From 9821c4f566e11c75c8d87721777480c5b2e2bd4e Mon Sep 17 00:00:00 2001 From: Revolution Date: Sun, 14 Feb 2010 15:41:57 -0600 Subject: Revolution is on the roll again! :) Fixes: Undo, T-pose of others on login, modifiedBulletX works again, feet now stand on the ground instead of in the ground, adds checks to CombatModule. Adds: Redo, Land Undo, checks to agentUpdate (so one can not fall off of a region), more vehicle parts. Finishes almost all of LSL (1 function left, 2 events). Direct flames and kudos to Revolution, please Signed-off-by: Melanie --- OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 5 + OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs | 401 ++++++++++++++++++++--- OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 5 + 3 files changed, 372 insertions(+), 39 deletions(-) (limited to 'OpenSim/Region/Physics/OdePlugin') diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 06ed8fb..a2229e8 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs @@ -734,6 +734,11 @@ namespace OpenSim.Region.Physics.OdePlugin } + public override void VehicleFlags(int param, bool remove) + { + + } + public override void SetVolumeDetect(int param) { diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs index 008070b..6ae0c8a 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs @@ -82,7 +82,9 @@ namespace OpenSim.Region.Physics.OdePlugin // HOVER_UP_ONLY // LIMIT_MOTOR_UP // LIMIT_ROLL_ONLY - + private VehicleFlag m_Hoverflags = (VehicleFlag)0; + private Vector3 m_BlockingEndPoint = Vector3.Zero; + private Quaternion m_RollreferenceFrame = Quaternion.Identity; // Linear properties private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL @@ -91,6 +93,7 @@ namespace OpenSim.Region.Physics.OdePlugin private float m_linearMotorDecayTimescale = 0; private float m_linearMotorTimescale = 0; private Vector3 m_lastLinearVelocityVector = Vector3.Zero; + private d.Vector3 m_lastPositionVector = new d.Vector3(); // private bool m_LinearMotorSetLastFrame = false; // private Vector3 m_linearMotorOffset = Vector3.Zero; @@ -255,6 +258,9 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.LINEAR_MOTOR_OFFSET: // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); break; + case Vehicle.BLOCK_EXIT: + m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); + break; } }//end ProcessVectorVehicleParam @@ -265,15 +271,189 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.REFERENCE_FRAME: // m_referenceFrame = pValue; break; + case Vehicle.ROLL_FRAME: + m_RollreferenceFrame = pValue; + break; } }//end ProcessRotationVehicleParam + internal void ProcessVehicleFlags(int pParam, bool remove) + { + if (remove) + { + if (pParam == -1) + { + m_flags = (VehicleFlag)0; + m_Hoverflags = (VehicleFlag)0; + return; + } + if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) + { + if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT); + } + if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) + { + if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY); + } + if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) + { + if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY); + } + if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) + { + if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY); + } + if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) + { + if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP); + } + if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY) + { + if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) + { + if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.MOUSELOOK_BANK); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) + { + if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.MOUSELOOK_STEER); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) + { + if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP); + } + if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) + { + if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED); + } + if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) + { + if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_X); + } + if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) + { + if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_Y); + } + if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) + { + if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_Z); + } + if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) + { + if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) + { + if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_DEFLECTION); + } + if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) + { + if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.LOCK_ROTATION); + } + } + else + { + if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) + { + m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags); + } + if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) + { + m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags); + } + if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) + { + m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags); + } + if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) + { + m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags); + } + if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) + { + m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) + { + m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) + { + m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) + { + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags); + } + if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) + { + m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags); + } + if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) + { + m_flags |= (VehicleFlag.NO_X); + } + if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) + { + m_flags |= (VehicleFlag.NO_Y); + } + if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) + { + m_flags |= (VehicleFlag.NO_Z); + } + if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) + { + m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) + { + m_flags |= (VehicleFlag.NO_DEFLECTION); + } + if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) + { + m_flags |= (VehicleFlag.LOCK_ROTATION); + } + } + }//end ProcessVehicleFlags + internal void ProcessTypeChange(Vehicle pType) { // Set Defaults For Type m_type = pType; switch (pType) { + case Vehicle.TYPE_NONE: + m_linearFrictionTimescale = new Vector3(0, 0, 0); + m_angularFrictionTimescale = new Vector3(0, 0, 0); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 0; + m_linearMotorDecayTimescale = 0; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 0; + m_angularMotorDecayTimescale = 0; + m_VhoverHeight = 0; + m_VhoverTimescale = 0; + m_VehicleBuoyancy = 0; + m_flags = (VehicleFlag)0; + break; + case Vehicle.TYPE_SLED: m_linearFrictionTimescale = new Vector3(30, 1, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); @@ -295,9 +475,9 @@ namespace OpenSim.Region.Physics.OdePlugin // m_bankingMix = 1; // m_bankingTimescale = 10; // m_referenceFrame = Quaternion.Identity; - m_flags &= - ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); + m_Hoverflags &= + ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); break; case Vehicle.TYPE_CAR: @@ -323,9 +503,10 @@ namespace OpenSim.Region.Physics.OdePlugin // m_bankingMix = 1; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY | + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); + m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); break; case Vehicle.TYPE_BOAT: m_linearFrictionTimescale = new Vector3(10, 3, 2); @@ -350,10 +531,12 @@ namespace OpenSim.Region.Physics.OdePlugin // m_bankingMix = 0.8f; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | + m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | + m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); + m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: m_linearFrictionTimescale = new Vector3(200, 10, 5); @@ -378,8 +561,9 @@ namespace OpenSim.Region.Physics.OdePlugin // m_bankingMix = 0.7f; // m_bankingTimescale = 2; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); break; case Vehicle.TYPE_BALLOON: @@ -405,9 +589,11 @@ namespace OpenSim.Region.Physics.OdePlugin // m_bankingMix = 0.7f; // m_bankingTimescale = 5; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); + m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); + m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } @@ -431,6 +617,7 @@ namespace OpenSim.Region.Physics.OdePlugin MoveLinear(pTimestep, pParentScene); MoveAngular(pTimestep); + LimitRotation(pTimestep); }// end Step private void MoveLinear(float pTimestep, OdeScene _pParentScene) @@ -477,61 +664,152 @@ namespace OpenSim.Region.Physics.OdePlugin // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. Vector3 grav = Vector3.Zero; - if (m_VehicleBuoyancy < 1.0f) + // There is some gravity, make a gravity force vector + // that is applied after object velocity. + d.Mass objMass; + d.BodyGetMass(Body, out objMass); + // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; + grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); + // Preserve the current Z velocity + d.Vector3 vel_now = d.BodyGetLinearVel(Body); + m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity + + d.Vector3 pos = d.BodyGetPosition(Body); + Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); + Vector3 posChange = new Vector3(); + posChange.X = pos.X - m_lastPositionVector.X; + posChange.Y = pos.Y - m_lastPositionVector.Y; + posChange.Z = pos.Z - m_lastPositionVector.Z; + double Zchange = Math.Abs(posChange.Z); + if (m_BlockingEndPoint != Vector3.Zero) + { + if (pos.X >= (m_BlockingEndPoint.X - (float)1)) + { + pos.X -= posChange.X + 1; + d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); + } + if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) + { + pos.Y -= posChange.Y + 1; + d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); + } + if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) + { + pos.Z -= posChange.Z + 1; + d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); + } + if (pos.X <= 0) + { + pos.X += posChange.X + 1; + d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); + } + if (pos.Y <= 0) + { + pos.Y += posChange.Y + 1; + d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); + } + } + if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) { - // There