aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics
diff options
context:
space:
mode:
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs645
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs8
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs5
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs12
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs80
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs218
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs250
7 files changed, 502 insertions, 716 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
index 0a4ebe4..3ed3b5a 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -163,6 +163,8 @@ namespace OpenSim.Region.Physics.OdePlugin
163 private bool m_isphysical; 163 private bool m_isphysical;
164 private bool m_isSelected; 164 private bool m_isSelected;
165 165
166 private bool m_NoColide; // for now only for internal use for bad meshs
167
166 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively 168 internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
167 169
168 private bool m_throttleUpdates; 170 private bool m_throttleUpdates;
@@ -253,7 +255,7 @@ namespace OpenSim.Region.Physics.OdePlugin
253 private float m_verticalAttractionEfficiency = 1.0f; // damped 255 private float m_verticalAttractionEfficiency = 1.0f; // damped
254 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. 256 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
255 257
256 SerialControl m_taintserial = null; 258// SerialControl m_taintserial = null;
257 object m_taintvehicledata = null; 259 object m_taintvehicledata = null;
258 260
259 public void DoSetVehicle() 261 public void DoSetVehicle()
@@ -309,410 +311,6 @@ namespace OpenSim.Region.Physics.OdePlugin
309 m_taintvehicledata = vdata; 311 m_taintvehicledata = vdata;
310 _parent_scene.AddPhysicsActorTaint(this); 312 _parent_scene.AddPhysicsActorTaint(this);
311 } 313 }
312
313 public override byte[] Serialize(bool PhysIsRunning)
314 {
315 SerialControl sc = new SerialControl();
316
317 lock (sc.alock)
318 {
319 if (PhysIsRunning)
320 {
321 m_taintserial = sc;
322
323 if (!Monitor.Wait(sc.alock, 1000))
324 {
325 m_log.Error("[chOde] prim data serialization timed out");
326 m_taintserial = null;
327 return new byte[0];
328 }
329 }
330 else
331 DoSerialize(sc);
332 }
333
334 return sc.data;
335 }
336
337 public void DoSerialize(SerialControl sc)
338 {
339 wstreamer st = new wstreamer();
340 Vector3 vtmp;
341
342 ushort version = 2;
343 if (!BitConverter.IsLittleEndian)
344 version |= 1;
345 st.Wushort(version); //version lower bit codes endian type for future use
346
347 // compact booleans in a ushort
348 ushort flags = 0;
349
350 if (m_isphysical) // this should be true for now
351 flags |= 1;
352 if (m_isSelected)
353 flags |= 2;
354 if (m_isVolumeDetect)
355 flags |= 4;
356 if (m_disabled)
357 flags |= 8;
358 if (m_collidesWater)
359 flags |= 16;
360 if (m_collidesLand)
361 flags |= 32;
362 if (m_usePID)
363 flags |= 64;
364 if (m_useAPID)
365 flags |= 128;
366 if (m_useHoverPID)
367 flags |= 256;
368 if (m_throttleUpdates)
369 flags |= 512;
370
371 st.Wushort(flags);
372
373 st.Wvector3(_size);
374 st.Wint(m_material);
375 st.Wfloat(m_density);
376 st.Wfloat(0); // future gravity mod V3
377 st.Wfloat(0); // future friction V3
378 st.Wfloat(0); // future bounce V3
379
380// st.Wuint((uint)m_collisionCategories);
381// st.Wuint((uint)m_collisionFlags);
382
383 if (_parent == null)
384 {
385 st.Wvector3(_position); // ??
386 st.Wquat(_orientation);
387 }
388 else // for childs save offsets
389 {
390 Quaternion to;
391 Quaternion ipo = Quaternion.Inverse(_parent.Orientation);
392
393 if (m_isphysical && prim_geom != IntPtr.Zero)
394 {
395 d.Vector3 dvt;
396 d.GeomCopyPosition(prim_geom, out dvt);
397
398 vtmp.X = dvt.X;
399 vtmp.Y = dvt.Y;
400 vtmp.Z = dvt.Z;
401
402 d.Quaternion dqt;
403 d.GeomCopyQuaternion(prim_geom, out dqt);
404
405 to.X = dqt.X;
406 to.Y = dqt.Y;
407 to.Z = dqt.Z;
408 to.W = dqt.W; // rotation in world
409 }
410 else
411 {
412 vtmp = _position;
413 to = _orientation;
414 }
415
416 vtmp -= _parent.Position; // offset in world
417 vtmp *= ipo; // offset in local
418 st.Wvector3(vtmp);
419
420 ipo *= to; // own rotation
421 st.Wquat(ipo);
422 }
423
424 st.Wvector3(_velocity);
425 st.Wvector3(m_rotationalVelocity);
426 st.Wvector3(_acceleration);
427 st.Wvector3(m_rotateEnable);
428
429 vtmp = Vector3.Zero;
430 for (int i = 0; i < m_forcelist.Count; i++)
431 {
432
433 vtmp += (m_forcelist[i] * 100);
434 }
435
436 st.Wvector3(vtmp); // force acc
437
438 vtmp = Vector3.Zero;
439 for (int i = 0; i < m_angularforcelist.Count; i++)
440 {
441 vtmp += (m_angularforcelist[i] * 100);
442 }
443
444 st.Wvector3(vtmp); // angular force acc
445
446 st.Wvector3(m_PIDTarget);
447 st.Wfloat(m_PIDTau);
448 st.Wfloat(PID_D);
449 st.Wfloat(PID_G);
450 st.Wquat(m_APIDTarget);
451 st.Wfloat(m_APIDStrength);
452 st.Wfloat(m_APIDDamping);
453 st.Wfloat(m_APIDdamper);
454
455 st.Wint((int)m_PIDHoverType);
456 st.Wfloat(m_PIDHoverHeight);
457 st.Wfloat(m_PIDHoverTau);
458 st.Wfloat(m_targetHoverHeight);
459
460 st.Wfloat(m_groundHeight);
461 st.Wfloat(m_waterHeight);
462
463 st.Wfloat(m_buoyancy);
464
465 // this must be last since type none ends stream
466 if (m_type == Vehicle.TYPE_NONE)
467 st.Wint((int)Vehicle.TYPE_NONE);
468 else
469 {
470 st.Wint((int)m_type);
471
472 st.Wquat(Quaternion.Identity); //m_referenceFrame
473
474 st.Wint((int)m_flags);
475
476 st.Wvector3(m_linearMotorDirection);
477 st.Wfloat(
478 (float)Math.Sqrt(m_lLinMotorDVel.LengthSquared() / m_linearMotorDirection.LengthSquared()));
479
480 st.Wvector3(m_linearFrictionTimescale);
481 st.Wfloat(m_linearMotorDecayTimescale);
482 st.Wfloat(m_linearMotorTimescale);
483 st.Wvector3(new Vector3(0, 0, 0)); //m_linearMotorOffset);
484
485 st.Wvector3(m_angularMotorDirection);
486 st.Wfloat((float)Math.Sqrt(m_angularMotorDVel.LengthSquared() / m_angularMotorDirection.LengthSquared()));
487
488 st.Wvector3(m_angularFrictionTimescale);
489 st.Wfloat(m_angularMotorDecayTimescale);
490 st.Wfloat(m_angularMotorTimescale);
491
492 st.Wfloat(0); //m_linearDeflectionEfficiency);
493 st.Wfloat(1000); //m_linearDeflectionTimescale);
494
495 st.Wfloat(0); //m_angularDeflectionEfficiency);
496 st.Wfloat(120); //m_angularDeflectionTimescale);
497
498 st.Wfloat(0); // m_bankingEfficiency);
499 st.Wfloat(0); //m_bankingMix);
500 st.Wfloat(1000); //m_bankingTimescale);
501
502 st.Wfloat(m_VhoverHeight);
503 st.Wfloat(0.5f); //m_VhoverEfficiency);
504 st.Wfloat(m_VhoverTimescale);
505
506 st.Wfloat(m_VehicleBuoyancy);
507
508 st.Wfloat(m_verticalAttractionEfficiency);
509 st.Wfloat(m_verticalAttractionTimescale);
510 }
511 sc.data = st.close();
512 m_taintserial = null;
513 Monitor.PulseAll(sc.alock);
514 }
515
516 public bool DeSerialize(byte[] data)
517 {
518 rstreamer st = new rstreamer(data);
519
520 int version =st.Rushort(); //version
521
522 // merge booleans in a ushort
523 ushort flags = st.Rushort();
524 if ((flags & 1) != 0)
525 m_isphysical = true;
526 if ((flags & 2) != 0)
527 m_taintselected = true;
528 if ((flags & 4) != 0)
529 m_isVolumeDetect = true;
530 if ((flags & 8) != 0)
531 m_taintdisable = true;
532 if ((flags & 16) != 0)
533 m_taintCollidesWater = true;
534 if ((flags & 32) != 0)
535 m_collidesLand = true;
536 if ((flags & 64) != 0)
537 m_usePID = true;
538 if ((flags & 128) != 0)
539 m_useAPID = true;
540 if ((flags & 256) != 0)
541 m_useHoverPID = true;
542 if ((flags & 512) != 0)
543 m_throttleUpdates = true;
544
545 _size = st.Rvector3();
546 m_taintsize = _size;
547
548 m_material= st.Rint();
549 m_density = st.Rfloat();
550 st.Rfloat(); // future gravity mod V3
551 st.Rfloat(); // future friction V3
552 st.Rfloat(); // future bounce V3
553
554// m_collisionCategories = (CollisionCategories)st.Ruint();
555// m_collisionFlags = (CollisionCategories) st.Ruint();
556
557 if (m_taintparent == null)
558 {
559 st.Rvector3(); // ignore old position sop/sog as to tell the new one
560 m_taintrot = st.Rquat(); //
561 _orientation = m_taintrot;
562 }
563 else
564 {
565 m_taintrot = _parent.Orientation;
566 m_taintposition = st.Rvector3(); // ??
