diff options
author | Jeff Ames | 2008-05-16 01:22:11 +0000 |
---|---|---|
committer | Jeff Ames | 2008-05-16 01:22:11 +0000 |
commit | 65c5efe43b68700bad94076d4cd421160203c5de (patch) | |
tree | 589b56649ed02f4942671fd6e51c6dc43f682e0d /OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |
parent | Thank you very much, mjm for : (diff) | |
download | opensim-SC_OLD-65c5efe43b68700bad94076d4cd421160203c5de.zip opensim-SC_OLD-65c5efe43b68700bad94076d4cd421160203c5de.tar.gz opensim-SC_OLD-65c5efe43b68700bad94076d4cd421160203c5de.tar.bz2 opensim-SC_OLD-65c5efe43b68700bad94076d4cd421160203c5de.tar.xz |
Formatting cleanup.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 226 |
1 files changed, 113 insertions, 113 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 37a8b77..f1886e4 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -111,7 +111,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
111 | private IntPtr _linkJointGroup = (IntPtr)0; | 111 | private IntPtr _linkJointGroup = (IntPtr)0; |
112 | private PhysicsActor _parent = null; | 112 | private PhysicsActor _parent = null; |
113 | private PhysicsActor m_taintparent = null; | 113 | private PhysicsActor m_taintparent = null; |
114 | 114 | ||
115 | private bool iscolliding = false; | 115 | private bool iscolliding = false; |
116 | private bool m_isphysical = false; | 116 | private bool m_isphysical = false; |
117 | private bool m_isSelected = false; | 117 | private bool m_isSelected = false; |
@@ -202,7 +202,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
202 | m_taintadd = true; | 202 | m_taintadd = true; |
203 | _parent_scene.AddPhysicsActorTaint(this); | 203 | _parent_scene.AddPhysicsActorTaint(this); |
204 | // don't do .add() here; old geoms get recycled with the same hash | 204 | // don't do .add() here; old geoms get recycled with the same hash |
205 | 205 | ||
206 | } | 206 | } |
207 | 207 | ||
208 | public override int PhysicsActorType | 208 | public override int PhysicsActorType |
@@ -232,9 +232,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
232 | public override bool Selected | 232 | public override bool Selected |
233 | { | 233 | { |
234 | set { | 234 | set { |
235 | // This only makes the object not collidable if the object | 235 | // This only makes the object not collidable if the object |
236 | // is physical or the object is modified somehow *IN THE FUTURE* | 236 | // is physical or the object is modified somehow *IN THE FUTURE* |
237 | // without this, if an avatar selects prim, they can walk right | 237 | // without this, if an avatar selects prim, they can walk right |
238 | // through it while it's selected | 238 | // through it while it's selected |
239 | 239 | ||
240 | if ((m_isphysical && !_zeroFlag) || !value) | 240 | if ((m_isphysical && !_zeroFlag) || !value) |
@@ -262,7 +262,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
262 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); | 262 | d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); |
263 | } | 263 | } |
264 | //m_log.Warn("Setting Geom to: " + prim_geom); | 264 | //m_log.Warn("Setting Geom to: " + prim_geom); |
265 | 265 | ||
266 | } | 266 | } |
267 | 267 | ||
268 | public void enableBodySoft() | 268 | public void enableBodySoft() |
@@ -277,7 +277,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
277 | public void disableBodySoft() | 277 | public void disableBodySoft() |
278 | { | 278 | { |
279 | m_disabled = true; | 279 | m_disabled = true; |
280 | 280 | ||
281 | if (m_isphysical) | 281 | if (m_isphysical) |
282 | if (Body != (IntPtr)0) | 282 | if (Body != (IntPtr)0) |
283 | d.BodyDisable(Body); | 283 | d.BodyDisable(Body); |
@@ -307,7 +307,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
307 | 307 | ||
308 | d.BodySetAutoDisableFlag(Body, true); | 308 | d.BodySetAutoDisableFlag(Body, true); |
309 | d.BodySetAutoDisableSteps(Body, 20); | 309 | d.BodySetAutoDisableSteps(Body, 20); |
310 | 310 | ||
311 | m_interpenetrationcount = 0; | 311 | m_interpenetrationcount = 0; |
312 | m_collisionscore = 0; | 312 | m_collisionscore = 0; |
313 | m_disabled = false; | 313 | m_disabled = false; |
@@ -327,7 +327,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
327 | { | 327 | { |
328 | float volume = 0; | 328 | float volume = 0; |
329 | 329 | ||
330 | // No material is passed to the physics engines yet.. soo.. | 330 | // No material is passed to the physics engines yet.. soo.. |
331 | // we're using the m_density constant in the class definition | 331 | // we're using the m_density constant in the class definition |
332 | 332 | ||
333 | 333 | ||
@@ -340,7 +340,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
340 | 340 | ||
341 | volume = _size.X*_size.Y*_size.Z; | 341 | volume = _size.X*_size.Y*_size.Z; |
342 | 342 | ||
343 | // If the user has 'hollowed out' | 343 | // If the user has 'hollowed out' |
344 | // ProfileHollow is one of those 0 to 50000 values :P | 344 | // ProfileHollow is one of those 0 to 50000 values :P |
