From 303739622cc9b0f173d9ff88211f28c7295e8c65 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Sun, 29 Apr 2012 11:46:16 +0100
Subject: ubitODE fix applyROtationImpulse, let vehicle hover be relative to
root prim and not center of mass ( as SL docs said) updated some flags to
current ones
---
.../Region/Physics/UbitOdePlugin/ODEDynamics.cs | 43 +++++++++++++++-------
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 4 +-
2 files changed, 32 insertions(+), 15 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index d106677..7b232c1 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -470,15 +470,20 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 1;
m_angularDeflectionEfficiency = 0;
- m_angularDeflectionTimescale = 1000;
+ m_angularDeflectionTimescale = 10;
+ m_verticalAttractionEfficiency = 1;
+ m_verticalAttractionTimescale = 1000;
m_bankingEfficiency = 0;
m_bankingMix = 1;
m_bankingTimescale = 10;
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);
+ 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);
@@ -499,9 +504,13 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingEfficiency = -0.2f;
m_bankingMix = 1;
m_bankingTimescale = 1;
- 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.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
+ 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.LIMIT_MOTOR_UP |
+ VehicleFlag.HOVER_UP_ONLY);
break;
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -525,12 +534,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingTimescale = 1;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT |
- VehicleFlag.HOVER_UP_ONLY |
- VehicleFlag.LIMIT_ROLL_ONLY);
+ VehicleFlag.HOVER_UP_ONLY); // |
+// VehicleFlag.LIMIT_ROLL_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_MOTOR_UP |
+ VehicleFlag.HOVER_UP_ONLY | // new sl
VehicleFlag.HOVER_WATER_ONLY);
break;
+
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
@@ -559,6 +570,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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);
@@ -574,7 +586,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionTimescale = 5 * m_invtimestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5;
- m_verticalAttractionEfficiency = 0f;
+ m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 1000f;
m_bankingEfficiency = 0;
m_bankingMix = 0.7f;
@@ -583,9 +595,12 @@ namespace OpenSim.Region.Physics.OdePlugin
VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_UP_ONLY |
VehicleFlag.NO_DEFLECTION_UP |
- VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
- VehicleFlag.HOVER_GLOBAL_HEIGHT);
+ VehicleFlag.LIMIT_MOTOR_UP | //);
+ VehicleFlag.LIMIT_ROLL_ONLY | // new sl
+ VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl
+
+// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
+// VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
@@ -768,9 +783,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// hover
- if (m_VhoverTimescale < 300)
+ if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
{
- d.Vector3 pos = d.BodyGetPosition(Body);
+ // d.Vector3 pos = d.BodyGetPosition(Body);
+ d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
+ pos.Z -= 0.21f; // minor offset that seems to be always there in sl
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float perr;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 2bcce31..e4f2e6b 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -843,7 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (force.IsFinite())
{
- AddChange(changes.AddAngForce, force * m_invTimeStep);
+ AddChange(changes.AddAngForce, force);
}
else
{
@@ -3217,7 +3217,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeAddImpulse(Vector3 impulse)
{
- m_forceacc += impulse * m_invTimeStep;
+ m_forceacc += impulse *m_invTimeStep;
if (!m_isSelected)
{
lock (this)
--
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