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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs13
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs80
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs563
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs261
4 files changed, 636 insertions, 281 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 793e281..9a22331 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -136,7 +136,8 @@ namespace OpenSim.Region.Physics.OdePlugin
136 public UUID m_uuid; 136 public UUID m_uuid;
137 public bool bad = false; 137 public bool bad = false;
138 138
139 public ContactData AvatarContactData = new ContactData(10f, 0.3f); 139 float mu;
140 float bounce;
140 141
141 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor) 142 public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
142 { 143 {
@@ -168,8 +169,8 @@ namespace OpenSim.Region.Physics.OdePlugin
168 m_density = density; 169 m_density = density;
169 m_mass = 80f; // sure we have a default 170 m_mass = 80f; // sure we have a default
170 171
171 AvatarContactData.mu = parent_scene.AvatarFriction; 172 mu = parent_scene.AvatarFriction;
172 AvatarContactData.bounce = parent_scene.AvatarBounce; 173 bounce = parent_scene.AvatarBounce;
173 174
174 walkDivisor = walk_divisor; 175 walkDivisor = walk_divisor;
175 runDivisor = rundivisor; 176 runDivisor = rundivisor;
@@ -190,9 +191,11 @@ namespace OpenSim.Region.Physics.OdePlugin
190 set { return; } 191 set { return; }
191 } 192 }
192 193
193 public override ContactData ContactData 194 public override void getContactData(ref ContactData cdata)
194 { 195 {
195 get { return AvatarContactData; } 196 cdata.mu = mu;
197 cdata.bounce = bounce;
198 cdata.softcolide = false;
196 } 199 }
197 200
198 public override bool Building { get; set; } 201 public override bool Building { get; set; }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index c9d0909..d0b4546 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -38,7 +38,7 @@
38 * settings use. 38 * settings use.
39 */ 39 */
40 40
41// Ubit 2012 41// Extensive change Ubit 2012
42 42
43using System; 43using System;
44using System.Collections.Generic; 44using System.Collections.Generic;
@@ -119,7 +119,15 @@ namespace OpenSim.Region.Physics.OdePlugin
119 // auxiliar 119 // auxiliar
120 private float m_lmEfect = 0; // current linear motor eficiency 120 private float m_lmEfect = 0; // current linear motor eficiency
121 private float m_amEfect = 0; // current angular motor eficiency 121 private float m_amEfect = 0; // current angular motor eficiency
122 private float m_ffactor = 1.0f;
122 123
124 public float FrictionFactor
125 {
126 get
127 {
128 return m_ffactor;
129 }
130 }
123 131
124 public ODEDynamics(OdePrim rootp) 132 public ODEDynamics(OdePrim rootp)
125 { 133 {
@@ -127,7 +135,6 @@ namespace OpenSim.Region.Physics.OdePlugin
127 _pParentScene = rootPrim._parent_scene; 135 _pParentScene = rootPrim._parent_scene;
128 } 136 }
129 137
130
131 public void DoSetVehicle(VehicleData vd) 138 public void DoSetVehicle(VehicleData vd)
132 { 139 {
133 140
@@ -152,6 +159,7 @@ namespace OpenSim.Region.Physics.OdePlugin
152 m_linearMotorTimescale = vd.m_linearMotorTimescale; 159 m_linearMotorTimescale = vd.m_linearMotorTimescale;
153 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep; 160 if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
154 161
162
155 m_linearMotorOffset = vd.m_linearMotorOffset; 163 m_linearMotorOffset = vd.m_linearMotorOffset;
156 164
157 //Angular properties 165 //Angular properties
@@ -201,6 +209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
201 209
202 m_lmEfect = 0; 210 m_lmEfect = 0;
203 m_amEfect = 0; 211 m_amEfect = 0;
212 m_ffactor = 1.0f;
204 } 213 }
205 214
206 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) 215 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
@@ -318,6 +327,7 @@ namespace OpenSim.Region.Physics.OdePlugin
318 if (len > 30.0f) 327 if (len > 30.0f)
319 m_linearMotorDirection *= (30.0f / len); 328 m_linearMotorDirection *= (30.0f / len);
320 m_lmEfect = 1.0f; // turn it on 329 m_lmEfect = 1.0f; // turn it on
330 m_ffactor = 0.01f;
321 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) 331 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
322 && !rootPrim.m_isSelected && !rootPrim.m_disabled) 332 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
323 d.BodyEnable(rootPrim.Body); 333 d.BodyEnable(rootPrim.Body);
@@ -368,6 +378,7 @@ namespace OpenSim.Region.Physics.OdePlugin
368 if (len > 30.0f) 378 if (len > 30.0f)
369 m_linearMotorDirection *= (30.0f / len); 379 m_linearMotorDirection *= (30.0f / len);
370 m_lmEfect = 1.0f; // turn it on 380 m_lmEfect = 1.0f; // turn it on
381 m_ffactor = 0.01f;
371 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) 382 if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
372 && !rootPrim.m_isSelected && !rootPrim.m_disabled) 383 && !rootPrim.m_isSelected && !rootPrim.m_disabled)
373 d.BodyEnable(rootPrim.Body); 384 d.BodyEnable(rootPrim.Body);
@@ -414,6 +425,7 @@ namespace OpenSim.Region.Physics.OdePlugin
414 float invtimestep = _pParentScene.ODE_STEPSIZE; 425 float invtimestep = _pParentScene.ODE_STEPSIZE;
415 m_lmEfect = 0; 426 m_lmEfect = 0;
416 m_amEfect = 0; 427 m_amEfect = 0;
428 m_ffactor = 1f;
417 429
418 m_linearMotorDirection = Vector3.Zero; 430 m_linearMotorDirection = Vector3.Zero;
419 m_angularMotorDirection = Vector3.Zero; 431 m_angularMotorDirection = Vector3.Zero;
@@ -591,6 +603,7 @@ namespace OpenSim.Region.Physics.OdePlugin
591 { 603 {
592 m_lmEfect = 0; 604 m_lmEfect = 0;
593 m_amEfect = 0; 605 m_amEfect = 0;
606 m_ffactor = 1f;
594 } 607 }
595 608
596 public static Vector3 Xrot(Quaternion rot) 609 public static Vector3 Xrot(Quaternion rot)
@@ -614,6 +627,7 @@ namespace OpenSim.Region.Physics.OdePlugin
614 return vec; 627 return vec;
615 } 628 }
616 629
630 private const float pi = (float)Math.PI;
617 private const float halfpi = 0.5f * (float)Math.PI; 631 private const float halfpi = 0.5f * (float)Math.PI;
618 632
619 public static Vector3 ubitRot2Euler(Quaternion rot) 633 public static Vector3 ubitRot2Euler(Quaternion rot)
@@ -740,9 +754,14 @@ namespace OpenSim.Region.Physics.OdePlugin
740 force.Z += tmpV.Z; 754 force.Z += tmpV.Z;
741 } 755 }
742 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale); 756 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
757
758 m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
743 } 759 }
744 else 760 else
761 {
745 m_lmEfect = 0; 762 m_lmEfect = 0;
763 m_ffactor = 1f;
764 }
746 765
747 // friction 766 // friction
748 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0) 767 if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
@@ -884,35 +903,64 @@ namespace OpenSim.Region.Physics.OdePlugin
884 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE; 903 float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
885 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE; 904 float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
886 905
887 if (Math.Abs(roll) > 0.01) // roll 906 if (roll > halfpi)
907 roll = pi - roll;
908 else if (roll < -halfpi)
909 roll = -pi - roll;
910
911 float effroll = pitch / halfpi;
912 effroll *= effroll;
913 effroll = 1 - effroll;
914 effroll *= roll;
915
916 if (Math.Abs(effroll) > 0.01) // roll
888 { 917 {
889 torque.X -= -roll * ftmp + curLocalAngVel.X * ftmp2; 918 torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
890 } 919 }
891 920
892 if (Math.Abs(pitch) > 0.01 && ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)) // pitch 921 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
893 { 922 {
894 torque.Y -= -pitch * ftmp + curLocalAngVel.Y * ftmp2; 923 float effpitch = roll / halfpi;
924 effpitch *= effpitch;
925 effpitch = 1 - effpitch;
926 effpitch *= pitch;
927
928 if (Math.Abs(effpitch) > 0.01) // pitch
929 {
930 torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
931 }
895 } 932 }
896 933
897 if (m_bankingEfficiency != 0 && Math.Abs(roll) > 0.01) 934 if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
898 { 935 {
899 float broll = roll * m_bankingEfficiency; ; 936
937 float broll = effroll;
938/*
939 if (broll > halfpi)
940 broll = pi - broll;
941 else if (broll < -halfpi)
942 broll = -pi - broll;
943*/
944 broll *= m_bankingEfficiency;
900 if (m_bankingMix != 0) 945 if (m_bankingMix != 0)
901 { 946 {
902 float vfact = Math.Abs(curLocalVel.X) / 10.0f; 947 float vfact = Math.Abs(curLocalVel.X) / 10.0f;
903 if (vfact > 1.0f) vfact = 1.0f; 948 if (vfact > 1.0f) vfact = 1.0f;
949
904 if (curLocalVel.X >= 0) 950 if (curLocalVel.X >= 0)
905 broll *= ((1 - m_bankingMix) + vfact); 951 broll *= (1 + (vfact - 1) * m_bankingMix);
906 else 952 else
907 broll *= -((1 - m_bankingMix) + vfact); 953 broll *= -(1 + (vfact - 1) * m_bankingMix);
