From c961cfe19e6dfaf26a0117748edbd66fc2d92823 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Thu, 3 Jan 2013 21:53:21 +0000
Subject: bug fix, cleanup...
---
.../UbitOdePlugin/ODERayCastRequestManager.cs | 6 +--
.../Region/Physics/UbitOdePlugin/ODESitAvatar.cs | 51 ++++++++--------------
OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | 15 ++++++-
3 files changed, 34 insertions(+), 38 deletions(-)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
index 31757a9..6e9281b 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.OdePlugin
qtmp.Y = req.orientation.Y;
qtmp.Z = req.orientation.Z;
qtmp.W = req.orientation.W;
- d.GeomSetOffsetWorldQuaternion(Box, ref qtmp);
+ d.GeomSetQuaternion(Box, ref qtmp);
}
else if (req.callbackMethod is ProbeSphereCallback)
{
@@ -480,12 +480,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (count == 0)
return;
-
+/*
uint cat1 = d.GeomGetCategoryBits(g1);
uint cat2 = d.GeomGetCategoryBits(g2);
uint col1 = d.GeomGetCollideBits(g1);
uint col2 = d.GeomGetCollideBits(g2);
-
+*/
uint ID = 0;
PhysicsActor p2 = null;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs
index d6f6681..ecc732a 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs
@@ -78,36 +78,20 @@ namespace OpenSim.Region.Physics.OdePlugin
IntPtr geom = ((OdePrim)actor).prim_geom;
- d.Vector3 dtmp = d.GeomGetPosition(geom);
- Vector3 geopos;
- geopos.X = dtmp.X;
- geopos.Y = dtmp.Y;
- geopos.Z = dtmp.Z;
+ Vector3 geopos = d.GeomGetPositionOMV(geom);
+ Quaternion geomOri = d.GeomGetQuaternionOMV(geom);
+ Quaternion geomInvOri = Quaternion.Conjugate(geomOri);
-
- d.AABB aabb;
Quaternion ori = Quaternion.Identity;
- d.Quaternion qtmp;
- d.GeomCopyQuaternion(geom, out qtmp);
- Quaternion geomOri;
- geomOri.X = qtmp.X;
- geomOri.Y = qtmp.Y;
- geomOri.Z = qtmp.Z;
- geomOri.W = qtmp.W;
- Quaternion geomInvOri;
- geomInvOri.X = -qtmp.X;
- geomInvOri.Y = -qtmp.Y;
- geomInvOri.Z = -qtmp.Z;
- geomInvOri.W = qtmp.W;
Vector3 rayDir = geopos + offset - avCameraPosition;
+
float raylen = rayDir.Length();
if (raylen < 0.001f)
{
PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
return;
}
-
float t = 1 / raylen;
rayDir.X *= t;
rayDir.Y *= t;
@@ -119,22 +103,25 @@ namespace OpenSim.Region.Physics.OdePlugin
rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags);
if (rayResults.Count == 0)
{
+/* if this fundamental ray failed, then just fail so user can try another spot and not be sitted far on a big prim
+ d.AABB aabb;
d.GeomGetAABB(geom, out aabb);
offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z);
ori = geomInvOri;
offset *= geomInvOri;
-
PhysicsSitResponse(1, actor.LocalID, offset, ori);
+*/
+ PhysicsSitResponse(0, actor.LocalID, offset, ori);
return;
}
+ int status = 1;
offset = rayResults[0].Pos - geopos;
d.GeomClassID geoclass = d.GeomGetClass(geom);
if (geoclass == d.GeomClassID.SphereClass)
{
- int status = 1;
float r = d.GeomSphereGetRadius(geom);
offset.Normalize();
@@ -165,7 +152,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
status = 3;
avOffset.X = -avOffset.X;
- avOffset.Z += 0.4f;
+ avOffset.Z *= 1.6f;
}
}
@@ -186,6 +173,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
}
+
float SitNormX = -rayDir.X;
float SitNormY = -rayDir.Y;
@@ -204,7 +192,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
float rayDist = 4.0f;
float curEdgeDist = 0.0f;
- pivot = geopos + offset;
for (int i = 0; i < 6; i++)
{
@@ -239,11 +226,8 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
foundEdge = true;
- if (curEdgeDist < edgeDist)
- {
- edgeDist = curEdgeDist;
- edgePos = rayResults[0].Pos;
- }
+ edgeDist = curEdgeDist;
+ edgePos = rayResults[0].Pos;
break;
}
}
@@ -267,7 +251,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
float rayDist = 1.0f;
float curEdgeDist = 0.0f;
- pivot = geopos + offset;
for (int i = 0; i < 3; i++)
{
@@ -310,6 +293,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (foundEdge && edgeDist < 0.2f)
break;
+ pivot = geopos + offset;
+
switch (j)
{
case 0:
@@ -332,7 +317,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!foundEdge)
{
avOffset.X = -avOffset.X;
- avOffset.Z += 0.4f;
+ avOffset.Z *= 1.6f;
RotAroundZ(SitNormX, SitNormY, ref ori);
@@ -349,7 +334,6 @@ namespace OpenSim.Region.Physics.OdePlugin
SitNormX = edgeNormalX;
SitNormY = edgeNormalY;
- offset = edgePos - geopos;
if (edgeDirX * SitNormX + edgeDirY * SitNormY < 0)
{
SitNormX = -SitNormX;
@@ -358,7 +342,8 @@ namespace OpenSim.Region.Physics.OdePlugin
RotAroundZ(SitNormX, SitNormY, ref ori);
- offset += avOffset * ori;
+ offset = edgePos + avOffset * ori;
+ offset -= geopos;
ori = geomInvOri * ori;
offset *= geomInvOri;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
index 403a4ce..10d7d50 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -44,7 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
using System;
using System.Runtime.InteropServices;
using System.Security;
-
+using OMV = OpenMetaverse;
namespace OdeAPI
{
//#if dDOUBLE
@@ -925,9 +925,20 @@ namespace OdeAPI
{
unsafe { return *(GeomGetPositionUnsafe(geom)); }
}
+ public static OMV.Vector3 GeomGetPositionOMV(IntPtr geom)
+ {
+ Vector3 vtmp = GeomGetPosition(geom);
+ return new OMV.Vector3(vtmp.X, vtmp.Y, vtmp.Z);
+ }
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
- public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
+ public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);
+ public static OMV.Quaternion GeomGetQuaternionOMV(IntPtr geom)
+ {
+ Quaternion qtmp;
+ GeomCopyQuaternion(geom, out qtmp);
+ return new OMV.Quaternion(qtmp.X, qtmp.Y, qtmp.Z, qtmp.W);
+ }
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]
public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);
--
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