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Merge branch 'master' of ssh://melanie@3dhosting.de/var/git/careminster into careminster

avinationmerge
Melanie 2012-04-23 21:13:08 +01:00
parent e903709847 5a8fdc8a0b
commit 159b3b27ca
7 changed files with 663 additions and 548 deletions
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38
OpenSim/Region/Framework/Scenes/Scene.PacketHandlers.cs
View File

@ -149,6 +149,7 @@ namespace OpenSim.Region.Framework.Scenes
/// <param name="remoteClient"></param>
public void SelectPrim(uint primLocalID, IClientAPI remoteClient)
{
/*
SceneObjectPart part = GetSceneObjectPart(primLocalID);
if (null == part)
@ -171,6 +172,25 @@ namespace OpenSim.Region.Framework.Scenes
{
part.SendPropertiesToClient(remoteClient);
}
*/
SceneObjectPart part = GetSceneObjectPart(primLocalID);
if (null == part)
return;
SceneObjectGroup sog = part.ParentGroup;
if (sog == null)
return;
part.SendPropertiesToClient(remoteClient);
// A prim is only tainted if it's allowed to be edited by the person clicking it.
if (Permissions.CanEditObject(sog.UUID, remoteClient.AgentId)
|| Permissions.CanMoveObject(sog.UUID, remoteClient.AgentId))
{
part.IsSelected = true;
EventManager.TriggerParcelPrimCountTainted();
}
}
/// <summary>
@ -222,7 +242,7 @@ namespace OpenSim.Region.Framework.Scenes
SceneObjectPart part = GetSceneObjectPart(primLocalID);
if (part == null)
return;
/*
// A deselect packet contains all the local prims being deselected. However, since selection is still
// group based we only want the root prim to trigger a full update - otherwise on objects with many prims
// we end up sending many duplicate ObjectUpdates
@ -257,6 +277,22 @@ namespace OpenSim.Region.Framework.Scenes
part.UUID, remoteClient.AgentId))
EventManager.TriggerParcelPrimCountTainted();
}
*/
bool oldgprSelect = part.ParentGroup.IsSelected;
// This is wrong, wrong, wrong. Selection should not be
// handled by group, but by prim. Legacy cruft.
// TODO: Make selection flagging per prim!
//
if (Permissions.CanEditObject(part.ParentGroup.UUID, remoteClient.AgentId)
|| Permissions.CanMoveObject(part.ParentGroup.UUID, remoteClient.AgentId))
{
part.IsSelected = false;
if (!part.ParentGroup.IsAttachment && oldgprSelect != part.ParentGroup.IsSelected)
EventManager.TriggerParcelPrimCountTainted();
}
}
public virtual void ProcessMoneyTransferRequest(UUID source, UUID destination, int amount,

48
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
View File

@ -726,6 +726,11 @@ namespace OpenSim.Region.Framework.Scenes
m_isSelected = value;
// Tell physics engine that group is selected
// this is not right
// but ode engines should only really need to know about root part
// so they can put entire object simulation on hold and not colliding
// keep as was for now
PhysicsActor pa = m_rootPart.PhysActor;
if (pa != null)
{
@ -747,6 +752,40 @@ namespace OpenSim.Region.Framework.Scenes
}
}
public void PartSelectChanged(bool partSelect)
{
// any part selected makes group selected
if (m_isSelected == partSelect)
return;
if (partSelect)
{
IsSelected = partSelect;
// if (!IsAttachment)
// ScheduleGroupForFullUpdate();
}
else
{
// bad bad bad 2 heavy for large linksets
// since viewer does send lot of (un)selects
// this needs to be replaced by a specific list or count ?
