Merge branch 'avination' into careminster

2 files changed, 108 insertions, 21 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index e4f2e6b..87a7e51 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -830,7 +830,10 @@ namespace OpenSim.Region.Physics.OdePlugin
         {

             if (force.IsFinite())

             {

-                AddChange(changes.AddForce, force * m_invTimeStep);

+                if(pushforce)

+                    AddChange(changes.AddForce, force);

+                else // a impulse

+                    AddChange(changes.AddForce, force * m_invTimeStep);

             }

             else

             {

@@ -843,7 +846,10 @@ namespace OpenSim.Region.Physics.OdePlugin
         {

             if (force.IsFinite())

             {

-                AddChange(changes.AddAngForce, force);

+//                if(pushforce)  for now applyrotationimpulse seems more happy applied as a force

+                    AddChange(changes.AddAngForce, force);

+//                else // a impulse

+//                    AddChange(changes.AddAngForce, force * m_invTimeStep);

             }

             else

             {

@@ -3375,9 +3381,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                     d.BodyEnable(Body);

                 }

 

-                // check outside region

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

 

+/*  moved down to UpdateMove... where it belongs again

+

+                // check outside region

+

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

                 {

                     m_outbounds = true;

@@ -3453,7 +3462,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     base.RequestPhysicsterseUpdate();

                     return;

                 }

-

+*/

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

                 {

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

@@ -3507,6 +3516,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         fx = (_target_velocity.X - vel.X) * m_invTimeStep;

                         fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;

                         fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;

+//                        d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);

                     }

                 }        // end if (m_usePID)

 

@@ -3622,6 +3632,83 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                     d.Vector3 lpos = d.GeomGetPosition(prim_geom);

 

+                    // check outside region

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

+                    {

+                        m_outbounds = true;

+

+                        lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);

+                        _acceleration.X = 0;

+                        _acceleration.Y = 0;

+                        _acceleration.Z = 0;

+

+                        _velocity.X = 0;

+                        _velocity.Y = 0;

+                        _velocity.Z = 0;

+                        m_rotationalVelocity.X = 0;

+                        m_rotationalVelocity.Y = 0;

+                        m_rotationalVelocity.Z = 0;

+

+                        d.BodySetLinearVel(Body, 0, 0, 0); // stop it

+                        d.BodySetAngularVel(Body, 0, 0, 0); // stop it

+                        d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere 

+                        m_lastposition = _position;

+                        m_lastorientation = _orientation;

+

+                        base.RequestPhysicsterseUpdate();

+

+                        throttleCounter = 0;

+                        _zeroFlag = true;

+

+                        disableBodySoft(); // disable it and colisions

+                        base.RaiseOutOfBounds(_position);

+                        return;

+                    }

+

+                    if (lpos.X < 0f)

+                    {

+                        _position.X = Util.Clip(lpos.X, -2f, -0.1f);

+                        m_outbounds = true;

+                    }

+                    else if (lpos.X > _parent_scene.WorldExtents.X)

+                    {

+                        _position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);

+                        m_outbounds = true;

+                    }

+                    if (lpos.Y < 0f)

+                    {

+                        _position.Y = Util.Clip(lpos.Y, -2f, -0.1f);

+                        m_outbounds = true;

+                    }

+                    else if (lpos.Y > _parent_scene.WorldExtents.Y)

+                    {

+                        _position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);

+                        m_outbounds = true;

+                    }

+

+                    if (m_outbounds)

+                    {

+                        m_lastposition = _position;

+                        m_lastorientation = _orientation;

+

+                        d.Vector3 dtmp = d.BodyGetAngularVel(Body);

+                        m_rotationalVelocity.X = dtmp.X;

+                        m_rotationalVelocity.Y = dtmp.Y;

+                        m_rotationalVelocity.Z = dtmp.Z;

+

+                        dtmp = d.BodyGetLinearVel(Body);

+                        _velocity.X = dtmp.X;

+                        _velocity.Y = dtmp.Y;

+                        _velocity.Z = dtmp.Z;

+

+                        d.BodySetLinearVel(Body, 0, 0, 0); // stop it

+                        d.BodySetAngularVel(Body, 0, 0, 0);

+                        d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

+                        disableBodySoft(); // stop collisions

+                        base.RequestPhysicsterseUpdate();

+                        return;

+                    }

+

                     d.Quaternion ori;

                     d.GeomCopyQuaternion(prim_geom, out ori);

 

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 84195d3..ca83dd7 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -178,7 +178,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         const float minERP = 0.1f;
         const float comumContactCFM = 0.0001f;
         
-        float frictionMovementMult = 0.3f;
+        float frictionMovementMult = 0.8f;
 
         float TerrainBounce = 0.1f;
         float TerrainFriction = 0.3f;
@@ -820,18 +820,18 @@ namespace OpenSim.Region.Physics.OdePlugin
                     switch (p2.PhysicsActorType)
                     {
                         case (int)ActorTypes.Agent:
-//                            p1.getContactData(ref contactdata1);
-//                            p2.getContactData(ref contactdata2);
+                            //                            p1.getContactData(ref contactdata1);
+                            //                            p2.getContactData(ref contactdata2);
 
                             bounce = 0;
                             mu = 0;
                             cfm = 0.0001f;
-/*
-                            mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
+                            /*
+                                                        mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
 
-                            if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
-                                mu *= frictionMovementMult;
-*/
+                                                        if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
+                                                            mu *= frictionMovementMult;
+                            */
                             dop2foot = true;
                             if (p1.Velocity.LengthSquared() > 0.0f)
                                 p1.CollidingObj = true;
@@ -850,14 +850,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                             cfm = p1.Mass;
                             if (cfm > p2.Mass)
                                 cfm = p2.Mass;
-            dscale = 10 / cfm;
-            dscale = (float)Math.Sqrt(dscale);
-            if (dscale > 1.0f)
-                dscale = 1.0f;
-            erpscale = cfm * 0.01f;
-            cfm = 0.0001f / cfm;
-            if (cfm > 0.01f)
-                cfm = 0.01f;
+                            dscale = 10 / cfm;
+                            dscale = (float)Math.Sqrt(dscale);
+                            if (dscale > 1.0f)
+                                dscale = 1.0f;
+                            erpscale = cfm * 0.01f;
+                            cfm = 0.0001f / cfm;
+                            if (cfm > 0.01f)
+                                cfm = 0.01f;
 
                             if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
                                 mu *= frictionMovementMult;
@@ -898,7 +898,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 }
                             }
                             else
-                                ignore=true;
+                                ignore = true;
                             break;
                     }
                     break;