908 } 954 }
909 broll = (broll - curLocalAngVel.Z) / m_bankingTimescale;
910 // torque.Z += broll;
911
912 // make z rot be in world Z not local as seems to be in sl 955 // make z rot be in world Z not local as seems to be in sl
913 tmpV.X = 0; 956
914 tmpV.Y = 0; 957 broll = broll / m_bankingTimescale;
915 tmpV.Z = broll; 958
959 ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
960
961 tmpV.X = ftmp * curAngVel.X;
962 tmpV.Y = ftmp * curAngVel.Y;
963 tmpV.Z = broll + ftmp * curAngVel.Z;
916 tmpV *= irotq; 964 tmpV *= irotq;
917 965
918 torque.X += tmpV.X; 966 torque.X += tmpV.X;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 0ccdbc0..b105f77 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -114,6 +114,9 @@ namespace OpenSim.Region.Physics.OdePlugin
114// private bool m_collidesLand = true; 114// private bool m_collidesLand = true;
115 private bool m_collidesWater; 115 private bool m_collidesWater;
116 public bool m_returnCollisions; 116 public bool m_returnCollisions;
117 private bool m_softcolide;
118
119 private bool m_NoColide; // for now only for internal use for bad meshs
117 120
118 // Default we're a Geometry 121 // Default we're a Geometry
119 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); 122 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -155,6 +158,8 @@ namespace OpenSim.Region.Physics.OdePlugin
155 public float m_collisionscore; 158 public float m_collisionscore;
156 int m_colliderfilter = 0; 159 int m_colliderfilter = 0;
157 160
161 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
162
158 private float m_density = 10.000006836f; // Aluminum g/cm3; 163 private float m_density = 10.000006836f; // Aluminum g/cm3;
159 164
160 public bool _zeroFlag; 165 public bool _zeroFlag;
@@ -185,7 +190,8 @@ namespace OpenSim.Region.Physics.OdePlugin
185 public ODEDynamics m_vehicle; 190 public ODEDynamics m_vehicle;
186 191
187 internal int m_material = (int)Material.Wood; 192 internal int m_material = (int)Material.Wood;
188 protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f }; 193 private float mu;
194 private float bounce;
189 195
190 /// <summary> 196 /// <summary>
191 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. 197 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
@@ -216,13 +222,26 @@ namespace OpenSim.Region.Physics.OdePlugin
216 } 222 }
217 } 223 }
218 224
219 public override ContactData ContactData 225 public override void getContactData(ref ContactData cdata)
220 { 226 {
221 get 227 cdata.mu = mu;
228 cdata.bounce = bounce;
229
230 // cdata.softcolide = m_softcolide;
231 cdata.softcolide = false;
232
233 if (m_isphysical)
222 { 234 {
223 return primContactData; 235 ODEDynamics veh;
236 if (_parent != null)
237 veh = ((OdePrim)_parent).m_vehicle;
238 else
239 veh = m_vehicle;
240
241 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
242 cdata.mu *= veh.FrictionFactor;
224 } 243 }
225 } 244 }
226 245
227 public override int PhysicsActorType 246 public override int PhysicsActorType
228 { 247 {
@@ -290,7 +309,10 @@ namespace OpenSim.Region.Physics.OdePlugin
290 } 309 }
291 310
292 if (m_colliderfilter == 0) 311 if (m_colliderfilter == 0)
312 {
313 m_softcolide = false;
293 m_iscolliding = false; 314 m_iscolliding = false;
315 }
294 else 316 else
295 m_iscolliding = true; 317 m_iscolliding = true;
296 } 318 }
@@ -453,8 +475,6 @@ namespace OpenSim.Region.Physics.OdePlugin
453 { 475 {
454 get 476 get
455 { 477 {
456 // Averate previous velocity with the new one so
457 // client object interpolation works a 'little' better
458 if (_zeroFlag) 478 if (_zeroFlag)
459 return Vector3.Zero; 479 return Vector3.Zero;
460 return _velocity; 480 return _velocity;
@@ -733,8 +753,8 @@ namespace OpenSim.Region.Physics.OdePlugin
733 public override void SetMaterial(int pMaterial) 753 public override void SetMaterial(int pMaterial)
734 { 754 {
735 m_material = pMaterial; 755 m_material = pMaterial;
736 primContactData.mu = _parent_scene.m_materialContactsData[pMaterial].mu; 756 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
737 primContactData.bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; 757 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
738 } 758 }
739 759
740 public void setPrimForRemoval() 760 public void setPrimForRemoval()
@@ -833,6 +853,7 @@ namespace OpenSim.Region.Physics.OdePlugin
833 body_autodisable_frames = parent_scene.bodyFramesAutoDisable; 853 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
834 854
835 prim_geom = IntPtr.Zero; 855 prim_geom = IntPtr.Zero;
856 collide_geom = IntPtr.Zero;
836 Body = IntPtr.Zero; 857 Body = IntPtr.Zero;
837 858
838 if (!size.IsFinite()) 859 if (!size.IsFinite())
@@ -847,7 +868,6 @@ namespace OpenSim.Region.Physics.OdePlugin
847 868
848 _size = size; 869 _size = size;
849 870
850
851 if (!QuaternionIsFinite(rotation)) 871 if (!QuaternionIsFinite(rotation))
852 { 872 {
853 rotation = Quaternion.Identity; 873 rotation = Quaternion.Identity;
@@ -878,6 +898,8 @@ namespace OpenSim.Region.Physics.OdePlugin
878 898
879 m_iscolliding = false; 899 m_iscolliding = false;
880 m_colliderfilter = 0; 900 m_colliderfilter = 0;
901 m_softcolide = true;
902 m_NoColide = false;
881 903
882 hasOOBoffsetFromMesh = false; 904 hasOOBoffsetFromMesh = false;
883 _triMeshData = IntPtr.Zero; 905 _triMeshData = IntPtr.Zero;
@@ -886,8 +908,8 @@ namespace OpenSim.Region.Physics.OdePlugin
886 m_isSelected = false; 908 m_isSelected = false;
887 m_delaySelect = false; 909 m_delaySelect = false;
888 910
889 primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; 911 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
890 primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; 912 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
891 913
892 CalcPrimBodyData(); 914 CalcPrimBodyData();
893 915
@@ -1025,34 +1047,42 @@ namespace OpenSim.Region.Physics.OdePlugin
1025 1047
1026 if (vertexCount == 0 || indexCount == 0) 1048 if (vertexCount == 0 || indexCount == 0)
1027 { 1049 {
1028 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. It can be a sculp with alpha channel in map. Replacing it by a small box.", Name, _position.X, _position.Y, _position.Z); 1050 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}",
1029 _size.X = 0.01f; 1051 Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1030 _size.Y = 0.01f; 1052 mesh.releaseSourceMeshData();
1031 _size.Z = 0.01f;
1032 return false; 1053 return false;
1033 } 1054 }
1034 1055
1035 primOOBoffset = mesh.GetCentroid(); 1056 primOOBoffset = mesh.GetCentroid();
1036 hasOOBoffsetFromMesh = true; 1057 hasOOBoffsetFromMesh = true;
1037 1058
1038 _triMeshData = d.GeomTriMeshDataCreate();
1039
1040 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1041 d.GeomTriMeshDataPreprocess(_triMeshData);
1042
1043 mesh.releaseSourceMeshData(); 1059 mesh.releaseSourceMeshData();
1044 1060
1045 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1061 IntPtr geo = IntPtr.Zero;
1062
1046 try 1063 try
1047 { 1064 {
1048 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null)); 1065 _triMeshData = d.GeomTriMeshDataCreate();
1066
1067 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1068 d.GeomTriMeshDataPreprocess(_triMeshData);
1069
1070 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1071 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1049 } 1072 }
1050 1073
1051 catch (Exception e) 1074 catch (Exception e)
1052 { 1075 {
1053 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e); 1076 m_log.ErrorFormat("[PHYSICS]: SetGeom Mesh failed for {0} exception: {1}", Name, e);
1077 if (_triMeshData != IntPtr.Zero)
1078 {
1079 d.GeomTriMeshDataDestroy(_triMeshData);
1080 _triMeshData = IntPtr.Zero;
1081 }
1054 return false; 1082 return false;
1055 } 1083 }
1084
1085 SetGeom(geo);
1056 return true; 1086 return true;
1057 } 1087 }
1058 1088
@@ -1062,25 +1092,30 @@ namespace OpenSim.Region.Physics.OdePlugin
1062 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name); 1092 //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);
1063 if (prim_geom != IntPtr.Zero) 1093 if (prim_geom != IntPtr.Zero)
1064 { 1094 {
1065 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1095 if (m_NoColide)
1066 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1096 {
1097 d.GeomSetCategoryBits(prim_geom, 0);
1098 if (m_isphysical)
1099 {
1100 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1101 }
1102 else
1103 {
1104 d.GeomSetCollideBits(prim_geom, 0);
1105 d.GeomDisable(prim_geom);
1106 }
1107 }
1108 else
1109 {
1110 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1111 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1112 }
1067 1113
1068 CalcPrimBodyData(); 1114 CalcPrimBodyData();
1069 1115
1070 _parent_scene.geom_name_map[prim_geom] = Name; 1116 _parent_scene.geom_name_map[prim_geom] = Name;
