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-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs29
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs51
2 files changed, 67 insertions, 13 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 391f644..adb559a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -66,6 +66,7 @@ namespace OpenSim.Region.Physics.OdePlugin
66 private IntPtr Amotor = IntPtr.Zero; 66 private IntPtr Amotor = IntPtr.Zero;
67 67
68 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0); 68 private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
69 private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
69 private float m_PIDTau = 0f; 70 private float m_PIDTau = 0f;
70 private float PID_D = 35f; 71 private float PID_D = 35f;
71 private float PID_G = 25f; 72 private float PID_G = 25f;
@@ -908,6 +909,8 @@ namespace OpenSim.Region.Physics.OdePlugin
908 909
909 if (!m_angularlock.IsIdentical(m_taintAngularLock,0)) 910 if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
910 changeAngularLock(timestep); 911 changeAngularLock(timestep);
912
913
911 } 914 }
912 else 915 else
913 { 916 {
@@ -915,6 +918,7 @@ namespace OpenSim.Region.Physics.OdePlugin
915 } 918 }
916 } 919 }
917 920
921
918 private void changeAngularLock(float timestep) 922 private void changeAngularLock(float timestep)
919 { 923 {
920 // do we have a Physical object? 924 // do we have a Physical object?
@@ -1470,6 +1474,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1470 } 1474 }
1471 } 1475 }
1472 d.BodyEnable(Body); 1476 d.BodyEnable(Body);
1477 if (m_vehicle.Type != Vehicle.TYPE_NONE)
1478 {
1479 m_vehicle.Enable(Body, _parent_scene);
1480 }
1473 } 1481 }
1474 else 1482 else
1475 { 1483 {
@@ -1550,6 +1558,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1550 1558
1551 if (m_usePID) 1559 if (m_usePID)
1552 { 1560 {
1561
1553 //if (!d.BodyIsEnabled(Body)) 1562 //if (!d.BodyIsEnabled(Body))
1554 //d.BodySetForce(Body, 0f, 0f, 0f); 1563 //d.BodySetForce(Body, 0f, 0f, 0f);
1555 // If we're using the PID controller, then we have no gravity 1564 // If we're using the PID controller, then we have no gravity
@@ -1737,6 +1746,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1737 fy = nmin; 1746 fy = nmin;
1738 d.BodyAddForce(Body, fx, fy, fz); 1747 d.BodyAddForce(Body, fx, fy, fz);
1739 } 1748 }
1749 if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE)
1750 m_vehicle.Enable(Body, _parent_scene);
1740 1751
1741 m_vehicle.Step(timestep); 1752 m_vehicle.Step(timestep);
1742 } 1753 }
@@ -1747,6 +1758,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1747 } 1758 }
1748 } 1759 }
1749 1760
1761
1762
1750 public void rotate(float timestep) 1763 public void rotate(float timestep)
1751 { 1764 {
1752 d.Quaternion myrot = new d.Quaternion(); 1765 d.Quaternion myrot = new d.Quaternion();
@@ -2701,8 +2714,10 @@ namespace OpenSim.Region.Physics.OdePlugin
2701 set 2714 set
2702 { 2715 {
2703 if (PhysicsVector.isFinite(value)) 2716 if (PhysicsVector.isFinite(value))
2704 m_PIDTarget = value; 2717 {
2705 else 2718 m_PIDTarget = value;
2719 }
2720 else
2706 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object"); 2721 m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
2707 } 2722 }
2708 } 2723 }
@@ -3062,15 +3077,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3062 return det; 3077 return det;
3063 3078
3064 } 3079 }
3065 private static float Determinant(Matrix4 matrix) 3080
3066 {
3067 float det = 0;
3068
3069 for (int j = 0; j < 4; j++)
3070 det += (matrix[0, j] * Determinant(Minor(matrix, 0, j)) * (int)System.Math.Pow(-1, 0 + j));
3071 return det;
3072 }
3073
