diff options
author | John Hurliman | 2009-10-22 11:07:43 -0700 |
---|---|---|
committer | John Hurliman | 2009-10-22 11:07:43 -0700 |
commit | 11013ad2956a87a5641ee2245fe81e5f3dfec268 (patch) | |
tree | 0a0a1cc7019c21e6083d80454228729d55e0ee40 /OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |
parent | Terrible typo in the previous commit! (diff) | |
parent | Correct version number after merge (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 589 |
1 files changed, 323 insertions, 266 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 4581d22..864ea80 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -1,4 +1,15 @@ | |||
1 | /* | 1 | /* |
2 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
3 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
4 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
5 | * characteristics and Kinetic motion. | ||
6 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
7 | * (dynamics) and the associated settings. Old Linear and angular | ||
8 | * motors for dynamic motion have been replace with MoveLinear() | ||
9 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
10 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
11 | * switch between 'VEHICLE' parameter use and general dynamics | ||
12 | * settings use. | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 13 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 14 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 15 | * |
@@ -72,6 +83,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
72 | private float PID_G = 25f; | 83 | private float PID_G = 25f; |
73 | private bool m_usePID = false; | 84 | private bool m_usePID = false; |
74 | 85 | ||
86 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), | ||
87 | // and are for non-VEHICLES only. | ||
88 | |||
75 | private float m_PIDHoverHeight = 0f; | 89 | private float m_PIDHoverHeight = 0f; |
76 | private float m_PIDHoverTau = 0f; | 90 | private float m_PIDHoverTau = 0f; |
77 | private bool m_useHoverPID = false; | 91 | private bool m_useHoverPID = false; |
@@ -79,6 +93,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
79 | private float m_targetHoverHeight = 0f; | 93 | private float m_targetHoverHeight = 0f; |
80 | private float m_groundHeight = 0f; | 94 | private float m_groundHeight = 0f; |
81 | private float m_waterHeight = 0f; | 95 | private float m_waterHeight = 0f; |
96 | private float m_buoyancy = 0f; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | ||
82 | 97 | ||
83 | // private float m_tensor = 5f; | 98 | // private float m_tensor = 5f; |
84 | private int body_autodisable_frames = 20; | 99 | private int body_autodisable_frames = 20; |
@@ -146,8 +161,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
146 | public int m_roundsUnderMotionThreshold = 0; | 161 | public int m_roundsUnderMotionThreshold = 0; |
147 | private int m_crossingfailures = 0; | 162 | private int m_crossingfailures = 0; |
148 | 163 | ||
149 | public float m_buoyancy = 0f; | ||
150 | |||
151 | public bool outofBounds = false; | 164 | public bool outofBounds = false; |
152 | private float m_density = 10.000006836f; // Aluminum g/cm3; | 165 | private float m_density = 10.000006836f; // Aluminum g/cm3; |
153 | 166 | ||
@@ -155,7 +168,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
155 | private bool m_lastUpdateSent = false; | 168 | private bool m_lastUpdateSent = false; |
156 | 169 | ||
157 | public IntPtr Body = (IntPtr) 0; | 170 | public IntPtr Body = (IntPtr) 0; |
158 | private String m_primName; | 171 | public String m_primName; |
172 | // private String m_primName; | ||
159 | private PhysicsVector _target_velocity; | 173 | private PhysicsVector _target_velocity; |
160 | public d.Mass pMass; | 174 | public d.Mass pMass; |
161 | 175 | ||
@@ -166,7 +180,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
166 | 180 | ||
167 | public volatile bool childPrim = false; | 181 | public volatile bool childPrim = false; |
168 | 182 | ||
169 | private ODEVehicleSettings m_vehicle; | 183 | private ODEDynamics m_vehicle; |
170 | 184 | ||
171 | internal int m_material = (int)Material.Wood; | 185 | internal int m_material = (int)Material.Wood; |
172 | 186 | ||
@@ -174,7 +188,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
174 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) | 188 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) |
175 | { | 189 | { |
176 | _target_velocity = new PhysicsVector(0, 0, 0); | 190 | _target_velocity = new PhysicsVector(0, 0, 0); |
177 | m_vehicle = new ODEVehicleSettings(); | 191 | m_vehicle = new ODEDynamics(); |
178 | //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); | 192 | //gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); |
179 | ode = dode; | 193 | ode = dode; |
180 | _velocity = new PhysicsVector(); | 194 | _velocity = new PhysicsVector(); |
@@ -267,6 +281,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
267 | public override bool Selected | 281 | public override bool Selected |
268 | { | 282 | { |
269 | set { | 283 | set { |
284 | |||
285 | |||
270 | // This only makes the object not collidable if the object | 286 | // This only makes the object not collidable if the object |
271 | // is physical or the object is modified somehow *IN THE FUTURE* | 287 | // is physical or the object is modified somehow *IN THE FUTURE* |
272 | // without this, if an avatar selects prim, they can walk right | 288 | // without this, if an avatar selects prim, they can walk right |
@@ -282,6 +298,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
282 | m_taintselected = value; | 298 | m_taintselected = value; |
283 | m_isSelected = value; | 299 | m_isSelected = value; |
284 | } | 300 | } |
301 | if(m_isSelected) disableBodySoft(); | ||
285 | } | 302 | } |
286 | } | 303 | } |
287 | 304 | ||
@@ -289,6 +306,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
289 | { | 306 | { |
290 | prev_geom = prim_geom; | 307 | prev_geom = prim_geom; |
291 | prim_geom = geom; | 308 | prim_geom = geom; |
309 | //Console.WriteLine("SetGeom to " + prim_geom + " for " + m_primName); | ||
292 | if (prim_geom != IntPtr.Zero) | 310 | if (prim_geom != IntPtr.Zero) |
293 | { | 311 | { |
294 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 312 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
@@ -300,6 +318,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
300 | if (_parent != null && _parent is OdePrim) | 318 | if (_parent != null && _parent is OdePrim) |
301 | { | 319 | { |
302 | OdePrim parent = (OdePrim)_parent; | 320 | OdePrim parent = (OdePrim)_parent; |
321 | //Console.WriteLine("SetGeom calls ChildSetGeom"); | ||
303 | parent.ChildSetGeom(this); | 322 | parent.ChildSetGeom(this); |
304 | } | 323 | } |
305 | } | 324 | } |
@@ -315,7 +334,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
315 | if (m_isphysical && Body != IntPtr.Zero) | 334 | if (m_isphysical && Body != IntPtr.Zero) |
316 | { | 335 | { |
317 | d.BodyEnable(Body); | 336 | d.BodyEnable(Body); |
318 | m_vehicle.Enable(Body, _parent_scene); | 337 | if (m_vehicle.Type != Vehicle.TYPE_NONE) |
338 | m_vehicle.Enable(Body, _parent_scene); | ||
319 | } | 339 | } |
320 | 340 | ||
321 | m_disabled = false; | 341 | m_disabled = false; |
@@ -329,7 +349,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
329 | if (m_isphysical && Body != IntPtr.Zero) | 349 | if (m_isphysical && Body != IntPtr.Zero) |
330 | { | 350 | { |
331 | d.BodyDisable(Body); | 351 | d.BodyDisable(Body); |
332 | m_vehicle.Disable(); | ||
333 | } | 352 | } |
334 | } | 353 | } |
335 | 354 | ||
@@ -359,6 +378,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
359 | 378 | ||
360 | d.BodySetAutoDisableFlag(Body, true); | 379 | d.BodySetAutoDisableFlag(Body, true); |
361 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); | 380 | d.BodySetAutoDisableSteps(Body, body_autodisable_frames); |
381 | |||
382 | // disconnect from world gravity so we can apply buoyancy | ||
383 | d.BodySetGravityMode (Body, false); | ||
362 | 384 | ||
363 | m_interpenetrationcount = 0; | 385 | m_interpenetrationcount = 0; |
364 | m_collisionscore = 0; | 386 | m_collisionscore = 0; |
@@ -705,13 +727,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
705 | break; | 727 | break; |
706 | } | 728 | } |
707 | } | 729 | } |
708 | |||
709 | |||
710 | |||
711 | |||
712 | |||
713 | return returnMass; | 730 | return returnMass; |
714 | } | 731 | }// end CalculateMass |
715 | 732 | ||
716 | #endregion | 733 | #endregion |
717 | 734 | ||
@@ -737,7 +754,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
737 | if (Body != IntPtr.Zero) | 754 | if (Body != IntPtr.Zero) |
738 | { | 755 | { |
739 | _parent_scene.remActivePrim(this); | 756 | _parent_scene.remActivePrim(this); |
740 | m_vehicle.Destroy(); | ||
741 | m_collisionCategories &= ~CollisionCategories.Body; | 757 | m_collisionCategories &= ~CollisionCategories.Body; |
742 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); | 758 | m_collisionFlags &= ~(CollisionCategories.Wind | CollisionCategories.Land); |
743 | 759 | ||
@@ -827,6 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
827 | { | 843 | { |
828 | if (prim_geom == IntPtr.Zero) | 844 | if (prim_geom == IntPtr.Zero) |
829 | { | 845 | { |
846 | //Console.WriteLine(" setMesh 1"); | ||
830 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); | 847 | SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); |
831 | } | 848 | } |
832 | } | 849 | } |
@@ -848,19 +865,35 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
848 | 865 | ||
849 | public void ProcessTaints(float timestep) | 866 | public void ProcessTaints(float timestep) |
850 | { | 867 | { |
868 | //Console.WriteLine("ProcessTaints for " + m_primName ); | ||
851 | if (m_taintadd) | 869 | if (m_taintadd) |
852 | { | 870 | { |
853 | changeadd(timestep); | 871 | changeadd(timestep); |
854 | } | 872 | } |
873 | |||
855 | if (prim_geom != IntPtr.Zero) | 874 | if (prim_geom != IntPtr.Zero) |
856 | { | 875 | { |
857 | if (!_position.IsIdentical(m_taintposition,0f)) | 876 | if (!_position.IsIdentical(m_taintposition,0f)) |
858 | changemove(timestep); | 877 | changemove(timestep); |
859 | 878 | ||
860 | if (m_taintrot != _orientation) | 879 | if (m_taintrot != _orientation) |
861 | rotate(timestep); | 880 | { |
881 | if(childPrim && IsPhysical) // For physical child prim... | ||
882 | { | ||
883 | rotate(timestep); | ||
884 | // KF: ODE will also rotate the parent prim! | ||
885 | // so rotate the root back to where it was | ||
