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authorDiva Canto2013-07-07 20:44:23 -0700
committerDiva Canto2013-07-07 20:44:23 -0700
commit1e72e1b25831b26dcb8b96fa33a78f0ee6465342 (patch)
tree77cf2fe2fff33555c83122c7accff5b900120101 /OpenSim
parentPrint out caller IP when unusual requests are received. (diff)
parentBulletSim: Different Implementation of Angular Deflection for vehicles, Activ... (diff)
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs78
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs31
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs84
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs8
5 files changed, 89 insertions, 116 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 5ef6992..c9e3ca0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -43,12 +43,10 @@ public sealed class BSCharacter : BSPhysObject
43 private OMV.Vector3 _size; 43 private OMV.Vector3 _size;
44 private bool _grabbed; 44 private bool _grabbed;
45 private bool _selected; 45 private bool _selected;
46 private OMV.Vector3 _position;
47 private float _mass; 46 private float _mass;
48 private float _avatarVolume; 47 private float _avatarVolume;
49 private float _collisionScore; 48 private float _collisionScore;
50 private OMV.Vector3 _acceleration; 49 private OMV.Vector3 _acceleration;
51 private OMV.Quaternion _orientation;
52 private int _physicsActorType; 50 private int _physicsActorType;
53 private bool _isPhysical; 51 private bool _isPhysical;
54 private bool _flying; 52 private bool _flying;
@@ -70,10 +68,10 @@ public sealed class BSCharacter : BSPhysObject
70 : base(parent_scene, localID, avName, "BSCharacter") 68 : base(parent_scene, localID, avName, "BSCharacter")
71 { 69 {
72 _physicsActorType = (int)ActorTypes.Agent; 70 _physicsActorType = (int)ActorTypes.Agent;
73 _position = pos; 71 RawPosition = pos;
74 72
75 _flying = isFlying; 73 _flying = isFlying;
76 _orientation = OMV.Quaternion.Identity; 74 RawOrientation = OMV.Quaternion.Identity;
77 RawVelocity = OMV.Vector3.Zero; 75 RawVelocity = OMV.Vector3.Zero;
78 _buoyancy = ComputeBuoyancyFromFlying(isFlying); 76 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
79 Friction = BSParam.AvatarStandingFriction; 77 Friction = BSParam.AvatarStandingFriction;
@@ -133,7 +131,7 @@ public sealed class BSCharacter : BSPhysObject
133 PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); 131 PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
134 132
135 ZeroMotion(true); 133 ZeroMotion(true);
136 ForcePosition = _position; 134 ForcePosition = RawPosition;
137 135
138 // Set the velocity 136 // Set the velocity
139 if (m_moveActor != null) 137 if (m_moveActor != null)
@@ -272,38 +270,33 @@ public sealed class BSCharacter : BSPhysObject
272 270
273 public override void LockAngularMotion(OMV.Vector3 axis) { return; } 271 public override void LockAngularMotion(OMV.Vector3 axis) { return; }
274 272
275 public override OMV.Vector3 RawPosition
276 {
277 get { return _position; }
278 set { _position = value; }
279 }
280 public override OMV.Vector3 Position { 273 public override OMV.Vector3 Position {
281 get { 274 get {
282 // Don't refetch the position because this function is called a zillion times 275 // Don't refetch the position because this function is called a zillion times
283 // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); 276 // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID);
284 return _position; 277 return RawPosition;
285 } 278 }
286 set { 279 set {
287 _position = value; 280 RawPosition = value;
288 281
289 PhysScene.TaintedObject("BSCharacter.setPosition", delegate() 282 PhysScene.TaintedObject("BSCharacter.setPosition", delegate()
290 { 283 {
291 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 284 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
292 PositionSanityCheck(); 285 PositionSanityCheck();
293 ForcePosition = _position; 286 ForcePosition = RawPosition;
294 }); 287 });
295 } 288 }
296 } 289 }
297 public override OMV.Vector3 ForcePosition { 290 public override OMV.Vector3 ForcePosition {
298 get { 291 get {
299 _position = PhysScene.PE.GetPosition(PhysBody); 292 RawPosition = PhysScene.PE.GetPosition(PhysBody);
300 return _position; 293 return RawPosition;
301 } 294 }
302 set { 295 set {
303 _position = value; 296 RawPosition = value;
304 if (PhysBody.HasPhysicalBody) 297 if (PhysBody.HasPhysicalBody)
305 { 298 {
306 PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); 299 PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
307 } 300 }
308 } 301 }
309 } 302 }
@@ -331,16 +324,16 @@ public sealed class BSCharacter : BSPhysObject
331 float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); 324 float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
332 if (Position.Z < terrainHeight) 325 if (Position.Z < terrainHeight)
333 { 326 {
334 DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); 327 DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
335 _position.Z = terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters; 328 RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters);
336 ret = true; 329 ret = true;
337 } 330 }
338 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) 331 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
339 { 332 {
340 float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); 333 float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
341 if (Position.Z < waterHeight) 334 if (Position.Z < waterHeight)
342 { 335 {
343 _position.Z = waterHeight; 336 RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight);
344 ret = true; 337 ret = true;
345 } 338 }
346 } 339 }
@@ -360,8 +353,8 @@ public sealed class BSCharacter : BSPhysObject
360 // just assign to "Position" because of potential call loops. 353 // just assign to "Position" because of potential call loops.
