ODEPrim) p1).LocalID,
Pos =
new Vector3(curContact.pos.X, curContact.pos.Y,
curContact.pos.Z),
Depth = curContact.depth,
Normal =
new Vector3(curContact.normal.X,
curContact.normal.Y,
curContact.normal.Z)
};
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
}