ubitODE: prims - update managed dinamic parameters from unmanaged at ODE rate and not heartbeat.

1 files changed, 46 insertions, 78 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 32c4722..5467b9f 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -3228,17 +3228,13 @@ namespace OpenSim.Region.Physics.OdePlugin
         {

             if (!childPrim && m_isphysical && Body != IntPtr.Zero &&

                 !m_disabled && !m_isSelected && !m_building && !m_outbounds)

-            //                  !m_disabled && !m_isSelected && !m_building && !m_outbounds)

             {

-                //                if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009

-

                 if (d.BodyIsEnabled(Body))

                 {

                     float timestep = _parent_scene.ODE_STEPSIZE;

 

                     // check outside region

-                    d.Vector3 lpos;

-                    d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator

+                    d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator

 

                     if (lpos.Z < -100 || lpos.Z > 100000f)

                     {

@@ -3321,12 +3317,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     {

                         // 'VEHICLES' are dealt with in ODEDynamics.cs

                         m_vehicle.Step();

-                        return;

                     }

-

                     else

                     {

-

                         float fx = 0;

                         float fy = 0;

                         float fz = 0;

@@ -3512,10 +3505,39 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {

                             d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);

                         }

-

                     }

+

+                    // update our ideia of velocities and acelerations

+                    d.Quaternion ori;

+                    d.Vector3 dtmpu;

+

+                    _position.X = lpos.X;

+                    _position.Y = lpos.Y;

+                    _position.Z = lpos.Z;

+

+                    d.GeomCopyQuaternion(prim_geom, out ori);

+                    _orientation.X = ori.X;

+                    _orientation.Y = ori.Y;

+                    _orientation.Z = ori.Z;

+                    _orientation.W = ori.W;

+

+                    _acceleration = _velocity;

+

+                    dtmpu = d.BodyGetLinearVel(Body);

+                    _velocity.X = dtmpu.X;

+                    _velocity.Y = dtmpu.Y;

+                    _velocity.Z = dtmpu.Z;

+

+                    float invts = 1 / timestep;

+                    _acceleration = (_velocity - _acceleration) * invts;

+

+                    dtmpu = d.BodyGetAngularVel(Body);

+                    m_rotationalVelocity.X = dtmpu.X;

+                    m_rotationalVelocity.Y = dtmpu.Y;

+                    m_rotationalVelocity.Z = dtmpu.Z;

                 }

-                else // body disabled

+

+                else // body disabled/sleeping

                 {

                     // let vehicles sleep

                     if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)

@@ -3546,36 +3568,23 @@ namespace OpenSim.Region.Physics.OdePlugin
             {

                 if (Body != IntPtr.Zero)

                 {

-                    Vector3 pv = Vector3.Zero;

                     bool lastZeroFlag = _zeroFlag;

 

-                    d.Vector3 lpos;

-                    d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator

-

-

-                    d.Quaternion ori;

-                    d.GeomCopyQuaternion(prim_geom, out ori);

-                    d.Vector3 vel = d.BodyGetLinearVel(Body);

-                    d.Vector3 rotvel = d.BodyGetAngularVel(Body);

-

-                    if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)

-                        && (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)

-                        && (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)

-                        && (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)

-                        && (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)

-                        && (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)

+                    if ((Math.Abs(m_lastposition.X - _position.X) < 0.01)

+                        && (Math.Abs(m_lastposition.Y - _position.Y) < 0.01)

+                        && (Math.Abs(m_lastposition.Z - _position.Z) < 0.01)

+                        && (Math.Abs(m_lastorientation.X - _orientation.X) < 0.0001)

+                        && (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001)

+                        && (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)

                         )

                     {

                         _zeroFlag = true;

-                        //Console.WriteLine("ZFT 2");

                         m_throttleUpdates = false;

                     }

                     else

                     {

-                        //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());

                         _zeroFlag = false;

                         m_lastUpdateSent = false;

-                        //m_throttleUpdates = false;

                     }

 

                     if (_zeroFlag)

@@ -3583,22 +3592,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                         m_lastposition = _position;

                         m_lastorientation = _orientation;

 

-                        _velocity.X = 0.0f;

-                        _velocity.Y = 0.0f;

-                        _velocity.Z = 0.0f;

+                        _velocity = Vector3.Zero;

+                        _acceleration = Vector3.Zero;

+                        m_rotationalVelocity = Vector3.Zero;

 

-                        _acceleration.X = 0;

-                        _acceleration.Y = 0;

-                        _acceleration.Z = 0;

-

-                        m_rotationalVelocity.X = 0;

-                        m_rotationalVelocity.Y = 0;

-                        m_rotationalVelocity.Z = 0;

                         if (!m_lastUpdateSent)

                         {

                             m_throttleUpdates = false;

                             throttleCounter = 0;

-                            m_rotationalVelocity = pv;

 

                             base.RequestPhysicsterseUpdate();

 

@@ -3612,39 +3613,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                             base.RequestPhysicsterseUpdate();

                         }

 

-                        m_lastVelocity = _velocity;

-

-                        _position.X = lpos.X;

-                        _position.Y = lpos.Y;

-                        _position.Z = lpos.Z;

-

-                        _velocity.X = vel.X;

-                        _velocity.Y = vel.Y;

-                        _velocity.Z = vel.Z;

-

-                        _orientation.X = ori.X;

-                        _orientation.Y = ori.Y;

-                        _orientation.Z = ori.Z;

-                        _orientation.W = ori.W;

-

-                        _acceleration = ((_velocity - m_lastVelocity) / simulatedtime);

-

-                        if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))

-                        {

-                            m_rotationalVelocity = pv;

-                        }

-                        else

-                        {

-                            m_rotationalVelocity.X = rotvel.X;

-                            m_rotationalVelocity.Y = rotvel.Y;

-                            m_rotationalVelocity.Z = rotvel.Z;

-                        }

-

                         m_lastUpdateSent = false;

                         if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)

                         {

                             m_lastposition = _position;

                             m_lastorientation = _orientation;

+                            m_lastVelocity = _velocity;

                             base.RequestPhysicsterseUpdate();

                         }

                         else

@@ -3656,17 +3630,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                 else if (!m_lastUpdateSent || !_zeroFlag)

                 {

                     // Not a body..   so Make sure the client isn't interpolating

-                    _velocity.X = 0;

-                    _velocity.Y = 0;

-                    _velocity.Z = 0;

-

-                    _acceleration.X = 0;

-                    _acceleration.Y = 0;

-                    _acceleration.Z = 0;

+                    _velocity = Vector3.Zero;

+                    _acceleration = Vector3.Zero;

+                    m_rotationalVelocity = Vector3.Zero;

+                    m_lastVelocity = Vector3.Zero;

 

-                    m_rotationalVelocity.X = 0;

-                    m_rotationalVelocity.Y = 0;

-                    m_rotationalVelocity.Z = 0;

                     _zeroFlag = true;

 

                     if (!m_lastUpdateSent)