361 PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() 354 PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
362 { 355 {
363 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); 356 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
364 ForcePosition = _position; 357 ForcePosition = RawPosition;
365 }); 358 });
366 ret = true; 359 ret = true;
367 } 360 }
@@ -466,19 +459,14 @@ public sealed class BSCharacter : BSPhysObject
466 get { return _acceleration; } 459 get { return _acceleration; }
467 set { _acceleration = value; } 460 set { _acceleration = value; }
468 } 461 }
469 public override OMV.Quaternion RawOrientation
470 {
471 get { return _orientation; }
472 set { _orientation = value; }
473 }
474 public override OMV.Quaternion Orientation { 462 public override OMV.Quaternion Orientation {
475 get { return _orientation; } 463 get { return RawOrientation; }
476 set { 464 set {
477 // Orientation is set zillions of times when an avatar is walking. It's like 465 // Orientation is set zillions of times when an avatar is walking. It's like
478 // the viewer doesn't trust us. 466 // the viewer doesn't trust us.
479 if (_orientation != value) 467 if (RawOrientation != value)
480 { 468 {
481 _orientation = value; 469 RawOrientation = value;
482 PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() 470 PhysScene.TaintedObject("BSCharacter.setOrientation", delegate()
483 { 471 {
484 // Bullet assumes we know what we are doing when forcing orientation 472 // Bullet assumes we know what we are doing when forcing orientation
@@ -486,10 +474,10 @@ public sealed class BSCharacter : BSPhysObject
486 // This forces rotation to be only around the Z axis and doesn't change any of the other axis. 474 // This forces rotation to be only around the Z axis and doesn't change any of the other axis.
487 // This keeps us from flipping the capsule over which the veiwer does not understand. 475 // This keeps us from flipping the capsule over which the veiwer does not understand.
488 float oRoll, oPitch, oYaw; 476 float oRoll, oPitch, oYaw;
489 _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); 477 RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw);
490 OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); 478 OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw);
491 // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", 479 // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}",
492 // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, 480 // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation,
493 // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); 481 // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation);
494 ForceOrientation = trimmedOrientation; 482 ForceOrientation = trimmedOrientation;
495 }); 483 });
@@ -501,16 +489,16 @@ public sealed class BSCharacter : BSPhysObject
501 { 489 {
502 get 490 get
503 { 491 {
504 _orientation = PhysScene.PE.GetOrientation(PhysBody); 492 RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
505 return _orientation; 493 return RawOrientation;
506 } 494 }
507 set 495 set
508 { 496 {
509 _orientation = value; 497 RawOrientation = value;
510 if (PhysBody.HasPhysicalBody) 498 if (PhysBody.HasPhysicalBody)
511 { 499 {
512 // _position = PhysicsScene.PE.GetPosition(BSBody); 500 // RawPosition = PhysicsScene.PE.GetPosition(BSBody);
513 PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); 501 PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
514 } 502 }
515 } 503 }
516 } 504 }
@@ -723,9 +711,9 @@ public sealed class BSCharacter : BSPhysObject
723 { 711 {
724 // Don't change position if standing on a stationary object. 712 // Don't change position if standing on a stationary object.
