1 files changed, 79 insertions, 26 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index faa9488..4cac0aa 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -25,7 +25,7 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

  */

 

-/* Revision 2011/12 by Ubit Umarov

+/* Revision 2011/12/13 by Ubit Umarov

  *

  * 

  */

@@ -115,7 +115,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         private int body_autodisable_frames;

         public int bodydisablecontrol;

-

+        private float m_gravmod = 1.0f;

 

         // Default we're a Geometry

         private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);

@@ -914,6 +914,55 @@ namespace OpenSim.Region.Physics.OdePlugin
             bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;

         }

 

+        public override float Density

+        {

+            get

+            {

+                return m_density * 100f;

+            }

+            set

+            {

+                m_density = value / 100f;

+                // for not prim mass is not updated since this implies full rebuild of body inertia TODO

+            }

+        }

+        public override float GravModifier

+        {

+            get

+            {

+                return m_gravmod;

+            }

+            set

+            {

+                m_gravmod = value;

+                if (m_vehicle != null)

+                    m_vehicle.GravMod = m_gravmod;

+            }

+        }

+        public override float Friction

+        {

+            get

+            {

+                return mu;

+            }

+            set

+            {

+                mu = value;

+            }

+        }

+

+        public override float Restitution

+        {

+            get

+            {

+                return bounce;

+            }

+            set

+            {

+                bounce = value;

+            }

+        }

+

         public void setPrimForRemoval()

         {

             AddChange(changes.Remove, null);

@@ -1736,7 +1785,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             d.BodySetAutoDisableFlag(Body, true);

             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);

-            d.BodySetDamping(Body, .005f, .005f);

+            d.BodySetAutoDisableAngularThreshold(Body, 0.01f);

+            d.BodySetAutoDisableLinearThreshold(Body, 0.01f);

+            d.BodySetDamping(Body, .005f, .001f);

 

             if (m_targetSpace != IntPtr.Zero)

             {

@@ -2144,7 +2195,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             _mass = primMass; // just in case

 

-            d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z);

+            d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z);

 

             d.MassTranslate(ref primdMass,

                                 m_OBBOffset.X,

@@ -2362,6 +2413,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             MakeBody();

         }

 

+ 

         #region changes

 

         private void changeadd()

@@ -3213,7 +3265,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                     if (++bodydisablecontrol < 20)

                         return;

-

                     

                     d.BodyEnable(Body);

                 }

@@ -3334,7 +3385,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }

                 else

                 {

-                    float b = (1.0f - m_buoyancy);

+                    float b = (1.0f - m_buoyancy) * m_gravmod;

                     fx = _parent_scene.gravityx * b;

                     fy = _parent_scene.gravityy * b;

                     fz = _parent_scene.gravityz * b;

@@ -3381,11 +3432,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

-        public void UpdatePositionAndVelocity()

+        public void UpdatePositionAndVelocity(int frame)

         {

             if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)

             {

-                if (d.BodyIsEnabled(Body) || !_zeroFlag)

+                bool bodyenabled = d.BodyIsEnabled(Body);

+                if (bodyenabled || !_zeroFlag)

                 {

                     bool lastZeroFlag = _zeroFlag;

 

@@ -3478,13 +3530,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // tolerance values depende a lot on simulation noise...

                     // use simple math.abs since we dont need to be exact

 

-                    if (

-                        (Math.Abs(_position.X - lpos.X) < 0.001f)

-                        && (Math.Abs(_position.Y - lpos.Y) < 0.001f)

-                        && (Math.Abs(_position.Z - lpos.Z) < 0.001f)

-                        && (Math.Abs(_orientation.X - ori.X) < 0.0001f)

-                        && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)

-                        && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f)  // ignore W

+                    if (!bodyenabled ||

+                        (Math.Abs(_position.X - lpos.X) < 0.005f)

+                        && (Math.Abs(_position.Y - lpos.Y) < 0.005f)

+                        && (Math.Abs(_position.Z - lpos.Z) < 0.005f)

+                        && (Math.Abs(_orientation.X - ori.X) < 0.0005f)

+                        && (Math.Abs(_orientation.Y - ori.Y) < 0.0005f)

+                        && (Math.Abs(_orientation.Z - ori.Z) < 0.0005f)  // ignore W

                         )

                     {

                         _zeroFlag = true;

@@ -3499,9 +3551,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                         _acceleration = _velocity;

 

-                        if ((Math.Abs(vel.X) < 0.001f) &&

-                            (Math.Abs(vel.Y) < 0.001f) &&

-                            (Math.Abs(vel.Z) < 0.001f))

+                        if ((Math.Abs(vel.X) < 0.005f) &&

+                            (Math.Abs(vel.Y) < 0.005f) &&

+                            (Math.Abs(vel.Z) < 0.005f))

                         {

                             _velocity = Vector3.Zero;

                             float t = -m_invTimeStep;

@@ -3538,6 +3590,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                         }

                     }

 

+                    _position.X = lpos.X;

+                    _position.Y = lpos.Y;

+                    _position.Z = lpos.Z;

+

+                    _orientation.X = ori.X;

+                    _orientation.Y = ori.Y;

+                    _orientation.Z = ori.Z;

+                    _orientation.W = ori.W;

+

                     if (_zeroFlag)

                     {

                         if (lastZeroFlag)

@@ -3556,14 +3617,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                         return;

                     }

 

-                    _position.X = lpos.X;

-                    _position.Y = lpos.Y;

-                    _position.Z = lpos.Z;

-

-                    _orientation.X = ori.X;

-                    _orientation.Y = ori.Y;

-                    _orientation.Z = ori.Z;

-                    _orientation.W = ori.W;

                     base.RequestPhysicsterseUpdate();

                     m_lastUpdateSent = false;

                 }