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-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs594
1 files changed, 323 insertions, 271 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 032b5df..86ed3bd 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1,4 +1,15 @@
1/* 1/*
2 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
3 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
4 * ODEPrim.cs contains methods dealing with Prim editing, Prim
5 * characteristics and Kinetic motion.
6 * ODEDynamics.cs contains methods dealing with Prim Physical motion
7 * (dynamics) and the associated settings. Old Linear and angular
8 * motors for dynamic motion have been replace with MoveLinear()
9 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
10 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
11 * switch between 'VEHICLE' parameter use and general dynamics
12 * settings use.
2 * Copyright (c) Contributors, http://opensimulator.org/ 13 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 14 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 15 *
@@ -72,6 +83,9 @@ namespace OpenSim.Region.Physics.OdePlugin
72 private float PID_G = 25f; 83 private float PID_G = 25f;
73 private bool m_usePID = false; 84 private bool m_usePID = false;
74 85
86 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
87 // and are for non-VEHICLES only.
88
75 private float m_PIDHoverHeight = 0f; 89 private float m_PIDHoverHeight = 0f;
76 private float m_PIDHoverTau = 0f; 90 private float m_PIDHoverTau = 0f;
77 private bool m_useHoverPID = false; 91 private bool m_useHoverPID = false;
@@ -79,6 +93,7 @@ namespace OpenSim.Region.Physics.OdePlugin
79 private float m_targetHoverHeight = 0f; 93 private float m_targetHoverHeight = 0f;
80 private float m_groundHeight = 0f; 94 private float m_groundHeight = 0f;
81 private float m_waterHeight = 0f; 95 private float m_waterHeight = 0f;
96 private float m_buoyancy = 0f; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
82 97
83 // private float m_tensor = 5f; 98 // private float m_tensor = 5f;
84 private int body_autodisable_frames = 20; 99 private int body_autodisable_frames = 20;
@@ -146,8 +161,6 @@ namespace OpenSim.Region.Physics.OdePlugin
146 public int m_roundsUnderMotionThreshold = 0; 161 public int m_roundsUnderMotionThreshold = 0;
147 private int m_crossingfailures = 0; 162 private int m_crossingfailures = 0;
148 163
149 public float m_buoyancy = 0f;
150
151 public bool outofBounds = false; 164 public bool outofBounds = false;
152 private float m_density = 10.000006836f; // Aluminum g/cm3; 165 private float m_density = 10.000006836f; // Aluminum g/cm3;
153 166
@@ -155,7 +168,8 @@ namespace OpenSim.Region.Physics.OdePlugin
155 private bool m_lastUpdateSent = false; 168 private bool m_lastUpdateSent = false;
156 169
157 public IntPtr Body = (IntPtr) 0; 170 public IntPtr Body = (IntPtr) 0;
158 private String m_primName; 171 public String m_primName;
172// private String m_primName;
159 private PhysicsVector _target_velocity; 173 private PhysicsVector _target_velocity;
160 public d.Mass pMass; 174 public d.Mass pMass;
161 175
@@ -166,7 +180,7 @@ namespace OpenSim.Region.Physics.OdePlugin
166 180
167 public volatile bool childPrim = false; 181 public volatile bool childPrim = false;
168 182
169 private ODEVehicleSettings m_vehicle; 183 private ODEDynamics m_vehicle;
170 184
171 internal int m_material = (int)Material.Wood; 185 internal int m_material = (int)Material.Wood;
172 186
@@ -174,7 +188,7 @@ namespace OpenSim.Region.Physics.OdePlugin
174 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) 188 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
175 { 189 {
176 _target_velocity = new PhysicsVector(0, 0, 0); 190 _target_velocity = new PhysicsVector(0, 0, 0);
177 m_vehicle = new ODEVehicleSettings(); 191 m_vehicle = new ODEDynamics();
178 //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); 192 //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
179 ode = dode; 193 ode = dode;
180 _velocity = new PhysicsVector(); 194 _velocity = new PhysicsVector();
@@ -259,11 +273,6 @@ namespace OpenSim.Region.Physics.OdePlugin
259 m_localID = value; } 273 m_localID = value; }
260 } 274 }
261 275
262 public override int GetHashCode()
263 {
264 return (int)m_localID;
265 }
266
267 public override bool Grabbed 276 public override bool Grabbed
268 { 277 {
269 set { return; } 278 set { return; }
@@ -272,6 +281,8 @@ namespace OpenSim.Region.Physics.OdePlugin
272 public override bool Selected 281 public override bool Selected
