From 827b0fb1993c6f9b1289931a1ac38ff2b810952c Mon Sep 17 00:00:00 2001
From: opensim
Date: Wed, 30 Sep 2009 18:51:02 +0200
Subject: Commit initial version of KittoFlora's vehicle changes
---
.../Region/Examples/SimpleModule/ComplexObject.cs | 6 +-
OpenSim/Region/Framework/Scenes/Scene.Inventory.cs | 2 +-
OpenSim/Region/Framework/Scenes/Scene.cs | 4 +-
OpenSim/Region/Framework/Scenes/SceneGraph.cs | 6 +-
.../Region/Framework/Scenes/SceneObjectGroup.cs | 42 +-
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 267 ++++-----
.../Scenes/Tests/SceneObjectLinkingTests.cs | 6 +-
.../Physics/OdePlugin/ODEDynamics.c_comments | 630 ++++++++++++++++++++
OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs | 658 +++++++++++++++++++++
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 594 ++++++++++---------
.../Region/Physics/OdePlugin/ODEVehicleSettings.cs | 626 --------------------
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 54 +-
.../Shared/Api/Implementation/LSL_Api.cs | 31 +-
13 files changed, 1820 insertions(+), 1106 deletions(-)
create mode 100644 OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
create mode 100644 OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
delete mode 100644 OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
index 3809749..e951bef 100644
--- a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
+++ b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
@@ -68,11 +68,15 @@ namespace OpenSim.Region.Examples.SimpleModule
public override void UpdateMovement()
{
- UpdateGroupRotation(GroupRotation * m_rotationDirection);
+ UpdateGroupRotationR(GroupRotation * m_rotationDirection);
base.UpdateMovement();
}
+ public ComplexObject()
+ {
+ }
+
public ComplexObject(Scene scene, ulong regionHandle, UUID ownerID, uint localID, Vector3 pos)
: base(ownerID, pos, PrimitiveBaseShape.Default)
{
diff --git a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
index eb397f6..a6e137d 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
@@ -2265,7 +2265,7 @@ namespace OpenSim.Region.Framework.Scenes
group.ClearPartAttachmentData();
}
- group.UpdateGroupRotation(rot);
+ group.UpdateGroupRotationR(rot);
//group.ApplyPhysics(m_physicalPrim);
if (group.RootPart.PhysActor != null && group.RootPart.PhysActor.IsPhysical && vel != Vector3.Zero)
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index d8478a2..db107a9 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -2810,7 +2810,7 @@ namespace OpenSim.Region.Framework.Scenes
// SceneObjectGroup obj = m_sceneGraph.DuplicateObject(localID, pos, target.GetEffectiveObjectFlags(), AgentID, GroupID, worldRot);
m_sceneGraph.DuplicateObject(localID, pos, target.GetEffectiveObjectFlags(), AgentID, GroupID, worldRot);
//obj.Rotation = worldRot;
- //obj.UpdateGroupRotation(worldRot);
+ //obj.UpdateGroupRotationR(worldRot);
}
else
{
@@ -4504,7 +4504,7 @@ namespace OpenSim.Region.Framework.Scenes
Quaternion q = trackedBody.RotationOffset * joint.LocalRotation;
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos); // schedules the entire group for a terse update
- jointProxyObject.ParentGroup.UpdateGroupRotation(q); // schedules the entire group for a terse update
+ jointProxyObject.ParentGroup.UpdateGroupRotationR(q); // schedules the entire group for a terse update
}
break;
}
diff --git a/OpenSim/Region/Framework/Scenes/SceneGraph.cs b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
index 48dea07..09116fa 100644
--- a/OpenSim/Region/Framework/Scenes/SceneGraph.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneGraph.cs
@@ -1236,7 +1236,7 @@ namespace OpenSim.Region.Framework.Scenes
{
if (m_parentScene.Permissions.CanMoveObject(group.UUID, remoteClient.AgentId))
{
- group.UpdateGroupRotation(rot);
+ group.UpdateGroupRotationR(rot);
}
}
}
@@ -1255,7 +1255,7 @@ namespace OpenSim.Region.Framework.Scenes
{
if (m_parentScene.Permissions.CanMoveObject(group.UUID, remoteClient.AgentId))
{
- group.UpdateGroupRotation(pos, rot);
+ group.UpdateGroupRotationPR(pos, rot);
}
}
}
@@ -1811,7 +1811,7 @@ namespace OpenSim.Region.Framework.Scenes
if (rot != Quaternion.Identity)
{
- copy.UpdateGroupRotation(rot);
+ copy.UpdateGroupRotationR(rot);
}
copy.CreateScriptInstances(0, false, m_parentScene.DefaultScriptEngine, 0);
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index 3c17bbe..4bd10bd 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -368,6 +368,13 @@ namespace OpenSim.Region.Framework.Scenes
#region Constructors
///
+ /// Constructor
+ ///
+ public SceneObjectGroup()
+ {
+ }
+
+ ///
/// This constructor creates a SceneObjectGroup using a pre-existing SceneObjectPart.
/// The original SceneObjectPart will be used rather than a copy, preserving
/// its existing localID and UUID.
@@ -2953,8 +2960,9 @@ namespace OpenSim.Region.Framework.Scenes
///
///
///
- public void UpdateGroupRotation(Quaternion rot)
+ public void UpdateGroupRotationR(Quaternion rot)
{
+
m_rootPart.UpdateRotation(rot);
if (m_rootPart.PhysActor != null)
{
@@ -2971,7 +2979,7 @@ namespace OpenSim.Region.Framework.Scenes
///
///
///
- public void UpdateGroupRotation(Vector3 pos, Quaternion rot)
+ public void UpdateGroupRotationPR(Vector3 pos, Quaternion rot)
{
m_rootPart.UpdateRotation(rot);
if (m_rootPart.PhysActor != null)
@@ -3079,22 +3087,26 @@ namespace OpenSim.Region.Framework.Scenes
int yaxis = 4;
int zaxis = 8;
- setX = ((axis & xaxis) != 0) ? true : false;
- setY = ((axis & yaxis) != 0) ? true : false;
- setZ = ((axis & zaxis) != 0) ? true : false;
+ if (m_rootPart != null)
+ {
+ setX = ((axis & xaxis) != 0) ? true : false;
+ setY = ((axis & yaxis) != 0) ? true : false;
+ setZ = ((axis & zaxis) != 0) ? true : false;
- float setval = (rotate10 > 0) ? 1f : 0f;
+ float setval = (rotate10 > 0) ? 1f : 0f;
- if (setX)
- m_rootPart.RotationAxis.X = setval;
- if (setY)
- m_rootPart.RotationAxis.Y = setval;
- if (setZ)
- m_rootPart.RotationAxis.Z = setval;
+ if (setX)
+ m_rootPart.RotationAxis.X = setval;
+ if (setY)
+ m_rootPart.RotationAxis.Y = setval;
+ if (setZ)
+ m_rootPart.RotationAxis.Z = setval;
+
+ if (setX || setY || setZ)
+ {
+ m_rootPart.SetPhysicsAxisRotation();
+ }
- if (setX || setY || setZ)
- {
- m_rootPart.SetPhysicsAxisRotation();
}
}
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 51bb114..40e7471 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -415,10 +415,9 @@ namespace OpenSim.Region.Framework.Scenes
set
{
m_name = value;
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.SOPName = value;
+ PhysActor.SOPName = value;
}
}
}
@@ -428,11 +427,10 @@ namespace OpenSim.Region.Framework.Scenes
get { return (byte) m_material; }
set
{
- PhysicsActor pa = PhysActor;
m_material = (Material)value;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.SetMaterial((int)value);
+ PhysActor.SetMaterial((int)value);
}
}
}
@@ -503,12 +501,11 @@ namespace OpenSim.Region.Framework.Scenes
get
{
// If this is a linkset, we don't want the physics engine mucking up our group position here.
- PhysicsActor pa = PhysActor;
- if (pa != null && _parentID == 0)
+ if (PhysActor != null && _parentID == 0)
{
- m_groupPosition.X = pa.Position.X;
- m_groupPosition.Y = pa.Position.Y;
- m_groupPosition.Z = pa.Position.Z;
+ m_groupPosition.X = PhysActor.Position.X;
+ m_groupPosition.Y = PhysActor.Position.Y;
+ m_groupPosition.Z = PhysActor.Position.Z;
}
if (IsAttachment)
@@ -528,27 +525,26 @@ namespace OpenSim.Region.Framework.Scenes
m_groupPosition = value;
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
try
{
// Root prim actually goes at Position
if (_parentID == 0)
{
- pa.Position = new PhysicsVector(value.X, value.Y, value.Z);
+ PhysActor.Position = new PhysicsVector(value.X, value.Y, value.Z);
}
else
{
// To move the child prim in respect to the group position and rotation we have to calculate
Vector3 resultingposition = GetWorldPosition();
- pa.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+ PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
Quaternion resultingrot = GetWorldRotation();
- pa.Orientation = resultingrot;
+ PhysActor.Orientation = resultingrot;
}
// Tell the physics engines that this prim changed.
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
catch (Exception e)
{
@@ -581,16 +577,15 @@ namespace OpenSim.Region.Framework.Scenes
if (ParentGroup != null && !ParentGroup.IsDeleted)
{
- PhysicsActor pa = PhysActor;
- if (_parentID != 0 && pa != null)
+ if (_parentID != 0 && PhysActor != null)
{
Vector3 resultingposition = GetWorldPosition();
- pa.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
+ PhysActor.Position = new PhysicsVector(resultingposition.X, resultingposition.Y, resultingposition.Z);
Quaternion resultingrot = GetWorldRotation();
- pa.Orientation = resultingrot;
+ PhysActor.Orientation = resultingrot;
// Tell the physics engines that this prim changed.
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
}
@@ -600,14 +595,13 @@ namespace OpenSim.Region.Framework.Scenes
{
get
{
- PhysicsActor pa = PhysActor;
// We don't want the physics engine mucking up the rotations in a linkset
- if ((_parentID == 0) && (Shape.PCode != 9 || Shape.State == 0) && (pa != null))
+ if ((_parentID == 0) && (Shape.PCode != 9 || Shape.State == 0) && (PhysActor != null))
{
- if (pa.Orientation.X != 0 || pa.Orientation.Y != 0
- || pa.Orientation.Z != 0 || pa.Orientation.W != 0)
+ if (PhysActor.Orientation.X != 0 || PhysActor.Orientation.Y != 0
+ || PhysActor.Orientation.Z != 0 || PhysActor.Orientation.W != 0)
{
- m_rotationOffset = pa.Orientation;
+ m_rotationOffset = PhysActor.Orientation;
}
}
@@ -616,28 +610,27 @@ namespace OpenSim.Region.Framework.Scenes
set
{
- PhysicsActor pa = PhysActor;
StoreUndoState();
m_rotationOffset = value;
- if (pa != null)
+ if (PhysActor != null)
{
try
{
// Root prim gets value directly
if (_parentID == 0)
{
- pa.Orientation = value;
+ PhysActor.Orientation = value;
//m_log.Info("[PART]: RO1:" + PhysActor.Orientation.ToString());
}
else
{
// Child prim we have to calculate it's world rotationwel
Quaternion resultingrotation = GetWorldRotation();
- pa.Orientation = resultingrotation;
+ PhysActor.Orientation = resultingrotation;
//m_log.Info("[PART]: RO2:" + PhysActor.Orientation.ToString());
}
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
//}
}
catch (Exception ex)
@@ -657,14 +650,13 @@ namespace OpenSim.Region.Framework.Scenes
//if (PhysActor.Velocity.X != 0 || PhysActor.Velocity.Y != 0
//|| PhysActor.Velocity.Z != 0)
//{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- if (pa.IsPhysical)
+ if (PhysActor.IsPhysical)
{
- m_velocity.X = pa.Velocity.X;
- m_velocity.Y = pa.Velocity.Y;
- m_velocity.Z = pa.Velocity.Z;
+ m_velocity.X = PhysActor.Velocity.X;
+ m_velocity.Y = PhysActor.Velocity.Y;
+ m_velocity.Z = PhysActor.Velocity.Z;
}
}
@@ -674,13 +666,12 @@ namespace OpenSim.Region.Framework.Scenes
set
{
m_velocity = value;
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- if (pa.IsPhysical)
+ if (PhysActor.IsPhysical)
{
- pa.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ PhysActor.Velocity = new PhysicsVector(value.X, value.Y, value.Z);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
}
@@ -697,10 +688,9 @@ namespace OpenSim.Region.Framework.Scenes
{
get
{
- PhysicsActor pa = PhysActor;
- if ((pa != null) && pa.IsPhysical)
+ if ((PhysActor != null) && PhysActor.IsPhysical)
{
- m_angularVelocity.FromBytes(pa.RotationalVelocity.GetBytes(), 0);
+ m_angularVelocity.FromBytes(PhysActor.RotationalVelocity.GetBytes(), 0);
}
return m_angularVelocity;
}
@@ -719,11 +709,10 @@ namespace OpenSim.Region.Framework.Scenes
get { return m_description; }
set
{
- PhysicsActor pa = PhysActor;
m_description = value;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.SOPDescription = value;
+ PhysActor.SOPDescription = value;
}
}
}
@@ -817,15 +806,14 @@ namespace OpenSim.Region.Framework.Scenes
if (m_shape != null) {
m_shape.Scale = value;
- PhysicsActor pa = PhysActor;
- if (pa != null && m_parentGroup != null)
+ if (PhysActor != null && m_parentGroup != null)
{
if (m_parentGroup.Scene != null)
{
if (m_parentGroup.Scene.PhysicsScene != null)
{
- pa.Size = new PhysicsVector(m_shape.Scale.X, m_shape.Scale.Y, m_shape.Scale.Z);
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ PhysActor.Size = new PhysicsVector(m_shape.Scale.X, m_shape.Scale.Y, m_shape.Scale.Z);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
}
@@ -1355,14 +1343,13 @@ if (m_shape != null) {
RigidBody);
// Basic Physics returns null.. joy joy joy.
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.SOPName = this.Name; // save object name and desc into the PhysActor so ODE internals know the joint/body info
- pa.SOPDescription = this.Description;
- pa.LocalID = LocalId;
+ PhysActor.SOPName = this.Name; // save object name and desc into the PhysActor so ODE internals know the joint/body info
+ PhysActor.SOPDescription = this.Description;
+ PhysActor.LocalID = LocalId;
DoPhysicsPropertyUpdate(RigidBody, true);
- pa.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
+ PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
}
}
}
@@ -1576,24 +1563,23 @@ if (m_shape != null) {
}
else
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- if (UsePhysics != pa.IsPhysical || isNew)
+ if (UsePhysics != PhysActor.IsPhysical || isNew)
{
- if (pa.IsPhysical) // implies UsePhysics==false for this block
+ if (PhysActor.IsPhysical) // implies UsePhysics==false for this block
{
if (!isNew)
ParentGroup.Scene.RemovePhysicalPrim(1);
- pa.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
- pa.OnOutOfBounds -= PhysicsOutOfBounds;
- pa.delink();
+ PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
+ PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
+ PhysActor.delink();
if (ParentGroup.Scene.PhysicsScene.SupportsNINJAJoints && (!isNew))
{
// destroy all joints connected to this now deactivated body
- m_parentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(pa);
+ m_parentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(PhysActor);
}
// stop client-side interpolation of all joint proxy objects that have just been deleted
@@ -1612,7 +1598,7 @@ if (m_shape != null) {
//RotationalVelocity = new Vector3(0, 0, 0);
}
- pa.IsPhysical = UsePhysics;
+ PhysActor.IsPhysical = UsePhysics;
// If we're not what we're supposed to be in the physics scene, recreate ourselves.
