diff options
Merge branch 'master' of git://opensimulator.org/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 59 |
1 files changed, 54 insertions, 5 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index cf7aa0f..0323b0d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -242,6 +242,45 @@ public class BSPrim : BSPhysObject | |||
242 | public override void LockAngularMotion(OMV.Vector3 axis) | 242 | public override void LockAngularMotion(OMV.Vector3 axis) |
243 | { | 243 | { |
244 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); | 244 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); |
245 | |||
246 | OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); | ||
247 | if (axis.X != 1) locking.X = 0f; | ||
248 | if (axis.Y != 1) locking.Y = 0f; | ||
249 | if (axis.Z != 1) locking.Z = 0f; | ||
250 | LockedAxis = locking; | ||
251 | |||
252 | /* Not implemented yet | ||
253 | if (LockedAxis != LockedAxisFree) | ||
254 | { | ||
255 | // Something is locked so start the thingy that keeps that axis from changing | ||
256 | RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop) | ||
257 | { | ||
258 | if (LockedAxis != LockedAxisFree) | ||
259 | { | ||
260 | if (IsPhysicallyActive) | ||
261 | { | ||
262 | // Bullet can lock axis but it only works for global axis. | ||
263 | // Check if this prim is aligned on global axis and use Bullet's | ||
264 | // system if so. | ||
265 | |||
266 | ForceOrientation = entprop.Rotation; | ||
267 | ForceRotationalVelocity = entprop.RotationalVelocity; | ||
268 | } | ||
269 | } | ||
270 | else | ||
271 | { | ||
272 | UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion"); | ||
273 | } | ||
274 | |||
275 | }); | ||
276 | } | ||
277 | else | ||
278 | { | ||
279 | // Everything seems unlocked | ||
280 | UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion"); | ||
281 | } | ||
282 | */ | ||
283 | |||
245 | return; | 284 | return; |
246 | } | 285 | } |
247 | 286 | ||
@@ -311,7 +350,8 @@ public class BSPrim : BSPhysObject | |||
311 | 350 | ||
312 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); | 351 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); |
313 | OMV.Vector3 upForce = OMV.Vector3.Zero; | 352 | OMV.Vector3 upForce = OMV.Vector3.Zero; |
314 | if (RawPosition.Z < terrainHeight) | 353 | float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z)); |
354 | if ((RawPosition.Z + approxSize / 2f) < terrainHeight) | ||
315 | { | 355 | { |
316 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); | 356 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); |
317 | float targetHeight = terrainHeight + (Size.Z / 2f); | 357 | float targetHeight = terrainHeight + (Size.Z / 2f); |
@@ -442,7 +482,7 @@ public class BSPrim : BSPhysObject | |||
442 | RegisterPreStepAction("BSPrim.setForce", LocalID, | 482 | RegisterPreStepAction("BSPrim.setForce", LocalID, |
443 | delegate(float timeStep) | 483 | delegate(float timeStep) |
444 | { | 484 | { |
445 | if (!IsPhysicallyActive) | 485 | if (!IsPhysicallyActive || _force == OMV.Vector3.Zero) |
446 | { | 486 | { |
447 | UnRegisterPreStepAction("BSPrim.setForce", LocalID); | 487 | UnRegisterPreStepAction("BSPrim.setForce", LocalID); |
448 | return; | 488 | return; |
@@ -576,6 +616,8 @@ public class BSPrim : BSPhysObject | |||
576 | } | 616 | } |
577 | } | 617 | } |
578 | } | 618 | } |
619 | // The simulator/viewer keep density as 100kg/m3. | ||
620 | // Remember to use BSParam.DensityScaleFactor to create the physical density. | ||
579 | public override float Density | 621 | public override float Density |
580 | { | 622 | { |
581 | get { return base.Density; } | 623 | get { return base.Density; } |
@@ -647,7 +689,7 @@ public class BSPrim : BSPhysObject | |||
647 | RegisterPreStepAction("BSPrim.setTorque", LocalID, | 689 | RegisterPreStepAction("BSPrim.setTorque", LocalID, |
648 | delegate(float timeStep) | 690 | delegate(float timeStep) |
649 | { | 691 | { |
650 | if (!IsPhysicallyActive) | 692 | if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero) |
651 | { | 693 | { |
652 | UnRegisterPreStepAction("BSPrim.setTorque", LocalID); | 694 | UnRegisterPreStepAction("BSPrim.setTorque", LocalID); |
653 | return; | 695 | return; |
@@ -1569,7 +1611,8 @@ public class BSPrim : BSPhysObject | |||
1569 | profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; | 1611 | profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; |
1570 | volume *= (profileEnd - profileBegin); | 1612 | volume *= (profileEnd - profileBegin); |
1571 | 1613 | ||
1572 | returnMass = Density * volume; | 1614 | returnMass = Density * BSParam.DensityScaleFactor * volume; |
1615 | DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); | ||
1573 | 1616 | ||
1574 | returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); | 1617 | returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); |
1575 | 1618 | ||
@@ -1607,6 +1650,8 @@ public class BSPrim : BSPhysObject | |||
1607 | // the world that things have changed. | 1650 | // the world that things have changed. |
1608 | public override void UpdateProperties(EntityProperties entprop) | 1651 | public override void UpdateProperties(EntityProperties entprop) |
1609 | { | 1652 | { |
1653 | TriggerPreUpdatePropertyAction(ref entprop); | ||
1654 | |||
1610 | // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet | 1655 | // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet |
1611 | // TODO: handle physics introduced by Bullet with computed vehicle physics. | 1656 | // TODO: handle physics introduced by Bullet with computed vehicle physics. |
1612 | if (VehicleController.IsActive) | 1657 | if (VehicleController.IsActive) |
@@ -1619,7 +1664,11 @@ public class BSPrim : BSPhysObject | |||
1619 | // Assign directly to the local variables so the normal set actions do not happen | 1664 | // Assign directly to the local variables so the normal set actions do not happen |
1620 | _position = entprop.Position; | 1665 | _position = entprop.Position; |
1621 | _orientation = entprop.Rotation; | 1666 | _orientation = entprop.Rotation; |
1622 | _velocity = entprop.Velocity; | 1667 | // _velocity = entprop.Velocity; |
1668 | // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be | ||
1669 | // very sensitive to velocity changes. | ||
1670 | if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f)) | ||
1671 | _velocity = entprop.Velocity; | ||
1623 | _acceleration = entprop.Acceleration; | 1672 | _acceleration = entprop.Acceleration; |
1624 | _rotationalVelocity = entprop.RotationalVelocity; | 1673 | _rotationalVelocity = entprop.RotationalVelocity; |
1625 | 1674 | ||