567 _position = m_taintposition;
568
569 m_taintposition *= m_taintrot;
570 m_taintposition += _parent.Position;
571
572 m_taintrot *= st.Rquat(); //
573 _orientation = m_taintrot;
574 }
575
576 m_taintVelocity = st.Rvector3();
577 m_rotationalVelocity = st.Rvector3();
578
579 _acceleration = st.Rvector3();
580 m_rotateEnableRequest = st.Rvector3();
581 m_rotateEnableUpdate = true;
582
583 Vector3 vtmp;
584
585 vtmp = st.Rvector3(); // forces acc
586 m_forcelist.Add(vtmp);
587 m_taintforce = true;
588
589 vtmp = st.Rvector3(); // angular forces acc
590 m_angularforcelist.Add(vtmp);
591 m_taintaddangularforce = true;
592
593 m_PIDTarget = st.Rvector3();
594 m_PIDTau = st.Rfloat();
595 PID_D = st.Rfloat();
596 PID_G = st.Rfloat();
597
598 m_APIDTarget = st.Rquat();
599 m_APIDStrength = st.Rfloat();
600 m_APIDDamping = st.Rfloat();
601 m_APIDdamper = st.Rfloat();
602
603 m_PIDHoverType = (PIDHoverType) st.Rint();
604 m_PIDHoverHeight = st.Rfloat();
605 m_PIDHoverTau = st.Rfloat();
606 m_targetHoverHeight = st.Rfloat();
607
608 m_groundHeight = st.Rfloat();
609 m_waterHeight = st.Rfloat();
610
611 m_buoyancy = st.Rfloat();
612
613
614 // this must be last since type none ends stream
615
616 m_type = (Vehicle) st.Rint();
617
618 if (m_type != Vehicle.TYPE_NONE)
619 {
620 float ftmp;
621
622 st.Rquat(); //m_referenceFrame
623
624 m_flags = (VehicleFlag) st.Rint();
625
626 m_linearMotorDirection = st.Rvector3();
627
628 ftmp = st.Rfloat();
629 m_lLinMotorDVel = m_linearMotorDirection * ftmp;
630
631 m_linearFrictionTimescale = st.Rvector3();
632 m_linearMotorDecayTimescale = st.Rfloat();
633 m_linearMotorTimescale = st.Rfloat();
634 st.Rvector3(); //m_linearMotorOffset);
635
636 m_angularMotorDirection = st.Rvector3();
637 ftmp = st.Rfloat();
638 m_angularMotorDVel = m_angularMotorDirection * ftmp;
639
640 m_angularFrictionTimescale = st.Rvector3();
641 m_angularMotorDecayTimescale = st.Rfloat();
642 m_angularMotorTimescale = st.Rfloat();
643
644 st.Rfloat(); //m_linearDeflectionEfficiency);
645 st.Rfloat(); //m_linearDeflectionTimescale);
646
647 st.Rfloat(); //m_angularDeflectionEfficiency);
648 st.Rfloat(); //m_angularDeflectionTimescale);
649
650 st.Rfloat(); // m_bankingEfficiency);
651 st.Rfloat(); //m_bankingMix);
652 st.Rfloat(); //m_bankingTimescale);
653
654 m_VhoverHeight = st.Rfloat();
655 st.Rfloat(); //m_VhoverEfficiency);
656 m_VhoverTimescale = st.Rfloat();
657
658 m_VehicleBuoyancy = st.Rfloat();
659
660 m_verticalAttractionEfficiency = st.Rfloat();
661 m_verticalAttractionTimescale = st.Rfloat();
662 }
663 st.close();
664 return true;
665 }
666
667 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, PhysicsActor parent,
668 PrimitiveBaseShape pbs, CollisionLocker dode, uint localid, byte[] sdata)
669 {
670 m_localID = localid;
671 ode = dode;
672
673 if (parent == null)
674 {
675 m_taintparent = null;
676
677 if (!pos.IsFinite())
678 {
679 pos = new Vector3(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f),
680 parent_scene.GetTerrainHeightAtXY(((float)Constants.RegionSize * 0.5f), ((float)Constants.RegionSize * 0.5f)) + 0.5f);
681 m_log.Warn("[PHYSICS]: Got nonFinite Object create Position");
682 }
683
684 _position = pos;
685 m_taintposition = pos;
686 }
687 else
688 m_taintparent = parent;
689
690 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
691
692 prim_geom = IntPtr.Zero;
693
694 _mesh = null;
695 m_meshfailed = false;
696 _pbs = pbs;
697
698 _parent_scene = parent_scene;
699 m_targetSpace = (IntPtr)0;
700
701 if(sdata != null && sdata.Length > 1)
702 DeSerialize(sdata);
703
704 if (m_isphysical)
705 m_targetSpace = _parent_scene.space;
706
707 _triMeshData = IntPtr.Zero;
708
709 m_primName = primName;
710 m_taintserial = null;
711 m_taintadd = true;
712 _parent_scene.AddPhysicsActorTaint(this);
713 // don't do .add() here; old geoms get recycled with the same hash
714 }
715
716 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, 314 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
717 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode, uint localid) 315 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode, uint localid)
718 { 316 {
@@ -776,8 +374,9 @@ namespace OpenSim.Region.Physics.OdePlugin
776 } 374 }
777 375
778 _triMeshData = IntPtr.Zero; 376 _triMeshData = IntPtr.Zero;
377 m_NoColide = false;
779 378
780 m_taintserial = null; 379// m_taintserial = null;
781 m_primName = primName; 380 m_primName = primName;
782 m_taintadd = true; 381 m_taintadd = true;
783 _parent_scene.AddPhysicsActorTaint(this); 382 _parent_scene.AddPhysicsActorTaint(this);
@@ -814,7 +413,6 @@ namespace OpenSim.Region.Physics.OdePlugin
814 { 413 {
815 set 414 set
816 { 415 {
817
818 //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical); 416 //Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
819 // This only makes the object not collidable if the object 417 // This only makes the object not collidable if the object
820 // is physical or the object is modified somehow *IN THE FUTURE* 418 // is physical or the object is modified somehow *IN THE FUTURE*
@@ -1077,7 +675,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1077 } 675 }
1078 } 676 }
1079 677
1080
1081 public override bool FloatOnWater 678 public override bool FloatOnWater
1082 { 679 {
1083 set 680 set
@@ -1270,7 +867,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1270 } 867 }
1271 } 868 }
1272 869
1273
1274 public void SetGeom(IntPtr geom) 870 public void SetGeom(IntPtr geom)
1275 { 871 {
1276 if (prim_geom != IntPtr.Zero) 872 if (prim_geom != IntPtr.Zero)
@@ -1290,9 +886,25 @@ namespace OpenSim.Region.Physics.OdePlugin
1290 { 886 {
1291 _parent_scene.geom_name_map[prim_geom] = this.m_primName; 887 _parent_scene.geom_name_map[prim_geom] = this.m_primName;
1292 _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; 888 _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
1293 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1294 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1295 //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName); 889 //Console.WriteLine("**** Create {2} Dicts: actor={0} name={1}", _parent_scene.actor_name_map.Count, _parent_scene.geom_name_map.Count, this.m_primName);
890 if (m_NoColide)
891 {
892 d.GeomSetCategoryBits(prim_geom, 0);
893 if (m_isphysical)
894 {
895 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
896 }
897 else
898 {
899 d.GeomSetCollideBits(prim_geom, 0);
900 d.GeomDisable(prim_geom);
