diff options
author | UbitUmarov | 2017-04-14 03:14:41 +0100 |
---|---|---|
committer | UbitUmarov | 2017-04-14 03:14:41 +0100 |
commit | 9d8220ac9fe4fe01676beaf9b2a82db82d37a7f8 (patch) | |
tree | 95ac43167b196955c953485c58e38d07314d5157 /OpenSim/Region | |
parent | update ode.dll for windows. Other platforms need fo be compiled from opensim... (diff) | |
download | opensim-SC-9d8220ac9fe4fe01676beaf9b2a82db82d37a7f8.zip opensim-SC-9d8220ac9fe4fe01676beaf9b2a82db82d37a7f8.tar.gz opensim-SC-9d8220ac9fe4fe01676beaf9b2a82db82d37a7f8.tar.bz2 opensim-SC-9d8220ac9fe4fe01676beaf9b2a82db82d37a7f8.tar.xz |
some reduction on large colision repulsive force on non physical placement of physical prims
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs | 4 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | 357 | ||||
-rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | 18 |
3 files changed, 255 insertions, 124 deletions
diff --git a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs index d23d9c1..2fa98b5 100644 --- a/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs +++ b/OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs | |||
@@ -256,6 +256,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase | |||
256 | /// </summary> | 256 | /// </summary> |
257 | public string SOPName; | 257 | public string SOPName; |
258 | 258 | ||
259 | public virtual void CrossingStart() { } | ||
259 | public abstract void CrossingFailure(); | 260 | public abstract void CrossingFailure(); |
260 | 261 | ||
261 | public abstract void link(PhysicsActor obj); | 262 | public abstract void link(PhysicsActor obj); |
@@ -462,6 +463,7 @@ namespace OpenSim.Region.PhysicsModules.SharedBase | |||
462 | public abstract bool SubscribedEvents(); | 463 | public abstract bool SubscribedEvents(); |
463 | 464 | ||
464 | public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { } | 465 | public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { } |
466 | public virtual void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact) { } | ||
465 | 467 | ||
466 | public virtual PhysicsInertiaData GetInertiaData() | 468 | public virtual PhysicsInertiaData GetInertiaData() |
467 | { | 469 | { |
@@ -477,6 +479,8 @@ namespace OpenSim.Region.PhysicsModules.SharedBase | |||
477 | { | 479 | { |
478 | } | 480 | } |
479 | 481 | ||
482 | public virtual float SimulationSuspended { get; set; } | ||
483 | |||
480 | // Warning in a parent part it returns itself, not null | 484 | // Warning in a parent part it returns itself, not null |
481 | public virtual PhysicsActor ParentActor { get { return this; } } | 485 | public virtual PhysicsActor ParentActor { get { return this; } } |
482 | 486 | ||
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs index f784990..98bea09 100644 --- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs +++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs | |||
@@ -109,8 +109,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
109 | private float m_waterHeight; | 109 | private float m_waterHeight; |
110 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | 110 | private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. |
111 | 111 | ||
112 | private int body_autodisable_frames; | 112 | private int m_body_autodisable_frames; |
113 | public int bodydisablecontrol = 0; | 113 | public int m_bodydisablecontrol = 0; |
114 | public int m_bodyMoveCoolDown = 0; | ||
114 | private float m_gravmod = 1.0f; | 115 | private float m_gravmod = 1.0f; |
115 | 116 | ||
116 | // Default we're a Geometry | 117 | // Default we're a Geometry |
@@ -196,6 +197,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
196 | private int m_eventsubscription; | 197 | private int m_eventsubscription; |
197 | private int m_cureventsubscription; | 198 | private int m_cureventsubscription; |
