* Added Rotational Velocity reporting for Client Interpolation to Terse Updates

* Added Angular Velocity reporting for smooth-ish rotations on object collisions

10 files changed, 130 insertions, 30 deletions

diff --git a/OpenSim/Framework/IClientAPI.cs b/OpenSim/Framework/IClientAPI.cs
index 11e6ae7..bd98041 100644
--- a/OpenSim/Framework/IClientAPI.cs
+++ b/OpenSim/Framework/IClientAPI.cs
@@ -409,7 +409,7 @@ namespace OpenSim.Framework
         void SendPrimTerseUpdate(ulong regionHandle, ushort timeDilation, uint localID, LLVector3 position,
                                  LLQuaternion rotation);
         void SendPrimTerseUpdate(ulong regionHandle, ushort timeDilation, uint localID, LLVector3 position,
-                                 LLQuaternion rotation,LLVector3 velocity);
+                                 LLQuaternion rotation,LLVector3 velocity, LLVector3 rotationalvelocity);
 
         void SendInventoryFolderDetails(LLUUID ownerID, LLUUID folderID, List<InventoryItemBase> items);
         void SendInventoryItemDetails(LLUUID ownerID, InventoryItemBase item);
diff --git a/OpenSim/Region/ClientStack/ClientView.API.cs b/OpenSim/Region/ClientStack/ClientView.API.cs
index bbe07d2..14e1b39 100644
--- a/OpenSim/Region/ClientStack/ClientView.API.cs
+++ b/OpenSim/Region/ClientStack/ClientView.API.cs
@@ -1062,23 +1062,24 @@ namespace OpenSim.Region.ClientStack
                                         LLQuaternion rotation)
         {
             LLVector3 velocity = new LLVector3(0f,0f,0f);
+            LLVector3 rotationalvelocity = new LLVector3(0f,0f,0f);
             ImprovedTerseObjectUpdatePacket terse = new ImprovedTerseObjectUpdatePacket();
             terse.RegionData.RegionHandle = regionHandle;
             terse.RegionData.TimeDilation = timeDilation;
             terse.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[1];
-            terse.ObjectData[0] = CreatePrimImprovedBlock(localID, position, rotation, velocity);
+            terse.ObjectData[0] = CreatePrimImprovedBlock(localID, position, rotation, velocity, rotationalvelocity);
 
             OutPacket(terse);
         }
         public void SendPrimTerseUpdate(ulong regionHandle, ushort timeDilation, uint localID, LLVector3 position,
-                                        LLQuaternion rotation, LLVector3 velocity)
+                                        LLQuaternion rotation, LLVector3 velocity, LLVector3 rotationalvelocity)
         {
             
             ImprovedTerseObjectUpdatePacket terse = new ImprovedTerseObjectUpdatePacket();
             terse.RegionData.RegionHandle = regionHandle;
             terse.RegionData.TimeDilation = timeDilation;
             terse.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[1];
-            terse.ObjectData[0] = CreatePrimImprovedBlock(localID, position, rotation, velocity);
+            terse.ObjectData[0] = CreatePrimImprovedBlock(localID, position, rotation, velocity, rotationalvelocity);
 
             OutPacket(terse);
         }
@@ -1184,7 +1185,7 @@ namespace OpenSim.Region.ClientStack
         /// <returns></returns>
         protected ImprovedTerseObjectUpdatePacket.ObjectDataBlock CreatePrimImprovedBlock(uint localID,
                                                                                           LLVector3 position,
-                                                                                          LLQuaternion rotation, LLVector3 velocity)
+                                                                                          LLQuaternion rotation, LLVector3 velocity, LLVector3 rotationalvelocity)
         {
             uint ID = localID;
             byte[] bytes = new byte[60];
@@ -1248,12 +1249,24 @@ namespace OpenSim.Region.ClientStack
             bytes[i++] = (byte) ((rw >> 8)%256);
 