273 { 282 {
274 set { 283 set {
284
285
275 // This only makes the object not collidable if the object 286 // This only makes the object not collidable if the object
276 // is physical or the object is modified somehow *IN THE FUTURE* 287 // is physical or the object is modified somehow *IN THE FUTURE*
277 // without this, if an avatar selects prim, they can walk right 288 // without this, if an avatar selects prim, they can walk right
@@ -287,6 +298,7 @@ namespace OpenSim.Region.Physics.OdePlugin
287 m_taintselected = value; 298 m_taintselected = value;
288 m_isSelected = value; 299 m_isSelected = value;
289 } 300 }
301 if(m_isSelected) disableBodySoft();
290 } 302 }
291 } 303 }
292 304
@@ -294,6 +306,7 @@ namespace OpenSim.Region.Physics.OdePlugin
294 { 306 {
295 prev_geom = prim_geom; 307 prev_geom = prim_geom;
296 prim_geom = geom; 308 prim_geom = geom;
309//Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);
297 if (prim_geom != IntPtr.Zero) 310 if (prim_geom != IntPtr.Zero)
298 { 311 {
299 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 312 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
@@ -305,6 +318,7 @@ namespace OpenSim.Region.Physics.OdePlugin
305 if (_parent != null && _parent is OdePrim) 318 if (_parent != null && _parent is OdePrim)
306 { 319 {
307 OdePrim parent = (OdePrim)_parent; 320 OdePrim parent = (OdePrim)_parent;
321//Console.WriteLine("SetGeom calls ChildSetGeom");
308 parent.ChildSetGeom(this); 322 parent.ChildSetGeom(this);
309 } 323 }
310 } 324 }
@@ -320,7 +334,8 @@ namespace OpenSim.Region.Physics.OdePlugin
320 if (m_isphysical && Body != IntPtr.Zero) 334 if (m_isphysical && Body != IntPtr.Zero)
321 { 335 {
322 d.BodyEnable(Body); 336 d.BodyEnable(Body);
323 m_vehicle.Enable(Body, _parent_scene); 337 if (m_vehicle.Type != Vehicle.TYPE_NONE)
338 m_vehicle.Enable(Body, _parent_scene);
324 } 339 }
325 340
326 m_disabled = false; 341 m_disabled = false;
@@ -334,7 +349,6 @@ namespace OpenSim.Region.Physics.OdePlugin
334 if (m_isphysical && Body != IntPtr.Zero) 349 if (m_isphysical && Body != IntPtr.Zero)
335 { 350 {
336 d.BodyDisable(Body); 351 d.BodyDisable(Body);
337 m_vehicle.Disable();
338 } 352 }
339 } 353 }
340 354
@@ -364,6 +378,9 @@ namespace OpenSim.Region.Physics.OdePlugin
364 378
365 d.BodySetAutoDisableFlag(Body, true); 379 d.BodySetAutoDisableFlag(Body, true);
366 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 380 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
381
382 // disconnect from world gravity so we can apply buoyancy
383 d.BodySetGravityMode (Body, false);
367 384
368 m_interpenetrationcount = 0; 385 m_interpenetrationcount = 0;
369 m_collisionscore = 0; 386 m_collisionscore = 0;
@@ -710,13 +727,8 @@ namespace OpenSim.Region.Physics.OdePlugin
710 break; 727 break;
711 } 728 }
712 } 729 }
713
714
715
716
717
718 return returnMass; 730 return returnMass;
719 } 731 }// end CalculateMass
720 732
721 #endregion 733 #endregion
722 734
@@ -742,7 +754,6 @@ namespace OpenSim.Region.Physics.OdePlugin
742 if (Body != IntPtr.Zero) 754 if (Body != IntPtr.Zero)
743 { 755 {
744 _parent_scene.remActivePrim(this); 756 _parent_scene.remActivePrim(this);
745 m_vehicle.Destroy();
746 m_collisionCategories &= ~CollisionCategories.Body; 757 m_collisionCategories &= ~CollisionCategories.Body;
747 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 758 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
748 759
@@ -833,6 +844,7 @@ namespace OpenSim.Region.Physics.OdePlugin
833 { 844 {
834 if (prim_geom == IntPtr.Zero) 845 if (prim_geom == IntPtr.Zero)
835 { 846 {
847//Console.WriteLine(" setMesh 1");
836 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); 848 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
837 } 849 }
838 } 850 }
@@ -854,19 +866,35 @@ namespace OpenSim.Region.Physics.OdePlugin
854 866
855 public void ProcessTaints(float timestep) 867 public void ProcessTaints(float timestep)
856 { 868 {
869//Console.WriteLine("ProcessTaints for " + m_primName );
857 if (m_taintadd) 870 if (m_taintadd)
858 { 871 {
859 changeadd(timestep); 872 changeadd(timestep);
860 } 873 }
874
861 if (prim_geom != IntPtr.Zero) 875 if (prim_geom != IntPtr.Zero)
862 { 876 {
863 if (!_position.IsIdentical(m_taintposition,0f)) 877 if (!_position.IsIdentical(m_taintposition,0f))
864 changemove(timestep); 878 changemove(timestep);
865 879
866 if (m_taintrot != _orientation) 880 if (m_taintrot != _orientation)
867 rotate(timestep); 881 {
882 if(childPrim && IsPhysical) // For physical child prim...
