From 2cf6023892545e1e61669e67f9251858a09edd83 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 01:06:07 +0100
Subject: TEST added avnLocalTeleport(Vector3 newpos, Quaternion? newrot, bool
Stopped) to scenepresence.cs
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 22 ++++++++++++++++++++++
1 file changed, 22 insertions(+)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 46a9469..d8203dd 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1099,6 +1099,28 @@ namespace OpenSim.Region.Framework.Scenes
SendTerseUpdateToAllClients();
}
+ public void avnLocalTeleport(Vector3 newpos, Quaternion? newrot, bool Stopped)
+ {
+ CheckLandingPoint(ref newpos);
+ AbsolutePosition = newpos;
+
+ if (newrot.HasValue)
+ {
+ // TODO
+ }
+
+ if (Stopped)
+ {
+ if (PhysicsActor != null) // speed up physics stop
+ PhysicsActor.SetMomentum(Vector3.Zero);
+ Velocity = Vector3.Zero;
+ }
+
+ SendTerseUpdateToAllClients();
+ }
+
+
+
public void StopFlying()
{
ControllingClient.StopFlying(this);
--
cgit v1.1
From 61e99fba87ce6e353a459ba77ae1afae9d41039c Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 01:18:30 +0100
Subject: TEST more options to avnLocalTeleport
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 13 +++++++++----
1 file changed, 9 insertions(+), 4 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index d8203dd..d53e5c3 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1099,7 +1099,7 @@ namespace OpenSim.Region.Framework.Scenes
SendTerseUpdateToAllClients();
}
- public void avnLocalTeleport(Vector3 newpos, Quaternion? newrot, bool Stopped)
+ public void avnLocalTeleport(Vector3 newpos, Quaternion? newrot,Vector3? v, bool Stopit)
{
CheckLandingPoint(ref newpos);
AbsolutePosition = newpos;
@@ -1109,11 +1109,16 @@ namespace OpenSim.Region.Framework.Scenes
// TODO
}
- if (Stopped)
+ if (v.HasValue)
{
- if (PhysicsActor != null) // speed up physics stop
+ if (PhysicsActor != null)
+ PhysicsActor.SetMomentum((Vector3)v);
+ }
+ else if (Stopit)
+ {
+ if (PhysicsActor != null) // speedup
PhysicsActor.SetMomentum(Vector3.Zero);
- Velocity = Vector3.Zero;
+ Velocity = Vector3.Zero; // zero any velocity request
}
SendTerseUpdateToAllClients();
--
cgit v1.1
From 30ab9647bae51b34cd266aea0eacfd9c4b5aea29 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 01:24:44 +0100
Subject: TEST more changes
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index d53e5c3..6ef0c4e 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1111,8 +1111,9 @@ namespace OpenSim.Region.Framework.Scenes
if (v.HasValue)
{
- if (PhysicsActor != null)
+ if (PhysicsActor != null) // speedup
PhysicsActor.SetMomentum((Vector3)v);
+ Velocity = (Vector3)v;
}
else if (Stopit)
{
--
cgit v1.1
From a64a9e48de5226da055b0196125c8f576c462a80 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 01:43:27 +0100
Subject: TESTING
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 8 ++++----
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 1 +
2 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 6ef0c4e..e9ff07a 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1111,15 +1111,15 @@ namespace OpenSim.Region.Framework.Scenes
if (v.HasValue)
{
- if (PhysicsActor != null) // speedup
+ if (PhysicsActor != null)
PhysicsActor.SetMomentum((Vector3)v);
- Velocity = (Vector3)v;
+ m_velocity = (Vector3)v;
}
else if (Stopit)
{
- if (PhysicsActor != null) // speedup
+ if (PhysicsActor != null)
PhysicsActor.SetMomentum(Vector3.Zero);
- Velocity = Vector3.Zero; // zero any velocity request
+ m_velocity = Vector3.Zero;
}
SendTerseUpdateToAllClients();
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 8b5b989..f22b0cc 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -1210,6 +1210,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero)
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
+ m_pidControllerActive = true;
}
private void changeOrientation(Quaternion newOri)
--
cgit v1.1
From 911bc81b00b276792cc43c3b246932186008d343 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 02:13:54 +0100
Subject: testing
---
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index f22b0cc..7356123 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -1275,6 +1275,12 @@ namespace OpenSim.Region.Physics.OdePlugin
_velocity = newmomentum;
_target_velocity = newmomentum;
m_pidControllerActive = true;
+ m_colliderfilter = 0;
+ m_colliderObjectfilter = 0;
+ m_iscolliding = false;
+ m_iscollidingGround = false;
+ m_iscollidingObj = false;
+
if (Body != IntPtr.Zero)
d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
}
--
cgit v1.1
From 76d9040ed41facca73b8628f381dd8bdec3c9dc2 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 02:54:39 +0100
Subject: testing
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 2 +-
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index e9ff07a..37196b0 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1113,7 +1113,7 @@ namespace OpenSim.Region.Framework.Scenes
{
if (PhysicsActor != null)
PhysicsActor.SetMomentum((Vector3)v);
- m_velocity = (Vector3)v;
+// m_velocity = (Vector3)v;
}
else if (Stopit)
{
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 7356123..4b093ba 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -1273,7 +1273,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeMomentum(Vector3 newmomentum)
{
_velocity = newmomentum;
- _target_velocity = newmomentum;
+ _target_velocity = Vector3.Zero;
m_pidControllerActive = true;
m_colliderfilter = 0;
m_colliderObjectfilter = 0;
--
cgit v1.1
From d8f691664a8de15655eb7a3dd0485c21202982e2 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 03:36:49 +0100
Subject: testing
---
.../Region/Physics/UbitOdePlugin/ODECharacter.cs | 129 ++++++++++++---------
1 file changed, 71 insertions(+), 58 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 4b093ba..2c1197a 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -103,6 +103,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_buoyancy = 0f;
+ private bool m_freemove = false;
// private CollisionLocker ode;
private string m_name = String.Empty;
@@ -687,6 +688,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_zeroFlag = false;
m_pidControllerActive = true;
+ m_freemove = false;
d.BodySetAutoDisableFlag(Body, false);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
@@ -789,7 +791,7 @@ namespace OpenSim.Region.Physics.OdePlugin
qtmp.Z = 0;
d.BodySetQuaternion(Body, ref qtmp);
- if (m_pidControllerActive == false)
+ if (m_pidControllerActive == false && !m_freemove)
{
_zeroPosition = localpos;
}
@@ -861,6 +863,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
if (chrminZ < terrainheight)
{
+ m_freemove = false;
float depth = terrainheight - chrminZ;
if (!flying)
{
@@ -896,77 +899,86 @@ namespace OpenSim.Region.Physics.OdePlugin
//******************************************
- // if velocity is zero, use position control; otherwise, velocity control
- if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
- && m_iscolliding)
+ bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
+
+ if(!tviszero || !m_iscolliding)
+ m_freemove = false;
+
+ if (!m_freemove)
{
- // keep track of where we stopped. No more slippin' & slidin'
- if (!_zeroFlag)
- {
- _zeroFlag = true;
- _zeroPosition = localpos;
- }
- if (m_pidControllerActive)
+
+ // if velocity is zero, use position control; otherwise, velocity control
+ if (tviszero && m_iscolliding)
{
- // We only want to deactivate the PID Controller if we think we want to have our surrogate
- // react to the physics scene by moving it's position.