725 if (!IsStationary) 713 if (!IsStationary)
726 _position = entprop.Position; 714 RawPosition = entprop.Position;
727 715
728 _orientation = entprop.Rotation; 716 RawOrientation = entprop.Rotation;
729 717
730 // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar 718 // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
731 // and will send agent updates to the clients if velocity changes by more than 719 // and will send agent updates to the clients if velocity changes by more than
@@ -740,8 +728,8 @@ public sealed class BSCharacter : BSPhysObject
740 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. 728 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
741 if (PositionSanityCheck(true)) 729 if (PositionSanityCheck(true))
742 { 730 {
743 DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); 731 DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
744 entprop.Position = _position; 732 entprop.Position = RawPosition;
745 } 733 }
746 734
747 // remember the current and last set values 735 // remember the current and last set values
@@ -755,7 +743,7 @@ public sealed class BSCharacter : BSPhysObject
755 // base.RequestPhysicsterseUpdate(); 743 // base.RequestPhysicsterseUpdate();
756 744
757 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 745 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
758 LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); 746 LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
759 } 747 }
760} 748}
761} 749}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index c27d3f0..82fe267 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
144 public void SetupVehicleDebugging() 144 public void SetupVehicleDebugging()
145 { 145 {
146 enableAngularVerticalAttraction = true; 146 enableAngularVerticalAttraction = true;
147 enableAngularDeflection = false; 147 enableAngularDeflection = true;
148 enableAngularBanking = true; 148 enableAngularBanking = true;
149 if (BSParam.VehicleDebuggingEnable) 149 if (BSParam.VehicleDebuggingEnable)
150 { 150 {
@@ -173,7 +173,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
173 switch (pParam) 173 switch (pParam)
174 { 174 {
175 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: 175 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
176 m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); 176 m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
177 break; 177 break;
178 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: 178 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
179 m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); 179 m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
@@ -1512,11 +1512,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1512 // in that direction. 1512 // in that direction.
1513 // TODO: implement reference frame. 1513 // TODO: implement reference frame.
1514 public void ComputeAngularDeflection() 1514 public void ComputeAngularDeflection()
1515 { 1515 {
1516 // Since angularMotorUp and angularDeflection are computed independently, they will calculate
1517 // approximately the same X or Y correction. When added together (when contributions are combined)
1518 // this creates an over-correction and then wabbling as the target is overshot.
1519 // TODO: rethink how the different correction computations inter-relate.
1520 1516
1521 if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) 1517 if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
1522 { 1518 {
@@ -1531,10 +1527,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1531 1527
1532 // The direction the vehicle is pointing 1528 // The direction the vehicle is pointing
1533 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; 1529 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
1534 pointingDirection.Normalize(); 1530 //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
1531 // from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
1532 Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
1533 predictedPointingDirection.Normalize();
1535 1534
1536 // The difference between what is and what should be. 1535 // The difference between what is and what should be.
1537 Vector3 deflectionError = movingDirection - pointingDirection; 1536 // Vector3 deflectionError = movingDirection - predictedPointingDirection;
1537 Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection);
1538 1538
1539 // Don't try to correct very large errors (not our job) 1539 // Don't try to correct very large errors (not our job)
1540 // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X); 1540 // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
@@ -1547,15 +1547,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1547 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); 1547 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
1548 1548
1549 // Scale the correction by recovery timescale and efficiency 1549 // Scale the correction by recovery timescale and efficiency
1550 deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; 1550 // Not modeling a spring so clamp the scale to no more then the arc
1551 deflectContributionV /= m_angularDeflectionTimescale; 1551 deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f);
1552 1552 //deflectContributionV /= m_angularDeflectionTimescale;
1553 VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
1554 1553
1554 // VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
1555 VehicleRotationalVelocity += deflectContributionV;
1555 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", 1556 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
1556 ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); 1557 ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
1557 VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", 1558 VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}",
1558 ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); 1559 ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection);
1559 } 1560 }
1560 } 1561 }
1561 1562
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 738e2d0..a41eaf8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -197,10 +197,10 @@ public abstract class BSPhysObject : PhysicsActor
197 // Update the physical location and motion of the object. Called with data from Bullet. 197 // Update the physical location and motion of the object. Called with data from Bullet.