// but that will require extra code in several places
SceneObjectPart[] parts = m_parts.GetArray();
for (int i = 0; i < parts.Length; i++)
{
SceneObjectPart part = parts[i];
if (part.IsSelected)
return;
}
IsSelected = partSelect;
if (!IsAttachment)
{
ScheduleGroupForFullUpdate();
}
}
}
private SceneObjectPart m_PlaySoundMasterPrim = null;
public SceneObjectPart PlaySoundMasterPrim
{
@ -3161,14 +3200,6 @@ namespace OpenSim.Region.Framework.Scenes
}
}
/*
RootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect);
for (int i = 0; i < parts.Length; i++)
{
if (parts[i] != RootPart)
parts[i].UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect);
}
*/
if (parts.Length > 1)
{
m_rootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, true);
@ -3185,7 +3216,6 @@ namespace OpenSim.Region.Framework.Scenes
}
else
m_rootPart.UpdatePrimFlags(UsePhysics, SetTemporary, SetPhantom, SetVolumeDetect, false);
}
}

14
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
View File

@ -304,6 +304,9 @@ namespace OpenSim.Region.Framework.Scenes
protected float m_friction = 0.6f; // wood
protected float m_bounce = 0.5f; // wood
protected bool m_isSelected = false;
/// <summary>
/// Stores media texture data
/// </summary>
@ -577,6 +580,16 @@ namespace OpenSim.Region.Framework.Scenes
}
}
public bool IsSelected
{
get { return m_isSelected; }
set
{
m_isSelected = value;
if (ParentGroup != null)
ParentGroup.PartSelectChanged(value);
}
}
public Dictionary<int, string> CollisionFilter
@ -1907,6 +1920,7 @@ namespace OpenSim.Region.Framework.Scenes
dupe.m_rezzed = m_rezzed;
dupe.m_UndoRedo = null;
dupe.m_isSelected = false;
dupe.IgnoreUndoUpdate = false;
dupe.Undoing = false;

5
OpenSim/Region/Framework/Scenes/ScenePresence.cs
View File

@ -753,8 +753,9 @@ namespace OpenSim.Region.Framework.Scenes
if (m_movementAnimationUpdateCounter >= 2)
{
m_movementAnimationUpdateCounter = 0;
if (Animator != null && ParentID == 0) // skip it if sitting
if (Animator != null)
{
if(ParentID == 0) // skip it if sitting
Animator.UpdateMovementAnimations();
}
else
@ -1400,6 +1401,7 @@ namespace OpenSim.Region.Framework.Scenes
{
// Vector3 posAdjusted = m_pos + HEAD_ADJUSTMENT;
// m_scene.PhysicsScene.RaycastWorld(m_pos, Vector3.Normalize(CameraPosition - posAdjusted), Vector3.Distance(CameraPosition, posAdjusted) + 0.3f, RayCastCameraCallback);
Vector3 posAdjusted = AbsolutePosition + HEAD_ADJUSTMENT;
Vector3 distTocam = CameraPosition - posAdjusted;
float distTocamlen = distTocam.Length();
@ -1408,6 +1410,7 @@ namespace OpenSim.Region.Framework.Scenes
distTocam *= 1.0f / distTocamlen;
m_scene.PhysicsScene.RaycastWorld(posAdjusted, distTocam, distTocamlen + 0.3f, RayCastCameraCallback);
}
}
}

17
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -686,6 +686,9 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = d.BodyCreate(_parent_scene.world);
_zeroFlag = false;
m_pidControllerActive = true;
d.BodySetAutoDisableFlag(Body, false);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
@ -862,12 +865,12 @@ namespace OpenSim.Region.Physics.OdePlugin
float depth = terrainheight - chrminZ;
if (!flying)
{
vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 60;
vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
}
else
vec.Z = depth * PID_P * 60;
vec.Z = depth * PID_P * 50;
if (depth < 0.2f)
if (depth < 0.1f)
{
m_iscolliding = true;
m_colliderfilter = 2;
@ -1009,9 +1012,17 @@ namespace OpenSim.Region.Physics.OdePlugin
// update our local ideia of position velocity and aceleration
_position = localpos;
if (_zeroFlag)
{
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
}
else
{
_acceleration = _velocity; // previus velocity
_velocity = vel;
_acceleration = (vel - _acceleration) / timeStep;
}
}

488
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -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;
@ -90,10 +98,12 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 m_forceacc;
private Vector3 m_angularForceacc;
private float m_invTimeStep = 50.0f;
private float m_timeStep = .02f;
private Vector3 m_PIDTarget;
private float m_PIDTau;
private float PID_D = 35f;
private float PID_G = 25f;
