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Merge branch 'avination'

avinationmerge
Melanie 2012-04-29 01:33:40 +02:00
parent dcbcbd697f c7c0d5558b
commit 174fa4a70f
8 changed files with 438 additions and 238 deletions
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46
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
View File

@ -2671,11 +2671,11 @@ namespace OpenSim.Region.Framework.Scenes
Vector3 axPos = linkPart.OffsetPosition;
Quaternion parentRot = m_rootPart.RotationOffset;
axPos *= Quaternion.Inverse(parentRot);
axPos *= Quaternion.Conjugate(parentRot);
linkPart.OffsetPosition = axPos;
Quaternion oldRot = linkPart.RotationOffset;
Quaternion newRot = Quaternion.Inverse(parentRot) * oldRot;
Quaternion newRot = Quaternion.Conjugate(parentRot) * oldRot;
linkPart.RotationOffset = newRot;
// linkPart.ParentID = m_rootPart.LocalId; done above
@ -2943,12 +2943,12 @@ namespace OpenSim.Region.Framework.Scenes
Quaternion rootRotation = m_rootPart.RotationOffset;
Vector3 pos = part.OffsetPosition;
pos *= Quaternion.Inverse(rootRotation);
pos *= Quaternion.Conjugate(rootRotation);
part.OffsetPosition = pos;
parentRot = m_rootPart.RotationOffset;
oldRot = part.RotationOffset;
Quaternion newRot = Quaternion.Inverse(parentRot) * worldRot;
Quaternion newRot = Quaternion.Conjugate(parentRot) * worldRot;
part.RotationOffset = newRot;
part.UpdatePrimFlags(UsesPhysics, IsTemporary, IsPhantom, IsVolumeDetect, false);
@ -3548,13 +3548,16 @@ namespace OpenSim.Region.Framework.Scenes
/// <param name="rot"></param>
public void UpdateGroupRotationR(Quaternion rot)
{
m_rootPart.UpdateRotation(rot);
/* this is done by rootpart RotationOffset set called by UpdateRotation
PhysicsActor actor = m_rootPart.PhysActor;
if (actor != null)
{
actor.Orientation = m_rootPart.RotationOffset;
m_scene.PhysicsScene.AddPhysicsActorTaint(actor);
}
*/
HasGroupChanged = true;
ScheduleGroupForTerseUpdate();
}
@ -4063,6 +4066,39 @@ namespace OpenSim.Region.Framework.Scenes
return retmass;
}
// center of mass of full object
public Vector3 GetCenterOfMass()
{
PhysicsActor pa = RootPart.PhysActor;
if(((RootPart.Flags & PrimFlags.Physics) !=0) && pa !=null)
{
// physics knows better about center of mass of physical prims
Vector3 tmp = pa.CenterOfMass;
return tmp;
}
Vector3 Ptot = Vector3.Zero;
float totmass = 0f;
float m;
SceneObjectPart[] parts = m_parts.GetArray();
for (int i = 0; i < parts.Length; i++)
{
m = parts[i].GetMass();
Ptot += parts[i].GetPartCenterOfMass() * m;
totmass += m;
}
if (totmass == 0)
totmass = 0;
else
totmass = 1 / totmass;
Ptot *= totmass;
return Ptot;
}
/// <summary>
/// If the object is a sculpt/mesh, retrieve the mesh data for each part and reinsert it into each shape so that
/// the physics engine can use it.

40
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
View File

@ -1865,7 +1865,7 @@ namespace OpenSim.Region.Framework.Scenes
{
if ((!isPhantom || isPhysical || _VolumeDetectActive) && !ParentGroup.IsAttachment
&& !(Shape.PathCurve == (byte)Extrusion.Flexible))
AddToPhysics(isPhysical, isPhantom, building, true);
AddToPhysics(isPhysical, isPhantom, building, isPhysical);
else
PhysActor = null; // just to be sure
}
@ -2311,7 +2311,7 @@ namespace OpenSim.Region.Framework.Scenes
*/
}
public float GetMass()
public float GetMass()
{
PhysicsActor pa = PhysActor;
@ -2321,6 +2321,40 @@ namespace OpenSim.Region.Framework.Scenes
return 0;
}
public Vector3 GetCenterOfMass()
{
if (ParentGroup.RootPart == this)
{
if (ParentGroup.IsDeleted)
return AbsolutePosition;
return ParentGroup.GetCenterOfMass();
}
PhysicsActor pa = PhysActor;
if (pa != null)
{
Vector3 tmp = pa.CenterOfMass;
return tmp;
}
else
return AbsolutePosition;
}
public Vector3 GetPartCenterOfMass()
{
PhysicsActor pa = PhysActor;
if (pa != null)
{
Vector3 tmp = pa.CenterOfMass;
return tmp;
}
else
return AbsolutePosition;
}
public Vector3 GetForce()
{
return Force;
@ -4804,7 +4838,7 @@ namespace OpenSim.Region.Framework.Scenes
{
Velocity = velocity;
AngularVelocity = rotationalVelocity;
pa.Velocity = velocity;
// pa.Velocity = velocity;
pa.RotationalVelocity = rotationalVelocity;
// if not vehicle and root part apply force and torque