1071 _parent_scene.actor_name_map[prim_geom] = this; 1117 _parent_scene.actor_name_map[prim_geom] = this;
1072 1118
1073 /*
1074 if (childPrim)
1075 {
1076 if (_parent != null && _parent is OdePrim)
1077 {
1078 OdePrim parent = (OdePrim)_parent;
1079 //Console.WriteLine("SetGeom calls ChildSetGeom");
1080 parent.ChildSetGeom(this);
1081 }
1082 }
1083 */
1084 } 1119 }
1085 else 1120 else
1086 m_log.Warn("Setting bad Geom"); 1121 m_log.Warn("Setting bad Geom");
@@ -1102,10 +1137,13 @@ namespace OpenSim.Region.Physics.OdePlugin
1102 1137
1103 bool haveMesh = false; 1138 bool haveMesh = false;
1104 hasOOBoffsetFromMesh = false; 1139 hasOOBoffsetFromMesh = false;
1140 m_NoColide = false;
1105 1141
1106 if (_parent_scene.needsMeshing(_pbs)) 1142 if (_parent_scene.needsMeshing(_pbs))
1107 { 1143 {
1108 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims 1144 haveMesh = setMesh(_parent_scene); // this will give a mesh to non trivial known prims
1145 if (!haveMesh)
1146 m_NoColide = true;
1109 } 1147 }
1110 1148
1111 if (!haveMesh) 1149 if (!haveMesh)
@@ -1197,12 +1235,46 @@ namespace OpenSim.Region.Physics.OdePlugin
1197 { 1235 {
1198 if (!childPrim && !m_isSelected) 1236 if (!childPrim && !m_isSelected)
1199 { 1237 {
1200 if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) 1238 if (m_isphysical && Body != IntPtr.Zero)
1201 { 1239 {
1202 d.GeomEnable(prim_geom); 1240 m_collisionCategories |= CollisionCategories.Body;
1241 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1242
1203 foreach (OdePrim prm in childrenPrim) 1243 foreach (OdePrim prm in childrenPrim)
1204 d.GeomEnable(prm.prim_geom); 1244 {
1245 prm.m_collisionCategories = m_collisionCategories;
1246 prm.m_collisionFlags = m_collisionFlags;
1205 1247
1248 if (prm.prim_geom != IntPtr.Zero)
1249 {
1250 if (prm.m_NoColide)
1251 {
1252 d.GeomSetCategoryBits(prm.prim_geom, 0);
1253 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1254 }
1255 else
1256 {
1257 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1258 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1259 }
1260 d.GeomEnable(prm.prim_geom);
1261 }
1262 }
1263
1264 if (prim_geom != IntPtr.Zero)
1265 {
1266 if (m_NoColide)
1267 {
1268 d.GeomSetCategoryBits(prim_geom, 0);
1269 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1270 }
1271 else
1272 {
1273 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1274 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1275 }
1276 d.GeomEnable(prim_geom);
1277 }
1206 d.BodyEnable(Body); 1278 d.BodyEnable(Body);
1207 } 1279 }
1208 } 1280 }
@@ -1215,11 +1287,47 @@ namespace OpenSim.Region.Physics.OdePlugin
1215 m_disabled = true; 1287 m_disabled = true;
1216 if (!childPrim) 1288 if (!childPrim)
1217 { 1289 {
1218 if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero) 1290 if (m_isphysical && Body != IntPtr.Zero)
1219 { 1291 {
1220 d.GeomDisable(prim_geom); 1292 m_collisionCategories &= ~CollisionCategories.Body;
1293 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1294
1221 foreach (OdePrim prm in childrenPrim) 1295 foreach (OdePrim prm in childrenPrim)
1222 d.GeomDisable(prm.prim_geom); 1296 {
1297 prm.m_collisionCategories = m_collisionCategories;
1298 prm.m_collisionFlags = m_collisionFlags;
1299
1300 if (prm.prim_geom != IntPtr.Zero)
1301 {
1302 if (prm.m_NoColide)
1303 {
1304 d.GeomSetCategoryBits(prm.prim_geom, 0);
1305 d.GeomSetCollideBits(prm.prim_geom, 0);
1306 }
1307 else
1308 {
1309 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1310 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1311 }
1312 d.GeomDisable(prm.prim_geom);
1313 }
1314 }
1315
1316 if (prim_geom != IntPtr.Zero)
1317 {
1318 if (m_NoColide)
1319 {
1320 d.GeomSetCategoryBits(prim_geom, 0);
1321 d.GeomSetCollideBits(prim_geom, 0);
1322 }
1323 else
1324 {
1325 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1326 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1327 }
1328 d.GeomDisable(prim_geom);
1329 }
1330
1223 d.BodyDisable(Body); 1331 d.BodyDisable(Body);
1224 } 1332 }
1225 } 1333 }
@@ -1298,8 +1406,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1298 continue; 1406 continue;
1299 } 1407 }
1300 1408
1301
1302
1303 DMassCopy(ref prm.primdMass, ref tmpdmass); 1409 DMassCopy(ref prm.primdMass, ref tmpdmass);
1304 1410
1305 // apply prim current rotation to inertia 1411 // apply prim current rotation to inertia
@@ -1361,14 +1467,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1361 // d.BodySetAngularDampingThreshold(Body, 0.001f); 1467 // d.BodySetAngularDampingThreshold(Body, 0.001f);
1362 d.BodySetDamping(Body, .002f, .002f); 1468 d.BodySetDamping(Body, .002f, .002f);
1363 1469
1364 m_collisionCategories |= CollisionCategories.Body;
1365 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1366 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1367 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1368 m_collisionscore = 0;
1369 1470
1370 if (m_targetSpace != _parent_scene.ActiveSpace)
1371 {
1372 if (m_targetSpace != IntPtr.Zero) 1471 if (m_targetSpace != IntPtr.Zero)
1373 { 1472 {
1374 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1473 _parent_scene.waitForSpaceUnlock(m_targetSpace);
@@ -1376,9 +1475,22 @@ namespace OpenSim.Region.Physics.OdePlugin
1376 d.SpaceRemove(m_targetSpace, prim_geom); 1475 d.SpaceRemove(m_targetSpace, prim_geom);
1377 } 1476 }
1378 1477
1478
1479 if (childrenPrim.Count == 0)
1480 {
1481 collide_geom = prim_geom;
1379 m_targetSpace = _parent_scene.ActiveSpace; 1482 m_targetSpace = _parent_scene.ActiveSpace;
1380 d.SpaceAdd(m_targetSpace, prim_geom); 1483 d.SpaceAdd(m_targetSpace, prim_geom);
1381 } 1484 }
1485 else
1486 {
1487 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1488 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1489 d.SpaceSetSublevel(m_targetSpace, 3);
1490 d.SpaceSetCleanup(m_targetSpace, false);
1491 d.SpaceAdd(m_targetSpace, prim_geom);
1492 collide_geom = m_targetSpace;
1493 }
1382 1494
1383 lock (childrenPrim) 1495 lock (childrenPrim)
1384 { 1496 {
@@ -1390,28 +1502,45 @@ namespace OpenSim.Region.Physics.OdePlugin
1390 Vector3 ppos = prm._position; 1502 Vector3 ppos = prm._position;
1391 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position 1503 d.GeomSetOffsetWorldPosition(prm.prim_geom, ppos.X, ppos.Y, ppos.Z); // set relative position
1392 1504
1393 prm.m_collisionCategories |= CollisionCategories.Body; 1505 if (prm.m_targetSpace != m_targetSpace)
1394 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1395 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1396 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1397 prm.m_collisionscore = 0;
1398
1399 if (prm.m_targetSpace != _parent_scene.ActiveSpace)
1400 { 1506 {
1401 if (prm.m_targetSpace != IntPtr.Zero) 1507 if (prm.m_targetSpace != IntPtr.Zero)
1402 { 1508 {
1403 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1509 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1404 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) 1510 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1405 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); 1511 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1406 } 1512 }
1407 prm.m_targetSpace = _parent_scene.ActiveSpace; 1513 prm.m_targetSpace = m_targetSpace;
1408 d.SpaceAdd(m_targetSpace, prm.prim_geom); 1514 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1409 } 1515 }
1410 1516
1411 if (m_isSelected || m_disabled) 1517 if (m_isSelected || m_disabled)
1518 {
1519 prm.m_collisionCategories &= ~CollisionCategories.Body;
1520 prm.m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1412 d.GeomDisable(prm.prim_geom); 1521 d.GeomDisable(prm.prim_geom);
1522 }
1523 else
1524 {
1525 prm.m_collisionCategories |= CollisionCategories.Body;
1526 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1527 }
1528
1529 if (prm.m_NoColide)
1530 {
1531 d.GeomSetCategoryBits(prm.prim_geom, 0);
1532 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1533 }
1534 else
1535 {
1536 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1537 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1538 }
1539 prm.m_collisionscore = 0;
1540
1541 if(!m_disabled)
1542 prm.m_disabled = false;
1413 1543
1414 prm.m_disabled = false;
1415 _parent_scene.addActivePrim(prm); 1544 _parent_scene.addActivePrim(prm);
1416 } 1545 }
1417 } 1546 }
@@ -1424,11 +1553,37 @@ namespace OpenSim.Region.Physics.OdePlugin
1424 1553
1425 if (m_isSelected || m_disabled) 1554 if (m_isSelected || m_disabled)
1426 { 1555 {
1556 m_collisionCategories &= ~CollisionCategories.Body;
1557 m_collisionFlags &= ~(CollisionCategories.Land | CollisionCategories.Wind);
1558
1427 d.GeomDisable(prim_geom); 1559 d.GeomDisable(prim_geom);
1428 d.BodyDisable(Body); 1560 d.BodyDisable(Body);
1429 } 1561 }
1562 else
1563 {
1564 m_collisionCategories |= CollisionCategories.Body;