@@ -1626,19 +1612,19 @@ if (m_shape != null) {
{
ParentGroup.Scene.AddPhysicalPrim(1);
- pa.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
- pa.OnOutOfBounds += PhysicsOutOfBounds;
+ PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
+ PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
if (_parentID != 0 && _parentID != LocalId)
{
if (ParentGroup.RootPart.PhysActor != null)
{
- pa.link(ParentGroup.RootPart.PhysActor);
+ PhysActor.link(ParentGroup.RootPart.PhysActor);
}
}
}
}
}
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
}
@@ -1704,10 +1690,9 @@ if (m_shape != null) {
public Vector3 GetGeometricCenter()
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- return new Vector3(pa.CenterOfMass.X, pa.CenterOfMass.Y, pa.CenterOfMass.Z);
+ return new Vector3(PhysActor.CenterOfMass.X, PhysActor.CenterOfMass.Y, PhysActor.CenterOfMass.Z);
}
else
{
@@ -1717,10 +1702,9 @@ if (m_shape != null) {
public float GetMass()
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- return pa.Mass;
+ return PhysActor.Mass;
}
else
{
@@ -1730,9 +1714,8 @@ if (m_shape != null) {
public PhysicsVector GetForce()
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
- return pa.Force;
+ if (PhysActor != null)
+ return PhysActor.Force;
else
return new PhysicsVector();
}
@@ -2111,15 +2094,11 @@ if (m_shape != null) {
public void PhysicsRequestingTerseUpdate()
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- Vector3 newpos = new Vector3(pa.Position.GetBytes(), 0);
+ Vector3 newpos = new Vector3(PhysActor.Position.GetBytes(), 0);
- if (m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.N) |
- m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.S) |
- m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.E) |
- m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.W))
+ if (m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.N) | m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.S) | m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.E) | m_parentGroup.Scene.TestBorderCross(newpos, Cardinals.W))
{
m_parentGroup.AbsolutePosition = newpos;
return;
@@ -2315,15 +2294,14 @@ if (m_shape != null) {
if (texture != null)
m_shape.SculptData = texture.Data;
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
// Tricks physics engine into thinking we've changed the part shape.
PrimitiveBaseShape m_newshape = m_shape.Copy();
- pa.Shape = m_newshape;
+ PhysActor.Shape = m_newshape;
m_shape = m_newshape;
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
}
@@ -2542,10 +2520,9 @@ if (m_shape != null) {
public void SetBuoyancy(float fvalue)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.Buoyancy = fvalue;
+ PhysActor.Buoyancy = fvalue;
}
}
@@ -2561,62 +2538,56 @@ if (m_shape != null) {
public void SetFloatOnWater(int floatYN)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
if (floatYN == 1)
{
- pa.FloatOnWater = true;
+ PhysActor.FloatOnWater = true;
}
else
{
- pa.FloatOnWater = false;
+ PhysActor.FloatOnWater = false;
}
}
}
public void SetForce(PhysicsVector force)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.Force = force;
+ PhysActor.Force = force;
}
}
public void SetVehicleType(int type)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.VehicleType = type;
+ PhysActor.VehicleType = type;
}
}
public void SetVehicleFloatParam(int param, float value)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.VehicleFloatParam(param, value);
+ PhysActor.VehicleFloatParam(param, value);
}
}
public void SetVehicleVectorParam(int param, PhysicsVector value)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.VehicleVectorParam(param, value);
+ PhysActor.VehicleVectorParam(param, value);
}
}
public void SetVehicleRotationParam(int param, Quaternion rotation)
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.VehicleRotationParam(param, rotation);
+ PhysActor.VehicleRotationParam(param, rotation);
}
}
@@ -2644,11 +2615,10 @@ if (m_shape != null) {
public void SetPhysicsAxisRotation()
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.LockAngularMotion(RotationAxis);
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ PhysActor.LockAngularMotion(RotationAxis);
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
@@ -3380,9 +3350,8 @@ if (m_shape != null) {
{
IsVD = false; // Switch it of for the course of this routine
VolumeDetectActive = false; // and also permanently
- PhysicsActor pa = PhysActor;
- if (pa != null)
- pa.SetVolumeDetect(0); // Let physics know about it too
+ if (PhysActor != null)
+ PhysActor.SetVolumeDetect(0); // Let physics know about it too
}
else
{
@@ -3430,21 +3399,18 @@ if (m_shape != null) {
if (IsPhantom || IsAttachment) // note: this may have been changed above in the case of joints
{
AddFlag(PrimFlags.Phantom);
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- m_parentGroup.Scene.PhysicsScene.RemovePrim(pa);
+ m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
/// that's not wholesome. Had to make Scene public
- pa = null;
+ PhysActor = null;
}
}
else // Not phantom
{
RemFlag(PrimFlags.Phantom);
- // This is NOT safe!!
- PhysicsActor pa = PhysActor;
- if (pa == null)
+ if (PhysActor == null)
{
// It's not phantom anymore. So make sure the physics engine get's knowledge of it
PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
@@ -3455,9 +3421,9 @@ if (m_shape != null) {
RotationOffset,
UsePhysics);
- if (pa != null)
+ if (PhysActor != null)
{
- pa.LocalID = LocalId;
+ PhysActor.LocalID = LocalId;
DoPhysicsPropertyUpdate(UsePhysics, true);
if (m_parentGroup != null)
{
@@ -3476,14 +3442,14 @@ if (m_shape != null) {
(CollisionSound != UUID.Zero)
)
{
- pa.OnCollisionUpdate += PhysicsCollision;
- pa.SubscribeEvents(1000);
+ PhysActor.OnCollisionUpdate += PhysicsCollision;
+ PhysActor.SubscribeEvents(1000);
}
}
}
else // it already has a physical representation
{
- pa.IsPhysical = UsePhysics;
+ PhysActor.IsPhysical = UsePhysics;
DoPhysicsPropertyUpdate(UsePhysics, false); // Update physical status. If it's phantom this will remove the prim
if (m_parentGroup != null)
@@ -3506,10 +3472,9 @@ if (m_shape != null) {
// Defensive programming calls for a check here.
// Better would be throwing an exception that could be catched by a unit test as the internal
// logic should make sure, this Physactor is always here.
- PhysicsActor pa = this.PhysActor;
- if (pa != null)
+ if (this.PhysActor != null)
{
- pa.SetVolumeDetect(1);
+ PhysActor.SetVolumeDetect(1);
AddFlag(PrimFlags.Phantom); // We set this flag also if VD is active
this.VolumeDetectActive = true;
}
@@ -3517,11 +3482,10 @@ if (m_shape != null) {
}
else
{ // Remove VolumeDetect in any case. Note, it's safe to call SetVolumeDetect as often as you like
- // (mumbles, well, at least if you have infinte CPU powers :-) )
- PhysicsActor pa = this.PhysActor;
- if (pa != null)
+ // (mumbles, well, at least if you have infinte CPU powers :-))
+ if (this.PhysActor != null)
{
- pa.SetVolumeDetect(0);
+ PhysActor.SetVolumeDetect(0);
}
this.VolumeDetectActive = false;
}
@@ -3579,11 +3543,10 @@ if (m_shape != null) {
m_shape.PathTaperY = shapeBlock.PathTaperY;
m_shape.PathTwist = shapeBlock.PathTwist;
m_shape.PathTwistBegin = shapeBlock.PathTwistBegin;
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.Shape = m_shape;
- m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(pa);
+ PhysActor.Shape = m_shape;
+ m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
// This is what makes vehicle trailers work
@@ -3684,21 +3647,19 @@ if (m_shape != null) {
)
{
// subscribe to physics updates.
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.OnCollisionUpdate += PhysicsCollision;
- pa.SubscribeEvents(1000);
+ PhysActor.OnCollisionUpdate += PhysicsCollision;
+ PhysActor.SubscribeEvents(1000);
}
}
else
{
- PhysicsActor pa = PhysActor;
- if (pa != null)
+ if (PhysActor != null)
{
- pa.UnSubscribeEvents();
- pa.OnCollisionUpdate -= PhysicsCollision;
+ PhysActor.UnSubscribeEvents();
+ PhysActor.OnCollisionUpdate -= PhysicsCollision;
}
}
@@ -3801,8 +3762,6 @@ if (m_shape != null) {
lPos = AbsolutePosition;
}
- // Causes this thread to dig into the Client Thread Data.
- // Remember your locking here!
remoteClient.SendPrimTerseUpdate(m_regionHandle,
(ushort)(m_parentGroup.GetTimeDilation() *
(float)ushort.MaxValue), LocalId, lPos,
diff --git a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
index bf13607..e74b18e 100644
--- a/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
+++ b/OpenSim/Region/Framework/Scenes/Tests/SceneObjectLinkingTests.cs
@@ -70,7 +70,7 @@ namespace OpenSim.Region.Framework.Scenes.Tests
grp1.Rotation = (Quaternion.CreateFromEulers(90 * Utils.DEG_TO_RAD, 0, 0));
// <180,0,0>
- grp2.UpdateGroupRotation(Quaternion.CreateFromEulers(180 * Utils.DEG_TO_RAD, 0, 0));
+ grp2.UpdateGroupRotationR(Quaternion.CreateFromEulers(180 * Utils.DEG_TO_RAD, 0, 0));
// Required for linking
grp1.RootPart.UpdateFlag = 0;
@@ -154,13 +154,13 @@ namespace OpenSim.Region.Framework.Scenes.Tests
grp1.Rotation = (Quaternion.CreateFromEulers(90 * Utils.DEG_TO_RAD, 0, 0));
// <180,0,0>
- grp2.UpdateGroupRotation(Quaternion.CreateFromEulers(180 * Utils.DEG_TO_RAD, 0, 0));
+ grp2.UpdateGroupRotationR(Quaternion.CreateFromEulers(180 * Utils.DEG_TO_RAD, 0, 0));
// <270,0,0>
grp3.Rotation = (Quaternion.CreateFromEulers(270 * Utils.DEG_TO_RAD, 0, 0));
// <0,90,0>
- grp4.UpdateGroupRotation(Quaternion.CreateFromEulers(0, 90 * Utils.DEG_TO_RAD, 0));
+ grp4.UpdateGroupRotationR(Quaternion.CreateFromEulers(0, 90 * Utils.DEG_TO_RAD, 0));
// Required for linking
grp1.RootPart.UpdateFlag = 0;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
new file mode 100644
index 0000000..1060aa6
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.c_comments
@@ -0,0 +1,630 @@
+/*
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ *
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the OpenSimulator Project nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+ public class ODEDynamics
+ {
+ public Vehicle Type
+ {
+ get { return m_type; }
+ }
+
+ public IntPtr Body
+ {
+ get { return m_body; }
+ }
+
+ private int frcount = 0; // Used to limit dynamics debug output to
+ // every 100th frame
+
+ // private OdeScene m_parentScene = null;
+ private IntPtr m_body = IntPtr.Zero;
+ private IntPtr m_jointGroup = IntPtr.Zero;
+ private IntPtr m_aMotor = IntPtr.Zero;
+
+
+ // Vehicle properties
+ private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
+ // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
+ private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
+ // HOVER_TERRAIN_ONLY
+ // HOVER_GLOBAL_HEIGHT
+ // NO_DEFLECTION_UP
+ // HOVER_WATER_ONLY
+ // HOVER_UP_ONLY
+ // LIMIT_MOTOR_UP
+ // LIMIT_ROLL_ONLY
+
+ // Linear properties
+ private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
+ private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
+ private Vector3 m_dir = Vector3.Zero; // velocity applied to body
+ private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+ private float m_linearMotorDecayTimescale = 0;
+ private float m_linearMotorTimescale = 0;
+ private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+ // private bool m_LinearMotorSetLastFrame = false;
+ // private Vector3 m_linearMotorOffset = Vector3.Zero;
+
+ //Angular properties
+ private Vector3 m_angularMotorDirection = Vector3.Zero;
+ private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero;
+ private Vector3 m_angularFrictionTimescale = Vector3.Zero;
+ private float m_angularMotorDecayTimescale = 0;
+ private float m_angularMotorTimescale = 0;
+ private Vector3 m_lastAngularVelocityVector = Vector3.Zero;
+
+ //Deflection properties
+ // private float m_angularDeflectionEfficiency = 0;
+ // private float m_angularDeflectionTimescale = 0;
+ // private float m_linearDeflectionEfficiency = 0;
+ // private float m_linearDeflectionTimescale = 0;
+
+ //Banking properties
+ // private float m_bankingEfficiency = 0;
+ // private float m_bankingMix = 0;
+ // private float m_bankingTimescale = 0;
+
+ //Hover and Buoyancy properties
+ private float m_VhoverHeight = 0f;
+ private float m_VhoverEfficiency = 0f;
+ private float m_VhoverTimescale = 0f;
+ private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
+ private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+ // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+ // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+ // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+
+ //Attractor properties
+ private float m_verticalAttractionEfficiency = 0;
+ private float m_verticalAttractionTimescale = 0;
+
+
+
+
+
+ internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+ {
+ switch (pParam)
+ {
+ case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_angularDeflectionEfficiency = pValue;
+ break;
+ case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_angularDeflectionTimescale = pValue;
+ break;
+ case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_angularMotorDecayTimescale = pValue;
+ break;
+ case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_angularMotorTimescale = pValue;
+ break;
+ case Vehicle.BANKING_EFFICIENCY:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_bankingEfficiency = pValue;
+ break;
+ case Vehicle.BANKING_MIX:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_bankingMix = pValue;
+ break;
