*** DANGER TESTING **** changed prims mesh generation hopefully removing

spurius faces. CHanged several aspects. Fixed prims inertia that was too
low, still using box as model. Increased number of quickstep SOR
iterations to 15. Keep it 15 even on heavy load ( will only jump
simulation time).

1 files changed, 28 insertions, 24 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index faa9488..7cabddd 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -25,7 +25,7 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

  */

 

-/* Revision 2011/12 by Ubit Umarov

+/* Revision 2011/12/13 by Ubit Umarov

  *

  * 

  */

@@ -1736,7 +1736,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             d.BodySetAutoDisableFlag(Body, true);

             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);

-            d.BodySetDamping(Body, .005f, .005f);

+            d.BodySetAutoDisableAngularThreshold(Body, 0.01f);

+            d.BodySetAutoDisableLinearThreshold(Body, 0.01f);

+            d.BodySetDamping(Body, .005f, .001f);

 

             if (m_targetSpace != IntPtr.Zero)

             {

@@ -2144,7 +2146,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             _mass = primMass; // just in case

 

-            d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z);

+            d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z);

 

             d.MassTranslate(ref primdMass,

                                 m_OBBOffset.X,

@@ -2362,6 +2364,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             MakeBody();

         }

 

+ 

         #region changes

 

         private void changeadd()

@@ -3213,7 +3216,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                     if (++bodydisablecontrol < 20)

                         return;

-

                     

                     d.BodyEnable(Body);

                 }

@@ -3381,11 +3383,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

-        public void UpdatePositionAndVelocity()

+        public void UpdatePositionAndVelocity(int frame)

         {

             if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)

             {

-                if (d.BodyIsEnabled(Body) || !_zeroFlag)

+                bool bodyenabled = d.BodyIsEnabled(Body);

+                if (bodyenabled || !_zeroFlag)

                 {

                     bool lastZeroFlag = _zeroFlag;

 

@@ -3478,13 +3481,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // tolerance values depende a lot on simulation noise...

                     // use simple math.abs since we dont need to be exact

 

-                    if (

-                        (Math.Abs(_position.X - lpos.X) < 0.001f)

-                        && (Math.Abs(_position.Y - lpos.Y) < 0.001f)

-                        && (Math.Abs(_position.Z - lpos.Z) < 0.001f)

-                        && (Math.Abs(_orientation.X - ori.X) < 0.0001f)

-                        && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)

-                        && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f)  // ignore W

+                    if (!bodyenabled ||

+                        (Math.Abs(_position.X - lpos.X) < 0.005f)

+                        && (Math.Abs(_position.Y - lpos.Y) < 0.005f)

+                        && (Math.Abs(_position.Z - lpos.Z) < 0.005f)

+                        && (Math.Abs(_orientation.X - ori.X) < 0.001f)

+                        && (Math.Abs(_orientation.Y - ori.Y) < 0.001f)

+                        && (Math.Abs(_orientation.Z - ori.Z) < 0.001f)  // ignore W

                         )

                     {

                         _zeroFlag = true;

@@ -3499,9 +3502,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                         _acceleration = _velocity;

 

-                        if ((Math.Abs(vel.X) < 0.001f) &&

-                            (Math.Abs(vel.Y) < 0.001f) &&

-                            (Math.Abs(vel.Z) < 0.001f))

+                        if ((Math.Abs(vel.X) < 0.005f) &&

+                            (Math.Abs(vel.Y) < 0.005f) &&

+                            (Math.Abs(vel.Z) < 0.005f))

                         {

                             _velocity = Vector3.Zero;

                             float t = -m_invTimeStep;

@@ -3538,6 +3541,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                         }

                     }

 

+                    _position.X = lpos.X;

+                    _position.Y = lpos.Y;

+                    _position.Z = lpos.Z;

+

+                    _orientation.X = ori.X;

+                    _orientation.Y = ori.Y;

+                    _orientation.Z = ori.Z;

+                    _orientation.W = ori.W;

+

                     if (_zeroFlag)

                     {

                         if (lastZeroFlag)

@@ -3556,14 +3568,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                         return;

                     }

 

-                    _position.X = lpos.X;

-                    _position.Y = lpos.Y;

-                    _position.Z = lpos.Z;

-

-                    _orientation.X = ori.X;

-                    _orientation.Y = ori.Y;

-                    _orientation.Z = ori.Z;

-                    _orientation.W = ori.W;

                     base.RequestPhysicsterseUpdate();

                     m_lastUpdateSent = false;

                 }