901 }
902 }
903 else
904 {
905 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
906 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
907 }
1296 } 908 }
1297 909
1298 if (childPrim) 910 if (childPrim)
@@ -1351,11 +963,20 @@ namespace OpenSim.Region.Physics.OdePlugin
1351 myrot.W = _orientation.W; 963 myrot.W = _orientation.W;
1352 d.BodySetQuaternion(Body, ref myrot); 964 d.BodySetQuaternion(Body, ref myrot);
1353 d.GeomSetBody(prim_geom, Body); 965 d.GeomSetBody(prim_geom, Body);
966
1354 m_collisionCategories |= CollisionCategories.Body; 967 m_collisionCategories |= CollisionCategories.Body;
1355 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 968 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
1356 969
1357 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 970 if (m_NoColide)
1358 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 971 {
972 d.GeomSetCategoryBits(prim_geom, 0);
973 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
974 }
975 else
976 {
977 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
978 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
979 }
1359 980
1360 d.BodySetAutoDisableFlag(Body, true); 981 d.BodySetAutoDisableFlag(Body, true);
1361 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 982 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
@@ -1723,11 +1344,19 @@ namespace OpenSim.Region.Physics.OdePlugin
1723 1344
1724 if (prim_geom != IntPtr.Zero) 1345 if (prim_geom != IntPtr.Zero)
1725 { 1346 {
1726 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1347 if (m_NoColide)
1727 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1348 {
1349 d.GeomSetCategoryBits(prim_geom, 0);
1350 d.GeomSetCollideBits(prim_geom, 0);
1351 d.GeomDisable(prim_geom);
1352 }
1353 else
1354 {
1355 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1356 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1357 }
1728 } 1358 }
1729 1359
1730
1731 d.BodyDestroy(Body); 1360 d.BodyDestroy(Body);
1732 lock (childrenPrim) 1361 lock (childrenPrim)
1733 { 1362 {
@@ -1735,6 +1364,13 @@ namespace OpenSim.Region.Physics.OdePlugin
1735 { 1364 {
1736 foreach (OdePrim prm in childrenPrim) 1365 foreach (OdePrim prm in childrenPrim)
1737 { 1366 {
1367 if (prm.m_NoColide && prm.prim_geom != IntPtr.Zero)
1368 {
1369 d.GeomSetCategoryBits(prm.prim_geom, 0);
1370 d.GeomSetCollideBits(prm.prim_geom, 0);
1371 d.GeomDisable(prm.prim_geom);
1372 }
1373
1738 _parent_scene.remActivePrim(prm); 1374 _parent_scene.remActivePrim(prm);
1739 prm.Body = IntPtr.Zero; 1375 prm.Body = IntPtr.Zero;
1740 } 1376 }
@@ -1752,8 +1388,18 @@ namespace OpenSim.Region.Physics.OdePlugin
1752 1388
1753 if (prim_geom != IntPtr.Zero) 1389 if (prim_geom != IntPtr.Zero)
1754 { 1390 {
1755 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1391 if (m_NoColide)
1756 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1392 {
1393 d.GeomSetCategoryBits(prim_geom, 0);
1394 d.GeomSetCollideBits(prim_geom, 0);
1395 d.GeomDisable(prim_geom);
1396 }
1397 else
1398 {
1399 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1400 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1401 }
1402
1757 } 1403 }
1758 1404
1759 1405
@@ -1768,11 +1414,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1768 1414
1769 public bool setMesh(OdeScene parent_scene, IMesh mesh) 1415 public bool setMesh(OdeScene parent_scene, IMesh mesh)
1770 { 1416 {
1771 // This sleeper is there to moderate how long it takes between
1772 // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
1773
1774 //Thread.Sleep(10);
1775
1776 //Kill Body so that mesh can re-make the geom 1417 //Kill Body so that mesh can re-make the geom
1777 if (IsPhysical && Body != IntPtr.Zero) 1418 if (IsPhysical && Body != IntPtr.Zero)
1778 { 1419 {
@@ -1790,14 +1431,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1790 } 1431 }
1791 } 1432 }
1792 1433
1793// do it on caller instead
1794/*
1795 if (_triMeshData != IntPtr.Zero)
1796 {
1797 d.GeomTriMeshDataDestroy(_triMeshData);
1798 _triMeshData = IntPtr.Zero;
1799 }
1800*/
1801 IntPtr vertices, indices; 1434 IntPtr vertices, indices;
1802 int vertexCount, indexCount; 1435 int vertexCount, indexCount;
1803 int vertexStride, triStride; 1436 int vertexStride, triStride;
@@ -1809,38 +1442,20 @@ namespace OpenSim.Region.Physics.OdePlugin
1809 1442
1810 if (vertexCount == 0 || indexCount == 0) 1443 if (vertexCount == 0 || indexCount == 0)
1811 { 1444 {
1812 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); 1445 m_log.WarnFormat("[PHYSICS]: Got invalid mesh on prim {0} at <{1},{2},{3}>. mesh UUID {4}", Name, _position.X, _position.Y, _position.Z, _pbs.SculptTexture.ToString());
1813 _size.X = 0.05f;
1814 _size.Y = 0.05f;
1815 _size.Z = 0.05f;
1816 return false; 1446 return false;
1817 } 1447 }
1818 1448
1819/* 1449 IntPtr geo = IntPtr.Zero;
1820 if (m_MeshToTriMeshMap.ContainsKey(mesh)) 1450 try
1821 {
1822 _triMeshData = m_MeshToTriMeshMap[mesh];
1823 }
1824 else
1825*/
1826
1827
1828 { 1451 {
1829 _triMeshData = d.GeomTriMeshDataCreate(); 1452 _triMeshData = d.GeomTriMeshDataCreate();
1830
1831 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride); 1453 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);
1832 d.GeomTriMeshDataPreprocess(_triMeshData); 1454 d.GeomTriMeshDataPreprocess(_triMeshData);
1833// m_MeshToTriMeshMap[mesh] = _triMeshData;
1834 }
1835 1455
1836 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1456 _parent_scene.waitForSpaceUnlock(m_targetSpace);
1837 try 1457
1838 { 1458 geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);
1839 // if (prim_geom == IntPtr.Zero) // setGeom takes care of phys engine recreate and prim_geom pointer
1840 // {
1841 // SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
1842 SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null));
1843 // }
1844 } 1459 }
1845 catch (Exception e) 1460 catch (Exception e)
1846 { 1461 {
@@ -1851,21 +1466,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1851 d.GeomTriMeshDataDestroy(_triMeshData); 1466 d.GeomTriMeshDataDestroy(_triMeshData);
1852 _triMeshData = IntPtr.Zero; 1467 _triMeshData = IntPtr.Zero;
1853 } 1468 }
1854 _size.X = 0.05f;
1855 _size.Y = 0.05f;
1856 _size.Z = 0.05f;
1857 return false; 1469 return false;
1858 } 1470 }
1859 1471
1472 SetGeom(geo);
1860 1473
1861 // if (IsPhysical && Body == (IntPtr) 0)
1862 // {
1863 // Recreate the body
1864 // m_interpenetrationcount = 0;
1865 // m_collisionscore = 0;
1866