1565 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1566
1567 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1568 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1569 }
1430 1570
1571 if (m_NoColide)
1572 {
1573 d.GeomSetCategoryBits(prim_geom, 0);
1574 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1575 }
1576 else
1577 {
1578 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1579 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1580 }
1581
1582 m_collisionscore = 0;
1583
1584 m_softcolide = true;
1431 _parent_scene.addActivePrim(this); 1585 _parent_scene.addActivePrim(this);
1586 _parent_scene.addActiveGroups(this);
1432 } 1587 }
1433 1588
1434 private void DestroyBody() 1589 private void DestroyBody()
@@ -1440,8 +1595,16 @@ namespace OpenSim.Region.Physics.OdePlugin
1440 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 1595 m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
1441 if (prim_geom != IntPtr.Zero) 1596 if (prim_geom != IntPtr.Zero)
1442 { 1597 {
1443 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1598 if (m_NoColide)
1444 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1599 {
1600 d.GeomSetCategoryBits(prim_geom, 0);
1601 d.GeomSetCollideBits(prim_geom, 0);
1602 }
1603 else
1604 {
1605 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1606 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1607 }
1445 UpdateDataFromGeom(); 1608 UpdateDataFromGeom();
1446 d.GeomSetBody(prim_geom, IntPtr.Zero); 1609 d.GeomSetBody(prim_geom, IntPtr.Zero);
1447 SetInStaticSpace(this); 1610 SetInStaticSpace(this);
@@ -1454,12 +1617,20 @@ namespace OpenSim.Region.Physics.OdePlugin
1454 foreach (OdePrim prm in childrenPrim) 1617 foreach (OdePrim prm in childrenPrim)
1455 { 1618 {
1456 _parent_scene.remActivePrim(prm); 1619 _parent_scene.remActivePrim(prm);
1457 prm.m_collisionCategories &= ~CollisionCategories.Body; 1620 prm.m_collisionCategories = m_collisionCategories;
1458 prm.m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); 1621 prm.m_collisionFlags = m_collisionFlags;
1459 if (prm.prim_geom != IntPtr.Zero) 1622 if (prm.prim_geom != IntPtr.Zero)
1460 { 1623 {
1461 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories); 1624 if (prm.m_NoColide)
1462 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags); 1625 {
1626 d.GeomSetCategoryBits(prm.prim_geom, 0);
1627 d.GeomSetCollideBits(prm.prim_geom, 0);
1628 }
1629 else
1630 {
1631 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
1632 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
1633 }
1463 prm.UpdateDataFromGeom(); 1634 prm.UpdateDataFromGeom();
1464 SetInStaticSpace(prm); 1635 SetInStaticSpace(prm);
1465 } 1636 }
@@ -1473,6 +1644,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1473 d.JointDestroy(Amotor); 1644 d.JointDestroy(Amotor);
1474 Amotor = IntPtr.Zero; 1645 Amotor = IntPtr.Zero;
1475 } 1646 }
1647 _parent_scene.remActiveGroup(this);
1476 d.BodyDestroy(Body); 1648 d.BodyDestroy(Body);
1477 } 1649 }
1478 Body = IntPtr.Zero; 1650 Body = IntPtr.Zero;
@@ -2008,23 +2180,14 @@ namespace OpenSim.Region.Physics.OdePlugin
2008 myrot.Z = _orientation.Z; 2180 myrot.Z = _orientation.Z;
2009 myrot.W = _orientation.W; 2181 myrot.W = _orientation.W;
2010 d.GeomSetQuaternion(prim_geom, ref myrot); 2182 d.GeomSetQuaternion(prim_geom, ref myrot);
2011 // _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; 2183
2012 if (!m_isphysical) 2184 if (!m_isphysical)
2013 SetInStaticSpace(this); 2185 SetInStaticSpace(this);
2014 } 2186 }
2015 2187
2016 if (m_isphysical && Body == IntPtr.Zero) 2188 if (m_isphysical && Body == IntPtr.Zero)
2017 { 2189 {
2018 /*
2019 if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
2020 {
2021 changeShape(_pbs);
2022 }
2023 else
2024 {
2025 */
2026 MakeBody(); 2190 MakeBody();
2027 // }
2028 } 2191 }
2029 } 2192 }
2030 2193
@@ -2133,17 +2296,52 @@ namespace OpenSim.Region.Physics.OdePlugin
2133 if (!childPrim && Body != IntPtr.Zero) 2296 if (!childPrim && Body != IntPtr.Zero)
2134 d.BodyDisable(Body); 2297 d.BodyDisable(Body);
2135 2298
2136 if (m_delaySelect) 2299 if (m_delaySelect || m_isphysical)
2137 { 2300 {
2301 m_collisionCategories = CollisionCategories.Selected;
2302 m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
2303
2138 if (!childPrim) 2304 if (!childPrim)
2139 { 2305 {
2140 foreach (OdePrim prm in childrenPrim) 2306 foreach (OdePrim prm in childrenPrim)
2141 { 2307 {
2142 d.GeomDisable(prm.prim_geom); 2308 prm.m_collisionCategories = m_collisionCategories;
2309 prm.m_collisionFlags = m_collisionFlags;
2310
2311 if (prm.prim_geom != null)
2312 {
2313
2314 if (prm.m_NoColide)
2315 {
2316 d.GeomSetCategoryBits(prm.prim_geom, 0);
2317 d.GeomSetCollideBits(prm.prim_geom, 0);
2318 }
2319 else
2320 {
2321 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2322 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2323 }
2324 d.GeomDisable(prm.prim_geom);
2325 }
2143 prm.m_delaySelect = false; 2326 prm.m_delaySelect = false;
2144 } 2327 }
2145 } 2328 }
2146 d.GeomDisable(prim_geom); 2329
2330 if (prim_geom != null)
2331 {
2332 if (m_NoColide)
2333 {
2334 d.GeomSetCategoryBits(prim_geom, 0);
2335 d.GeomSetCollideBits(prim_geom, 0);
2336 }
2337 else
2338 {
2339 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2340 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2341 }
2342 d.GeomDisable(prim_geom);
2343 }
2344
2147 m_delaySelect = false; 2345 m_delaySelect = false;
2148 } 2346 }
2149 else 2347 else
@@ -2156,19 +2354,64 @@ namespace OpenSim.Region.Physics.OdePlugin
2156 if (!childPrim && Body != IntPtr.Zero && !m_disabled) 2354 if (!childPrim && Body != IntPtr.Zero && !m_disabled)
2157 d.BodyEnable(Body); 2355 d.BodyEnable(Body);
2158 2356
2357 m_collisionCategories = CollisionCategories.Geom;
2358 if (m_isphysical)
2359 m_collisionCategories |= CollisionCategories.Body;
2360
2361 m_collisionFlags = m_default_collisionFlags | CollisionCategories.Land;
2362
2363 if (m_collidesWater)
2364 m_collisionFlags |= CollisionCategories.Water;
2365
2159 if (!childPrim) 2366 if (!childPrim)
2160 { 2367 {
2161 foreach (OdePrim prm in childrenPrim) 2368 foreach (OdePrim prm in childrenPrim)
2162 { 2369 {
2163 if(!prm.m_disabled) 2370 prm.m_collisionCategories = m_collisionCategories;
2371 prm.m_collisionFlags = m_collisionFlags;
2372
2373 if (!prm.m_disabled && prm.prim_geom != IntPtr.Zero)
2374 {
2375 if (prm.m_NoColide)
2376 {
2377 d.GeomSetCategoryBits(prm.prim_geom, 0);
2378 if (m_isphysical)
2379 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
2380 else
2381 d.GeomSetCollideBits(prm.prim_geom, 0);
2382 }
2383 else
2384 {
2385 d.GeomSetCategoryBits(prm.prim_geom, (int)m_collisionCategories);
2386 d.GeomSetCollideBits(prm.prim_geom, (int)m_collisionFlags);
2387 }
2164 d.GeomEnable(prm.prim_geom); 2388 d.GeomEnable(prm.prim_geom);
2389 }
2165 prm.m_delaySelect = false; 2390 prm.m_delaySelect = false;
2391 prm.m_softcolide = true;
2166 } 2392 }
2167 } 2393 }
2168 if(!m_disabled) 2394
2395 if (!m_disabled && prim_geom != IntPtr.Zero)
2396 {
2397 if (m_NoColide)
2398 {
2399 d.GeomSetCategoryBits(prim_geom, 0);
2400 if (m_isphysical)
2401 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
2402 else
2403 d.GeomSetCollideBits(prim_geom, 0);
2404 }
2405 else
2406 {
2407 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2408 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
2409 }
2169 d.GeomEnable(prim_geom); 2410 d.GeomEnable(prim_geom);
2411 }
2170 2412
2171 m_delaySelect = false; 2413 m_delaySelect = false;
2414 m_softcolide = true;
2172 } 2415 }
2173 2416
2174 resetCollisionAccounting(); 2417 resetCollisionAccounting();
@@ -2214,6 +2457,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2214 if (givefakepos < 0) 2457 if (givefakepos < 0)
2215 givefakepos = 0; 2458 givefakepos = 0;
2216 // changeSelectedStatus(); 2459 // changeSelectedStatus();
2460 m_softcolide = true;
2217 resetCollisionAccounting(); 2461 resetCollisionAccounting();
2218 } 2462 }
2219 2463
@@ -2266,6 +2510,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2266 givefakeori--; 2510 givefakeori--;
2267 if (givefakeori < 0) 2511 if (givefakeori < 0)
2268 givefakeori = 0; 2512 givefakeori = 0;
2513 m_softcolide = true;
2269 resetCollisionAccounting(); 2514 resetCollisionAccounting();
2270 } 2515 }
2271 2516
@@ -2336,6 +2581,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2336 if (givefakeori < 0) 2581 if (givefakeori < 0)
2337 givefakeori = 0; 2582 givefakeori = 0;
2338 2583
2584 m_softcolide = true;
2339 resetCollisionAccounting(); 2585 resetCollisionAccounting();
2340 } 2586 }
2341 2587
@@ -2390,8 +2636,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2390 else 2636 else
2391 */ 2637 */
2392 DestroyBody(); 2638 DestroyBody();
2393 Stop();
2394 } 2639 }
2640 Stop();
2395 } 2641 }
2396 } 2642 }
2397 2643