- // Avatar to Avatar collisions
- // Prim to avatar collisions
-
- vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
- vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
- if (flying)
+ // keep track of where we stopped. No more slippin' & slidin'
+ if (!_zeroFlag)
{
- vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
+ _zeroFlag = true;
+ _zeroPosition = localpos;
}
- }
- //PidStatus = true;
- }
- else
- {
- m_pidControllerActive = true;
- _zeroFlag = false;
-
- if (m_iscolliding)
- {
- if (!flying)
+ if (m_pidControllerActive)
{
- if (_target_velocity.Z > 0.0f)
+ // We only want to deactivate the PID Controller if we think we want to have our surrogate
+ // react to the physics scene by moving it's position.
+ // Avatar to Avatar collisions
+ // Prim to avatar collisions
+
+ vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
+ vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
+ if (flying)
{
- // We're colliding with something and we're not flying but we're moving
- // This means we're walking or running. JUMPING
- vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
+ vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
}
- // We're standing on something
- vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
- vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
- }
- else
- {
- // We're flying and colliding with something
- vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
- vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
- vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
}
+ //PidStatus = true;
}
- else // ie not colliding
+ else
{
- if (flying) //(!m_iscolliding && flying)
+ m_freemove = false;
+ m_pidControllerActive = true;
+ _zeroFlag = false;
+
+ if (m_iscolliding)
{
- // we're in mid air suspended
- vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
- vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
- vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
+ if (!flying)
+ {
+ if (_target_velocity.Z > 0.0f)
+ {
+ // We're colliding with something and we're not flying but we're moving
+ // This means we're walking or running. JUMPING
+ vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
+ }
+ // We're standing on something
+ vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
+ vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
+ }
+ else
+ {
+ // We're flying and colliding with something
+ vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
+ vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
+ vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
+ }
}
-
- else
+ else // ie not colliding
{
- // we're not colliding and we're not flying so that means we're falling!
- // m_iscolliding includes collisions with the ground.
+ if (flying) //(!m_iscolliding && flying)
+ {
+ // we're in mid air suspended
+ vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
+ vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
+ vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
+ }
- // d.Vector3 pos = d.BodyGetPosition(Body);
- vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
- vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
+ else
+ {
+ // we're not colliding and we're not flying so that means we're falling!
+ // m_iscolliding includes collisions with the ground.
+
+ // d.Vector3 pos = d.BodyGetPosition(Body);
+ vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
+ vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
+ }
}
}
}
@@ -1274,6 +1286,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
_velocity = newmomentum;
_target_velocity = Vector3.Zero;
+ m_freemove = true;
m_pidControllerActive = true;
m_colliderfilter = 0;
m_colliderObjectfilter = 0;
--
cgit v1.1
From e974d493c689a7fda925e72de78fddc05cfa5225 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 03:44:15 +0100
Subject: testing
---
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 2c1197a..1ba40b8 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -901,7 +901,7 @@ namespace OpenSim.Region.Physics.OdePlugin
bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
- if(!tviszero || !m_iscolliding)
+ if(!tviszero || m_iscolliding)
m_freemove = false;
if (!m_freemove)
--
cgit v1.1
From 6edbbdc83ad53f38f1f5ae4a025b03c058827495 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 06:00:50 +0100
Subject: ubitODE fix don't report colisions with a volume detector ( only
report to it )
---
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 28 ++++++++++++++----------
1 file changed, 16 insertions(+), 12 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index cf74f14..fa3d33e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -1020,12 +1020,16 @@ namespace OpenSim.Region.Physics.OdePlugin
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
{
- // obj1LocalID = 0;
- //returncollisions = false;
obj2LocalID = 0;
- //ctype = 0;
- //cStartStop = 0;
- if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
+ bool p1events = p1.SubscribedEvents();
+ bool p2events = p2.SubscribedEvents();
+
+ if (p1 is OdePrim && p1.IsVolumeDtc)
+ p2events = false;
+ if (p2 is OdePrim && p2.IsVolumeDtc)
+ p1events = false;
+
+ if (!(p2events || p1events))
return;
switch ((ActorTypes)p1.PhysicsActorType)
@@ -1037,7 +1041,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case ActorTypes.Agent:
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.m_localID;
- if (p2.SubscribedEvents())
+ if (p2events)
cc2.AddCollisionEvent(cc1.m_localID, contact);
break;
@@ -1046,7 +1050,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cp2 = (OdePrim)p2;
obj2LocalID = cp2.m_localID;
- if (p2.SubscribedEvents())
+ if (p2events)
cp2.AddCollisionEvent(cc1.m_localID, contact);
}
break;
@@ -1057,7 +1061,7 @@ namespace OpenSim.Region.Physics.OdePlugin
obj2LocalID = 0;
break;
}
- if (p1.SubscribedEvents())
+ if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
cc1.AddCollisionEvent(obj2LocalID, contact);
@@ -1078,7 +1082,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.m_localID;
- if (p2.SubscribedEvents())
+ if (p2events)
cc2.AddCollisionEvent(cp1.m_localID, contact);
}
break;
@@ -1088,7 +1092,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cp2 = (OdePrim)p2;
obj2LocalID = cp2.m_localID;
- if (p2.SubscribedEvents())
+ if (p2events)
cp2.AddCollisionEvent(cp1.m_localID, contact);
}
break;
@@ -1099,7 +1103,7 @@ namespace OpenSim.Region.Physics.OdePlugin
obj2LocalID = 0;
break;
}
- if (p1.SubscribedEvents())
+ if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
cp1.AddCollisionEvent(obj2LocalID, contact);
@@ -1734,7 +1738,7 @@ namespace OpenSim.Region.Physics.OdePlugin
base.TriggerPhysicsBasedRestart();
}
- while (step_time >= HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
+ while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
{
try
{
--
cgit v1.1
From 03450dee39460f92d293621bb2fbcf93582397fc Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 08:11:18 +0100
Subject: testing....