private bool m_usePID;
// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
@ -153,14 +163,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private List<OdePrim> childrenPrim = new List<OdePrim>();
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 +225,12 @@ 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 +239,7 @@ 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 +429,8 @@ 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
@ -631,7 +634,6 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 pv = Vector3.Zero;
if (_zeroFlag)
return pv;
m_lastUpdateSent = false;
if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
return pv;
@ -685,12 +687,50 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override bool PIDActive { set { m_usePID = value; } }
public override float PIDTau { set { m_PIDTau = value; } }
public override float PIDTau
{
set
{
if (value <= 0)
m_PIDTau = 0;
else
{
float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
if (value < mint)
m_PIDTau = mint;
else
m_PIDTau = value;
}
}
}
public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
public override float PIDHoverHeight
{
set
{
m_PIDHoverHeight = value;
if (value == 0)
m_useHoverPID = false;
}
}
public override bool PIDHoverActive { set { m_useHoverPID = value; } }
public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
public override float PIDHoverTau
{
set
{
if (value <= 0)
m_PIDHoverTau = 0;
else
{
float mint = (0.05f > m_timeStep ? 0.05f : m_timeStep);
if (value < mint)
m_PIDHoverTau = mint;
else
m_PIDHoverTau = value;
}
}
}
public override Quaternion APIDTarget { set { return; } }
@ -761,7 +801,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (force.IsFinite())
{
AddChange(changes.AddForce, force / _parent_scene.ODE_STEPSIZE);
AddChange(changes.AddForce, force * m_invTimeStep);
}
else
{
@ -774,7 +814,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (force.IsFinite())
{
AddChange(changes.AddAngForce, force / _parent_scene.ODE_STEPSIZE);
AddChange(changes.AddAngForce, force * m_invTimeStep);
}
else
{
@ -911,8 +951,9 @@ namespace OpenSim.Region.Physics.OdePlugin
_position = pos;
givefakepos = 0;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
m_timeStep = parent_scene.ODE_STEPSIZE;
m_invTimeStep = 1f / m_timeStep;
m_density = parent_scene.geomDefaultDensity;
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
@ -958,6 +999,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_fakeisphysical = m_isphysical;
m_isVolumeDetect = false;
m_fakeisVolumeDetect = false;
m_force = Vector3.Zero;
@ -1066,7 +1108,7 @@ 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 +1487,14 @@ 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 +2692,31 @@ 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)
@ -2706,6 +2773,9 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_delaySelect = false;
}
}
// else if (_parent != null)
// ((OdePrim)_parent).ChildSelectedChange(true);
if (prim_geom != null)
{
@ -2741,8 +2811,13 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
if (!childPrim && Body != IntPtr.Zero && !m_disabled)
if (!childPrim)
{
if (Body != IntPtr.Zero && !m_disabled)
d.BodyEnable(Body);
}
// else if (_parent != null)
// ((OdePrim)_parent).ChildSelectedChange(false);
UpdateCollisionCatFlags();
ApplyCollisionCatFlags();
@ -2929,7 +3004,6 @@ namespace OpenSim.Region.Physics.OdePlugin
givefakeori--;
if (givefakeori < 0)
givefakeori = 0;
resetCollisionAccounting();
}
@ -3084,9 +3158,10 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(Body);
}
private void changeAddForce(Vector3 force)
private void changeAddImpulse(Vector3 impulse)
{
m_forceacc += force;
m_forceacc += impulse * m_invTimeStep;
if (!m_isSelected)
{
lock (this)
@ -3105,9 +3180,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void changeAddAngularForce(Vector3 aforce)
// actually angular impulse
private void changeAddAngularImpulse(Vector3 aimpulse)
{
m_angularForceacc += aforce;
m_angularForceacc += aimpulse * m_invTimeStep;
if (!m_isSelected)
{
lock (this)
@ -3145,6 +3221,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeVolumedetetion(bool newVolDtc)
{