1867 // enableBody();
1868 // }
1869 return true; 1474 return true;
1870 } 1475 }
1871 1476
@@ -1943,18 +1548,21 @@ namespace OpenSim.Region.Physics.OdePlugin
1943 if (m_taintvehicledata != null) 1548 if (m_taintvehicledata != null)
1944 DoSetVehicle(); 1549 DoSetVehicle();
1945 1550
1946 if (m_taintserial != null)
1947 DoSerialize(m_taintserial);
1948
1949 /* obsolete 1551 /* obsolete
1950 if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f)) 1552 if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
1951 changeAngularLock(timestep); 1553 changeAngularLock(timestep);
1952 */ 1554 */
1953 } 1555 }
1556
1954 else 1557 else
1955 { 1558 {
1956 m_log.Error("[PHYSICS]: The scene reused a disposed PhysActor! *waves finger*, Don't be evil. A couple of things can cause this. An improper prim breakdown(be sure to set prim_geom to zero after d.GeomDestroy! An improper buildup (creating the geom failed). Or, the Scene Reused a physics actor after disposing it.)"); 1559 m_log.Error("[PHYSICS]: prim {0} at <{1},{2},{3}> as invalid geom");
1560
1561 // not sure this will not flame...
1562 m_taintremove = true;
1563 _parent_scene.AddPhysicsActorTaint(this);
1957 } 1564 }
1565
1958 } 1566 }
1959 1567
1960 /* obsolete 1568 /* obsolete
@@ -2058,7 +1666,6 @@ namespace OpenSim.Region.Physics.OdePlugin
2058 } 1666 }
2059 foreach (OdePrim prm in childrenPrim) 1667 foreach (OdePrim prm in childrenPrim)
2060 { 1668 {
2061
2062 prm.m_collisionCategories |= CollisionCategories.Body; 1669 prm.m_collisionCategories |= CollisionCategories.Body;
2063 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 1670 prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
2064 1671
@@ -2067,9 +1674,17 @@ namespace OpenSim.Region.Physics.OdePlugin
2067 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet"); 1674 m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
2068 continue; 1675 continue;
2069 } 1676 }
2070 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
2071 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
2072 1677
1678 if (prm.m_NoColide)
1679 {
1680 d.GeomSetCategoryBits(prm.prim_geom, 0);
1681 d.GeomSetCollideBits(prm.prim_geom, (int)CollisionCategories.Land);
1682 }
1683 else
1684 {
1685 d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
1686 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1687 }
2073 1688
2074 d.Quaternion quat = new d.Quaternion(); 1689 d.Quaternion quat = new d.Quaternion();
2075 quat.W = prm._orientation.W; 1690 quat.W = prm._orientation.W;
@@ -2098,20 +1713,28 @@ namespace OpenSim.Region.Physics.OdePlugin
2098 m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body"); 1713 m_log.Debug("[PHYSICS]:I ain't got no boooooooooddy, no body");
2099 } 1714 }
2100 1715
2101
2102 prm.m_interpenetrationcount = 0; 1716 prm.m_interpenetrationcount = 0;
2103 prm.m_collisionscore = 0; 1717 prm.m_collisionscore = 0;
2104 prm.m_disabled = false; 1718 prm.m_disabled = false;
2105 1719
2106 prm.Body = Body; 1720 prm.Body = Body;
2107 _parent_scene.addActivePrim(prm); 1721
1722 _parent_scene.addActivePrim(prm);
2108 } 1723 }
1724
2109 m_collisionCategories |= CollisionCategories.Body; 1725 m_collisionCategories |= CollisionCategories.Body;
2110 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); 1726 m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
2111 1727
2112 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1728 if (m_NoColide)
2113 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1729 {
2114 1730 d.GeomSetCategoryBits(prim_geom, 0);
1731 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1732 }
1733 else
1734 {
1735 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1736 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1737 }
2115 1738
2116 d.Quaternion quat2 = new d.Quaternion(); 1739 d.Quaternion quat2 = new d.Quaternion();
2117 quat2.W = _orientation.W; 1740 quat2.W = _orientation.W;
@@ -2134,19 +1757,18 @@ namespace OpenSim.Region.Physics.OdePlugin
2134 d.BodySetAutoDisableFlag(Body, true); 1757 d.BodySetAutoDisableFlag(Body, true);
2135 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 1758 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
2136 1759
2137
2138 m_interpenetrationcount = 0; 1760 m_interpenetrationcount = 0;
2139 m_collisionscore = 0; 1761 m_collisionscore = 0;
2140 m_disabled = false; 1762 m_disabled = false;
2141 1763
2142 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); 1764 d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
2143 if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene); 1765 if (m_type != Vehicle.TYPE_NONE) Enable(Body, _parent_scene);
1766
2144 _parent_scene.addActivePrim(this); 1767 _parent_scene.addActivePrim(this);
2145 } 1768 }
2146 } 1769 }
2147 } 1770 }
2148 } 1771 }
2149
2150 } 1772 }
2151 1773
2152 private void ChildSetGeom(OdePrim odePrim) 1774 private void ChildSetGeom(OdePrim odePrim)
@@ -2258,6 +1880,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2258 { 1880 {
2259 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1881 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
2260 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1882 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1883 if (m_NoColide)
1884 d.GeomDisable(prim_geom);
2261 } 1885 }
2262 1886
2263 if (m_isphysical) 1887 if (m_isphysical)
@@ -2275,22 +1899,35 @@ namespace OpenSim.Region.Physics.OdePlugin
2275 } 1899 }
2276 else 1900 else
2277 { 1901 {
2278 m_collisionCategories = CollisionCategories.Geom; 1902 m_collisionCategories = CollisionCategories.Geom;
2279 1903 if (m_isphysical)
2280 if (m_isphysical) 1904 m_collisionCategories |= CollisionCategories.Body;
2281 m_collisionCategories |= CollisionCategories.Body;
2282 1905
2283 m_collisionFlags = m_default_collisionFlags; 1906 m_collisionFlags = m_default_collisionFlags;
2284 1907
2285 if (m_collidesLand) 1908 if (m_collidesLand)
2286 m_collisionFlags |= CollisionCategories.Land; 1909 m_collisionFlags |= CollisionCategories.Land;
2287 if (m_collidesWater) 1910 if (m_collidesWater)
2288 m_collisionFlags |= CollisionCategories.Water; 1911 m_collisionFlags |= CollisionCategories.Water;
2289 1912
2290 if (prim_geom != IntPtr.Zero) 1913 if (prim_geom != IntPtr.Zero)
2291 { 1914 {
2292 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); 1915 if (m_NoColide)
2293 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1916 {
1917 d.GeomSetCategoryBits(prim_geom, 0);
1918 if (m_isphysical)
