From 819806261026cccd68dee649f11938ae5bf10029 Mon Sep 17 00:00:00 2001 From: Kitto Flora Date: Sun, 14 Mar 2010 16:22:13 -0400 Subject: RotLookAt repaired; debug msg cleanup. --- OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs | 552 +++++++------------------- 1 file changed, 144 insertions(+), 408 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs index 367927d..5e6696e 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs @@ -652,7 +652,7 @@ namespace OpenSim.Region.Physics.OdePlugin return true; } - public override Vector3 Acceleration + public override Vector3 Acceleration // client updates read data via here { get { return _acceleration; } } @@ -696,14 +696,6 @@ namespace OpenSim.Region.Physics.OdePlugin { get { -/* Vector3 pv = Vector3.Zero; - if (_zeroFlag) - return pv; - m_lastUpdateSent = false; - - if (m_rotationalVelocity.ApproxEquals(pv, 0.2f)) - return pv; -*/ return m_rotationalVelocity; } set @@ -1398,9 +1390,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (m_taintCollidesWater != m_collidesWater) changefloatonwater(timestep); - // ##* if (!m_angularEnable.ApproxEquals(m_taintAngularLock,0f)) -Console.WriteLine("ALchange req {0} is {1}", m_taintAngularLock, m_angularEnable); changeAngularLock(timestep); } @@ -1411,17 +1401,11 @@ Console.WriteLine("ALchange req {0} is {1}", m_taintAngularLock, m_angularEna } - private void changeAngularLock(float timestep) // ##* + private void changeAngularLock(float timestep) { - // do we have a Physical object? -// if (Body != IntPtr.Zero) -// { - //Check that we have a Parent - //If we have a parent then we're not authorative here - if (_parent == null) - { -Console.WriteLine("Alock changed to {0}", m_taintAngularLock); - m_angularEnable = m_taintAngularLock; + if (_parent == null) + { + m_angularEnable = m_taintAngularLock; } } @@ -1435,7 +1419,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); { OdePrim obj = (OdePrim)m_taintparent; //obj.disableBody(); -//Console.WriteLine("changelink calls ParentPrim"); obj.ParentPrim(this); /* @@ -1453,8 +1436,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); // destroy link else if (_parent != null && m_taintparent == null) { -//Console.WriteLine(" changelink B"); - if (_parent is OdePrim) { OdePrim obj = (OdePrim)_parent; @@ -1480,7 +1461,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); // prim is the child public void ParentPrim(OdePrim prim) { -//Console.WriteLine("ParentPrim " + m_primName); if (this.m_localID != prim.m_localID) { if (Body == IntPtr.Zero) @@ -1494,7 +1474,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); { if (!childrenPrim.Contains(prim)) { -//Console.WriteLine("childrenPrim.Add " + prim); childrenPrim.Add(prim); foreach (OdePrim prm in childrenPrim) @@ -1640,7 +1619,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); { foreach (OdePrim prm in childrenPrim) { -//Console.WriteLine("ChildSetGeom calls ParentPrim"); ParentPrim(prm); } } @@ -1667,7 +1645,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); lock (childrenPrim) { - //Console.WriteLine("childrenPrim.Remove " + odePrim); childrenPrim.Remove(odePrim); } @@ -1680,7 +1657,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock); { foreach (OdePrim prm in childrenPrim) { -//Console.WriteLine("ChildDelink calls ParentPrim"); ParentPrim(prm); } } @@ -2417,219 +2393,9 @@ Console.WriteLine(" JointCreateFixed"); public void UpdatePositionAndVelocity() { - return; // moved to the MOVE() method + return; // moved to the Move() method } - // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! -/* if (_parent == null) - { - Vector3 pv = Vector3.Zero; - bool lastZeroFlag = _zeroFlag; - if (Body != (IntPtr)0) // FIXME -> or if it is a joint - { - d.Vector3 vec = d.BodyGetPosition(Body); - d.Quaternion ori = d.BodyGetQuaternion(Body); - d.Vector3 vel = d.BodyGetLinearVel(Body); - d.Vector3 rotvel = d.BodyGetAngularVel(Body); - d.Vector3 torque = d.BodyGetTorque(Body); - _torque = new Vector3(torque.X, torque.Y, torque.Z); - Vector3 l_position = Vector3.Zero; - Quaternion l_orientation = Quaternion.Identity; - - // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) - //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - - m_lastposition = _position; - m_lastorientation = _orientation; - - l_position.X = vec.X; - l_position.Y = vec.Y; - l_position.Z = vec.Z; - l_orientation.X = ori.X; - l_orientation.Y = ori.Y; - l_orientation.Z = ori.Z; - l_orientation.W = ori.W; - -// if(l_position.Y != m_lastposition.Y){ -// Console.WriteLine("UP&V {0} {1}", m_primName, l_position); -// } - - if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f) - { - //base.RaiseOutOfBounds(l_position); - - if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) - { - _position = l_position; - //_parent_scene.remActivePrim(this); - if (_parent == null) - base.RequestPhysicsterseUpdate(); - return; - } - else - { - if (_parent == null) - base.RaiseOutOfBounds(l_position); - return; - } - } - - if (l_position.Z < 0) - { - // This is so prim that get lost underground don't fall forever and suck up - // - // Sim resources and memory. - // Disables the prim's movement physics.... - // It's a hack and will generate a console message if it fails. - - //IsPhysical = false; - if (_parent == null) - base.RaiseOutOfBounds(_position); - - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; - - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - - if (_parent == null) - base.RequestPhysicsterseUpdate(); - - m_throttleUpdates = false; - throttleCounter = 0; - _zeroFlag = true; - //outofBounds = true; - } - - //float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)); -//Console.WriteLine("Adiff " + m_primName + " = " + Adiff); - if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) - && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) - && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) -// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) - && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large - { - _zeroFlag = true; -//Console.WriteLine("ZFT 2"); - m_throttleUpdates = false; - } - else - { - //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); - _zeroFlag = false; - m_lastUpdateSent = false; - //m_throttleUpdates = false; - } - - if (_zeroFlag) - { - _velocity.X = 0.0f; - _velocity.Y = 0.0f; - _velocity.Z = 0.0f; - - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; - - //_orientation.w = 0f; - //_orientation.X = 0f; - //_orientation.Y = 0f; - //_orientation.Z = 0f; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - if (!m_lastUpdateSent) - { - m_throttleUpdates = false; - throttleCounter = 0; - m_rotationalVelocity = pv; - - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - - m_lastUpdateSent = true; - } - } - else - { - if (lastZeroFlag != _zeroFlag) - { - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - } - - m_lastVelocity = _velocity; - - _position = l_position; - - _velocity.X = vel.X; - _velocity.Y = vel.Y; - _velocity.Z = vel.Z; - - _acceleration = ((_velocity - m_lastVelocity) / 0.1f); - _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); - //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); - -// if (_velocity.ApproxEquals(pv, 0.5f)) ???? Disregard rotational vel if lin vel is < 0.5 ????? -// { -// m_rotationalVelocity = pv;/ - -// } -// else -// { - m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z); -// } - - //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); - _orientation.X = ori.X; - _orientation.Y = ori.Y; - _orientation.Z = ori.Z; - _orientation.W = ori.W; - m_lastUpdateSent = false; - if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) - { - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - } - else - { - throttleCounter++; - } - } - m_lastposition = l_position; - } - else - { - // Not a body.. so Make sure the client isn't interpolating - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; - - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - _zeroFlag = true; - } - } - } -*/ +/* No one uses this? public Matrix4 FromDMass(d.Mass pMass) { Matrix4 obj; @@ -2651,7 +2417,7 @@ Console.WriteLine(" JointCreateFixed"); obj.M44 = 1; return obj; } - +*/ public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj) { obj.I.M00 = pMat[0, 0]; @@ -2878,11 +2644,6 @@ Console.WriteLine(" JointCreateFixed"); m_material = pMaterial; } - - - - - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { switch (pParam) @@ -3242,193 +3003,173 @@ Console.WriteLine(" JointCreateFixed"); { // Old public void UpdatePositionAndVelocity(), more accuratley calculated here - // Vector3 pv = Vector3.Zero; // what was this for? - bool lastZeroFlag = _zeroFlag; // was it stopped - // if (Body != (IntPtr)0) // FIXME -> or if it is a joint - // { - d.Vector3 vec = d.BodyGetPosition(Body); - d.Quaternion ori = d.BodyGetQuaternion(Body); - d.Vector3 vel = d.BodyGetLinearVel(Body); + bool lastZeroFlag = _zeroFlag; // was it stopped + d.Vector3 vec = d.BodyGetPosition(Body); + d.Quaternion ori = d.BodyGetQuaternion(Body); + d.Vector3 vel = d.BodyGetLinearVel(Body); // d.Vector3 rotvel = d.BodyGetAngularVel(Body); - d.Vector3 torque = d.BodyGetTorque(Body); - _torque = new Vector3(torque.X, torque.Y, torque.Z); - Vector3 l_position = Vector3.Zero; - Quaternion l_orientation = Quaternion.Identity; - - // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) - //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - //if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } - - m_lastposition = _position; - m_lastorientation = _orientation; + d.Vector3 torque = d.BodyGetTorque(Body); + _torque = new Vector3(torque.X, torque.Y, torque.Z); + Vector3 l_position = Vector3.Zero; + Quaternion l_orientation = Quaternion.Identity; + + m_lastposition = _position; + m_lastorientation = _orientation; - l_position.X = vec.X; - l_position.Y = vec.Y; - l_position.Z = vec.Z; - l_orientation.X = ori.X; - l_orientation.Y = ori.Y; - l_orientation.Z = ori.Z; - l_orientation.W = ori.W; + l_position.X = vec.X; + l_position.Y = vec.Y; + l_position.Z = vec.Z; + l_orientation.X = ori.X; + l_orientation.Y = ori.Y; + l_orientation.Z = ori.Z; + l_orientation.W = ori.W; //Console.WriteLine("Move {0} at {1}", m_primName, l_position); + // Check if outside region horizontally + if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || + l_position.X < 0f || + l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || + l_position.Y < 0f) + { + if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) + { // keep trying to cross? + _position = l_position; + //_parent_scene.remActivePrim(this); + if (_parent == null) base.RequestPhysicsterseUpdate(); + return; // Dont process any other motion? + } + else + { // Too many tries + if (_parent == null) base.RaiseOutOfBounds(l_position); + return; // Dont process any other motion? + } + } // end outside region horizontally - if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || - l_position.X < 0f || - l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || - l_position.Y < 0f) - { - //base.RaiseOutOfBounds(l_position); + if (l_position.Z < 0) + { + // This is so prim that get lost underground don't fall forever and suck up + // + // Sim resources and memory. + // Disables the prim's movement physics.... + // It's a hack and will generate a console message if it fails. - if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) - { - _position = l_position; - //_parent_scene.remActivePrim(this); - if (_parent == null) - base.RequestPhysicsterseUpdate(); - return; - } - else - { - if (_parent == null) - base.RaiseOutOfBounds(l_position); - return; - } - } + //IsPhysical = false; + if (_parent == null) base.RaiseOutOfBounds(_position); + + _acceleration.X = 0; // This stuff may stop client display but it has no + _acceleration.Y = 0; // effect on the object in phys engine! + _acceleration.Z = 0; - if (l_position.Z < 0) - { - // This is so prim that get lost underground don't fall forever and suck up - // - // Sim resources and memory. - // Disables the prim's movement physics.... - // It's a hack and will generate a console message if it fails. + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; - //IsPhysical = false; - if (_parent == null) - base.RaiseOutOfBounds(_position); + if (_parent == null) base.RequestPhysicsterseUpdate(); - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; + m_throttleUpdates = false; + throttleCounter = 0; + _zeroFlag = true; + //outofBounds = true; + } // end neg Z check - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; + // Is it moving? + if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) + && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) + && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) + && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large + { + _zeroFlag = true; +//Console.WriteLine("ZFT 2"); + m_throttleUpdates = false; + } + else + { + //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); + _zeroFlag = false; + m_lastUpdateSent = false; + //m_throttleUpdates = false; + } - if (_parent == null) - base.RequestPhysicsterseUpdate(); + if (_zeroFlag) + { // Its stopped + _velocity.X = 0.0f; + _velocity.Y = 0.0f; + _velocity.Z = 0.0f; + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; + //_orientation.w = 0f; + //_orientation.X = 0f; + //_orientation.Y = 0f; + //_orientation.Z = 0f; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; + if (!m_lastUpdateSent) + { m_throttleUpdates = false; throttleCounter = 0; - _zeroFlag = true; - //outofBounds = true; - } + if (_parent == null) + { + base.RequestPhysicsterseUpdate(); + } - //float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)); -//Console.WriteLine("Adiff " + m_primName + " = " + Adiff); - if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) - && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) - && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) -// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) - && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large - { - _zeroFlag = true; -//Console.WriteLine("ZFT 2"); - m_throttleUpdates = false; + m_lastUpdateSent = true; } - else + } + else + { // Its moving + if (lastZeroFlag != _zeroFlag) { - //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); - _zeroFlag = false; - m_lastUpdateSent = false; - //m_throttleUpdates = false; - } - - if (_zeroFlag) - { // Its stopped - _velocity.X = 0.0f; - _velocity.Y = 0.0f; - _velocity.Z = 0.0f; - - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; - - //_orientation.w = 0f; - //_orientation.X = 0f; - //_orientation.Y = 0f; - //_orientation.Z = 0f; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - if (!m_lastUpdateSent) + if (_parent == null) { - m_throttleUpdates = false; - throttleCounter = 0; - // m_rotationalVelocity = pv; What was this for? - - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - - m_lastUpdateSent = true; + base.RequestPhysicsterseUpdate(); } } - else - { // Its moving - if (lastZeroFlag != _zeroFlag) - { - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - } - m_lastVelocity = _velocity; + m_lastVelocity = _velocity; - _position = l_position; + _position = l_position; - _velocity.X = vel.X; - _velocity.Y = vel.Y; - _velocity.Z = vel.Z; + _velocity.X = vel.X; + _velocity.Y = vel.Y; + _velocity.Z = vel.Z; // Why 2 calcs??? -// _acceleration = ((_velocity - m_lastVelocity) / 0.1f); -// _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, -// _velocity.Y - m_lastVelocity.Y / 0.1f, +// _acceleration = ((_velocity - m_lastVelocity) / 0.1f); +// _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, +// _velocity.Y - m_lastVelocity.Y / 0.1f, // _velocity.Z - m_lastVelocity.Z / 0.1f); - _acceleration = ((_velocity - m_lastVelocity) / timestep); + _acceleration = ((_velocity - m_lastVelocity) / timestep); - _orientation.X = ori.X; - _orientation.Y = ori.Y; - _orientation.Z = ori.Z; - _orientation.W = ori.W; - m_lastUpdateSent = false; - if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) - { - if (_parent == null) - { - base.RequestPhysicsterseUpdate(); - } - } - else + _orientation.X = ori.X; + _orientation.Y = ori.Y; + _orientation.Z = ori.Z; + _orientation.W = ori.W; + m_lastUpdateSent = false; + if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) + { + if (_parent == null) { - throttleCounter++; + base.RequestPhysicsterseUpdate(); } } - m_lastposition = l_position; - + else + { + throttleCounter++; + } + } + m_lastposition = l_position; + /// End of old UpdatePositionAndVelocity insert //if (!Acceleration.ApproxEquals(Vector3.Zero, 0.01f)) Console.WriteLine("Move " + m_primName + " Accel=" + Acceleration); -//if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_type + - // " usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID); +// if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_type + +// " usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID); if (m_type != Vehicle.TYPE_NONE) { // get body attitude @@ -3701,7 +3442,6 @@ Console.WriteLine(" JointCreateFixed"); //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel); m_lastAngularVelocity = angObjectVel; -if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable); if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f)) { @@ -3720,14 +3460,11 @@ if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable); d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity); - } // end VEHICLES #### + } // end VEHICLES else { if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 // NON-'VEHICLES' are dealt with here - // m_angularEnable = <1,1,1> means no lock. a 0 on axis means locked. - -// NB this may be wrong - may lock global axis! Should be LOCAL axis! /// Dynamics Angular Lock ======================================================================== if (d.BodyIsEnabled(Body) && !m_angularEnable.ApproxEquals(Vector3.One, 0.003f)) { @@ -3802,7 +3539,7 @@ if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable); d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z); d.BodySetLinearVel(Body, 0, 0, 0); d.BodyAddForce(Body, 0, 0, fz); - return; + // return; } else { @@ -3911,7 +3648,6 @@ if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable); // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly // Also in SL the mass of the object has no effect on time to get there. // Factors: -//if(frcount == 0) Console.WriteLine("APID "); // get present body rotation float limit = 1.0f; float scaler = 50f; // adjusts damping time -- cgit v1.1