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Merge branch 'master' of /home/opensim/var/repo/opensim

integration
BlueWall 2012-04-20 22:45:56 -04:00
parent e76fa4c5aa ae2b8f7007
commit 05b369965e
2 changed files with 132 additions and 120 deletions
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249
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
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@ -1042,142 +1042,146 @@ Console.WriteLine("ZProcessTaints for " + Name);
/// <param name="prim">Child prim</param> /// <param name="prim">Child prim</param>
private void AddChildPrim(OdePrim prim) private void AddChildPrim(OdePrim prim)
{ {
//Console.WriteLine("AddChildPrim " + Name); if (LocalID == prim.LocalID)
if (LocalID != prim.LocalID) return;
if (Body == IntPtr.Zero)
{ {
if (Body == IntPtr.Zero) Body = d.BodyCreate(_parent_scene.world);
setMass();
}
lock (childrenPrim)
{
if (childrenPrim.Contains(prim))
return;
// m_log.DebugFormat(
// "[ODE PRIM]: Linking prim {0} {1} to {2} {3}", prim.Name, prim.LocalID, Name, LocalID);
childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
{ {
Body = d.BodyCreate(_parent_scene.world); d.Mass m2;
setMass(); d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(ref m2, ref mat);
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
} }
if (Body != IntPtr.Zero)
foreach (OdePrim prm in childrenPrim)
{ {
lock (childrenPrim) prm.m_collisionCategories |= CollisionCategories.Body;
{ prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
if (!childrenPrim.Contains(prim))
{
//Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
{
d.Mass m2;
d.MassSetZero(out m2);
d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W;
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat);
d.MassRotate(ref m2, ref mat);
d.MassTranslate(ref m2, Position.X - prm.Position.X, Position.Y - prm.Position.Y, Position.Z - prm.Position.Z);
d.MassAdd(ref pMass, ref m2);
}
foreach (OdePrim prm in childrenPrim)
{
prm.m_collisionCategories |= CollisionCategories.Body;
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name); //Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories); d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags); d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
d.Quaternion quat = new d.Quaternion(); d.Quaternion quat = new d.Quaternion();
quat.W = prm._orientation.W; quat.W = prm._orientation.W;
quat.X = prm._orientation.X; quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y; quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z; quat.Z = prm._orientation.Z;
d.Matrix3 mat = new d.Matrix3(); d.Matrix3 mat = new d.Matrix3();
d.RfromQ(out mat, ref quat); d.RfromQ(out mat, ref quat);
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
{ {
d.GeomSetBody(prm.prim_geom, Body); d.GeomSetBody(prm.prim_geom, Body);
prm.childPrim = true; prm.childPrim = true;
d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z); d.GeomSetOffsetWorldPosition(prm.prim_geom, prm.Position.X , prm.Position.Y, prm.Position.Z);
//d.GeomSetOffsetPosition(prim.prim_geom, //d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X, // (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y, // (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z); // (Position.Z - prm.Position.Z) - pMass.c.Z);
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat);
//d.GeomSetOffsetRotation(prm.prim_geom, ref mat); //d.GeomSetOffsetRotation(prm.prim_geom, ref mat);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass); d.BodySetMass(Body, ref pMass);
} }
else else
{ {
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name); m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
} }
prm.m_interpenetrationcount = 0; prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0; prm.m_collisionscore = 0;
prm.m_disabled = false; prm.m_disabled = false;
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{ {
prm.createAMotor(m_angularlock); prm.createAMotor(m_angularlock);
} }
prm.Body = Body; prm.Body = Body;
_parent_scene.ActivatePrim(prm); _parent_scene.ActivatePrim(prm);
} }
m_collisionCategories |= CollisionCategories.Body; m_collisionCategories |= CollisionCategories.Body;
m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind); m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name); //Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + Name);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories); d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
//Console.WriteLine(" Post GeomSetCategoryBits 2"); //Console.WriteLine(" Post GeomSetCategoryBits 2");
