ubitODE: - don't try to hover underground unless volumedetector (that doesn't colide with it)

1 files changed, 93 insertions, 47 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 5467b9f..49766f8 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -68,9 +68,17 @@ namespace OpenSim.Region.Physics.OdePlugin
         private bool m_fakeisphysical;

         private bool m_isphantom;

         private bool m_fakeisphantom;

+        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively

+        private bool m_fakeisVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively

 

         protected bool m_building;

         protected bool m_forcePosOrRotation;

+        private bool m_iscolliding;

+

+        internal bool m_isSelected;

+        private bool m_delaySelect;

+        private bool m_lastdoneSelected;

+        internal bool m_outbounds;

 

         private Quaternion m_lastorientation = new Quaternion();

         private Quaternion _orientation;

@@ -153,14 +161,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         private List<OdePrim> childrenPrim = new List<OdePrim>();

 

-        private bool m_iscolliding;

-

-        public bool m_isSelected;

-        private bool m_delaySelect;

-        private bool m_lastdoneSelected;

-        public bool m_outbounds;

-

-        internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively

 

         private bool m_throttleUpdates;

         private int throttleCounter;

@@ -223,9 +223,12 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         public override bool IsVolumeDtc

         {

-            set { return; }

-            get { return m_isVolumeDetect; }

-

+            get { return m_fakeisVolumeDetect; }

+            set

+            {

+                m_fakeisVolumeDetect = value;

+                AddChange(changes.VolumeDtc, value);

+            }

         }

 

 

@@ -234,10 +237,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             get { return m_fakeisphantom; }

             set

             {

-                m_fakeisphantom = value; // we show imediatly to outside that we changed physical

-                // and also to stop imediatly some updates

-                // but real change will only happen in taintprocessing

-

+                m_fakeisphantom = value;

                 AddChange(changes.Phantom, value);

             }

         }

@@ -427,7 +427,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         public override void SetVolumeDetect(int param)

         {

-            AddChange(changes.VolumeDtc, (param != 0));

+            m_fakeisVolumeDetect = (param != 0);

+            AddChange(changes.VolumeDtc, m_fakeisVolumeDetect);

         }

 

         public override Vector3 GeometricCenter

@@ -958,6 +959,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_fakeisphysical = m_isphysical;

 

             m_isVolumeDetect = false;

+            m_fakeisVolumeDetect = false;

 

             m_force = Vector3.Zero;

 

@@ -1066,7 +1068,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 prm.m_collisionCategories = CollisionCategories.Selected;

                                 prm.m_collisionFlags = 0;

                             }

-                            else if (prm.IsVolumeDtc)

+                            else if (prm.m_isVolumeDetect)

                             {

                                 prm.m_collisionCategories = CollisionCategories.VolumeDtc;

                                 if (m_isphysical)

@@ -1445,14 +1447,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             hasOOBoffsetFromMesh = false;

             CalcPrimBodyData();

         }

-

+/*

         private void ChildSetGeom(OdePrim odePrim)

         {

             // well.. 

             DestroyBody();

             MakeBody();

         }

-

+*/

         //sets non physical prim m_targetSpace to right space in spaces grid for static prims

         // should only be called for non physical prims unless they are becoming non physical

         private void SetInStaticSpace(OdePrim prim)

@@ -2650,6 +2652,31 @@ namespace OpenSim.Region.Physics.OdePlugin
             ApplyCollisionCatFlags();

         }

 

+/* not in use

+        internal void ChildSelectedChange(bool childSelect)

+        {

+            if(childPrim)

+                return;

+

+            if (childSelect == m_isSelected)

+                return;

+

+            if (childSelect)

+            {

+                DoSelectedStatus(true);

+            }

+

+            else

+            {

+                foreach (OdePrim prm in childrenPrim)

+                {

+                    if (prm.m_isSelected)

+                        return;

+                }

+                DoSelectedStatus(false);

+            }

+        }

+*/

         private void changeSelectedStatus(bool newval)

         {

             if (m_lastdoneSelected == newval)