345 | // we like percentages better.. so turning into a percentage | 345 | // we like percentages better.. so turning into a percentage |
346 | 346 | ||
@@ -415,7 +415,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
415 | // We don't know what the shape is yet, so use default | 415 | // We don't know what the shape is yet, so use default |
416 | volume = _size.X * _size.Y * _size.Z; | 416 | volume = _size.X * _size.Y * _size.Z; |
417 | } | 417 | } |
418 | // If the user has 'hollowed out' | 418 | // If the user has 'hollowed out' |
419 | // ProfileHollow is one of those 0 to 50000 values :P | 419 | // ProfileHollow is one of those 0 to 50000 values :P |
420 | // we like percentages better.. so turning into a percentage | 420 | // we like percentages better.. so turning into a percentage |
421 | 421 | ||
@@ -427,8 +427,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
427 | float hollowVolume = 0; | 427 | float hollowVolume = 0; |
428 | switch (_pbs.HollowShape) | 428 | switch (_pbs.HollowShape) |
429 | { | 429 | { |
430 | 430 | ||
431 | case HollowShape.Same: | 431 | case HollowShape.Same: |
432 | case HollowShape.Circle: | 432 | case HollowShape.Circle: |
433 | // Hollow shape is a perfect cyllinder in respect to the cube's scale | 433 | // Hollow shape is a perfect cyllinder in respect to the cube's scale |
434 | // Cyllinder hollow volume calculation | 434 | // Cyllinder hollow volume calculation |
@@ -447,7 +447,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
447 | hollowVolume = hollowsizex * hollowsizey * hollowsizez; | 447 | hollowVolume = hollowsizex * hollowsizey * hollowsizez; |
448 | break; | 448 | break; |
449 | 449 | ||
450 | 450 | ||
451 | 451 | ||
452 | case HollowShape.Triangle: | 452 | case HollowShape.Triangle: |
453 | // Equilateral Triangular Prism volume hollow calculation | 453 | // Equilateral Triangular Prism volume hollow calculation |
@@ -465,7 +465,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
465 | volume = volume - hollowVolume; | 465 | volume = volume - hollowVolume; |
466 | } | 466 | } |
467 | break; | 467 | break; |
468 | 468 | ||
469 | case ProfileShape.HalfCircle: | 469 | case ProfileShape.HalfCircle: |
470 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 470 | if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
471 | { | 471 | { |
@@ -490,13 +490,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
490 | } | 490 | } |
491 | break; | 491 | break; |
492 | case ProfileShape.EquilateralTriangle: | 492 | case ProfileShape.EquilateralTriangle: |
493 | /* | 493 | /* |
494 | v = (abs((xB*yA-xA*yB)+(xC*yB-xB*yC)+(xA*yC-xC*yA))/2) * h | 494 | v = (abs((xB*yA-xA*yB)+(xC*yB-xB*yC)+(xA*yC-xC*yA))/2) * h |
495 | 495 | ||
496 | // seed mesh | 496 | // seed mesh |
497 | Vertex MM = new Vertex(-0.25f, -0.45f, 0.0f); | 497 | Vertex MM = new Vertex(-0.25f, -0.45f, 0.0f); |
498 | Vertex PM = new Vertex(+0.5f, 0f, 0.0f); | 498 | Vertex PM = new Vertex(+0.5f, 0f, 0.0f); |
499 | Vertex PP = new Vertex(-0.25f, +0.45f, 0.0f); | 499 | Vertex PP = new Vertex(-0.25f, +0.45f, 0.0f); |
500 | */ | 500 | */ |
501 | float xA = -0.25f * _size.X; | 501 | float xA = -0.25f * _size.X; |
502 | float yA = -0.45f * _size.Y; | 502 | float yA = -0.45f * _size.Y; |
@@ -509,7 +509,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
509 | 509 | ||
510 | volume = (float)((Math.Abs((xB * yA - xA * yB) + (xC * yB - xB * yC) + (xA * yC - xC * yA)) / 2) * _size.Z); | 510 | volume = (float)((Math.Abs((xB * yA - xA * yB) + (xC * yB - xB * yC) + (xA * yC - xC * yA)) / 2) * _size.Z); |
511 | 511 | ||
512 | // If the user has 'hollowed out' | 512 | // If the user has 'hollowed out' |
513 | // ProfileHollow is one of those 0 to 50000 values :P | 513 | // ProfileHollow is one of those 0 to 50000 values :P |
514 | // we like percentages better.. so turning into a percentage | 514 | // we like percentages better.. so turning into a percentage |
515 | float fhollowFactor = ((float)_pbs.ProfileHollow / 1.9f); | 515 | float fhollowFactor = ((float)_pbs.ProfileHollow / 1.9f); |
@@ -521,7 +521,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
521 | float hollowVolume = 0; | 521 | float hollowVolume = 0; |
522 | switch (_pbs.HollowShape) | 522 | switch (_pbs.HollowShape) |
523 | { | 523 | { |
524 | 524 | ||
525 | case HollowShape.Same: | 525 | case HollowShape.Same: |
526 | case HollowShape.Triangle: | 526 | case HollowShape.Triangle: |
527 | // Equilateral Triangular Prism volume hollow calculation | 527 | // Equilateral Triangular Prism volume hollow calculation |
@@ -550,7 +550,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
550 | hollowVolume = ((float)((Math.PI * Math.Pow(hRadius, 2) * hLength)/2) * hollowAmount); | 550 | hollowVolume = ((float)((Math.PI * Math.Pow(hRadius, 2) * hLength)/2) * hollowAmount); |
551 | break; | 551 | break; |
552 | 552 | ||
553 | 553 | ||
554 | default: | 554 | default: |
555 | hollowVolume = 0; | 555 | hollowVolume = 0; |
556 | break; | 556 | break; |
@@ -560,7 +560,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
