ubitode fix inertia for same cases. Added a nasty lock on llGetCenterOfMass and simulate

2 files changed, 91 insertions, 97 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index c9a453d..2bcce31 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -449,54 +449,57 @@ namespace OpenSim.Region.Physics.OdePlugin
         {

             get

             {

-                d.Vector3 dtmp;

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

-                {

-                    dtmp = d.BodyGetPosition(Body);

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

-                }

-                else if (prim_geom != IntPtr.Zero)

+                lock (_parent_scene.OdeLock)

                 {

-                    d.Quaternion dq;

-                    d.GeomCopyQuaternion(prim_geom, out dq);

-                    Quaternion q;

-                    q.X = dq.X;

-                    q.Y = dq.Y;

-                    q.Z = dq.Z;

-                    q.W = dq.W;

-

-                    Vector3 Ptot = primOOBoffset * q;

-                    dtmp = d.GeomGetPosition(prim_geom);

-                    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)

+                    d.Vector3 dtmp;

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

                     {

-                        m = prm._mass;

-                        Ptot += prm.CenterOfMass * m;

-                        tmass += m;

+                        dtmp = d.BodyGetPosition(Body);

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

+                    }

+                    else if (prim_geom != IntPtr.Zero)

+                    {

+                        d.Quaternion dq;

+                        d.GeomCopyQuaternion(prim_geom, out dq);

+                        Quaternion q;

+                        q.X = dq.X;

+                        q.Y = dq.Y;

+                        q.Z = dq.Z;

+                        q.W = dq.W;

+

+                        Vector3 Ptot = primOOBoffset * q;

+                        dtmp = d.GeomGetPosition(prim_geom);

+                        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;

+                         */

                     }

-

-                    if (tmass == 0)

-                        tmass = 0;

                     else

-                        tmass = 1.0f / tmass;

-

-                    Ptot *= tmass;

-                    return Ptot;

- */

+                        return _position;

                 }

-                else

-                    return _position;

             }

         }

         /*

@@ -1511,7 +1514,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

             Body = IntPtr.Zero;

             hasOOBoffsetFromMesh = false;

-            CalcPrimBodyData();

         }

 /*

         private void ChildSetGeom(OdePrim odePrim)

@@ -1601,7 +1603,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             Body = d.BodyCreate(_parent_scene.world);

 

-            DMassDup(ref primdMass, out objdmass);

+            objdmass = primdMass;

 

             // rotate inertia

             myrot.X = _orientation.X;

@@ -1623,9 +1625,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.Mass tmpdmass = new d.Mass { };

                 Vector3 rcm;

 

-                rcm.X = _position.X + objdmass.c.X;

-                rcm.Y = _position.Y + objdmass.c.Y;

-                rcm.Z = _position.Z + objdmass.c.Z;

+                rcm.X = _position.X;

+                rcm.Y = _position.Y;

+                rcm.Z = _position.Z;

 

                 lock (childrenPrim)

                 {

@@ -1637,7 +1639,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             continue;

                         }

 

-                        DMassCopy(ref prm.primdMass, ref tmpdmass);

+                        tmpdmass = prm.primdMass;

 

                         // apply prim current rotation to inertia

                         quat.X = prm._orientation.X;

@@ -1648,10 +1650,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                         d.MassRotate(ref tmpdmass, ref mat);

 

                         Vector3 ppos = prm._position;

-                        ppos.X += tmpdmass.c.X - rcm.X;

-                        ppos.Y += tmpdmass.c.Y - rcm.Y;

-                        ppos.Z += tmpdmass.c.Z - rcm.Z;

-

+                        ppos.X -= rcm.X;

+                        ppos.Y -= rcm.Y;

+                        ppos.Z -= rcm.Z;

                         // refer inertia to root prim center of mass position

                         d.MassTranslate(ref tmpdmass,

                             ppos.X,

@@ -1683,9 +1684,13 @@ namespace OpenSim.Region.Physics.OdePlugin
             d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);

 

             d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body

-            myrot.W = -myrot.W;

+            myrot.X = -myrot.X;

+            myrot.Y = -myrot.Y;

+            myrot.Z = -myrot.Z;