883 {
884 rotate(timestep);
885 // KF: ODE will also rotate the parent prim!
886 // so rotate the root back to where it was
887 OdePrim parent = (OdePrim)_parent;
888 parent.rotate(timestep);
889 }
890 else
891 {
892 //Just rotate the prim
893 rotate(timestep);
894 }
895 }
868 // 896 //
869 897
870 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) 898 if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
871 changePhysicsStatus(timestep); 899 changePhysicsStatus(timestep);
872 // 900 //
@@ -905,8 +933,7 @@ namespace OpenSim.Region.Physics.OdePlugin
905 933
906 if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) 934 if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
907 changeAngularLock(timestep); 935 changeAngularLock(timestep);
908 936
909
910 } 937 }
911 else 938 else
912 { 939 {
@@ -938,11 +965,6 @@ namespace OpenSim.Region.Physics.OdePlugin
938 Amotor = IntPtr.Zero; 965 Amotor = IntPtr.Zero;
939 } 966 }
940 } 967 }
941
942 if (m_vehicle.Type != Vehicle.TYPE_NONE)
943 {
944 m_vehicle.Reset();
945 }
946 } 968 }
947 } 969 }
948 // Store this for later in case we get turned into a separate body 970 // Store this for later in case we get turned into a separate body
@@ -960,7 +982,7 @@ namespace OpenSim.Region.Physics.OdePlugin
960 { 982 {
961 OdePrim obj = (OdePrim)m_taintparent; 983 OdePrim obj = (OdePrim)m_taintparent;
962 //obj.disableBody(); 984 //obj.disableBody();
963 985//Console.WriteLine("changelink calls ParentPrim");
964 obj.ParentPrim(this); 986 obj.ParentPrim(this);
965 987
966 /* 988 /*
@@ -978,6 +1000,8 @@ namespace OpenSim.Region.Physics.OdePlugin
978 // destroy link 1000 // destroy link
979 else if (_parent != null && m_taintparent == null) 1001 else if (_parent != null && m_taintparent == null)
980 { 1002 {
1003//Console.WriteLine(" changelink B");
1004
981 if (_parent is OdePrim) 1005 if (_parent is OdePrim)
982 { 1006 {
983 OdePrim obj = (OdePrim)_parent; 1007 OdePrim obj = (OdePrim)_parent;
@@ -994,7 +1018,7 @@ namespace OpenSim.Region.Physics.OdePlugin
994 m_linkJoint = (IntPtr)0; 1018 m_linkJoint = (IntPtr)0;
995 */ 1019 */
996 } 1020 }
997 1021
998 _parent = m_taintparent; 1022 _parent = m_taintparent;
999 m_taintPhysics = m_isphysical; 1023 m_taintPhysics = m_isphysical;
1000 } 1024 }
@@ -1003,6 +1027,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1003 // prim is the child 1027 // prim is the child
1004 public void ParentPrim(OdePrim prim) 1028 public void ParentPrim(OdePrim prim)
1005 { 1029 {
1030//Console.WriteLine("ParentPrim " + m_primName);
1006 if (this.m_localID != prim.m_localID) 1031 if (this.m_localID != prim.m_localID)
1007 { 1032 {
1008 if (Body == IntPtr.Zero) 1033 if (Body == IntPtr.Zero)
@@ -1016,6 +1041,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1016 { 1041 {
1017 if (!childrenPrim.Contains(prim)) 1042 if (!childrenPrim.Contains(prim))
1018 { 1043 {
1044//Console.WriteLine("childrenPrim.Add " + prim);
1019 childrenPrim.Add(prim); 1045 childrenPrim.Add(prim);
1020 1046
1021 foreach (OdePrim prm in childrenPrim) 1047 foreach (OdePrim prm in childrenPrim)
@@ -1039,6 +1065,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1039 } 1065 }
1040 foreach (OdePrim prm in childrenPrim) 1066 foreach (OdePrim prm in childrenPrim)
1041 { 1067 {
1068
1042 prm.m_collisionCategories |= CollisionCategories.Body; 1069 prm.m_collisionCategories |= CollisionCategories.Body;
1043 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 1070 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1044 1071
@@ -1047,7 +1074,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1047 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet"); 1074 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
1048 continue; 1075 continue;
1049 } 1076 }
1050 1077//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + m_primName);
1051 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); 1078 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1052 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); 1079 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1053 1080
@@ -1092,11 +1119,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1092 prm.Body = Body; 1119 prm.Body = Body;
1093 _parent_scene.addActivePrim(prm); 1120 _parent_scene.addActivePrim(prm);
1094 } 1121 }
1095
1096 m_collisionCategories |= CollisionCategories.Body; 1122 m_collisionCategories |= CollisionCategories.Body;
1097 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 1123 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1098 1124
1125//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + m_primName);
1099 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1126 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1127//Console.WriteLine(" Post GeomSetCategoryBits 2");
1100 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1128 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1101 1129
1102 1130
@@ -1132,7 +1160,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1132 createAMotor(m_angularlock); 1160 createAMotor(m_angularlock);
1133 } 1161 }
1134 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); 1162 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
