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authorUbitUmarov2017-04-18 00:50:55 +0100
committerUbitUmarov2017-04-18 00:50:55 +0100
commit49884b94a78bcf45c25b72e1f9fae593de16864f (patch)
tree178a6b656b4735c7c9e5f1dbdf3cd11891ee4e95 /OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
parent fix active objects count down, a path at least (diff)
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update ODE binaries for windows. Other platforms need to compile from opensim-libs repo, folder ODE-OpenSim-0.13.2, read file OPENSIM-README.txt. Remove code to reduce bounce on non physical placement, new unmanaged should handle that
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs199
1 files changed, 77 insertions, 122 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
index bf0400b..7b77d2f 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
@@ -111,7 +111,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
111 111
112 private int m_body_autodisable_frames; 112 private int m_body_autodisable_frames;
113 public int m_bodydisablecontrol = 0; 113 public int m_bodydisablecontrol = 0;
114 public int m_bodyMoveCoolDown = 0;
115 private float m_gravmod = 1.0f; 114 private float m_gravmod = 1.0f;
116 115
117 // Default we're a Geometry 116 // Default we're a Geometry
@@ -1030,18 +1029,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1030 d.AllocateODEDataForThread(0); 1029 d.AllocateODEDataForThread(0);
1031 if(Body != IntPtr.Zero) 1030 if(Body != IntPtr.Zero)
1032 { 1031 {
1033 if(m_bodyMoveCoolDown >= 0) 1032 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
1034 { 1033 m_rotationalVelocity.X = dtmp.X;
1035 d.Vector3 dtmp = d.BodyGetAngularVel(Body); 1034 m_rotationalVelocity.Y = dtmp.Y;
1036 m_rotationalVelocity.X = dtmp.X; 1035 m_rotationalVelocity.Z = dtmp.Z;
1037 m_rotationalVelocity.Y = dtmp.Y; 1036
1038 m_rotationalVelocity.Z = dtmp.Z; 1037 dtmp = d.BodyGetLinearVel(Body);
1038 _velocity.X = dtmp.X;
1039 _velocity.Y = dtmp.Y;
1040 _velocity.Z = dtmp.Z;
1039 1041
1040 dtmp = d.BodyGetLinearVel(Body);
1041 _velocity.X = dtmp.X;
1042 _velocity.Y = dtmp.Y;
1043 _velocity.Z = dtmp.Z;
1044 }
1045 d.BodySetLinearVel(Body, 0, 0, 0); // stop it 1042 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
1046 d.BodySetAngularVel(Body, 0, 0, 0); 1043 d.BodySetAngularVel(Body, 0, 0, 0);
1047 } 1044 }
@@ -1345,7 +1342,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1345 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; 1342 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
1346 1343
1347 m_building = true; // control must set this to false when done 1344 m_building = true; // control must set this to false when done
1348 m_bodyMoveCoolDown = 0;
1349 1345
1350 AddChange(changes.Add, null); 1346 AddChange(changes.Add, null);
1351 1347
@@ -2144,14 +2140,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2144 } 2140 }
2145 else 2141 else
2146 { 2142 {
2147 /*
2148 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); 2143 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
2149 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); 2144 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
2150 */ 2145
2151 _zeroFlag = false; 2146 _zeroFlag = false;
2152 m_bodydisablecontrol = 0; 2147 m_bodydisablecontrol = 0;
2153 } 2148 }
2154 m_bodyMoveCoolDown = -5;
2155 _parent_scene.addActiveGroups(this); 2149 _parent_scene.addActiveGroups(this);
2156 } 2150 }
2157 2151
@@ -2244,7 +2238,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2244 } 2238 }
2245 m_mass = primMass; 2239 m_mass = primMass;
2246 m_collisionscore = 0; 2240 m_collisionscore = 0;
2247 m_bodyMoveCoolDown = 0;
2248 } 2241 }
2249 2242
2250 private void FixInertia(Vector3 NewPos,Quaternion newrot) 2243 private void FixInertia(Vector3 NewPos,Quaternion newrot)
@@ -2907,7 +2900,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2907 { 2900 {