560 | break; | 560 | break; |
561 | 561 | ||
562 | default: | 562 | default: |
563 | // we don't have all of the volume formulas yet so | 563 | // we don't have all of the volume formulas yet so |
564 | // use the common volume formula for all | 564 | // use the common volume formula for all |
565 | volume = _size.X*_size.Y*_size.Z; | 565 | volume = _size.X*_size.Y*_size.Z; |
566 | break; | 566 | break; |
@@ -568,7 +568,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
568 | 568 | ||
569 | // Calculate Path cut effect on volume | 569 | // Calculate Path cut effect on volume |
570 | // Not exact, in the triangle hollow example | 570 | // Not exact, in the triangle hollow example |
571 | // They should never be zero or less then zero.. | 571 | // They should never be zero or less then zero.. |
572 | // we'll ignore it if it's less then zero | 572 | // we'll ignore it if it's less then zero |
573 | 573 | ||
574 | // ProfileEnd and ProfileBegin are values | 574 | // ProfileEnd and ProfileBegin are values |
@@ -672,11 +672,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
672 | 672 | ||
673 | public void setMesh(OdeScene parent_scene, IMesh mesh) | 673 | public void setMesh(OdeScene parent_scene, IMesh mesh) |
674 | { | 674 | { |
675 | // This sleeper is there to moderate how long it takes between | 675 | // This sleeper is there to moderate how long it takes between |
676 | // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object | 676 | // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object |
677 | 677 | ||
678 | Thread.Sleep(10); | 678 | Thread.Sleep(10); |
679 | 679 | ||
680 | //Kill Body so that mesh can re-make the geom | 680 | //Kill Body so that mesh can re-make the geom |
681 | if (IsPhysical && Body != (IntPtr) 0) | 681 | if (IsPhysical && Body != (IntPtr) 0) |
682 | { | 682 | { |
@@ -694,9 +694,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
694 | 3*sizeof (int)); | 694 | 3*sizeof (int)); |
695 | d.GeomTriMeshDataPreprocess(_triMeshData); | 695 | d.GeomTriMeshDataPreprocess(_triMeshData); |
696 | 696 | ||
697 | 697 | ||
698 | _parent_scene.waitForSpaceUnlock(m_targetSpace); | 698 | _parent_scene.waitForSpaceUnlock(m_targetSpace); |
699 | 699 | ||
700 | try | 700 | try |
701 | { | 701 | { |
702 | if (prim_geom == (IntPtr)0) | 702 | if (prim_geom == (IntPtr)0) |
@@ -706,7 +706,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
706 | } | 706 | } |
707 | catch (AccessViolationException) | 707 | catch (AccessViolationException) |
708 | { | 708 | { |
709 | 709 | ||
710 | m_log.Error("[PHYSICS]: MESH LOCKED"); | 710 | m_log.Error("[PHYSICS]: MESH LOCKED"); |
711 | return; | 711 | return; |
712 | } | 712 | } |
@@ -715,7 +715,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
715 | // Recreate the body | 715 | // Recreate the body |
716 | m_interpenetrationcount = 0; | 716 | m_interpenetrationcount = 0; |
717 | m_collisionscore = 0; | 717 | m_collisionscore = 0; |
718 | 718 | ||
719 | enableBody(); | 719 | enableBody(); |
720 | 720 | ||
721 | } | 721 | } |
@@ -724,7 +724,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
724 | public void ProcessTaints(float timestep) | 724 | public void ProcessTaints(float timestep) |
725 | { | 725 | { |
726 | 726 | ||
727 | 727 | ||
728 | if (m_taintadd) | 728 | if (m_taintadd) |
729 | { | 729 | { |
730 | changeadd(timestep); | 730 | changeadd(timestep); |
@@ -779,7 +779,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
779 | } | 779 | } |
780 | 780 | ||
781 | private void changeAngularLock(float timestep) | 781 | private void changeAngularLock(float timestep) |
782 | { | 782 | { |
783 | // do we have a Physical object? | 783 | // do we have a Physical object? |
784 | if (Body != IntPtr.Zero) | 784 | if (Body != IntPtr.Zero) |
785 | { | 785 | { |
@@ -809,7 +809,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
809 | 809 | ||
810 | private void changelink(float timestep) | 810 | private void changelink(float timestep) |
811 | { | 811 | { |
812 | 812 | ||
813 | if (_parent == null && m_taintparent != null) | 813 | if (_parent == null && m_taintparent != null) |
814 | { | 814 | { |
815 | if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) | 815 | if (m_taintparent.PhysicsActorType == (int)ActorTypes.Prim) |
@@ -834,14 +834,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
834 | m_linkJoint = (IntPtr)0; | 834 | m_linkJoint = (IntPtr)0; |
835 | 835 | ||
836 | } | 836 | } |
837 | 837 | ||
838 | 838 | ||
839 | _parent = m_taintparent; | 839 | _parent = m_taintparent; |
840 | } | 840 | } |
841 | 841 | ||
842 | private void changeSelectedStatus(float timestep) | 842 | private void changeSelectedStatus(float timestep) |
843 | { | 843 | { |
844 | 844 | ||
845 | if (m_taintselected) | 845 | if (m_taintselected) |
846 | { | 846 | { |
847 | 847 | ||
@@ -849,9 +849,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
849 | m_collisionCategories = CollisionCategories.Selected; | 849 | m_collisionCategories = CollisionCategories.Selected; |
