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authorDiva Canto2012-12-04 08:08:58 -0800
committerDiva Canto2012-12-04 08:08:58 -0800
commita4821c5e01da394ba0968e6206a52f4db45cd7bd (patch)
tree68dae4719fe4100ce272ba7e9cd07018052c825b /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
parentImprovement in HGInstantMessageService: account for the existence of an offli... (diff)
parentMerge branch 'master' of ssh://opensimulator.org/var/git/opensim (diff)
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs40
1 files changed, 19 insertions, 21 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c62c79a..ea1f71a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject
253 // Zero some other properties in the physics engine 253 // Zero some other properties in the physics engine
254 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() 254 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
255 { 255 {
256 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); 256 // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
257 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); 257 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
258 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
258 }); 259 });
259 } 260 }
260 261
@@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject
329 330
330 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) 331 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
331 { 332 {
332 float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); 333 float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
333 // TODO: a floating motor so object will bob in the water 334 // TODO: a floating motor so object will bob in the water
334 if (Math.Abs(Position.Z - waterHeight) > 0.1f) 335 if (Math.Abs(Position.Z - waterHeight) > 0.1f)
335 { 336 {
@@ -347,7 +348,9 @@ public sealed class BSPrim : BSPhysObject
347 if (ret) 348 if (ret)
348 { 349 {
349 // Apply upforce and overcome gravity. 350 // Apply upforce and overcome gravity.
350 AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime); 351 OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
352 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
353 AddForce(correctionForce, false, inTaintTime);
351 } 354 }
352 return ret; 355 return ret;
353 } 356 }
@@ -643,9 +646,13 @@ public sealed class BSPrim : BSPhysObject
643 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 646 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
644 647
645 // Collision filter can be set only when the object is in the world 648 // Collision filter can be set only when the object is in the world
646 if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0) 649 if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
647 { 650 {
648 BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask); 651 if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
652 {
653 PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
654 LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
655 }
649 } 656 }
650 657
651 // Recompute any linkset parameters. 658 // Recompute any linkset parameters.
@@ -684,11 +691,11 @@ public sealed class BSPrim : BSPhysObject
684 // There can be special things needed for implementing linksets 691 // There can be special things needed for implementing linksets
685 Linkset.MakeStatic(this); 692 Linkset.MakeStatic(this);
686 // The activation state is 'disabled' so Bullet will not try to act on it. 693 // The activation state is 'disabled' so Bullet will not try to act on it.
687 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); 694 // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
688 // Start it out sleeping and physical actions could wake it up. 695 // Start it out sleeping and physical actions could wake it up.
689 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); 696 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
690 697
691 PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; 698 PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
692 PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; 699 PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
693 } 700 }
694 else 701 else
@@ -734,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
734 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); 741 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
735 // BulletSimAPI.Activate2(BSBody.ptr, true); 742 // BulletSimAPI.Activate2(BSBody.ptr, true);
736 743
737 PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter; 744 PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
738 PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; 745 PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
739 } 746 }
740 } 747 }
@@ -762,7 +769,7 @@ public sealed class BSPrim : BSPhysObject
762 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); 769 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
763 } 770 }
764 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 771 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
765 PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; 772 PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
766 PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; 773 PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
767 } 774 }
768 } 775 }
@@ -838,15 +845,6 @@ public sealed class BSPrim : BSPhysObject
838 } 845 }
839 public override OMV.Vector3 RotationalVelocity { 846 public override OMV.Vector3 RotationalVelocity {
840 get { 847 get {
841 /*
842 OMV.Vector3 pv = OMV.Vector3.Zero;
843 // if close to zero, report zero
844 // This is copied from ODE but I'm not sure why it returns zero but doesn't
845 // zero the property in the physics engine.
846 if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
847 return pv;
848 */
849
850 return _rotationalVelocity; 848 return _rotationalVelocity;
851 } 849 }
852 set { 850 set {
@@ -1408,7 +1406,7 @@ public sealed class BSPrim : BSPhysObject
1408 LastEntityProperties = CurrentEntityProperties; 1406 LastEntityProperties = CurrentEntityProperties;
1409 CurrentEntityProperties = entprop; 1407 CurrentEntityProperties = entprop;
1410 1408
1411 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; 1409 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
1412 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", 1410 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
1413 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); 1411 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
1414 1412