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-rw-r--r--OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs39
-rw-r--r--OpenSim/Region/Framework/Scenes/SceneObjectPart.cs12
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs20
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs6
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs5
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs20
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs13
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs22
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs20
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs93
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSCharacter.cs21
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPrim.cs20
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs44
-rw-r--r--OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs18
14 files changed, 328 insertions, 25 deletions
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index bcc9b37..ea4f2c7 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -1734,6 +1734,45 @@ namespace OpenSim.Region.Framework.Scenes
1734 } 1734 }
1735 } 1735 }
1736 1736
1737 public void rotLookAt(Quaternion target, float strength, float damping)
1738 {
1739 SceneObjectPart rootpart = m_rootPart;
1740 if (rootpart != null)
1741 {
1742 if (IsAttachment)
1743 {
1744 /*
1745 ScenePresence avatar = m_scene.GetScenePresence(rootpart.AttachedAvatar);
1746 if (avatar != null)
1747 {
1748 Rotate the Av?
1749 } */
1750 }
1751 else
1752 {
1753 if (rootpart.PhysActor != null)
1754 {
1755 rootpart.PhysActor.APIDTarget = new Quaternion(target.X, target.Y, target.Z, target.W);
1756 rootpart.PhysActor.APIDStrength = strength;
1757 rootpart.PhysActor.APIDDamping = damping;
1758 rootpart.PhysActor.APIDActive = true;
1759 }
1760 }
1761 }
1762 }
1763 public void stopLookAt()
1764 {
1765 SceneObjectPart rootpart = m_rootPart;
1766 if (rootpart != null)
1767 {
1768 if (rootpart.PhysActor != null)
1769 {
1770 rootpart.PhysActor.APIDActive = false;
1771 }
1772 }
1773
1774 }
1775
1737 /// <summary> 1776 /// <summary>
1738 /// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds. 1777 /// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds.
1739 /// </summary> 1778 /// </summary>
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index c0fd437..bf2f3d3 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -2175,6 +2175,11 @@ namespace OpenSim.Region.Framework.Scenes
2175 ParentGroup.HasGroupChanged = true; 2175 ParentGroup.HasGroupChanged = true;
2176 ScheduleFullUpdate(); 2176 ScheduleFullUpdate();
2177 } 2177 }
2178
2179 public void RotLookAt(Quaternion target, float strength, float damping)
2180 {
2181 m_parentGroup.rotLookAt(target, strength, damping);
2182 }
2178 2183
2179 /// <summary> 2184 /// <summary>
2180 /// Schedules this prim for a full update 2185 /// Schedules this prim for a full update
@@ -2674,6 +2679,13 @@ namespace OpenSim.Region.Framework.Scenes
2674 SetText(text); 2679 SetText(text);
2675 } 2680 }
2676 2681
2682 public void StopLookAt()
2683 {
2684 m_parentGroup.stopLookAt();
2685
2686 m_parentGroup.ScheduleGroupForTerseUpdate();
2687 }
2688
2677 public void StopMoveToTarget() 2689 public void StopMoveToTarget()
2678 { 2690 {
2679 m_parentGroup.stopMoveToTarget(); 2691 m_parentGroup.stopMoveToTarget();
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index 8df997e..f411dd7 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -303,6 +303,26 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
303 set { return; } 303 set { return; }
304 } 304 }
305 305
306 public override Quaternion APIDTarget
307 {
308 set { return; }
309 }
310
311 public override bool APIDActive
312 {
313 set { return; }
314 }
315
316 public override float APIDStrength
317 {
318 set { return; }
319 }
320
321 public override float APIDDamping
322 {
323 set { return; }
324 }
325
306 public override void SubscribeEvents(int ms) 326 public override void SubscribeEvents(int ms)
307 { 327 {
308 } 328 }
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index 5ed3b14..98681d6 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -619,6 +619,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
619 { 619 {
620 set { return; } 620 set { return; }
621 } 621 }
622
623 public override Quaternion APIDTarget { set { return; } }
624 public override bool APIDActive { set { return; } }
625 public override float APIDStrength { set { return; } }
626 public override float APIDDamping { set { return; } }
627
622 628
623 /// <summary> 629 /// <summary>
624 /// Adds the force supplied to the Target Velocity 630 /// Adds the force supplied to the Target Velocity
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index 5b542db..d931f126 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -565,6 +565,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
565 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } 565 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
566 public override float PIDHoverTau { set { m_PIDHoverTau = value; } } 566 public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
567 567
568 public override Quaternion APIDTarget { set { return; } }
569 public override bool APIDActive { set { return; } }
570 public override float APIDStrength { set { return; } }
571 public override float APIDDamping { set { return; } }