850 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); | 850 | m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space); |
851 | 851 | ||
852 | // We do the body disable soft twice because 'in theory' a collision could have happened | 852 | // We do the body disable soft twice because 'in theory' a collision could have happened |
853 | // in between the disabling and the collision properties setting | 853 | // in between the disabling and the collision properties setting |
854 | // which would wake the physical body up from a soft disabling and potentially cause it to fall | 854 | // which would wake the physical body up from a soft disabling and potentially cause it to fall |
855 | // through the ground. | 855 | // through the ground. |
856 | 856 | ||
857 | if (m_isphysical) | 857 | if (m_isphysical) |
@@ -873,9 +873,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
873 | } | 873 | } |
874 | else | 874 | else |
875 | { | 875 | { |
876 | 876 | ||
877 | m_collisionCategories = CollisionCategories.Geom; | 877 | m_collisionCategories = CollisionCategories.Geom; |
878 | 878 | ||
879 | if (m_isphysical) | 879 | if (m_isphysical) |
880 | m_collisionCategories |= CollisionCategories.Body; | 880 | m_collisionCategories |= CollisionCategories.Body; |
881 | 881 | ||
@@ -898,10 +898,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
898 | enableBodySoft(); | 898 | enableBodySoft(); |
899 | } | 899 | } |
900 | 900 | ||
901 | 901 | ||
902 | } | 902 | } |
903 | 903 | ||
904 | 904 | ||
905 | resetCollisionAccounting(); | 905 | resetCollisionAccounting(); |
906 | m_isSelected = m_taintselected; | 906 | m_isSelected = m_taintselected; |
907 | } | 907 | } |
@@ -918,21 +918,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
918 | m_taintselected = m_isSelected; | 918 | m_taintselected = m_isSelected; |
919 | 919 | ||
920 | m_taintsize = _size; | 920 | m_taintsize = _size; |
921 | 921 | ||
922 | 922 | ||
923 | m_taintshape = false; | 923 | m_taintshape = false; |
924 | 924 | ||
925 | m_taintforce = false; | 925 | m_taintforce = false; |
926 | 926 | ||
927 | m_taintdisable = false; | 927 | m_taintdisable = false; |
928 | 928 | ||
929 | m_taintVelocity = PhysicsVector.Zero; | 929 | m_taintVelocity = PhysicsVector.Zero; |
930 | } | 930 | } |
931 | public void changeadd(float timestep) | 931 | public void changeadd(float timestep) |
932 | { | 932 | { |
933 | 933 | ||
934 | 934 | ||
935 | 935 | ||
936 | int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | 936 | int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); |
937 | IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); | 937 | IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); |
938 | 938 | ||
@@ -941,7 +941,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
941 | 941 | ||
942 | m_targetSpace = targetspace; | 942 | m_targetSpace = targetspace; |
943 | 943 | ||
944 | 944 | ||
945 | 945 | ||
946 | if (_mesh != null) | 946 | if (_mesh != null) |
947 | { | 947 | { |
@@ -1010,7 +1010,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1010 | { | 1010 | { |
1011 | m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); | 1011 | m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); |
1012 | ode.dunlock(_parent_scene.world); | 1012 | ode.dunlock(_parent_scene.world); |
1013 | return; | 1013 | return; |
1014 | } | 1014 | } |
1015 | } | 1015 | } |
1016 | } | 1016 | } |
@@ -1060,7 +1060,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1060 | 1060 | ||
1061 | 1061 | ||
1062 | } | 1062 | } |
1063 | 1063 | ||
1064 | _parent_scene.geom_name_map[prim_geom] = this.m_primName; | 1064 | _parent_scene.geom_name_map[prim_geom] = this.m_primName; |
1065 | _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; | 1065 | _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; |
1066 | 1066 | ||
@@ -1072,7 +1072,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1072 | } | 1072 | } |
1073 | public void changemove(float timestep) | 1073 | public void changemove(float timestep) |
1074 | { | 1074 | { |
1075 | 1075 | ||
1076 | 1076 | ||
1077 | 1077 | ||
1078 | if (m_isphysical) | 1078 | if (m_isphysical) |
@@ -1080,7 +1080,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1080 | // This is a fallback.. May no longer be necessary. | 1080 | // This is a fallback.. May no longer be necessary. |
1081 | if (Body == (IntPtr) 0) | 1081 | if (Body == (IntPtr) 0) |
1082 | enableBody(); | 1082 | enableBody(); |
1083 | //Prim auto disable after 20 frames, | 1083 | //Prim auto disable after 20 frames, |
1084 | //if you move it, re-enable the prim manually. | 1084 | //if you move it, re-enable the prim manually. |
1085 | if (_parent != null) | 1085 | if (_parent != null) |
1086 | { | 1086 | { |
@@ -1102,7 +1102,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1102 | } | 1102 | } |
1103 | } | 1103 | } |
1104 | d.BodyEnable(Body); | 1104 | d.BodyEnable(Body); |
1105 | 1105 | ||
1106 | } | 1106 | } |
1107 | else | 1107 | else |
1108 | { | 1108 | { |