             //rotation vel
-            bytes[i++] = (byte) (ac%256);
-            bytes[i++] = (byte) ((ac >> 8)%256);
-            bytes[i++] = (byte) (ac%256);
-            bytes[i++] = (byte) ((ac >> 8)%256);
-            bytes[i++] = (byte) (ac%256);
-            bytes[i++] = (byte) ((ac >> 8)%256);
+            ushort rvelx, rvely, rvelz;
+            Vector3 rvel = new Vector3(rotationalvelocity.X, rotationalvelocity.Y, rotationalvelocity.Z);
+
+            rvel = rvel / 128.0f;
+            rvel.x += 1;
+            rvel.y += 1;
+            rvel.z += 1;
+            //vel
+            rvelx = (ushort)(32768 * (rvel.x));
+            rvely = (ushort)(32768 * (rvel.y));
+            rvelz = (ushort)(32768 * (rvel.z));
+
+            bytes[i++] = (byte)(rvelx % 256);
+            bytes[i++] = (byte)((rvelx >> 8) % 256);
+            bytes[i++] = (byte)(rvely % 256);
+            bytes[i++] = (byte)((rvely >> 8) % 256);
+            bytes[i++] = (byte)(rvelz % 256);
+            bytes[i++] = (byte)((rvelz >> 8) % 256);
 
             dat.Data = bytes;
             return dat;
diff --git a/OpenSim/Region/Environment/Scenes/EntityBase.cs b/OpenSim/Region/Environment/Scenes/EntityBase.cs
index d0cbcf6..1c21159 100644
--- a/OpenSim/Region/Environment/Scenes/EntityBase.cs
+++ b/OpenSim/Region/Environment/Scenes/EntityBase.cs
@@ -69,6 +69,7 @@ namespace OpenSim.Region.Environment.Scenes
         }
 
         protected LLVector3 m_velocity;
+        protected LLVector3 m_rotationalvelocity;
 
         /// <summary>
         /// 
@@ -106,7 +107,7 @@ namespace OpenSim.Region.Environment.Scenes
             m_velocity = new LLVector3();
             Rotation = new Quaternion();
             m_name = "(basic entity)";
-
+            m_rotationalvelocity = new LLVector3(0, 0, 0);
             m_children = new List<EntityBase>();
         }
 
diff --git a/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs b/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
index 4c6865a..0e2b186 100644
--- a/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
@@ -231,6 +231,7 @@ namespace OpenSim.Region.Environment.Scenes
         }
 
         protected LLVector3 m_velocity;
+        protected LLVector3 m_rotationalvelocity;
 
         /// <summary></summary>
         public LLVector3 Velocity
@@ -253,6 +254,28 @@ namespace OpenSim.Region.Environment.Scenes
             }
             set { m_velocity = value; }
         }
+        public LLVector3 RotationalVelocity
+        {
+            get
+            {
+                //if (PhysActor.Velocity.x != 0 || PhysActor.Velocity.y != 0
+                //|| PhysActor.Velocity.z != 0)
+                //{
+                if (PhysActor != null)
+                {
+                    if (PhysActor.IsPhysical)
+                    {
+                        m_rotationalvelocity.X = PhysActor.RotationalVelocity.X;
+                        m_rotationalvelocity.Y = PhysActor.RotationalVelocity.Y;
+                        m_rotationalvelocity.Z = PhysActor.RotationalVelocity.Z;
+                    }
+                }
+
+                return m_rotationalvelocity;
+            }
+            set { m_rotationalvelocity = value; }
+        }
+
 
         protected LLVector3 m_angularVelocity;
 
@@ -384,6 +407,7 @@ namespace OpenSim.Region.Environment.Scenes
             OffsetPosition = offsetPosition;
             RotationOffset = rotationOffset;
             Velocity = new LLVector3(0, 0, 0);
+            m_rotationalvelocity = new LLVector3(0, 0, 0);
             AngularVelocity = new LLVector3(0, 0, 0);
             Acceleration = new LLVector3(0, 0, 0);
 
@@ -1020,7 +1044,7 @@ namespace OpenSim.Region.Environment.Scenes
             }
             else
             {
-                remoteClient.SendPrimTerseUpdate(m_regionHandle, 64096, LocalID, lPos, mRot, Velocity);
+                remoteClient.SendPrimTerseUpdate(m_regionHandle, 64096, LocalID, lPos, mRot, Velocity, RotationalVelocity);
             }
         }
 