+ case Vehicle.BANKING_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_bankingTimescale = pValue;
+ break;
+ case Vehicle.BUOYANCY:
+ if (pValue < -1f) pValue = -1f;
+ if (pValue > 1f) pValue = 1f;
+ m_VehicleBuoyancy = pValue;
+ break;
+ case Vehicle.HOVER_EFFICIENCY:
+ if (pValue < 0f) pValue = 0f;
+ if (pValue > 1f) pValue = 1f;
+ m_VhoverEfficiency = pValue;
+ break;
+ case Vehicle.HOVER_HEIGHT:
+ m_VhoverHeight = pValue;
+ break;
+ case Vehicle.HOVER_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_VhoverTimescale = pValue;
+ break;
+ case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_linearDeflectionEfficiency = pValue;
+ break;
+ case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_linearDeflectionTimescale = pValue;
+ break;
+ case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_linearMotorDecayTimescale = pValue;
+ break;
+ case Vehicle.LINEAR_MOTOR_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_linearMotorTimescale = pValue;
+ break;
+ case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+ if (pValue < 0.0f) pValue = 0.0f;
+ if (pValue > 1.0f) pValue = 1.0f;
+ m_verticalAttractionEfficiency = pValue;
+ break;
+ case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ 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:
+ m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.ANGULAR_MOTOR_DIRECTION:
+ m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+ m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.LINEAR_FRICTION_TIMESCALE:
+ m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.LINEAR_MOTOR_DIRECTION:
+ m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+ m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.LINEAR_MOTOR_OFFSET:
+ // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+ break;
+
+ }
+
+ }//end ProcessFloatVehicleParam
+
+ internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+ {
+ switch (pParam)
+ {
+ case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+ m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.ANGULAR_MOTOR_DIRECTION:
+ m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.LINEAR_FRICTION_TIMESCALE:
+ m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.LINEAR_MOTOR_DIRECTION:
+ m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.LINEAR_MOTOR_OFFSET:
+ // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ }
+
+ }//end ProcessVectorVehicleParam
+
+ internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+ {
+ switch (pParam)
+ {
+ case Vehicle.REFERENCE_FRAME:
+ // m_referenceFrame = pValue;
+ break;
+ }
+
+ }//end ProcessRotationVehicleParam
+
+ internal void ProcessTypeChange(Vehicle pType)
+ {
+Console.WriteLine("ProcessTypeChange to " + pType);
+
+ // Set Defaults For Type
+ m_type = pType;
+ switch (pType)
+ {
+ case Vehicle.TYPE_SLED:
+ m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+ m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 1000;
+ m_linearMotorDecayTimescale = 120;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 1000;
+ m_angularMotorDecayTimescale = 120;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 1;
+ m_VhoverTimescale = 10;
+ m_VehicleBuoyancy = 0;
+ // m_linearDeflectionEfficiency = 1;
+ // m_linearDeflectionTimescale = 1;
+ // m_angularDeflectionEfficiency = 1;
+ // m_angularDeflectionTimescale = 1000;
+ // m_bankingEfficiency = 0;
+ // m_bankingMix = 1;
+ // m_bankingTimescale = 10;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &=
+ ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+ VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+ m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+ break;
+ case Vehicle.TYPE_CAR:
+ m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+ m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 1;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 1;
+ m_angularMotorDecayTimescale = 0.8f;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 0;
+ m_VhoverTimescale = 1000;
+ m_VehicleBuoyancy = 0;
+ // // m_linearDeflectionEfficiency = 1;
+ // // m_linearDeflectionTimescale = 2;
+ // // m_angularDeflectionEfficiency = 0;
+ // m_angularDeflectionTimescale = 10;
+ m_verticalAttractionEfficiency = 1;
+ m_verticalAttractionTimescale = 10;
+ // m_bankingEfficiency = -0.2f;
+ // m_bankingMix = 1;
+ // m_bankingTimescale = 1;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+ m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+ VehicleFlag.LIMIT_MOTOR_UP);
+ break;
+ case Vehicle.TYPE_BOAT:
+ m_linearFrictionTimescale = new Vector3(10, 3, 2);
+ m_angularFrictionTimescale = new Vector3(10,10,10);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 5;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 4;
+ m_angularMotorDecayTimescale = 4;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 0.5f;
+ m_VhoverTimescale = 2;
+ m_VehicleBuoyancy = 1;
+ // m_linearDeflectionEfficiency = 0.5f;
+ // m_linearDeflectionTimescale = 3;
+ // m_angularDeflectionEfficiency = 0.5f;
+ // m_angularDeflectionTimescale = 5;
+ m_verticalAttractionEfficiency = 0.5f;
+ m_verticalAttractionTimescale = 5;
+ // m_bankingEfficiency = -0.3f;
+ // m_bankingMix = 0.8f;
+ // m_bankingTimescale = 1;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
+ VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+ m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+ VehicleFlag.LIMIT_MOTOR_UP);
+ break;
+ case Vehicle.TYPE_AIRPLANE:
+ m_linearFrictionTimescale = new Vector3(200, 10, 5);
+ m_angularFrictionTimescale = new Vector3(20, 20, 20);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 2;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 4;
+ m_angularMotorDecayTimescale = 4;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 0.5f;
+ m_VhoverTimescale = 1000;
+ m_VehicleBuoyancy = 0;
+ // m_linearDeflectionEfficiency = 0.5f;
+ // m_linearDeflectionTimescale = 3;
+ // m_angularDeflectionEfficiency = 1;
+ // m_angularDeflectionTimescale = 2;
+ m_verticalAttractionEfficiency = 0.9f;
+ m_verticalAttractionTimescale = 2;
+ // m_bankingEfficiency = 1;
+ // m_bankingMix = 0.7f;
+ // m_bankingTimescale = 2;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+ VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+ m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+ break;
+ case Vehicle.TYPE_BALLOON:
+ m_linearFrictionTimescale = new Vector3(5, 5, 5);
+ m_angularFrictionTimescale = new Vector3(10, 10, 10);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 5;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 6;
+ m_angularMotorDecayTimescale = 10;
+ m_VhoverHeight = 5;
+ m_VhoverEfficiency = 0.8f;
+ m_VhoverTimescale = 10;
+ m_VehicleBuoyancy = 1;
+ // m_linearDeflectionEfficiency = 0;
+ // m_linearDeflectionTimescale = 5;
+ // m_angularDeflectionEfficiency = 0;
+ // m_angularDeflectionTimescale = 5;
+ m_verticalAttractionEfficiency = 1;
+ m_verticalAttractionTimescale = 1000;
+ // m_bankingEfficiency = 0;
+ // m_bankingMix = 0.7f;
+ // m_bankingTimescale = 5;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+ VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+ m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+ break;
+
+ }
+ }//end SetDefaultsForType
+
+ internal void Enable(IntPtr pBody, OdeScene pParentScene)
+ {
+//Console.WriteLine("Enable m_type=" + m_type + " m_VehicleBuoyancy=" + m_VehicleBuoyancy);
+ if (m_type == Vehicle.TYPE_NONE)
+ return;
+
+ m_body = pBody;
+ //KF: This used to set up the linear and angular joints
+ }
+
+ internal void Step(float pTimestep, OdeScene pParentScene)
+ {
+ if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
+ return;
+ frcount++; // used to limit debug comment output
+ if (frcount > 100)
+ frcount = 0;
+
+ MoveLinear(pTimestep, pParentScene);
+ MoveAngular(pTimestep);
+ }// end Step
+
+ private void MoveLinear(float pTimestep, OdeScene _pParentScene)
+ {
+ if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
+ {
+ if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
+
+ // add drive to body
+ Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
+ m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
+
+ // This will work temporarily, but we really need to compare speed on an axis
+ // KF: Limit body velocity to applied velocity?
+ if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
+ m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
+ if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
+ m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
+ if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
+ m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
+
+ // decay applied velocity
+ Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
+ //Console.WriteLine("decay: " + decayfraction);
+ m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
+ //Console.WriteLine("actual: " + m_linearMotorDirection);
+ }
+ else
+ { // requested is not significant
+ // if what remains of applied is small, zero it.
+ if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
+ m_lastLinearVelocityVector = Vector3.Zero;
+ }
+
+
+ // convert requested object velocity to world-referenced vector
+ m_dir = m_lastLinearVelocityVector;
+ d.Quaternion rot = d.BodyGetQuaternion(Body);
+ Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
+ m_dir *= rotq; // apply obj rotation to velocity vector
+
+ // add Gravity andBuoyancy
+ // KF: So far I have found no good method to combine a script-requested
+ // .Z velocity and gravity. Therefore only 0g will used script-requested
+ // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
+ Vector3 grav = Vector3.Zero;
+ if(m_VehicleBuoyancy < 1.0f)
+ {
+ // There is some gravity, make a gravity force vector
+ // that is applied after object velocity.
+ d.Mass objMass;
+ d.BodyGetMass(Body, out objMass);
+ // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
+ grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
+ // Preserve the current Z velocity
+ d.Vector3 vel_now = d.BodyGetLinearVel(Body);
+ m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
+ } // else its 1.0, no gravity.
+
+ // Check if hovering
+ if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+ {
+ // We should hover, get the target height
+ d.Vector3 pos = d.BodyGetPosition(Body);
+ if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+ {
+ m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
+ }
+ else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+ {
+ m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+ }
+ else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+ {
+ m_VhoverTargetHeight = m_VhoverHeight;
+ }
+
+ if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+ {
+ // If body is aready heigher, use its height as target height
+ if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+ }
+
+// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
+// m_VhoverTimescale = 0f; // time to acheive height
+// pTimestep is time since last frame,in secs
+ float herr0 = pos.Z - m_VhoverTargetHeight;
+//if(frcount == 0) Console.WriteLine("herr0=" + herr0);
+ // Replace Vertical speed with correction figure if significant
+ if(Math.Abs(herr0) > 0.01f )
+ {
+ d.Mass objMass;
+ d.BodyGetMass(Body, out objMass);
+ m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+ // m_VhoverEfficiency is not yet implemented
+ }
+ else
+ {
+ m_dir.Z = 0f;
+ }
+ }
+
+ // Apply velocity
+ d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
+//if(frcount == 0) Console.WriteLine("Move " + Body + ":"+ m_dir.X + " " + m_dir.Y + " " + m_dir.Z);
+ // apply gravity force
+ d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
+//if(frcount == 0) Console.WriteLine("Force " + Body + ":" + grav.X + " " + grav.Y + " " + grav.Z);
+
+
+ // apply friction
+ Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
+ m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
+ } // end MoveLinear()
+
+ private void MoveAngular(float pTimestep)
+ {
+
+ // m_angularMotorDirection is the latest value from the script, and is decayed here
+ // m_angularMotorDirectionLASTSET is the latest value from the script
+ // m_lastAngularVelocityVector is what is being applied to the Body, varied up and down here
+
+ if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
+ {
+ if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
+ // ramp up to new value
+ Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep);
+ m_lastAngularVelocityVector += (addAmount * 10f);
+//if(frcount == 0) Console.WriteLine("add: " + addAmount);
+
+ // limit applied value to what was set by script
+ // This will work temporarily, but we really need to compare speed on an axis
+ if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X))
+ m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X;
+ if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y))
+ m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y;
+ if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z))
+ m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z;
+
+ // decay the requested value
+ Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep)));
+ //Console.WriteLine("decay: " + decayfraction);
+ m_angularMotorDirection -= m_angularMotorDirection * decayfraction;
+ //Console.WriteLine("actual: " + m_linearMotorDirection);
+ }
+ // KF: m_lastAngularVelocityVector is rotational speed in rad/sec ?