2908 _zeroFlag = true; 2901 _zeroFlag = true;
2909 d.BodyEnable(Body); 2902 d.BodyEnable(Body);
2910 m_bodyMoveCoolDown = -5;
2911 } 2903 }
2912 } 2904 }
2913// else if (_parent != null) 2905// else if (_parent != null)
@@ -2950,8 +2942,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2950 { 2942 {
2951 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); 2943 d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
2952 _position = newPos; 2944 _position = newPos;
2953 if (Body != IntPtr.Zero && !m_disabled)
2954 m_bodyMoveCoolDown = -5;
2955 } 2945 }
2956 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) 2946 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
2957 { 2947 {
@@ -3016,7 +3006,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3016 { 3006 {
3017 if(m_angularlocks != 0) 3007 if(m_angularlocks != 0)
3018 createAMotor(m_angularlocks); 3008 createAMotor(m_angularlocks);
3019 m_bodyMoveCoolDown = -5;
3020 } 3009 }
3021 } 3010 }
3022 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) 3011 if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
@@ -3391,8 +3380,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3391 enableBodySoft(); 3380 enableBodySoft();
3392 else if (!d.BodyIsEnabled(Body)) 3381 else if (!d.BodyIsEnabled(Body))
3393 d.BodyEnable(Body); 3382 d.BodyEnable(Body);
3394 if(m_bodyMoveCoolDown >= 0)
3395 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
3396 } 3383 }
3397 //resetCollisionAccounting(); 3384 //resetCollisionAccounting();
3398 } 3385 }
@@ -3416,9 +3403,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3416 enableBodySoft(); 3403 enableBodySoft();
3417 else if (!d.BodyIsEnabled(Body)) 3404 else if (!d.BodyIsEnabled(Body))
3418 d.BodyEnable(Body); 3405 d.BodyEnable(Body);
3419
3420 if(m_bodyMoveCoolDown >= 0);
3421 d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
3422 } 3406 }
3423 //resetCollisionAccounting(); 3407 //resetCollisionAccounting();
3424 } 3408 }
@@ -3569,26 +3553,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3569 if (!childPrim && m_isphysical && Body != IntPtr.Zero && 3553 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
3570 !m_disabled && !m_isSelected && !m_building && !m_outbounds) 3554 !m_disabled && !m_isSelected && !m_building && !m_outbounds)
3571 { 3555 {
3572 if(m_bodyMoveCoolDown < 0)
3573 {
3574 m_bodyMoveCoolDown++;
3575// if(!IsColliding)
3576// m_bodyCoolDown +=2;
3577 if(m_bodyMoveCoolDown >= 0)
3578 {
3579 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
3580 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
3581 }
3582 else
3583 {
3584 d.BodySetAngularVel(Body, 0, 0, 0);
3585 d.BodySetLinearVel(Body, 0, 0, 0);
3586 m_forceacc = Vector3.Zero;
3587 m_angularForceacc = Vector3.Zero;
3588 _zeroFlag = false;
3589 return;
3590 }
3591 }
3592 if (!d.BodyIsEnabled(Body)) 3556 if (!d.BodyIsEnabled(Body))
3593 { 3557 {
3594 // let vehicles sleep 3558 // let vehicles sleep
@@ -3844,18 +3808,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3844 m_lastposition = _position; 3808 m_lastposition = _position;
3845 m_lastorientation = _orientation; 3809 m_lastorientation = _orientation;
3846 3810
3847 if(m_bodyMoveCoolDown >= 0) 3811 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
3848 { 3812 m_rotationalVelocity.X = dtmp.X;
3849 d.Vector3 dtmp = d.BodyGetAngularVel(Body); 3813 m_rotationalVelocity.Y = dtmp.Y;
3850 m_rotationalVelocity.X = dtmp.X; 3814 m_rotationalVelocity.Z = dtmp.Z;
3851 m_rotationalVelocity.Y = dtmp.Y; 3815
3852 m_rotationalVelocity.Z = dtmp.Z; 3816 dtmp = d.BodyGetLinearVel(Body);
3853 3817 _velocity.X = dtmp.X;
3854 dtmp = d.BodyGetLinearVel(Body); 3818 _velocity.Y = dtmp.Y;
3855 _velocity.X = dtmp.X; 3819 _velocity.Z = dtmp.Z;
3856 _velocity.Y = dtmp.Y;
3857 _velocity.Z = dtmp.Z;
3858 }
3859 3820