@@ -2452,6 +2698,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2452 else 2698 else
2453 MakeBody(); 2699 MakeBody();
2454 2700
2701 m_softcolide = true;
2455 resetCollisionAccounting(); 2702 resetCollisionAccounting();
2456 } 2703 }
2457 2704
@@ -2576,7 +2823,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2576 if ((bool)newbuilding) 2823 if ((bool)newbuilding)
2577 { 2824 {
2578 m_building = true; 2825 m_building = true;
2579 DestroyBody(); 2826 if (!childPrim)
2827 DestroyBody();
2580 } 2828 }
2581 else 2829 else
2582 { 2830 {
@@ -2648,12 +2896,95 @@ namespace OpenSim.Region.Physics.OdePlugin
2648 public void Move() 2896 public void Move()
2649 { 2897 {
2650 if (!childPrim && m_isphysical && Body != IntPtr.Zero && 2898 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
2651 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims. 2899 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
2900 // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
2652 { 2901 {
2653 // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 2902// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
2654 2903
2655 float timestep = _parent_scene.ODE_STEPSIZE; 2904 float timestep = _parent_scene.ODE_STEPSIZE;
2656 2905
2906 // check outside region
2907 d.Vector3 lpos;
2908 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2909
2910 if (lpos.Z < -100 || lpos.Z > 100000f)
2911 {
2912 m_outbounds = true;
2913
2914 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
2915 _acceleration.X = 0;
2916 _acceleration.Y = 0;
2917 _acceleration.Z = 0;
2918
2919 _velocity.X = 0;
2920 _velocity.Y = 0;
2921 _velocity.Z = 0;
2922 m_rotationalVelocity.X = 0;
2923 m_rotationalVelocity.Y = 0;
2924 m_rotationalVelocity.Z = 0;
2925
2926 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2927 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
2928 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
2929 m_lastposition = _position;
2930 m_lastorientation = _orientation;
2931
2932 base.RequestPhysicsterseUpdate();
2933
2934 m_throttleUpdates = false;
2935 throttleCounter = 0;
2936 _zeroFlag = true;
2937
2938 disableBodySoft(); // disable it and colisions
2939 base.RaiseOutOfBounds(_position);
2940 return;
2941 }
2942
2943 if (lpos.X < 0f)
2944 {
2945 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
2946 m_outbounds = true;
2947 }
2948 else if(lpos.X > _parent_scene.WorldExtents.X)
2949 {
2950 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
2951 m_outbounds = true;
2952 }
2953 if (lpos.Y < 0f)
2954 {
2955 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
2956 m_outbounds = true;
2957 }
2958 else if(lpos.Y > _parent_scene.WorldExtents.Y)
2959 {
2960 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
2961 m_outbounds = true;
2962 }
2963
2964 if(m_outbounds)
2965 {
2966 m_lastposition = _position;
2967 m_lastorientation = _orientation;
2968
2969 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
2970 m_rotationalVelocity.X = dtmp.X;
2971 m_rotationalVelocity.Y = dtmp.Y;
2972 m_rotationalVelocity.Z = dtmp.Z;
2973
2974 dtmp = d.BodyGetLinearVel(Body);
2975 _velocity.X = dtmp.X;
2976 _velocity.Y = dtmp.Y;
2977 _velocity.Z = dtmp.Z;
2978
2979 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2980 d.BodySetAngularVel(Body, 0, 0, 0);
2981 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2982 disableBodySoft(); // stop collisions
2983 base.RequestPhysicsterseUpdate();
2984 return;
2985 }
2986
2987
2657 float fx = 0; 2988 float fx = 0;
2658 float fy = 0; 2989 float fy = 0;
2659 float fz = 0; 2990 float fz = 0;
@@ -2862,7 +3193,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2862 public void UpdatePositionAndVelocity(float simulatedtime) 3193 public void UpdatePositionAndVelocity(float simulatedtime)
2863 { 3194 {
2864 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 3195 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
2865 if (_parent == null && !m_disabled && !m_building) 3196 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
2866 { 3197 {
2867 if (Body != IntPtr.Zero) 3198 if (Body != IntPtr.Zero)
2868 { 3199 {
@@ -2872,64 +3203,6 @@ namespace OpenSim.Region.Physics.OdePlugin
2872 d.Vector3 lpos; 3203 d.Vector3 lpos;
2873 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator 3204 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2874 3205
2875 // we need to use root position since that's all the rest of scene uses
2876 if (lpos.X < 0f || lpos.X > _parent_scene.WorldExtents.X
2877 || lpos.Y < 0f || lpos.Y > _parent_scene.WorldExtents.Y
2878 )
2879 {
2880 // we are outside current region
2881 // we can't let it keeping moving and having colisions
2882 // since it can be stucked between something like terrain and edge
2883 // so lets stop and disable it until something else kicks it
2884
2885 _position.X = Util.Clip(lpos.X, -0.2f, _parent_scene.WorldExtents.X + 0.2f);
2886 _position.Y = Util.Clip(lpos.Y, -0.2f, _parent_scene.WorldExtents.Y + 0.2f);
2887 _position.Z = Util.Clip(lpos.Z, -100f, 50000f);
2888
2889 m_lastposition = _position;
2890// m_lastorientation = _orientation;
2891
2892 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2893// d.BodySetAngularVel(Body, 0, 0, 0);
2894 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2895 disableBodySoft(); // stop collisions
2896 m_outbounds = true;
2897 base.RequestPhysicsterseUpdate();
2898 return;
2899 }
2900
2901 if (lpos.Z < -100 || lpos.Z > 100000f)
2902 {
2903 lpos.Z = Util.Clip(lpos.Z, -100f, 50000f);
2904
2905 _acceleration.X = 0;
2906 _acceleration.Y = 0;
2907 _acceleration.Z = 0;
2908
2909 _velocity.X = 0;
2910 _velocity.Y = 0;
2911 _velocity.Z = 0;
2912 m_rotationalVelocity.X = 0;
2913 m_rotationalVelocity.Y = 0;
2914 m_rotationalVelocity.Z = 0;
2915
2916 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2917 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
2918 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
2919 m_lastposition = _position;
2920 m_lastorientation = _orientation;
2921
2922 base.RequestPhysicsterseUpdate();
2923
2924 m_throttleUpdates = false;
2925 throttleCounter = 0;
2926 _zeroFlag = true;
2927
2928 disableBodySoft(); // disable it and colisions
2929 base.RaiseOutOfBounds(_position);
2930
2931 return;
2932 }
2933 3206
2934 d.Quaternion ori; 3207 d.Quaternion ori;
2935 d.GeomCopyQuaternion(prim_geom, out ori); 3208 d.GeomCopyQuaternion(prim_geom, out ori);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 6e4c373..14516f9 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -155,7 +155,7 @@ namespace OpenSim.Region.Physics.OdePlugin
155 private readonly ILog m_log; 155 private readonly ILog m_log;
156 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>(); 156 // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
157 157
158 private int threadid = 0; 158// private int threadid = 0;
159 private Random fluidRandomizer = new Random(Environment.TickCount); 159 private Random fluidRandomizer = new Random(Environment.TickCount);
160 160
161 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; 161 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
@@ -163,12 +163,10 @@ namespace OpenSim.Region.Physics.OdePlugin
163 const float comumSoftContactERP = 0.1f; 163 const float comumSoftContactERP = 0.1f;
164 const float comumContactCFM = 0.0001f; 164 const float comumContactCFM = 0.0001f;
165 165
166 float frictionScale = 1.0f;
167
168 float frictionMovementMult = 0.3f; 166 float frictionMovementMult = 0.3f;
169 167
170 float TerrainBounce = 0.1f; 168 float TerrainBounce = 0.1f;
171 float TerrainFriction = 0.1f; 169 float TerrainFriction = 0.3f;
172 170
173 public float AvatarBounce = 0.3f; 171 public float AvatarBounce = 0.3f;
174 public float AvatarFriction = 0;// 0.9f * 0.5f; 172 public float AvatarFriction = 0;// 0.9f * 0.5f;
@@ -189,8 +187,8 @@ namespace OpenSim.Region.Physics.OdePlugin
189 187
190 internal IntPtr WaterGeom; 188 internal IntPtr WaterGeom;
191 189
192 public float avPIDD = 3200f; // make it visible 190 public float avPIDD = 2200f; // make it visible
193 public float avPIDP = 1400f; // make it visible 191 public float avPIDP = 900f; // make it visible
194 private float avCapRadius = 0.37f; 192 private float avCapRadius = 0.37f;
195 private float avDensity = 3f; 193 private float avDensity = 3f;
196 private float avMovementDivisorWalk = 1.3f; 194 private float avMovementDivisorWalk = 1.3f;
@@ -202,7 +200,7 @@ namespace OpenSim.Region.Physics.OdePlugin
202 public bool forceSimplePrimMeshing = false; 200 public bool forceSimplePrimMeshing = false;
203 201
204 public float meshSculptLOD = 32; 202 public float meshSculptLOD = 32;
205 public float MeshSculptphysicalLOD = 16; 203 public float MeshSculptphysicalLOD = 32;
206 204
207 public float geomDefaultDensity = 10.000006836f; 205 public float geomDefaultDensity = 10.000006836f;
208 206