m_isVolumeDetect = newVolDtc;
m_fakeisVolumeDetect = newVolDtc;
UpdateCollisionCatFlags();
ApplyCollisionCatFlags();
}
@ -3229,9 +3306,18 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && !m_building && !m_outbounds)
{
if (d.BodyIsEnabled(Body))
if (!d.BodyIsEnabled(Body))
{
float timestep = _parent_scene.ODE_STEPSIZE;
// let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
return;
if (++bodydisablecontrol < 20)
return;
bodydisablecontrol = 0;
d.BodyEnable(Body);
}
// check outside region
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
@ -3260,7 +3346,6 @@ namespace OpenSim.Region.Physics.OdePlugin
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
@ -3317,153 +3402,110 @@ namespace OpenSim.Region.Physics.OdePlugin
{
// 'VEHICLES' are dealt with in ODEDynamics.cs
m_vehicle.Step();
return;
}
else
{
float fx = 0;
float fy = 0;
float fz = 0;
float m_mass = _mass;
// fz = 0f;
//m_log.Info(m_collisionFlags.ToString());
if (m_usePID)
if (m_usePID && m_PIDTau > 0)
{
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if ((m_PIDTau < 1) && (m_PIDTau != 0))
{
//PID_G = PID_G / m_PIDTau;
m_PIDTau = 1;
}
if ((PID_G - m_PIDTau) <= 0)
{
PID_G = m_PIDTau + 1;
}
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 pos = d.BodyGetPosition(Body);
// for now position error
_target_velocity =
new Vector3(
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
(m_PIDTarget.X - lpos.X),
(m_PIDTarget.Y - lpos.Y),
(m_PIDTarget.Z - lpos.Z)
);
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.02f))
{
// 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
//fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
//fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
//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);
return;
}
else
{
_zeroFlag = false;
// We're flying and colliding with something
fx = ((_target_velocity.X) - vel.X) * (PID_D);
fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
float tmp = 1 / m_PIDTau;
_target_velocity *= tmp;
// vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
// apply limits
tmp = _target_velocity.Length();
if (tmp > 50.0f)
{
tmp = 50 / tmp;
_target_velocity *= tmp;
}
else if (tmp < 0.05f)
{
tmp = 0.05f / tmp;
_target_velocity *= tmp;
}
fz = ((_target_velocity.Z - vel.Z) * (PID_D));
d.Vector3 vel = d.BodyGetLinearVel(Body);
fx = (_target_velocity.X - vel.X) * m_invTimeStep;
fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
}
} // end if (m_usePID)
// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
else if (m_useHoverPID)
else if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
{
//Console.WriteLine("Hover " + Name);
// If we're using the PID controller, then we have no gravity
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if ((m_PIDTau < 1))
{
PID_G = PID_G / m_PIDTau;
}
if ((PID_G - m_PIDTau) <= 0)
{
PID_G = m_PIDTau + 1;
}
// Where are we, and where are we headed?
d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
// Non-Vehicles have a limited set of Hover options.
// determine what our target height really is based on HoverType
m_groundHeight = _parent_scene.GetTerrainHeightAtXY(lpos.X, lpos.Y);
switch (m_PIDHoverType)
{
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;
}
else
{
m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
}
break;
} // end switch (m_PIDHoverType)
// don't go underground unless volumedetector
_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 (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
if (m_targetHoverHeight > m_groundHeight || m_isVolumeDetect)
{
// keep track of where we stopped. No more slippin' & slidin'
d.Vector3 vel = d.BodyGetLinearVel(Body);
// 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
fz = (m_targetHoverHeight - lpos.Z);
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
// if error is zero, use position control; otherwise, velocity control
if (Math.Abs(fz) < 0.01f)
{
d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
// ? d.BodyAddForce(Body, 0, 0, fz);
return;
}
else
{
_zeroFlag = false;
fz /= m_PIDHoverTau;
// We're flying and colliding with something
fz = ((_target_velocity.Z - vel.Z) * (PID_D));