35
OpenSim/Region/Framework/Scenes/ScenePresence.cs
View File

@ -1088,6 +1088,41 @@ namespace OpenSim.Region.Framework.Scenes
SendTerseUpdateToAllClients();
}
public void avnLocalTeleport(Vector3 newpos, Vector3? newvel, bool rotateToVelXY)
{
CheckLandingPoint(ref newpos);
AbsolutePosition = newpos;
if (newvel.HasValue)
{
if ((Vector3)newvel == Vector3.Zero)
{
if (PhysicsActor != null)
PhysicsActor.SetMomentum(Vector3.Zero);
m_velocity = Vector3.Zero;
}
else
{
if (PhysicsActor != null)
PhysicsActor.SetMomentum((Vector3)newvel);
m_velocity = (Vector3)newvel;
if (rotateToVelXY)
{
Vector3 lookAt = (Vector3)newvel;
lookAt.Z = 0;
lookAt.Normalize();
ControllingClient.SendLocalTeleport(newpos, lookAt, (uint)TeleportFlags.ViaLocation);
return;
}
}
}
SendTerseUpdateToAllClients();
}
public void StopFlying()
{
ControllingClient.StopFlying(this);

274
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -103,12 +103,13 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_buoyancy = 0f;
private bool m_freemove = false;
// private CollisionLocker ode;
private string m_name = String.Empty;
// other filter control
int m_colliderfilter = 0;
// int m_colliderGroundfilter = 0;
int m_colliderGroundfilter = 0;
int m_colliderObjectfilter = 0;
// Default we're a Character
@ -280,7 +281,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_iscolliding = false;
else
{
// SetPidStatus(false);
m_pidControllerActive = true;
m_iscolliding = true;
}
@ -379,24 +379,21 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return _position; }
set
{
if (Body == IntPtr.Zero || Shell == IntPtr.Zero)
if (value.IsFinite())
{
if (value.IsFinite())
if (value.Z > 9999999f)
{
if (value.Z > 9999999f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
if (value.Z < -100f)
{
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
AddChange(changes.Position, value);
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
else
if (value.Z < -100f)
{
m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
value.Z = _parent_scene.GetTerrainHeightAtXY(127, 127) + 5;
}
AddChange(changes.Position, value);
}
else
{
m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
}
}
}
@ -616,7 +613,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (pushforce)
{
AddChange(changes.Force, force * m_density / _parent_scene.ODE_STEPSIZE / 28f);
AddChange(changes.Force, force * m_density / (_parent_scene.ODE_STEPSIZE * 28f));
}
else
{
@ -687,6 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_zeroFlag = false;
m_pidControllerActive = true;
m_freemove = false;
d.BodySetAutoDisableFlag(Body, false);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
@ -828,11 +826,17 @@ namespace OpenSim.Region.Physics.OdePlugin
localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
}
if (fixbody)
{
m_freemove = false;
d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
}
float breakfactor;
Vector3 vec = Vector3.Zero;
dtmp = d.BodyGetLinearVel(Body);
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
float velLengthSquared = vel.LengthSquared();
float movementdivisor = 1f;
//Ubit change divisions into multiplications below
@ -871,104 +875,148 @@ namespace OpenSim.Region.Physics.OdePlugin
if (depth < 0.1f)
{
m_iscolliding = true;
m_colliderfilter = 2;
m_iscollidingGround = true;
m_colliderGroundfilter++;
if (m_colliderGroundfilter > 2)
{
m_iscolliding = true;
m_colliderfilter = 2;
ContactPoint contact = new ContactPoint();
contact.PenetrationDepth = depth;
contact.Position.X = localpos.X;
contact.Position.Y = localpos.Y;
contact.Position.Z = chrminZ;
contact.SurfaceNormal.X = 0f;
contact.SurfaceNormal.Y = 0f;
contact.SurfaceNormal.Z = -1f;
AddCollisionEvent(0, contact);
if (m_colliderGroundfilter > 10)
{
m_colliderGroundfilter = 10;
m_freemove = false;
}
vec.Z *= 0.5f;
m_iscollidingGround = true;
ContactPoint contact = new ContactPoint();
contact.PenetrationDepth = depth;
contact.Position.X = localpos.X;
contact.Position.Y = localpos.Y;
contact.Position.Z = chrminZ;
contact.SurfaceNormal.X = 0f;
contact.SurfaceNormal.Y = 0f;
contact.SurfaceNormal.Z = -1f;
AddCollisionEvent(0, contact);
vec.Z *= 0.5f;
}
}
else
{
m_colliderGroundfilter = 0;
m_iscollidingGround = false;
}
}
else
{
m_colliderGroundfilter = 0;
m_iscollidingGround = false;
}