1919 d.GeomSetCollideBits(prim_geom, (int)CollisionCategories.Land);
1920 else
1921 {
1922 d.GeomSetCollideBits(prim_geom, 0);
1923 d.GeomDisable(prim_geom);
1924 }
1925 }
1926 else
1927 {
1928 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
1929 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1930 }
2294 } 1931 }
2295 if (Body != IntPtr.Zero) 1932 if (Body != IntPtr.Zero)
2296 { 1933 {
@@ -2330,19 +1967,29 @@ namespace OpenSim.Region.Physics.OdePlugin
2330 { 1967 {
2331 bool gottrimesh = false; 1968 bool gottrimesh = false;
2332 1969
1970 m_NoColide = false; // assume all will go well
1971
2333 if (_triMeshData != IntPtr.Zero) 1972 if (_triMeshData != IntPtr.Zero)
2334 { 1973 {
2335 d.GeomTriMeshDataDestroy(_triMeshData); 1974 d.GeomTriMeshDataDestroy(_triMeshData);
2336 _triMeshData = IntPtr.Zero; 1975 _triMeshData = IntPtr.Zero;
2337 } 1976 }
2338 1977
2339 if (_mesh != null) // Special - make mesh 1978 if (_mesh != null)
2340 { 1979 {
2341 gottrimesh = setMesh(_parent_scene, _mesh); 1980 gottrimesh = setMesh(_parent_scene, _mesh);
1981 if (!gottrimesh)
1982 {
1983 // getting a mesh failed,
1984 // lets go on having a basic box or sphere, with prim size but not coliding
1985 // physical colides with land, non with nothing
1986
1987 m_NoColide = true;
1988 }
2342 } 1989 }
2343 1990
2344 if (!gottrimesh) // not a mesh 1991 if (!gottrimesh)
2345 { 1992 { // we will have a basic box or sphere
2346 IntPtr geo = IntPtr.Zero; 1993 IntPtr geo = IntPtr.Zero;
2347 1994
2348 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1 1995 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
@@ -2376,14 +2023,17 @@ namespace OpenSim.Region.Physics.OdePlugin
2376 } 2023 }
2377 } 2024 }
2378 2025
2379 if (geo == IntPtr.Zero) 2026 if (geo == IntPtr.Zero) // if this happens it must be fixed
2380 { 2027 {
2028 // if it does lets stop what we can
2029 // not sure this will not flame...
2030
2381 m_taintremove = true; 2031 m_taintremove = true;
2382 _parent_scene.AddPhysicsActorTaint(this); 2032 _parent_scene.AddPhysicsActorTaint(this);
2383 return; 2033 return;
2384 } 2034 }
2385 2035
2386 SetGeom(geo); 2036 SetGeom(geo); // this processes the m_NoColide
2387 } 2037 }
2388 } 2038 }
2389 2039
@@ -2415,7 +2065,6 @@ namespace OpenSim.Region.Physics.OdePlugin
2415 } 2065 }
2416 } 2066 }
2417 2067
2418
2419 lock (_parent_scene.OdeLock) 2068 lock (_parent_scene.OdeLock)
2420 { 2069 {
2421 CreateGeom(m_targetSpace, _mesh); 2070 CreateGeom(m_targetSpace, _mesh);
@@ -2518,8 +2167,6 @@ namespace OpenSim.Region.Physics.OdePlugin
2518 m_taintposition = _position; 2167 m_taintposition = _position;
2519 } 2168 }
2520 2169
2521
2522
2523 public void rotate(float timestep) 2170 public void rotate(float timestep)
2524 { 2171 {
2525 d.Quaternion myrot = new d.Quaternion(); 2172 d.Quaternion myrot = new d.Quaternion();
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
index 7a1e671..5f5d547 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -1735,7 +1735,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1735 1735
1736 return newPrim; 1736 return newPrim;
1737 } 1737 }
1738 1738/*
1739 private PhysicsActor AddPrim(String name, Vector3 position, PhysicsActor parent, 1739 private PhysicsActor AddPrim(String name, Vector3 position, PhysicsActor parent,
1740 PrimitiveBaseShape pbs, uint localid, byte[] sdata) 1740 PrimitiveBaseShape pbs, uint localid, byte[] sdata)
1741 { 1741 {
@@ -1751,7 +1751,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1751 1751
1752 return newPrim; 1752 return newPrim;
1753 } 1753 }
1754 1754*/
1755 1755
1756 public void addActivePrim(OdePrim activatePrim) 1756 public void addActivePrim(OdePrim activatePrim)
1757 { 1757 {
@@ -1778,7 +1778,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1778 1778
1779 return result; 1779 return result;
1780 } 1780 }
1781 1781/*
1782 public override PhysicsActor AddPrimShape(string primName, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position, 1782 public override PhysicsActor AddPrimShape(string primName, PhysicsActor parent, PrimitiveBaseShape pbs, Vector3 position,
1783 uint localid, byte[] sdata) 1783 uint localid, byte[] sdata)
1784 { 1784 {
@@ -1789,7 +1789,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1789 1789
1790 return result; 1790 return result;
1791 } 1791 }
1792 1792*/
1793 public override float TimeDilation 1793 public override float TimeDilation
1794 { 1794 {
1795 get { return m_timeDilation; } 1795 get { return m_timeDilation; }
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index f525e9e..25aa4dc 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -158,9 +158,10 @@ namespace OpenSim.Region.Physics.Manager
158 158
159 public virtual bool Building { get; set; } 159 public virtual bool Building { get; set; }
160 160
161 public virtual ContactData ContactData 161 public virtual void getContactData(ref ContactData cdata)
162 { 162 {
163 get { return new ContactData(0, 0); } 163 cdata.mu = 0;
164 cdata.bounce = 0;
164 } 165 }
165 166
166 public abstract bool Stopped { get; } 167 public abstract bool Stopped { get; }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 793e281..94cadb2 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 +191,10 @@ 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;
196 } 198 }
197 199
198 public override bool Building { get; set; } 200 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..db07565 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -155,6 +155,8 @@ namespace OpenSim.Region.Physics.OdePlugin
155 public float m_collisionscore; 155 public float m_collisionscore;
156 int m_colliderfilter = 0; 156 int m_colliderfilter = 0;
157 157
158 public IntPtr collide_geom; // for objects: geom if single prim space it linkset
159
158 private float m_density = 10.000006836f; // Aluminum g/cm3; 160 private float m_density = 10.000006836f; // Aluminum g/cm3;
159 161
160 public bool _zeroFlag; 162 public bool _zeroFlag;
@@ -185,7 +187,8 @@ namespace OpenSim.Region.Physics.OdePlugin
185 public ODEDynamics m_vehicle; 187 public ODEDynamics m_vehicle;
186 188
187 internal int m_material = (int)Material.Wood; 189 internal int m_material = (int)Material.Wood;
188 protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f }; 190 private float mu;
191 private float bounce;
189 192
190 /// <summary> 193 /// <summary>
191 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes. 194 /// Is this prim subject to physics? Even if not, it's still solid for collision purposes.