198 public abstract void UpdateProperties(EntityProperties entprop); 198 public abstract void UpdateProperties(EntityProperties entprop);
199 199
200 public abstract OMV.Vector3 RawPosition { get; set; } 200 public virtual OMV.Vector3 RawPosition { get; set; }
201 public abstract OMV.Vector3 ForcePosition { get; set; } 201 public abstract OMV.Vector3 ForcePosition { get; set; }
202 202
203 public abstract OMV.Quaternion RawOrientation { get; set; } 203 public virtual OMV.Quaternion RawOrientation { get; set; }
204 public abstract OMV.Quaternion ForceOrientation { get; set; } 204 public abstract OMV.Quaternion ForceOrientation { get; set; }
205 205
206 public OMV.Vector3 RawVelocity { get; set; } 206 public OMV.Vector3 RawVelocity { get; set; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ce4c3da..d43448e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -51,12 +51,8 @@ public class BSPrim : BSPhysObject
51 private bool _isSelected; 51 private bool _isSelected;
52 private bool _isVolumeDetect; 52 private bool _isVolumeDetect;
53 53
54 // _position is what the simulator thinks the positions of the prim is.
55 private OMV.Vector3 _position;
56
57 private float _mass; // the mass of this object 54 private float _mass; // the mass of this object
58 private OMV.Vector3 _acceleration; 55 private OMV.Vector3 _acceleration;
59 private OMV.Quaternion _orientation;
60 private int _physicsActorType; 56 private int _physicsActorType;
61 private bool _isPhysical; 57 private bool _isPhysical;
62 private bool _flying; 58 private bool _flying;
@@ -88,10 +84,10 @@ public class BSPrim : BSPhysObject
88 { 84 {
89 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); 85 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
90 _physicsActorType = (int)ActorTypes.Prim; 86 _physicsActorType = (int)ActorTypes.Prim;
91 _position = pos; 87 RawPosition = pos;
92 _size = size; 88 _size = size;
93 Scale = size; // prims are the size the user wants them to be (different for BSCharactes). 89 Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
94 _orientation = rotation; 90 RawOrientation = rotation;
95 _buoyancy = 0f; 91 _buoyancy = 0f;
96 RawVelocity = OMV.Vector3.Zero; 92 RawVelocity = OMV.Vector3.Zero;
97 _rotationalVelocity = OMV.Vector3.Zero; 93 _rotationalVelocity = OMV.Vector3.Zero;
@@ -270,46 +266,42 @@ public class BSPrim : BSPhysObject
270 return; 266 return;
271 } 267 }
272 268
273 public override OMV.Vector3 RawPosition
274 {
275 get { return _position; }
276 set { _position = value; }
277 }
278 public override OMV.Vector3 Position { 269 public override OMV.Vector3 Position {
279 get { 270 get {
280 // don't do the GetObjectPosition for root elements because this function is called a zillion times. 271 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
281 // _position = ForcePosition; 272 // RawPosition = ForcePosition;
282 return _position; 273 return RawPosition;
283 } 274 }
284 set { 275 set {
285 // If the position must be forced into the physics engine, use ForcePosition. 276 // If the position must be forced into the physics engine, use ForcePosition.
286 // All positions are given in world positions. 277 // All positions are given in world positions.
287 if (_position == value) 278 if (RawPosition == value)
288 { 279 {
289 DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); 280 DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
290 return; 281 return;
291 } 282 }
292 _position = value; 283 RawPosition = value;
293 PositionSanityCheck(false); 284 PositionSanityCheck(false);
294 285
295 PhysScene.TaintedObject("BSPrim.setPosition", delegate() 286 PhysScene.TaintedObject("BSPrim.setPosition", delegate()
296 { 287 {
297 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 288 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation);
298 ForcePosition = _position; 289 ForcePosition = RawPosition;
299 }); 290 });
300 } 291 }
301 } 292 }
302 293
294 // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity.