+
+ // Vertical attractor section
+
+// d.Mass objMass;
+// d.BodyGetMass(Body, out objMass);
+// float servo = 100f * objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
+ float servo = 0.1f * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep);
+ // get present body rotation
+ d.Quaternion rot = d.BodyGetQuaternion(Body);
+ Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+ // make a vector pointing up
+ Vector3 verterr = Vector3.Zero;
+ verterr.Z = 1.0f;
+ // rotate it to Body Angle
+ verterr = verterr * rotq;
+ // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+ // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
+ // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+ if (verterr.Z < 0.0f)
+ {
+ verterr.X = 2.0f - verterr.X;
+ verterr.Y = 2.0f - verterr.Y;
+ }
+ // Error is 0 (no error) to +/- 2 (max error)
+ // scale it by servo
+ verterr = verterr * servo;
+
+ // rotate to object frame
+ // verterr = verterr * rotq;
+
+ // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
+ // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
+ m_lastAngularVelocityVector.X += verterr.Y;
+ m_lastAngularVelocityVector.Y -= verterr.X;
+/*
+if(frcount == 0)
+ {
+// Console.WriteLine("AngleMotor " + m_lastAngularVelocityVector);
+ Console.WriteLine(String.Format("VA Body:{0} servo:{1} err:<{2},{3},{4}> VAE:{5}",
+ Body, servo, verterr.X, verterr.Y, verterr.Z, m_verticalAttractionEfficiency));
+ }
+ */
+ d.BodySetAngularVel (Body, m_lastAngularVelocityVector.X, m_lastAngularVelocityVector.Y, m_lastAngularVelocityVector.Z);
+ // apply friction
+ Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
+ m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount;
+
+ } //end MoveAngular
+ }
+}
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
new file mode 100644
index 0000000..467eba0
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -0,0 +1,658 @@
+/*
+ * Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ *
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the OpenSimulator Project nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using log4net;
+using OpenMetaverse;
+using Ode.NET;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+ public class ODEDynamics
+ {
+ public Vehicle Type
+ {
+ get { return m_type; }
+ }
+
+ public IntPtr Body
+ {
+ get { return m_body; }
+ }
+
+ private int frcount = 0; // Used to limit dynamics debug output to
+ // every 100th frame
+
+ // private OdeScene m_parentScene = null;
+ private IntPtr m_body = IntPtr.Zero;
+ private IntPtr m_jointGroup = IntPtr.Zero;
+ private IntPtr m_aMotor = IntPtr.Zero;
+
+
+ // Vehicle properties
+ private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
+ // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
+ private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
+ // HOVER_TERRAIN_ONLY
+ // HOVER_GLOBAL_HEIGHT
+ // NO_DEFLECTION_UP
+ // HOVER_WATER_ONLY
+ // HOVER_UP_ONLY
+ // LIMIT_MOTOR_UP
+ // LIMIT_ROLL_ONLY
+
+ // Linear properties
+ private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
+ private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
+ private Vector3 m_dir = Vector3.Zero; // velocity applied to body
+ private Vector3 m_linearFrictionTimescale = Vector3.Zero;
+ private float m_linearMotorDecayTimescale = 0;
+ private float m_linearMotorTimescale = 0;
+ private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
+ // private bool m_LinearMotorSetLastFrame = false;
+ // private Vector3 m_linearMotorOffset = Vector3.Zero;
+
+ //Angular properties
+ private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
+ private int m_angularMotorApply = 0; // application frame counter
+ private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
+ private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
+ private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
+ private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
+ private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
+ // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
+
+ //Deflection properties
+ // private float m_angularDeflectionEfficiency = 0;
+ // private float m_angularDeflectionTimescale = 0;
+ // private float m_linearDeflectionEfficiency = 0;
+ // private float m_linearDeflectionTimescale = 0;
+
+ //Banking properties
+ // private float m_bankingEfficiency = 0;
+ // private float m_bankingMix = 0;
+ // private float m_bankingTimescale = 0;
+
+ //Hover and Buoyancy properties
+ private float m_VhoverHeight = 0f;
+ private float m_VhoverEfficiency = 0f;
+ private float m_VhoverTimescale = 0f;
+ private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
+ private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+ // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
+ // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
+ // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
+
+ //Attractor properties
+ private float m_verticalAttractionEfficiency = 1.0f; // damped
+ private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
+
+
+
+
+
+ internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+ {
+ switch (pParam)
+ {
+ case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_angularDeflectionEfficiency = pValue;
+ break;
+ case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_angularDeflectionTimescale = pValue;
+ break;
+ case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_angularMotorDecayTimescale = pValue;
+ break;
+ case Vehicle.ANGULAR_MOTOR_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_angularMotorTimescale = pValue;
+ break;
+ case Vehicle.BANKING_EFFICIENCY:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_bankingEfficiency = pValue;
+ break;
+ case Vehicle.BANKING_MIX:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_bankingMix = pValue;
+ break;
+ case Vehicle.BANKING_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_bankingTimescale = pValue;
+ break;
+ case Vehicle.BUOYANCY:
+ if (pValue < -1f) pValue = -1f;
+ if (pValue > 1f) pValue = 1f;
+ m_VehicleBuoyancy = pValue;
+ break;
+ case Vehicle.HOVER_EFFICIENCY:
+ if (pValue < 0f) pValue = 0f;
+ if (pValue > 1f) pValue = 1f;
+ m_VhoverEfficiency = pValue;
+ break;
+ case Vehicle.HOVER_HEIGHT:
+ m_VhoverHeight = pValue;
+ break;
+ case Vehicle.HOVER_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_VhoverTimescale = pValue;
+ break;
+ case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_linearDeflectionEfficiency = pValue;
+ break;
+ case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ // m_linearDeflectionTimescale = pValue;
+ break;
+ case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_linearMotorDecayTimescale = pValue;
+ break;
+ case Vehicle.LINEAR_MOTOR_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ m_linearMotorTimescale = pValue;
+ break;
+ case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
+ if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable
+ if (pValue > 1.0f) pValue = 1.0f;
+ m_verticalAttractionEfficiency = pValue;
+ break;
+ case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
+ if (pValue < 0.01f) pValue = 0.01f;
+ 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:
+ m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.ANGULAR_MOTOR_DIRECTION:
+ m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+ m_angularMotorApply = 10;
+ break;
+ case Vehicle.LINEAR_FRICTION_TIMESCALE:
+ m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.LINEAR_MOTOR_DIRECTION:
+ m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
+ m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+ break;
+ case Vehicle.LINEAR_MOTOR_OFFSET:
+ // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+ break;
+
+ }
+
+ }//end ProcessFloatVehicleParam
+
+ internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
+ {
+ switch (pParam)
+ {
+ case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+ m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.ANGULAR_MOTOR_DIRECTION:
+ m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ // Limit requested angular speed to 2 rps= 4 pi rads/sec
+ if(m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f;
+ if(m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f;
+ if(m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f;
+ if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
+ if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
+ if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
+ m_angularMotorApply = 10;
+ break;
+ case Vehicle.LINEAR_FRICTION_TIMESCALE:
+ m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.LINEAR_MOTOR_DIRECTION:
+ m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ case Vehicle.LINEAR_MOTOR_OFFSET:
+ // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ break;
+ }
+
+ }//end ProcessVectorVehicleParam
+
+ internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
+ {
+ switch (pParam)
+ {
+ case Vehicle.REFERENCE_FRAME:
+ // m_referenceFrame = pValue;
+ break;
+ }
+
+ }//end ProcessRotationVehicleParam
+
+ internal void ProcessTypeChange(Vehicle pType)
+ {
+ // Set Defaults For Type
+ m_type = pType;
+ switch (pType)
+ {
+ case Vehicle.TYPE_SLED:
+ m_linearFrictionTimescale = new Vector3(30, 1, 1000);
+ m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 1000;
+ m_linearMotorDecayTimescale = 120;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 1000;
+ m_angularMotorDecayTimescale = 120;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 1;
+ m_VhoverTimescale = 10;
+ m_VehicleBuoyancy = 0;
+ // m_linearDeflectionEfficiency = 1;
+ // m_linearDeflectionTimescale = 1;
+ // m_angularDeflectionEfficiency = 1;
+ // m_angularDeflectionTimescale = 1000;
+ // m_bankingEfficiency = 0;
+ // m_bankingMix = 1;
+ // m_bankingTimescale = 10;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &=
+ ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+ VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+ m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+ break;
+ case Vehicle.TYPE_CAR:
+ m_linearFrictionTimescale = new Vector3(100, 2, 1000);
+ m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 1;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 1;
+ m_angularMotorDecayTimescale = 0.8f;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 0;
+ m_VhoverTimescale = 1000;
+ m_VehicleBuoyancy = 0;
+ // // m_linearDeflectionEfficiency = 1;
+ // // m_linearDeflectionTimescale = 2;
+ // // m_angularDeflectionEfficiency = 0;
+ // m_angularDeflectionTimescale = 10;
+ m_verticalAttractionEfficiency = 1f;
+ m_verticalAttractionTimescale = 10f;
+ // m_bankingEfficiency = -0.2f;
+ // m_bankingMix = 1;
+ // m_bankingTimescale = 1;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+ m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
+ VehicleFlag.LIMIT_MOTOR_UP);
+ break;
+ case Vehicle.TYPE_BOAT:
+ m_linearFrictionTimescale = new Vector3(10, 3, 2);
+ m_angularFrictionTimescale = new Vector3(10,10,10);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 5;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 4;
+ m_angularMotorDecayTimescale = 4;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 0.5f;
+ m_VhoverTimescale = 2;
+ m_VehicleBuoyancy = 1;
+ // m_linearDeflectionEfficiency = 0.5f;
+ // m_linearDeflectionTimescale = 3;
+ // m_angularDeflectionEfficiency = 0.5f;
+ // m_angularDeflectionTimescale = 5;
+ m_verticalAttractionEfficiency = 0.5f;
+ m_verticalAttractionTimescale = 5f;
+ // m_bankingEfficiency = -0.3f;
+ // m_bankingMix = 0.8f;
+ // m_bankingTimescale = 1;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY |
+ VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
+ m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY |
+ VehicleFlag.LIMIT_MOTOR_UP);
+ break;
+ case Vehicle.TYPE_AIRPLANE:
+ m_linearFrictionTimescale = new Vector3(200, 10, 5);
+ m_angularFrictionTimescale = new Vector3(20, 20, 20);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 2;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 4;
+ m_angularMotorDecayTimescale = 4;
+ m_VhoverHeight = 0;
+ m_VhoverEfficiency = 0.5f;
+ m_VhoverTimescale = 1000;
+ m_VehicleBuoyancy = 0;
+ // m_linearDeflectionEfficiency = 0.5f;
+ // m_linearDeflectionTimescale = 3;
+ // m_angularDeflectionEfficiency = 1;
+ // m_angularDeflectionTimescale = 2;
+ m_verticalAttractionEfficiency = 0.9f;
+ m_verticalAttractionTimescale = 2f;
+ // m_bankingEfficiency = 1;
+ // m_bankingMix = 0.7f;
+ // m_bankingTimescale = 2;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+ VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+ m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
+ break;
+ case Vehicle.TYPE_BALLOON:
+ m_linearFrictionTimescale = new Vector3(5, 5, 5);
+ m_angularFrictionTimescale = new Vector3(10, 10, 10);
+ m_linearMotorDirection = Vector3.Zero;
+ m_linearMotorTimescale = 5;
+ m_linearMotorDecayTimescale = 60;
+ m_angularMotorDirection = Vector3.Zero;
+ m_angularMotorTimescale = 6;
+ m_angularMotorDecayTimescale = 10;
+ m_VhoverHeight = 5;
+ m_VhoverEfficiency = 0.8f;
+ m_VhoverTimescale = 10;
+ m_VehicleBuoyancy = 1;
+ // m_linearDeflectionEfficiency = 0;
+ // m_linearDeflectionTimescale = 5;
+ // m_angularDeflectionEfficiency = 0;
+ // m_angularDeflectionTimescale = 5;
+ m_verticalAttractionEfficiency = 1f;
+ m_verticalAttractionTimescale = 100f;
+ // m_bankingEfficiency = 0;
+ // m_bankingMix = 0.7f;
+ // m_bankingTimescale = 5;
+ // m_referenceFrame = Quaternion.Identity;
+ m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
+ VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
+ m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
+ break;
+
+ }
+ }//end SetDefaultsForType
+
+ internal void Enable(IntPtr pBody, OdeScene pParentScene)
+ {
+ if (m_type == Vehicle.TYPE_NONE)
+ return;
+
+ m_body = pBody;
+ }
+
+ internal void Step(float pTimestep, OdeScene pParentScene)
+ {
+ if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
+ return;
+ frcount++; // used to limit debug comment output
+ if (frcount > 100)
+ frcount = 0;
+
+ MoveLinear(pTimestep, pParentScene);
+ MoveAngular(pTimestep);
+ }// end Step
+
+ private void MoveLinear(float pTimestep, OdeScene _pParentScene)
+ {
+ if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
+ {
+ if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
+
+ // add drive to body
+ Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
+ m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
+
+ // This will work temporarily, but we really need to compare speed on an axis
+ // KF: Limit body velocity to applied velocity?
+ if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
+ m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
+ if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
+ m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
+ if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
+ m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
+
+ // decay applied velocity
+ Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
+ //Console.WriteLine("decay: " + decayfraction);
+ m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
+ //Console.WriteLine("actual: " + m_linearMotorDirection);
+ }
+ else
+ { // requested is not significant
+ // if what remains of applied is small, zero it.
+ if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
+ m_lastLinearVelocityVector = Vector3.Zero;
+ }
+
+
+ // convert requested object velocity to world-referenced vector
+ m_dir = m_lastLinearVelocityVector;
+ d.Quaternion rot = d.BodyGetQuaternion(Body);
+ Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
+ m_dir *= rotq; // apply obj rotation to velocity vector
+
+ // add Gravity andBuoyancy
+ // KF: So far I have found no good method to combine a script-requested
+ // .Z velocity and gravity. Therefore only 0g will used script-requested
+ // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
+ Vector3 grav = Vector3.Zero;
+ if(m_VehicleBuoyancy < 1.0f)
+ {
+ // There is some gravity, make a gravity force vector
+ // that is applied after object velocity.
+ d.Mass objMass;
+ d.BodyGetMass(Body, out objMass);
+ // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
+ grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
+ // Preserve the current Z velocity
+ d.Vector3 vel_now = d.BodyGetLinearVel(Body);
+ m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
+ } // else its 1.0, no gravity.
+
+ // Check if hovering
+ if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+ {
+ // We should hover, get the target height
+ d.Vector3 pos = d.BodyGetPosition(Body);
+ if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
+ {
+ m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
+ }
+ else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY)
+ {
+ m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
+ }
+ else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT)
+ {
+ m_VhoverTargetHeight = m_VhoverHeight;
+ }
+
+ if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY)
+ {
+ // If body is aready heigher, use its height as target height
+ if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
+ }
+
+// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
+// m_VhoverTimescale = 0f; // time to acheive height
+// pTimestep is time since last frame,in secs
+ float herr0 = pos.Z - m_VhoverTargetHeight;
+ // Replace Vertical speed with correction figure if significant
+ if(Math.Abs(herr0) > 0.01f )
+ {
+ d.Mass objMass;
+ d.BodyGetMass(Body, out objMass);
+ m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
+ //KF: m_VhoverEfficiency is not yet implemented
+ }
+ else
+ {
+ m_dir.Z = 0f;
+ }
+ }
+
+ // Apply velocity
+ d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
+ // apply gravity force
+ d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
+
+
+ // apply friction
+ Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
+ m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
+ } // end MoveLinear()
+
+ private void MoveAngular(float pTimestep)
+ {
+ /*
+ private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
+ private int m_angularMotorApply = 0; // application frame counter
+ private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down)
+ private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
+ private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
+ private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
+ private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
+ */
+
+ // Get what the body is doing, this includes 'external' influences
+ d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
+ // Vector3 angularVelocity = Vector3.Zero;
+
+ if (m_angularMotorApply > 0)
+ {
+ // ramp up to new value
+ // current velocity += error / ( time to get there / step interval )
+ // requested speed - last motor speed
+ m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
+ m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
+ m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
+
+ m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
+ // velocity may still be acheived.
+ }
+ else
+ {
+ // no motor recently applied, keep the body velocity
+ /* m_angularMotorVelocity.X = angularVelocity.X;
+ m_angularMotorVelocity.Y = angularVelocity.Y;
+ m_angularMotorVelocity.Z = angularVelocity.Z; */
+
+ // and decay the velocity
+ m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
+ } // end motor section
+
+
+ // Vertical attractor section
+ Vector3 vertattr = Vector3.Zero;
+
+ if(m_verticalAttractionTimescale < 300)
+ {
+ float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
+ // get present body rotation
+ d.Quaternion rot = d.BodyGetQuaternion(Body);
+ Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+ // make a vector pointing up
+ Vector3 verterr = Vector3.Zero;
+ verterr.Z = 1.0f;
+ // rotate it to Body Angle
+ verterr = verterr * rotq;
+ // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
+ // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
+ // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
+ if (verterr.Z < 0.0f)
+ {
+ verterr.X = 2.0f - verterr.X;
+ verterr.Y = 2.0f - verterr.Y;
+ }
+ // Error is 0 (no error) to +/- 2 (max error)
+ // scale it by VAservo
+ verterr = verterr * VAservo;
+//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
+
+ // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
+ // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
+ vertattr.X = verterr.Y;
+ vertattr.Y = - verterr.X;
+ vertattr.Z = 0f;
+
+ // scaling appears better usingsquare-law
+ float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
+ vertattr.X += bounce * angularVelocity.X;
+ vertattr.Y += bounce * angularVelocity.Y;
+
+ } // else vertical attractor is off
+
+ // m_lastVertAttractor = vertattr;
+
+ // Bank section tba
+ // Deflection section tba
+
+ // Sum velocities
+ m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
+
+ if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
+ {
+ if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
+ }
+ else
+ {
+ m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
+ }
+
+ // apply friction
+ Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
+ m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
+
+ // Apply to the body
+ d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
+
+ } //end MoveAngular
+ }
+}
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 673ae39..34844c0 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1,4 +1,15 @@
/*
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
@@ -72,6 +83,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private float PID_G = 25f;
private bool m_usePID = false;
+ // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
+ // and are for non-VEHICLES only.
