1 files changed, 20 insertions, 6 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 4a802cd..345112d 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -23,6 +23,19 @@
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ * 
  */
 
 /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
@@ -67,8 +80,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         // private OdeScene m_parentScene = null;
         private IntPtr m_body = IntPtr.Zero;
-        private IntPtr m_jointGroup = IntPtr.Zero;
-        private IntPtr m_aMotor = IntPtr.Zero;
+//        private IntPtr m_jointGroup = IntPtr.Zero;
+//        private IntPtr m_aMotor = IntPtr.Zero;
  
 
         // Vehicle properties
@@ -120,7 +133,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float m_VhoverEfficiency = 0f;
         private float m_VhoverTimescale = 0f;
         private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height 
-        private float m_VehicleBuoyancy = 0f;                   //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+        private float m_VehicleBuoyancy = 0f;                   // Set by VEHICLE_BUOYANCY, for a vehicle.
                                 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 
                                 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
                                 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 
@@ -479,7 +492,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);   // rotq = rotation of object
                 m_dir *= rotq;                                                  // apply obj rotation to velocity vector
 
-                        // add Gravity andBuoyancy
+                        // add Gravity and Buoyancy
                         // KF: So far I have found no good method to combine a script-requested
                         // .Z velocity and gravity. Therefore only 0g will used script-requested
                         // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
@@ -561,6 +574,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 private Vector3 m_angularFrictionTimescale = Vector3.Zero;              // body angular velocity  decay rate
                 private Vector3 m_lastAngularVelocity = Vector3.Zero;                   // what was last applied to body
                         */
+//if(frcount == 0) Console.WriteLine("MoveAngular ");   
         
                 // Get what the body is doing, this includes 'external' influences
                 d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
@@ -615,7 +629,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 // Error is 0 (no error) to +/- 2 (max error)
                                 // scale it by VAservo
                                 verterr = verterr * VAservo;
-//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);       
+if(frcount == 0) Console.WriteLine("VAerr=" + verterr); 
 
                                 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so 
                                 // Change  Body angular velocity  X based on Y, and Y based on X. Z is not changed.
@@ -636,7 +650,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         // Deflection section tba
                         
                         // Sum velocities
-                        m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
+                        m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
                         
                 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {