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authorTeravus Ovares2009-04-17 04:34:52 +0000
committerTeravus Ovares2009-04-17 04:34:52 +0000
commit0d00a767bc9d1d6aae20c31131cd2e4e6ed62418 (patch)
treee72b735905d97e3bcf114bf3ef9febfb587e8b17 /OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
parent* minor: Eliminate redundant argument in PreloadUserCache (diff)
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* Commit a few fixes to the Vehicle settings
* Vertical Attractor servo
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/ODEPrim.cs')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs29
1 files changed, 18 insertions, 11 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 391f644..adb559a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -66,6 +66,7 @@ namespace OpenSim.Region.Physics.OdePlugin
66 private IntPtr Amotor = IntPtr.Zero; 66 private IntPtr Amotor = IntPtr.Zero;
67 67
68 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0); 68 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
69 private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
69 private float m_PIDTau = 0f; 70 private float m_PIDTau = 0f;
70 private float PID_D = 35f; 71 private float PID_D = 35f;
71 private float PID_G = 25f; 72 private float PID_G = 25f;
@@ -908,6 +909,8 @@ namespace OpenSim.Region.Physics.OdePlugin
908 909
909 if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) 910 if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
910 changeAngularLock(timestep); 911 changeAngularLock(timestep);
912
913
911 } 914 }
912 else 915 else
913 { 916 {
@@ -915,6 +918,7 @@ namespace OpenSim.Region.Physics.OdePlugin
915 } 918 }
916 } 919 }
917 920
921
918 private void changeAngularLock(float timestep) 922 private void changeAngularLock(float timestep)
919 { 923 {
920 // do we have a Physical object? 924 // do we have a Physical object?
@@ -1470,6 +1474,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1470 } 1474 }
1471 } 1475 }
1472 d.BodyEnable(Body); 1476 d.BodyEnable(Body);
1477 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1478 {
1479 m_vehicle.Enable(Body, _parent_scene);
1480 }
1473 } 1481 }
1474 else 1482 else
1475 { 1483 {
@@ -1550,6 +1558,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1550 1558
1551 if (m_usePID) 1559 if (m_usePID)
1552 { 1560 {
1561
1553 //if (!d.BodyIsEnabled(Body)) 1562 //if (!d.BodyIsEnabled(Body))
1554 //d.BodySetForce(Body, 0f, 0f, 0f); 1563 //d.BodySetForce(Body, 0f, 0f, 0f);
1555 // If we're using the PID controller, then we have no gravity 1564 // If we're using the PID controller, then we have no gravity
@@ -1737,6 +1746,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1737 fy = nmin; 1746 fy = nmin;
1738 d.BodyAddForce(Body, fx, fy, fz); 1747 d.BodyAddForce(Body, fx, fy, fz);
1739 } 1748 }
1749 if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE)
1750 m_vehicle.Enable(Body, _parent_scene);
1740 1751
1741 m_vehicle.Step(timestep); 1752 m_vehicle.Step(timestep);
1742 } 1753 }
@@ -1747,6 +1758,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1747 } 1758 }
1748 } 1759 }
1749 1760
1761
1762
1750 public void rotate(float timestep) 1763 public void rotate(float timestep)
1751 { 1764 {
1752 d.Quaternion myrot = new d.Quaternion(); 1765 d.Quaternion myrot = new d.Quaternion();
@@ -2701,8 +2714,10 @@ namespace OpenSim.Region.Physics.OdePlugin
2701 set 2714 set
2702 { 2715 {
2703 if (PhysicsVector.isFinite(value)) 2716 if (PhysicsVector.isFinite(value))
2704 m_PIDTarget = value; 2717 {
2705 else 2718 m_PIDTarget = value;
2719 }
2720 else
2706 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object"); 2721 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
2707 } 2722 }
2708 } 2723 }
@@ -3062,15 +3077,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3062 return det; 3077 return det;
3063 3078
3064 } 3079 }
3065 private static float Determinant(Matrix4 matrix) 3080
3066 {
3067 float det = 0;
3068
3069 for (int j = 0; j < 4; j++)
3070 det += (matrix[0, j] * Determinant(Minor(matrix, 0, j)) * (int)System.Math.Pow(-1, 0 + j));
3071 return det;
3072 }
3073
3074 private static void DMassCopy(ref d.Mass src, ref d.Mass dst) 3081 private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3075 { 3082 {
3076 dst.c.W = src.c.W; 3083 dst.c.W = src.c.W;