572
568 573
569 public override void AddForce(Vector3 force, bool pushforce) 574 public override void AddForce(Vector3 force, bool pushforce)
570 { 575 {
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 1e94ee2..d5d146e 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -1238,6 +1238,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
1238 public override PIDHoverType PIDHoverType { set { return; } } 1238 public override PIDHoverType PIDHoverType { set { return; } }
1239 public override float PIDHoverTau { set { return; } } 1239 public override float PIDHoverTau { set { return; } }
1240 1240
1241 public override OpenMetaverse.Quaternion APIDTarget
1242 {
1243 set { return; }
1244 }
1245
1246 public override bool APIDActive
1247 {
1248 set { return; }
1249 }
1250
1251 public override float APIDStrength
1252 {
1253 set { return; }
1254 }
1255
1256 public override float APIDDamping
1257 {
1258 set { return; }
1259 }
1260
1241 1261
1242 public override void SubscribeEvents(int ms) 1262 public override void SubscribeEvents(int ms)
1243 { 1263 {
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index f58129d..b82586f 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -243,7 +243,12 @@ namespace OpenSim.Region.Physics.Manager
243 public abstract PIDHoverType PIDHoverType { set;} 243 public abstract PIDHoverType PIDHoverType { set;}
244 public abstract float PIDHoverTau { set;} 244 public abstract float PIDHoverTau { set;}
245 245
246 246 // For RotLookAt
247 public abstract Quaternion APIDTarget { set;}
248 public abstract bool APIDActive { set;}
249 public abstract float APIDStrength { set;}
250 public abstract float APIDDamping { set;}
251
247 public abstract void AddForce(Vector3 force, bool pushforce); 252 public abstract void AddForce(Vector3 force, bool pushforce);
248 public abstract void AddAngularForce(Vector3 force, bool pushforce); 253 public abstract void AddAngularForce(Vector3 force, bool pushforce);
249 public abstract void SetMomentum(Vector3 momentum); 254 public abstract void SetMomentum(Vector3 momentum);
@@ -476,6 +481,12 @@ namespace OpenSim.Region.Physics.Manager
476 public override bool PIDHoverActive { set { return; } } 481 public override bool PIDHoverActive { set { return; } }
477 public override PIDHoverType PIDHoverType { set { return; } } 482 public override PIDHoverType PIDHoverType { set { return; } }
478 public override float PIDHoverTau { set { return; } } 483 public override float PIDHoverTau { set { return; } }
484
485 public override Quaternion APIDTarget { set { return; } }
486 public override bool APIDActive { set { return; } }
487 public override float APIDStrength { set { return; } }
488 public override float APIDDamping { set { return; } }
489
479 490
480 public override void SetMomentum(Vector3 momentum) 491 public override void SetMomentum(Vector3 momentum)
481 { 492 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 1bc4a25..905d3ba 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -1196,6 +1196,28 @@ namespace OpenSim.Region.Physics.OdePlugin
1196 public override bool PIDHoverActive { set { return; } } 1196 public override bool PIDHoverActive { set { return; } }
1197 public override PIDHoverType PIDHoverType { set { return; } } 1197 public override PIDHoverType PIDHoverType { set { return; } }
1198 public override float PIDHoverTau { set { return; } } 1198 public override float PIDHoverTau { set { return; } }
1199
1200 public override Quaternion APIDTarget
1201 {
1202 set { return; }
1203 }
1204
1205 public override bool APIDActive
1206 {
1207 set { return; }
1208 }
1209
1210 public override float APIDStrength
1211 {
1212 set { return; }
1213 }
1214
1215 public override float APIDDamping
1216 {
1217 set { return; }
1218 }
1219
1220
1199 1221
1200 public override void SubscribeEvents(int ms) 1222 public override void SubscribeEvents(int ms)
1201 { 1223 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 39cdc0f..78b15be 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -23,6 +23,19 @@
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 *
27 * Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
28 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
29 * ODEPrim.cs contains methods dealing with Prim editing, Prim
30 * characteristics and Kinetic motion.
31 * ODEDynamics.cs contains methods dealing with Prim Physical motion
32 * (dynamics) and the associated settings. Old Linear and angular
33 * motors for dynamic motion have been replace with MoveLinear()
34 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
35 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
36 * switch between 'VEHICLE' parameter use and general dynamics
37 * settings use.
38 *
26 */ 39 */
27 40
28/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces 41/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
@@ -120,7 +133,7 @@ namespace OpenSim.Region.Physics.OdePlugin
120// private float m_VhoverEfficiency = 0f; 133// private float m_VhoverEfficiency = 0f;
121 private float m_VhoverTimescale = 0f; 134 private float m_VhoverTimescale = 0f;
122 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height 135 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
123 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. 136 private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle.