1135 m_vehicle.Enable(Body, _parent_scene); 1163 if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Enable(Body, _parent_scene);
1136 _parent_scene.addActivePrim(this); 1164 _parent_scene.addActivePrim(this);
1137 } 1165 }
1138 } 1166 }
@@ -1169,6 +1197,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1169 { 1197 {
1170 foreach (OdePrim prm in childrenPrim) 1198 foreach (OdePrim prm in childrenPrim)
1171 { 1199 {
1200//Console.WriteLine("ChildSetGeom calls ParentPrim");
1172 ParentPrim(prm); 1201 ParentPrim(prm);
1173 } 1202 }
1174 } 1203 }
@@ -1195,6 +1224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1195 1224
1196 lock (childrenPrim) 1225 lock (childrenPrim)
1197 { 1226 {
1227 //Console.WriteLine("childrenPrim.Remove " + odePrim);
1198 childrenPrim.Remove(odePrim); 1228 childrenPrim.Remove(odePrim);
1199 } 1229 }
1200 1230
@@ -1212,6 +1242,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1212 { 1242 {
1213 foreach (OdePrim prm in childrenPrim) 1243 foreach (OdePrim prm in childrenPrim)
1214 { 1244 {
1245//Console.WriteLine("ChildDelink calls ParentPrim");
1215 ParentPrim(prm); 1246 ParentPrim(prm);
1216 } 1247 }
1217 } 1248 }
@@ -1296,7 +1327,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1296 1327
1297 resetCollisionAccounting(); 1328 resetCollisionAccounting();
1298 m_isSelected = m_taintselected; 1329 m_isSelected = m_taintselected;
1299 } 1330 }//end changeSelectedStatus
1300 1331
1301 public void ResetTaints() 1332 public void ResetTaints()
1302 { 1333 {
@@ -1313,6 +1344,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1313 1344
1314 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh) 1345 public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
1315 { 1346 {
1347//Console.WriteLine("CreateGeom:");
1316 if (_mesh != null) 1348 if (_mesh != null)
1317 { 1349 {
1318 setMesh(_parent_scene, _mesh); 1350 setMesh(_parent_scene, _mesh);
@@ -1328,6 +1360,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1328 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1360 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1329 try 1361 try
1330 { 1362 {
1363//Console.WriteLine(" CreateGeom 1");
1331 SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); 1364 SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
1332 } 1365 }
1333 catch (AccessViolationException) 1366 catch (AccessViolationException)
@@ -1342,6 +1375,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1342 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1375 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1343 try 1376 try
1344 { 1377 {
1378//Console.WriteLine(" CreateGeom 2");
1345 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); 1379 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1346 } 1380 }
1347 catch (AccessViolationException) 1381 catch (AccessViolationException)
@@ -1357,6 +1391,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1357 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1391 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1358 try 1392 try
1359 { 1393 {
1394//Console.WriteLine(" CreateGeom 3");
1360 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); 1395 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1361 } 1396 }
1362 catch (AccessViolationException) 1397 catch (AccessViolationException)
@@ -1373,6 +1408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1373 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1408 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1374 try 1409 try
1375 { 1410 {
1411//Console.WriteLine(" CreateGeom 4");
1376 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); 1412 SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
1377 } 1413 }
1378 catch (AccessViolationException) 1414 catch (AccessViolationException)
@@ -1409,6 +1445,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1409 1445
1410 lock (_parent_scene.OdeLock) 1446 lock (_parent_scene.OdeLock)
1411 { 1447 {
1448//Console.WriteLine("changeadd 1");
1412 CreateGeom(m_targetSpace, _mesh); 1449 CreateGeom(m_targetSpace, _mesh);
1413 1450
1414 if (prim_geom != IntPtr.Zero) 1451 if (prim_geom != IntPtr.Zero)
@@ -1464,6 +1501,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1464 OdePrim odParent = (OdePrim)_parent; 1501 OdePrim odParent = (OdePrim)_parent;
1465 if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) 1502 if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
1466 { 1503 {
1504// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
1505Console.WriteLine(" JointCreateFixed");
1467 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); 1506 m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
1468 d.JointAttach(m_linkJoint, Body, odParent.Body); 1507 d.JointAttach(m_linkJoint, Body, odParent.Body);
1469 d.JointSetFixed(m_linkJoint); 1508 d.JointSetFixed(m_linkJoint);
@@ -1517,239 +1556,236 @@ namespace OpenSim.Region.Physics.OdePlugin
1517 float fz = 0; 1556 float fz = 0;
1518 1557
1519 1558
1520 if (IsPhysical && Body != IntPtr.Zero && !m_isSelected) 1559 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims.