+
private float m_PIDHoverHeight = 0f;
private float m_PIDHoverTau = 0f;
private bool m_useHoverPID = false;
@@ -79,6 +93,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_targetHoverHeight = 0f;
private float m_groundHeight = 0f;
private float m_waterHeight = 0f;
+ private float m_buoyancy = 0f; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
// private float m_tensor = 5f;
private int body_autodisable_frames = 20;
@@ -147,8 +162,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public int m_roundsUnderMotionThreshold = 0;
private int m_crossingfailures = 0;
- public float m_buoyancy = 0f;
-
public bool outofBounds = false;
private float m_density = 10.000006836f; // Aluminum g/cm3;
@@ -156,7 +169,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_lastUpdateSent = false;
public IntPtr Body = (IntPtr) 0;
- private String m_primName;
+ public String m_primName;
+// private String m_primName;
private PhysicsVector _target_velocity;
public d.Mass pMass;
@@ -167,7 +181,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public volatile bool childPrim = false;
- private ODEVehicleSettings m_vehicle;
+ private ODEDynamics m_vehicle;
internal int m_material = (int)Material.Wood;
@@ -175,7 +189,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
_target_velocity = new PhysicsVector(0, 0, 0);
- m_vehicle = new ODEVehicleSettings();
+ m_vehicle = new ODEDynamics();
//gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
_velocity = new PhysicsVector();
@@ -260,11 +274,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_localID = value; }
}
- public override int GetHashCode()
- {
- return (int)m_localID;
- }
-
public override bool Grabbed
{
set { return; }
@@ -273,6 +282,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public override bool Selected
{
set {
+
+
// This only makes the object not collidable if the object
// is physical or the object is modified somehow *IN THE FUTURE*
// without this, if an avatar selects prim, they can walk right
@@ -288,6 +299,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintselected = value;
m_isSelected = value;
}
+ if(m_isSelected) disableBodySoft();
}
}
@@ -295,6 +307,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
prev_geom = prim_geom;
prim_geom = geom;
+//Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName);
if (prim_geom != IntPtr.Zero)
{
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
@@ -306,6 +319,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (_parent != null && _parent is OdePrim)
{
OdePrim parent = (OdePrim)_parent;
+//Console.WriteLine("SetGeom calls ChildSetGeom");
parent.ChildSetGeom(this);
}
}
@@ -321,7 +335,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_isphysical && Body != IntPtr.Zero)
{
d.BodyEnable(Body);
- m_vehicle.Enable(Body, _parent_scene);
+ if (m_vehicle.Type != Vehicle.TYPE_NONE)
+ m_vehicle.Enable(Body, _parent_scene);
}
m_disabled = false;
@@ -335,7 +350,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_isphysical && Body != IntPtr.Zero)
{
d.BodyDisable(Body);
- m_vehicle.Disable();
}
}
@@ -365,6 +379,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
+
+ // disconnect from world gravity so we can apply buoyancy
+ d.BodySetGravityMode (Body, false);
m_interpenetrationcount = 0;
m_collisionscore = 0;
@@ -711,13 +728,8 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
-
-
-
-
-
return returnMass;
- }
+ }// end CalculateMass
#endregion
@@ -743,7 +755,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero)
{
_parent_scene.remActivePrim(this);
- m_vehicle.Destroy();
m_collisionCategories &= ~CollisionCategories.Body;
m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land);
@@ -838,6 +849,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (prim_geom == IntPtr.Zero)
{
+//Console.WriteLine(" setMesh 1");
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
}
}
@@ -865,19 +877,35 @@ namespace OpenSim.Region.Physics.OdePlugin
public void ProcessTaints(float timestep)
{
+//Console.WriteLine("ProcessTaints for " + m_primName );
if (m_taintadd)
{
changeadd(timestep);
}
+
if (prim_geom != IntPtr.Zero)
{
- if (!_position.IsIdentical(m_taintposition,0f))
- changemove(timestep);
-
- if (m_taintrot != _orientation)
- rotate(timestep);
+ if (!_position.IsIdentical(m_taintposition,0f))
+ changemove(timestep);
+
+ if (m_taintrot != _orientation)
+ {
+ if(childPrim && IsPhysical) // For physical child prim...
+ {
+ rotate(timestep);
+ // KF: ODE will also rotate the parent prim!
+ // so rotate the root back to where it was
+ OdePrim parent = (OdePrim)_parent;
+ parent.rotate(timestep);
+ }
+ else
+ {
+ //Just rotate the prim
+ rotate(timestep);
+ }
+ }
//
-
+
if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
changePhysicsStatus(timestep);
//
@@ -916,8 +944,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
changeAngularLock(timestep);
-
-
+
}
else
{
@@ -949,11 +976,6 @@ namespace OpenSim.Region.Physics.OdePlugin
Amotor = IntPtr.Zero;
}
}
-
- if (m_vehicle.Type != Vehicle.TYPE_NONE)
- {
- m_vehicle.Reset();
- }
}
}
// Store this for later in case we get turned into a separate body
@@ -971,7 +993,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
OdePrim obj = (OdePrim)m_taintparent;
//obj.disableBody();
-
+//Console.WriteLine("changelink calls ParentPrim");
obj.ParentPrim(this);
/*
@@ -989,6 +1011,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// destroy link
else if (_parent != null && m_taintparent == null)
{
+//Console.WriteLine(" changelink B");
+
if (_parent is OdePrim)
{
OdePrim obj = (OdePrim)_parent;
@@ -1005,7 +1029,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linkJoint = (IntPtr)0;
*/
}
-
+
_parent = m_taintparent;
m_taintPhysics = m_isphysical;
}
@@ -1014,6 +1038,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// prim is the child
public void ParentPrim(OdePrim prim)
{
+//Console.WriteLine("ParentPrim " + m_primName);
if (this.m_localID != prim.m_localID)
{
if (Body == IntPtr.Zero)
@@ -1027,6 +1052,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (!childrenPrim.Contains(prim))
{
+//Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
@@ -1050,6 +1076,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
foreach (OdePrim prm in childrenPrim)
{
+
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
@@ -1058,7 +1085,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
continue;
}
-
+//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + m_primName);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
@@ -1103,11 +1130,12 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.Body = Body;
_parent_scene.addActivePrim(prm);
}
-
m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
+//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + m_primName);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
+//Console.WriteLine(" Post GeomSetCategoryBits 2");
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
@@ -1143,7 +1171,7 @@ namespace OpenSim.Region.Physics.OdePlugin
createAMotor(m_angularlock);
}
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
- m_vehicle.Enable(Body, _parent_scene);
+ if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Enable(Body, _parent_scene);
_parent_scene.addActivePrim(this);
}
}
@@ -1180,6 +1208,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
foreach (OdePrim prm in childrenPrim)
{
+//Console.WriteLine("ChildSetGeom calls ParentPrim");
ParentPrim(prm);
}
}
@@ -1206,6 +1235,7 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (childrenPrim)
{
+ //Console.WriteLine("childrenPrim.Remove " + odePrim);
childrenPrim.Remove(odePrim);
}
@@ -1223,6 +1253,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
foreach (OdePrim prm in childrenPrim)
{
+//Console.WriteLine("ChildDelink calls ParentPrim");
ParentPrim(prm);
}
}
@@ -1307,7 +1338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
resetCollisionAccounting();
m_isSelected = m_taintselected;
- }
+ }//end changeSelectedStatus
public void ResetTaints()
{
@@ -1324,6 +1355,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
{
+//Console.WriteLine("CreateGeom:");
if (_mesh != null)
{
setMesh(_parent_scene, _mesh);
@@ -1339,6 +1371,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
+//Console.WriteLine(" CreateGeom 1");
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
}
catch (AccessViolationException)
@@ -1353,6 +1386,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
+//Console.WriteLine(" CreateGeom 2");
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
catch (AccessViolationException)
@@ -1368,6 +1402,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
+//Console.WriteLine(" CreateGeom 3");
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
catch (AccessViolationException)
@@ -1384,6 +1419,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
+//Console.WriteLine(" CreateGeom 4");
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
catch (AccessViolationException)
@@ -1420,6 +1456,7 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (_parent_scene.OdeLock)
{
+//Console.WriteLine("changeadd 1");
CreateGeom(m_targetSpace, _mesh);
if (prim_geom != IntPtr.Zero)
@@ -1475,6 +1512,8 @@ namespace OpenSim.Region.Physics.OdePlugin
OdePrim odParent = (OdePrim)_parent;
if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
{
+// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
+Console.WriteLine(" JointCreateFixed");
m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
d.JointAttach(m_linkJoint, Body, odParent.Body);
d.JointSetFixed(m_linkJoint);
@@ -1528,239 +1567,236 @@ namespace OpenSim.Region.Physics.OdePlugin
float fz = 0;
- if (IsPhysical && Body != IntPtr.Zero && !m_isSelected)
- {
- if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
- {
- d.Vector3 avel2 = d.BodyGetAngularVel(Body);
- if (m_angularlock.X == 1)
- avel2.X = 0;
- if (m_angularlock.Y == 1)
- avel2.Y = 0;
- if (m_angularlock.Z == 1)
- avel2.Z = 0;
- d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
- }
- //float PID_P = 900.0f;
-
- float m_mass = CalculateMass();
-
- fz = 0f;
+ if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims.
+ {
+ if (m_vehicle.Type != Vehicle.TYPE_NONE)
+ {
+ // 'VEHICLES' are dealt with in ODEDynamics.cs
+ m_vehicle.Step(timestep, _parent_scene);
+ }
+ else
+ {
+ // NON-'VEHICLES' are dealt with here
+ if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
+ {
+ d.Vector3 avel2 = d.BodyGetAngularVel(Body);
+ if (m_angularlock.X == 1)
+ avel2.X = 0;
+ if (m_angularlock.Y == 1)
+ avel2.Y = 0;
+ if (m_angularlock.Z == 1)
+ avel2.Z = 0;
+ d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
+ }
+ //float PID_P = 900.0f;
+
+ float m_mass = CalculateMass();
+
+// fz = 0f;
//m_log.Info(m_collisionFlags.ToString());
- if (m_buoyancy != 0)
- {
- if (m_buoyancy > 0)
- {
- fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass);
-
- //d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
- //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
- }
- else
- {
- fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass));
- }
- }
-
- if (m_usePID)
- {
+
+ //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
+ // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
+ // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
+ // gravityz multiplier = 1 - m_buoyancy
+ fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
+
+ if (m_usePID)
+ {
+ // KF - this is for object move? eg. llSetPos() ?
+ //if (!d.BodyIsEnabled(Body))
+ //d.BodySetForce(Body, 0f, 0f, 0f);
+ // If we're using the PID controller, then we have no gravity
+ //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply...
+ fz = 0f;
+
+ // no lock; for now it's only called from within Simulate()
+
+ // If the PID Controller isn't active then we set our force
+ // calculating base velocity to the current position
+
+ if ((m_PIDTau < 1) && (m_PIDTau != 0))
+ {
+ //PID_G = PID_G / m_PIDTau;
+ m_PIDTau = 1;
+ }
+
+ if ((PID_G - m_PIDTau) <= 0)
+ {
+ PID_G = m_PIDTau + 1;
+ }
+ //PidStatus = true;
+
+ // PhysicsVector vec = new PhysicsVector();
+ d.Vector3 vel = d.BodyGetLinearVel(Body);
+
+ d.Vector3 pos = d.BodyGetPosition(Body);
+ _target_velocity =
+ new PhysicsVector(
+ (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
+ (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
+ (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
+ );
+
+ // if velocity is zero, use position control; otherwise, velocity control
+
+ if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
+ {
+ // keep track of where we stopped. No more slippin' & slidin'
+
+ // 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
+
+ //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
+ //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
+ //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
+ d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
+ d.BodySetLinearVel(Body, 0, 0, 0);
+ d.BodyAddForce(Body, 0, 0, fz);
+ return;
+ }
+ else
+ {
+ _zeroFlag = false;
+
+ // We're flying and colliding with something
+ fx = ((_target_velocity.X) - vel.X) * (PID_D);
+ fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
+
+ // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
+
+ fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
+ }
+ } // end if (m_usePID)
+
+ // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
+ if (m_useHoverPID && !m_usePID)
+ {
+ // If we're using the PID controller, then we have no gravity
+ fz = (-1 * _parent_scene.gravityz) * m_mass;
+
+ // no lock; for now it's only called from within Simulate()
+
+ // If the PID Controller isn't active then we set our force
+ // calculating base velocity to the current position
+
+ if ((m_PIDTau < 1))
+ {
+ PID_G = PID_G / m_PIDTau;
+ }
+
+ if ((PID_G - m_PIDTau) <= 0)
+ {
+ PID_G = m_PIDTau + 1;
+ }
- //if (!d.BodyIsEnabled(Body))
- //d.BodySetForce(Body, 0f, 0f, 0f);
- // If we're using the PID controller, then we have no gravity
- fz = (-1 * _parent_scene.gravityz) * m_mass;
- // no lock; for now it's only called from within Simulate()
+ // Where are we, and where are we headed?
+ d.Vector3 pos = d.BodyGetPosition(Body);
+ d.Vector3 vel = d.BodyGetLinearVel(Body);
+
+
+ // Non-Vehicles have a limited set of Hover options.
+ // determine what our target height really is based on HoverType
+ switch (m_PIDHoverType)
+ {
+ case PIDHoverType.Ground:
+ m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+ m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+ break;
+ case PIDHoverType.GroundAndWater:
+ m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
+ m_waterHeight = _parent_scene.GetWaterLevel();
+ if (m_groundHeight > m_waterHeight)
+ {
+ m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
+ }
+ else
+ {
+ m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
+ }
+ break;
+
+ } // end switch (m_PIDHoverType)
+
+
+ _target_velocity =
+ new PhysicsVector(0.0f, 0.0f,
+ (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
+ );
+
+ // if velocity is zero, use position control; otherwise, velocity control
+
+ if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
+ {
+ // keep track of where we stopped. No more slippin' & slidin'
+
+ // 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
+
+ d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
+ d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
+ d.BodyAddForce(Body, 0, 0, fz);
+ return;
+ }
+ else
+ {
+ _zeroFlag = false;
+
+ // We're flying and colliding with something
+ fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
+ }
+ }
+
+ fx *= m_mass;
+ fy *= m_mass;
+ //fz *= m_mass;
+
+ fx += m_force.X;
+ fy += m_force.Y;
+ fz += m_force.Z;
+
+ //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
+ if (fx != 0 || fy != 0 || fz != 0)
+ {
+ //m_taintdisable = true;
+ //base.RaiseOutOfBounds(Position);
+ //d.BodySetLinearVel(Body, fx, fy, 0f);
+ if (!d.BodyIsEnabled(Body))
+ {
+ // A physical body at rest on a surface will auto-disable after a while,
+ // this appears to re-enable it incase the surface it is upon vanishes,
+ // and the body should fall again.
+ d.BodySetLinearVel(Body, 0f, 0f, 0f);
+ d.BodySetForce(Body, 0, 0, 0);
+ enableBodySoft();
+ }
+
+ // 35x10 = 350n times the mass per second applied maximum.
+ float nmax = 35f * m_mass;
+ float nmin = -35f * m_mass;
- // If the PID Controller isn't active then we set our force
- // calculating base velocity to the current position
-
- if ((m_PIDTau < 1) && (m_PIDTau != 0))
- {
- //PID_G = PID_G / m_PIDTau;
- m_PIDTau = 1;
- }
-
- if ((PID_G - m_PIDTau) <= 0)
- {
- PID_G = m_PIDTau + 1;
- }
- //PidStatus = true;
-
- // PhysicsVector vec = new PhysicsVector();
- d.Vector3 vel = d.BodyGetLinearVel(Body);
-
- d.Vector3 pos = d.BodyGetPosition(Body);
- _target_velocity =
- new PhysicsVector(
- (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
- (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
- (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
- );
-
- // if velocity is zero, use position control; otherwise, velocity control
-
- if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f))
- {
- // keep track of where we stopped. No more slippin' & slidin'
-
- // 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
-
- //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
- //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
- //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
- d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
- d.BodySetLinearVel(Body, 0, 0, 0);
- d.BodyAddForce(Body, 0, 0, fz);
- return;
- }
- else
- {
- _zeroFlag = false;
-
- // We're flying and colliding with something
- fx = ((_target_velocity.X) - vel.X) * (PID_D);
- fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
-
- // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
-
- fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
- }
- }
-
- // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
- if (m_useHoverPID && !m_usePID)
- {
- // If we're using the PID controller, then we have no gravity
- fz = (-1 * _parent_scene.gravityz) * m_mass;
-
- // no lock; for now it's only called from within Simulate()
-
- // If the PID Controller isn't active then we set our force
- // calculating base velocity to the current position
-
- if ((m_PIDTau < 1))
- {
- PID_G = PID_G / m_PIDTau;
- }
-
- if ((PID_G - m_PIDTau) <= 0)
- {
- PID_G = m_PIDTau + 1;
- }
-
- // Where are we, and where are we headed?
- d.Vector3 pos = d.BodyGetPosition(Body);
- d.Vector3 vel = d.BodyGetLinearVel(Body);
-
- // determine what our target height really is based on HoverType
- switch (m_PIDHoverType)
- {
- case PIDHoverType.Absolute:
- m_targetHoverHeight = m_PIDHoverHeight;
- break;
- case PIDHoverType.Ground:
- m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
- m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
- break;
- case PIDHoverType.GroundAndWater:
- m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
- m_waterHeight = _parent_scene.GetWaterLevel();
- if (m_groundHeight > m_waterHeight)
- {
- m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
- }
- else
- {
- m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
- }
- break;
- case PIDHoverType.Water:
- m_waterHeight = _parent_scene.GetWaterLevel();
- m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
- break;
- }
-
-
- _target_velocity =
- new PhysicsVector(0.0f, 0.0f,
- (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
- );
-
- // if velocity is zero, use position control; otherwise, velocity control
-
- if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
- {
- // keep track of where we stopped. No more slippin' & slidin'
-
- // 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
-
- d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
- d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
- d.BodyAddForce(Body, 0, 0, fz);
- return;
- }
- else
- {
- _zeroFlag = false;
-
- // We're flying and colliding with something
- fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
- }
- }
-
- fx *= m_mass;
- fy *= m_mass;
- //fz *= m_mass;
-
- fx += m_force.X;
- fy += m_force.Y;
- fz += m_force.Z;
-
- //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString());
- if (fx != 0 || fy != 0 || fz != 0)
- {
- //m_taintdisable = true;
- //base.RaiseOutOfBounds(Position);
- //d.BodySetLinearVel(Body, fx, fy, 0f);
- if (!d.BodyIsEnabled(Body))
- {
- d.BodySetLinearVel(Body, 0f, 0f, 0f);
- d.BodySetForce(Body, 0, 0, 0);
- enableBodySoft();
- }
-
- // 35x10 = 350n times the mass per second applied maximum.
- float nmax = 35f * m_mass;
- float nmin = -35f * m_mass;
-
-
- if (fx > nmax)
- fx = nmax;
- if (fx < nmin)
- fx = nmin;
- if (fy > nmax)
- fy = nmax;
- if (fy < nmin)
- fy = nmin;
- d.BodyAddForce(Body, fx, fy, fz);
- }
- if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE)
- m_vehicle.Enable(Body, _parent_scene);
-
- m_vehicle.Step(timestep);
+ if (fx > nmax)
+ fx = nmax;
+ if (fx < nmin)
+ fx = nmin;
+ if (fy > nmax)
+ fy = nmax;
+ if (fy < nmin)
+ fy = nmin;
+ d.BodyAddForce(Body, fx, fy, fz);
+ }
+ }
}
else
- {
- // _zeroPosition = d.BodyGetPosition(Body);
+ { // is not physical, or is not a body or is selected
+ // _zeroPosition = d.BodyGetPosition(Body);
return;
}
}
@@ -1774,14 +1810,22 @@ namespace OpenSim.Region.Physics.OdePlugin
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
- d.GeomSetQuaternion(prim_geom, ref myrot);
- if (m_isphysical && Body != IntPtr.Zero)
+ if (Body != IntPtr.Zero)
{
+ // KF: If this is a root prim do BodySet
d.BodySetQuaternion(Body, ref myrot);
- if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
- createAMotor(m_angularlock);
+ if (m_isphysical)
+ {
+ if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0))
+ createAMotor(m_angularlock);
+ }
+ }
+ else
+ {
+ // daughter prim, do Geom set
+ d.GeomSetQuaternion(prim_geom, ref myrot);
}
-
+
resetCollisionAccounting();
m_taintrot = _orientation;
}
@@ -1843,7 +1887,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.Error("[PHYSICS]: PrimGeom dead");
}
}
-
+//Console.WriteLine("changePhysicsStatus for " + m_primName );
changeadd(2f);
}
if (childPrim)
@@ -1921,7 +1965,7 @@ namespace OpenSim.Region.Physics.OdePlugin
mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
//IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
-
+//Console.WriteLine("changesize 1");
CreateGeom(m_targetSpace, mesh);
@@ -1929,6 +1973,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
_mesh = null;
+//Console.WriteLine("changesize 2");
CreateGeom(m_targetSpace, _mesh);
}
@@ -2035,6 +2080,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
_mesh = null;
+//Console.WriteLine("changeshape");
CreateGeom(m_targetSpace, null);
}
@@ -2376,7 +2422,9 @@ namespace OpenSim.Region.Physics.OdePlugin
set
{
if (QuaternionIsFinite(value))
+ {
_orientation = value;
+ }
else
m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object");
@@ -2595,12 +2643,16 @@ namespace OpenSim.Region.Physics.OdePlugin
//outofBounds = true;
}
+ float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
+//Console.WriteLine("Adiff " + m_primName + " = " + Adiff);
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
- && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
+// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
+ && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large
{
_zeroFlag = true;
+//Console.WriteLine("ZFT 2");
m_throttleUpdates = false;
}
else
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
deleted file mode 100644
index a547c3e..0000000
--- a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
+++ /dev/null
@@ -1,626 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the OpenSimulator Project nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using log4net;
-using OpenMetaverse;
-using Ode.NET;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.OdePlugin
-{
- public class ODEVehicleSettings
- {
- public Vehicle Type
- {
- get { return m_type; }
- }
-
- public IntPtr Body
- {
- get { return m_body; }
- }
-
- private int frcount = 0;
- // private float frmod = 3.0f;
-
- private Vehicle m_type = Vehicle.TYPE_NONE;
- // private OdeScene m_parentScene = null;
- private IntPtr m_body = IntPtr.Zero;
- private IntPtr m_jointGroup = IntPtr.Zero;
- private IntPtr m_aMotor = IntPtr.Zero;
- private IntPtr m_lMotor1 = IntPtr.Zero;
- // private IntPtr m_lMotor2 = IntPtr.Zero;
- // private IntPtr m_lMotor3 = IntPtr.Zero;
-
- // Vehicle properties
- // private Quaternion m_referenceFrame = Quaternion.Identity;
- private Vector3 m_angularFrictionTimescale = Vector3.Zero;
- private Vector3 m_angularMotorDirection = Vector3.Zero;
- private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero;
- private Vector3 m_linearFrictionTimescale = Vector3.Zero;
- private Vector3 m_linearMotorDirection = Vector3.Zero;
- private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;
- // private Vector3 m_linearMotorOffset = Vector3.Zero;
- // private float m_angularDeflectionEfficiency = 0;
- // private float m_angularDeflectionTimescale = 0;
- private float m_angularMotorDecayTimescale = 0;
- private float m_angularMotorTimescale = 0;
- // private float m_bankingEfficiency = 0;
- // private float m_bankingMix = 0;
- // private float m_bankingTimescale = 0;
- // private float m_buoyancy = 0;
- // private float m_hoverHeight = 0;
- // private float m_hoverEfficiency = 0;
- // private float m_hoverTimescale = 0;
- // private float m_linearDeflectionEfficiency = 0;
- // private float m_linearDeflectionTimescale = 0;
- private float m_linearMotorDecayTimescale = 0;
- private float m_linearMotorTimescale = 0;
- private float m_verticalAttractionEfficiency = 0;
- private float m_verticalAttractionTimescale = 0;
- private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
- private Vector3 m_lastAngularVelocityVector = Vector3.Zero;
- private VehicleFlag m_flags = (VehicleFlag) 0;
-
- // private bool m_LinearMotorSetLastFrame = false;
-
-
-
-
- internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
- {
- switch (pParam)
- {
- case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_angularDeflectionEfficiency = pValue;
- break;
- case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_angularDeflectionTimescale = pValue;
- break;
- case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_angularMotorDecayTimescale = pValue;
- break;
- case Vehicle.ANGULAR_MOTOR_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_angularMotorTimescale = pValue;
- break;
- case Vehicle.BANKING_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_bankingEfficiency = pValue;
- break;
- case Vehicle.BANKING_MIX:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_bankingMix = pValue;
- break;
- case Vehicle.BANKING_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_bankingTimescale = pValue;
- break;
- case Vehicle.BUOYANCY:
- // m_buoyancy = pValue;
- break;
- case Vehicle.HOVER_EFFICIENCY:
- // m_hoverEfficiency = pValue;
- break;
- case Vehicle.HOVER_HEIGHT:
- // m_hoverHeight = pValue;
- break;
- case Vehicle.HOVER_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_hoverTimescale = pValue;
- break;
- case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_linearDeflectionEfficiency = pValue;
- break;
- case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- // m_linearDeflectionTimescale = pValue;
- break;
- case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_linearMotorDecayTimescale = pValue;
- break;
- case Vehicle.LINEAR_MOTOR_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- m_linearMotorTimescale = pValue;
- break;
- case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
- if (pValue < 0.01f) pValue = 0.01f;
- m_verticalAttractionEfficiency = pValue;
- break;
- case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
- if (pValue < 0.01f) pValue = 0.01f;
- 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:
- m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
- m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
- break;
- case Vehicle.LINEAR_FRICTION_TIMESCALE:
- m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
- break;
- case Vehicle.LINEAR_MOTOR_DIRECTION:
- m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
- m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
- // m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
- break;
-
- }
- Reset();
- }
-
- internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue)
- {
- switch (pParam)
- {
- case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.LINEAR_FRICTION_TIMESCALE:
- m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.LINEAR_MOTOR_DIRECTION:
- m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
- // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- }
- Reset();
- }
-
- internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
- {
- switch (pParam)
- {
- case Vehicle.REFERENCE_FRAME:
- // m_referenceFrame = pValue;
- break;
- }
- Reset();
- }
-
- internal void ProcessTypeChange(Vehicle pType)
- {
- if (m_type == Vehicle.TYPE_NONE && pType != Vehicle.TYPE_NONE)
- {
- // Activate whatever it is
- SetDefaultsForType(pType);
- Reset();
- }
- else if (m_type != Vehicle.TYPE_NONE && pType != Vehicle.TYPE_NONE)
- {
- // Set properties
- SetDefaultsForType(pType);
- // then reset
- Reset();
- }
- else if (m_type != Vehicle.TYPE_NONE && pType == Vehicle.TYPE_NONE)
- {
- m_type = pType;
- Destroy();
- }
- }
-
- internal void Disable()
- {
- if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
- return;
-
- if (m_aMotor != IntPtr.Zero)
- {
-
- }
-
- }
-
- internal void Enable(IntPtr pBody, OdeScene pParentScene)
- {
- if (m_type == Vehicle.TYPE_NONE)
- return;
-
- m_body = pBody;
- // m_parentScene = pParentScene;
- if (m_jointGroup == IntPtr.Zero)
- m_jointGroup = d.JointGroupCreate(3);
-
- if (pBody != IntPtr.Zero)
- {
-
- if (m_lMotor1 == IntPtr.Zero)
- {
- d.BodySetAutoDisableFlag(Body, false);
- m_lMotor1 = d.JointCreateLMotor(pParentScene.world, m_jointGroup);
- d.JointSetLMotorNumAxes(m_lMotor1, 1);
- d.JointAttach(m_lMotor1, Body, IntPtr.Zero);
- }
-
- if (m_aMotor == IntPtr.Zero)
- {
- m_aMotor = d.JointCreateAMotor(pParentScene.world, m_jointGroup);
- d.JointSetAMotorNumAxes(m_aMotor, 3);
- d.JointAttach(m_aMotor, Body, IntPtr.Zero);
- }
- }
- }
-
- internal void Reset()
- {
- if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
- return;
-
- }
-
- internal void Destroy()
- {
- if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
- return;
- if (m_aMotor != IntPtr.Zero)
- {
- d.JointDestroy(m_aMotor);
- }
- if (m_lMotor1 != IntPtr.Zero)
- {
- d.JointDestroy(m_lMotor1);
- }
-
- }
-
- internal void Step(float pTimestep)
- {
- if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
- return;
- frcount++;
- if (frcount > 100)
- frcount = 0;
-
- VerticalAttractor(pTimestep);
- LinearMotor(pTimestep);
-
-
- AngularMotor(pTimestep);
-
- }
-
- private void SetDefaultsForType(Vehicle pType)
- {
- m_type = pType;
- switch (pType)
- {
- case Vehicle.TYPE_SLED:
- m_linearFrictionTimescale = new Vector3(30, 1, 1000);
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 120;
- // m_hoverHeight = 0;
- // m_hoverEfficiency = 10;
- // m_hoverTimescale = 10;
- // m_buoyancy = 0;