886 | OdePrim parent = (OdePrim)_parent; | ||
887 | parent.rotate(timestep); | ||
888 | } | ||
889 | else | ||
890 | { | ||
891 | //Just rotate the prim | ||
892 | rotate(timestep); | ||
893 | } | ||
894 | } | ||
862 | // | 895 | // |
863 | 896 | ||
864 | if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) | 897 | if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) |
865 | changePhysicsStatus(timestep); | 898 | changePhysicsStatus(timestep); |
866 | // | 899 | // |
@@ -899,8 +932,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
899 | 932 | ||
900 | if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) | 933 | if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) |
901 | changeAngularLock(timestep); | 934 | changeAngularLock(timestep); |
902 | 935 | ||
903 | |||
904 | } | 936 | } |
905 | else | 937 | else |
906 | { | 938 | { |
@@ -932,11 +964,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
932 | Amotor = IntPtr.Zero; | 964 | Amotor = IntPtr.Zero; |
933 | } | 965 | } |
934 | } | 966 | } |
935 | |||
936 | if (m_vehicle.Type != Vehicle.TYPE_NONE) | ||
937 | { | ||
938 | m_vehicle.Reset(); | ||
939 | } | ||
940 | } | 967 | } |
941 | } | 968 | } |
942 | // Store this for later in case we get turned into a separate body | 969 | // Store this for later in case we get turned into a separate body |
@@ -954,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
954 | { | 981 | { |
955 | OdePrim obj = (OdePrim)m_taintparent; | 982 | OdePrim obj = (OdePrim)m_taintparent; |
956 | //obj.disableBody(); | 983 | //obj.disableBody(); |
957 | 984 | //Console.WriteLine("changelink calls ParentPrim"); | |
958 | obj.ParentPrim(this); | 985 | obj.ParentPrim(this); |
959 | 986 | ||
960 | /* | 987 | /* |
@@ -972,6 +999,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
972 | // destroy link | 999 | // destroy link |
973 | else if (_parent != null && m_taintparent == null) | 1000 | else if (_parent != null && m_taintparent == null) |
974 | { | 1001 | { |
1002 | //Console.WriteLine(" changelink B"); | ||
1003 | |||
975 | if (_parent is OdePrim) | 1004 | if (_parent is OdePrim) |
976 | { | 1005 | { |
977 | OdePrim obj = (OdePrim)_parent; | 1006 | OdePrim obj = (OdePrim)_parent; |
@@ -988,7 +1017,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
988 | m_linkJoint = (IntPtr)0; | 1017 | m_linkJoint = (IntPtr)0; |
989 | */ | 1018 | */ |
990 | } | 1019 | } |
991 | 1020 | ||
992 | _parent = m_taintparent; | 1021 | _parent = m_taintparent; |
993 | m_taintPhysics = m_isphysical; | 1022 | m_taintPhysics = m_isphysical; |
994 | } | 1023 | } |
@@ -997,6 +1026,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
997 | // prim is the child | 1026 | // prim is the child |
998 | public void ParentPrim(OdePrim prim) | 1027 | public void ParentPrim(OdePrim prim) |
999 | { | 1028 | { |
1029 | //Console.WriteLine("ParentPrim " + m_primName); | ||
1000 | if (this.m_localID != prim.m_localID) | 1030 | if (this.m_localID != prim.m_localID) |
1001 | { | 1031 | { |
1002 | if (Body == IntPtr.Zero) | 1032 | if (Body == IntPtr.Zero) |
@@ -1010,6 +1040,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1010 | { | 1040 | { |
1011 | if (!childrenPrim.Contains(prim)) | 1041 | if (!childrenPrim.Contains(prim)) |
1012 | { | 1042 | { |
1043 | //Console.WriteLine("childrenPrim.Add " + prim); | ||
1013 | childrenPrim.Add(prim); | 1044 | childrenPrim.Add(prim); |
1014 | 1045 | ||
1015 | foreach (OdePrim prm in childrenPrim) | 1046 | foreach (OdePrim prm in childrenPrim) |
@@ -1033,6 +1064,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1033 | } | 1064 | } |
1034 | foreach (OdePrim prm in childrenPrim) | 1065 | foreach (OdePrim prm in childrenPrim) |
1035 | { | 1066 | { |
1067 | |||
1036 | prm.m_collisionCategories |= CollisionCategories.Body; | 1068 | prm.m_collisionCategories |= CollisionCategories.Body; |
1037 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1069 | prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1038 | 1070 | ||
@@ -1041,7 +1073,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1041 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet"); | 1073 | m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet"); |
1042 | continue; | 1074 | continue; |
1043 | } | 1075 | } |
1044 | 1076 | //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + m_primName); | |
1045 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); | 1077 | d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); |
1046 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); | 1078 | d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); |
1047 | 1079 | ||
@@ -1086,11 +1118,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1086 | prm.Body = Body; | 1118 | prm.Body = Body; |
1087 | _parent_scene.addActivePrim(prm); | 1119 | _parent_scene.addActivePrim(prm); |
1088 | } | 1120 | } |
1089 | |||
1090 | m_collisionCategories |= CollisionCategories.Body; | 1121 | m_collisionCategories |= CollisionCategories.Body; |
1091 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); | 1122 | m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); |
1092 | 1123 | ||
1124 | //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + m_primName); | ||