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags); d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
d.Quaternion quat2 = new d.Quaternion(); d.Quaternion quat2 = new d.Quaternion();
quat2.W = _orientation.W; quat2.W = _orientation.W;
quat2.X = _orientation.X; quat2.X = _orientation.X;
quat2.Y = _orientation.Y; quat2.Y = _orientation.Y;
quat2.Z = _orientation.Z; quat2.Z = _orientation.Z;
d.Matrix3 mat2 = new d.Matrix3(); d.Matrix3 mat2 = new d.Matrix3();
d.RfromQ(out mat2, ref quat2); d.RfromQ(out mat2, ref quat2);
d.GeomSetBody(prim_geom, Body); d.GeomSetBody(prim_geom, Body);
d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z); d.GeomSetOffsetWorldPosition(prim_geom, Position.X - pMass.c.X, Position.Y - pMass.c.Y, Position.Z - pMass.c.Z);
//d.GeomSetOffsetPosition(prim.prim_geom, //d.GeomSetOffsetPosition(prim.prim_geom,
// (Position.X - prm.Position.X) - pMass.c.X, // (Position.X - prm.Position.X) - pMass.c.X,
// (Position.Y - prm.Position.Y) - pMass.c.Y, // (Position.Y - prm.Position.Y) - pMass.c.Y,
// (Position.Z - prm.Position.Z) - pMass.c.Z); // (Position.Z - prm.Position.Z) - pMass.c.Z);
//d.GeomSetOffsetRotation(prim_geom, ref mat2); //d.GeomSetOffsetRotation(prim_geom, ref mat2);
d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z); d.MassTranslate(ref pMass, -pMass.c.X, -pMass.c.Y, -pMass.c.Z);
d.BodySetMass(Body, ref pMass); d.BodySetMass(Body, ref pMass);
d.BodySetAutoDisableFlag(Body, true); d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames); d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
m_interpenetrationcount = 0; m_interpenetrationcount = 0;
m_collisionscore = 0; m_collisionscore = 0;
m_disabled = false; m_disabled = false;
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null) if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
{ {
createAMotor(m_angularlock); createAMotor(m_angularlock);
}
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
_parent_scene.ActivatePrim(this);
}
}
} }
d.BodySetPosition(Body, Position.X, Position.Y, Position.Z);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
_parent_scene.ActivatePrim(this);
} }
} }
private void ChildSetGeom(OdePrim odePrim) private void ChildSetGeom(OdePrim odePrim)
{ {
// m_log.DebugFormat(
// "[ODE PRIM]: ChildSetGeom {0} {1} for {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);
//if (IsPhysical && Body != IntPtr.Zero) //if (IsPhysical && Body != IntPtr.Zero)
lock (childrenPrim) lock (childrenPrim)
{ {
@ -1192,12 +1196,14 @@ Console.WriteLine("ZProcessTaints for " + Name);
//prm.childPrim = false; //prm.childPrim = false;
} }
} }
disableBody(); disableBody();
if (Body != IntPtr.Zero) // Spurious - Body == IntPtr.Zero after disableBody()
{ // if (Body != IntPtr.Zero)
_parent_scene.DeactivatePrim(this); // {
} // _parent_scene.DeactivatePrim(this);
// }
lock (childrenPrim) lock (childrenPrim)
{ {
@ -1211,6 +1217,9 @@ Console.WriteLine("ZProcessTaints for " + Name);
private void ChildDelink(OdePrim odePrim) private void ChildDelink(OdePrim odePrim)
{ {
// m_log.DebugFormat(
// "[ODE PRIM]: Delinking prim {0} {1} from {2} {3}", odePrim.Name, odePrim.LocalID, Name, LocalID);
// Okay, we have a delinked child.. need to rebuild the body. // Okay, we have a delinked child.. need to rebuild the body.
lock (childrenPrim) lock (childrenPrim)
{ {
@ -1225,6 +1234,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
//prm.childPrim = false; //prm.childPrim = false;
} }
} }
disableBody(); disableBody();
lock (childrenPrim) lock (childrenPrim)
@ -1233,10 +1243,11 @@ Console.WriteLine("ZProcessTaints for " + Name);
childrenPrim.Remove(odePrim); childrenPrim.Remove(odePrim);
} }
if (Body != IntPtr.Zero) // Spurious - Body == IntPtr.Zero after disableBody()
{ // if (Body != IntPtr.Zero)
_parent_scene.DeactivatePrim(this); // {
} // _parent_scene.DeactivatePrim(this);
// }
lock (childrenPrim) lock (childrenPrim)
{ {

3
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
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@ -2226,7 +2226,8 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="prim"></param> /// <param name="prim"></param>
internal void RemovePrimThreadLocked(OdePrim prim) internal void RemovePrimThreadLocked(OdePrim prim)
{ {
//Console.WriteLine("RemovePrimThreadLocked " + prim.m_primName); // m_log.DebugFormat("[ODE SCENE]: Removing physical prim {0} {1}", prim.Name, prim.LocalID);
lock (prim) lock (prim)
{ {
RemoveCollisionEventReporting(prim); RemoveCollisionEventReporting(prim);