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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs228
1 files changed, 47 insertions, 181 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 5a9f135..d7213fc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -57,6 +57,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
57 private int frcount = 0; // Used to limit dynamics debug output to 57 private int frcount = 0; // Used to limit dynamics debug output to
58 // every 100th frame 58 // every 100th frame
59 59
60 private BSScene m_physicsScene;
60 private BSPrim m_prim; // the prim this dynamic controller belongs to 61 private BSPrim m_prim; // the prim this dynamic controller belongs to
61 62
62 // Vehicle properties 63 // Vehicle properties
@@ -74,7 +75,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
74 // HOVER_UP_ONLY 75 // HOVER_UP_ONLY
75 // LIMIT_MOTOR_UP 76 // LIMIT_MOTOR_UP
76 // LIMIT_ROLL_ONLY 77 // LIMIT_ROLL_ONLY
77 private VehicleFlag m_Hoverflags = (VehicleFlag)0;
78 private Vector3 m_BlockingEndPoint = Vector3.Zero; 78 private Vector3 m_BlockingEndPoint = Vector3.Zero;
79 private Quaternion m_RollreferenceFrame = Quaternion.Identity; 79 private Quaternion m_RollreferenceFrame = Quaternion.Identity;
80 // Linear properties 80 // Linear properties
@@ -124,15 +124,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
124 private float m_verticalAttractionEfficiency = 1.0f; // damped 124 private float m_verticalAttractionEfficiency = 1.0f; // damped
125 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. 125 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
126 126
127 public BSDynamics(BSPrim myPrim) 127 public BSDynamics(BSScene myScene, BSPrim myPrim)
128 { 128 {
129 m_physicsScene = myScene;
129 m_prim = myPrim; 130 m_prim = myPrim;
130 m_type = Vehicle.TYPE_NONE; 131 m_type = Vehicle.TYPE_NONE;
131 } 132 }
132 133
133 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) 134 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep)
134 { 135 {
135 DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 136 VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
136 switch (pParam) 137 switch (pParam)
137 { 138 {
138 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: 139 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@@ -231,7 +232,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
231 232
232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) 233 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep)
233 { 234 {
234 DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 235 VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
235 switch (pParam) 236 switch (pParam)
236 { 237 {
237 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 238 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@@ -266,7 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
266 267
267 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) 268 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
268 { 269 {
269 DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); 270 VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
270 switch (pParam) 271 switch (pParam)
271 { 272 {
272 case Vehicle.REFERENCE_FRAME: 273 case Vehicle.REFERENCE_FRAME:
@@ -280,164 +281,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin
280 281
281 internal void ProcessVehicleFlags(int pParam, bool remove) 282 internal void ProcessVehicleFlags(int pParam, bool remove)
282 { 283 {
283 DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); 284 VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
285 VehicleFlag parm = (VehicleFlag)pParam;
284 if (remove) 286 if (remove)
285 { 287 {
286 if (pParam == -1) 288 if (pParam == -1)
287 { 289 {
288 m_flags = (VehicleFlag)0; 290 m_flags = (VehicleFlag)0;
289 m_Hoverflags = (VehicleFlag)0;
290 return;
291 } 291 }
292 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) 292 else
293 {
294 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
295 m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
296 }
297 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
298 {
299 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
300 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
301 }
302 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
303 {
304 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
305 m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
306 }
307 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
308 {
309 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
310 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
311 }
312 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
313 {
314 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
315 m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
316 }
317 if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
318 {
319 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
320 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
321 }
322 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
323 {
324 if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
325 m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
326 }
327 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
328 {
329 if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
330 m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
331 }
332 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
333 {
334 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
335 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
336 }
337 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
338 {
339 if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
340 m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
341 }
342 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
343 {
344 if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
345 m_flags &= ~(VehicleFlag.NO_X);
346 }
347 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
348 {
349 if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
350 m_flags &= ~(VehicleFlag.NO_Y);
351 }
352 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
353 {
354 if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
355 m_flags &= ~(VehicleFlag.NO_Z);
356 }
357 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
358 {
359 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
360 m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