303 public override OMV.Vector3 ForcePosition { 295 public override OMV.Vector3 ForcePosition {
304 get { 296 get {
305 _position = PhysScene.PE.GetPosition(PhysBody); 297 RawPosition = PhysScene.PE.GetPosition(PhysBody);
306 return _position; 298 return RawPosition;
307 } 299 }
308 set { 300 set {
309 _position = value; 301 RawPosition = value;
310 if (PhysBody.HasPhysicalBody) 302 if (PhysBody.HasPhysicalBody)
311 { 303 {
312 PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); 304 PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
313 ActivateIfPhysical(false); 305 ActivateIfPhysical(false);
314 } 306 }
315 } 307 }
@@ -343,10 +335,10 @@ public class BSPrim : BSPhysObject
343 float targetHeight = terrainHeight + (Size.Z / 2f); 335 float targetHeight = terrainHeight + (Size.Z / 2f);
344 // If the object is below ground it just has to be moved up because pushing will 336 // If the object is below ground it just has to be moved up because pushing will
345 // not get it through the terrain 337 // not get it through the terrain
346 _position.Z = targetHeight; 338 RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight);
347 if (inTaintTime) 339 if (inTaintTime)
348 { 340 {
349 ForcePosition = _position; 341 ForcePosition = RawPosition;
350 } 342 }
351 // If we are throwing the object around, zero its other forces 343 // If we are throwing the object around, zero its other forces
352 ZeroMotion(inTaintTime); 344 ZeroMotion(inTaintTime);
@@ -355,7 +347,7 @@ public class BSPrim : BSPhysObject
355 347
356 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) 348 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
357 { 349 {
358 float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); 350 float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
359 // TODO: a floating motor so object will bob in the water 351 // TODO: a floating motor so object will bob in the water
360 if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) 352 if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
361 { 353 {
@@ -364,7 +356,7 @@ public class BSPrim : BSPhysObject
364 356
365 // Apply upforce and overcome gravity. 357 // Apply upforce and overcome gravity.
366 OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; 358 OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity;
367 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); 359 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce);
368 AddForce(correctionForce, false, inTaintTime); 360 AddForce(correctionForce, false, inTaintTime);
369 ret = true; 361 ret = true;
370 } 362 }
@@ -383,11 +375,11 @@ public class BSPrim : BSPhysObject
383 uint wayOutThere = Constants.RegionSize * Constants.RegionSize; 375 uint wayOutThere = Constants.RegionSize * Constants.RegionSize;
384 // There have been instances of objects getting thrown way out of bounds and crashing 376 // There have been instances of objects getting thrown way out of bounds and crashing
385 // the border crossing code. 377 // the border crossing code.
386 if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere 378 if ( RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere
387 || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere 379 || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere
388 || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere) 380 || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere)
389 { 381 {
390 _position = new OMV.Vector3(10, 10, 50); 382 RawPosition = new OMV.Vector3(10, 10, 50);
391 ZeroMotion(inTaintTime); 383 ZeroMotion(inTaintTime);
392 ret = true; 384 ret = true;
393 } 385 }
@@ -713,23 +705,19 @@ public class BSPrim : BSPhysObject
713 get { return _acceleration; } 705 get { return _acceleration; }
714 set { _acceleration = value; } 706 set { _acceleration = value; }
715 } 707 }
716 public override OMV.Quaternion RawOrientation 708
717 {
718 get { return _orientation; }
719 set { _orientation = value; }
720 }
721 public override OMV.Quaternion Orientation { 709 public override OMV.Quaternion Orientation {
722 get { 710 get {
723 return _orientation; 711 return RawOrientation;
724 } 712 }
725 set { 713 set {
726 if (_orientation == value) 714 if (RawOrientation == value)
727 return; 715 return;
728 _orientation = value; 716 RawOrientation = value;
729 717
730 PhysScene.TaintedObject("BSPrim.setOrientation", delegate() 718 PhysScene.TaintedObject("BSPrim.setOrientation", delegate()
731 { 719 {
732 ForceOrientation = _orientation; 720 ForceOrientation = RawOrientation;
733 }); 721 });
734 } 722 }
735 } 723 }