//******************************************
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
&& m_iscolliding)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = localpos;
}
if (m_pidControllerActive)
{
// 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
bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
if (flying)
// if (!tviszero || m_iscolliding || velLengthSquared <0.01)
if (!tviszero)
m_freemove = false;
if (!m_freemove)
{
// if velocity is zero, use position control; otherwise, velocity control
if (tviszero && m_iscolliding)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
_zeroFlag = true;
_zeroPosition = localpos;
}
if (m_pidControllerActive)
{
// 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
vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2);
vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2);
if (flying)
{
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
}
}
//PidStatus = true;
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding)
{
if (!flying)
{
if (_target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running. JUMPING
vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
}
// We're standing on something
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
}
else
{
// We're flying and colliding with something
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
}
}
else // ie not colliding
{
if (flying) //(!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
}
else
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
}
}
}
//PidStatus = true;
if (velLengthSquared > 2500.0f) // 50m/s apply breaks
{
breakfactor = 0.16f * m_mass;
vec.X -= breakfactor * vel.X;
vec.Y -= breakfactor * vel.Y;
vec.Z -= breakfactor * vel.Z;
}
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding)
{
if (!flying)
{
if (_target_velocity.Z > 0.0f)
{
// We're colliding with something and we're not flying but we're moving
// This means we're walking or running. JUMPING
vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
}
// We're standing on something
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
}
else
{
// We're flying and colliding with something
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
}
}
else // ie not colliding
{
if (flying) //(!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
}
else
{
// we're not colliding and we're not flying so that means we're falling!
// m_iscolliding includes collisions with the ground.
// d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
}
}
breakfactor = m_mass;
vec.X -= breakfactor * vel.X;
vec.Y -= breakfactor * vel.Y;
if (flying)
vec.Z -= breakfactor * vel.Z;
else
vec.Z -= .5f* m_mass * vel.Z;
}
if (flying)
@ -985,14 +1033,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// end add Kitto Flora
}
if (vel.X * vel.X + vel.Y * vel.Y + vel.Z * vel.Z > 2500.0f) // 50m/s apply breaks
{
float breakfactor = 0.16f * m_mass; // will give aprox 60m/s terminal velocity at free fall
vec.X -= breakfactor * vel.X;
vec.Y -= breakfactor * vel.Y;
vec.Z -= breakfactor * vel.Z;
}
if (vec.IsFinite())
{
if (vec.X != 0 || vec.Y !=0 || vec.Z !=0)
@ -1210,6 +1250,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (Body != IntPtr.Zero)
d.BodySetPosition(Body, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
m_pidControllerActive = true;
}
private void changeOrientation(Quaternion newOri)
@ -1256,11 +1297,30 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeBuilding(bool arg)
{
}
}
private void setFreeMove()
{
m_pidControllerActive = true;
_zeroFlag = false;
_target_velocity = Vector3.Zero;
m_freemove = true;
m_colliderfilter = -2;
m_colliderObjectfilter = -2;
m_colliderGroundfilter = -2;
m_iscolliding = false;
m_iscollidingGround = false;
m_iscollidingObj = false;
CollisionEventsThisFrame = new CollisionEventUpdate();
m_eventsubscription = 0;
}
private void changeForce(Vector3 newForce)
{
m_pidControllerActive = false;
setFreeMove();
if (Body != IntPtr.Zero)
{
if (newForce.X != 0f || newForce.Y != 0f || newForce.Z != 0)
@ -1272,8 +1332,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeMomentum(Vector3 newmomentum)
{
_velocity = newmomentum;
_target_velocity = newmomentum;
m_pidControllerActive = true;
setFreeMove();
if (Body != IntPtr.Zero)
d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
}