@@ -1122,10 +1122,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1122 | d.SpaceAdd(m_targetSpace, prim_geom); | 1122 | d.SpaceAdd(m_targetSpace, prim_geom); |
1123 | } | 1123 | } |
1124 | } | 1124 | } |
1125 | 1125 | ||
1126 | 1126 | ||
1127 | changeSelectedStatus(timestep); | 1127 | changeSelectedStatus(timestep); |
1128 | 1128 | ||
1129 | resetCollisionAccounting(); | 1129 | resetCollisionAccounting(); |
1130 | m_taintposition = _position; | 1130 | m_taintposition = _position; |
1131 | } | 1131 | } |
@@ -1140,42 +1140,42 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1140 | { | 1140 | { |
1141 | float PID_D = 2200.0f; | 1141 | float PID_D = 2200.0f; |
1142 | //float PID_P = 900.0f; | 1142 | //float PID_P = 900.0f; |
1143 | 1143 | ||
1144 | 1144 | ||
1145 | float m_mass = CalculateMass(); | 1145 | float m_mass = CalculateMass(); |
1146 | 1146 | ||
1147 | fz = 0f; | 1147 | fz = 0f; |
1148 | //m_log.Info(m_collisionFlags.ToString()); | 1148 | //m_log.Info(m_collisionFlags.ToString()); |
1149 | 1149 | ||
1150 | 1150 | ||
1151 | 1151 | ||
1152 | 1152 | ||
1153 | if (m_buoyancy != 0) | 1153 | if (m_buoyancy != 0) |
1154 | { | 1154 | { |
1155 | 1155 | ||
1156 | if (m_buoyancy > 0) | 1156 | if (m_buoyancy > 0) |
1157 | { | 1157 | { |
1158 | fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); | 1158 | fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); |
1159 | 1159 | ||
1160 | //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); | 1160 | //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); |
1161 | //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); | 1161 | //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); |
1162 | } | 1162 | } |
1163 | else | 1163 | else |
1164 | { | 1164 | { |
1165 | fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); | 1165 | fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); |
1166 | } | 1166 | } |
1167 | 1167 | ||
1168 | 1168 | ||
1169 | } | 1169 | } |
1170 | 1170 | ||
1171 | if (m_usePID) | 1171 | if (m_usePID) |
1172 | { | 1172 | { |
1173 | // If we're using the PID controller, then we have no gravity | 1173 | // If we're using the PID controller, then we have no gravity |
1174 | fz = (-1 * _parent_scene.gravityz) * this.Mass; | 1174 | fz = (-1 * _parent_scene.gravityz) * this.Mass; |
1175 | 1175 | ||
1176 | // no lock; for now it's only called from within Simulate() | 1176 | // no lock; for now it's only called from within Simulate() |
1177 | 1177 | ||
1178 | // If the PID Controller isn't active then we set our force | 1178 | // If the PID Controller isn't active then we set our force |
1179 | // calculating base velocity to the current position | 1179 | // calculating base velocity to the current position |
1180 | if (Environment.OSVersion.Platform == PlatformID.Unix) | 1180 | if (Environment.OSVersion.Platform == PlatformID.Unix) |
1181 | { | 1181 | { |
@@ -1189,7 +1189,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1189 | } | 1189 | } |
1190 | PID_D = 35f; | 1190 | PID_D = 35f; |
1191 | 1191 | ||
1192 | 1192 | ||
1193 | //PID_P = 1.0f; | 1193 | //PID_P = 1.0f; |
1194 | float PID_G = 25; | 1194 | float PID_G = 25; |
1195 | 1195 | ||
@@ -1197,7 +1197,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1197 | { | 1197 | { |
1198 | PID_G = PID_G / m_PIDTau; | 1198 | PID_G = PID_G / m_PIDTau; |
1199 | } | 1199 | } |
1200 | 1200 | ||
1201 | 1201 | ||
1202 | if ((PID_G - m_PIDTau) <= 0) | 1202 | if ((PID_G - m_PIDTau) <= 0) |
1203 | { | 1203 | { |
@@ -1205,15 +1205,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1205 | } | 1205 | } |
1206 | //PidStatus = true; | 1206 | //PidStatus = true; |
1207 | 1207 | ||
1208 | 1208 | ||
1209 | 1209 | ||
1210 | 1210 | ||
1211 | PhysicsVector vec = new PhysicsVector(); | 1211 | PhysicsVector vec = new PhysicsVector(); |
1212 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 1212 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
1213 | 1213 | ||
1214 | 1214 | ||
1215 | d.Vector3 pos = d.BodyGetPosition(Body); | 1215 | d.Vector3 pos = d.BodyGetPosition(Body); |
1216 | _target_velocity = | 1216 | _target_velocity = |
1217 | new PhysicsVector( | 1217 | new PhysicsVector( |
1218 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), | 1218 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), |
1219 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), | 1219 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), |
@@ -1222,18 +1222,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1222 | 1222 | ||
1223 | 1223 | ||
1224 | // if velocity is zero, use position control; otherwise, velocity control | 1224 | // if velocity is zero, use position control; otherwise, velocity control |
1225 | 1225 | ||
1226 | if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f)) | 1226 | if (_target_velocity.IsIdentical(PhysicsVector.Zero,0.1f)) |
1227 | { | 1227 | { |
1228 | // keep track of where we stopped. No more slippin' & slidin' | 1228 | // keep track of where we stopped. No more slippin' & slidin' |
1229 | 1229 | ||
1230 | 1230 | ||