@@ -738,14 +726,14 @@ public class BSPrim : BSPhysObject
738 { 726 {
739 get 727 get
740 { 728 {
741 _orientation = PhysScene.PE.GetOrientation(PhysBody); 729 RawOrientation = PhysScene.PE.GetOrientation(PhysBody);
742 return _orientation; 730 return RawOrientation;
743 } 731 }
744 set 732 set
745 { 733 {
746 _orientation = value; 734 RawOrientation = value;
747 if (PhysBody.HasPhysicalBody) 735 if (PhysBody.HasPhysicalBody)
748 PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); 736 PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation);
749 } 737 }
750 } 738 }
751 public override int PhysicsActorType { 739 public override int PhysicsActorType {
@@ -889,7 +877,7 @@ public class BSPrim : BSPhysObject
889 // PhysicsScene.PE.ClearAllForces(BSBody); 877 // PhysicsScene.PE.ClearAllForces(BSBody);
890 878
891 // For good measure, make sure the transform is set through to the motion state 879 // For good measure, make sure the transform is set through to the motion state
892 ForcePosition = _position; 880 ForcePosition = RawPosition;
893 ForceVelocity = RawVelocity; 881 ForceVelocity = RawVelocity;
894 ForceRotationalVelocity = _rotationalVelocity; 882 ForceRotationalVelocity = _rotationalVelocity;
895 883
@@ -1543,8 +1531,8 @@ public class BSPrim : BSPhysObject
1543 // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG 1531 // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
1544 1532
1545 // Assign directly to the local variables so the normal set actions do not happen 1533 // Assign directly to the local variables so the normal set actions do not happen
1546 _position = entprop.Position; 1534 RawPosition = entprop.Position;
1547 _orientation = entprop.Rotation; 1535 RawOrientation = entprop.Rotation;
1548 // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be 1536 // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
1549 // very sensitive to velocity changes. 1537 // very sensitive to velocity changes.
1550 if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold)) 1538 if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
@@ -1557,13 +1545,13 @@ public class BSPrim : BSPhysObject
1557 // The sanity check can change the velocity and/or position. 1545 // The sanity check can change the velocity and/or position.
1558 if (PositionSanityCheck(true /* inTaintTime */ )) 1546 if (PositionSanityCheck(true /* inTaintTime */ ))
1559 { 1547 {
1560 entprop.Position = _position; 1548 entprop.Position = RawPosition;
1561 entprop.Velocity = RawVelocity; 1549 entprop.Velocity = RawVelocity;
1562 entprop.RotationalVelocity = _rotationalVelocity; 1550 entprop.RotationalVelocity = _rotationalVelocity;
1563 entprop.Acceleration = _acceleration; 1551 entprop.Acceleration = _acceleration;
1564 } 1552 }
1565 1553
1566 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG 1554 OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG
1567 DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); 1555 DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
1568 1556
1569 // remember the current and last set values 1557 // remember the current and last set values
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
index 35d5a08..2eb1440 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -23,11 +23,6 @@
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 *
27 * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
28 * are Copyright (c) 2009 Linden Research, Inc and are used under their license
29 * of Creative Commons Attribution-Share Alike 3.0
30 * (http://creativecommons.org/licenses/by-sa/3.0/).
31 */ 26 */
32 27
33using System; 28using System;
@@ -115,7 +110,7 @@ public class BSPrimDisplaced : BSPrim
115 public override Vector3 ForcePosition 110 public override Vector3 ForcePosition
116 { 111 {
117 get { 112 get {
118 OMV.Vector3 physPosition = base.ForcePosition; 113 OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody);
119 if (PositionDisplacement != OMV.Vector3.Zero) 114 if (PositionDisplacement != OMV.Vector3.Zero)
120 { 115 {
121 // If there is some displacement, return the physical position (center-of-mass) 116 // If there is some displacement, return the physical position (center-of-mass)
@@ -125,6 +120,7 @@ public class BSPrimDisplaced : BSPrim
125 LocalID, physPosition, displacement, physPosition - displacement); 120 LocalID, physPosition, displacement, physPosition - displacement);
126 physPosition -= displacement; 121 physPosition -= displacement;
127 } 122 }
123 RawPosition = physPosition;
128 return physPosition; 124 return physPosition;
129 } 125 }
130 set 126 set