- // m_linearDeflectionEfficiency = 1;
- // m_linearDeflectionTimescale = 1;
- // m_angularDeflectionEfficiency = 1;
- // m_angularDeflectionTimescale = 1000;
- // m_bankingEfficiency = 0;
- // m_bankingMix = 1;
- // m_bankingTimescale = 10;
- // m_referenceFrame = Quaternion.Identity;
- m_flags &=
- ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
- VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
- break;
- case Vehicle.TYPE_CAR:
- m_linearFrictionTimescale = new Vector3(100, 2, 1000);
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1;
- m_angularMotorDecayTimescale = 0.8f;
- // m_hoverHeight = 0;
- // // m_hoverEfficiency = 0;
- // // m_hoverTimescale = 1000;
- // // m_buoyancy = 0;
- // // m_linearDeflectionEfficiency = 1;
- // // m_linearDeflectionTimescale = 2;
- // // m_angularDeflectionEfficiency = 0;
- // m_angularDeflectionTimescale = 10;
- m_verticalAttractionEfficiency = 1;
- m_verticalAttractionTimescale = 10;
- // m_bankingEfficiency = -0.2f;
- // m_bankingMix = 1;
- // m_bankingTimescale = 1;
- // m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY |
- VehicleFlag.LIMIT_MOTOR_UP);
- break;
- case Vehicle.TYPE_BOAT:
- m_linearFrictionTimescale = new Vector3(10, 3, 2);
- m_angularFrictionTimescale = new Vector3(10,10,10);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- // m_hoverHeight = 0;
- // m_hoverEfficiency = 0.5f;
- // m_hoverTimescale = 2;
- // m_buoyancy = 1;
- // m_linearDeflectionEfficiency = 0.5f;
- // m_linearDeflectionTimescale = 3;
- // m_angularDeflectionEfficiency = 0.5f;
- // m_angularDeflectionTimescale = 5;
- m_verticalAttractionEfficiency = 0.5f;
- m_verticalAttractionTimescale = 5;
- // m_bankingEfficiency = -0.3f;
- // m_bankingMix = 0.8f;
- // m_bankingTimescale = 1;
- // m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_UP_ONLY |
- VehicleFlag.LIMIT_MOTOR_UP);
- break;
- case Vehicle.TYPE_AIRPLANE:
- m_linearFrictionTimescale = new Vector3(200, 10, 5);
- m_angularFrictionTimescale = new Vector3(20, 20, 20);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 2;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- // m_hoverHeight = 0;
- // m_hoverEfficiency = 0.5f;
- // m_hoverTimescale = 1000;
- // m_buoyancy = 0;
- // m_linearDeflectionEfficiency = 0.5f;
- // m_linearDeflectionTimescale = 3;
- // m_angularDeflectionEfficiency = 1;
- // m_angularDeflectionTimescale = 2;
- m_verticalAttractionEfficiency = 0.9f;
- m_verticalAttractionTimescale = 2;
- // m_bankingEfficiency = 1;
- // m_bankingMix = 0.7f;
- // m_bankingTimescale = 2;
- // m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
- VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
- break;
- case Vehicle.TYPE_BALLOON:
- m_linearFrictionTimescale = new Vector3(5, 5, 5);
- m_angularFrictionTimescale = new Vector3(10, 10, 10);
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60;
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 6;
- m_angularMotorDecayTimescale = 10;
- // m_hoverHeight = 5;
- // m_hoverEfficiency = 0.8f;
- // m_hoverTimescale = 10;
- // m_buoyancy = 1;
- // m_linearDeflectionEfficiency = 0;
- // m_linearDeflectionTimescale = 5;
- // m_angularDeflectionEfficiency = 0;
- // m_angularDeflectionTimescale = 5;
- m_verticalAttractionEfficiency = 1;
- m_verticalAttractionTimescale = 1000;
- // m_bankingEfficiency = 0;
- // m_bankingMix = 0.7f;
- // m_bankingTimescale = 5;
- // m_referenceFrame = Quaternion.Identity;
- m_flags = (VehicleFlag)0;
- break;
-
- }
- }
-
- private void VerticalAttractor(float pTimestep)
- {
- // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
- // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
- // change appearance and when you enter the simulator
- // After this routine is done, the amotor stabilizes much quicker
- d.Mass objMass;
- d.BodyGetMass(Body, out objMass);
- //d.BodyGetS
-
- d.Vector3 feet;
- d.Vector3 head;
- d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, -1.0f, out feet);
- d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, 1.0f, out head);
- float posture = head.Z - feet.Z;
-
- //Console.WriteLine(String.Format("head: <{0},{1},{2}>, feet:<{3},{4},{5}> diff:<{6},{7},{8}>", head.X, head.Y, head.Z, feet.X,
- // feet.Y, feet.Z, head.X - feet.X, head.Y - feet.Y, head.Z - feet.Z));
- //Console.WriteLine(String.Format("diff:<{0},{1},{2}>",head.X - feet.X, head.Y - feet.Y, head.Z - feet.Z));
-
- // restoring force proportional to lack of posture:
- float servo = (2.5f - posture) * (objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep)) * objMass.mass;
- d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
- d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
- //d.BodyAddTorque(m_body, (head.X - feet.X) * servo, (head.Y - feet.Y) * servo, (head.Z - feet.Z) * servo);
- //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
- //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
- }
-
- private void LinearMotor(float pTimestep)
- {
-
- if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
- {
-
- Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
- m_lastLinearVelocityVector += (addAmount*10);
-
- // This will work temporarily, but we really need to compare speed on an axis
- if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
- m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
- if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
- m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
- if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
- m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
- //Console.WriteLine("add: " + addAmount);
-
- Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
- //Console.WriteLine("decay: " + decayfraction);
-
- m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
- //Console.WriteLine("actual: " + m_linearMotorDirection);
- }
-
- //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector);
-
- SetLinearMotorProperties();
-
- Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
- m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
-
- //m_linearMotorDirection *= decayamount;
-
- }
-
- private void SetLinearMotorProperties()
- {
- Vector3 dirNorm = m_lastLinearVelocityVector;
- dirNorm.Normalize();
-
- d.Mass objMass;
- d.BodyGetMass(Body, out objMass);
- d.Quaternion rot = d.BodyGetQuaternion(Body);
- Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
- dirNorm *= rotq;
- if (m_lMotor1 != IntPtr.Zero)
- {
-
- d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z);
- d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_lastLinearVelocityVector.Length());
-
- d.JointSetLMotorParam(m_lMotor1, (int)dParam.FMax, 35f * objMass.mass);
- }
-
- }
-
- private void AngularMotor(float pTimestep)
- {
- if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
- {
-
- Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep);
- m_lastAngularVelocityVector += (addAmount * 10);
-
- // This will work temporarily, but we really need to compare speed on an axis
- if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X))
- m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X;
- if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y))
- m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y;
- if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z))
- m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z;
- //Console.WriteLine("add: " + addAmount);
-
- Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep)));
- //Console.WriteLine("decay: " + decayfraction);
-
- m_angularMotorDirection -= m_angularMotorDirection * decayfraction;
- //Console.WriteLine("actual: " + m_linearMotorDirection);
- }
-
- //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector);
-
- SetAngularMotorProperties();
-
- Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
- m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount;
-
- //m_linearMotorDirection *= decayamount;
-
- }
- private void SetAngularMotorProperties()
- {
-
-
-
- d.Mass objMass;
- d.BodyGetMass(Body, out objMass);
- //d.Quaternion rot = d.BodyGetQuaternion(Body);
- //Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
- Vector3 axis0 = Vector3.UnitX;
- Vector3 axis1 = Vector3.UnitY;
- Vector3 axis2 = Vector3.UnitZ;
- //axis0 *= rotq;
- //axis1 *= rotq;
- //axis2 *= rotq;
-
-
-
- if (m_aMotor != IntPtr.Zero)
- {
- d.JointSetAMotorAxis(m_aMotor, 0, 1, axis0.X, axis0.Y, axis0.Z);
- d.JointSetAMotorAxis(m_aMotor, 1, 1, axis1.X, axis1.Y, axis1.Z);
- d.JointSetAMotorAxis(m_aMotor, 2, 1, axis2.X, axis2.Y, axis2.Z);
- d.JointSetAMotorParam(m_aMotor, (int)dParam.FMax, 30*objMass.mass);
- d.JointSetAMotorParam(m_aMotor, (int)dParam.FMax2, 30*objMass.mass);
- d.JointSetAMotorParam(m_aMotor, (int)dParam.FMax3, 30 * objMass.mass);
- d.JointSetAMotorParam(m_aMotor, (int)dParam.Vel, m_lastAngularVelocityVector.X);
- d.JointSetAMotorParam(m_aMotor, (int)dParam.Vel2, m_lastAngularVelocityVector.Y);
- d.JointSetAMotorParam(m_aMotor, (int)dParam.Vel3, m_lastAngularVelocityVector.Z);
-
- }
- }
-
- }
-}
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 94223d8..b7afa27 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -238,7 +238,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private readonly HashSet _characters = new HashSet();
private readonly HashSet _prims = new HashSet();
private readonly HashSet _activeprims = new HashSet();
- private readonly HashSet _taintedPrim = new HashSet();
+ private readonly HashSet _taintedPrimH = new HashSet();
+ private readonly List _taintedPrimL = new List();
private readonly HashSet _taintedActors = new HashSet();
private readonly List _perloopContact = new List();
private readonly List _collisionEventPrim = new List();
@@ -2112,6 +2113,7 @@ namespace OpenSim.Region.Physics.OdePlugin
///
public void RemovePrimThreadLocked(OdePrim prim)
{
+//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName);
lock (prim)
{
remCollisionEventReporting(prim);
@@ -2559,11 +2561,15 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim is OdePrim)
{
OdePrim taintedprim = ((OdePrim) prim);
- lock (_taintedPrim)
- {
- if (!(_taintedPrim.Contains(taintedprim)))
- _taintedPrim.Add(taintedprim);
- }
+ lock (_taintedPrimH)
+ {
+ if (!(_taintedPrimH.Contains(taintedprim)))
+ {
+//Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.m_primName);
+ _taintedPrimH.Add(taintedprim); // HashSet for searching
+ _taintedPrimL.Add(taintedprim); // List for ordered readout
+ }
+ }
return;
}
else if (prim is OdeCharacter)
@@ -2599,7 +2605,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float fps = 0;
//m_log.Info(timeStep.ToString());
step_time += timeStep;
-
+
// If We're loaded down by something else,
// or debugging with the Visual Studio project on pause
// skip a few frames to catch up gracefully.
@@ -2679,16 +2685,20 @@ namespace OpenSim.Region.Physics.OdePlugin
// Modify other objects in the scene.
processedtaints = false;
- lock (_taintedPrim)
+ lock (_taintedPrimL)
{
- foreach (OdePrim prim in _taintedPrim)
+ foreach (OdePrim prim in _taintedPrimL)
{
+
+
if (prim.m_taintremove)
{
+//Console.WriteLine("Simulate calls RemovePrimThreadLocked");
RemovePrimThreadLocked(prim);
}
else
{
+//Console.WriteLine("Simulate calls ProcessTaints");
prim.ProcessTaints(timeStep);
}
processedtaints = true;
@@ -2878,7 +2888,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
if (processedtaints)
- _taintedPrim.Clear();
+//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
+ _taintedPrimH.Clear();
+ _taintedPrimL.Clear();
}
// Move characters
@@ -3488,7 +3500,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (geom == localGround)
{
- //localHeightfield = TerrainHeightFieldHeights[geom];
+ localHeightfield = TerrainHeightFieldHeights[geom];
proceed = true;
}
else
@@ -3510,7 +3522,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// memory corruption
if (TerrainHeightFieldHeights.ContainsKey(g))
{
- //float[] removingHeightField = TerrainHeightFieldHeights[g];
+ float[] removingHeightField = TerrainHeightFieldHeights[g];
TerrainHeightFieldHeights.Remove(g);
if (RegionTerrain.ContainsKey(g))
@@ -3519,17 +3531,27 @@ namespace OpenSim.Region.Physics.OdePlugin
}
d.GeomDestroy(g);
- //removingHeightField = new float[0];
- }
+ removingHeightField = new float[0];
+
+
+
+ }
+
}
+
}
else
{
m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
+
}
- }
+
+ }
+
}
- }
+ }
+
+
public override void SetWaterLevel(float baseheight)
{
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 02be983..edcf11c 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -96,17 +96,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
m_localID = localID;
m_itemID = itemID;
- m_ScriptDelayFactor = m_ScriptEngine.Config.GetFloat("ScriptDelayFactor", 1.0f);
- m_ScriptDistanceFactor = m_ScriptEngine.Config.GetFloat("ScriptDistanceLimitFactor", 1.0f);
- m_MinTimerInterval = m_ScriptEngine.Config.GetFloat("MinTimerInterval", 0.5f);
- m_automaticLinkPermission = m_ScriptEngine.Config.GetBoolean("AutomaticLinkPermission", false);
- m_scriptConsoleChannel = m_ScriptEngine.Config.GetInt("ScriptConsoleChannel", 0);
- m_scriptConsoleChannelEnabled = (m_scriptConsoleChannel != 0);
- m_notecardLineReadCharsMax = m_ScriptEngine.Config.GetInt("NotecardLineReadCharsMax", 255);
+ m_ScriptDelayFactor =
+ m_ScriptEngine.Config.GetFloat("ScriptDelayFactor", 1.0f);
+ m_ScriptDistanceFactor =
+ m_ScriptEngine.Config.GetFloat("ScriptDistanceLimitFactor", 1.0f);
+ m_MinTimerInterval =
+ m_ScriptEngine.Config.GetFloat("MinTimerInterval", 0.5f);
+ m_automaticLinkPermission =
+ m_ScriptEngine.Config.GetBoolean("AutomaticLinkPermission", false);
+ m_notecardLineReadCharsMax =
+ m_ScriptEngine.Config.GetInt("NotecardLineReadCharsMax", 255);
if (m_notecardLineReadCharsMax > 65535)
m_notecardLineReadCharsMax = 65535;
- m_TransferModule = m_ScriptEngine.World.RequestModuleInterface();
+ m_TransferModule =
+ m_ScriptEngine.World.RequestModuleInterface();
m_UrlModule = m_ScriptEngine.World.RequestModuleInterface();
if (m_UrlModule != null)
{
@@ -1969,7 +1973,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
{
part.UpdateRotation(rot);
// Update rotation does not move the object in the physics scene if it's a linkset.
- part.ParentGroup.AbsolutePosition = part.ParentGroup.AbsolutePosition;
+
+//KF: Do NOT use this next line if using ODE physics engine. This need a switch based on .ini Phys Engine type
+// part.ParentGroup.AbsolutePosition = part.ParentGroup.AbsolutePosition;
}
///
@@ -6747,15 +6753,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
// try to let this work as in SL...
if (part.ParentID == 0)
{
- // special case: If we are root, rotate
- // complete SOG to new rotation
+ // special case: If we are root, rotate complete SOG to new rotation
SetRot(part, Rot2Quaternion(q));
}
else
{
- // we are a child. The rotation values
- // will be set to the one of root modified
- // by rot, as in SL. Don't ask.
+ // we are a child. The rotation values will be set to the one of root modified by rot, as in SL. Don't ask.