1231 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 1231 | // We only want to deactivate the PID Controller if we think we want to have our surrogate |
1232 | // react to the physics scene by moving it's position. | 1232 | // react to the physics scene by moving it's position. |
1233 | // Avatar to Avatar collisions | 1233 | // Avatar to Avatar collisions |
1234 | // Prim to avatar collisions | 1234 | // Prim to avatar collisions |
1235 | 1235 | ||
1236 | 1236 | ||
1237 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); | 1237 | //fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2); |
1238 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); | 1238 | //fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2); |
1239 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; | 1239 | //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; |
@@ -1245,27 +1245,27 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1245 | } | 1245 | } |
1246 | else | 1246 | else |
1247 | { | 1247 | { |
1248 | 1248 | ||
1249 | _zeroFlag = false; | 1249 | _zeroFlag = false; |
1250 | 1250 | ||
1251 | // We're flying and colliding with something | 1251 | // We're flying and colliding with something |
1252 | fx = ((_target_velocity.X) - vel.X) * (PID_D); | 1252 | fx = ((_target_velocity.X) - vel.X) * (PID_D); |
1253 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); | 1253 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); |
1254 | |||
1255 | 1254 | ||
1256 | 1255 | ||
1257 | 1256 | ||
1257 | |||
1258 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; | 1258 | // vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P; |
1259 | 1259 | ||
1260 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 1260 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); |
1261 | } | 1261 | } |
1262 | 1262 | ||
1263 | } | 1263 | } |
1264 | 1264 | ||
1265 | fx *= m_mass; | 1265 | fx *= m_mass; |
1266 | fy *= m_mass; | 1266 | fy *= m_mass; |
1267 | //fz *= m_mass; | 1267 | //fz *= m_mass; |
1268 | 1268 | ||
1269 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); | 1269 | //m_log.Info("[OBJPID]: X:" + fx.ToString() + " Y:" + fy.ToString() + " Z:" + fz.ToString()); |
1270 | if (fx != 0 || fy != 0 || fz != 0) | 1270 | if (fx != 0 || fy != 0 || fz != 0) |
1271 | { | 1271 | { |
@@ -1285,7 +1285,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1285 | 1285 | ||
1286 | public void rotate(float timestep) | 1286 | public void rotate(float timestep) |
1287 | { | 1287 | { |
1288 | 1288 | ||
1289 | 1289 | ||
1290 | d.Quaternion myrot = new d.Quaternion(); | 1290 | d.Quaternion myrot = new d.Quaternion(); |
1291 | myrot.W = _orientation.w; | 1291 | myrot.W = _orientation.w; |
@@ -1299,7 +1299,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1299 | if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) | 1299 | if (!m_angularlock.IsIdentical(new PhysicsVector(1, 1, 1), 0)) |
1300 | createAMotor(m_angularlock); | 1300 | createAMotor(m_angularlock); |
1301 | } | 1301 | } |
1302 | 1302 | ||
1303 | resetCollisionAccounting(); | 1303 | resetCollisionAccounting(); |
1304 | m_taintrot = _orientation; | 1304 | m_taintrot = _orientation; |
1305 | } | 1305 | } |
@@ -1313,21 +1313,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1313 | 1313 | ||
1314 | public void changedisable(float timestep) | 1314 | public void changedisable(float timestep) |
1315 | { | 1315 | { |
1316 | 1316 | ||
1317 | m_disabled = true; | 1317 | m_disabled = true; |
1318 | if (Body != (IntPtr)0) | 1318 | if (Body != (IntPtr)0) |
1319 | { | 1319 | { |
1320 | d.BodyDisable(Body); | 1320 | d.BodyDisable(Body); |
1321 | Body = (IntPtr)0; | 1321 | Body = (IntPtr)0; |
1322 | } | 1322 | } |
1323 | 1323 | ||
1324 | 1324 | ||
1325 | m_taintdisable = false; | 1325 | m_taintdisable = false; |
1326 | } | 1326 | } |
1327 | 1327 | ||
1328 | public void changePhysicsStatus(float timestep) | 1328 | public void changePhysicsStatus(float timestep) |
1329 | { | 1329 | { |
1330 | 1330 | ||
1331 | 1331 | ||
1332 | if (m_isphysical == true) | 1332 | if (m_isphysical == true) |
1333 | { | 1333 | { |
@@ -1352,7 +1352,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1352 | 1352 | ||
1353 | public void changesize(float timestamp) | 1353 | public void changesize(float timestamp) |
1354 | { | 1354 | { |
1355 | 1355 | ||
1356 | //if (!_parent_scene.geom_name_map.ContainsKey(prim_geom)) | 1356 | //if (!_parent_scene.geom_name_map.ContainsKey(prim_geom)) |
1357 | //{ | 1357 | //{ |
1358 | // m_taintsize = _size; | 1358 | // m_taintsize = _size; |
@@ -1369,7 +1369,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1369 | { | 1369 | { |
1370 | // Cleanup meshing here | 1370 | // Cleanup meshing here |
1371 | } | 1371 | } |
1372 | //kill body to rebuild | 1372 | //kill body to rebuild |
1373 | if (IsPhysical && Body != (IntPtr) 0) | 1373 | if (IsPhysical && Body != (IntPtr) 0) |
1374 | { | 1374 | { |
1375 | disableBody(); | 1375 | disableBody(); |
@@ -1531,7 +1531,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1531 | { | 1531 | { |