1521 { 1560 {
1522 if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f)) 1561 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1523 { 1562 {
1524 d.Vector3 avel2 = d.BodyGetAngularVel(Body); 1563 // 'VEHICLES' are dealt with in ODEDynamics.cs
1525 if (m_angularlock.X == 1) 1564 m_vehicle.Step(timestep, _parent_scene);
1526 avel2.X = 0; 1565 }
1527 if (m_angularlock.Y == 1) 1566 else
1528 avel2.Y = 0; 1567 {
1529 if (m_angularlock.Z == 1) 1568 // NON-'VEHICLES' are dealt with here
1530 avel2.Z = 0; 1569 if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
1531 d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); 1570 {
1532 } 1571 d.Vector3 avel2 = d.BodyGetAngularVel(Body);
1533 //float PID_P = 900.0f; 1572 if (m_angularlock.X == 1)
1534 1573 avel2.X = 0;
1535 float m_mass = CalculateMass(); 1574 if (m_angularlock.Y == 1)
1536 1575 avel2.Y = 0;
1537 fz = 0f; 1576 if (m_angularlock.Z == 1)
1577 avel2.Z = 0;
1578 d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
1579 }
1580 //float PID_P = 900.0f;
1581
1582 float m_mass = CalculateMass();
1583
1584// fz = 0f;
1538 //m_log.Info(m_collisionFlags.ToString()); 1585 //m_log.Info(m_collisionFlags.ToString());
1539 1586
1540 if (m_buoyancy != 0) 1587
1541 { 1588 //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
1542 if (m_buoyancy > 0) 1589 // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
1543 { 1590 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
1544 fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); 1591 // gravityz multiplier = 1 - m_buoyancy
1545 1592 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
1546 //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); 1593
1547 //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); 1594 if (m_usePID)
1548 } 1595 {
1549 else 1596 // KF - this is for object move? eg. llSetPos() ?
1550 { 1597 //if (!d.BodyIsEnabled(Body))
1551 fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); 1598 //d.BodySetForce(Body, 0f, 0f, 0f);
1552 } 1599 // If we're using the PID controller, then we have no gravity
1553 } 1600 //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply...
1554 1601 fz = 0f;
1555 if (m_usePID) 1602
1556 { 1603 // no lock; for now it's only called from within Simulate()
1604
1605 // If the PID Controller isn't active then we set our force
1606 // calculating base velocity to the current position
1607
1608 if ((m_PIDTau < 1) && (m_PIDTau != 0))
1609 {
1610 //PID_G = PID_G / m_PIDTau;
1611 m_PIDTau = 1;
1612 }
1613
1614 if ((PID_G - m_PIDTau) <= 0)
1615 {
1616 PID_G = m_PIDTau + 1;
1617 }
1618 //PidStatus = true;
1619
1620 // PhysicsVector vec = new PhysicsVector();
1621 d.Vector3 vel = d.BodyGetLinearVel(Body);
1622
1623 d.Vector3 pos = d.BodyGetPosition(Body);
1624 _target_velocity =
1625 new PhysicsVector(
1626 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
1627 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
1628 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
1629 );
1630
1631 // if velocity is zero, use position control; otherwise, velocity control
1632
1633 if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
1634 {
1635 // keep track of where we stopped. No more slippin' & slidin'
1636
1637 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1638 // react to the physics scene by moving it's position.