198 | private CollisionEventUpdate CollisionEventsThisFrame = null; | 199 | private CollisionEventUpdate CollisionEventsThisFrame = null; |
200 | private CollisionEventUpdate CollisionVDTCEventsThisFrame = null; | ||
199 | private bool SentEmptyCollisionsEvent; | 201 | private bool SentEmptyCollisionsEvent; |
200 | 202 | ||
201 | public volatile bool childPrim; | 203 | public volatile bool childPrim; |
@@ -668,7 +670,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
668 | { | 670 | { |
669 | if (value.IsFinite()) | 671 | if (value.IsFinite()) |
670 | { | 672 | { |
671 | AddChange(changes.Velocity, value); | 673 | if(m_outbounds) |
674 | _velocity = value; | ||
675 | else | ||
676 | AddChange(changes.Velocity, value); | ||
672 | } | 677 | } |
673 | else | 678 | else |
674 | { | 679 | { |
@@ -972,31 +977,70 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
972 | 977 | ||
973 | public override void CrossingFailure() | 978 | public override void CrossingFailure() |
974 | { | 979 | { |
975 | if (m_outbounds) | 980 | lock(_parent_scene.OdeLock) |
976 | { | 981 | { |
977 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); | 982 | if (m_outbounds) |
978 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | 983 | { |
979 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | 984 | _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f); |
985 | _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f); | ||
986 | _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f); | ||
980 | 987 | ||
981 | m_lastposition = _position; | 988 | m_lastposition = _position; |
982 | _velocity.X = 0; | 989 | _velocity.X = 0; |
983 | _velocity.Y = 0; | 990 | _velocity.Y = 0; |
984 | _velocity.Z = 0; | 991 | _velocity.Z = 0; |
985 | 992 | ||
986 | d.AllocateODEDataForThread(0); | 993 | d.AllocateODEDataForThread(0); |
987 | 994 | ||
988 | m_lastVelocity = _velocity; | 995 | m_lastVelocity = _velocity; |
989 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | 996 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) |
990 | m_vehicle.Stop(); | 997 | m_vehicle.Stop(); |
991 | 998 | ||
999 | if(Body != IntPtr.Zero) | ||
1000 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
1001 | if (prim_geom != IntPtr.Zero) | ||
1002 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1003 | |||
1004 | m_outbounds = false; | ||
1005 | changeDisable(false); | ||
1006 | base.RequestPhysicsterseUpdate(); | ||
1007 | } | ||
1008 | } | ||
1009 | } | ||
1010 | |||
1011 | public override void CrossingStart() | ||
1012 | { | ||
1013 | lock(_parent_scene.OdeLock) | ||
1014 | { | ||
1015 | if (m_outbounds || childPrim) | ||
1016 | return; | ||
1017 | |||
1018 | m_outbounds = true; | ||
1019 | |||
1020 | m_lastposition = _position; | ||
1021 | m_lastorientation = _orientation; | ||
1022 | |||
1023 | d.AllocateODEDataForThread(0); | ||
992 | if(Body != IntPtr.Zero) | 1024 | if(Body != IntPtr.Zero) |
993 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | 1025 | { |
994 | if (prim_geom != IntPtr.Zero) | 1026 | if(m_bodyMoveCoolDown >= 0) |
995 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | 1027 | { |
1028 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | ||
1029 | m_rotationalVelocity.X = dtmp.X; | ||
1030 | m_rotationalVelocity.Y = dtmp.Y; | ||
1031 | m_rotationalVelocity.Z = dtmp.Z; | ||
996 | 1032 | ||
997 | m_outbounds = false; | 1033 | dtmp = d.BodyGetLinearVel(Body); |
998 | changeDisable(false); | 1034 | _velocity.X = dtmp.X; |
999 | base.RequestPhysicsterseUpdate(); | 1035 | _velocity.Y = dtmp.Y; |
1036 | _velocity.Z = dtmp.Z; | ||
1037 | } | ||
1038 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | ||
1039 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
1040 | } | ||
1041 | d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); | ||
1042 | disableBodySoft(); // stop collisions | ||
1043 | UnSubscribeEvents(); | ||
1000 | } | 1044 | } |
1001 | } | 1045 | } |