216
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
View File

@ -121,6 +121,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_amEfect = 0; // current angular motor eficiency
private float m_ffactor = 1.0f;
private float m_timestep = 0.02f;
private float m_invtimestep = 50;
public float FrictionFactor
{
get
@ -133,14 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{
rootPrim = rootp;
_pParentScene = rootPrim._parent_scene;
m_timestep = _pParentScene.ODE_STEPSIZE;
m_invtimestep = 1.0f / m_timestep;
}
public void DoSetVehicle(VehicleData vd)
{
float timestep = _pParentScene.ODE_STEPSIZE;
float invtimestep = 1.0f / timestep;
m_type = vd.m_type;
m_flags = vd.m_flags;
@ -148,61 +149,60 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearMotorDirection = vd.m_linearMotorDirection;
m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep;
m_linearMotorDecayTimescale *= invtimestep;
if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
m_linearMotorDecayTimescale *= m_invtimestep;
m_linearMotorTimescale = vd.m_linearMotorTimescale;
if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
m_linearMotorOffset = vd.m_linearMotorOffset;
//Angular properties
m_angularMotorDirection = vd.m_angularMotorDirection;
m_angularMotorTimescale = vd.m_angularMotorTimescale;
if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep;
m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep;
m_angularMotorDecayTimescale *= invtimestep;
if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
m_angularMotorDecayTimescale *= m_invtimestep;
m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
//Deflection properties
m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep;
//Banking properties
m_bankingEfficiency = vd.m_bankingEfficiency;
m_bankingMix = vd.m_bankingMix;
m_bankingTimescale = vd.m_bankingTimescale;
if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep;
//Hover and Buoyancy properties
m_VhoverHeight = vd.m_VhoverHeight;
m_VhoverEfficiency = vd.m_VhoverEfficiency;
m_VhoverTimescale = vd.m_VhoverTimescale;
if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep;
m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
//Attractor properties
m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep;
// Axis
m_referenceFrame = vd.m_referenceFrame;
@ -215,8 +215,6 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
float len;
float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
float timestep = _pParentScene.ODE_STEPSIZE;
switch (pParam)
{
@ -226,18 +224,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_angularDeflectionEfficiency = pValue;
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_angularDeflectionTimescale = pValue;
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < timestep) pValue = timestep;
// try to make impulses to work a bit better
// if (pValue < 0.5f) pValue = 0.5f;
if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
m_angularMotorDecayTimescale = pValue * invtimestep;
m_angularMotorDecayTimescale = pValue * m_invtimestep;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_angularMotorTimescale = pValue;
break;
case Vehicle.BANKING_EFFICIENCY:
@ -251,7 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingMix = pValue;
break;
case Vehicle.BANKING_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_bankingTimescale = pValue;
break;
case Vehicle.BUOYANCY:
@ -268,7 +264,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_VhoverHeight = pValue;
break;
case Vehicle.HOVER_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_VhoverTimescale = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
@ -277,18 +273,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionEfficiency = pValue;
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_linearDeflectionTimescale = pValue;
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < timestep) pValue = timestep;
// try to make impulses to work a bit better
//if (pValue < 0.5f) pValue = 0.5f;
if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
m_linearMotorDecayTimescale = pValue * invtimestep;
m_linearMotorDecayTimescale = pValue * m_invtimestep;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_linearMotorTimescale = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
@ -297,14 +291,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_verticalAttractionEfficiency = pValue;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_verticalAttractionTimescale = pValue;
break;
// These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
@ -318,7 +312,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue < timestep) pValue = timestep;
if (pValue < m_timestep) pValue = m_timestep;
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
@ -344,14 +338,13 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
float len;
float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
float timestep = _pParentScene.ODE_STEPSIZE;
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep;
if (pValue.Y < timestep) pValue.Y = timestep;
if (pValue.Z < timestep) pValue.Z = timestep;
if (pValue.X < m_timestep) pValue.X = m_timestep;
if (pValue.Y < m_timestep) pValue.Y = m_timestep;
if (pValue.Z < m_timestep) pValue.Z = m_timestep;
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
@ -367,9 +360,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep;
if (pValue.Y < timestep) pValue.Y = timestep;
if (pValue.Z < timestep) pValue.Z = timestep;
if (pValue.X < m_timestep) pValue.X = m_timestep;
if (pValue.Y < m_timestep) pValue.Y = m_timestep;
if (pValue.Z < m_timestep) pValue.Z = m_timestep;