1639 // Avatar to Avatar collisions
1640 // Prim to avatar collisions
1641
1642 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
1643 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
1644 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1645 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
1646 d.BodySetLinearVel(Body, 0, 0, 0);
1647 d.BodyAddForce(Body, 0, 0, fz);
1648 return;
1649 }
1650 else
1651 {
1652 _zeroFlag = false;
1653
1654 // We're flying and colliding with something
1655 fx = ((_target_velocity.X) - vel.X) * (PID_D);
1656 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
1657
1658 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
1659
1660 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1661 }
1662 } // end if (m_usePID)
1663
1664 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
1665 if (m_useHoverPID && !m_usePID)
1666 {
1667 // If we're using the PID controller, then we have no gravity
1668 fz = (-1 * _parent_scene.gravityz) * m_mass;
1669
1670 // no lock; for now it's only called from within Simulate()
1671
1672 // If the PID Controller isn't active then we set our force
1673 // calculating base velocity to the current position
1674
1675 if ((m_PIDTau < 1))
1676 {
1677 PID_G = PID_G / m_PIDTau;
1678 }
1679
1680 if ((PID_G - m_PIDTau) <= 0)
1681 {
1682 PID_G = m_PIDTau + 1;
1683 }
1557 1684
1558 //if (!d.BodyIsEnabled(Body))
1559 //d.BodySetForce(Body, 0f, 0f, 0f);
1560 // If we're using the PID controller, then we have no gravity
1561 fz = (-1 * _parent_scene.gravityz) * m_mass;
1562 1685
1563 // no lock; for now it's only called from within Simulate() 1686 // Where are we, and where are we headed?
1687 d.Vector3 pos = d.BodyGetPosition(Body);
1688 d.Vector3 vel = d.BodyGetLinearVel(Body);
1689
1690
1691 // Non-Vehicles have a limited set of Hover options.
1692 // determine what our target height really is based on HoverType
1693 switch (m_PIDHoverType)
1694 {
1695 case PIDHoverType.Ground:
1696 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
1697 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
1698 break;
1699 case PIDHoverType.GroundAndWater:
1700 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
1701 m_waterHeight = _parent_scene.GetWaterLevel();
1702 if (m_groundHeight > m_waterHeight)
1703 {
1704 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
1705 }
1706 else
1707 {
1708 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
1709 }
1710 break;
1711
1712 } // end switch (m_PIDHoverType)
1713
1714
1715 _target_velocity =
1716 new PhysicsVector(0.0f, 0.0f,
1717 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
1718 );
1719
1720 // if velocity is zero, use position control; otherwise, velocity control
1721
1722 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
1723 {
1724 // keep track of where we stopped. No more slippin' & slidin'
1725
1726 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1727 // react to the physics scene by moving it's position.
1728 // Avatar to Avatar collisions
1729 // Prim to avatar collisions
1730
1731 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
1732 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
1733 d.BodyAddForce(Body, 0, 0, fz);
1734 return;
1735 }
1736 else
1737 {
1738 _zeroFlag = false;
1739
1740 // We're flying and colliding with something
1741 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1742 }
1743 }
1744
1745 fx *= m_mass;
1746 fy *= m_mass;
1747 //fz *= m_mass;
1748
1749 fx += m_force.X;
1750 fy += m_force.Y;
1751 fz += m_force.Z;
1752
1753 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
1754 if (fx != 0 || fy != 0 || fz != 0)
1755 {
1756 //m_taintdisable = true;
1757 //base.RaiseOutOfBounds(Position);
1758 //d.BodySetLinearVel(Body, fx, fy, 0f);
1759 if (!d.BodyIsEnabled(Body))
1760 {
1761 // A physical body at rest on a surface will auto-disable after a while,
1762 // this appears to re-enable it incase the surface it is upon vanishes,
1763 // and the body should fall again.
1764 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1765 d.BodySetForce(Body, 0, 0, 0);
1766 enableBodySoft();
1767 }
1768
1769 // 35x10 = 350n times the mass per second applied maximum.
1770 float nmax = 35f * m_mass;
1771 float nmin = -35f * m_mass;
1564 1772
1565 // If the PID Controller isn't active then we set our force
1566 // calculating base velocity to the current position
1567
1568 if ((m_PIDTau < 1) && (m_PIDTau != 0))
1569 {
1570 //PID_G = PID_G / m_PIDTau;
1571 m_PIDTau = 1;
1572 }
1573
1574 if ((PID_G - m_PIDTau) <= 0)
1575 {
1576 PID_G = m_PIDTau + 1;
1577 }
1578 //PidStatus = true;
1579
1580 // PhysicsVector vec = new PhysicsVector();
1581 d.Vector3 vel = d.BodyGetLinearVel(Body);
1582
1583 d.Vector3 pos = d.BodyGetPosition(Body);
1584 _target_velocity =
1585 new PhysicsVector(
1586 (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
1587 (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
1588 (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
1589 );
1590
1591 // if velocity is zero, use position control; otherwise, velocity control
1592
1593 if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
1594 {
1595 // keep track of where we stopped. No more slippin' & slidin'
1596
1597 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1598 // react to the physics scene by moving it's position.