1002 | 1046 | ||
@@ -1090,11 +1134,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1090 | m_cureventsubscription = 0; | 1134 | m_cureventsubscription = 0; |
1091 | if (CollisionEventsThisFrame == null) | 1135 | if (CollisionEventsThisFrame == null) |
1092 | CollisionEventsThisFrame = new CollisionEventUpdate(); | 1136 | CollisionEventsThisFrame = new CollisionEventUpdate(); |
1137 | if (CollisionVDTCEventsThisFrame == null) | ||
1138 | CollisionVDTCEventsThisFrame = new CollisionEventUpdate(); | ||
1093 | SentEmptyCollisionsEvent = false; | 1139 | SentEmptyCollisionsEvent = false; |
1094 | } | 1140 | } |
1095 | 1141 | ||
1096 | public override void UnSubscribeEvents() | 1142 | public override void UnSubscribeEvents() |
1097 | { | 1143 | { |
1144 | if (CollisionVDTCEventsThisFrame != null) | ||
1145 | { | ||
1146 | CollisionVDTCEventsThisFrame.Clear(); | ||
1147 | CollisionVDTCEventsThisFrame = null; | ||
1148 | } | ||
1098 | if (CollisionEventsThisFrame != null) | 1149 | if (CollisionEventsThisFrame != null) |
1099 | { | 1150 | { |
1100 | CollisionEventsThisFrame.Clear(); | 1151 | CollisionEventsThisFrame.Clear(); |
@@ -1113,21 +1164,44 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1113 | _parent_scene.AddCollisionEventReporting(this); | 1164 | _parent_scene.AddCollisionEventReporting(this); |
1114 | } | 1165 | } |
1115 | 1166 | ||
1167 | public override void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact) | ||
1168 | { | ||
1169 | if (CollisionVDTCEventsThisFrame == null) | ||
1170 | CollisionVDTCEventsThisFrame = new CollisionEventUpdate(); | ||
1171 | |||
1172 | CollisionVDTCEventsThisFrame.AddCollider(CollidedWith, contact); | ||
1173 | _parent_scene.AddCollisionEventReporting(this); | ||
1174 | } | ||
1175 | |||
1116 | internal void SleeperAddCollisionEvents() | 1176 | internal void SleeperAddCollisionEvents() |
1117 | { | 1177 | { |
1118 | if (CollisionEventsThisFrame == null) | 1178 | if(CollisionEventsThisFrame != null && CollisionEventsThisFrame.m_objCollisionList.Count != 0) |
1119 | return; | 1179 | { |
1120 | if(CollisionEventsThisFrame.m_objCollisionList.Count == 0) | 1180 | foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEventsThisFrame.m_objCollisionList) |
1121 | return; | 1181 | { |
1122 | foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEventsThisFrame.m_objCollisionList) | 1182 | if(kvp.Key == 0) |
1183 | continue; | ||
1184 | OdePrim other = _parent_scene.getPrim(kvp.Key); | ||
1185 | if(other == null) | ||
1186 | continue; | ||
1187 | ContactPoint cp = kvp.Value; | ||
1188 | cp.SurfaceNormal = - cp.SurfaceNormal; | ||
1189 | cp.RelativeSpeed = -cp.RelativeSpeed; | ||
1190 | other.AddCollisionEvent(ParentActor.LocalID,cp); | ||
1191 | } | ||
1192 | } | ||
1193 | if(CollisionVDTCEventsThisFrame != null && CollisionVDTCEventsThisFrame.m_objCollisionList.Count != 0) | ||
1123 | { | 1194 | { |
1124 | OdePrim other = _parent_scene.getPrim(kvp.Key); | 1195 | foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionVDTCEventsThisFrame.m_objCollisionList) |
1125 | if(other == null) | 1196 | { |
1126 | continue; | 1197 | OdePrim other = _parent_scene.getPrim(kvp.Key); |
1127 | ContactPoint cp = kvp.Value; | 1198 | if(other == null) |
1128 | cp.SurfaceNormal = - cp.SurfaceNormal; | 1199 | continue; |
1129 | cp.RelativeSpeed = -cp.RelativeSpeed; | 1200 | ContactPoint cp = kvp.Value; |
1130 | other.AddCollisionEvent(ParentActor.LocalID,cp); | 1201 | cp.SurfaceNormal = - cp.SurfaceNormal; |
1202 | cp.RelativeSpeed = -cp.RelativeSpeed; | ||
1203 | other.AddCollisionEvent(ParentActor.LocalID,cp); | ||
1204 | } | ||
1131 | } | 1205 | } |
1132 | } | 1206 | } |
1133 | 1207 | ||
@@ -1160,6 +1234,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1160 | CollisionEventsThisFrame.Clear(); | 1234 | CollisionEventsThisFrame.Clear(); |
1161 | } | 1235 | } |