1093 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); | 1125 | d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); |
1126 | //Console.WriteLine(" Post GeomSetCategoryBits 2"); | ||
1094 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 1127 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
1095 | 1128 | ||
1096 | 1129 | ||
@@ -1126,7 +1159,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1126 | createAMotor(m_angularlock); | 1159 | createAMotor(m_angularlock); |
1127 | } | 1160 | } |
1128 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); | 1161 | d.BodySetPosition(Body, Position.X, Position.Y, Position.Z); |
1129 | m_vehicle.Enable(Body, _parent_scene); | 1162 | if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Enable(Body, _parent_scene); |
1130 | _parent_scene.addActivePrim(this); | 1163 | _parent_scene.addActivePrim(this); |
1131 | } | 1164 | } |
1132 | } | 1165 | } |
@@ -1163,6 +1196,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1163 | { | 1196 | { |
1164 | foreach (OdePrim prm in childrenPrim) | 1197 | foreach (OdePrim prm in childrenPrim) |
1165 | { | 1198 | { |
1199 | //Console.WriteLine("ChildSetGeom calls ParentPrim"); | ||
1166 | ParentPrim(prm); | 1200 | ParentPrim(prm); |
1167 | } | 1201 | } |
1168 | } | 1202 | } |
@@ -1189,6 +1223,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1189 | 1223 | ||
1190 | lock (childrenPrim) | 1224 | lock (childrenPrim) |
1191 | { | 1225 | { |
1226 | //Console.WriteLine("childrenPrim.Remove " + odePrim); | ||
1192 | childrenPrim.Remove(odePrim); | 1227 | childrenPrim.Remove(odePrim); |
1193 | } | 1228 | } |
1194 | 1229 | ||
@@ -1206,6 +1241,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1206 | { | 1241 | { |
1207 | foreach (OdePrim prm in childrenPrim) | 1242 | foreach (OdePrim prm in childrenPrim) |
1208 | { | 1243 | { |
1244 | //Console.WriteLine("ChildDelink calls ParentPrim"); | ||
1209 | ParentPrim(prm); | 1245 | ParentPrim(prm); |
1210 | } | 1246 | } |
1211 | } | 1247 | } |
@@ -1290,7 +1326,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1290 | 1326 | ||
1291 | resetCollisionAccounting(); | 1327 | resetCollisionAccounting(); |
1292 | m_isSelected = m_taintselected; | 1328 | m_isSelected = m_taintselected; |
1293 | } | 1329 | }//end changeSelectedStatus |
1294 | 1330 | ||
1295 | public void ResetTaints() | 1331 | public void ResetTaints() |
1296 | { | 1332 | { |
@@ -1307,6 +1343,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1307 | 1343 | ||
1308 | public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh) | 1344 | public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh) |
1309 | { | 1345 | { |
1346 | //Console.WriteLine("CreateGeom:"); | ||
1310 | if (_mesh != null) | 1347 | if (_mesh != null) |
1311 | { | 1348 | { |
1312 | setMesh(_parent_scene, _mesh); | 1349 | setMesh(_parent_scene, _mesh); |
@@ -1322,6 +1359,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1322 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1359 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1323 | try | 1360 | try |
1324 | { | 1361 | { |
1362 | //Console.WriteLine(" CreateGeom 1"); | ||
1325 | SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); | 1363 | SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); |
1326 | } | 1364 | } |
1327 | catch (AccessViolationException) | 1365 | catch (AccessViolationException) |
@@ -1336,6 +1374,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1336 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1374 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1337 | try | 1375 | try |
1338 | { | 1376 | { |
1377 | //Console.WriteLine(" CreateGeom 2"); | ||
1339 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); | 1378 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); |
1340 | } | 1379 | } |
1341 | catch (AccessViolationException) | 1380 | catch (AccessViolationException) |
@@ -1351,6 +1390,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1351 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1390 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1352 | try | 1391 | try |
1353 | { | 1392 | { |
1393 | //Console.WriteLine(" CreateGeom 3"); | ||
1354 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); | 1394 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); |
1355 | } | 1395 | } |
1356 | catch (AccessViolationException) | 1396 | catch (AccessViolationException) |
@@ -1367,6 +1407,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1367 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 1407 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
1368 | try | 1408 | try |
1369 | { | 1409 | { |
1410 | //Console.WriteLine(" CreateGeom 4"); | ||
1370 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); | 1411 | SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); |
1371 | } | 1412 | } |
1372 | catch (AccessViolationException) | 1413 | catch (AccessViolationException) |
@@ -1403,6 +1444,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1403 | 1444 | ||
1404 | lock (_parent_scene.OdeLock) | 1445 | lock (_parent_scene.OdeLock) |
1405 | { | 1446 | { |
1447 | //Console.WriteLine("changeadd 1"); | ||
1406 | CreateGeom(m_targetSpace, _mesh); | 1448 | CreateGeom(m_targetSpace, _mesh); |
