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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs149
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs11
2 files changed, 126 insertions, 34 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 61d5a1d..f2f4725 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -161,9 +161,6 @@ namespace OpenSim.Region.Physics.OdePlugin
161 161
162 private List<OdePrim> childrenPrim = new List<OdePrim>(); 162 private List<OdePrim> childrenPrim = new List<OdePrim>();
163 163
164
165// private bool m_throttleUpdates;
166// private int throttleCounter;
167 public float m_collisionscore; 164 public float m_collisionscore;
168 private int m_colliderfilter = 0; 165 private int m_colliderfilter = 0;
169 166
@@ -175,7 +172,7 @@ namespace OpenSim.Region.Physics.OdePlugin
175 private bool m_lastUpdateSent; 172 private bool m_lastUpdateSent;
176 173
177 public IntPtr Body = IntPtr.Zero; 174 public IntPtr Body = IntPtr.Zero;
178// public String Name { get; private set; } 175
179 private Vector3 _target_velocity; 176 private Vector3 _target_velocity;
180 177
181 public Vector3 primOOBsize; // prim real dimensions from mesh 178 public Vector3 primOOBsize; // prim real dimensions from mesh
@@ -366,12 +363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
366 363
367 364
368 public override bool ThrottleUpdates {get;set;} 365 public override bool ThrottleUpdates {get;set;}
369/* 366
370 {
371 get { return m_throttleUpdates; }
372 set { m_throttleUpdates = value; }
373 }
374*/
375 public override bool Stopped 367 public override bool Stopped
376 { 368 {
377 get { return _zeroFlag; } 369 get { return _zeroFlag; }
@@ -418,7 +410,6 @@ namespace OpenSim.Region.Physics.OdePlugin
418 410
419 public override Vector3 Force 411 public override Vector3 Force
420 { 412 {
421 //get { return Vector3.Zero; }
422 get { return m_force; } 413 get { return m_force; }
423 set 414 set
424 { 415 {
@@ -673,7 +664,7 @@ namespace OpenSim.Region.Physics.OdePlugin
673 get { return m_buoyancy; } 664 get { return m_buoyancy; }
674 set 665 set
675 { 666 {
676 m_buoyancy = value; 667 AddChange(changes.Buoyancy,value);
677 } 668 }
678 } 669 }
679 670
@@ -691,28 +682,35 @@ namespace OpenSim.Region.Physics.OdePlugin
691 { 682 {
692 if (value.IsFinite()) 683 if (value.IsFinite())
693 { 684 {
694 m_PIDTarget = value; 685 AddChange(changes.PIDTarget,value);
695 } 686 }
696 else 687 else
697 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name); 688 m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
698 } 689 }
699 } 690 }
700 691
701 public override bool PIDActive { set { m_usePID = value; } } 692 public override bool PIDActive
693 {
694 set
695 {
696 AddChange(changes.PIDActive,value);
697 }
698 }
699
702 public override float PIDTau 700 public override float PIDTau
703 { 701 {
704 set 702 set
705 { 703 {
706 if (value <= 0) 704 float tmp = 0;
707 m_PIDTau = 0; 705 if (value > 0)
708 else
709 { 706 {
710 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); 707 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
711 if (value < mint) 708 if (value < mint)
712 m_PIDTau = mint; 709 tmp = mint;
713 else 710 else
714 m_PIDTau = value; 711 tmp = value;
715 } 712 }
713 AddChange(changes.PIDTau,tmp);
716 } 714 }
717 } 715 }
718 716
@@ -720,27 +718,39 @@ namespace OpenSim.Region.Physics.OdePlugin
720 { 718 {
721 set 719 set
722 { 720 {
723 m_PIDHoverHeight = value; 721 AddChange(changes.PIDHoverHeight,value);
724 if (value == 0) 722 }
725 m_useHoverPID = false; 723 }
724 public override bool PIDHoverActive
725 {
726 set
727 {
728 AddChange(changes.PIDHoverActive, value);
726 } 729 }
727 } 730 }
728 public override bool PIDHoverActive { set { m_useHoverPID = value; } } 731
729 public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } 732 public override PIDHoverType PIDHoverType
733 {
734 set
735 {
736 AddChange(changes.PIDHoverType,value);
737 }
738 }
739
730 public override float PIDHoverTau 740 public override float PIDHoverTau
731 { 741 {
732 set 742 set
733 { 743 {
734 if (value <= 0) 744 float tmp =0;
735 m_PIDHoverTau = 0; 745 if (value > 0)
736 else
737 { 746 {
738 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep); 747 float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
739 if (value < mint) 748 if (value < mint)
740 m_PIDHoverTau = mint; 749 tmp = mint;
741 else 750 else
742 m_PIDHoverTau = value; 751 tmp = value;
743 } 752 }
753 AddChange(changes.PIDHoverTau, tmp);
744 } 754 }
745 } 755 }
746 756
@@ -981,7 +991,6 @@ namespace OpenSim.Region.Physics.OdePlugin