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 39 ++++---
.../Region/Physics/UbitOdePlugin/ODECharacter.cs | 119 ++++++++++++++-------
2 files changed, 102 insertions(+), 56 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 37196b0..32a17ce 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1099,27 +1099,36 @@ namespace OpenSim.Region.Framework.Scenes
SendTerseUpdateToAllClients();
}
- public void avnLocalTeleport(Vector3 newpos, Quaternion? newrot,Vector3? v, bool Stopit)
+ public void avnLocalTeleport(Vector3 newpos, Vector3? newvel, bool rotateToVelXY)
{
CheckLandingPoint(ref newpos);
AbsolutePosition = newpos;
- if (newrot.HasValue)
+ if (newvel.HasValue)
{
- // TODO
- }
+ if (newvel == Vector3.Zero)
+ {
+ if (PhysicsActor != null)
+ PhysicsActor.SetMomentum(Vector3.Zero);
+ m_velocity = Vector3.Zero;
+ }
+ else
+ {
+ if (rotateToVelXY)
+ {
+ float x = ((Vector3)newvel).X;
+ float y = ((Vector3)newvel).Y;
- if (v.HasValue)
- {
- if (PhysicsActor != null)
- PhysicsActor.SetMomentum((Vector3)v);
-// m_velocity = (Vector3)v;
- }
- else if (Stopit)
- {
- if (PhysicsActor != null)
- PhysicsActor.SetMomentum(Vector3.Zero);
- m_velocity = Vector3.Zero;
+ x = 0.5f * (float)Math.Atan2(y, x);
+ y = (float)Math.Cos(x);
+ x = (float)Math.Sin(x);
+ Rotation = new Quaternion(0f, 0f, x, y);
+ }
+
+ if (PhysicsActor != null)
+ PhysicsActor.SetMomentum((Vector3)newvel);
+ m_velocity = (Vector3)newvel;
+ }
}
SendTerseUpdateToAllClients();
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 1ba40b8..d44c8e6 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -109,7 +109,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private string m_name = String.Empty;
// other filter control
int m_colliderfilter = 0;
- // int m_colliderGroundfilter = 0;
+ int m_colliderGroundfilter = 0;
int m_colliderObjectfilter = 0;
// Default we're a Character
@@ -281,7 +281,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_iscolliding = false;
else
{
-// SetPidStatus(false);
m_pidControllerActive = true;
m_iscolliding = true;
}
@@ -617,7 +616,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (pushforce)
{
- AddChange(changes.Force, force * m_density / _parent_scene.ODE_STEPSIZE / 28f);
+ AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f));
}
else
{
@@ -791,7 +790,7 @@ namespace OpenSim.Region.Physics.OdePlugin
qtmp.Z = 0;
d.BodySetQuaternion(Body, ref qtmp);
- if (m_pidControllerActive == false && !m_freemove)
+ if (m_pidControllerActive == false)
{
_zeroPosition = localpos;
}
@@ -830,11 +829,17 @@ namespace OpenSim.Region.Physics.OdePlugin
localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
}
if (fixbody)
+ {
+ m_freemove = false;
d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
+ }
+
+ float breakfactor;
Vector3 vec = Vector3.Zero;
dtmp = d.BodyGetLinearVel(Body);
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
+ float velLengthSquared = vel.LengthSquared();
float movementdivisor = 1f;
//Ubit change divisions into multiplications below
@@ -863,7 +868,6 @@ namespace OpenSim.Region.Physics.OdePlugin
float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
if (chrminZ < terrainheight)
{
- m_freemove = false;
float depth = terrainheight - chrminZ;
if (!flying)
{
@@ -874,34 +878,46 @@ namespace OpenSim.Region.Physics.OdePlugin
if (depth < 0.1f)
{
- m_iscolliding = true;
- m_colliderfilter = 2;
- m_iscollidingGround = true;
-
- ContactPoint contact = new ContactPoint();
- contact.PenetrationDepth = depth;
- contact.Position.X = localpos.X;
- contact.Position.Y = localpos.Y;
- contact.Position.Z = chrminZ;
- contact.SurfaceNormal.X = 0f;
- contact.SurfaceNormal.Y = 0f;
- contact.SurfaceNormal.Z = -1f;
- AddCollisionEvent(0, contact);
-
- vec.Z *= 0.5f;
+ m_colliderGroundfilter++;
+ if (m_colliderGroundfilter > 2)
+ {
+ m_iscolliding = true;
+ m_colliderfilter = 2;
+ m_colliderGroundfilter = 2;
+ m_iscollidingGround = true;
+
+ ContactPoint contact = new ContactPoint();
+ contact.PenetrationDepth = depth;
+ contact.Position.X = localpos.X;
+ contact.Position.Y = localpos.Y;
+ contact.Position.Z = chrminZ;
+ contact.SurfaceNormal.X = 0f;
+ contact.SurfaceNormal.Y = 0f;
+ contact.SurfaceNormal.Z = -1f;
+ AddCollisionEvent(0, contact);
+
+ vec.Z *= 0.5f;
+ }
}
else
+ {
+ m_colliderGroundfilter = 0;
m_iscollidingGround = false;
+ }
}
else
+ {
+ m_colliderGroundfilter = 0;
m_iscollidingGround = false;
+ }
//******************************************
bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
- if(!tviszero || m_iscolliding)
+ // if (!tviszero || m_iscolliding || velLengthSquared <0.01)
+ if (!tviszero)
m_freemove = false;
if (!m_freemove)
@@ -934,7 +950,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
- m_freemove = false;
m_pidControllerActive = true;
_zeroFlag = false;
@@ -981,6 +996,24 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
+
+ if (velLengthSquared > 2500.0f) // 50m/s apply breaks
+ {
+ breakfactor = 0.16f * m_mass;
+ vec.X -= breakfactor * vel.X;
+ vec.Y -= breakfactor * vel.Y;
+ vec.Z -= breakfactor * vel.Z;
+ }
+ }
+ else
+ {
+ breakfactor = 5f * m_mass;
+ vec.X -= breakfactor * vel.X;
+ vec.Y -= breakfactor * vel.Y;
+ if (flying)
+ vec.Z -= breakfactor * vel.Z;
+ else
+ vec.Z -= 2f* m_mass * vel.Z;
}
if (flying)
@@ -997,14 +1030,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// end add Kitto Flora
}
- if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50m/s apply breaks
- {
- float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall
- vec.X -= breakfactor * vel.X;
- vec.Y -= breakfactor * vel.Y;
- vec.Z -= breakfactor * vel.Z;
- }
-
if (vec.IsFinite())
{
if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
@@ -1222,7 +1247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero)
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
- m_pidControllerActive = true;
+ m_pidControllerActive = false;
}
private void changeOrientation(Quaternion newOri)
@@ -1269,11 +1294,30 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeBuilding(bool arg)
{
- }
+ }
+
+ private void setFreeMove()
+ {
+ m_pidControllerActive = true;
+ _zeroFlag = false;
+ _target_velocity = Vector3.Zero;
+ m_freemove = true;
+ m_colliderfilter = -2;
+ m_colliderObjectfilter = -2;
+ m_colliderGroundfilter = -2;
+
+ m_iscolliding = false;
+ m_iscollidingGround = false;
+ m_iscollidingObj = false;
+
+ CollisionEventsThisFrame = new CollisionEventUpdate();
+ m_eventsubscription = 0;
+ }
private void changeForce(Vector3 newForce)