@@ -212,18 +210,18 @@ namespace OpenSim.Region.Physics.OdePlugin
212 public float bodyPIDD = 35f; 210 public float bodyPIDD = 35f;
213 public float bodyPIDG = 25; 211 public float bodyPIDG = 25;
214 212
215 public int geomCrossingFailuresBeforeOutofbounds = 6; 213// public int geomCrossingFailuresBeforeOutofbounds = 6;
216 214
217 public int bodyFramesAutoDisable = 20; 215 public int bodyFramesAutoDisable = 20;
218 216
219 private float[] _watermap; 217 private float[] _watermap;
220 private bool m_filterCollisions = true;
221 218
222 private d.NearCallback nearCallback; 219 private d.NearCallback nearCallback;
223 220
224 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); 221 private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
225 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>(); 222 private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
226 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); 223 private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
224 private readonly HashSet<OdePrim> _activegroups = new HashSet<OdePrim>();
227 225
228 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>(); 226 public OpenSim.Framework.LocklessQueue<ODEchangeitem> ChangesQueue = new OpenSim.Framework.LocklessQueue<ODEchangeitem>();
229 227
@@ -387,9 +385,6 @@ namespace OpenSim.Region.Physics.OdePlugin
387 385
388 // Defaults 386 // Defaults
389 387
390 avPIDD = 2200.0f;
391 avPIDP = 900.0f;
392
393 int contactsPerCollision = 80; 388 int contactsPerCollision = 80;
394 389
395 if (m_config != null) 390 if (m_config != null)
@@ -397,90 +392,86 @@ namespace OpenSim.Region.Physics.OdePlugin
397 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; 392 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
398 if (physicsconfig != null) 393 if (physicsconfig != null)
399 { 394 {
400 gravityx = physicsconfig.GetFloat("world_gravityx", 0f); 395 gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
401 gravityy = physicsconfig.GetFloat("world_gravityy", 0f); 396 gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
402 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); 397 gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
403 398
404 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f); 399 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
405 400
406 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); 401 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
407 402
408 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f); 403 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
409 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); 404 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
410 405
411 avDensity = physicsconfig.GetFloat("av_density", avDensity); 406 avDensity = physicsconfig.GetFloat("av_density", avDensity);
412 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); 407 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
413 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); 408 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
414 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); 409 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
415 410
416 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80); 411 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
417 412
418 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); 413 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
419 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); 414 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
420 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); 415// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
421 416
422 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); 417 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
423 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); 418 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
424 419
425 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f); 420 bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", bodyPIDD);
426 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f); 421 bodyPIDG = physicsconfig.GetFloat("body_pid_gain", bodyPIDG);
427 422
428 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing); 423 forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
429 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true); 424 meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", meshSculptedPrim);
430 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f); 425 meshSculptLOD = physicsconfig.GetFloat("mesh_lod", meshSculptLOD);
431 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f); 426 MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", MeshSculptphysicalLOD);
432 m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
433 427
434 if (Environment.OSVersion.Platform == PlatformID.Unix) 428 if (Environment.OSVersion.Platform == PlatformID.Unix)
435 { 429 {
436 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f); 430 avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", avPIDD);
437 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f); 431 avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", avPIDP);
438 } 432 }
439 else 433 else
440 { 434 {
441 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f); 435 avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", avPIDD);
442 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f); 436 avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", avPIDP);
443 } 437 }
444 438
445 physics_logging = physicsconfig.GetBoolean("physics_logging", false); 439 physics_logging = physicsconfig.GetBoolean("physics_logging", false);
446 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); 440 physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
447 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); 441 physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
448 442
449 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f); 443 minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
450 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f); 444 maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
451 } 445 }
452 } 446 }
453 447
454 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); 448 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
455 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); 449 GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
456 450
457 m_materialContactsData[(int)Material.Stone].mu = frictionScale * 0.8f; 451 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
458 m_materialContactsData[(int)Material.Stone].bounce = 0.4f; 452 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
459 453
460 m_materialContactsData[(int)Material.Metal].mu = frictionScale * 0.3f; 454 m_materialContactsData[(int)Material.Metal].mu = 0.3f;
461 m_materialContactsData[(int)Material.Metal].bounce = 0.4f; 455 m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
462 456
463 m_materialContactsData[(int)Material.Glass].mu = frictionScale * 0.2f; 457 m_materialContactsData[(int)Material.Glass].mu = 0.2f;
464 m_materialContactsData[(int)Material.Glass].bounce = 0.7f; 458 m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
465 459
466 m_materialContactsData[(int)Material.Wood].mu = frictionScale * 0.6f; 460 m_materialContactsData[(int)Material.Wood].mu = 0.6f;
467 m_materialContactsData[(int)Material.Wood].bounce = 0.5f; 461 m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
468 462
469 m_materialContactsData[(int)Material.Flesh].mu = frictionScale * 0.9f; 463 m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
470 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f; 464 m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
471 465
472 m_materialContactsData[(int)Material.Plastic].mu = frictionScale * 0.4f; 466 m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
473 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f; 467 m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
474 468
475 m_materialContactsData[(int)Material.Rubber].mu = frictionScale * 0.9f; 469 m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
476 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f; 470 m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
477 471
478 m_materialContactsData[(int)Material.light].mu = 0.0f; 472 m_materialContactsData[(int)Material.light].mu = 0.0f;
479 m_materialContactsData[(int)Material.light].bounce = 0.0f; 473 m_materialContactsData[(int)Material.light].bounce = 0.0f;
480 474
481 TerrainFriction *= frictionScale;
482// AvatarFriction *= frictionScale;
483
484 // Set the gravity,, don't disable things automatically (we set it explicitly on some things) 475 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
485 476
486 d.WorldSetGravity(world, gravityx, gravityy, gravityz); 477 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