1407 | 1449 | ||
1408 | if (prim_geom != IntPtr.Zero) | 1450 | if (prim_geom != IntPtr.Zero) |
@@ -1458,6 +1500,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1458 | OdePrim odParent = (OdePrim)_parent; | 1500 | OdePrim odParent = (OdePrim)_parent; |
1459 | if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) | 1501 | if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body) |
1460 | { | 1502 | { |
1503 | // KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used?? | ||
1504 | Console.WriteLine(" JointCreateFixed"); | ||
1461 | m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); | 1505 | m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup); |
1462 | d.JointAttach(m_linkJoint, Body, odParent.Body); | 1506 | d.JointAttach(m_linkJoint, Body, odParent.Body); |
1463 | d.JointSetFixed(m_linkJoint); | 1507 | d.JointSetFixed(m_linkJoint); |
@@ -1511,239 +1555,236 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1511 | float fz = 0; | 1555 | float fz = 0; |
1512 | 1556 | ||
1513 | 1557 | ||
1514 | if (IsPhysical && Body != IntPtr.Zero && !m_isSelected) | 1558 | if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. |
1515 | { | 1559 | { |
1516 | if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f)) | 1560 | if (m_vehicle.Type != Vehicle.TYPE_NONE) |
1517 | { | 1561 | { |
1518 | d.Vector3 avel2 = d.BodyGetAngularVel(Body); | 1562 | // 'VEHICLES' are dealt with in ODEDynamics.cs |
1519 | if (m_angularlock.X == 1) | 1563 | m_vehicle.Step(timestep, _parent_scene); |
1520 | avel2.X = 0; | 1564 | } |
1521 | if (m_angularlock.Y == 1) | 1565 | else |
1522 | avel2.Y = 0; | 1566 | { |
1523 | if (m_angularlock.Z == 1) | 1567 | // NON-'VEHICLES' are dealt with here |
1524 | avel2.Z = 0; | 1568 | if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f)) |
1525 | d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); | 1569 | { |
1526 | } | 1570 | d.Vector3 avel2 = d.BodyGetAngularVel(Body); |
1527 | //float PID_P = 900.0f; | 1571 | if (m_angularlock.X == 1) |
1528 | 1572 | avel2.X = 0; | |
1529 | float m_mass = CalculateMass(); | 1573 | if (m_angularlock.Y == 1) |
1530 | 1574 | avel2.Y = 0; | |
1531 | fz = 0f; | 1575 | if (m_angularlock.Z == 1) |
1576 | avel2.Z = 0; | ||
1577 | d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); | ||
1578 | } | ||
1579 | //float PID_P = 900.0f; | ||
1580 | |||
1581 | float m_mass = CalculateMass(); | ||
1582 | |||
1583 | // fz = 0f; | ||
1532 | //m_log.Info(m_collisionFlags.ToString()); | 1584 | //m_log.Info(m_collisionFlags.ToString()); |
1533 | 1585 | ||
1534 | if (m_buoyancy != 0) | 1586 | |
1535 | { | 1587 | //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. |
1536 | if (m_buoyancy > 0) | 1588 | // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? |
1537 | { | 1589 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up |
1538 | fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); | 1590 | // gravityz multiplier = 1 - m_buoyancy |
1539 | 1591 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; | |
1540 | //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); | 1592 | |
1541 | //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); | 1593 | if (m_usePID) |
1542 | } | 1594 | { |
1543 | else | 1595 | // KF - this is for object move? eg. llSetPos() ? |
1544 | { | 1596 | //if (!d.BodyIsEnabled(Body)) |
1545 | fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); | 1597 | //d.BodySetForce(Body, 0f, 0f, 0f); |
1546 | } | 1598 | // If we're using the PID controller, then we have no gravity |
1547 | } | 1599 | //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply... |
1548 | 1600 | fz = 0f; | |
1549 | if (m_usePID) | 1601 | |
1550 | { | 1602 | // no lock; for now it's only called from within Simulate() |
1551 | 1603 | ||
1552 | //if (!d.BodyIsEnabled(Body)) | 1604 | // If the PID Controller isn't active then we set our force |
1553 | //d.BodySetForce(Body, 0f, 0f, 0f); | 1605 | // calculating base velocity to the current position |
1554 | // If we're using the PID controller, then we have no gravity | 1606 | |
1555 | fz = (-1 * _parent_scene.gravityz) * m_mass; | 1607 | if ((m_PIDTau < 1) && (m_PIDTau != 0)) |
1556 | 1608 | { | |
1557 | // no lock; for now it's only called from within Simulate() | 1609 | //PID_G = PID_G / m_PIDTau; |
1558 | 1610 | m_PIDTau = 1; | |
1559 | // If the PID Controller isn't active then we set our force | 1611 | } |
1560 | // calculating base velocity to the current position | 1612 | |
1561 | 1613 | if ((PID_G - m_PIDTau) <= 0) | |
1562 | if ((m_PIDTau < 1) && (m_PIDTau != 0)) | 1614 | { |
1563 | { | 1615 | PID_G = m_PIDTau + 1; |
1564 | //PID_G = PID_G / m_PIDTau; | 1616 | } |
1565 | m_PIDTau = 1; | 1617 | //PidStatus = true; |
1566 | } | 1618 | |
1567 | 1619 | // PhysicsVector vec = new PhysicsVector(); | |
1568 | if ((PID_G - m_PIDTau) <= 0) | 1620 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
1569 | { | 1621 | |
1570 | PID_G = m_PIDTau + 1; | 1622 | d.Vector3 pos = d.BodyGetPosition(Body); |
1571 | } | 1623 | _target_velocity = |
1572 | //PidStatus = true; | 1624 | new PhysicsVector( |
1573 | 1625 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), | |
1574 | // PhysicsVector vec = new PhysicsVector(); | 1626 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), |
