fix llGetCenterOfMass ( checked with ubitODE only)

1 files changed, 30 insertions, 5 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 2d587ab..c9a453d 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -450,7 +450,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             get

             {

                 d.Vector3 dtmp;

-                if (IsPhysical && !childPrim && Body != IntPtr.Zero)

+                if (!childPrim && Body != IntPtr.Zero)

                 {

                     dtmp = d.BodyGetPosition(Body);

                     return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);

@@ -465,12 +465,38 @@ namespace OpenSim.Region.Physics.OdePlugin
                     q.Z = dq.Z;

                     q.W = dq.W;

 

-                    Vector3 vtmp = primOOBoffset * q;

+                    Vector3 Ptot = primOOBoffset * q;

                     dtmp = d.GeomGetPosition(prim_geom);

-                    return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);

+                    Ptot.X += dtmp.X;

+                    Ptot.Y += dtmp.Y;

+                    Ptot.Z += dtmp.Z;

+

+//                    if(childPrim)  we only know about physical linksets

+                        return Ptot;

+/*

+                    float tmass = _mass;

+                    Ptot *= tmass;

+

+                    float m;

+

+                    foreach (OdePrim prm in childrenPrim)

+                    {

+                        m = prm._mass;

+                        Ptot += prm.CenterOfMass * m;

+                        tmass += m;

+                    }

+

+                    if (tmass == 0)

+                        tmass = 0;

+                    else

+                        tmass = 1.0f / tmass;

+

+                    Ptot *= tmass;

+                    return Ptot;

+ */

                 }

                 else

-                    return Vector3.Zero;

+                    return _position;

             }

         }

         /*

@@ -3490,7 +3516,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                         {

                             d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);

                             d.BodySetLinearVel(Body, vel.X, vel.Y, 0);

-                            return;

                         }

                         else

                         {