{
- m_pidControllerActive = false;
+ setFreeMove();
+
if (Body != IntPtr.Zero)
{
if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
@@ -1285,14 +1329,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeMomentum(Vector3 newmomentum)
{
_velocity = newmomentum;
- _target_velocity = Vector3.Zero;
- m_freemove = true;
- m_pidControllerActive = true;
- m_colliderfilter = 0;
- m_colliderObjectfilter = 0;
- m_iscolliding = false;
- m_iscollidingGround = false;
- m_iscollidingObj = false;
+ setFreeMove();
if (Body != IntPtr.Zero)
d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
--
cgit v1.1
From 7a7f4b7722f50af874c62894e0fbff413a5a1851 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 09:00:30 +0100
Subject: testing
---
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index d44c8e6..342b7b3 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -1247,7 +1247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero)
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
- m_pidControllerActive = false;
+ m_pidControllerActive = true;
}
private void changeOrientation(Quaternion newOri)
--
cgit v1.1
From b948826b7ee73d01759f96959dbb901de682d523 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 09:09:29 +0100
Subject: test
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 32a17ce..2c12b01 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1103,7 +1103,7 @@ namespace OpenSim.Region.Framework.Scenes
{
CheckLandingPoint(ref newpos);
AbsolutePosition = newpos;
-
+/*
if (newvel.HasValue)
{
if (newvel == Vector3.Zero)
@@ -1130,7 +1130,7 @@ namespace OpenSim.Region.Framework.Scenes
m_velocity = (Vector3)newvel;
}
}
-
+*/
SendTerseUpdateToAllClients();
}
--
cgit v1.1
From cadbfcc01115500924df4ebcea88ca962680890c Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 09:15:31 +0100
Subject: itest
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 2c12b01..d2e0726 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1103,7 +1103,10 @@ namespace OpenSim.Region.Framework.Scenes
{
CheckLandingPoint(ref newpos);
AbsolutePosition = newpos;
-/*
+
+
+ m_log.DebugFormat("[avnLocalTeleport] {0} {1}", newpos, rotateToVelXY);
+
if (newvel.HasValue)
{
if (newvel == Vector3.Zero)
@@ -1130,7 +1133,7 @@ namespace OpenSim.Region.Framework.Scenes
m_velocity = (Vector3)newvel;
}
}
-*/
+
SendTerseUpdateToAllClients();
}
--
cgit v1.1
From 1c735faceeabc0e2888bdf9b1087a3fa7a9ae094 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 09:23:20 +0100
Subject: test
---
.../Region/Physics/UbitOdePlugin/ODECharacter.cs | 24 ++++++++++------------
1 file changed, 11 insertions(+), 13 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 342b7b3..36440b1 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -379,24 +379,21 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return _position; }
set
{
- if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
+ if (value.IsFinite())
{
- if (value.IsFinite())
+ if (value.Z > 9999999f)
{
- if (value.Z > 9999999f)
- {
- value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
- }
- if (value.Z < -100f)
- {
- value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
- }
- AddChange(changes.Position, value);
+ value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
- else
+ if (value.Z < -100f)
{
- m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
+ value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
+ AddChange(changes.Position, value);
+ }
+ else
+ {
+ m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
}
}
}
@@ -1248,6 +1245,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
m_pidControllerActive = true;
+ m_log.DebugFormat("[ode character new position] {0}", newPos);
}
private void changeOrientation(Quaternion newOri)
--
cgit v1.1
From fedc9eb1056d02c7f99fb4f55a46fdafec02054a Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 09:50:53 +0100
Subject: itest
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 5 +++--
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 3 +--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index d2e0726..25409c5 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1105,11 +1105,11 @@ namespace OpenSim.Region.Framework.Scenes
AbsolutePosition = newpos;
- m_log.DebugFormat("[avnLocalTeleport] {0} {1}", newpos, rotateToVelXY);
+ m_log.DebugFormat("[avnLocalTeleport] to {0} {1} init rotation {3}", newpos, rotateToVelXY,Rotation);
if (newvel.HasValue)
{
- if (newvel == Vector3.Zero)
+ if ((Vector3)newvel == Vector3.Zero)
{
if (PhysicsActor != null)
PhysicsActor.SetMomentum(Vector3.Zero);
@@ -1126,6 +1126,7 @@ namespace OpenSim.Region.Framework.Scenes
y = (float)Math.Cos(x);
x = (float)Math.Sin(x);
Rotation = new Quaternion(0f, 0f, x, y);
+ m_log.DebugFormat("[avnLocalTeleport] final rotation {0}", Rotation);
}
if (PhysicsActor != null)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 36440b1..26f8cf0 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -1244,8 +1244,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero)
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
- m_pidControllerActive = true;
- m_log.DebugFormat("[ode character new position] {0}", newPos);
+ m_pidControllerActive = true;
}
private void changeOrientation(Quaternion newOri)
--
cgit v1.1
From 2419de2b6dfc023afbd864046e512ec5f193dc9e Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 10:10:31 +0100
Subject: test
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 25409c5..ef281a6 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1105,7 +1105,7 @@ namespace OpenSim.Region.Framework.Scenes
AbsolutePosition = newpos;
- m_log.DebugFormat("[avnLocalTeleport] to {0} {1} init rotation {3}", newpos, rotateToVelXY,Rotation);
+ m_log.DebugFormat("[avnLocalTeleport] to {0} {1} init rotation {2}", newpos, rotateToVelXY,Rotation);
if (newvel.HasValue)
{
--
cgit v1.1
From 2006188ee5e5a7ce9cc3f879a37a49337f2e93f2 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 10:49:32 +0100
Subject: test
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 21 +++++++++------------
1 file changed, 9 insertions(+), 12 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index ef281a6..840bdef 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1117,21 +1117,18 @@ namespace OpenSim.Region.Framework.Scenes
}
else
{
- if (rotateToVelXY)
- {
- float x = ((Vector3)newvel).X;
- float y = ((Vector3)newvel).Y;
-
- x = 0.5f * (float)Math.Atan2(y, x);
- y = (float)Math.Cos(x);