@@ -2669,6 +2696,12 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         private void DoSelectedStatus(bool newval)

         {

+            if (m_isSelected == newval)

+            {

+                resetCollisionAccounting();

+                return;

+            }

+

             m_isSelected = newval;

             Stop();

 

@@ -2706,6 +2739,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                             prm.m_delaySelect = false;

                         }

                     }

+//                    else if (_parent != null)

+//                        ((OdePrim)_parent).ChildSelectedChange(true);

+

 

                     if (prim_geom != null)

                     {

@@ -2741,8 +2777,13 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

             else

             {

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

-                    d.BodyEnable(Body);

+                if (!childPrim)

+                {

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

+                        d.BodyEnable(Body);

+                }

+//                else if (_parent != null)

+//                    ((OdePrim)_parent).ChildSelectedChange(false);

 

                 UpdateCollisionCatFlags();

                 ApplyCollisionCatFlags();

@@ -3145,6 +3186,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private void changeVolumedetetion(bool newVolDtc)

         {

             m_isVolumeDetect = newVolDtc;

+            m_fakeisVolumeDetect = newVolDtc;

             UpdateCollisionCatFlags();

             ApplyCollisionCatFlags();

         }

@@ -3370,7 +3412,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 //fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;

                                 d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);

                                 d.BodySetLinearVel(Body, 0, 0, 0);

-                                d.BodyAddForce(Body, 0, 0, fz);

+                                // d.BodyAddForce(Body, 0, 0, fz);

                                 return;

                             }

                             else

@@ -3419,14 +3461,17 @@ namespace OpenSim.Region.Physics.OdePlugin
                             {

                                 case PIDHoverType.Ground:

                                     m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);

-                                    m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;

+

                                     break;

                                 case PIDHoverType.GroundAndWater:

                                     m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);

                                     m_waterHeight = _parent_scene.GetWaterLevel();

                                     if (m_groundHeight > m_waterHeight)

                                     {

-                                        m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;

+                                        if (m_PIDHoverHeight > 0 || m_isVolumeDetect)

+                                            m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;

+                                        else

+                                            m_targetHoverHeight = m_groundHeight;

                                     }

                                     else

                                     {

@@ -3436,34 +3481,35 @@ namespace OpenSim.Region.Physics.OdePlugin
 

                             }     // end switch (m_PIDHoverType)

 

+                            // don't go underground unless volumedetector 

+                            

+                            if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)

+                            {

+                                fz = (m_targetHoverHeight - pos.Z) * (PID_G - m_PIDHoverTau) * timestep;

 

-                            _target_velocity =

-                                new Vector3(0.0f, 0.0f,

-                                    (m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)

-                                    );

-

-                            //  if velocity is zero, use position control; otherwise, velocity control

+                                //  if velocity is zero, use position control; otherwise, velocity control

 

-                            if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))

-                            {

-                                //  keep track of where we stopped.  No more slippin' & slidin'

+                                if (Math.Abs(fz) < 0.1f)

+                                {

+                                    //  keep track of where we stopped.  No more slippin' & slidin'

 

-                                // We only want to deactivate the PID Controller if we think we want to have our surrogate

-                                // react to the physics scene by moving it's position.

-                                // Avatar to Avatar collisions

-                                // Prim to avatar collisions

+                                    // We only want to deactivate the PID Controller if we think we want to have our surrogate

+                                    // react to the physics scene by moving it's position.

+                                    // Avatar to Avatar collisions

+                                    // Prim to avatar collisions

 

-                                d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);

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

-                                // ?                        d.BodyAddForce(Body, 0, 0, fz);

-                                return;

-                            }

-                            else

-                            {

-                                _zeroFlag = false;

+                                    d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);

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

+                                    // ?                        d.BodyAddForce(Body, 0, 0, fz);

+                                    return;

+                                }

+                                else

+                                {

+                                    _zeroFlag = false;

 

-                                // We're flying and colliding with something

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

+                                    // We're flying and colliding with something

+                                    fz = ((fz - vel.Z) * (PID_D));

+                                }

                             }

                         }

                         else