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
@ -422,7 +415,6 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessTypeChange(Vehicle pType)
{
float invtimestep = _pParentScene.ODE_STEPSIZE;
m_lmEfect = 0;
m_amEfect = 0;
m_ffactor = 1f;
@ -444,9 +436,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120 * invtimestep;
m_linearMotorDecayTimescale = 120 * m_invtimestep;
m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 1000 * invtimestep;
m_angularMotorDecayTimescale = 1000 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 1000;
@ -468,9 +460,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120 * invtimestep;
m_linearMotorDecayTimescale = 120 * m_invtimestep;
m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 120 * invtimestep;
m_angularMotorDecayTimescale = 120 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 1;
m_VhoverTimescale = 10;
@ -491,9 +483,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60 * invtimestep;
m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 1;
m_angularMotorDecayTimescale = 0.8f * invtimestep;
m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000;
@ -515,9 +507,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60 * invtimestep;
m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4 * invtimestep;
m_angularMotorDecayTimescale = 4 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2;
@ -543,9 +535,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60 * invtimestep;
m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 8 * invtimestep;
m_angularMotorDecayTimescale = 8 * m_invtimestep;
m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000;
@ -571,15 +563,15 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60 * invtimestep;
m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 6;
m_angularMotorDecayTimescale = 10 * invtimestep;
m_angularMotorDecayTimescale = 10 * m_invtimestep;
m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0;
m_linearDeflectionTimescale = 5 * invtimestep;
m_linearDeflectionTimescale = 5 * m_invtimestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0f;
@ -701,7 +693,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return ;
}
internal void Step()//float pTimestep)
internal void Step()
{
IntPtr Body = rootPrim.Body;
@ -780,30 +772,37 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.Vector3 pos = d.BodyGetPosition(Body);
// default to global
float perr = m_VhoverHeight - pos.Z;;
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
}
else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
perr += _pParentScene.GetWaterLevel();
}
else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
{
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float w = _pParentScene.GetWaterLevel();
if (t > w)
perr += t;
else
perr += w;
}
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float perr;
// default to global but don't go underground
if (t < m_VhoverHeight)
perr = m_VhoverHeight - pos.Z;
else
perr = t - pos.Z; ;
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
{
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
perr += _pParentScene.GetWaterLevel();
}
else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
perr += t;
}
else
{
float w = _pParentScene.GetWaterLevel();
if (t > w)
perr += t;
else
perr += w;
}
}
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
{
force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE;
force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
}
else // no buoyancy
@ -811,7 +810,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
// default gravity and buoancy
// default gravity and Buoyancy
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
}
@ -819,24 +818,31 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_linearDeflectionEfficiency > 0)
{
float len = curVel.Length();
Vector3 atAxis;
atAxis = Xrot(rotq); // where are we pointing to
atAxis *= len; // make it same size as world velocity vector
tmpV = -atAxis; // oposite direction
atAxis -= curVel; // error to one direction
len = atAxis.LengthSquared();
tmpV -= curVel; // error to oposite
float lens = tmpV.LengthSquared();
if (len > 0.01 || lens > 0.01) // do nothing if close enougth
if (len > 0.01) // if moving
{
if (len < lens)
tmpV = atAxis;
tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
force.X += tmpV.X;
force.Y += tmpV.Y;
if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
force.Z += tmpV.Z;
Vector3 atAxis;
atAxis = Xrot(rotq); // where are we pointing to
atAxis *= len; // make it same size as world velocity vector
tmpV = -atAxis; // oposite direction
atAxis -= curVel; // error to one direction
len = atAxis.LengthSquared();
tmpV -= curVel; // error to oposite
float lens = tmpV.LengthSquared();
if (len > 0.01 || lens > 0.01) // do nothing if close enougth
{
if (len < lens)
tmpV = atAxis;
tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
force.X += tmpV.X;
force.Y += tmpV.Y;
if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
force.Z += tmpV.Z;
}
}
}
@ -900,10 +906,10 @@ namespace OpenSim.Region.Physics.OdePlugin
GetRollPitch(irotq, out roll, out pitch);
float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale * m_invtimestep;
float ftmp2;
if (m_bankingEfficiency == 0)
ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
ftmp2 = m_verticalAttractionEfficiency * m_invtimestep;
else
ftmp2 = 0;
@ -985,7 +991,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
{
torque *= m_referenceFrame; // to object frame
dtorque.X = torque.X;
dtorque.X = torque.X ;
dtorque.Y = torque.Y;
dtorque.Z = torque.Z;