float tmp = Math.Abs(fz);
if (tmp > 50)
fz = 50 * Math.Sign(fz);
else if (tmp < 0.1)
fz = 0.1f * Math.Sign(fz);
fz = ((fz - vel.Z) * m_invTimeStep);
}
}
}
else
@ -3506,51 +3548,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
}
}
// update our ideia of velocities and acelerations
d.Quaternion ori;
d.Vector3 dtmpu;
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
d.GeomCopyQuaternion(prim_geom, out ori);
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
_acceleration = _velocity;
dtmpu = d.BodyGetLinearVel(Body);
_velocity.X = dtmpu.X;
_velocity.Y = dtmpu.Y;
_velocity.Z = dtmpu.Z;
float invts = 1 / timestep;
_acceleration = (_velocity - _acceleration) * invts;
dtmpu = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmpu.X;
m_rotationalVelocity.Y = dtmpu.Y;
m_rotationalVelocity.Z = dtmpu.Z;
}
else // body disabled/sleeping
{
// let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
return;
if (++bodydisablecontrol < 20)
return;
bodydisablecontrol = 0;
d.BodyEnable(Body);
return;
}
}
else
{ // is not physical, or is not a body or is selected
// _zeroPosition = d.BodyGetPosition(Body);
@ -3560,92 +3557,113 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public void UpdatePositionAndVelocity(float simulatedtime)
public void UpdatePositionAndVelocity()
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
if (_parent == null && !m_disabled && !m_building && !m_outbounds)
if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
{
if (Body != IntPtr.Zero)
if (d.BodyIsEnabled(Body) || !_zeroFlag)
{
bool lastZeroFlag = _zeroFlag;
if ((Math.Abs(m_lastposition.X - _position.X) < 0.01)
&& (Math.Abs(m_lastposition.Y - _position.Y) < 0.01)
&& (Math.Abs(m_lastposition.Z - _position.Z) < 0.01)
&& (Math.Abs(m_lastorientation.X - _orientation.X) < 0.0001)
&& (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001)
&& (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
d.Quaternion ori;
d.GeomCopyQuaternion(prim_geom, out ori);
// decide if moving
// use positions since this are integrated quantities
// tolerance values depende a lot on simulation noise...
// use simple math.abs since we dont need to be exact
if (
(Math.Abs(_position.X - lpos.X) < 0.001f)
&& (Math.Abs(_position.Y - lpos.Y) < 0.001f)
&& (Math.Abs(_position.Z - lpos.Z) < 0.001f)
&& (Math.Abs(_orientation.X - ori.X) < 0.0001f)
&& (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
&& (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
)
{
_zeroFlag = true;
m_throttleUpdates = false;
}
else
_zeroFlag = false;
// update velocities and aceleration
if (!(_zeroFlag && lastZeroFlag))
{
d.Vector3 vel = d.BodyGetLinearVel(Body);
_acceleration = _velocity;
if ((Math.Abs(vel.X) < 0.001f) &&
(Math.Abs(vel.Y) < 0.001f) &&
(Math.Abs(vel.Z) < 0.001f))
{
_velocity = Vector3.Zero;
float t = -m_invTimeStep;
_acceleration = _acceleration * t;
}
else
{
_zeroFlag = false;
m_lastUpdateSent = false;
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
_acceleration = (_velocity - _acceleration) * m_invTimeStep;
}
if ((Math.Abs(_acceleration.X) < 0.01f) &&
(Math.Abs(_acceleration.Y) < 0.01f) &&
(Math.Abs(_acceleration.Z) < 0.01f))
{
_acceleration = Vector3.Zero;
}
if ((Math.Abs(_orientation.X - ori.X) < 0.0001) &&
(Math.Abs(_orientation.Y - ori.Y) < 0.0001) &&
(Math.Abs(_orientation.Z - ori.Z) < 0.0001)
)
{
m_rotationalVelocity = Vector3.Zero;
}
else
{
vel = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = vel.X;
m_rotationalVelocity.Y = vel.Y;
m_rotationalVelocity.Z = vel.Z;
}
}
if (_zeroFlag)
{
m_lastposition = _position;
m_lastorientation = _orientation;
if (lastZeroFlag)
{
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
}
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
throttleCounter = 0;
base.RequestPhysicsterseUpdate();
if (lastZeroFlag)
m_lastUpdateSent = true;
}
}
else
{
if (lastZeroFlag != _zeroFlag)
{
base.RequestPhysicsterseUpdate();
return;
}
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
base.RequestPhysicsterseUpdate();
m_lastUpdateSent = false;
if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
{
m_lastposition = _position;
m_lastorientation = _orientation;