124 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 137 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
125 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. 138 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
126 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 139 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
@@ -479,7 +492,7 @@ namespace OpenSim.Region.Physics.OdePlugin
479 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object 492 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
480 m_dir *= rotq; // apply obj rotation to velocity vector 493 m_dir *= rotq; // apply obj rotation to velocity vector
481 494
482 // add Gravity andBuoyancy 495 // add Gravity and Buoyancy
483 // KF: So far I have found no good method to combine a script-requested 496 // KF: So far I have found no good method to combine a script-requested
484 // .Z velocity and gravity. Therefore only 0g will used script-requested 497 // .Z velocity and gravity. Therefore only 0g will used script-requested
485 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. 498 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
@@ -561,6 +574,7 @@ namespace OpenSim.Region.Physics.OdePlugin
561 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 574 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
562 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body 575 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
563 */ 576 */
577//if(frcount == 0) Console.WriteLine("MoveAngular ");
564 578
565 // Get what the body is doing, this includes 'external' influences 579 // Get what the body is doing, this includes 'external' influences
566 d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); 580 d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
@@ -636,7 +650,7 @@ namespace OpenSim.Region.Physics.OdePlugin
636 // Deflection section tba 650 // Deflection section tba
637 651
638 // Sum velocities 652 // Sum velocities
639 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection 653 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
640 654
641 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 655 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
642 { 656 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index fa42023..2bf96e4 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -21,6 +21,18 @@
21 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 21 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
22 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 22 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
23 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 23 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 *
25 * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
26 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
27 * ODEPrim.cs contains methods dealing with Prim editing, Prim
28 * characteristics and Kinetic motion.
29 * ODEDynamics.cs contains methods dealing with Prim Physical motion
30 * (dynamics) and the associated settings. Old Linear and angular
31 * motors for dynamic motion have been replace with MoveLinear()
32 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
33 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
34 * switch between 'VEHICLE' parameter use and general dynamics
35 * settings use.
24 */ 36 */
25 37
26/* 38/*
@@ -81,7 +93,12 @@ namespace OpenSim.Region.Physics.OdePlugin
81 private float m_PIDTau; 93 private float m_PIDTau;
82 private float PID_D = 35f; 94 private float PID_D = 35f;
83 private float PID_G = 25f; 95 private float PID_G = 25f;
84 private bool m_usePID; 96 private bool m_usePID = false;
97
98 private Quaternion m_APIDTarget = new Quaternion();
99 private float m_APIDStrength = 0.5f;
100 private float m_APIDDamping = 0.5f;
101 private bool m_useAPID = false;
85 102
86 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), 103 // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
87 // and are for non-VEHICLES only. 104 // and are for non-VEHICLES only.
@@ -182,6 +199,9 @@ namespace OpenSim.Region.Physics.OdePlugin
182 private ODEDynamics m_vehicle; 199 private ODEDynamics m_vehicle;
183 200
184 internal int m_material = (int)Material.Wood; 201 internal int m_material = (int)Material.Wood;
202
203 private int frcount = 0; // Used to limit dynamics debug output to
204
185 205
186 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, 206 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
187 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) 207 Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
@@ -1558,9 +1578,14 @@ Console.WriteLine(" JointCreateFixed");
1558 float fy = 0; 1578 float fy = 0;
1559 float fz = 0; 1579 float fz = 0;
1560 1580
1581 frcount++; // used to limit debug comment output
1582 if (frcount > 100)
1583 frcount = 0;
1561 1584
1562 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. 1585 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims.
1563 { 1586 {
1587//if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle.Type +
1588 // " usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID);
1564 if (m_vehicle.Type != Vehicle.TYPE_NONE) 1589 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1565 { 1590 {
1566 // 'VEHICLES' are dealt with in ODEDynamics.cs 1591 // 'VEHICLES' are dealt with in ODEDynamics.cs
@@ -1568,7 +1593,6 @@ Console.WriteLine(" JointCreateFixed");
1568 } 1593 }
1569 else 1594 else
1570 { 1595 {
1571//Console.WriteLine("Move " + m_primName);
1572 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 1596 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
1573 // NON-'VEHICLES' are dealt with here 1597 // NON-'VEHICLES' are dealt with here
1574 if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) 1598 if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
@@ -1590,21 +1614,18 @@ Console.WriteLine(" JointCreateFixed");
1590 //m_log.Info(m_collisionFlags.ToString()); 1614 //m_log.Info(m_collisionFlags.ToString());
1591 1615
1592 1616
1593 //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 1617 //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
1594 // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
1595 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 1618 // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
1596 // gravityz multiplier = 1 - m_buoyancy 1619 // NB Prims in ODE are no subject to global gravity
1597 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; 1620 fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
1598 1621
1599 if (m_usePID) 1622 if (m_usePID)
1600 { 1623 {
1601//Console.WriteLine("PID " + m_primName); 1624//if(frcount == 0) Console.WriteLine("PID " + m_primName);
1602 // KF - this is for object move? eg. llSetPos() ? 1625 // KF - this is for object MoveToTarget.