35
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -450,7 +450,7 @@ namespace OpenSim.Region.Physics.OdePlugin
get
{
d.Vector3 dtmp;
if (IsPhysical && !childPrim && Body != IntPtr.Zero)
if (!childPrim && Body != IntPtr.Zero)
{
dtmp = d.BodyGetPosition(Body);
return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
@ -465,12 +465,38 @@ namespace OpenSim.Region.Physics.OdePlugin
q.Z = dq.Z;
q.W = dq.W;
Vector3 vtmp = primOOBoffset * q;
Vector3 Ptot = primOOBoffset * q;
dtmp = d.GeomGetPosition(prim_geom);
return new Vector3(dtmp.X + vtmp.X, dtmp.Y + vtmp.Y, dtmp.Z + vtmp.Z);
Ptot.X += dtmp.X;
Ptot.Y += dtmp.Y;
Ptot.Z += dtmp.Z;
// if(childPrim) we only know about physical linksets
return Ptot;
/*
float tmass = _mass;
Ptot *= tmass;
float m;
foreach (OdePrim prm in childrenPrim)
{
m = prm._mass;
Ptot += prm.CenterOfMass * m;
tmass += m;
}
if (tmass == 0)
tmass = 0;
else
tmass = 1.0f / tmass;
Ptot *= tmass;
return Ptot;
*/
}
else
return Vector3.Zero;
return _position;
}
}
/*
@ -3490,7 +3516,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.BodySetPosition(Body, lpos.X, lpos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
return;
}
else
{

28
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -1020,12 +1020,16 @@ namespace OpenSim.Region.Physics.OdePlugin
private void collision_accounting_events(PhysicsActor p1, PhysicsActor p2, ContactPoint contact)
{
// obj1LocalID = 0;
//returncollisions = false;
obj2LocalID = 0;
//ctype = 0;
//cStartStop = 0;
if (!(p2.SubscribedEvents() || p1.SubscribedEvents()))
bool p1events = p1.SubscribedEvents();
bool p2events = p2.SubscribedEvents();
if (p1 is OdePrim && p1.IsVolumeDtc)
p2events = false;
if (p2 is OdePrim && p2.IsVolumeDtc)
p1events = false;
if (!(p2events || p1events))
return;
switch ((ActorTypes)p1.PhysicsActorType)
@ -1037,7 +1041,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case ActorTypes.Agent:
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.m_localID;
if (p2.SubscribedEvents())
if (p2events)
cc2.AddCollisionEvent(cc1.m_localID, contact);
break;
@ -1046,7 +1050,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cp2 = (OdePrim)p2;
obj2LocalID = cp2.m_localID;
if (p2.SubscribedEvents())
if (p2events)
cp2.AddCollisionEvent(cc1.m_localID, contact);
}
break;
@ -1057,7 +1061,7 @@ namespace OpenSim.Region.Physics.OdePlugin
obj2LocalID = 0;
break;
}
if (p1.SubscribedEvents())
if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
cc1.AddCollisionEvent(obj2LocalID, contact);
@ -1078,7 +1082,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cc2 = (OdeCharacter)p2;
obj2LocalID = cc2.m_localID;
if (p2.SubscribedEvents())
if (p2events)
cc2.AddCollisionEvent(cp1.m_localID, contact);
}
break;
@ -1088,7 +1092,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
cp2 = (OdePrim)p2;
obj2LocalID = cp2.m_localID;
if (p2.SubscribedEvents())
if (p2events)
cp2.AddCollisionEvent(cp1.m_localID, contact);
}
break;
@ -1099,7 +1103,7 @@ namespace OpenSim.Region.Physics.OdePlugin
obj2LocalID = 0;
break;
}
if (p1.SubscribedEvents())
if (p1events)
{
contact.SurfaceNormal = -contact.SurfaceNormal;
cp1.AddCollisionEvent(obj2LocalID, contact);
@ -1734,7 +1738,7 @@ namespace OpenSim.Region.Physics.OdePlugin
base.TriggerPhysicsBasedRestart();
}
while (step_time >= HalfOdeStep && 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
{

2
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@ -5237,7 +5237,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
public LSL_Vector llGetCenterOfMass()
{
m_host.AddScriptLPS(1);
Vector3 center = m_host.GetGeometricCenter();
Vector3 center = m_host.GetCenterOfMass();
return new LSL_Vector(center.X,center.Y,center.Z);
}