- x = (float)Math.Sin(x);
- Rotation = new Quaternion(0f, 0f, x, y);
- m_log.DebugFormat("[avnLocalTeleport] final rotation {0}", Rotation);
- }
-
if (PhysicsActor != null)
PhysicsActor.SetMomentum((Vector3)newvel);
m_velocity = (Vector3)newvel;
+
+ if (rotateToVelXY)
+ {
+ Vector3 lookAt = (Vector3)newvel;
+ lookAt.Z = 0;
+ lookAt.Normalize();
+ ControllingClient.SendLocalTeleport(newpos, lookAt, (uint)TeleportFlags.ViaLocation);
+ return;
+ }
}
}
--
cgit v1.1
From 8ef7df5a563a850fea6c1a6f22de55a09cecebe7 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 11:01:34 +0100
Subject: test
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 3 ---
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 4 ++--
2 files changed, 2 insertions(+), 5 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 840bdef..80f21ce 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1104,9 +1104,6 @@ namespace OpenSim.Region.Framework.Scenes
CheckLandingPoint(ref newpos);
AbsolutePosition = newpos;
-
- m_log.DebugFormat("[avnLocalTeleport] to {0} {1} init rotation {2}", newpos, rotateToVelXY,Rotation);
-
if (newvel.HasValue)
{
if ((Vector3)newvel == Vector3.Zero)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 26f8cf0..4f8c4c3 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -1004,13 +1004,13 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
- breakfactor = 5f * m_mass;
+ breakfactor = m_mass;
vec.X -= breakfactor * vel.X;
vec.Y -= breakfactor * vel.Y;
if (flying)
vec.Z -= breakfactor * vel.Z;
else
- vec.Z -= 2f* m_mass * vel.Z;
+ vec.Z -= .5f* m_mass * vel.Z;
}
if (flying)
--
cgit v1.1
From ee237fc5dfb42397c0f689b3c101c3be3ed9904c Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 12:19:22 +0100
Subject: test
---
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 4f8c4c3..326fe97 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -880,7 +880,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{
m_iscolliding = true;
m_colliderfilter = 2;
- m_colliderGroundfilter = 2;
+
+ if (m_colliderGroundfilter > 10)
+ {
+ m_colliderGroundfilter = 10;
+ m_freemove = false;
+ }
+
m_iscollidingGround = true;
ContactPoint contact = new ContactPoint();
--
cgit v1.1
From f5cb403e7ec4549c92ba70cb1e2dd1850ce2ae23 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 22:59:57 +0100
Subject: reorder priority of vehicle hover flags
---
.../Region/Physics/UbitOdePlugin/ODEDynamics.cs | 223 +++++++++++----------
1 file changed, 114 insertions(+), 109 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index dcd02e2..53a576e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -121,6 +121,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_amEfect = 0; // current angular motor eficiency
private float m_ffactor = 1.0f;
+ private float m_timestep = 0.02f;
+ private float m_invtimestep = 50;
+
public float FrictionFactor
{
get
@@ -133,14 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
rootPrim = rootp;
_pParentScene = rootPrim._parent_scene;
+ m_timestep = _pParentScene.ODE_STEPSIZE;
+ m_invtimestep = 1.0f / m_timestep;
}
public void DoSetVehicle(VehicleData vd)
{
-
- float timestep = _pParentScene.ODE_STEPSIZE;
- float invtimestep = 1.0f / timestep;
-
m_type = vd.m_type;
m_flags = vd.m_flags;
@@ -148,61 +149,60 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearMotorDirection = vd.m_linearMotorDirection;
m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
- if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
- if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
- if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
+ if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
+ if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
+ if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
- if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep;
- m_linearMotorDecayTimescale *= invtimestep;
+ if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
+ m_linearMotorDecayTimescale *= m_invtimestep;
m_linearMotorTimescale = vd.m_linearMotorTimescale;
- if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
-
+ if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
m_linearMotorOffset = vd.m_linearMotorOffset;
//Angular properties
m_angularMotorDirection = vd.m_angularMotorDirection;
m_angularMotorTimescale = vd.m_angularMotorTimescale;
- if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
+ if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep;
m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
- if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep;
- m_angularMotorDecayTimescale *= invtimestep;
+ if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
+ m_angularMotorDecayTimescale *= m_invtimestep;
m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
- if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
- if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
- if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
+ if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
+ if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
+ if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
//Deflection properties
m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
- if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
+ if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
- if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
+ if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep;
//Banking properties
m_bankingEfficiency = vd.m_bankingEfficiency;
m_bankingMix = vd.m_bankingMix;
m_bankingTimescale = vd.m_bankingTimescale;
- if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
+ if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep;
//Hover and Buoyancy properties
m_VhoverHeight = vd.m_VhoverHeight;
m_VhoverEfficiency = vd.m_VhoverEfficiency;
m_VhoverTimescale = vd.m_VhoverTimescale;
- if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
+ if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep;
m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
//Attractor properties
m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
- if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
+ if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep;
// Axis
m_referenceFrame = vd.m_referenceFrame;
@@ -215,8 +215,6 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
float len;
- float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
- float timestep = _pParentScene.ODE_STEPSIZE;
