Skip to content

Commit

Permalink
refactor: Simplify ODEPrim.AddChildPrim() by returning early where ap…
Browse files Browse the repository at this point in the history 
…propriate.
  • Loading branch information
Justin Clark-Casey (justincc) committed Apr 21, 2012
1 parent 77a7de8 commit f609594
Showing 1 changed file with 117 additions and 115 deletions.
232 changes: 117 additions & 115 deletions OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View file
Expand Up @@ -1042,142 +1042,144 @@ private void changelink()
/// <param name="prim">Child prim</param> /// <param name="prim">Child prim</param>
private void AddChildPrim(OdePrim prim) private void AddChildPrim(OdePrim prim)
{ {
//Console.WriteLine("AddChildPrim " + Name); if (LocalID == prim.LocalID)
if (LocalID != prim.LocalID) return;

if (Body == IntPtr.Zero)
{ {
if (Body == IntPtr.Zero) Body = d.BodyCreate(_parent_scene.world);
setMass();
}

lock (childrenPrim)
{
if (childrenPrim.Contains(prim))
return;

//Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim);

foreach (OdePrim prm in childrenPrim)
{ {
Body = d.BodyCreate(_parent_scene.world); d.Mass m2;
setMass(); d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);

d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;

d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(ref m2, ref mat);
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
} }
if (Body != IntPtr.Zero)
foreach (OdePrim prm in childrenPrim)
{ {
lock (childrenPrim) prm.m_collisionCategories |= CollisionCategories.Body;
{ prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
if (!childrenPrim.Contains(prim))
{
//Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim);

foreach (OdePrim prm in childrenPrim)
{
d.Mass m2;
d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);

d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;

d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(ref m2, ref mat);
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
}

foreach (OdePrim prm in childrenPrim)
{
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);


//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);

d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;

d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
if (Body != IntPtr.Zero)
{
d.GeomSetBody(prm.prim_geom, Body);
prm.childPrim = true;
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
}
else
{
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
}


prm.m_interpenetrationcount = 0; d.Quaternion quat = new d.Quaternion();
prm.m_collisionscore = 0; quat.W = prm._orientation.W;
prm.m_disabled = false; quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;


// The body doesn't already have a finite rotation mode set here d.Matrix3 mat = new d.Matrix3();
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) d.RfromQ(out mat, ref quat);
{ if (Body != IntPtr.Zero)
prm.createAMotor(m_angularlock); {
} d.GeomSetBody(prm.prim_geom, Body);
prm.Body = Body; prm.childPrim = true;
_parent_scene.ActivatePrim(prm); d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
} //d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);
}
else
{
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
}

prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0;
prm.m_disabled = false;

// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{
prm.createAMotor(m_angularlock);
}
prm.Body = Body;
_parent_scene.ActivatePrim(prm);
}


m_collisionCategories |= CollisionCategories.Body; m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);


//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
//Console.WriteLine(" Post GeomSetCategoryBits 2"); //Console.WriteLine(" Post GeomSetCategoryBits 2");
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);

d.Quaternion quat2 = new d.Quaternion();
quat2.W = _orientation.W;
quat2.X = _orientation.X;
quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z;

d.Matrix3 mat2 = new d.Matrix3();
d.RfromQ(out mat2, ref quat2);
d.GeomSetBody(prim_geom, Body);
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
//d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);

d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);


m_interpenetrationcount = 0; d.Quaternion quat2 = new d.Quaternion();
m_collisionscore = 0; quat2.W = _orientation.W;
m_disabled = false; quat2.X = _orientation.X;
quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z;


// The body doesn't already have a finite rotation mode set here d.Matrix3 mat2 = new d.Matrix3();
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) d.RfromQ(out mat2, ref quat2);
{ d.GeomSetBody(prim_geom, Body);
createAMotor(m_angularlock); d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
} //d.GeomSetOffsetPosition(prim.prim_geom,
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); // (Position.X - prm.Position.X) - pMass.c.X,
if (m_vehicle.Type != Vehicle.TYPE_NONE) // (Position.Y - prm.Position.Y) - pMass.c.Y,
m_vehicle.Enable(Body, _parent_scene); // (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass);


_parent_scene.ActivatePrim(this); d.BodySetAutoDisableFlag(Body, true);
} d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
}
m_interpenetrationcount = 0;
m_collisionscore = 0;
m_disabled = false;

// The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{
createAMotor(m_angularlock);
} }

d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);

if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);

_parent_scene.ActivatePrim(this);
} }
} }


private void ChildSetGeom(OdePrim odePrim) private void ChildSetGeom(OdePrim odePrim)
{ {
// m_log.DebugFormat(
// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);

//if (IsPhysical && Body != IntPtr.Zero) //if (IsPhysical && Body != IntPtr.Zero)
lock (childrenPrim) lock (childrenPrim)
{ {
Expand Down

0 comments on commit f609594

Please sign in to comment.