3860 d.BodySetLinearVel(Body, 0, 0, 0); // stop it 3821 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
3861 d.BodySetAngularVel(Body, 0, 0, 0); 3822 d.BodySetAngularVel(Body, 0, 0, 0);
@@ -3880,33 +3841,30 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3880 } 3841 }
3881 else 3842 else
3882 { 3843 {
3883 if(m_bodyMoveCoolDown >= 0) 3844 float poserror;
3845 float angerror;
3846 if(_zeroFlag)
3884 { 3847 {
3885 float poserror; 3848 poserror = 0.01f;
3886 float angerror; 3849 angerror = 0.001f;
3887 if(_zeroFlag)
3888 {
3889 poserror = 0.01f;
3890 angerror = 0.001f;
3891 }
3892 else
3893 {
3894 poserror = 0.005f;
3895 angerror = 0.0005f;
3896 }
3897
3898 if (
3899 (Math.Abs(_position.X - lpos.X) < poserror)
3900 && (Math.Abs(_position.Y - lpos.Y) < poserror)
3901 && (Math.Abs(_position.Z - lpos.Z) < poserror)
3902 && (Math.Abs(_orientation.X - ori.X) < angerror)
3903 && (Math.Abs(_orientation.Y - ori.Y) < angerror)
3904 && (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
3905 )
3906 _zeroFlag = true;
3907 else
3908 _zeroFlag = false;
3909 } 3850 }
3851 else
3852 {
3853 poserror = 0.005f;
3854 angerror = 0.0005f;
3855 }
3856
3857 if (
3858 (Math.Abs(_position.X - lpos.X) < poserror)
3859 && (Math.Abs(_position.Y - lpos.Y) < poserror)
3860 && (Math.Abs(_position.Z - lpos.Z) < poserror)
3861 && (Math.Abs(_orientation.X - ori.X) < angerror)
3862 && (Math.Abs(_orientation.Y - ori.Y) < angerror)
3863 && (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
3864 )
3865 _zeroFlag = true;
3866 else
3867 _zeroFlag = false;
3910 } 3868 }
3911 3869
3912 // update position 3870 // update position
@@ -3932,49 +3890,46 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3932 } 3890 }
3933 else 3891 else
3934 { 3892 {
3935 if(m_bodyMoveCoolDown >= 0) 3893 d.Vector3 vel = d.BodyGetLinearVel(Body);
3936 {
3937 d.Vector3 vel = d.BodyGetLinearVel(Body);
3938 3894
3939 m_acceleration = _velocity; 3895 m_acceleration = _velocity;
3940 3896
3941 if ((Math.Abs(vel.X) < 0.005f) && 3897 if ((Math.Abs(vel.X) < 0.005f) &&
3942 (Math.Abs(vel.Y) < 0.005f) && 3898 (Math.Abs(vel.Y) < 0.005f) &&
3943 (Math.Abs(vel.Z) < 0.005f)) 3899 (Math.Abs(vel.Z) < 0.005f))
3944 { 3900 {
3945 _velocity = Vector3.Zero; 3901 _velocity = Vector3.Zero;
3946 float t = -m_invTimeStep; 3902 float t = -m_invTimeStep;
3947 m_acceleration = m_acceleration * t; 3903 m_acceleration = m_acceleration * t;
3948 } 3904 }
3949 else 3905 else
3950 { 3906 {
3951 _velocity.X = vel.X; 3907 _velocity.X = vel.X;
3952 _velocity.Y = vel.Y; 3908 _velocity.Y = vel.Y;
3953 _velocity.Z = vel.Z; 3909 _velocity.Z = vel.Z;
3954 m_acceleration = (_velocity - m_acceleration) * m_invTimeStep; 3910 m_acceleration = (_velocity - m_acceleration) * m_invTimeStep;
3955 } 3911 }
3956 3912
3957 if ((Math.Abs(m_acceleration.X) < 0.01f) && 3913 if ((Math.Abs(m_acceleration.X) < 0.01f) &&
3958 (Math.Abs(m_acceleration.Y) < 0.01f) && 3914 (Math.Abs(m_acceleration.Y) < 0.01f) &&
3959 (Math.Abs(m_acceleration.Z) < 0.01f)) 3915 (Math.Abs(m_acceleration.Z) < 0.01f))
3960 { 3916 {
3961 m_acceleration = Vector3.Zero; 3917 m_acceleration = Vector3.Zero;
3962 } 3918 }
3963 3919
3964 vel = d.BodyGetAngularVel(Body); 3920 vel = d.BodyGetAngularVel(Body);
3965 if ((Math.Abs(vel.X) < 0.0001) && 3921 if ((Math.Abs(vel.X) < 0.0001) &&
3966 (Math.Abs(vel.Y) < 0.0001) && 3922 (Math.Abs(vel.Y) < 0.0001) &&
3967 (Math.Abs(vel.Z) < 0.0001) 3923 (Math.Abs(vel.Z) < 0.0001)
3968 ) 3924 )
3969 { 3925 {
3970 m_rotationalVelocity = Vector3.Zero; 3926 m_rotationalVelocity = Vector3.Zero;
3971 } 3927 }
3972 else 3928 else
3973 { 3929 {
3974 m_rotationalVelocity.X = vel.X; 3930 m_rotationalVelocity.X = vel.X;
3975 m_rotationalVelocity.Y = vel.Y; 3931 m_rotationalVelocity.Y = vel.Y;
3976 m_rotationalVelocity.Z = vel.Z; 3932 m_rotationalVelocity.Z = vel.Z;
3977 }
3978 } 3933 }
3979 } 3934 }
3980 3935
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