From 190e7a43349d1adf28d52b0e7b74fc91a76fbbdb Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 21 Apr 2012 05:16:54 +0100 Subject: ubitODE: - don't try to hover underground unless volumedetector (that doesn't colide with it) --- OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 140 ++++++++++++++++-------- 1 file changed, 93 insertions(+), 47 deletions(-) (limited to 'OpenSim/Region/Physics') 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 childrenPrim = new List(); - 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 -- cgit v1.1