361 }
362 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
363 {
364 if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
365 m_flags &= ~(VehicleFlag.NO_DEFLECTION);
366 }
367 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
368 { 293 {
369 if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) 294 m_flags &= ~parm;
370 m_flags &= ~(VehicleFlag.LOCK_ROTATION);
371 } 295 }
372 } 296 }
373 else 297 else {
374 { 298 m_flags |= parm;
375 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
376 {
377 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
378 }
379 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
380 {
381 m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
382 }
383 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
384 {
385 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
386 }
387 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
388 {
389 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
390 }
391 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
392 {
393 m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
394 }
395 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
396 {
397 m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
398 }
399 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
400 {
401 m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
402 }
403 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
404 {
405 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
406 }
407 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
408 {
409 m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
410 }
411 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
412 {
413 m_flags |= (VehicleFlag.NO_X);
414 }
415 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
416 {
417 m_flags |= (VehicleFlag.NO_Y);
418 }
419 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
420 {
421 m_flags |= (VehicleFlag.NO_Z);
422 }
423 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
424 {
425 m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
426 }
427 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
428 {
429 m_flags |= (VehicleFlag.NO_DEFLECTION);
430 }
431 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
432 {
433 m_flags |= (VehicleFlag.LOCK_ROTATION);
434 }
435 } 299 }
436 }//end ProcessVehicleFlags 300 }//end ProcessVehicleFlags
437 301
438 internal void ProcessTypeChange(Vehicle pType) 302 internal void ProcessTypeChange(Vehicle pType, float stepSize)
439 { 303 {
440 DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); 304 VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
441 // Set Defaults For Type 305 // Set Defaults For Type
442 m_type = pType; 306 m_type = pType;
443 switch (pType) 307 switch (pType)
@@ -478,10 +342,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
478 // m_bankingMix = 1; 342 // m_bankingMix = 1;
479 // m_bankingTimescale = 10; 343 // m_bankingTimescale = 10;
480 // m_referenceFrame = Quaternion.Identity; 344 // m_referenceFrame = Quaternion.Identity;
481 m_Hoverflags &= 345 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
346 m_flags &=
482 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 347 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
483 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 348 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
484 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
485 break; 349 break;
486 case Vehicle.TYPE_CAR: 350 case Vehicle.TYPE_CAR:
487 m_linearFrictionTimescale = new Vector3(100, 2, 1000); 351 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
@@ -506,10 +370,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
506 // m_bankingMix = 1; 370 // m_bankingMix = 1;
507 // m_bankingTimescale = 1; 371 // m_bankingTimescale = 1;
508 // m_referenceFrame = Quaternion.Identity; 372 // m_referenceFrame = Quaternion.Identity;
509 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
510 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | 373 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
511 VehicleFlag.LIMIT_MOTOR_UP); 374 VehicleFlag.LIMIT_MOTOR_UP);
512 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); 375 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
376 m_flags |= (VehicleFlag.HOVER_UP_ONLY);
513 break; 377 break;
514 case Vehicle.TYPE_BOAT: 378 case Vehicle.TYPE_BOAT:
515 m_linearFrictionTimescale = new Vector3(10, 3, 2); 379 m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -534,12 +398,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
534 // m_bankingMix = 0.8f; 398 // m_bankingMix = 0.8f;
535 // m_bankingTimescale = 1; 399 // m_bankingTimescale = 1;
536 // m_referenceFrame = Quaternion.Identity; 400 // m_referenceFrame = Quaternion.Identity;
537 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | 401 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
538 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 402 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
539 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); 403 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
540 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | 404 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
541 VehicleFlag.LIMIT_MOTOR_UP); 405 VehicleFlag.LIMIT_MOTOR_UP);
542 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); 406 m_flags |= (VehicleFlag.HOVER_WATER_ONLY);
543 break; 407 break;
544 case Vehicle.TYPE_AIRPLANE: 408 case Vehicle.TYPE_AIRPLANE:
545 m_linearFrictionTimescale = new Vector3(200, 10, 5); 409 m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -564,7 +428,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
564 // m_bankingMix = 0.7f; 428 // m_bankingMix = 0.7f;
565 // m_bankingTimescale = 2; 429 // m_bankingTimescale = 2;
566 // m_referenceFrame = Quaternion.Identity; 430 // m_referenceFrame = Quaternion.Identity;
567 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 431 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
568 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 432 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
569 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); 433 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
570 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 434 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
@@ -592,11 +456,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