SceneObjectGroup group = part.ParentGroup;
if (group != null) // a bit paranoid, maybe
{
--
cgit v1.1
From 53fbc970cabf7ce94f771de5d4ccd1757005d16e Mon Sep 17 00:00:00 2001
From: Kitto Flora
Date: Wed, 30 Sep 2009 18:58:52 +0200
Subject: Small chaneg to adapt to trunk
---
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 40e7471..b284ed4 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -3421,9 +3421,10 @@ if (m_shape != null) {
RotationOffset,
UsePhysics);
- if (PhysActor != null)
+ PhysicsActor pa = PhysActor;
+ if (pa != null)
{
- PhysActor.LocalID = LocalId;
+ pa.LocalID = LocalId;
DoPhysicsPropertyUpdate(UsePhysics, true);
if (m_parentGroup != null)
{
--
cgit v1.1
From 6b65eb76d0a664a582f10ac105733d3cdc2b4897 Mon Sep 17 00:00:00 2001
From: Kitto Flora
Date: Wed, 30 Sep 2009 19:01:55 +0200
Subject: Another small change to avoid later merge conflict
---
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index b284ed4..203faed 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -3410,7 +3410,8 @@ if (m_shape != null) {
{
RemFlag(PrimFlags.Phantom);
- if (PhysActor == null)
+ PhysicsActor pa = PhysActor;
+ if (pa == null)
{
// It's not phantom anymore. So make sure the physics engine get's knowledge of it
PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
@@ -3421,7 +3422,7 @@ if (m_shape != null) {
RotationOffset,
UsePhysics);
- PhysicsActor pa = PhysActor;
+ pa = PhysActor;
if (pa != null)
{
pa.LocalID = LocalId;
--
cgit v1.1
From 11750a272eab3bb259b2808bb276b5c9f59ad9f6 Mon Sep 17 00:00:00 2001
From: Kitto Flora
Date: Wed, 30 Sep 2009 19:04:06 +0200
Subject: And another
---
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 203faed..d983b75 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -3485,7 +3485,7 @@ if (m_shape != null) {
else
{ // Remove VolumeDetect in any case. Note, it's safe to call SetVolumeDetect as often as you like
// (mumbles, well, at least if you have infinte CPU powers :-))
- if (this.PhysActor != null)
+ if (pa != null)
{
PhysActor.SetVolumeDetect(0);
}
--
cgit v1.1
From d43f739cef2c31200ab297d596b073da29972118 Mon Sep 17 00:00:00 2001
From: Kitto Flora
Date: Wed, 30 Sep 2009 19:05:39 +0200
Subject: And another merge issue
---
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 1 +
1 file changed, 1 insertion(+)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index d983b75..9819163 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -3485,6 +3485,7 @@ if (m_shape != null) {
else
{ // Remove VolumeDetect in any case. Note, it's safe to call SetVolumeDetect as often as you like
// (mumbles, well, at least if you have infinte CPU powers :-))
+ PhysicsActor pa = this.PhysActor;
if (pa != null)
{
PhysActor.SetVolumeDetect(0);
--
cgit v1.1
From d0cc0985fac367fc996dca26baa5a042634aeab9 Mon Sep 17 00:00:00 2001
From: Melanie
Date: Thu, 1 Oct 2009 14:45:06 +0100
Subject: Fix a merge conflict
---
OpenSim/Region/Examples/SimpleModule/ComplexObject.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
index e951bef..0716964 100644
--- a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
+++ b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
@@ -68,7 +68,7 @@ namespace OpenSim.Region.Examples.SimpleModule
public override void UpdateMovement()
{
- UpdateGroupRotationR(GroupRotation * m_rotationDirection);
+ UpdateGroupRotationR(m_rootPart.RotationOffset * m_rotationDirection);
base.UpdateMovement();
}
--
cgit v1.1
From 212e132e79f868fd3bb9bcf9ef2c13eb12f8c14e Mon Sep 17 00:00:00 2001
From: Melanie
Date: Fri, 2 Oct 2009 00:47:01 +0100
Subject: Revert "* Adding Scale to EntityBase * Fixing the incorrect
initialization of EntityBase.Rotation * Removed
SceneObjectGroup.GroupRotation and added overrides for
Scale/Rotation/Velocity"
This reverts commit 39842eb4af3b5a8c52d56c0f7f05ad54f0651bb0.
---
.../Region/Examples/SimpleModule/ComplexObject.cs | 1 -
OpenSim/Region/Framework/Scenes/EntityBase.cs | 18 +++++--------
OpenSim/Region/Framework/Scenes/Scene.cs | 4 +--
.../Region/Framework/Scenes/SceneObjectGroup.cs | 30 +++++-----------------
.../Shared/Api/Implementation/LSL_Api.cs | 8 +++---
OpenSim/Region/ScriptEngine/Shared/Helpers.cs | 12 +++++----
6 files changed, 27 insertions(+), 46 deletions(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
index 0716964..5e87b32 100644
--- a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
+++ b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
@@ -69,7 +69,6 @@ namespace OpenSim.Region.Examples.SimpleModule
public override void UpdateMovement()
{
UpdateGroupRotationR(m_rootPart.RotationOffset * m_rotationDirection);
-
base.UpdateMovement();
}
diff --git a/OpenSim/Region/Framework/Scenes/EntityBase.cs b/OpenSim/Region/Framework/Scenes/EntityBase.cs
index 27a0785..c2ec6a5 100644
--- a/OpenSim/Region/Framework/Scenes/EntityBase.cs
+++ b/OpenSim/Region/Framework/Scenes/EntityBase.cs
@@ -94,7 +94,7 @@ namespace OpenSim.Region.Framework.Scenes
set { m_velocity = value; }
}
- protected Quaternion m_rotation;
+ protected Quaternion m_rotation = new Quaternion(0f, 0f, 1f, 0f);
public virtual Quaternion Rotation
{
@@ -102,14 +102,6 @@ namespace OpenSim.Region.Framework.Scenes
set { m_rotation = value; }
}
- protected Vector3 m_scale;
-
- public virtual Vector3 Scale
- {
- get { return m_scale; }
- set { m_scale = value; }
- }
-
protected uint m_localId;
public virtual uint LocalId
@@ -123,9 +115,13 @@ namespace OpenSim.Region.Framework.Scenes
///
public EntityBase()
{
- m_rotation = Quaternion.Identity;
- m_scale = Vector3.One;
+ m_uuid = UUID.Zero;
+
+ m_pos = Vector3.Zero;
+ m_velocity = Vector3.Zero;
+ Rotation = Quaternion.Identity;
m_name = "(basic entity)";
+ m_rotationalvelocity = Vector3.Zero;
}
///
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 55ec281..9db2240 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -2305,8 +2305,8 @@ namespace OpenSim.Region.Framework.Scenes
"to avatar {0} at position {1}",
sp.UUID.ToString(), grp.AbsolutePosition);
AttachObject(sp.ControllingClient,
- grp.LocalId, 0,
- grp.Rotation,
+ grp.LocalId, (uint)0,
+ grp.GroupRotation,
grp.AbsolutePosition, false);
RootPrim.RemFlag(PrimFlags.TemporaryOnRez);
grp.SendGroupFullUpdate();
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index 6b4cc0d..9f44f92 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -204,22 +204,9 @@ namespace OpenSim.Region.Framework.Scenes
get { return m_parts.Count; }
}
- public override Quaternion Rotation
+ public Quaternion GroupRotation
{
get { return m_rootPart.RotationOffset; }
- set { m_rootPart.RotationOffset = value; }
- }
-
- public override Vector3 Scale
- {
- get { return m_rootPart.Scale; }
- set { m_rootPart.Scale = value; }
- }
-
- public override Vector3 Velocity
- {
- get { return m_rootPart.Velocity; }
- set { m_rootPart.Velocity = value; }
}
public UUID GroupID
@@ -548,7 +535,7 @@ namespace OpenSim.Region.Framework.Scenes
// Temporary commented to stop compiler warning
//Vector3 partPosition =
// new Vector3(part.AbsolutePosition.X, part.AbsolutePosition.Y, part.AbsolutePosition.Z);
- Quaternion parentrotation = Rotation;
+ Quaternion parentrotation = GroupRotation;
// Telling the prim to raytrace.
//EntityIntersection inter = part.TestIntersection(hRay, parentrotation);
@@ -1891,17 +1878,14 @@ namespace OpenSim.Region.Framework.Scenes
checkAtTargets();
- Quaternion rot = Rotation;
-
- if (UsePhysics &&
- ((Math.Abs(lastPhysGroupRot.W - rot.W) > 0.1f)
- || (Math.Abs(lastPhysGroupRot.X - rot.X) > 0.1f)
- || (Math.Abs(lastPhysGroupRot.Y - rot.Y) > 0.1f)
- || (Math.Abs(lastPhysGroupRot.Z - rot.Z) > 0.1f)))
+ if (UsePhysics && ((Math.Abs(lastPhysGroupRot.W - GroupRotation.W) > 0.1)
+ || (Math.Abs(lastPhysGroupRot.X - GroupRotation.X) > 0.1)
+ || (Math.Abs(lastPhysGroupRot.Y - GroupRotation.Y) > 0.1)
+ || (Math.Abs(lastPhysGroupRot.Z - GroupRotation.Z) > 0.1)))
{
m_rootPart.UpdateFlag = 1;
- lastPhysGroupRot = rot;
+ lastPhysGroupRot = GroupRotation;
}
foreach (SceneObjectPart part in m_parts.Values)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 3051609..11ae661 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -2013,10 +2013,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
q = avatar.Rotation; // Currently infrequently updated so may be inaccurate
}
else
- q = part.ParentGroup.Rotation; // Likely never get here but just in case
+ q = part.ParentGroup.GroupRotation; // Likely never get here but just in case
}
else
- q = part.ParentGroup.Rotation; // just the group rotation
+ q = part.ParentGroup.GroupRotation; // just the group rotation
return new LSL_Rotation(q.X, q.Y, q.Z, q.W);
}
q = part.GetWorldRotation();
@@ -7184,10 +7184,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
else
q = avatar.Rotation; // Currently infrequently updated so may be inaccurate
else
- q = m_host.ParentGroup.Rotation; // Likely never get here but just in case
+ q = m_host.ParentGroup.GroupRotation; // Likely never get here but just in case
}
else
- q = m_host.ParentGroup.Rotation; // just the group rotation
+ q = m_host.ParentGroup.GroupRotation; // just the group rotation
return new LSL_Rotation(q.X, q.Y, q.Z, q.W);
}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
index 84ccafe..4855d64 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Helpers.cs
@@ -218,14 +218,16 @@ namespace OpenSim.Region.ScriptEngine.Shared
}
}
- Vector3 absPos = part.AbsolutePosition;
- Position = new LSL_Types.Vector3(absPos.X, absPos.Y, absPos.Z);
+ Position = new LSL_Types.Vector3(part.AbsolutePosition.X,
+ part.AbsolutePosition.Y,
+ part.AbsolutePosition.Z);
- Quaternion wr = part.ParentGroup.Rotation;
+ Quaternion wr = part.ParentGroup.GroupRotation;
Rotation = new LSL_Types.Quaternion(wr.X, wr.Y, wr.Z, wr.W);
- Vector3 vel = part.Velocity;
- Velocity = new LSL_Types.Vector3(vel.X, vel.Y, vel.Z);
+ Velocity = new LSL_Types.Vector3(part.Velocity.X,
+ part.Velocity.Y,
+ part.Velocity.Z);
}
}
--
cgit v1.1
From dcdcbb314e8821aa3b589cccea45293deb10b86e Mon Sep 17 00:00:00 2001
From: Melanie
Date: Mon, 5 Oct 2009 11:08:02 +0100
Subject: Fix build break
---
OpenSim/Region/Examples/SimpleModule/ComplexObject.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
index f9c3fa6..e951bef 100644
--- a/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
+++ b/OpenSim/Region/Examples/SimpleModule/ComplexObject.cs
@@ -68,7 +68,7 @@ namespace OpenSim.Region.Examples.SimpleModule
public override void UpdateMovement()
{
- UpdateGroupRotation(GroupRotation * m_rotationDirection);
+ UpdateGroupRotationR(GroupRotation * m_rotationDirection);
base.UpdateMovement();
}
--
cgit v1.1
From 90d1ef9e4af1832a5103559b029547327c5ad752 Mon Sep 17 00:00:00 2001
From: Michael Cortez
Date: Mon, 5 Oct 2009 11:59:33 -0700
Subject: Ensure the specified imSessionID exists in the DroppedSession
collection before attempting to access it.
---
.../Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs
index 631d801..00fe5df 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsMessagingModule.cs
@@ -425,7 +425,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
foreach (GroupMembersData member in m_groupsModule.GroupMembersRequest(null, groupID))
{
- if (m_agentsDroppedSession[im.imSessionID].Contains(member.AgentID.Guid))
+ if (!m_agentsDroppedSession.ContainsKey(im.imSessionID) || m_agentsDroppedSession[im.imSessionID].Contains(member.AgentID.Guid))
{
// Don't deliver messages to people who have dropped this session
if (m_debugEnabled) m_log.DebugFormat("[GROUPS-MESSAGING]: {0} has dropped session, not delivering to them", member.AgentID);
--
cgit v1.1
From f4726f4bccec614065e0f10f8b51bb7317d4a680 Mon Sep 17 00:00:00 2001
From: Michael Cortez
Date: Mon, 5 Oct 2009 12:09:45 -0700
Subject: Make sure that keys exist in arrays before trying to access them.
---
.../OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
index 2e89a24..b209199 100644
--- a/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/XmlRpcGroups/GroupsModule.cs
@@ -148,9 +148,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
UUID[] CurrentKeys = new UUID[m_clientRequestIDInfo.Count];
foreach (UUID key in CurrentKeys)
{
- if (DateTime.Now - m_clientRequestIDInfo[key].LastUsedTMStamp > cacheTimeout)
+ if (m_clientRequestIDInfo.ContainsKey(key))
{
- m_clientRequestIDInfo.Remove(key);
+ if (DateTime.Now - m_clientRequestIDInfo[key].LastUsedTMStamp > cacheTimeout)
+ {
+ m_clientRequestIDInfo.Remove(key);
+ }
}
}
}
@@ -476,7 +479,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.XmlRpcGroups
foreach (string key in binBucketOSD.Keys)
{
- m_log.WarnFormat("{0}: {1}", key, binBucketOSD[key].ToString());
+ if (binBucketOSD.ContainsKey(key))
+ {
+ m_log.WarnFormat("{0}: {1}", key, binBucketOSD[key].ToString());
+ }
}
}
--
cgit v1.1
From d06c7d90a167c1bc9cf71f17d2d40ad84ec1fe10 Mon Sep 17 00:00:00 2001
From: Melanie
Date: Wed, 7 Oct 2009 06:56:00 +0100
Subject: Correct a build break caused by an optimization in trunk
---
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index c02b123..57e1349 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -3488,7 +3488,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void UnCombine(PhysicsScene pScene)
{
IntPtr localGround = IntPtr.Zero;
- //float[] localHeightfield;
+ float[] localHeightfield;
bool proceed = false;
List geomDestroyList = new List();
--
cgit v1.1