1532 | m_collisionFlags |= CollisionCategories.Water; | 1532 | m_collisionFlags |= CollisionCategories.Water; |
1533 | } | 1533 | } |
1534 | else | 1534 | else |
1535 | { | 1535 | { |
1536 | m_collisionFlags &= ~CollisionCategories.Water; | 1536 | m_collisionFlags &= ~CollisionCategories.Water; |
1537 | } | 1537 | } |
@@ -1541,7 +1541,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1541 | 1541 | ||
1542 | public void changeshape(float timestamp) | 1542 | public void changeshape(float timestamp) |
1543 | { | 1543 | { |
1544 | 1544 | ||
1545 | string oldname = _parent_scene.geom_name_map[prim_geom]; | 1545 | string oldname = _parent_scene.geom_name_map[prim_geom]; |
1546 | 1546 | ||
1547 | // Cleanup of old prim geometry and Bodies | 1547 | // Cleanup of old prim geometry and Bodies |
@@ -1579,7 +1579,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1579 | // Re creates body on size. | 1579 | // Re creates body on size. |
1580 | // EnableBody also does setMass() | 1580 | // EnableBody also does setMass() |
1581 | enableBody(); | 1581 | enableBody(); |
1582 | 1582 | ||
1583 | } | 1583 | } |
1584 | } | 1584 | } |
1585 | else | 1585 | else |
@@ -1684,7 +1684,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1684 | d.BodyEnable(Body); | 1684 | d.BodyEnable(Body); |
1685 | } | 1685 | } |
1686 | } | 1686 | } |
1687 | 1687 | ||
1688 | 1688 | ||
1689 | _parent_scene.geom_name_map[prim_geom] = oldname; | 1689 | _parent_scene.geom_name_map[prim_geom] = oldname; |
1690 | 1690 | ||
@@ -1698,7 +1698,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1698 | { | 1698 | { |
1699 | if (!m_isSelected) | 1699 | if (!m_isSelected) |
1700 | { | 1700 | { |
1701 | 1701 | ||
1702 | 1702 | ||
1703 | 1703 | ||
1704 | lock (m_forcelist) | 1704 | lock (m_forcelist) |
@@ -1728,7 +1728,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1728 | { | 1728 | { |
1729 | if (!m_isSelected) | 1729 | if (!m_isSelected) |
1730 | { | 1730 | { |
1731 | 1731 | ||
1732 | 1732 | ||
1733 | Thread.Sleep(20); | 1733 | Thread.Sleep(20); |
1734 | if (IsPhysical) | 1734 | if (IsPhysical) |
@@ -1737,8 +1737,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1737 | { | 1737 | { |
1738 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); | 1738 | d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); |
1739 | } | 1739 | } |
1740 | } | 1740 | } |
1741 | 1741 | ||
1742 | //resetCollisionAccounting(); | 1742 | //resetCollisionAccounting(); |
1743 | } | 1743 | } |
1744 | m_taintVelocity = PhysicsVector.Zero; | 1744 | m_taintVelocity = PhysicsVector.Zero; |
@@ -1794,7 +1794,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1794 | { | 1794 | { |
1795 | get { return _position; } | 1795 | get { return _position; } |
1796 | 1796 | ||
1797 | set { _position = value; | 1797 | set { _position = value; |
1798 | //m_log.Info("[PHYSICS]: " + _position.ToString()); | 1798 | //m_log.Info("[PHYSICS]: " + _position.ToString()); |
1799 | } | 1799 | } |
1800 | } | 1800 | } |
@@ -1838,7 +1838,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1838 | { | 1838 | { |
1839 | get | 1839 | get |
1840 | { | 1840 | { |
1841 | // Averate previous velocity with the new one so | 1841 | // Averate previous velocity with the new one so |
1842 | // client object interpolation works a 'little' better | 1842 | // client object interpolation works a 'little' better |
1843 | PhysicsVector returnVelocity = new PhysicsVector(); | 1843 | PhysicsVector returnVelocity = new PhysicsVector(); |
1844 | returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2; | 1844 | returnVelocity.X = (m_lastVelocity.X + _velocity.X)/2; |
@@ -1849,7 +1849,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1849 | set | 1849 | set |
1850 | { | 1850 | { |
1851 | _velocity = value; | 1851 | _velocity = value; |
1852 | 1852 | ||
1853 | m_taintVelocity = value; | 1853 | m_taintVelocity = value; |
1854 | _parent_scene.AddPhysicsActorTaint(this); | 1854 | _parent_scene.AddPhysicsActorTaint(this); |
1855 | } | 1855 | } |
@@ -1898,11 +1898,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1898 | if (_zeroFlag) | 1898 | if (_zeroFlag) |
1899 | return pv; | 1899 | return pv; |
1900 | m_lastUpdateSent = false; | 1900 | m_lastUpdateSent = false; |
1901 | 1901 | ||
1902 | if (m_rotationalVelocity.IsIdentical(pv, 0.2f)) | 1902 | if (m_rotationalVelocity.IsIdentical(pv, 0.2f)) |
1903 | return pv; | 1903 | return pv; |
1904 | 1904 | ||
1905 | return m_rotationalVelocity; | 1905 | return m_rotationalVelocity; |
1906 | } | 1906 | } |
1907 | set { m_rotationalVelocity = value; } | 1907 | set { m_rotationalVelocity = value; } |
1908 | } | 1908 | } |
@@ -1948,7 +1948,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1948 | } | 1948 | } |
1949 | 1949 | ||
1950 | public void UpdatePositionAndVelocity() | 1950 | public void UpdatePositionAndVelocity() |
1951 | { | 1951 | { |
1952 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! | 1952 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! |
1953 | if (_parent != null) | 1953 | if (_parent != null) |
1954 | { | 1954 | { |