1162 | } | 1236 | } |
1237 | if(CollisionVDTCEventsThisFrame != null && (Body == IntPtr.Zero || d.BodyIsEnabled(Body))) | ||
1238 | CollisionVDTCEventsThisFrame.Clear(); | ||
1163 | } | 1239 | } |
1164 | 1240 | ||
1165 | public override bool SubscribedEvents() | 1241 | public override bool SubscribedEvents() |
@@ -1192,7 +1268,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1192 | m_invTimeStep = 1f / m_timeStep; | 1268 | m_invTimeStep = 1f / m_timeStep; |
1193 | 1269 | ||
1194 | m_density = parent_scene.geomDefaultDensity; | 1270 | m_density = parent_scene.geomDefaultDensity; |
1195 | body_autodisable_frames = parent_scene.bodyFramesAutoDisable; | 1271 | m_body_autodisable_frames = parent_scene.bodyFramesAutoDisable; |
1196 | 1272 | ||
1197 | prim_geom = IntPtr.Zero; | 1273 | prim_geom = IntPtr.Zero; |
1198 | collide_geom = IntPtr.Zero; | 1274 | collide_geom = IntPtr.Zero; |
@@ -1257,6 +1333,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1257 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; | 1333 | bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; |
1258 | 1334 | ||
1259 | m_building = true; // control must set this to false when done | 1335 | m_building = true; // control must set this to false when done |
1336 | m_bodyMoveCoolDown = 0; | ||
1260 | 1337 | ||
1261 | AddChange(changes.Add, null); | 1338 | AddChange(changes.Add, null); |
1262 | 1339 | ||
@@ -1963,7 +2040,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1963 | d.BodySetGravityMode(Body, false); | 2040 | d.BodySetGravityMode(Body, false); |
1964 | 2041 | ||
1965 | d.BodySetAutoDisableFlag(Body, true); | 2042 | d.BodySetAutoDisableFlag(Body, true); |
1966 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | 2043 | d.BodySetAutoDisableSteps(Body, m_body_autodisable_frames); |
1967 | d.BodySetAutoDisableAngularThreshold(Body, 0.05f); | 2044 | d.BodySetAutoDisableAngularThreshold(Body, 0.05f); |
1968 | d.BodySetAutoDisableLinearThreshold(Body, 0.05f); | 2045 | d.BodySetAutoDisableLinearThreshold(Body, 0.05f); |
1969 | d.BodySetDamping(Body, .004f, .001f); | 2046 | d.BodySetDamping(Body, .004f, .001f); |
@@ -2055,11 +2132,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
2055 | } | 2132 | } |
2056 | else | 2133 | else |
2057 | { | 2134 | { |
2135 | /* | ||
2058 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); | 2136 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); |
2059 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | 2137 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); |
2138 | */ | ||
2060 | _zeroFlag = false; | 2139 | _zeroFlag = false; |
2061 | bodydisablecontrol = 0; | 2140 | m_bodydisablecontrol = 0; |
2062 | } | 2141 | } |
2142 | m_bodyMoveCoolDown = -5; | ||
2063 | _parent_scene.addActiveGroups(this); | 2143 | _parent_scene.addActiveGroups(this); |
2064 | } | 2144 | } |
2065 | 2145 | ||
@@ -2152,6 +2232,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
2152 | } | 2232 | } |
2153 | m_mass = primMass; | 2233 | m_mass = primMass; |
2154 | m_collisionscore = 0; | 2234 | m_collisionscore = 0; |
2235 | m_bodyMoveCoolDown = 0; | ||
2155 | } | 2236 | } |
2156 | 2237 | ||
2157 | private void FixInertia(Vector3 NewPos,Quaternion newrot) | 2238 | private void FixInertia(Vector3 NewPos,Quaternion newrot) |
@@ -2814,6 +2895,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
2814 | { | 2895 | { |
2815 | _zeroFlag = true; | 2896 | _zeroFlag = true; |
2816 | d.BodyEnable(Body); | 2897 | d.BodyEnable(Body); |
2898 | m_bodyMoveCoolDown = -5; | ||
2817 | } | 2899 | } |
2818 | } | 2900 | } |
2819 | // else if (_parent != null) | 2901 | // else if (_parent != null) |
@@ -2856,6 +2938,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
2856 | { | 2938 | { |
2857 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); | 2939 | d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); |