1575 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 1627 | (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) |
1576 | 1628 | ); | |
1577 | d.Vector3 pos = d.BodyGetPosition(Body); | 1629 | |
1578 | _target_velocity = | 1630 | // if velocity is zero, use position control; otherwise, velocity control |
1579 | new PhysicsVector( | 1631 | |
1580 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), | 1632 | if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f)) |
1581 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), | 1633 | { |
1582 | (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) | 1634 | // keep track of where we stopped. No more slippin' & slidin' |
1583 | ); | 1635 | |
1584 | 1636 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | |
1585 | // if velocity is zero, use position control; otherwise, velocity control | 1637 | // react to the physics scene by moving it's position. |
1586 | 1638 | // Avatar to Avatar collisions | |
1587 | if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f)) | 1639 | // Prim to avatar collisions |
1588 | { | 1640 | |
1589 | // keep track of where we stopped. No more slippin' & slidin' | 1641 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); |
1590 | 1642 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); | |
1591 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 1643 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; |
1592 | // react to the physics scene by moving it's position. | 1644 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); |
1593 | // Avatar to Avatar collisions | 1645 | d.BodySetLinearVel(Body, 0, 0, 0); |
1594 | // Prim to avatar collisions | 1646 | d.BodyAddForce(Body, 0, 0, fz); |
1595 | 1647 | return; | |
1596 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); | 1648 | } |
1597 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); | 1649 | else |
1598 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; | 1650 | { |
1599 | d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); | 1651 | _zeroFlag = false; |
1600 | d.BodySetLinearVel(Body, 0, 0, 0); | 1652 | |
1601 | d.BodyAddForce(Body, 0, 0, fz); | 1653 | // We're flying and colliding with something |
1602 | return; | 1654 | fx = ((_target_velocity.X) - vel.X) * (PID_D); |
1603 | } | 1655 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); |
1604 | else | 1656 | |
1605 | { | 1657 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; |
1606 | _zeroFlag = false; | 1658 | |
1607 | 1659 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | |
1608 | // We're flying and colliding with something | 1660 | } |
1609 | fx = ((_target_velocity.X) - vel.X) * (PID_D); | 1661 | } // end if (m_usePID) |
1610 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); | 1662 | |
1611 | 1663 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | |
1612 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; | 1664 | if (m_useHoverPID && !m_usePID) |
1613 | 1665 | { | |
1614 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 1666 | // If we're using the PID controller, then we have no gravity |
1615 | } | 1667 | fz = (-1 * _parent_scene.gravityz) * m_mass; |
1616 | } | 1668 | |
1617 | 1669 | // no lock; for now it's only called from within Simulate() | |
1618 | // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller | 1670 | |
1619 | if (m_useHoverPID && !m_usePID) | 1671 | // If the PID Controller isn't active then we set our force |
1620 | { | 1672 | // calculating base velocity to the current position |
1621 | // If we're using the PID controller, then we have no gravity | 1673 | |
1622 | fz = (-1 * _parent_scene.gravityz) * m_mass; | 1674 | if ((m_PIDTau < 1)) |
1623 | 1675 | { | |
1624 | // no lock; for now it's only called from within Simulate() | 1676 | PID_G = PID_G / m_PIDTau; |
1625 | 1677 | } | |
1626 | // If the PID Controller isn't active then we set our force | 1678 | |
1627 | // calculating base velocity to the current position | 1679 | if ((PID_G - m_PIDTau) <= 0) |
1628 | 1680 | { | |
1629 | if ((m_PIDTau < 1)) | 1681 | PID_G = m_PIDTau + 1; |
1630 | { | 1682 | } |
1631 | PID_G = PID_G / m_PIDTau; | ||
1632 | } | ||
1633 | |||
1634 | if ((PID_G - m_PIDTau) <= 0) | ||
1635 | { | ||
1636 | PID_G = m_PIDTau + 1; | ||
1637 | } | ||
1638 | 1683 | ||
1639 | 1684 | ||
1640 | // Where are we, and where are we headed? | 1685 | // Where are we, and where are we headed? |
1641 | d.Vector3 pos = d.BodyGetPosition(Body); | 1686 | d.Vector3 pos = d.BodyGetPosition(Body); |
1642 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 1687 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
1643 | 1688 | ||
1644 | // determine what our target height really is based on HoverType | 1689 | |
1645 | switch (m_PIDHoverType) | 1690 | // Non-Vehicles have a limited set of Hover options. |
1646 | { | 1691 | // determine what our target height really is based on HoverType |
1647 | case PIDHoverType.Absolute: | 1692 | switch (m_PIDHoverType) |
1648 | m_targetHoverHeight = m_PIDHoverHeight; | 1693 | { |
1649 | break; | 1694 | case PIDHoverType.Ground: |
1650 | case PIDHoverType.Ground: | 1695 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); |