@@ -1963,7 +1963,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1963 | d.Quaternion ori = d.BodyGetQuaternion(Body); | 1963 | d.Quaternion ori = d.BodyGetQuaternion(Body); |
1964 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 1964 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
1965 | d.Vector3 rotvel = d.BodyGetAngularVel(Body); | 1965 | d.Vector3 rotvel = d.BodyGetAngularVel(Body); |
1966 | 1966 | ||
1967 | PhysicsVector l_position = new PhysicsVector(); | 1967 | PhysicsVector l_position = new PhysicsVector(); |
1968 | 1968 | ||
1969 | // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) | 1969 | // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) |
@@ -2000,16 +2000,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2000 | 2000 | ||
2001 | if (l_position.Z < 0) | 2001 | if (l_position.Z < 0) |
2002 | { | 2002 | { |
2003 | // This is so prim that get lost underground don't fall forever and suck up | 2003 | // This is so prim that get lost underground don't fall forever and suck up |
2004 | // | 2004 | // |
2005 | // Sim resources and memory. | 2005 | // Sim resources and memory. |
2006 | // Disables the prim's movement physics.... | 2006 | // Disables the prim's movement physics.... |
2007 | // It's a hack and will generate a console message if it fails. | 2007 | // It's a hack and will generate a console message if it fails. |
2008 | 2008 | ||
2009 | //IsPhysical = false; | 2009 | //IsPhysical = false; |
2010 | if (_parent == null) | 2010 | if (_parent == null) |
2011 | base.RaiseOutOfBounds(_position); | 2011 | base.RaiseOutOfBounds(_position); |
2012 | 2012 | ||
2013 | _acceleration.X = 0; | 2013 | _acceleration.X = 0; |
2014 | _acceleration.Y = 0; | 2014 | _acceleration.Y = 0; |
2015 | _acceleration.Z = 0; | 2015 | _acceleration.Z = 0; |
@@ -2020,10 +2020,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2020 | m_rotationalVelocity.X = 0; | 2020 | m_rotationalVelocity.X = 0; |
2021 | m_rotationalVelocity.Y = 0; | 2021 | m_rotationalVelocity.Y = 0; |
2022 | m_rotationalVelocity.Z = 0; | 2022 | m_rotationalVelocity.Z = 0; |
2023 | 2023 | ||
2024 | if (_parent == null) | 2024 | if (_parent == null) |
2025 | base.RequestPhysicsterseUpdate(); | 2025 | base.RequestPhysicsterseUpdate(); |
2026 | 2026 | ||
2027 | m_throttleUpdates = false; | 2027 | m_throttleUpdates = false; |
2028 | throttleCounter = 0; | 2028 | throttleCounter = 0; |
2029 | _zeroFlag = true; | 2029 | _zeroFlag = true; |
@@ -2065,10 +2065,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2065 | m_throttleUpdates = false; | 2065 | m_throttleUpdates = false; |
2066 | throttleCounter = 0; | 2066 | throttleCounter = 0; |
2067 | m_rotationalVelocity = pv; | 2067 | m_rotationalVelocity = pv; |
2068 | 2068 | ||
2069 | if (_parent == null) | 2069 | if (_parent == null) |
2070 | base.RequestPhysicsterseUpdate(); | 2070 | base.RequestPhysicsterseUpdate(); |
2071 | 2071 | ||
2072 | m_lastUpdateSent = true; | 2072 | m_lastUpdateSent = true; |
2073 | } | 2073 | } |
2074 | } | 2074 | } |
@@ -2087,11 +2087,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2087 | _velocity.X = vel.X; | 2087 | _velocity.X = vel.X; |
2088 | _velocity.Y = vel.Y; | 2088 | _velocity.Y = vel.Y; |
2089 | _velocity.Z = vel.Z; | 2089 | _velocity.Z = vel.Z; |
2090 | 2090 | ||
2091 | _acceleration = ((_velocity - m_lastVelocity) / 0.1f); | 2091 | _acceleration = ((_velocity - m_lastVelocity) / 0.1f); |
2092 | _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); | 2092 | _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); |
2093 | //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); | 2093 | //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); |
2094 | 2094 | ||
2095 | if (_velocity.IsIdentical(pv, 0.5f)) | 2095 | if (_velocity.IsIdentical(pv, 0.5f)) |
2096 | { | 2096 | { |
2097 | m_rotationalVelocity = pv; | 2097 | m_rotationalVelocity = pv; |
@@ -2173,7 +2173,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2173 | { | 2173 | { |
2174 | m_tensor = 5f; | 2174 | m_tensor = 5f; |
2175 | } | 2175 | } |
2176 | 2176 | ||
2177 | float axisnum = 3; | 2177 | float axisnum = 3; |
2178 | 2178 | ||
2179 | axisnum = (axisnum - (axis.X + axis.Y + axis.Z)); | 2179 | axisnum = (axisnum - (axis.X + axis.Y + axis.Z)); |
@@ -2222,7 +2222,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2222 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f); | 2222 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f); |
2223 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f); | 2223 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f); |
2224 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f); | 2224 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f); |
2225 | 2225 | ||
2226 | d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); | 2226 | d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); |
2227 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax, m_tensor); | 2227 | d.JointSetAMotorParam(Amotor, (int)dParam.FMax, m_tensor); |
2228 | } | 2228 | } |