1626
1603 //if (!d.BodyIsEnabled(Body)) 1627 //if (!d.BodyIsEnabled(Body))
1604 //d.BodySetForce(Body, 0f, 0f, 0f); 1628 //d.BodySetForce(Body, 0f, 0f, 0f);
1605 // If we're using the PID controller, then we have no gravity
1606 //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply...
1607 fz = 0f;
1608 1629
1609 // no lock; for now it's only called from within Simulate() 1630 // no lock; for now it's only called from within Simulate()
1610 1631
@@ -1739,7 +1760,7 @@ Console.WriteLine(" JointCreateFixed");
1739 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); 1760 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
1740 d.BodySetLinearVel(Body, vel.X, vel.Y, 0); 1761 d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
1741 d.BodyAddForce(Body, 0, 0, fz); 1762 d.BodyAddForce(Body, 0, 0, fz);
1742 return; 1763 //KF this prevents furthur motions return;
1743 } 1764 }
1744 else 1765 else
1745 { 1766 {
@@ -1748,8 +1769,46 @@ Console.WriteLine(" JointCreateFixed");
1748 // We're flying and colliding with something 1769 // We're flying and colliding with something
1749 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); 1770 fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
1750 } 1771 }
1751 } 1772 } // end m_useHoverPID && !m_usePID
1752 1773
1774 if (m_useAPID)
1775 {
1776 // RotLookAt, apparently overrides all other rotation sources. Inputs:
1777 // Quaternion m_APIDTarget
1778 // float m_APIDStrength // From SL experiments, this is the time to get there
1779 // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
1780 // Also in SL the mass of the object has no effect on time to get there.
1781 // Factors:
1782//if(frcount == 0) Console.WriteLine("APID ");
1783 // get present body rotation
1784 float limit = 1.0f;
1785 float scaler = 50f; // adjusts damping time
1786 float RLAservo = 0f;
1787
1788 d.Quaternion rot = d.BodyGetQuaternion(Body);
1789 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
1790 Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
1791 float diff_angle;
1792 Vector3 diff_axis;
1793 rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
1794 diff_axis.Normalize();
1795 if(diff_angle > 0.01f) // diff_angle is always +ve
1796 {
1797// PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
1798 Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
1799 rotforce = rotforce * rotq;
1800 if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
1801// RLAservo = timestep / m_APIDStrength * m_mass * scaler;
1802 // rotforce = rotforce * RLAservo * diff_angle ;
1803 // d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
1804 RLAservo = timestep / m_APIDStrength * scaler;
1805 rotforce = rotforce * RLAservo * diff_angle ;
1806 d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
1807//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
1808 }
1809//if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
1810 } // end m_useAPID
1811
1753 fx *= m_mass; 1812 fx *= m_mass;
1754 fy *= m_mass; 1813 fy *= m_mass;
1755 //fz *= m_mass; 1814 //fz *= m_mass;
@@ -2782,6 +2841,12 @@ Console.WriteLine(" JointCreateFixed");
2782 } 2841 }
2783 public override bool PIDActive { set { m_usePID = value; } } 2842 public override bool PIDActive { set { m_usePID = value; } }
2784 public override float PIDTau { set { m_PIDTau = value; } } 2843 public override float PIDTau { set { m_PIDTau = value; } }
2844
2845 // For RotLookAt
2846 public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
2847 public override bool APIDActive { set { m_useAPID = value; } }
2848 public override float APIDStrength { set { m_APIDStrength = value; } }
2849 public override float APIDDamping { set { m_APIDDamping = value; } }
2785 2850
2786 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } 2851 public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
2787 public override bool PIDHoverActive { set { m_useHoverPID = value; } } 2852 public override bool PIDHoverActive { set { m_useHoverPID = value; } }
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index 26cd1dd..566b4e7 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -304,6 +304,27 @@ namespace OpenSim.Region.Physics.POSPlugin
304 { 304 {
305 set { return; } 305 set { return; }
306 } 306 }
307
308 public override Quaternion APIDTarget
309 {
310 set { return; }
311 }
312
313 public override bool APIDActive