@@ -216,13 +219,23 @@ namespace OpenSim.Region.Physics.OdePlugin
216 } 219 }
217 } 220 }
218 221
219 public override ContactData ContactData 222 public override void getContactData(ref ContactData cdata)
220 { 223 {
221 get 224 cdata.mu = mu;
225 cdata.bounce = bounce;
226
227 if (m_isphysical)
222 { 228 {
223 return primContactData; 229 ODEDynamics veh;
230 if (_parent != null)
231 veh = ((OdePrim)_parent).m_vehicle;
232 else
233 veh = m_vehicle;
234
235 if (veh != null && veh.Type != Vehicle.TYPE_NONE)
236 cdata.mu *= veh.FrictionFactor;
224 } 237 }
225 } 238 }
226 239
227 public override int PhysicsActorType 240 public override int PhysicsActorType
228 { 241 {
@@ -453,8 +466,6 @@ namespace OpenSim.Region.Physics.OdePlugin
453 { 466 {
454 get 467 get
455 { 468 {
456 // Averate previous velocity with the new one so
457 // client object interpolation works a 'little' better
458 if (_zeroFlag) 469 if (_zeroFlag)
459 return Vector3.Zero; 470 return Vector3.Zero;
460 return _velocity; 471 return _velocity;
@@ -733,8 +744,8 @@ namespace OpenSim.Region.Physics.OdePlugin
733 public override void SetMaterial(int pMaterial) 744 public override void SetMaterial(int pMaterial)
734 { 745 {
735 m_material = pMaterial; 746 m_material = pMaterial;
736 primContactData.mu = _parent_scene.m_materialContactsData[pMaterial].mu; 747 mu = _parent_scene.m_materialContactsData[pMaterial].mu;
737 primContactData.bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; 748 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
738 } 749 }
739 750
740 public void setPrimForRemoval() 751 public void setPrimForRemoval()
@@ -833,6 +844,7 @@ namespace OpenSim.Region.Physics.OdePlugin
833 body_autodisable_frames = parent_scene.bodyFramesAutoDisable; 844 body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
834 845
835 prim_geom = IntPtr.Zero; 846 prim_geom = IntPtr.Zero;
847 collide_geom = IntPtr.Zero;
836 Body = IntPtr.Zero; 848 Body = IntPtr.Zero;
837 849
838 if (!size.IsFinite()) 850 if (!size.IsFinite())
@@ -886,8 +898,8 @@ namespace OpenSim.Region.Physics.OdePlugin
886 m_isSelected = false; 898 m_isSelected = false;
887 m_delaySelect = false; 899 m_delaySelect = false;
888 900
889 primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu; 901 mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
890 primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; 902 bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
891 903
892 CalcPrimBodyData(); 904 CalcPrimBodyData();
893 905
@@ -1367,7 +1379,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1367 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); 1379 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
1368 m_collisionscore = 0; 1380 m_collisionscore = 0;
1369 1381
1370 if (m_targetSpace != _parent_scene.ActiveSpace) 1382// if (m_targetSpace != _parent_scene.ActiveSpace)
1371 { 1383 {
1372 if (m_targetSpace != IntPtr.Zero) 1384 if (m_targetSpace != IntPtr.Zero)
1373 { 1385 {
@@ -1376,9 +1388,26 @@ namespace OpenSim.Region.Physics.OdePlugin
1376 d.SpaceRemove(m_targetSpace, prim_geom); 1388 d.SpaceRemove(m_targetSpace, prim_geom);
1377 } 1389 }
1378 1390
1391// m_targetSpace = _parent_scene.ActiveSpace;
1392// d.SpaceAdd(m_targetSpace, prim_geom);
1393 }
1394
1395
1396 if (childrenPrim.Count == 0)
1397 {
1398 collide_geom = prim_geom;
1379 m_targetSpace = _parent_scene.ActiveSpace; 1399 m_targetSpace = _parent_scene.ActiveSpace;
1380 d.SpaceAdd(m_targetSpace, prim_geom); 1400 d.SpaceAdd(m_targetSpace, prim_geom);
1381 } 1401 }
1402 else
1403 {
1404 m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
1405 d.HashSpaceSetLevels(m_targetSpace, -2, 8);
1406 d.SpaceSetSublevel(m_targetSpace, 3);
1407 d.SpaceSetCleanup(m_targetSpace, false);
1408 d.SpaceAdd(m_targetSpace, prim_geom);
1409 collide_geom = m_targetSpace;
1410 }
1382 1411
1383 lock (childrenPrim) 1412 lock (childrenPrim)
1384 { 1413 {
@@ -1396,15 +1425,15 @@ namespace OpenSim.Region.Physics.OdePlugin
1396 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); 1425 d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
1397 prm.m_collisionscore = 0; 1426 prm.m_collisionscore = 0;
1398 1427
1399 if (prm.m_targetSpace != _parent_scene.ActiveSpace) 1428 if (prm.m_targetSpace != m_targetSpace)
1400 { 1429 {
1401 if (prm.m_targetSpace != IntPtr.Zero) 1430 if (prm.m_targetSpace != IntPtr.Zero)
1402 { 1431 {
1403 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1432 _parent_scene.waitForSpaceUnlock(prm.m_targetSpace);
1404 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom)) 1433 if (d.SpaceQuery(prm.m_targetSpace, prm.prim_geom))
1405 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom); 1434 d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
1406 } 1435 }
1407 prm.m_targetSpace = _parent_scene.ActiveSpace; 1436 prm.m_targetSpace = m_targetSpace;
1408 d.SpaceAdd(m_targetSpace, prm.prim_geom); 1437 d.SpaceAdd(m_targetSpace, prm.prim_geom);
1409 } 1438 }
1410 1439
@@ -1427,8 +1456,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1427 d.GeomDisable(prim_geom); 1456 d.GeomDisable(prim_geom);
1428 d.BodyDisable(Body); 1457 d.BodyDisable(Body);
1429 } 1458 }
1459 else
1460 {
1461 d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
1462 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1463 }
1430 1464
1431 _parent_scene.addActivePrim(this); 1465 _parent_scene.addActivePrim(this);
1466 _parent_scene.addActiveGroups(this);
1432 } 1467 }
1433 1468
1434 private void DestroyBody() 1469 private void DestroyBody()
@@ -1473,6 +1508,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1473 d.JointDestroy(Amotor); 1508 d.JointDestroy(Amotor);
1474 Amotor = IntPtr.Zero; 1509 Amotor = IntPtr.Zero;
1475 } 1510 }
1511 _parent_scene.remActiveGroup(this);
1476 d.BodyDestroy(Body); 1512 d.BodyDestroy(Body);
1477 } 1513 }
1478 Body = IntPtr.Zero; 1514 Body = IntPtr.Zero;
@@ -2390,8 +2426,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2390 else 2426 else
2391 */ 2427 */
2392 DestroyBody(); 2428 DestroyBody();
2393 Stop();
2394 } 2429 }
2430 Stop();
2395 } 2431 }
2396 } 2432 }
2397 2433
@@ -2576,7 +2612,8 @@ namespace OpenSim.Region.Physics.OdePlugin
2576 if ((bool)newbuilding) 2612 if ((bool)newbuilding)
2577 { 2613 {
2578 m_building = true; 2614 m_building = true;
2579 DestroyBody(); 2615 if (!childPrim)
2616 DestroyBody();
2580 } 2617 }
2581 else 2618 else
2582 { 2619 {
@@ -2648,12 +2685,95 @@ namespace OpenSim.Region.Physics.OdePlugin
2648 public void Move() 2685 public void Move()
2649 { 2686 {
2650 if (!childPrim && m_isphysical && Body != IntPtr.Zero && 2687 if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
2651 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building) // KF: Only move root prims. 2688 !m_disabled && !m_isSelected && d.BodyIsEnabled(Body) && !m_building && !m_outbounds)
2689 // !m_disabled && !m_isSelected && !m_building && !m_outbounds)
2652 { 2690 {
2653 // if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009 2691// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
2654 2692
2655 float timestep = _parent_scene.ODE_STEPSIZE; 2693 float timestep = _parent_scene.ODE_STEPSIZE;
2656 2694
2695 // check outside region
2696 d.Vector3 lpos;
2697 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2698
2699 if (lpos.Z < -100 || lpos.Z > 100000f)
2700 {
2701 m_outbounds = true;
2702
2703 lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
2704 _acceleration.X = 0;
2705 _acceleration.Y = 0;
2706 _acceleration.Z = 0;
2707
2708 _velocity.X = 0;
2709 _velocity.Y = 0;
2710 _velocity.Z = 0;
2711 m_rotationalVelocity.X = 0;
2712 m_rotationalVelocity.Y = 0;
2713 m_rotationalVelocity.Z = 0;
2714