981 return false; 991 return false;
982 } 992 }
983 993
984
985 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, 994 public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
986 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID) 995 Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical,bool pisPhantom,byte _shapeType,uint plocalID)
987 { 996 {
@@ -3099,7 +3108,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3099 resetCollisionAccounting(); 3108 resetCollisionAccounting();
3100 } 3109 }
3101 3110
3102
3103 private void changeDisable(bool disable) 3111 private void changeDisable(bool disable)
3104 { 3112 {
3105 if (disable) 3113 if (disable)
@@ -3250,7 +3258,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3250 d.BodyEnable(Body); 3258 d.BodyEnable(Body);
3251 } 3259 }
3252 3260
3253
3254 private void changeAddForce(Vector3 theforce) 3261 private void changeAddForce(Vector3 theforce)
3255 { 3262 {
3256 m_forceacc += theforce; 3263 m_forceacc += theforce;
@@ -3267,7 +3274,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3267 d.BodyEnable(Body); 3274 d.BodyEnable(Body);
3268 } 3275 }
3269 } 3276 }
3270
3271 m_collisionscore = 0; 3277 m_collisionscore = 0;
3272 } 3278 }
3273 } 3279 }
@@ -3317,7 +3323,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3317 _velocity = newVel; 3323 _velocity = newVel;
3318 } 3324 }
3319 3325
3320
3321 private void changeangvelocity(Vector3 newAngVel) 3326 private void changeangvelocity(Vector3 newAngVel)
3322 { 3327 {
3323 float len = newAngVel.LengthSquared(); 3328 float len = newAngVel.LengthSquared();
@@ -3384,6 +3389,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3384 m_vehicle = new ODEDynamics(this); 3389 m_vehicle = new ODEDynamics(this);
3385 m_vehicle.DoSetVehicle(vdata); 3390 m_vehicle.DoSetVehicle(vdata);
3386 } 3391 }
3392
3387 private void changeVehicleType(int value) 3393 private void changeVehicleType(int value)
3388 { 3394 {
3389 if (value == (int)Vehicle.TYPE_NONE) 3395 if (value == (int)Vehicle.TYPE_NONE)
@@ -3429,6 +3435,48 @@ namespace OpenSim.Region.Physics.OdePlugin
3429 m_vehicle.ProcessVehicleFlags(bp.param, bp.value); 3435 m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
3430 } 3436 }
3431 3437
3438 private void changeBuoyancy(float b)
3439 {
3440 m_buoyancy = b;
3441 }
3442
3443 private void changePIDTarget(Vector3 trg)
3444 {
3445 m_PIDTarget = trg;
3446 }
3447
3448 private void changePIDTau(float tau)
3449 {
3450 m_PIDTau = tau;
3451 }
3452
3453 private void changePIDActive(bool val)
3454 {
3455 m_usePID = val;
3456 }
3457
3458 private void changePIDHoverHeight(float val)
3459 {
3460 m_PIDHoverHeight = val;
3461 if (val == 0)
3462 m_useHoverPID = false;
3463 }
3464
3465 private void changePIDHoverType(PIDHoverType type)
3466 {
3467 m_PIDHoverType = type;
3468 }
3469
3470 private void changePIDHoverTau(float tau)
3471 {
3472 m_PIDHoverTau = tau;
3473 }
3474
3475 private void changePIDHoverActive(bool active)
3476 {
3477 m_useHoverPID = active;
3478 }
3479
3432 #endregion 3480 #endregion
3433 3481
3434 public void Move() 3482 public void Move()
@@ -3987,6 +4035,39 @@ namespace OpenSim.Region.Physics.OdePlugin
3987 case changes.SetVehicle: 4035 case changes.SetVehicle:
3988 changeSetVehicle((VehicleData) arg); 4036 changeSetVehicle((VehicleData) arg);
3989 break; 4037 break;
4038
4039 case changes.Buoyancy:
4040 changeBuoyancy((float)arg);
4041 break;
4042
4043 case changes.PIDTarget:
4044 changePIDTarget((Vector3)arg);
4045 break;
4046
4047 case changes.PIDTau:
4048 changePIDTau((float)arg);
4049 break;
4050
4051 case changes.PIDActive:
4052 changePIDActive((bool)arg);
4053 break;
4054
4055 case changes.PIDHoverHeight:
4056 changePIDHoverHeight((float)arg);
4057 break;
4058
4059 case changes.PIDHoverType:
4060 changePIDHoverType((PIDHoverType)arg);
4061 break;
4062
4063 case changes.PIDHoverTau:
4064 changePIDHoverTau((float)arg);
4065 break;
4066
4067 case changes.PIDHoverActive:
4068 changePIDHoverActive((bool)arg);
4069 break;
4070
3990 case changes.Null: 4071 case changes.Null:
3991 donullchange(); 4072 donullchange();
3992 break; 4073 break;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 3ee5198..f126644 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -134,6 +134,17 @@ namespace OpenSim.Region.Physics.OdePlugin
134 AddAngForce, 134 AddAngForce,
135 AngLock, 135 AngLock,
136 136
137 Buoyancy,
138
139 PIDTarget,
140 PIDTau,
141 PIDActive,
142
143 PIDHoverHeight,
144 PIDHoverType,
145 PIDHoverTau,
146 PIDHoverActive,
147
137 Size, 148 Size,
138 Shape, 149 Shape,
139 150