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authorUbitUmarov2012-05-13 01:28:20 +0100
committerUbitUmarov2012-05-13 01:28:20 +0100
commit9870d7e4e787ca64011ef817ea2ab40310f4cf26 (patch)
treea4c20f59c329249bc361014b254f4a77b17ae0ae /OpenSim/Region/Physics
parent display a sleep time of zero if forced spare time to zero, when sim fps is l... (diff)
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ubitODE fix force in case of mlinear motor offset present
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs9
1 files changed, 5 insertions, 4 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index 56d0f1a..e27be1e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -750,6 +750,9 @@ namespace OpenSim.Region.Physics.OdePlugin
750 { 750 {
751 IntPtr Body = rootPrim.Body; 751 IntPtr Body = rootPrim.Body;
752 752
753 d.Mass dmass;
754 d.BodyGetMass(Body, out dmass);
755
753 d.Quaternion rot = d.BodyGetQuaternion(Body); 756 d.Quaternion rot = d.BodyGetQuaternion(Body);
754 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object 757 Quaternion objrotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
755 Quaternion rotq = objrotq; // rotq = rotation of object 758 Quaternion rotq = objrotq; // rotq = rotation of object
@@ -791,7 +794,7 @@ namespace OpenSim.Region.Physics.OdePlugin
791 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0) 794 if (m_linearMotorOffset.X != 0 || m_linearMotorOffset.Y != 0 || m_linearMotorOffset.Z != 0)
792 { 795 {
793 // have offset, do it now 796 // have offset, do it now
794 tmpV *= rootPrim.Mass; 797 tmpV *= dmass.mass;
795 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z); 798 d.BodyAddForceAtRelPos(Body, tmpV.X, tmpV.Y, tmpV.Z, m_linearMotorOffset.X, m_linearMotorOffset.Y, m_linearMotorOffset.Z);
796 } 799 }
797 else 800 else
@@ -1058,13 +1061,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1058 } 1061 }
1059 1062
1060 1063
1061 d.Mass dmass;
1062 d.BodyGetMass(Body,out dmass);
1063 1064
1064 if (force.X != 0 || force.Y != 0 || force.Z != 0) 1065 if (force.X != 0 || force.Y != 0 || force.Z != 0)
1065 { 1066 {
1066 force *= dmass.mass; 1067 force *= dmass.mass;
1067 d.BodySetForce(Body, force.X, force.Y, force.Z); 1068 d.BodyAddForce(Body, force.X, force.Y, force.Z);
1068 } 1069 }
1069 1070
1070 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0) 1071 if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)