1651 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | 1696 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; |
1652 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | 1697 | break; |
1653 | break; | 1698 | case PIDHoverType.GroundAndWater: |
1654 | case PIDHoverType.GroundAndWater: | 1699 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); |
1655 | m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y); | 1700 | m_waterHeight = _parent_scene.GetWaterLevel(); |
1656 | m_waterHeight = _parent_scene.GetWaterLevel(); | 1701 | if (m_groundHeight > m_waterHeight) |
1657 | if (m_groundHeight > m_waterHeight) | 1702 | { |
1658 | { | 1703 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; |
1659 | m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight; | 1704 | } |
1660 | } | 1705 | else |
1661 | else | 1706 | { |
1662 | { | 1707 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; |
1663 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | 1708 | } |
1664 | } | 1709 | break; |
1665 | break; | 1710 | |
1666 | case PIDHoverType.Water: | 1711 | } // end switch (m_PIDHoverType) |
1667 | m_waterHeight = _parent_scene.GetWaterLevel(); | 1712 | |
1668 | m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight; | 1713 | |
1669 | break; | 1714 | _target_velocity = |
1670 | } | 1715 | new PhysicsVector(0.0f, 0.0f, |
1671 | 1716 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) | |
1672 | 1717 | ); | |
1673 | _target_velocity = | 1718 | |
1674 | new PhysicsVector(0.0f, 0.0f, | 1719 | // if velocity is zero, use position control; otherwise, velocity control |
1675 | (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep) | 1720 | |
1676 | ); | 1721 | if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) |
1677 | 1722 | { | |
1678 | // if velocity is zero, use position control; otherwise, velocity control | 1723 | // keep track of where we stopped. No more slippin' & slidin' |
1679 | 1724 | ||
1680 | if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f)) | 1725 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
1681 | { | 1726 | // react to the physics scene by moving it's position. |
1682 | // keep track of where we stopped. No more slippin' & slidin' | 1727 | // Avatar to Avatar collisions |
1683 | 1728 | // Prim to avatar collisions | |
1684 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 1729 | |
1685 | // react to the physics scene by moving it's position. | 1730 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); |
1686 | // Avatar to Avatar collisions | 1731 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); |
1687 | // Prim to avatar collisions | 1732 | d.BodyAddForce(Body, 0, 0, fz); |
1688 | 1733 | return; | |
1689 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); | 1734 | } |
1690 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | 1735 | else |
1691 | d.BodyAddForce(Body, 0, 0, fz); | 1736 | { |
1692 | return; | 1737 | _zeroFlag = false; |
1693 | } | 1738 | |
1694 | else | 1739 | // We're flying and colliding with something |
1695 | { | 1740 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); |
1696 | _zeroFlag = false; | 1741 | } |
1697 | 1742 | } | |
1698 | // We're flying and colliding with something | 1743 | |
1699 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 1744 | fx *= m_mass; |
1700 | } | 1745 | fy *= m_mass; |
1701 | } | 1746 | //fz *= m_mass; |
1702 | 1747 | ||
1703 | fx *= m_mass; | 1748 | fx += m_force.X; |
1704 | fy *= m_mass; | 1749 | fy += m_force.Y; |
1705 | //fz *= m_mass; | 1750 | fz += m_force.Z; |
1706 | 1751 | ||
1707 | fx += m_force.X; | 1752 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); |
1708 | fy += m_force.Y; | 1753 | if (fx != 0 || fy != 0 || fz != 0) |
1709 | fz += m_force.Z; | 1754 | { |
1710 | 1755 | //m_taintdisable = true; | |
1711 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | 1756 | //base.RaiseOutOfBounds(Position); |
1712 | if (fx != 0 || fy != 0 || fz != 0) | 1757 | //d.BodySetLinearVel(Body, fx, fy, 0f); |
1713 | { | 1758 | if (!d.BodyIsEnabled(Body)) |
1714 | //m_taintdisable = true; | 1759 | { |
1715 | //base.RaiseOutOfBounds(Position); | 1760 | // A physical body at rest on a surface will auto-disable after a while, |
1716 | //d.BodySetLinearVel(Body, fx, fy, 0f); | 1761 | // this appears to re-enable it incase the surface it is upon vanishes, |
1717 | if (!d.BodyIsEnabled(Body)) | 1762 | // and the body should fall again. |
1718 | { | 1763 | d.BodySetLinearVel(Body, 0f, 0f, 0f); |
1719 | d.BodySetLinearVel(Body, 0f, 0f, 0f); | 1764 | d.BodySetForce(Body, 0, 0, 0); |
1720 | d.BodySetForce(Body, 0, 0, 0); | 1765 | enableBodySoft(); |
1721 | enableBodySoft(); | 1766 | } |
1722 | } | 1767 | |
1723 | 1768 | // 35x10 = 350n times the mass per second applied maximum. | |
1724 | // 35x10 = 350n times the mass per second applied maximum. | 1769 | float nmax = 35f * m_mass; |
1725 | float nmax = 35f * m_mass; | 1770 | float nmin = -35f * m_mass; |
1726 | float nmin = -35f * m_mass; | ||
1727 | 1771 | ||
1728 | 1772 | ||
1729 | if (fx > nmax) | 1773 | if (fx > nmax) |
1730 | fx = nmax; | 1774 | fx = nmax; |
1731 | if (fx < nmin) | 1775 | if (fx < nmin) |
1732 | fx = nmin; | 1776 | fx = nmin; |