@@ -1033,8 +1057,8 @@ namespace OpenSim.Region.Environment.Scenes
             }
             else
             {
-                remoteClient.SendPrimTerseUpdate(m_regionHandle, 64096, LocalID, lPos, mRot, Velocity);
-                //System.Console.WriteLine("Vel:" + Velocity);
+                remoteClient.SendPrimTerseUpdate(m_regionHandle, 64096, LocalID, lPos, mRot, Velocity, RotationalVelocity);
+                //System.Console.WriteLine("RVel:" + RotationalVelocity);
             }
         }
 
diff --git a/OpenSim/Region/Examples/SimpleApp/MyNpcCharacter.cs b/OpenSim/Region/Examples/SimpleApp/MyNpcCharacter.cs
index 1a7901e..75b3f04 100644
--- a/OpenSim/Region/Examples/SimpleApp/MyNpcCharacter.cs
+++ b/OpenSim/Region/Examples/SimpleApp/MyNpcCharacter.cs
@@ -282,7 +282,7 @@ namespace SimpleApp
         {
         }
         public virtual void SendPrimTerseUpdate(ulong regionHandle, ushort timeDilation, uint localID,
-                                        LLVector3 position, LLQuaternion rotation,LLVector3 velocity)
+                                        LLVector3 position, LLQuaternion rotation,LLVector3 velocity, LLVector3 rotationalvelocity)
         {
         }
 
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
index 46037df..d5cb99f 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -181,6 +181,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
         private PhysicsVector _position;
         private PhysicsVector _velocity;
         private PhysicsVector _acceleration;
+        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
         private bool flying;
         private bool iscolliding;
 
@@ -190,7 +191,11 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             _position = new PhysicsVector();
             _acceleration = new PhysicsVector();
         }
-
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
         public override bool IsPhysical
         {
             get { return false; }
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index efc99e4..cdccc70 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -643,6 +643,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         protected PhysicsVector _size;
         protected PhysicsVector _acceleration;
         protected AxiomQuaternion _orientation;
+        protected PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
         protected RigidBody rigidBody;
         private Boolean iscolliding = false;
 
@@ -662,6 +663,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
                 }
             }
         }
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
         public override PhysicsVector Velocity
         {
             get { return _velocity; }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index b151e16..2d8eb9a 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -36,6 +36,8 @@ namespace OpenSim.Region.Physics.Manager
 
     public delegate void OrientationUpdate(Quaternion orientation);
 
+    
+
     public abstract class PhysicsActor
     {
 #pragma warning disable 67
@@ -69,6 +71,7 @@ namespace OpenSim.Region.Physics.Manager
         public abstract bool Flying { get; set; }
 
         public abstract bool IsColliding { get; set; }
+        public abstract PhysicsVector RotationalVelocity { get; set; }
 
         public abstract bool Kinematic { get; set; }
 
@@ -144,7 +147,11 @@ namespace OpenSim.Region.Physics.Manager
         {
             return;
         }
-
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return PhysicsVector.Zero; }
+            set { return; }
+        }
         public override void SetMomentum(PhysicsVector momentum)
         {
             return;
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 8b8aac6..512b96e 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -617,6 +617,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private PhysicsVector _velocity;
         private PhysicsVector _target_velocity;
         private PhysicsVector _acceleration;
+        private PhysicsVector m_rotationalVelocity;
         private static float PID_D = 4000.0f;
         private static float PID_P = 7000.0f;
         private static float POSTURE_SERVO = 10000.0f;
@@ -682,7 +683,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
             }
         }
-
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
         public override PhysicsVector Size
         {
             get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
@@ -858,6 +863,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private PhysicsVector _velocity;
         private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f,0.0f,0.0f);
         private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
+        private PhysicsVector m_rotationalVelocity;
         private PhysicsVector _size;
         private PhysicsVector _acceleration;
         public Quaternion _orientation;
@@ -887,6 +893,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             _position = pos;
             _size = size;
             _acceleration = new PhysicsVector();
+            m_rotationalVelocity = PhysicsVector.Zero;
             _orientation = rotation;
             _mesh = mesh;
             _pbs = pbs;
@@ -1224,7 +1231,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
         public void Move(float timestep)
         {
-
+            
+        }
+        public override PhysicsVector RotationalVelocity
+        {
+            get{ return m_rotationalVelocity;}
+            set { m_rotationalVelocity = value; }
         }
 