2858 | _position = newPos; | 2940 | _position = newPos; |
2941 | m_bodyMoveCoolDown = -5; | ||
2859 | } | 2942 | } |
2860 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 2943 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
2861 | { | 2944 | { |
@@ -2915,8 +2998,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
2915 | myrot.W = newOri.W; | 2998 | myrot.W = newOri.W; |
2916 | d.GeomSetQuaternion(prim_geom, ref myrot); | 2999 | d.GeomSetQuaternion(prim_geom, ref myrot); |
2917 | _orientation = newOri; | 3000 | _orientation = newOri; |
2918 | if (Body != IntPtr.Zero && m_angularlocks != 0) | 3001 | |
2919 | createAMotor(m_angularlocks); | 3002 | if (Body != IntPtr.Zero) |
3003 | { | ||
3004 | if(m_angularlocks != 0) | ||
3005 | createAMotor(m_angularlocks); | ||
3006 | m_bodyMoveCoolDown = -5; | ||
3007 | } | ||
2920 | } | 3008 | } |
2921 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 3009 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
2922 | { | 3010 | { |
@@ -3212,7 +3300,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3212 | 3300 | ||
3213 | private void changeSetTorque(Vector3 newtorque) | 3301 | private void changeSetTorque(Vector3 newtorque) |
3214 | { | 3302 | { |
3215 | if (!m_isSelected) | 3303 | if (!m_isSelected && !m_outbounds) |
3216 | { | 3304 | { |
3217 | if (m_isphysical && Body != IntPtr.Zero) | 3305 | if (m_isphysical && Body != IntPtr.Zero) |
3218 | { | 3306 | { |
@@ -3229,14 +3317,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3229 | private void changeForce(Vector3 force) | 3317 | private void changeForce(Vector3 force) |
3230 | { | 3318 | { |
3231 | m_force = force; | 3319 | m_force = force; |
3232 | if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) | 3320 | if (!m_isSelected && !m_outbounds && Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) |
3233 | d.BodyEnable(Body); | 3321 | d.BodyEnable(Body); |
3234 | } | 3322 | } |
3235 | 3323 | ||
3236 | private void changeAddForce(Vector3 theforce) | 3324 | private void changeAddForce(Vector3 theforce) |
3237 | { | 3325 | { |
3238 | m_forceacc += theforce; | 3326 | m_forceacc += theforce; |
3239 | if (!m_isSelected) | 3327 | if (!m_isSelected && !m_outbounds) |
3240 | { | 3328 | { |
3241 | lock (this) | 3329 | lock (this) |
3242 | { | 3330 | { |
@@ -3257,7 +3345,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3257 | private void changeAddAngularImpulse(Vector3 aimpulse) | 3345 | private void changeAddAngularImpulse(Vector3 aimpulse) |
3258 | { | 3346 | { |
3259 | m_angularForceacc += aimpulse * m_invTimeStep; | 3347 | m_angularForceacc += aimpulse * m_invTimeStep; |
3260 | if (!m_isSelected) | 3348 | if (!m_isSelected && !m_outbounds) |
3261 | { | 3349 | { |
3262 | lock (this) | 3350 | lock (this) |
3263 | { | 3351 | { |
@@ -3282,7 +3370,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3282 | newVel *= len; | 3370 | newVel *= len; |
3283 | } | 3371 | } |
3284 | 3372 | ||
3285 | if (!m_isSelected) | 3373 | if (!m_isSelected && !m_outbounds) |
3286 | { | 3374 | { |
3287 | if (Body != IntPtr.Zero) | 3375 | if (Body != IntPtr.Zero) |
3288 | { | 3376 | { |
@@ -3290,8 +3378,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3290 | enableBodySoft(); | 3378 | enableBodySoft(); |
3291 | else if (!d.BodyIsEnabled(Body)) | 3379 | else if (!d.BodyIsEnabled(Body)) |
3292 | d.BodyEnable(Body); | 3380 | d.BodyEnable(Body); |
3293 | 3381 | if(m_bodyMoveCoolDown >= 0) | |
3294 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); | 3382 | d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z); |
3295 | } | 3383 | } |
3296 | //resetCollisionAccounting(); | 3384 | //resetCollisionAccounting(); |
3297 | } | 3385 | } |
@@ -3307,7 +3395,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3307 | newAngVel *= len; | 3395 | newAngVel *= len; |
3308 | } | 3396 | } |
3309 | 3397 | ||