m_lastVelocity = _velocity;
base.RequestPhysicsterseUpdate();
}
else
{
throttleCounter++;
}
}
}
else if (!m_lastUpdateSent || !_zeroFlag)
{
// Not a body.. so Make sure the client isn't interpolating
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
m_lastVelocity = Vector3.Zero;
_zeroFlag = true;
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
throttleCounter = 0;
base.RequestPhysicsterseUpdate();
m_lastUpdateSent = true;
}
}
}
}
@ -3803,11 +3821,11 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
case changes.AddForce:
changeAddForce((Vector3)arg);
changeAddImpulse((Vector3)arg);
break;
case changes.AddAngForce:
changeAddAngularForce((Vector3)arg);
changeAddAngularImpulse((Vector3)arg);
break;
case changes.AngLock:

205
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -189,9 +189,12 @@ namespace OpenSim.Region.Physics.OdePlugin
private const uint m_regionHeight = Constants.RegionSize;
public float ODE_STEPSIZE = 0.020f;
public float HalfOdeStep = 0.01f;
private float metersInSpace = 25.6f;
private float m_timeDilation = 1.0f;
DateTime m_lastframe;
public float gravityx = 0f;
public float gravityy = 0f;
public float gravityz = -9.8f;
@ -485,6 +488,8 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
HalfOdeStep = ODE_STEPSIZE * 0.5f;
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
@ -521,7 +526,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldSetAngularDamping(world, 0.001f);
d.WorldSetAngularDampingThreshold(world, 0f);
d.WorldSetLinearDampingThreshold(world, 0f);
d.WorldSetMaxAngularSpeed(world, 256f);
d.WorldSetMaxAngularSpeed(world, 100f);
d.WorldSetCFM(world,1e-6f); // a bit harder than default
//d.WorldSetCFM(world, 1e-4f); // a bit harder than default
@ -564,6 +569,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// let this now be real maximum values
spaceGridMaxX--;
spaceGridMaxY--;
m_lastframe = DateTime.UtcNow;
}
internal void waitForSpaceUnlock(IntPtr space)
@ -1685,35 +1691,30 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <returns></returns>
public override float Simulate(float timeStep)
{
int statstart;
int statchanges = 0;
int statchmove = 0;
int statactmove = 0;
int statray = 0;
int statcol = 0;
int statstep = 0;
int statmovchar = 0;
int statmovprim;
int totjcontact = 0;
DateTime now = DateTime.UtcNow;
TimeSpan SinceLastFrame = now - m_lastframe;
m_lastframe = now;
timeStep = (float)SinceLastFrame.TotalSeconds;
// acumulate time so we can reduce error
step_time += timeStep;
if (step_time < ODE_STEPSIZE)
if (step_time < HalfOdeStep)
return 0;
if (framecount >= int.MaxValue)
if (framecount < 0)
framecount = 0;
framecount++;
int curphysiteractions = m_physicsiterations;
int curphysiteractions;
if (step_time >= m_SkipFramesAtms)
{
// if in trouble reduce step resolution
curphysiteractions /= 2;
}
if (step_time >= m_SkipFramesAtms)
curphysiteractions = m_physicsiterations / 2;
else
curphysiteractions = m_physicsiterations;
int nodeframes = 0;
@ -1733,13 +1734,10 @@ namespace OpenSim.Region.Physics.OdePlugin
base.TriggerPhysicsBasedRestart();
}
while (step_time >= ODE_STEPSIZE && nodeframes < 10) //limit number of steps so we don't say here for ever
while (step_time >= HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
{
try
{
statstart = Util.EnvironmentTickCount();
// clear pointer/counter to contacts to pass into joints
m_global_contactcount = 0;
@ -1778,17 +1776,39 @@ namespace OpenSim.Region.Physics.OdePlugin
}
statchanges += Util.EnvironmentTickCountSubtract(statstart);
// Move characters
lock (_characters)
{
List<OdeCharacter> defects = new List<OdeCharacter>();
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
actor.Move(ODE_STEPSIZE, defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter defect in defects)
{
RemoveCharacter(defect);
}
}
}
// Move other active objects
lock (_activegroups)
{
foreach (OdePrim aprim in _activegroups)
{
aprim.Move();
}
}
statactmove += Util.EnvironmentTickCountSubtract(statstart);
//if ((framecount % m_randomizeWater) == 0)
// randomizeWater(waterlevel);
m_rayCastManager.ProcessQueuedRequests();
statray += Util.EnvironmentTickCountSubtract(statstart);