592 // m_bankingMix = 0.7f; 456 // m_bankingMix = 0.7f;
593 // m_bankingTimescale = 5; 457 // m_bankingTimescale = 5;
594 // m_referenceFrame = Quaternion.Identity; 458 // m_referenceFrame = Quaternion.Identity;
595 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 459 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
596 VehicleFlag.HOVER_UP_ONLY); 460 VehicleFlag.HOVER_UP_ONLY);
597 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); 461 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
598 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 462 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
599 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); 463 m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
600 break; 464 break;
601 } 465 }
602 }//end SetDefaultsForType 466 }//end SetDefaultsForType
@@ -613,7 +477,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
613 MoveAngular(pTimestep); 477 MoveAngular(pTimestep);
614 LimitRotation(pTimestep); 478 LimitRotation(pTimestep);
615 479
616 DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 480 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
617 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); 481 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
618 }// end Step 482 }// end Step
619 483
@@ -657,7 +521,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
657 521
658 */ 522 */
659 523
660 DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", 524 VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
661 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); 525 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
662 } 526 }
663 else 527 else
@@ -669,7 +533,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
669 m_lastLinearVelocityVector = Vector3.Zero; 533 m_lastLinearVelocityVector = Vector3.Zero;
670 } 534 }
671 535
672 // convert requested object velocity to world-referenced vector 536 // convert requested object velocity to object relative vector
673 Quaternion rotq = m_prim.Orientation; 537 Quaternion rotq = m_prim.Orientation;
674 m_dir = m_lastLinearVelocityVector * rotq; 538 m_dir = m_lastLinearVelocityVector * rotq;
675 539
@@ -722,7 +586,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
722 if (changed) 586 if (changed)
723 { 587 {
724 m_prim.Position = pos; 588 m_prim.Position = pos;
725 DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", 589 VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
726 m_prim.LocalID, m_BlockingEndPoint, posChange, pos); 590 m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
727 } 591 }
728 } 592 }
@@ -732,32 +596,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
732 { 596 {
733 pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; 597 pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
734 m_prim.Position = pos; 598 m_prim.Position = pos;
735 DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); 599 VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
736 } 600 }
737 601
738 // Check if hovering 602 // Check if hovering
739 if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 603 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
740 { 604 {
741 // We should hover, get the target height 605 // We should hover, get the target height
742 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) 606 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
743 { 607 {
744 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; 608 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight;
745 } 609 }
746 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) 610 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
747 { 611 {
748 m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; 612 m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
749 } 613 }
750 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) 614 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
751 { 615 {
752 m_VhoverTargetHeight = m_VhoverHeight; 616 m_VhoverTargetHeight = m_VhoverHeight;
753 } 617 }
754 618
755 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) 619 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
756 { 620 {
757 // If body is aready heigher, use its height as target height 621 // If body is aready heigher, use its height as target height
758 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; 622 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
759 } 623 }
760 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) 624 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
761 { 625 {
762 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) 626 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
763 { 627 {
@@ -779,7 +643,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
779 } 643 }
780 } 644 }
781 645
782 DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); 646 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
783 647
784// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped 648// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
785// m_VhoverTimescale = 0f; // time to acheive height 649// m_VhoverTimescale = 0f; // time to acheive height
@@ -815,7 +679,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
815 { 679 {
816 grav.Z = (float)(grav.Z * 1.037125); 680 grav.Z = (float)(grav.Z * 1.037125);
817 } 681 }
818 DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); 682 VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
819 //End Experimental Values 683 //End Experimental Values
820 } 684 }
821 if ((m_flags & (VehicleFlag.NO_X)) != 0) 685 if ((m_flags & (VehicleFlag.NO_X)) != 0)
@@ -844,7 +708,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
844 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); 708 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
845 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; 709 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
846 710
847 DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", 711 VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}",
848 m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); 712 m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount);
849 713
850 } // end MoveLinear() 714 } // end MoveLinear()
@@ -870,13 +734,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
870 // There are m_angularMotorApply steps. 734 // There are m_angularMotorApply steps.