3310 | if (!m_isSelected) | 3398 | if (!m_isSelected && !m_outbounds) |
3311 | { | 3399 | { |
3312 | if (Body != IntPtr.Zero) | 3400 | if (Body != IntPtr.Zero) |
3313 | { | 3401 | { |
@@ -3316,8 +3404,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3316 | else if (!d.BodyIsEnabled(Body)) | 3404 | else if (!d.BodyIsEnabled(Body)) |
3317 | d.BodyEnable(Body); | 3405 | d.BodyEnable(Body); |
3318 | 3406 | ||
3319 | 3407 | if(m_bodyMoveCoolDown >= 0); | |
3320 | d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); | 3408 | d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z); |
3321 | } | 3409 | } |
3322 | //resetCollisionAccounting(); | 3410 | //resetCollisionAccounting(); |
3323 | } | 3411 | } |
@@ -3468,13 +3556,33 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3468 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && | 3556 | if (!childPrim && m_isphysical && Body != IntPtr.Zero && |
3469 | !m_disabled && !m_isSelected && !m_building && !m_outbounds) | 3557 | !m_disabled && !m_isSelected && !m_building && !m_outbounds) |
3470 | { | 3558 | { |
3559 | if(m_bodyMoveCoolDown < 0) | ||
3560 | { | ||
3561 | m_bodyMoveCoolDown++; | ||
3562 | // if(!IsColliding) | ||
3563 | // m_bodyCoolDown +=2; | ||
3564 | if(m_bodyMoveCoolDown >= 0) | ||
3565 | { | ||
3566 | d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); | ||
3567 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | ||
3568 | } | ||
3569 | else | ||
3570 | { | ||
3571 | d.BodySetAngularVel(Body, 0, 0, 0); | ||
3572 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
3573 | m_forceacc = Vector3.Zero; | ||
3574 | m_angularForceacc = Vector3.Zero; | ||
3575 | _zeroFlag = false; | ||
3576 | return; | ||
3577 | } | ||
3578 | } | ||
3471 | if (!d.BodyIsEnabled(Body)) | 3579 | if (!d.BodyIsEnabled(Body)) |
3472 | { | 3580 | { |
3473 | // let vehicles sleep | 3581 | // let vehicles sleep |
3474 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) | 3582 | if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) |
3475 | return; | 3583 | return; |
3476 | 3584 | ||
3477 | if (++bodydisablecontrol < 50) | 3585 | if (++m_bodydisablecontrol < 50) |
3478 | return; | 3586 | return; |
3479 | 3587 | ||
3480 | // clear residuals | 3588 | // clear residuals |
@@ -3482,11 +3590,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3482 | d.BodySetLinearVel(Body,0f,0f,0f); | 3590 | d.BodySetLinearVel(Body,0f,0f,0f); |
3483 | _zeroFlag = true; | 3591 | _zeroFlag = true; |
3484 | d.BodyEnable(Body); | 3592 | d.BodyEnable(Body); |
3485 | bodydisablecontrol = -4; | 3593 | m_bodydisablecontrol = -4; |
3486 | } | 3594 | } |
3487 | 3595 | ||
3488 | if(bodydisablecontrol < 0) | 3596 | if(m_bodydisablecontrol < 0) |
3489 | bodydisablecontrol ++; | 3597 | m_bodydisablecontrol ++; |
3490 | 3598 | ||
3491 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator | 3599 | d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator |
3492 | 3600 | ||
@@ -3655,7 +3763,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3655 | { | 3763 | { |
3656 | bool bodyenabled = d.BodyIsEnabled(Body); | 3764 | bool bodyenabled = d.BodyIsEnabled(Body); |
3657 | 3765 | ||
3658 | if(bodydisablecontrol < 0) | 3766 | if(m_bodydisablecontrol < 0) |
3659 | return; | 3767 | return; |
3660 | 3768 | ||
3661 | if (bodyenabled || !_zeroFlag) | 3769 | if (bodyenabled || !_zeroFlag) |
@@ -3723,15 +3831,18 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3723 | m_lastposition = _position; | 3831 | m_lastposition = _position; |
3724 | m_lastorientation = _orientation; | 3832 | m_lastorientation = _orientation; |
3725 | 3833 | ||
3726 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); | 3834 | if(m_bodyMoveCoolDown >= 0) |
3727 | m_rotationalVelocity.X = dtmp.X; | 3835 | { |
3728 | m_rotationalVelocity.Y = dtmp.Y; | 3836 | d.Vector3 dtmp = d.BodyGetAngularVel(Body); |