is some gravity, make a gravity force vector - // that is applied after object velocity. - d.Mass objMass; - d.BodyGetMass(Body, out objMass); - // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); - // Preserve the current Z velocity - d.Vector3 vel_now = d.BodyGetLinearVel(Body); - m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity - } // else its 1.0, no gravity. + pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; + d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); + } // Check if hovering - if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) + if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) { // We should hover, get the target height - d.Vector3 pos = d.BodyGetPosition(Body); - if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY) + if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) { m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; } - else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY) + if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } - else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT) + if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { m_VhoverTargetHeight = m_VhoverHeight; } - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY) + if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is aready heigher, use its height as target height if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; } + if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) + { + if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) + { + d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight); + } + } + else + { + float herr0 = pos.Z - m_VhoverTargetHeight; + // Replace Vertical speed with correction figure if significant + if (Math.Abs(herr0) > 0.01f) + { + m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); + //KF: m_VhoverEfficiency is not yet implemented + } + else + { + m_dir.Z = 0f; + } + } // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height // pTimestep is time since last frame,in secs - float herr0 = pos.Z - m_VhoverTargetHeight; - // Replace Vertical speed with correction figure if significant - if (Math.Abs(herr0) > 0.01f) + } + + if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) + { + //Start Experimental Values + if (Zchange > .3) { - d.Mass objMass; - d.BodyGetMass(Body, out objMass); - m_dir.Z = - ((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); - //KF: m_VhoverEfficiency is not yet implemented + grav.Z = (float)(grav.Z * 3); } - else + if (Zchange > .15) + { + grav.Z = (float)(grav.Z * 2); + } + if (Zchange > .75) + { + grav.Z = (float)(grav.Z * 1.5); + } + if (Zchange > .05) + { + grav.Z = (float)(grav.Z * 1.25); + } + if (Zchange > .025) + { + grav.Z = (float)(grav.Z * 1.125); + } + float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); + float postemp = (pos.Z - terraintemp); + if (postemp > 2.5f) { - m_dir.Z = 0f; + grav.Z = (float)(grav.Z * 1.037125); } + //End Experimental Values + } + if ((m_flags & (VehicleFlag.NO_X)) != 0) + { + m_dir.X = 0; + } + if ((m_flags & (VehicleFlag.NO_Y)) != 0) + { + m_dir.Y = 0; + } + if ((m_flags & (VehicleFlag.NO_Z)) != 0) + { + m_dir.Z = 0; } + m_lastPositionVector = d.BodyGetPosition(Body); + // Apply velocity d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z); // apply gravity force @@ -629,6 +907,12 @@ namespace OpenSim.Region.Physics.OdePlugin // Sum velocities m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection + + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) + { + m_lastAngularVelocity.X = 0; + m_lastAngularVelocity.Y = 0; + } if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { @@ -647,5 +931,44 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); } //end MoveAngular + internal void LimitRotation(float timestep) + { + d.Quaternion rot = d.BodyGetQuaternion(Body); + Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object + d.Quaternion m_rot = new d.Quaternion(); + bool changed = false; + m_rot.X = rotq.X; + m_rot.Y = rotq.Y; + m_rot.Z = rotq.Z; + m_rot.W = rotq.W; + if (m_RollreferenceFrame != Quaternion.Identity) + { + if (rotq.X >= m_RollreferenceFrame.X) + { + m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); + } + if (rotq.Y >= m_RollreferenceFrame.Y) + { + m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); + } + if (rotq.X <= -m_RollreferenceFrame.X) + { + m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); + } + if (rotq.Y <= -m_RollreferenceFrame.Y) + { + m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); + } + changed = true; + } + if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) + { + m_rot.X = 0; + m_rot.Y = 0; + changed = true; + } + if (changed) + d.BodySetQuaternion(Body, ref m_rot); + } } } diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 44b2727..03736d1 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs @@ -2355,6 +2355,11 @@ Console.WriteLine(" JointCreateFixed"); m_vehicle.ProcessRotationVehicleParam((Vehicle) param, rotation); } + public override void VehicleFlags(int param, bool remove) + { + m_vehicle.ProcessVehicleFlags(param, remove); + } + public override void SetVolumeDetect(int param) { lock (_parent_scene.OdeLock) -- cgit v1.1