ubitODE + physmanager: - Revised use of ODE collisions categories and bits(flags) for better use as filters together with top spaces (for example physical prims are on topactivespace and not physical are on topstaticspace) - Added new world raycast with filters. This blocks calling thread with a timeout of 500ms waiting for heartbeat ode thread signal job done. - Don't let ode bodies being disabled for 2 long except for vehicles. This is necessary to detect when the object is at rest at top of other and that is removed. Assume that vehicles can be enabled by used action.

1 files changed, 21 insertions, 8 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 4266fda..b9bb06e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -115,12 +115,10 @@ namespace OpenSim.Region.Physics.OdePlugin
         private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
 
         // Default, Collide with Other Geometries, spaces, bodies and characters.
-        private CollisionCategories m_collisionFlags = (CollisionCategories.Geom
-                                                        | CollisionCategories.Space
-                                                        | CollisionCategories.Body
-                                                        | CollisionCategories.Character
+        private CollisionCategories m_collisionFlags = (CollisionCategories.Character
+                                                        | CollisionCategories.Geom
                                                         );
-        // we do land collisions not ode                                                       | CollisionCategories.Land);
+        // we do land collisions not ode                | CollisionCategories.Land);
         public IntPtr Body = IntPtr.Zero;
         private OdeScene _parent_scene;
         public IntPtr Shell = IntPtr.Zero;
@@ -639,6 +637,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void SetMomentum(Vector3 momentum)
         {
+            if (momentum.IsFinite())
+                AddChange(changes.Momentum, momentum);
         }
 
 
@@ -663,8 +663,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
             Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
 
-            d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
-            d.GeomSetCollideBits(Shell, (int)m_collisionFlags);
+            d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
+            d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
 
             d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
 
@@ -759,7 +759,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 _parent_scene.geom_name_map.Remove(Shell);
                 _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
                 d.GeomDestroy(Shell);
-                _parent_scene.geom_name_map.Remove(Shell);
                 Shell = IntPtr.Zero;
             }
         }
@@ -1324,6 +1323,16 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        // for now momentum is actually velocity
+        private void changeMomentum(Vector3 newmomentum)
+        {
+            _velocity = newmomentum;
+            _target_velocity = newmomentum;
+            m_pidControllerActive = true;
+            if (Body != IntPtr.Zero)
+                d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
+        }
+
         private void donullchange()
         {
         }
@@ -1395,6 +1404,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                 case changes.Size:
                     changeSize((Vector3)arg);
                     break;
+
+                case changes.Momentum:
+                    changeMomentum((Vector3)arg);
+                    break;
 /* not in use for now
                 case changes.Shape:
                     changeShape((PrimitiveBaseShape)arg);