switch (pParam)
{
@@ -226,18 +224,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_angularDeflectionEfficiency = pValue;
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_angularDeflectionTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
- // try to make impulses to work a bit better
-// if (pValue < 0.5f) pValue = 0.5f;
+ if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
- m_angularMotorDecayTimescale = pValue * invtimestep;
+ m_angularMotorDecayTimescale = pValue * m_invtimestep;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_angularMotorTimescale = pValue;
break;
case Vehicle.BANKING_EFFICIENCY:
@@ -251,7 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingMix = pValue;
break;
case Vehicle.BANKING_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_bankingTimescale = pValue;
break;
case Vehicle.BUOYANCY:
@@ -268,7 +264,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_VhoverHeight = pValue;
break;
case Vehicle.HOVER_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_VhoverTimescale = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
@@ -277,18 +273,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionEfficiency = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_linearDeflectionTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
- // try to make impulses to work a bit better
- //if (pValue < 0.5f) pValue = 0.5f;
+ if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
- m_linearMotorDecayTimescale = pValue * invtimestep;
+ m_linearMotorDecayTimescale = pValue * m_invtimestep;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_linearMotorTimescale = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
@@ -297,14 +291,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_verticalAttractionEfficiency = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_verticalAttractionTimescale = pValue;
break;
// These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
@@ -318,7 +312,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
- if (pValue < timestep) pValue = timestep;
+ if (pValue < m_timestep) pValue = m_timestep;
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
@@ -344,14 +338,13 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
float len;
- float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
- float timestep = _pParentScene.ODE_STEPSIZE;
+
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- if (pValue.X < timestep) pValue.X = timestep;
- if (pValue.Y < timestep) pValue.Y = timestep;
- if (pValue.Z < timestep) pValue.Z = timestep;
+ if (pValue.X < m_timestep) pValue.X = m_timestep;
+ if (pValue.Y < m_timestep) pValue.Y = m_timestep;
+ if (pValue.Z < m_timestep) pValue.Z = m_timestep;
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
@@ -367,9 +360,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
- if (pValue.X < timestep) pValue.X = timestep;
- if (pValue.Y < timestep) pValue.Y = timestep;
- if (pValue.Z < timestep) pValue.Z = timestep;
+ if (pValue.X < m_timestep) pValue.X = m_timestep;
+ if (pValue.Y < m_timestep) pValue.Y = m_timestep;
+ if (pValue.Z < m_timestep) pValue.Z = m_timestep;
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
@@ -422,7 +415,6 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessTypeChange(Vehicle pType)
{
- float invtimestep = _pParentScene.ODE_STEPSIZE;
m_lmEfect = 0;
m_amEfect = 0;
m_ffactor = 1f;
@@ -444,9 +436,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120 * invtimestep;
+ m_linearMotorDecayTimescale = 120 * m_invtimestep;
m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 1000 * invtimestep;
+ m_angularMotorDecayTimescale = 1000 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 1000;
@@ -468,9 +460,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120 * invtimestep;
+ m_linearMotorDecayTimescale = 120 * m_invtimestep;
m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 120 * invtimestep;
+ m_angularMotorDecayTimescale = 120 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 10;
@@ -491,9 +483,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1;
- m_linearMotorDecayTimescale = 60 * invtimestep;
+ m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 1;
- m_angularMotorDecayTimescale = 0.8f * invtimestep;
+ m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000;
@@ -515,9 +507,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60 * invtimestep;
+ m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4 * invtimestep;
+ m_angularMotorDecayTimescale = 4 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2;
@@ -543,9 +535,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorTimescale = 2;
- m_linearMotorDecayTimescale = 60 * invtimestep;
+ m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 8 * invtimestep;
+ m_angularMotorDecayTimescale = 8 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000;
@@ -571,15 +563,15 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60 * invtimestep;
+ m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 6;
- m_angularMotorDecayTimescale = 10 * invtimestep;
+ m_angularMotorDecayTimescale = 10 * m_invtimestep;
m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0;
- m_linearDeflectionTimescale = 5 * invtimestep;
+ m_linearDeflectionTimescale = 5 * m_invtimestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0f;
@@ -701,7 +693,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return ;
}
- internal void Step()//float pTimestep)
+ internal void Step()
{
IntPtr Body = rootPrim.Body;
@@ -780,38 +772,44 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.Vector3 pos = d.BodyGetPosition(Body);
- // default to global
- float perr = m_VhoverHeight - pos.Z;;
-
- if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
- {
- perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
- }
- else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
- {
- perr += _pParentScene.GetWaterLevel();
- }
- else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
- {
- float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
- float w = _pParentScene.GetWaterLevel();
- if (t > w)
- perr += t;
- else
- perr += w;
- }
+ float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
- if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
+ if (t < m_VhoverHeight) // don't go underground
{
- force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
- force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
+ // default to global
+ float perr = m_VhoverHeight - pos.Z; ;