collision_optimized();
statcol += Util.EnvironmentTickCountSubtract(statstart);
lock (_collisionEventPrim)
{
@ -1813,57 +1833,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
// do a ode simulation step
d.WorldQuickStep(world, ODE_STEPSIZE);
statstep += Util.EnvironmentTickCountSubtract(statstart);
// Move characters
lock (_characters)
{
List<OdeCharacter> defects = new List<OdeCharacter>();
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
actor.Move(ODE_STEPSIZE, defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter defect in defects)
{
RemoveCharacter(defect);
}
}
}
statchmove += Util.EnvironmentTickCountSubtract(statstart);
// Move other active objects
lock (_activegroups)
{
foreach (OdePrim aprim in _activegroups)
{
aprim.Move();
}
}
//ode.dunlock(world);
}
catch (Exception e)
{
m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
// ode.dunlock(world);
}
d.JointGroupEmpty(contactgroup);
totjcontact += m_global_contactcount;
step_time -= ODE_STEPSIZE;
nodeframes++;
}
statstart = Util.EnvironmentTickCount();
// update managed ideia of physical data and do updates to core
/*
// now included in characters move() and done at ode rate
// maybe be needed later if we need to do any extra work at hearbeat rate
lock (_characters)
{
foreach (OdeCharacter actor in _characters)
@ -1878,6 +1853,31 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
*/
lock (_activegroups)
{
{
foreach (OdePrim actor in _activegroups)
{
if (actor.IsPhysical)
{
actor.UpdatePositionAndVelocity();
}
}
}
}
}
catch (Exception e)
{
m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
// ode.dunlock(world);
}
step_time -= ODE_STEPSIZE;
nodeframes++;
}
lock (_badCharacter)
{
if (_badCharacter.Count > 0)
@ -1890,22 +1890,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_badCharacter.Clear();
}
}
statmovchar = Util.EnvironmentTickCountSubtract(statstart);
lock (_activegroups)
{
{
foreach (OdePrim actor in _activegroups)
{
if (actor.IsPhysical)
{
actor.UpdatePositionAndVelocity((float)nodeframes * ODE_STEPSIZE);
}
}
}
}
statmovprim = Util.EnvironmentTickCountSubtract(statstart);
int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
@ -1932,14 +1916,16 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
}
// think time dilation is not a physics issue alone.. but ok let's fake something
if (step_time < ODE_STEPSIZE) // we did the required loops
// think time dilation as to do with dinamic step size that we dont' have
// even so tell something to world
if (nodeframes < 10) // we did the requested loops
m_timeDilation = 1.0f;
else
{ // we didn't forget the lost ones and let user know something
m_timeDilation = 1 - step_time / timeStep;
if (m_timeDilation < 0)
m_timeDilation = 0;
else if (step_time > 0)
{
m_timeDilation = timeStep / step_time;
if (m_timeDilation > 1)
m_timeDilation = 1;
if (step_time > m_SkipFramesAtms)
step_time = 0;
}
}
@ -2007,7 +1993,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else // out world use external height
{
ix = regsize - 1;
ix = regsize - 2;
dx = 0;
}
if (y < regsize - 1)
@ -2017,7 +2003,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
iy = regsize - 1;
iy = regsize - 2;
dy = 0;
}
}
@ -2034,7 +2020,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else // out world use external height
{
iy = regsize - 1;
iy = regsize - 2;
dy = 0;
}
if (y < regsize - 1)
@ -2044,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
ix = regsize - 1;
ix = regsize - 2;
dx = 0;
}
}
@ -2057,7 +2043,7 @@ namespace OpenSim.Region.Physics.OdePlugin
iy += ix; // all indexes have iy + ix
float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
/*
if ((dx + dy) <= 1.0f)
{
h0 = ((float)heights[iy]); // 0,0 vertice
@ -2070,6 +2056,23 @@ namespace OpenSim.Region.Physics.OdePlugin
h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
}
*/
h0 = ((float)heights[iy]); // 0,0 vertice
if ((dy > dx))
{
iy += regsize;
h2 = (float)heights[iy]; // 0,1 vertice
h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1
}
else
{
iy++;
h2 = (float)heights[iy]; // vertice 1,0
h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0
}
return h0 + h1 + h2;
}