871 Vector3 origAngularVelocity = m_angularMotorVelocity; 735 Vector3 origAngularVelocity = m_angularMotorVelocity;
872 // ramp up to new value 736 // ramp up to new value
873 // current velocity += error / (time to get there / step interval) 737 // current velocity += error / (time to get there / step interval)
874 // requested speed - last motor speed 738 // requested speed - last motor speed
875 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); 739 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
876 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); 740 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
877 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); 741 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
878 742
879 DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", 743 VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}",
880 m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); 744 m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
881 745
882 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected 746 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
@@ -887,6 +751,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
887 // No motor recently applied, keep the body velocity 751 // No motor recently applied, keep the body velocity
888 // and decay the velocity 752 // and decay the velocity
889 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); 753 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
754 if (m_angularMotorVelocity.LengthSquared() < 0.00001)
755 m_angularMotorVelocity = Vector3.Zero;
890 } // end motor section 756 } // end motor section
891 757
892 // Vertical attractor section 758 // Vertical attractor section
@@ -924,7 +790,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
924 vertattr.X += bounce * angularVelocity.X; 790 vertattr.X += bounce * angularVelocity.X;
925 vertattr.Y += bounce * angularVelocity.Y; 791 vertattr.Y += bounce * angularVelocity.Y;
926 792
927 DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", 793 VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
928 m_prim.LocalID, verterr, bounce, vertattr); 794 m_prim.LocalID, verterr, bounce, vertattr);
929 795
930 } // else vertical attractor is off 796 } // else vertical attractor is off
@@ -942,13 +808,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
942 { 808 {
943 m_lastAngularVelocity.X = 0; 809 m_lastAngularVelocity.X = 0;
944 m_lastAngularVelocity.Y = 0; 810 m_lastAngularVelocity.Y = 0;
945 DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); 811 VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
946 } 812 }
947 813
948 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 814 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
949 { 815 {
950 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. 816 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
951 DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); 817 VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
952 } 818 }
953 819
954 // apply friction 820 // apply friction
@@ -958,7 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
958 // Apply to the body 824 // Apply to the body
959 m_prim.RotationalVelocity = m_lastAngularVelocity; 825 m_prim.RotationalVelocity = m_lastAngularVelocity;
960 826
961 DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); 827 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
962 } //end MoveAngular 828 } //end MoveAngular
963 829
964 internal void LimitRotation(float timestep) 830 internal void LimitRotation(float timestep)
@@ -1005,11 +871,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1005 if (changed) 871 if (changed)
1006 m_prim.Orientation = m_rot; 872 m_prim.Orientation = m_rot;
1007 873
1008 DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); 874 VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
1009 } 875 }
1010 876
1011 // Invoke the detailed logger and output something if it's enabled. 877 // Invoke the detailed logger and output something if it's enabled.
1012 private void DetailLog(string msg, params Object[] args) 878 private void VDetailLog(string msg, params Object[] args)
1013 { 879 {
1014 if (m_prim.Scene.VehicleLoggingEnabled) 880 if (m_prim.Scene.VehicleLoggingEnabled)
1015 m_prim.Scene.PhysicsLogging.Write(msg, args); 881 m_prim.Scene.PhysicsLogging.Write(msg, args);