2715 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2716 d.BodySetAngularVel(Body, 0, 0, 0); // stop it
2717 d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
2718 m_lastposition = _position;
2719 m_lastorientation = _orientation;
2720
2721 base.RequestPhysicsterseUpdate();
2722
2723 m_throttleUpdates = false;
2724 throttleCounter = 0;
2725 _zeroFlag = true;
2726
2727 disableBodySoft(); // disable it and colisions
2728 base.RaiseOutOfBounds(_position);
2729 return;
2730 }
2731
2732 if (lpos.X < 0f)
2733 {
2734 _position.X = Util.Clip(lpos.X, -2f, -0.1f);
2735 m_outbounds = true;
2736 }
2737 else if(lpos.X > _parent_scene.WorldExtents.X)
2738 {
2739 _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
2740 m_outbounds = true;
2741 }
2742 if (lpos.Y < 0f)
2743 {
2744 _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
2745 m_outbounds = true;
2746 }
2747 else if(lpos.Y > _parent_scene.WorldExtents.Y)
2748 {
2749 _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
2750 m_outbounds = true;
2751 }
2752
2753 if(m_outbounds)
2754 {
2755 m_lastposition = _position;
2756 m_lastorientation = _orientation;
2757
2758 d.Vector3 dtmp = d.BodyGetAngularVel(Body);
2759 m_rotationalVelocity.X = dtmp.X;
2760 m_rotationalVelocity.Y = dtmp.Y;
2761 m_rotationalVelocity.Z = dtmp.Z;
2762
2763 dtmp = d.BodyGetLinearVel(Body);
2764 _velocity.X = dtmp.X;
2765 _velocity.Y = dtmp.Y;
2766 _velocity.Z = dtmp.Z;
2767
2768 d.BodySetLinearVel(Body, 0, 0, 0); // stop it
2769 d.BodySetAngularVel(Body, 0, 0, 0);
2770 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
2771 disableBodySoft(); // stop collisions
2772 base.RequestPhysicsterseUpdate();
2773 return;
2774 }
2775
2776
2657 float fx = 0; 2777 float fx = 0;
2658 float fy = 0; 2778 float fy = 0;
2659 float fz = 0; 2779 float fz = 0;
@@ -2862,7 +2982,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2862 public void UpdatePositionAndVelocity(float simulatedtime) 2982 public void UpdatePositionAndVelocity(float simulatedtime)
2863 { 2983 {
2864 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 2984 // 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) 2985 if (_parent == null && !m_disabled && !m_building && !m_outbounds)
2866 { 2986 {
2867 if (Body != IntPtr.Zero) 2987 if (Body != IntPtr.Zero)
2868 { 2988 {
@@ -2872,64 +2992,6 @@ namespace OpenSim.Region.Physics.OdePlugin
2872 d.Vector3 lpos; 2992 d.Vector3 lpos;
2873 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator 2993 d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
2874 2994
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 2995
2934 d.Quaternion ori; 2996 d.Quaternion ori;
2935 d.GeomCopyQuaternion(prim_geom, out ori); 2997 d.GeomCopyQuaternion(prim_geom, out ori);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 6e4c373..884a5a7 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);
707 ContactData contactdata2; 697 ContactData contactdata2 = new ContactData(0, 0);
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);
@@ -731,8 +722,8 @@ namespace OpenSim.Region.Physics.OdePlugin
731 p2.CollidingObj = true; 722 p2.CollidingObj = true;
732 break; 723 break;
733 case (int)ActorTypes.Prim: 724 case (int)ActorTypes.Prim:
734 contactdata1 = p1.ContactData; 725 p1.getContactData(ref contactdata1);
735 contactdata2 = p2.ContactData; 726 p2.getContactData(ref contactdata2);
736 bounce = contactdata1.bounce * contactdata2.bounce; 727 bounce = contactdata1.bounce * contactdata2.bounce;
737 728
738 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 729 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -753,8 +744,8 @@ namespace OpenSim.Region.Physics.OdePlugin
753 switch (p2.PhysicsActorType) 744 switch (p2.PhysicsActorType)
754 { 745 {
755 case (int)ActorTypes.Agent: 746 case (int)ActorTypes.Agent:
756 contactdata1 = p1.ContactData; 747 p1.getContactData(ref contactdata1);
757 contactdata2 = p2.ContactData; 748 p2.getContactData(ref contactdata2);
758 bounce = contactdata1.bounce * contactdata2.bounce; 749 bounce = contactdata1.bounce * contactdata2.bounce;
759 750
760 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 751 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -772,8 +763,8 @@ namespace OpenSim.Region.Physics.OdePlugin
772 p1.CollidingObj = true; 763 p1.CollidingObj = true;
773 p2.CollidingObj = true; 764 p2.CollidingObj = true;
774 } 765 }
775 contactdata1 = p1.ContactData; 766 p1.getContactData(ref contactdata1);
776 contactdata2 = p2.ContactData; 767 p2.getContactData(ref contactdata2);
777 bounce = contactdata1.bounce * contactdata2.bounce; 768 bounce = contactdata1.bounce * contactdata2.bounce;
778 erpSoft = true; 769 erpSoft = true;
779 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 770 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -788,7 +779,7 @@ namespace OpenSim.Region.Physics.OdePlugin
788 if (name == "Terrain") 779 if (name == "Terrain")
789 { 780 {
790 erpSoft = true; 781 erpSoft = true;
791 contactdata1 = p1.ContactData; 782 p1.getContactData(ref contactdata1);
792 bounce = contactdata1.bounce * TerrainBounce; 783 bounce = contactdata1.bounce * TerrainBounce;
793 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); 784 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
794 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) 785 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
@@ -815,7 +806,7 @@ namespace OpenSim.Region.Physics.OdePlugin
815 { 806 {
816 erpSoft = true; 807 erpSoft = true;
817 p2.CollidingGround = true; 808 p2.CollidingGround = true;
818 contactdata2 = p2.ContactData; 809 p2.getContactData(ref contactdata2);
819 bounce = contactdata2.bounce * TerrainBounce; 810 bounce = contactdata2.bounce * TerrainBounce;
820 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); 811 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
821 812
@@ -1013,15 +1004,24 @@ namespace OpenSim.Region.Physics.OdePlugin
1013 1004
1014 } 1005 }
1015 1006
1016 // collide active prims with static enviroment
1017 lock (_activeprims) 1007 lock (_activeprims)
1018 { 1008 {
1009 foreach (OdePrim aprim in _activeprims)
1010 {
1011 aprim.CollisionScore = 0;
1012 aprim.IsColliding = false;
1013 }
1014 }
1015
1016 // collide active prims with static enviroment
1017 lock (_activegroups)
1018 {
1019 try 1019 try
1020 { 1020 {
1021 foreach (OdePrim prm in _activeprims) 1021 foreach (OdePrim prm in _activegroups)
1022 { 1022 {
1023 if (d.BodyIsEnabled(prm.Body)) 1023 if (d.BodyIsEnabled(prm.Body) && !prm.m_outbounds)
1024 d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback); 1024 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
1025 } 1025 }
1026 } 1026 }
1027 catch (AccessViolationException) 1027 catch (AccessViolationException)
@@ -1029,7 +1029,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1029 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space"); 1029 m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
1030 } 1030 }
1031 } 1031 }
1032
1033 // finally colide active things amoung them 1032 // finally colide active things amoung them
1034 try 1033 try
1035 { 1034 {
@@ -1039,7 +1038,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1039 { 1038 {
1040 m_log.Warn("[PHYSICS]: Unable to collide in Active space"); 1039 m_log.Warn("[PHYSICS]: Unable to collide in Active space");
1041 } 1040 }
1042
1043// _perloopContact.Clear(); 1041// _perloopContact.Clear();
1044 } 1042 }
1045 1043
@@ -1148,13 +1146,20 @@ namespace OpenSim.Region.Physics.OdePlugin
1148 1146
1149 public void addActivePrim(OdePrim activatePrim) 1147 public void addActivePrim(OdePrim activatePrim)
1150 { 1148 {
1151 // adds active prim.. (ones that should be iterated over in collisions_optimized 1149 // adds active prim..