+

             d.RfromQ(out mymat, ref myrot);

             d.MassRotate(ref objdmass, ref mymat);

+

             d.BodySetMass(Body, ref objdmass);

             _mass = objdmass.mass;

 

@@ -2237,7 +2242,33 @@ namespace OpenSim.Region.Physics.OdePlugin
                 case ProfileShape.HalfCircle:

                     if (_pbs.PathCurve == (byte)Extrusion.Curve1)

                     {

-                        volume *= 0.52359877559829887307710723054658f;

+                        volume *= 0.5236f;

+

+                        if (hollowAmount > 0.0)

+                        {

+                            hollowVolume *= hollowAmount;

+

+                            switch (_pbs.HollowShape)

+                            {

+                                case HollowShape.Circle:

+                                case HollowShape.Triangle:  // diference in sl is minor and odd

+                                case HollowShape.Same:

+                                    break;

+

+                                case HollowShape.Square:

+                                    hollowVolume *= 0.909f;

+                                    break;

+

+                                //                                case HollowShape.Triangle:

+                                //                                    hollowVolume *= .827f;

+                                //                                    break;

+                                default:

+                                    hollowVolume = 0;

+                                    break;

+                            }

+                            volume *= (1.0f - hollowVolume);

+                        }

+

                     }

                     break;

 

@@ -3704,24 +3735,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             return true;

         }

 

-        internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)

-        {

-            dst.c.W = src.c.W;

-            dst.c.X = src.c.X;

-            dst.c.Y = src.c.Y;

-            dst.c.Z = src.c.Z;

-            dst.mass = src.mass;

-            dst.I.M00 = src.I.M00;

-            dst.I.M01 = src.I.M01;

-            dst.I.M02 = src.I.M02;

-            dst.I.M10 = src.I.M10;

-            dst.I.M11 = src.I.M11;

-            dst.I.M12 = src.I.M12;

-            dst.I.M20 = src.I.M20;

-            dst.I.M21 = src.I.M21;

-            dst.I.M22 = src.I.M22;

-        }

-

         internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)

         {

             // assumes object center of mass is zero

@@ -3745,25 +3758,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             theobj.I.M22 -= part.I.M22;

         }

 

-        private static void DMassDup(ref d.Mass src, out d.Mass dst)

-        {

-            dst = new d.Mass { };

-

-            dst.c.W = src.c.W;

-            dst.c.X = src.c.X;

-            dst.c.Y = src.c.Y;

-            dst.c.Z = src.c.Z;

-            dst.mass = src.mass;

-            dst.I.M00 = src.I.M00;

-            dst.I.M01 = src.I.M01;

-            dst.I.M02 = src.I.M02;

-            dst.I.M10 = src.I.M10;

-            dst.I.M11 = src.I.M11;

-            dst.I.M12 = src.I.M12;

-            dst.I.M20 = src.I.M20;

-            dst.I.M21 = src.I.M21;

-            dst.I.M22 = src.I.M22;

-        }

         private void donullchange()

         {

         }

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index fa3d33e..84195d3 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -301,7 +301,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         // split static geometry collision into a grid as before
         private IntPtr[,] staticPrimspace;
 
-        private Object OdeLock;
+        public Object OdeLock;
         private static Object SimulationLock;
 
         public IMesher mesher;
@@ -746,8 +746,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         );
             // do volume detection case
             if (
-                (p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
-                                (p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
+                (p1.IsVolumeDtc || p2.IsVolumeDtc))
             {
                 collision_accounting_events(p1, p2, maxDepthContact);
                 return;
@@ -1024,9 +1023,9 @@ namespace OpenSim.Region.Physics.OdePlugin
             bool p1events = p1.SubscribedEvents();
             bool p2events = p2.SubscribedEvents();
 
-            if (p1 is OdePrim && p1.IsVolumeDtc)
+            if (p1.IsVolumeDtc)
                 p2events = false;
-            if (p2 is OdePrim && p2.IsVolumeDtc)
+            if (p2.IsVolumeDtc)
                 p1events = false;
 
             if (!(p2events || p1events))
@@ -1725,6 +1724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 //            checkThread();
 
             lock (SimulationLock)
+                lock(OdeLock)
             {
                 // adjust number of iterations per step
                 try