1733 | if (fy > nmax) | 1777 | if (fy > nmax) |
1734 | fy = nmax; | 1778 | fy = nmax; |
1735 | if (fy < nmin) | 1779 | if (fy < nmin) |
1736 | fy = nmin; | 1780 | fy = nmin; |
1737 | d.BodyAddForce(Body, fx, fy, fz); | 1781 | d.BodyAddForce(Body, fx, fy, fz); |
1738 | } | 1782 | } |
1739 | if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE) | 1783 | } |
1740 | m_vehicle.Enable(Body, _parent_scene); | ||
1741 | |||
1742 | m_vehicle.Step(timestep); | ||
1743 | } | 1784 | } |
1744 | else | 1785 | else |
1745 | { | 1786 | { // is not physical, or is not a body or is selected |
1746 | // _zeroPosition = d.BodyGetPosition(Body); | 1787 | // _zeroPosition = d.BodyGetPosition(Body); |
1747 | return; | 1788 | return; |
1748 | } | 1789 | } |
1749 | } | 1790 | } |
@@ -1757,14 +1798,22 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1757 | myrot.Y = _orientation.Y; | 1798 | myrot.Y = _orientation.Y; |
1758 | myrot.Z = _orientation.Z; | 1799 | myrot.Z = _orientation.Z; |
1759 | myrot.W = _orientation.W; | 1800 | myrot.W = _orientation.W; |
1760 | d.GeomSetQuaternion(prim_geom, ref myrot); | 1801 | if (Body != IntPtr.Zero) |
1761 | if (m_isphysical && Body != IntPtr.Zero) | ||
1762 | { | 1802 | { |
1803 | // KF: If this is a root prim do BodySet | ||
1763 | d.BodySetQuaternion(Body, ref myrot); | 1804 | d.BodySetQuaternion(Body, ref myrot); |
1764 | if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) | 1805 | if (m_isphysical) |
1765 | createAMotor(m_angularlock); | 1806 | { |
1807 | if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) | ||
1808 | createAMotor(m_angularlock); | ||
1809 | } | ||
1810 | } | ||
1811 | else | ||
1812 | { | ||
1813 | // daughter prim, do Geom set | ||
1814 | d.GeomSetQuaternion(prim_geom, ref myrot); | ||
1766 | } | 1815 | } |
1767 | 1816 | ||
1768 | resetCollisionAccounting(); | 1817 | resetCollisionAccounting(); |
1769 | m_taintrot = _orientation; | 1818 | m_taintrot = _orientation; |
1770 | } | 1819 | } |
@@ -1826,7 +1875,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1826 | m_log.Error("[PHYSICS]: PrimGeom dead"); | 1875 | m_log.Error("[PHYSICS]: PrimGeom dead"); |
1827 | } | 1876 | } |
1828 | } | 1877 | } |
1829 | 1878 | //Console.WriteLine("changePhysicsStatus for " + m_primName ); | |
1830 | changeadd(2f); | 1879 | changeadd(2f); |
1831 | } | 1880 | } |
1832 | if (childPrim) | 1881 | if (childPrim) |
@@ -1904,7 +1953,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1904 | mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); | 1953 | mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); |
1905 | 1954 | ||
1906 | //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); | 1955 | //IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical); |
1907 | 1956 | //Console.WriteLine("changesize 1"); | |
1908 | CreateGeom(m_targetSpace, mesh); | 1957 | CreateGeom(m_targetSpace, mesh); |
1909 | 1958 | ||
1910 | 1959 | ||
@@ -1912,6 +1961,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1912 | else | 1961 | else |
1913 | { | 1962 | { |
1914 | _mesh = null; | 1963 | _mesh = null; |
1964 | //Console.WriteLine("changesize 2"); | ||
1915 | CreateGeom(m_targetSpace, _mesh); | 1965 | CreateGeom(m_targetSpace, _mesh); |
1916 | } | 1966 | } |
1917 | 1967 | ||
@@ -2018,6 +2068,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2018 | else | 2068 | else |
2019 | { | 2069 | { |
2020 | _mesh = null; | 2070 | _mesh = null; |
2071 | //Console.WriteLine("changeshape"); | ||
2021 | CreateGeom(m_targetSpace, null); | 2072 | CreateGeom(m_targetSpace, null); |
2022 | } | 2073 | } |
2023 | 2074 | ||
@@ -2359,7 +2410,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2359 | set | 2410 | set |
2360 | { | 2411 | { |
2361 | if (QuaternionIsFinite(value)) | 2412 | if (QuaternionIsFinite(value)) |
2413 | { | ||
2362 | _orientation = value; | 2414 | _orientation = value; |
2415 | } | ||
2363 | else | 2416 | else |
2364 | m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object"); | 2417 | m_log.Warn("[PHYSICS]: Got NaN quaternion Orientation from Scene in Object"); |
2365 | 2418 | ||
@@ -2578,12 +2631,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2578 | //outofBounds = true; | 2631 | //outofBounds = true; |
2579 | } | 2632 | } |
2580 | 2633 | ||
2634 | float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)); | ||
2635 | //Console.WriteLine("Adiff " + m_primName + " = " + Adiff); | ||
2581 | if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) | 2636 | if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) |
2582 | && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) | 2637 | && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) |
2583 | && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) | 2638 | && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) |
2584 | && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) | 2639 | // && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) |
2640 | && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large | ||
2585 | { | 2641 | { |
2586 | _zeroFlag = true; | 2642 | _zeroFlag = true; |
2643 | //Console.WriteLine("ZFT 2"); | ||
2587 | m_throttleUpdates = false; | 2644 | m_throttleUpdates = false; |
2588 | } | 2645 | } |
2589 | else | 2646 | else |