1599 // Avatar to Avatar collisions
1600 // Prim to avatar collisions
1601
1602 //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
1603 //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
1604 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
1605 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
1606 d.BodySetLinearVel(Body, 0, 0, 0);
1607 d.BodyAddForce(Body, 0, 0, fz);
1608 return;
1609 }
1610 else
1611 {
1612 _zeroFlag = false;
1613
1614 // We're flying and colliding with something
1615 fx = ((_target_velocity.X) - vel.X) * (PID_D);
1616 fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
1617
1618 // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
1619
1620 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1621 }
1622 }
1623
1624 // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
1625 if (m_useHoverPID && !m_usePID)
1626 {
1627 // If we're using the PID controller, then we have no gravity
1628 fz = (-1 * _parent_scene.gravityz) * m_mass;
1629
1630 // no lock; for now it's only called from within Simulate()
1631
1632 // If the PID Controller isn't active then we set our force
1633 // calculating base velocity to the current position
1634
1635 if ((m_PIDTau < 1))
1636 {
1637 PID_G = PID_G / m_PIDTau;
1638 }
1639
1640 if ((PID_G - m_PIDTau) <= 0)
1641 {
1642 PID_G = m_PIDTau + 1;
1643 }
1644 1773
1645 1774 if (fx > nmax)
1646 // Where are we, and where are we headed? 1775 fx = nmax;
1647 d.Vector3 pos = d.BodyGetPosition(Body); 1776 if (fx < nmin)
1648 d.Vector3 vel = d.BodyGetLinearVel(Body); 1777 fx = nmin;
1649 1778 if (fy > nmax)
1650 // determine what our target height really is based on HoverType 1779 fy = nmax;
1651 switch (m_PIDHoverType) 1780 if (fy < nmin)
1652 { 1781 fy = nmin;
1653 case PIDHoverType.Absolute: 1782 d.BodyAddForce(Body, fx, fy, fz);
1654 m_targetHoverHeight = m_PIDHoverHeight; 1783 }
1655 break; 1784 }
1656 case PIDHoverType.Ground:
1657 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
1658 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
1659 break;
1660 case PIDHoverType.GroundAndWater:
1661 m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
1662 m_waterHeight = _parent_scene.GetWaterLevel();
1663 if (m_groundHeight > m_waterHeight)
1664 {
1665 m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
1666 }
1667 else
1668 {
1669 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
1670 }
1671 break;
1672 case PIDHoverType.Water:
1673 m_waterHeight = _parent_scene.GetWaterLevel();
1674 m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
1675 break;
1676 }
1677
1678
1679 _target_velocity =
1680 new PhysicsVector(0.0f, 0.0f,
1681 (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
1682 );
1683
1684 // if velocity is zero, use position control; otherwise, velocity control
1685
1686 if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
1687 {
1688 // keep track of where we stopped. No more slippin' & slidin'
1689
1690 // We only want to deactivate the PID Controller if we think we want to have our surrogate
1691 // react to the physics scene by moving it's position.
1692 // Avatar to Avatar collisions
1693 // Prim to avatar collisions
1694
1695 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
1696 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
1697 d.BodyAddForce(Body, 0, 0, fz);
1698 return;
1699 }
1700 else
1701 {
1702 _zeroFlag = false;
1703
1704 // We're flying and colliding with something
1705 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1706 }
1707 }
1708
1709 fx *= m_mass;
1710 fy *= m_mass;
1711 //fz *= m_mass;
1712
1713 fx += m_force.X;
1714 fy += m_force.Y;
1715 fz += m_force.Z;
1716
1717 //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
1718 if (fx != 0 || fy != 0 || fz != 0)
1719 {
1720 //m_taintdisable = true;
1721 //base.RaiseOutOfBounds(Position);
1722 //d.BodySetLinearVel(Body, fx, fy, 0f);
1723 if (!d.BodyIsEnabled(Body))
1724 {
1725 d.BodySetLinearVel(Body, 0f, 0f, 0f);
1726 d.BodySetForce(Body, 0, 0, 0);
1727 enableBodySoft();
1728 }
1729
1730 // 35x10 = 350n times the mass per second applied maximum.