+
+ if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
+ {
+ if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
+ {
+ perr += _pParentScene.GetWaterLevel();
+ }
+ else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
+ {
+ perr += t;
+ }
+ else
+ {
+ float w = _pParentScene.GetWaterLevel();
+ if (t > w)
+ perr += t;
+ else
+ perr += w;
+ }
+ }
+ if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
+ {
+ force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
+ force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
+ }
+ else // no buoyancy
+ force.Z += _pParentScene.gravityz;
}
- else // no buoyancy
- force.Z += _pParentScene.gravityz;
}
else
{
- // default gravity and buoancy
+ // default gravity and Buoyancy
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
}
@@ -819,24 +817,31 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_linearDeflectionEfficiency > 0)
{
float len = curVel.Length();
- Vector3 atAxis;
- atAxis = Xrot(rotq); // where are we pointing to
- atAxis *= len; // make it same size as world velocity vector
- tmpV = -atAxis; // oposite direction
- atAxis -= curVel; // error to one direction
- len = atAxis.LengthSquared();
- tmpV -= curVel; // error to oposite
- float lens = tmpV.LengthSquared();
- if (len > 0.01 || lens > 0.01) // do nothing if close enougth
+ if (len > 0.01) // if moving
{
- if (len < lens)
- tmpV = atAxis;
- tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
- force.X += tmpV.X;
- force.Y += tmpV.Y;
- if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
- force.Z += tmpV.Z;
+ Vector3 atAxis;
+ atAxis = Xrot(rotq); // where are we pointing to
+ atAxis *= len; // make it same size as world velocity vector
+
+ tmpV = -atAxis; // oposite direction
+ atAxis -= curVel; // error to one direction
+ len = atAxis.LengthSquared();
+
+ tmpV -= curVel; // error to oposite
+ float lens = tmpV.LengthSquared();
+
+ if (len > 0.01 || lens > 0.01) // do nothing if close enougth
+ {
+ if (len < lens)
+ tmpV = atAxis;
+
+ tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
+ force.X += tmpV.X;
+ force.Y += tmpV.Y;
+ if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
+ force.Z += tmpV.Z;
+ }
}
}
@@ -900,10 +905,10 @@ namespace OpenSim.Region.Physics.OdePlugin
GetRollPitch(irotq, out roll, out pitch);
- float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
+ float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale * m_invtimestep;
float ftmp2;
if (m_bankingEfficiency == 0)
- ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
+ ftmp2 = m_verticalAttractionEfficiency * m_invtimestep;
else
ftmp2 = 0;
@@ -985,7 +990,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
{
torque *= m_referenceFrame; // to object frame
- dtorque.X = torque.X;
+ dtorque.X = torque.X ;
dtorque.Y = torque.Y;
dtorque.Z = torque.Z;
--
cgit v1.1
From e48fa38ff581bd1125b9582ed3efc875f723ae86 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 27 Apr 2012 23:18:54 +0100
Subject: Oooops don't hover underground but do hover
---
.../Region/Physics/UbitOdePlugin/ODEDynamics.cs | 53 +++++++++++-----------
1 file changed, 27 insertions(+), 26 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index 53a576e..d106677 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -773,39 +773,40 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 pos = d.BodyGetPosition(Body);
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
+ float perr;
- if (t < m_VhoverHeight) // don't go underground
- {
- // default to global
- float perr = m_VhoverHeight - pos.Z; ;
+ // default to global but don't go underground
+ if (t < m_VhoverHeight)
+ perr = m_VhoverHeight - pos.Z;
+ else
+ perr = t - pos.Z; ;
- if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
+ if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
+ {
+ if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
- if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
- {
- perr += _pParentScene.GetWaterLevel();
- }
- else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
- {
- perr += t;
- }
- else
- {
- float w = _pParentScene.GetWaterLevel();
- if (t > w)
- perr += t;
- else
- perr += w;
- }
+ perr += _pParentScene.GetWaterLevel();
}
- if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
+ else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
- force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
- force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
+ perr += t;
}
- else // no buoyancy
- force.Z += _pParentScene.gravityz;
+ else
+ {
+ float w = _pParentScene.GetWaterLevel();
+ if (t > w)
+ perr += t;
+ else
+ perr += w;
+ }
+ }
+ if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
+ {
+ force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
+ force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
}
+ else // no buoyancy
+ force.Z += _pParentScene.gravityz;
}
else
{
--
cgit v1.1
From dd745f60c201aee7ff48ba81d567e7b38a8f186c Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Sat, 28 Apr 2012 21:36:38 +0100
Subject: fix llGetCenterOfMass ( checked with ubitODE only)
---
.../Region/Framework/Scenes/SceneObjectGroup.cs | 33 ++++++++++++++++++
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 40 ++++++++++++++++++++--
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 35 ++++++++++++++++---
.../Shared/Api/Implementation/LSL_Api.cs | 2 +-
4 files changed, 101 insertions(+), 9 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index ba353c4..b0f2015 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -4041,6 +4041,39 @@ namespace OpenSim.Region.Framework.Scenes
return retmass;
}
+ // center of mass of full object
+ public Vector3 GetCenterOfMass()
+ {
+ PhysicsActor pa = RootPart.PhysActor;
+
+ if(((RootPart.Flags & PrimFlags.Physics) !=0) && pa !=null)
+ {
+ // physics knows better about center of mass of physical prims
+ Vector3 tmp = pa.CenterOfMass;
+ return tmp;
+ }
+
+ Vector3 Ptot = Vector3.Zero;
+ float totmass = 0f;
+ float m;
+
+ SceneObjectPart[] parts = m_parts.GetArray();
+ for (int i = 0; i < parts.Length; i++)
+ {
+ m = parts[i].GetMass();
+ Ptot += parts[i].GetPartCenterOfMass() * m;
+ totmass += m;
+ }
+
+ if (totmass == 0)
+ totmass = 0;
+ else
+ totmass = 1 / totmass;
+ Ptot *= totmass;
+
+ return Ptot;
+ }
+
/// <summary>
/// If the object is a sculpt/mesh, retrieve the mesh data for each part and reinsert it into each shape so that
/// the physics engine can use it.