         public void UpdatePositionAndVelocity() {
@@ -1234,6 +1246,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.Vector3 vec = d.BodyGetPosition(Body);
                 d.Quaternion ori = d.BodyGetQuaternion(Body);
                 d.Vector3 vel = d.BodyGetLinearVel(Body);
+                d.Vector3 rotvel = d.BodyGetAngularVel(Body);
+               
                 PhysicsVector l_position = new PhysicsVector();
                 //  kluge to keep things in bounds.  ODE lets dead avatars drift away (they should be removed!)
                 if (vec.X < 0.0f) vec.X = 0.0f;
@@ -1256,7 +1270,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     try
                     {
                         disableBody();
-                        
+
                     }
                     catch (System.Exception e)
                     {
@@ -1264,13 +1278,16 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {
                             d.BodyDestroy(Body);
                             Body = (IntPtr)0;
-                            
+
                         }
-                    }       
+                    }
                     IsPhysical = false;
                     _velocity.X = 0;
                     _velocity.Y = 0;
                     _velocity.Z = 0;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
                     _zeroFlag = true;
                 }
 
@@ -1293,11 +1310,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                     _velocity.X = 0.0f;
                     _velocity.Y = 0.0f;
                     _velocity.Z = 0.0f;
-                    _orientation.w = 0f;
-                    _orientation.x = 0f;
-                    _orientation.y = 0f;
-                    _orientation.z = 0f;
-
+                    //_orientation.w = 0f;
+                    //_orientation.x = 0f;
+                    //_orientation.y = 0f;
+                    //_orientation.z = 0f;
+                    m_rotationalVelocity.X = 0;
+                    m_rotationalVelocity.Y = 0;
+                    m_rotationalVelocity.Z = 0;
 
                 }
                 else
@@ -1310,6 +1329,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                     _velocity.Y = vel.Y;
                     _velocity.Z = vel.Z;
 
+                    m_rotationalVelocity.X = rotvel.X;
+                    m_rotationalVelocity.Y = rotvel.Y;
+                    m_rotationalVelocity.Z = rotvel.Z;
+                    //System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
                     _orientation.w = ori.W;
                     _orientation.x = ori.X;
                     _orientation.y = ori.Y;
@@ -1317,6 +1340,17 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }
 
             }
+            else
+            {
+                // Not a body..   so Make sure the client isn't interpolating
+                _velocity.X = 0;
+                _velocity.Y = 0;
+                _velocity.Z = 0;
+                m_rotationalVelocity.X = 0;
+                m_rotationalVelocity.Y = 0;
+                m_rotationalVelocity.Z = 0;
+                _zeroFlag = true;
+            }
 
         }
         public override void SetMomentum(PhysicsVector momentum)
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index 5483703..d282e9d 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -184,6 +184,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
     {
         private PhysicsVector _position;
         private PhysicsVector _velocity;
+        private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
         private PhysicsVector _acceleration;
         private NxCharacter _character;
         private bool flying;
@@ -214,7 +215,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             get { return iscolliding; }
             set { iscolliding = value; }
         }
-
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
         public override PhysicsVector Position
         {
             get { return _position; }
@@ -314,6 +319,7 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         private PhysicsVector _position;
         private PhysicsVector _velocity;
         private PhysicsVector _acceleration;
+        private PhysicsVector m_rotationalVelocity;
         private NxActor _prim;
 
         public PhysXPrim(NxActor prim)
@@ -329,7 +335,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
             get { return false; }
             set { return; }
         }
-
+        public override PhysicsVector RotationalVelocity
+        {
+            get { return m_rotationalVelocity; }
+            set { m_rotationalVelocity = value; }
+        }
         public override bool Flying
         {
             get { return false; //no flying prims for you