1731 float nmax = 35f * m_mass;
1732 float nmin = -35f * m_mass;
1733
1734
1735 if (fx > nmax)
1736 fx = nmax;
1737 if (fx < nmin)
1738 fx = nmin;
1739 if (fy > nmax)
1740 fy = nmax;
1741 if (fy < nmin)
1742 fy = nmin;
1743 d.BodyAddForce(Body, fx, fy, fz);
1744 }
1745 if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE)
1746 m_vehicle.Enable(Body, _parent_scene);
1747
1748 m_vehicle.Step(timestep);
1749 } 1785 }
1750 else 1786 else
1751 { 1787 { // is not physical, or is not a body or is selected
1752 // _zeroPosition = d.BodyGetPosition(Body); 1788 // _zeroPosition = d.BodyGetPosition(Body);
1753 return; 1789 return;
1754 } 1790 }
1755 } 1791 }
@@ -1763,14 +1799,22 @@ namespace OpenSim.Region.Physics.OdePlugin
1763 myrot.Y = _orientation.Y; 1799 myrot.Y = _orientation.Y;
1764 myrot.Z = _orientation.Z; 1800 myrot.Z = _orientation.Z;
1765 myrot.W = _orientation.W; 1801 myrot.W = _orientation.W;
1766 d.GeomSetQuaternion(prim_geom, ref myrot); 1802 if (Body != IntPtr.Zero)
1767 if (m_isphysical && Body != IntPtr.Zero)
1768 { 1803 {
1804 // KF: If this is a root prim do BodySet
1769 d.BodySetQuaternion(Body, ref myrot); 1805 d.BodySetQuaternion(Body, ref myrot);
1770 if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) 1806 if (m_isphysical)
1771 createAMotor(m_angularlock); 1807 {
1808 if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
1809 createAMotor(m_angularlock);
1810 }
1811 }
1812 else
1813 {
1814 // daughter prim, do Geom set
1815 d.GeomSetQuaternion(prim_geom, ref myrot);
1772 } 1816 }
1773 1817
1774 resetCollisionAccounting(); 1818 resetCollisionAccounting();
1775 m_taintrot = _orientation; 1819 m_taintrot = _orientation;
1776 } 1820 }
@@ -1832,7 +1876,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1832 m_log.Error("[PHYSICS]: PrimGeom dead"); 1876 m_log.Error("[PHYSICS]: PrimGeom dead");
1833 } 1877 }
1834 } 1878 }
1835 1879//Console.WriteLine("changePhysicsStatus for " + m_primName );
1836 changeadd(2f); 1880 changeadd(2f);
1837 } 1881 }
1838 if (childPrim) 1882 if (childPrim)
@@ -1910,7 +1954,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1910 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); 1954 mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
1911 1955
1912 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); 1956 //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
1913 1957//Console.WriteLine("changesize 1");
1914 CreateGeom(m_targetSpace, mesh); 1958 CreateGeom(m_targetSpace, mesh);
1915 1959
1916 1960
@@ -1918,6 +1962,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1918 else 1962 else
1919 { 1963 {
1920 _mesh = null; 1964 _mesh = null;
1965//Console.WriteLine("changesize 2");
1921 CreateGeom(m_targetSpace, _mesh); 1966 CreateGeom(m_targetSpace, _mesh);
1922 } 1967 }
1923 1968
@@ -2024,6 +2069,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2024 else 2069 else
2025 { 2070 {
2026 _mesh = null; 2071 _mesh = null;
2072//Console.WriteLine("changeshape");
2027 CreateGeom(m_targetSpace, null); 2073 CreateGeom(m_targetSpace, null);
2028 } 2074 }
2029 2075
@@ -2365,7 +2411,9 @@ namespace OpenSim.Region.Physics.OdePlugin
2365 set 2411 set
2366 { 2412 {
2367 if (QuaternionIsFinite(value)) 2413 if (QuaternionIsFinite(value))
2414 {
2368 _orientation = value; 2415 _orientation = value;
2416 }
2369 else 2417 else
2370 m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object"); 2418 m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
2371 2419
@@ -2584,12 +2632,16 @@ namespace OpenSim.Region.Physics.OdePlugin
2584 //outofBounds = true; 2632 //outofBounds = true;
2585 } 2633 }
2586 2634
2635 float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
2636//Console.WriteLine("Adiff " + m_primName + " = " + Adiff);
2587 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) 2637 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
2588 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) 2638 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
2589 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) 2639 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
2590 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) 2640// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
2641 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large
2591 { 2642 {
2592 _zeroFlag = true; 2643 _zeroFlag = true;
2644//Console.WriteLine("ZFT 2");
2593 m_throttleUpdates = false; 2645 m_throttleUpdates = false;
2594 } 2646 }
2595 else 2647 else
generated by cgit v1.1 at 2024-12-18 16:25:20 +0000