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index c9659cb..b198ca7 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -1865,7 +1865,7 @@ namespace OpenSim.Region.Framework.Scenes
{
if ((!isPhantom || isPhysical || _VolumeDetectActive) && !ParentGroup.IsAttachment
&& !(Shape.PathCurve == (byte)Extrusion.Flexible))
- AddToPhysics(isPhysical, isPhantom, building, true);
+ AddToPhysics(isPhysical, isPhantom, building, isPhysical);
else
PhysActor = null; // just to be sure
}
@@ -2308,7 +2308,7 @@ namespace OpenSim.Region.Framework.Scenes
*/
}
- public float GetMass()
+ public float GetMass()
{
PhysicsActor pa = PhysActor;
@@ -2318,6 +2318,40 @@ namespace OpenSim.Region.Framework.Scenes
return 0;
}
+ public Vector3 GetCenterOfMass()
+ {
+ if (ParentGroup.RootPart == this)
+ {
+ if (ParentGroup.IsDeleted)
+ return AbsolutePosition;
+ return ParentGroup.GetCenterOfMass();
+ }
+
+ PhysicsActor pa = PhysActor;
+
+ if (pa != null)
+ {
+ Vector3 tmp = pa.CenterOfMass;
+ return tmp;
+ }
+ else
+ return AbsolutePosition;
+ }
+
+ public Vector3 GetPartCenterOfMass()
+ {
+ PhysicsActor pa = PhysActor;
+
+ if (pa != null)
+ {
+ Vector3 tmp = pa.CenterOfMass;
+ return tmp;
+ }
+ else
+ return AbsolutePosition;
+ }
+
+
public Vector3 GetForce()
{
return Force;
@@ -4802,7 +4836,7 @@ namespace OpenSim.Region.Framework.Scenes
{
Velocity = velocity;
AngularVelocity = rotationalVelocity;
- pa.Velocity = velocity;
+// pa.Velocity = velocity;
pa.RotationalVelocity = rotationalVelocity;
// if not vehicle and root part apply force and torque
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 2d587ab..c9a453d 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -450,7 +450,7 @@ namespace OpenSim.Region.Physics.OdePlugin
get
{
d.Vector3 dtmp;
- if (IsPhysical && !childPrim && Body != IntPtr.Zero)
+ if (!childPrim && Body != IntPtr.Zero)
{
dtmp = d.BodyGetPosition(Body);
return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
@@ -465,12 +465,38 @@ namespace OpenSim.Region.Physics.OdePlugin
q.Z = dq.Z;
q.W = dq.W;
- Vector3 vtmp = primOOBoffset * q;
+ Vector3 Ptot = primOOBoffset * q;
dtmp = d.GeomGetPosition(prim_geom);
- return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
+ Ptot.X += dtmp.X;
+ Ptot.Y += dtmp.Y;
+ Ptot.Z += dtmp.Z;
+
+// if(childPrim) we only know about physical linksets
+ return Ptot;
+/*
+ float tmass = _mass;
+ Ptot *= tmass;
+
+ float m;
+
+ foreach (OdePrim prm in childrenPrim)
+ {
+ m = prm._mass;
+ Ptot += prm.CenterOfMass * m;
+ tmass += m;
+ }
+
+ if (tmass == 0)
+ tmass = 0;
+ else
+ tmass = 1.0f / tmass;
+
+ Ptot *= tmass;
+ return Ptot;
+ */
}
else
- return Vector3.Zero;
+ return _position;
}
}
/*
@@ -3490,7 +3516,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
- return;
}
else
{
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 8e73eb1..6ee1a5d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -5370,7 +5370,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
public LSL_Vector llGetCenterOfMass()
{
m_host.AddScriptLPS(1);
- Vector3 center = m_host.GetGeometricCenter();
+ Vector3 center = m_host.GetCenterOfMass();
return new LSL_Vector(center.X,center.Y,center.Z);
}
--
cgit v1.1
From df9935273f59371061bda7e61dbdd38594e5c85a Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Sun, 29 Apr 2012 00:41:51 +0100
Subject: SOG bug fix in group rotations updates
---
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index b0f2015..f870b58 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -2667,11 +2667,11 @@ namespace OpenSim.Region.Framework.Scenes
Vector3 axPos = linkPart.OffsetPosition;
Quaternion parentRot = m_rootPart.RotationOffset;
- axPos *= Quaternion.Inverse(parentRot);
+ axPos *= Quaternion.Conjugate(parentRot);
linkPart.OffsetPosition = axPos;
Quaternion oldRot = linkPart.RotationOffset;
- Quaternion newRot = Quaternion.Inverse(parentRot) * oldRot;
+ Quaternion newRot = Quaternion.Conjugate(parentRot) * oldRot;
linkPart.RotationOffset = newRot;
// linkPart.ParentID = m_rootPart.LocalId; done above
@@ -2923,12 +2923,12 @@ namespace OpenSim.Region.Framework.Scenes
Quaternion rootRotation = m_rootPart.RotationOffset;
Vector3 pos = part.OffsetPosition;
- pos *= Quaternion.Inverse(rootRotation);
+ pos *= Quaternion.Conjugate(rootRotation);
part.OffsetPosition = pos;
parentRot = m_rootPart.RotationOffset;
oldRot = part.RotationOffset;
- Quaternion newRot = Quaternion.Inverse(parentRot) * worldRot;
+ Quaternion newRot = Quaternion.Conjugate(parentRot) * worldRot;
part.RotationOffset = newRot;
}
@@ -3526,6 +3526,8 @@ namespace OpenSim.Region.Framework.Scenes
/// <param name="rot"></param>
public void UpdateGroupRotationR(Quaternion rot)
{
+ m_rootPart.UpdateRotation(rot);
+
PhysicsActor actor = m_rootPart.PhysActor;
if (actor != null)
{
--
cgit v1.1
From c7c0d5558bc7f51f2da19782cf83362f766d831a Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Sun, 29 Apr 2012 01:00:46 +0100
Subject: remove repeated set of group rotation to physics
---
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index f870b58..bc2ca4c 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -3527,14 +3527,15 @@ namespace OpenSim.Region.Framework.Scenes
public void UpdateGroupRotationR(Quaternion rot)
{
m_rootPart.UpdateRotation(rot);
-
+
+/* this is done by rootpart RotationOffset set called by UpdateRotation
PhysicsActor actor = m_rootPart.PhysActor;
if (actor != null)
{
actor.Orientation = m_rootPart.RotationOffset;
m_scene.PhysicsScene.AddPhysicsActorTaint(actor);
}
-
+*/
HasGroupChanged = true;
ScheduleGroupForTerseUpdate();
}
--
cgit v1.1