@@ -566,13 +557,6 @@ namespace OpenSim.Region.Physics.OdePlugin
566 } 557 }
567 558
568 559
569 /// <summary>
570 /// This is our near callback. A geometry is near a body
571 /// </summary>
572 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
573 /// <param name="g1">a geometry or space</param>
574 /// <param name="g2">another geometry or space</param>
575 ///
576 560
577 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom) 561 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
578 { 562 {
@@ -584,7 +568,13 @@ namespace OpenSim.Region.Physics.OdePlugin
584 return true; 568 return true;
585 } 569 }
586 570
587 571 /// <summary>
572 /// This is our near callback. A geometry is near a body
573 /// </summary>
574 /// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
575 /// <param name="g1">a geometry or space</param>
576 /// <param name="g2">another geometry or space</param>
577 ///
588 578
589 private void near(IntPtr space, IntPtr g1, IntPtr g2) 579 private void near(IntPtr space, IntPtr g1, IntPtr g2)
590 { 580 {
@@ -703,8 +693,8 @@ namespace OpenSim.Region.Physics.OdePlugin
703 // big messy collision analises 693 // big messy collision analises
704 float mu = 0; 694 float mu = 0;
705 float bounce = 0; 695 float bounce = 0;
706 ContactData contactdata1; 696 ContactData contactdata1 = new ContactData(0, 0, false);
707 ContactData contactdata2; 697 ContactData contactdata2 = new ContactData(0, 0, false);
708 bool erpSoft = false; 698 bool erpSoft = false;
709 699
710 String name = null; 700 String name = null;
@@ -718,8 +708,9 @@ namespace OpenSim.Region.Physics.OdePlugin
718 switch (p2.PhysicsActorType) 708 switch (p2.PhysicsActorType)
719 { 709 {
720 case (int)ActorTypes.Agent: 710 case (int)ActorTypes.Agent:
721 contactdata1 = p1.ContactData; 711 p1.getContactData(ref contactdata1);
722 contactdata2 = p2.ContactData; 712 p2.getContactData(ref contactdata2);
713
723 bounce = contactdata1.bounce * contactdata2.bounce; 714 bounce = contactdata1.bounce * contactdata2.bounce;
724 715
725 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 716 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -727,12 +718,13 @@ namespace OpenSim.Region.Physics.OdePlugin
727 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 718 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
728 mu *= frictionMovementMult; 719 mu *= frictionMovementMult;
729 720
721 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
730 p1.CollidingObj = true; 722 p1.CollidingObj = true;
731 p2.CollidingObj = true; 723 p2.CollidingObj = true;
732 break; 724 break;
733 case (int)ActorTypes.Prim: 725 case (int)ActorTypes.Prim:
734 contactdata1 = p1.ContactData; 726 p1.getContactData(ref contactdata1);
735 contactdata2 = p2.ContactData; 727 p2.getContactData(ref contactdata2);
736 bounce = contactdata1.bounce * contactdata2.bounce; 728 bounce = contactdata1.bounce * contactdata2.bounce;
737 729
738 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 730 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -741,6 +733,9 @@ namespace OpenSim.Region.Physics.OdePlugin
741 mu *= frictionMovementMult; 733 mu *= frictionMovementMult;
742 if (p2.Velocity.LengthSquared() > 0.0f) 734 if (p2.Velocity.LengthSquared() > 0.0f)
743 p2.CollidingObj = true; 735 p2.CollidingObj = true;
736
737 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
738
744 dop1foot = true; 739 dop1foot = true;
745 break; 740 break;
746 default: 741 default:
@@ -753,8 +748,8 @@ namespace OpenSim.Region.Physics.OdePlugin
753 switch (p2.PhysicsActorType) 748 switch (p2.PhysicsActorType)
754 { 749 {
755 case (int)ActorTypes.Agent: 750 case (int)ActorTypes.Agent:
756 contactdata1 = p1.ContactData; 751 p1.getContactData(ref contactdata1);
757 contactdata2 = p2.ContactData; 752 p2.getContactData(ref contactdata2);
758 bounce = contactdata1.bounce * contactdata2.bounce; 753 bounce = contactdata1.bounce * contactdata2.bounce;
759 754
760 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 755 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -762,6 +757,7 @@ namespace OpenSim.Region.Physics.OdePlugin
762 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 757 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
763 mu *= frictionMovementMult; 758 mu *= frictionMovementMult;
764 759
760 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
765 dop2foot = true; 761 dop2foot = true;
766 if (p1.Velocity.LengthSquared() > 0.0f) 762 if (p1.Velocity.LengthSquared() > 0.0f)
767 p1.CollidingObj = true; 763 p1.CollidingObj = true;
@@ -772,10 +768,10 @@ namespace OpenSim.Region.Physics.OdePlugin
772 p1.CollidingObj = true; 768 p1.CollidingObj = true;
773 p2.CollidingObj = true; 769 p2.CollidingObj = true;
774 } 770 }
775 contactdata1 = p1.ContactData; 771 p1.getContactData(ref contactdata1);
776 contactdata2 = p2.ContactData; 772 p2.getContactData(ref contactdata2);
777 bounce = contactdata1.bounce * contactdata2.bounce; 773 bounce = contactdata1.bounce * contactdata2.bounce;
778 erpSoft = true; 774 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
779 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 775 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
780 776
781 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 777 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
@@ -787,12 +783,12 @@ namespace OpenSim.Region.Physics.OdePlugin
787 { 783 {
788 if (name == "Terrain") 784 if (name == "Terrain")
789 { 785 {
790 erpSoft = true; 786 p1.getContactData(ref contactdata1);
791 contactdata1 = p1.ContactData;
792 bounce = contactdata1.bounce * TerrainBounce; 787 bounce = contactdata1.bounce * TerrainBounce;
793 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); 788 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
794 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) 789 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
795 mu *= frictionMovementMult; 790 mu *= frictionMovementMult;
791 erpSoft = contactdata1.softcolide;
796 p1.CollidingGround = true; 792 p1.CollidingGround = true;
797 } 793 }
798 else if (name == "Water") 794 else if (name == "Water")
@@ -813,11 +809,11 @@ namespace OpenSim.Region.Physics.OdePlugin
813 { 809 {
814 if (p2.PhysicsActorType == (int)ActorTypes.Prim) 810 if (p2.PhysicsActorType == (int)ActorTypes.Prim)
815 { 811 {
816 erpSoft = true;
817 p2.CollidingGround = true; 812 p2.CollidingGround = true;
818 contactdata2 = p2.ContactData; 813 p2.getContactData(ref contactdata2);
819 bounce = contactdata2.bounce * TerrainBounce; 814 bounce = contactdata2.bounce * TerrainBounce;
820 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); 815 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
816 erpSoft = contactdata2.softcolide;
821 817
822 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) 818 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
823 mu *= frictionMovementMult; 819 mu *= frictionMovementMult;
@@ -1013,15 +1009,24 @@ namespace OpenSim.Region.Physics.OdePlugin
1013 1009
1014 } 1010 }
1015 1011
1016 // collide active prims with static enviroment
1017 lock (_activeprims) 1012 lock (_activeprims)
1018 { 1013 {
1014 foreach (OdePrim aprim in _activeprims)
1015 {
1016 aprim.CollisionScore = 0;
1017 aprim.IsColliding = false;
1018 }
1019 }
1020
1021 // collide active prims with static enviroment
1022 lock (_activegroups)
1023 {
1019 try 1024 try
1020 { 1025 {
1021 foreach (OdePrim prm in _activeprims) 1026 foreach (OdePrim prm in _activegroups)
1022 { 1027 {
1023 if (d.BodyIsEnabled(prm.Body)) 1028 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1024 d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback); 1029 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1025 } 1030 }
1026 } 1031 }
1027 catch (AccessViolationException) 1032 catch (AccessViolationException)
@@ -1029,7 +1034,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1029 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); 1034 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1030 } 1035 }
1031 } 1036 }
1032
1033 // finally colide active things amoung them 1037 // finally colide active things amoung them
1034 try 1038 try
1035 { 1039 {
@@ -1039,7 +1043,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1039 { 1043 {
1040 m_log.Warn("[PHYSICS]: Unable to collide in Active space"); 1044 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1041 } 1045 }
1042
1043// _perloopContact.Clear(); 1046// _perloopContact.Clear();
1044 } 1047 }
1045 1048
@@ -1148,13 +1151,20 @@ namespace OpenSim.Region.Physics.OdePlugin
1148 1151
1149 public void addActivePrim(OdePrim activatePrim) 1152 public void addActivePrim(OdePrim activatePrim)
1150 { 1153 {
1151 // adds active prim.. (ones that should be iterated over in collisions_optimized 1154 // adds active prim..