314 {
315 set { return; }
316 }
317
318 public override float APIDStrength
319 {
320 set { return; }
321 }
322
323 public override float APIDDamping
324 {
325 set { return; }
326 }
327
307 328
308 public override void SubscribeEvents(int ms) 329 public override void SubscribeEvents(int ms)
309 { 330 {
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index 96c3e26..847b634 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -299,6 +299,26 @@ namespace OpenSim.Region.Physics.POSPlugin
299 { 299 {
300 set { return; } 300 set { return; }
301 } 301 }
302 public override Quaternion APIDTarget
303 {
304 set { return; }
305 }
306
307 public override bool APIDActive
308 {
309 set { return; }
310 }
311
312 public override float APIDStrength
313 {
314 set { return; }
315 }
316
317 public override float APIDDamping
318 {
319 set { return; }
320 }
321
302 322
303 public override void SubscribeEvents(int ms) 323 public override void SubscribeEvents(int ms)
304 { 324 {
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
index 8bdb18d..24eb6b1 100644
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -498,6 +498,28 @@ namespace OpenSim.Region.Physics.PhysXPlugin
498 public override bool PIDHoverActive { set { return; } } 498 public override bool PIDHoverActive { set { return; } }
499 public override PIDHoverType PIDHoverType { set { return; } } 499 public override PIDHoverType PIDHoverType { set { return; } }
500 public override float PIDHoverTau { set { return; } } 500 public override float PIDHoverTau { set { return; } }
501
502 public override Quaternion APIDTarget
503 {
504 set { return; }
505 }
506
507 public override bool APIDActive
508 {
509 set { return; }
510 }
511
512 public override float APIDStrength
513 {
514 set { return; }
515 }
516
517 public override float APIDDamping
518 {
519 set { return; }
520 }
521
522
501 523
502 public override void SubscribeEvents(int ms) 524 public override void SubscribeEvents(int ms)
503 { 525 {
@@ -780,6 +802,28 @@ namespace OpenSim.Region.Physics.PhysXPlugin
780 public override bool PIDHoverActive { set { return; } } 802 public override bool PIDHoverActive { set { return; } }
781 public override PIDHoverType PIDHoverType { set { return; } } 803 public override PIDHoverType PIDHoverType { set { return; } }
782 public override float PIDHoverTau { set { return; } } 804 public override float PIDHoverTau { set { return; } }
805
806 public override Quaternion APIDTarget
807 {
808 set { return; }
809 }
810
811 public override bool APIDActive
812 {
813 set { return; }
814 }
815
816 public override float APIDStrength
817 {
818 set { return; }
819 }
820
821 public override float APIDDamping
822 {
823 set { return; }
824 }
825
826
783 827
784 public override void SubscribeEvents(int ms) 828 public override void SubscribeEvents(int ms)
785 { 829 {
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 8eebf02..5fb2775 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -2699,11 +2699,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
2699 // Orient the object to the angle calculated 2699 // Orient the object to the angle calculated
2700 llSetRot(rot); 2700 llSetRot(rot);
2701 } 2701 }
2702
2703 public void llRotLookAt(LSL_Rotation target, double strength, double damping)
2704 {
2705 m_host.AddScriptLPS(1);
2706// NotImplemented("llRotLookAt");
2707 m_host.RotLookAt(Rot2Quaternion(target), (float)strength, (float)damping);
2708
2709 }
2710
2702 2711
2703 public void llStopLookAt() 2712 public void llStopLookAt()
2704 { 2713 {
2705 m_host.AddScriptLPS(1); 2714 m_host.AddScriptLPS(1);
2706 NotImplemented("llStopLookAt"); 2715// NotImplemented("llStopLookAt");
2716 m_host.StopLookAt();
2707 } 2717 }
2708 2718
2709 public void llSetTimerEvent(double sec) 2719 public void llSetTimerEvent(double sec)
@@ -3047,12 +3057,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
3047 m_host.AddScriptLPS(1); 3057 m_host.AddScriptLPS(1);
3048 } 3058 }
3049 3059
3050 public void llRotLookAt(LSL_Rotation target, double strength, double damping)
3051 {
3052 m_host.AddScriptLPS(1);
3053 NotImplemented("llRotLookAt");
3054 }
3055
3056 public LSL_Integer llStringLength(string str) 3060 public LSL_Integer llStringLength(string str)
3057 { 3061 {
3058 m_host.AddScriptLPS(1); 3062 m_host.AddScriptLPS(1);
generated by cgit v1.1 at 2024-12-18 17:30:06 +0000