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authorTeravus Ovares2009-04-16 08:11:05 +0000
committerTeravus Ovares2009-04-16 08:11:05 +0000
commit8a7a0190e69b466217a9c4cb6eb57abc1f5629ee (patch)
tree6c5b274158af3b89620e2fcdb33513abde9f4ba4 /OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
parent* Committing more BulletDotNETPlugin work (diff)
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* Remove some super experimental stuff in BulletDotNETPlugin since it was causing issues.
* Tweak the ODEPrim PID a bit more.
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/ODEPrim.cs')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs23
1 files changed, 15 insertions, 8 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 92373cd..391f644 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -2733,28 +2733,29 @@ namespace OpenSim.Region.Physics.OdePlugin
2733 2733
2734 2734
2735 2735
2736 /* 2736
2737 // Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again. 2737 // Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again.
2738 d.Mass objMass; 2738 d.Mass objMass;
2739 d.MassSetZero(out objMass); 2739 d.MassSetZero(out objMass);
2740 DMassCopy(ref pMass, ref objMass); 2740 DMassCopy(ref pMass, ref objMass);
2741 2741
2742 m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); 2742 //m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
2743 2743
2744 Matrix4 dMassMat = FromDMass(objMass); 2744 Matrix4 dMassMat = FromDMass(objMass);
2745 2745
2746 Matrix4 mathmat = Inverse(dMassMat); 2746 Matrix4 mathmat = Inverse(dMassMat);
2747 2747
2748 m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]); 2748 /*
2749 //m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]);
2749 2750
2750 mathmat = Inverse(mathmat); 2751 mathmat = Inverse(mathmat);
2751 2752
2752 2753
2753 objMass = FromMatrix4(mathmat, ref objMass); 2754 objMass = FromMatrix4(mathmat, ref objMass);
2754 m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); 2755 //m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
2755 2756
2756 mathmat = Inverse(mathmat); 2757 mathmat = Inverse(mathmat);
2757 2758 */
2758 if (axis.X == 0) 2759 if (axis.X == 0)
2759 { 2760 {
2760 mathmat.M33 = 50.0000001f; 2761 mathmat.M33 = 50.0000001f;
@@ -2775,12 +2776,18 @@ namespace OpenSim.Region.Physics.OdePlugin
2775 2776
2776 mathmat = Inverse(mathmat); 2777 mathmat = Inverse(mathmat);
2777 objMass = FromMatrix4(mathmat, ref objMass); 2778 objMass = FromMatrix4(mathmat, ref objMass);
2778 m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22); 2779 //m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
2779 2780
2780 //return; 2781 //return;
2782 if (d.MassCheck(ref objMass))
2783 {
2784 d.BodySetMass(Body, ref objMass);
2785 }
2786 else
2787 {
2788 //m_log.Debug("[PHYSICS]: Mass invalid, ignoring");
2789 }
2781 2790
2782 d.BodySetMass(Body, ref objMass);
2783 */
2784 if (axisnum <= 0) 2791 if (axisnum <= 0)
2785 return; 2792 return;
2786 int dAMotorEuler = 1; 2793 int dAMotorEuler = 1;