1152 lock (_activeprims) 1155 lock (_activeprims)
1153 { 1156 {
1154 if (!_activeprims.Contains(activatePrim)) 1157 if (!_activeprims.Contains(activatePrim))
1155 _activeprims.Add(activatePrim); 1158 _activeprims.Add(activatePrim);
1156 //else 1159 }
1157 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); 1160 }
1161
1162 public void addActiveGroups(OdePrim activatePrim)
1163 {
1164 lock (_activegroups)
1165 {
1166 if (!_activegroups.Contains(activatePrim))
1167 _activegroups.Add(activatePrim);
1158 } 1168 }
1159 } 1169 }
1160 1170
@@ -1186,6 +1196,13 @@ namespace OpenSim.Region.Physics.OdePlugin
1186 _activeprims.Remove(deactivatePrim); 1196 _activeprims.Remove(deactivatePrim);
1187 } 1197 }
1188 } 1198 }
1199 public void remActiveGroup(OdePrim deactivatePrim)
1200 {
1201 lock (_activegroups)
1202 {
1203 _activegroups.Remove(deactivatePrim);
1204 }
1205 }
1189 1206
1190 public override void RemovePrim(PhysicsActor prim) 1207 public override void RemovePrim(PhysicsActor prim)
1191 { 1208 {
@@ -1258,6 +1275,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1258 { 1275 {
1259 waitForSpaceUnlock(currentspace); 1276 waitForSpaceUnlock(currentspace);
1260 d.SpaceRemove(currentspace, geom); 1277 d.SpaceRemove(currentspace, geom);
1278
1279 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1280 {
1281 d.SpaceDestroy(currentspace);
1282 }
1261 } 1283 }
1262 else 1284 else
1263 { 1285 {
@@ -1274,6 +1296,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1274 { 1296 {
1275 waitForSpaceUnlock(currentspace); 1297 waitForSpaceUnlock(currentspace);
1276 d.SpaceRemove(currentspace, geom); 1298 d.SpaceRemove(currentspace, geom);
1299
1300 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1301 {
1302 d.SpaceDestroy(currentspace);
1303 }
1304
1277 } 1305 }
1278 } 1306 }
1279 } 1307 }
@@ -1577,42 +1605,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1577 1605
1578 statchanges += Util.EnvironmentTickCountSubtract(statstart); 1606 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1579 1607
1580 // Move characters
1581 lock (_characters)
1582 {
1583 List<OdeCharacter> defects = new List<OdeCharacter>();
1584 foreach (OdeCharacter actor in _characters)
1585 {
1586 if (actor != null)
1587 actor.Move(ODE_STEPSIZE, defects);
1588 }
1589 if (defects.Count != 0)
1590 {
1591 foreach (OdeCharacter defect in defects)
1592 {
1593 RemoveCharacter(defect);
1594 }
1595 }
1596 }
1597 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1598
1599 // Move other active objects
1600 lock (_activeprims)
1601 {
1602 foreach (OdePrim aprim in _activeprims)
1603 {
1604 aprim.CollisionScore = 0;
1605 aprim.IsColliding = false;
1606 aprim.Move();
1607 }
1608 }
1609
1610 statactmove += Util.EnvironmentTickCountSubtract(statstart); 1608 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1611 //if ((framecount % m_randomizeWater) == 0) 1609 //if ((framecount % m_randomizeWater) == 0)
1612 // randomizeWater(waterlevel); 1610 // randomizeWater(waterlevel);
1613 1611
1614 m_rayCastManager.ProcessQueuedRequests(); 1612 m_rayCastManager.ProcessQueuedRequests();
1615 1613
1614
1615
1616 statray += Util.EnvironmentTickCountSubtract(statstart); 1616 statray += Util.EnvironmentTickCountSubtract(statstart);
1617 collision_optimized(); 1617 collision_optimized();
1618 statcol += Util.EnvironmentTickCountSubtract(statstart); 1618 statcol += Util.EnvironmentTickCountSubtract(statstart);
@@ -1642,8 +1642,35 @@ namespace OpenSim.Region.Physics.OdePlugin
1642 1642
1643 d.WorldQuickStep(world, ODE_STEPSIZE); 1643 d.WorldQuickStep(world, ODE_STEPSIZE);
1644 statstep += Util.EnvironmentTickCountSubtract(statstart); 1644 statstep += Util.EnvironmentTickCountSubtract(statstart);
1645 d.JointGroupEmpty(contactgroup); 1645
1646 totjcontact += m_global_contactcount; 1646 // Move characters
1647 lock (_characters)
1648 {
1649 List<OdeCharacter> defects = new List<OdeCharacter>();
1650 foreach (OdeCharacter actor in _characters)
1651 {
1652 if (actor != null)
1653 actor.Move(ODE_STEPSIZE, defects);
1654 }
1655 if (defects.Count != 0)
1656 {
1657 foreach (OdeCharacter defect in defects)
1658 {
1659 RemoveCharacter(defect);
1660 }
1661 }
1662 }
1663 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1664
1665 // Move other active objects
1666 lock (_activegroups)
1667 {
1668 foreach (OdePrim aprim in _activegroups)
1669 {
1670 aprim.Move();
1671 }
1672 }
1673
1647 //ode.dunlock(world); 1674 //ode.dunlock(world);
1648 } 1675 }
1649 catch (Exception e) 1676 catch (Exception e)
@@ -1652,6 +1679,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1652// ode.dunlock(world); 1679// ode.dunlock(world);
1653 } 1680 }
1654 1681
1682 d.JointGroupEmpty(contactgroup);
1683 totjcontact += m_global_contactcount;
1684
1655 step_time -= ODE_STEPSIZE; 1685 step_time -= ODE_STEPSIZE;
1656 nodeframes++; 1686 nodeframes++;
1657 } 1687 }
@@ -1686,10 +1716,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1686 } 1716 }
1687 statmovchar = Util.EnvironmentTickCountSubtract(statstart); 1717 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1688 1718
1689 lock (_activeprims) 1719 lock (_activegroups)
1690 { 1720 {
1691 { 1721 {
1692 foreach (OdePrim actor in _activeprims) 1722 foreach (OdePrim actor in _activegroups)
1693 { 1723 {
1694 if (actor.IsPhysical) 1724 if (actor.IsPhysical)
1695 { 1725 {
@@ -1906,13 +1936,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1906 yy += regionsize; 1936 yy += regionsize;
1907 1937
1908 val = heightMap[yy + xx]; 1938 val = heightMap[yy + xx];
1939 if (val < 0.0f)
1940 val = 0.0f; // no neg terrain as in chode
1909 _heightmap[xt + y] = val; 1941 _heightmap[xt + y] = val;
1910 1942
1911 if (hfmin > val) 1943 if (hfmin > val)
1912 hfmin = val; 1944 hfmin = val;
1913 if (hfmax < val) 1945 if (hfmax < val)
1914 hfmax = val; 1946 hfmax = val;
1915
1916 } 1947 }
1917 xt += heightmapHeightSamples; 1948 xt += heightmapHeightSamples;
1918 } 1949 }
@@ -1966,7 +1997,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1966 1997
1967 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 1998 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
1968 d.GeomSetRotation(GroundGeom, ref R); 1999 d.GeomSetRotation(GroundGeom, ref R);
1969 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0); 2000 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
1970 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); 2001 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
1971// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); 2002// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
1972 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); 2003 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
generated by cgit v1.1 at 2024-12-20 18:20:19 +0000