3074 private static void DMassCopy(ref d.Mass src, ref d.Mass dst) 3081 private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
3075 { 3082 {
3076 dst.c.W = src.c.W; 3083 dst.c.W = src.c.W;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
index c4c3044..3a99b48 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
@@ -44,6 +44,11 @@ namespace OpenSim.Region.Physics.OdePlugin
44 get { return m_type; } 44 get { return m_type; }
45 } 45 }
46 46
47 public IntPtr Body
48 {
49 get { return m_body; }
50 }
51
47 private Vehicle m_type = Vehicle.TYPE_NONE; 52 private Vehicle m_type = Vehicle.TYPE_NONE;
48 private OdeScene m_parentScene = null; 53 private OdeScene m_parentScene = null;
49 private IntPtr m_body = IntPtr.Zero; 54 private IntPtr m_body = IntPtr.Zero;
@@ -75,6 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin
75 private float m_linearMotorTimescale = 0; 80 private float m_linearMotorTimescale = 0;
76 private float m_verticalAttractionEfficiency = 0; 81 private float m_verticalAttractionEfficiency = 0;
77 private float m_verticalAttractionTimescale = 0; 82 private float m_verticalAttractionTimescale = 0;
83 private Vector3 m_lastVector = Vector3.Zero;
78 private VehicleFlag m_flags = (VehicleFlag) 0; 84 private VehicleFlag m_flags = (VehicleFlag) 0;
79 85
80 86
@@ -222,8 +228,9 @@ namespace OpenSim.Region.Physics.OdePlugin
222 228
223 internal void Enable(IntPtr pBody, OdeScene pParentScene) 229 internal void Enable(IntPtr pBody, OdeScene pParentScene)
224 { 230 {
225 if (pBody == IntPtr.Zero || m_type == Vehicle.TYPE_NONE) 231 if (m_type == Vehicle.TYPE_NONE)
226 return; 232 return;
233
227 m_body = pBody; 234 m_body = pBody;
228 m_parentScene = pParentScene; 235 m_parentScene = pParentScene;
229 } 236 }
@@ -246,11 +253,13 @@ namespace OpenSim.Region.Physics.OdePlugin
246 { 253 {
247 if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE) 254 if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
248 return; 255 return;
249 256 VerticalAttractor(pTimestep);
257 LinearMotor(pTimestep);
250 } 258 }
251 259
252 private void SetDefaultsForType(Vehicle pType) 260 private void SetDefaultsForType(Vehicle pType)
253 { 261 {
262 m_type = pType;
254 switch (pType) 263 switch (pType)
255 { 264 {
256 case Vehicle.TYPE_SLED: 265 case Vehicle.TYPE_SLED:
@@ -388,5 +397,43 @@ namespace OpenSim.Region.Physics.OdePlugin
388 397
389 } 398 }
390 } 399 }
400
401 private void VerticalAttractor(float pTimestep)
402 {
403 // The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
404 // The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
405 // change appearance and when you enter the simulator
406 // After this routine is done, the amotor stabilizes much quicker
407 d.Mass objMass;
408 d.BodyGetMass(Body, out objMass);
409 //d.BodyGetS
410
411 d.Vector3 feet;
412 d.Vector3 head;
413 d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, -1.0f, out feet);
414 d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, 1.0f, out head);
415 float posture = head.Z - feet.Z;
416
417 // restoring force proportional to lack of posture:
418 float servo = (2.5f - posture) * (objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep)) * objMass.mass;
419 d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
420 d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
421 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
422 //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
423 }
424
425 private void LinearMotor(float pTimestep)
426 {
427
428 /*
429 float decayval = (m_linearMotorDecayTimescale * pTimestep);
430 m_linearMotorDirection *= decayval;
431 m_lastVector += m_linearMotorDirection
432
433
434 m_lin
435 m_lastVector
436 * */
437 }
391 } 438 }
392} 439}