3729 | m_rotationalVelocity.Z = dtmp.Z; | 3837 | m_rotationalVelocity.X = dtmp.X; |
3730 | 3838 | m_rotationalVelocity.Y = dtmp.Y; | |
3731 | dtmp = d.BodyGetLinearVel(Body); | 3839 | m_rotationalVelocity.Z = dtmp.Z; |
3732 | _velocity.X = dtmp.X; | 3840 | |
3733 | _velocity.Y = dtmp.Y; | 3841 | dtmp = d.BodyGetLinearVel(Body); |
3734 | _velocity.Z = dtmp.Z; | 3842 | _velocity.X = dtmp.X; |
3843 | _velocity.Y = dtmp.Y; | ||
3844 | _velocity.Z = dtmp.Z; | ||
3845 | } | ||
3735 | 3846 | ||
3736 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it | 3847 | d.BodySetLinearVel(Body, 0, 0, 0); // stop it |
3737 | d.BodySetAngularVel(Body, 0, 0, 0); | 3848 | d.BodySetAngularVel(Body, 0, 0, 0); |
@@ -3756,30 +3867,33 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3756 | } | 3867 | } |
3757 | else | 3868 | else |
3758 | { | 3869 | { |
3759 | float poserror; | 3870 | if(m_bodyMoveCoolDown >= 0) |
3760 | float angerror; | ||
3761 | if(_zeroFlag) | ||
3762 | { | ||
3763 | poserror = 0.01f; | ||
3764 | angerror = 0.001f; | ||
3765 | } | ||
3766 | else | ||
3767 | { | 3871 | { |
3768 | poserror = 0.005f; | 3872 | float poserror; |
3769 | angerror = 0.0005f; | 3873 | float angerror; |
3770 | } | 3874 | if(_zeroFlag) |
3875 | { | ||
3876 | poserror = 0.01f; | ||
3877 | angerror = 0.001f; | ||
3878 | } | ||
3879 | else | ||
3880 | { | ||
3881 | poserror = 0.005f; | ||
3882 | angerror = 0.0005f; | ||
3883 | } | ||
3771 | 3884 | ||
3772 | if ( | 3885 | if ( |
3773 | (Math.Abs(_position.X - lpos.X) < poserror) | 3886 | (Math.Abs(_position.X - lpos.X) < poserror) |
3774 | && (Math.Abs(_position.Y - lpos.Y) < poserror) | 3887 | && (Math.Abs(_position.Y - lpos.Y) < poserror) |
3775 | && (Math.Abs(_position.Z - lpos.Z) < poserror) | 3888 | && (Math.Abs(_position.Z - lpos.Z) < poserror) |
3776 | && (Math.Abs(_orientation.X - ori.X) < angerror) | 3889 | && (Math.Abs(_orientation.X - ori.X) < angerror) |
3777 | && (Math.Abs(_orientation.Y - ori.Y) < angerror) | 3890 | && (Math.Abs(_orientation.Y - ori.Y) < angerror) |
3778 | && (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W | 3891 | && (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W |
3779 | ) | 3892 | ) |
3780 | _zeroFlag = true; | 3893 | _zeroFlag = true; |
3781 | else | 3894 | else |
3782 | _zeroFlag = false; | 3895 | _zeroFlag = false; |
3896 | } | ||
3783 | } | 3897 | } |
3784 | 3898 | ||
3785 | // update position | 3899 | // update position |
@@ -3805,46 +3919,49 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
3805 | } | 3919 | } |
3806 | else | 3920 | else |
3807 | { | 3921 | { |
3808 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 3922 | if(m_bodyMoveCoolDown >= 0) |
3923 | { | ||
3924 | d.Vector3 vel = d.BodyGetLinearVel(Body); | ||
3809 | 3925 | ||
3810 | _acceleration = _velocity; | 3926 | _acceleration = _velocity; |
3811 | 3927 | ||
3812 | if ((Math.Abs(vel.X) < 0.005f) && | 3928 | if ((Math.Abs(vel.X) < 0.005f) && |
3813 | (Math.Abs(vel.Y) < 0.005f) && | 3929 | (Math.Abs(vel.Y) < 0.005f) && |
3814 | (Math.Abs(vel.Z) < 0.005f)) | 3930 | (Math.Abs(vel.Z) < 0.005f)) |
3815 | { | 3931 | { |
3816 | _velocity = Vector3.Zero; | 3932 | _velocity = Vector3.Zero; |
3817 | float t = -m_invTimeStep; | 3933 | float t = -m_invTimeStep; |
3818 | _acceleration = _acceleration * t; | 3934 | _acceleration = _acceleration * t; |
3819 | } | 3935 | } |
3820 | else | 3936 | else |
3821 | { | 3937 | { |
3822 | _velocity.X = vel.X; | 3938 | _velocity.X = vel.X; |
3823 | _velocity.Y = vel.Y; | 3939 | _velocity.Y = vel.Y; |
3824 | _velocity.Z = vel.Z; | 3940 | _velocity.Z = vel.Z; |
3825 | _acceleration = (_velocity - _acceleration) * m_invTimeStep; | 3941 | _acceleration = (_velocity - _acceleration) * m_invTimeStep; |
3826 | } | 3942 | } |
3827 | 3943 | ||
3828 | if ((Math.Abs(_acceleration.X) < 0.01f) && | 3944 | if ((Math.Abs(_acceleration.X) < 0.01f) && |