1152 lock (_activeprims) 1150 lock (_activeprims)
1153 { 1151 {
1154 if (!_activeprims.Contains(activatePrim)) 1152 if (!_activeprims.Contains(activatePrim))
1155 _activeprims.Add(activatePrim); 1153 _activeprims.Add(activatePrim);
1156 //else 1154 }
1157 // m_log.Warn("[PHYSICS]: Double Entry in _activeprims detected, potential crash immenent"); 1155 }
1156
1157 public void addActiveGroups(OdePrim activatePrim)
1158 {
1159 lock (_activegroups)
1160 {
1161 if (!_activegroups.Contains(activatePrim))
1162 _activegroups.Add(activatePrim);
1158 } 1163 }
1159 } 1164 }
1160 1165
@@ -1186,6 +1191,13 @@ namespace OpenSim.Region.Physics.OdePlugin
1186 _activeprims.Remove(deactivatePrim); 1191 _activeprims.Remove(deactivatePrim);
1187 } 1192 }
1188 } 1193 }
1194 public void remActiveGroup(OdePrim deactivatePrim)
1195 {
1196 lock (_activegroups)
1197 {
1198 _activegroups.Remove(deactivatePrim);
1199 }
1200 }
1189 1201
1190 public override void RemovePrim(PhysicsActor prim) 1202 public override void RemovePrim(PhysicsActor prim)
1191 { 1203 {
@@ -1258,6 +1270,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1258 { 1270 {
1259 waitForSpaceUnlock(currentspace); 1271 waitForSpaceUnlock(currentspace);
1260 d.SpaceRemove(currentspace, geom); 1272 d.SpaceRemove(currentspace, geom);
1273
1274 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1275 {
1276 d.SpaceDestroy(currentspace);
1277 }
1261 } 1278 }
1262 else 1279 else
1263 { 1280 {
@@ -1274,6 +1291,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1274 { 1291 {
1275 waitForSpaceUnlock(currentspace); 1292 waitForSpaceUnlock(currentspace);
1276 d.SpaceRemove(currentspace, geom); 1293 d.SpaceRemove(currentspace, geom);
1294
1295 if (d.SpaceGetSublevel(currentspace) > 2 && d.SpaceGetNumGeoms(currentspace) == 0)
1296 {
1297 d.SpaceDestroy(currentspace);
1298 }
1299
1277 } 1300 }
1278 } 1301 }
1279 } 1302 }
@@ -1577,42 +1600,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1577 1600
1578 statchanges += Util.EnvironmentTickCountSubtract(statstart); 1601 statchanges += Util.EnvironmentTickCountSubtract(statstart);
1579 1602
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); 1603 statactmove += Util.EnvironmentTickCountSubtract(statstart);
1611 //if ((framecount % m_randomizeWater) == 0) 1604 //if ((framecount % m_randomizeWater) == 0)
1612 // randomizeWater(waterlevel); 1605 // randomizeWater(waterlevel);
1613 1606
1614 m_rayCastManager.ProcessQueuedRequests(); 1607 m_rayCastManager.ProcessQueuedRequests();
1615 1608
1609
1610
1616 statray += Util.EnvironmentTickCountSubtract(statstart); 1611 statray += Util.EnvironmentTickCountSubtract(statstart);
1617 collision_optimized(); 1612 collision_optimized();
1618 statcol += Util.EnvironmentTickCountSubtract(statstart); 1613 statcol += Util.EnvironmentTickCountSubtract(statstart);
@@ -1642,8 +1637,35 @@ namespace OpenSim.Region.Physics.OdePlugin
1642 1637
1643 d.WorldQuickStep(world, ODE_STEPSIZE); 1638 d.WorldQuickStep(world, ODE_STEPSIZE);
1644 statstep += Util.EnvironmentTickCountSubtract(statstart); 1639 statstep += Util.EnvironmentTickCountSubtract(statstart);
1645 d.JointGroupEmpty(contactgroup); 1640
1646 totjcontact += m_global_contactcount; 1641 // Move characters
1642 lock (_characters)
1643 {
1644 List<OdeCharacter> defects = new List<OdeCharacter>();
1645 foreach (OdeCharacter actor in _characters)
1646 {
1647 if (actor != null)
1648 actor.Move(ODE_STEPSIZE, defects);
1649 }
1650 if (defects.Count != 0)
1651 {
1652 foreach (OdeCharacter defect in defects)
1653 {
1654 RemoveCharacter(defect);
1655 }
1656 }
1657 }
1658 statchmove += Util.EnvironmentTickCountSubtract(statstart);
1659
1660 // Move other active objects
1661 lock (_activegroups)
1662 {
1663 foreach (OdePrim aprim in _activegroups)
1664 {
1665 aprim.Move();
1666 }
1667 }
1668
1647 //ode.dunlock(world); 1669 //ode.dunlock(world);
1648 } 1670 }
1649 catch (Exception e) 1671 catch (Exception e)
@@ -1652,6 +1674,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1652// ode.dunlock(world); 1674// ode.dunlock(world);
1653 } 1675 }
1654 1676
1677 d.JointGroupEmpty(contactgroup);
1678 totjcontact += m_global_contactcount;
1679
1655 step_time -= ODE_STEPSIZE; 1680 step_time -= ODE_STEPSIZE;
1656 nodeframes++; 1681 nodeframes++;
1657 } 1682 }
@@ -1686,10 +1711,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1686 } 1711 }
1687 statmovchar = Util.EnvironmentTickCountSubtract(statstart); 1712 statmovchar = Util.EnvironmentTickCountSubtract(statstart);
1688 1713
1689 lock (_activeprims) 1714 lock (_activegroups)
1690 { 1715 {
1691 { 1716 {
1692 foreach (OdePrim actor in _activeprims) 1717 foreach (OdePrim actor in _activegroups)
1693 { 1718 {
1694 if (actor.IsPhysical) 1719 if (actor.IsPhysical)
1695 { 1720 {
@@ -1906,13 +1931,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1906 yy += regionsize; 1931 yy += regionsize;
1907 1932
1908 val = heightMap[yy + xx]; 1933 val = heightMap[yy + xx];
1934 if (val < 0.0f)
1935 val = 0.0f; // no neg terrain as in chode
1909 _heightmap[xt + y] = val; 1936 _heightmap[xt + y] = val;
1910 1937
1911 if (hfmin > val) 1938 if (hfmin > val)
1912 hfmin = val; 1939 hfmin = val;
1913 if (hfmax < val) 1940 if (hfmax < val)
1914 hfmax = val; 1941 hfmax = val;
1915
1916 } 1942 }
1917 xt += heightmapHeightSamples; 1943 xt += heightmapHeightSamples;
1918 } 1944 }
@@ -1966,7 +1992,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1966 1992
1967 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 1993 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
1968 d.GeomSetRotation(GroundGeom, ref R); 1994 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); 1995 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
1970 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); 1996 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
1971// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap); 1997// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
1972 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap); 1998 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
generated by cgit v1.1 at 2024-12-20 20:21:39 +0000