3829 | (Math.Abs(_acceleration.Y) < 0.01f) && | 3945 | (Math.Abs(_acceleration.Y) < 0.01f) && |
3830 | (Math.Abs(_acceleration.Z) < 0.01f)) | 3946 | (Math.Abs(_acceleration.Z) < 0.01f)) |
3831 | { | 3947 | { |
3832 | _acceleration = Vector3.Zero; | 3948 | _acceleration = Vector3.Zero; |
3833 | } | 3949 | } |
3834 | 3950 | ||
3835 | vel = d.BodyGetAngularVel(Body); | 3951 | vel = d.BodyGetAngularVel(Body); |
3836 | if ((Math.Abs(vel.X) < 0.0001) && | 3952 | if ((Math.Abs(vel.X) < 0.0001) && |
3837 | (Math.Abs(vel.Y) < 0.0001) && | 3953 | (Math.Abs(vel.Y) < 0.0001) && |
3838 | (Math.Abs(vel.Z) < 0.0001) | 3954 | (Math.Abs(vel.Z) < 0.0001) |
3839 | ) | 3955 | ) |
3840 | { | 3956 | { |
3841 | m_rotationalVelocity = Vector3.Zero; | 3957 | m_rotationalVelocity = Vector3.Zero; |
3842 | } | 3958 | } |
3843 | else | 3959 | else |
3844 | { | 3960 | { |
3845 | m_rotationalVelocity.X = vel.X; | 3961 | m_rotationalVelocity.X = vel.X; |
3846 | m_rotationalVelocity.Y = vel.Y; | 3962 | m_rotationalVelocity.Y = vel.Y; |
3847 | m_rotationalVelocity.Z = vel.Z; | 3963 | m_rotationalVelocity.Z = vel.Z; |
3964 | } | ||
3848 | } | 3965 | } |
3849 | } | 3966 | } |
3850 | 3967 | ||
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs index 6279d6a..4a82f77 100644 --- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs +++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs | |||
@@ -186,7 +186,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
186 | 186 | ||
187 | float frictionMovementMult = 0.8f; | 187 | float frictionMovementMult = 0.8f; |
188 | 188 | ||
189 | float TerrainBounce = 0.1f; | 189 | float TerrainBounce = 0.001f; |
190 | float TerrainFriction = 0.3f; | 190 | float TerrainFriction = 0.3f; |
191 | 191 | ||
192 | public float AvatarFriction = 0;// 0.9f * 0.5f; | 192 | public float AvatarFriction = 0;// 0.9f * 0.5f; |
@@ -1083,9 +1083,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1083 | case ActorTypes.Prim: | 1083 | case ActorTypes.Prim: |
1084 | if (p2events) | 1084 | if (p2events) |
1085 | { | 1085 | { |
1086 | AddCollisionEventReporting(p2); | 1086 | //AddCollisionEventReporting(p2); |
1087 | p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); | 1087 | p2.AddCollisionEvent(p1.ParentActor.LocalID, contact); |
1088 | } | 1088 | } |
1089 | else if(p1.IsVolumeDtc) | ||
1090 | p2.AddVDTCCollisionEvent(p1.ParentActor.LocalID, contact); | ||
1091 | |||
1089 | obj2LocalID = p2.ParentActor.LocalID; | 1092 | obj2LocalID = p2.ParentActor.LocalID; |
1090 | break; | 1093 | break; |
1091 | 1094 | ||
@@ -1099,9 +1102,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1099 | { | 1102 | { |
1100 | contact.SurfaceNormal = -contact.SurfaceNormal; | 1103 | contact.SurfaceNormal = -contact.SurfaceNormal; |
1101 | contact.RelativeSpeed = -contact.RelativeSpeed; | 1104 | contact.RelativeSpeed = -contact.RelativeSpeed; |
1102 | AddCollisionEventReporting(p1); | 1105 | //AddCollisionEventReporting(p1); |
1103 | p1.AddCollisionEvent(obj2LocalID, contact); | 1106 | p1.AddCollisionEvent(obj2LocalID, contact); |
1104 | } | 1107 | } |
1108 | else if(p2.IsVolumeDtc) | ||
1109 | { | ||
1110 | contact.SurfaceNormal = -contact.SurfaceNormal; | ||
1111 | contact.RelativeSpeed = -contact.RelativeSpeed; | ||
1112 | //AddCollisionEventReporting(p1); | ||
1113 | p1.AddVDTCCollisionEvent(obj2LocalID, contact); | ||
1114 | } | ||
1105 | break; | 1115 | break; |
1106 | } | 1116 | } |
1107 | case ActorTypes.Ground: | 1117 | case ActorTypes.Ground: |
@@ -1110,7 +1120,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1110 | { | 1120 | { |
1111 | if (p2events && !p2.IsVolumeDtc) | 1121 | if (p2events && !p2.IsVolumeDtc) |
1112 | { | 1122 | { |
1113 | AddCollisionEventReporting(p2); | 1123 | //AddCollisionEventReporting(p2); |
1114 | p2.AddCollisionEvent(0, contact); | 1124 | p2.AddCollisionEvent(0, contact); |
1115 | } | 1125 | } |
1116 | break; | 1126 | break; |