Add rotationalVelocity and acceleration to variables that are synced in PhysicsActor. Remove unused Prop class.

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/PhysEngineToSceneConnector.cs

@@ -390,6 +390,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                     pa.Position = data["position"].AsVector3();
                     pa.Force = data["force"].AsVector3();
                     pa.Velocity = data["velocity"].AsVector3();
+                    pa.RotationalVelocity = data["rotationalVelocity"].AsVector3();
+                    pa.Acceleration = data["acceleration"].AsVector3();
                     pa.Torque = data["torque"].AsVector3();
                     pa.Orientation = data["orientantion"].AsQuaternion();
                     pa.IsPhysical = data["isPhysical"].AsBoolean();  // receive??
@@ -444,6 +446,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             data["position"] = OSD.FromVector3(pa.Position);
             data["force"] = OSD.FromVector3(pa.Force);
             data["velocity"] = OSD.FromVector3(pa.Velocity);
+            data["rotationalVelocity"] = OSD.FromVector3(pa.RotationalVelocity);
+            data["acceleration"] = OSD.FromVector3(pa.Acceleration);
             data["torque"] = OSD.FromVector3(pa.Torque);
             data["orientation"] = OSD.FromQuaternion(pa.Orientation);
             data["isPhysical"] = OSD.FromBoolean(pa.IsPhysical);

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/SceneToPhysEngineConnector.cs

@@ -350,6 +350,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                     pa.Position = data["position"].AsVector3();
                     pa.Force = data["force"].AsVector3();
                     pa.Velocity = data["velocity"].AsVector3();
+                    pa.RotationalVelocity = data["rotationalVelocity"].AsVector3();
+                    pa.Acceleration = data["acceleration"].AsVector3();
                     pa.Torque = data["torque"].AsVector3();
                     pa.Orientation = data["orientantion"].AsQuaternion();
                     pa.IsPhysical = data["isPhysical"].AsBoolean();  // receive??
@@ -402,6 +404,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             data["position"] = OSD.FromVector3(pa.Position);
             data["force"] = OSD.FromVector3(pa.Force);
             data["velocity"] = OSD.FromVector3(pa.Velocity);
+            data["rotationalVelocity"] = OSD.FromVector3(pa.RotationalVelocity);
+            data["acceleration"] = OSD.FromVector3(pa.Acceleration);
             data["torque"] = OSD.FromVector3(pa.Torque);
             data["orientation"] = OSD.FromQuaternion(pa.Orientation);
             data["isPhysical"] = OSD.FromBoolean(pa.IsPhysical);

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/SceneToPhysEngineSyncServer.cs

@@ -273,8 +273,11 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         public void SendUpdate(PhysicsActor pa)
         {
             // m_log.DebugFormat("{0}: SendUpdate for {1}", LogHeader, pa.LocalID);
+            if (m_sceneToPhysEngineConnector != null)
+            {
                 this.m_sceneToPhysEngineConnector.SendPhysUpdateAttributes(pa);
             }
+        }
 
         #endregion
 

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -127,6 +127,7 @@ namespace OpenSim.Region.Physics.Manager
         public Vector3 position;
         public Vector3 force;
         public Vector3 velocity;
+        public Vector3 rotationalVelocity;
         public Vector3 torque;
         public Quaternion orientation;
         public Boolean isPhysical;
@@ -140,6 +141,7 @@ namespace OpenSim.Region.Physics.Manager
             if (!AlmostEqual(position, pa.Position)) { position = pa.Position; ret = true; }
             if (!AlmostEqual(force, pa.Force)) { force = pa.Force; ret = true; }
             if (!AlmostEqual(velocity, pa.Velocity)) { velocity = pa.Velocity; ret = true; }
+            if (!AlmostEqual(rotationalVelocity, pa.RotationalVelocity)) { rotationalVelocity = pa.RotationalVelocity; ret = true; }
             if (!AlmostEqual(torque, pa.Torque)) { torque = pa.Torque; ret = true; }
             if (orientation != pa.Orientation) { orientation = pa.Orientation; ret = true; }
             if (isPhysical != pa.IsPhysical) { isPhysical = pa.IsPhysical; ret = true; }
@@ -149,9 +151,9 @@ namespace OpenSim.Region.Physics.Manager
         }
         private bool AlmostEqual(Vector3 a, Vector3 b)
         {
-            if (Math.Abs(a.X - b.X) > 0.001) return false;
+            if (Math.Abs(a.X - b.X) > 0.01) return false;
-            if (Math.Abs(a.Y - b.Y) > 0.001) return false;
+            if (Math.Abs(a.Y - b.Y) > 0.01) return false;
-            if (Math.Abs(a.Z - b.Z) > 0.001) return false;
+            if (Math.Abs(a.Z - b.Z) > 0.01) return false;
             return true;
         }
     }
@@ -273,7 +275,12 @@ namespace OpenSim.Region.Physics.Manager
         public abstract Vector3 Velocity { get; set; }
         public abstract Vector3 Torque { get; set; }
         public abstract float CollisionScore { get; set;}
-        public abstract Vector3 Acceleration { get; }
+        // RA: used to be abstract but made virtual so 'set' does not need to be added to all phys engines
+        private Vector3 _acceleration;
+        public virtual Vector3 Acceleration {
+            get { return _acceleration; }
+            set { _acceleration = value; }
+        }
         public abstract Quaternion Orientation { get; set; }
         public abstract int PhysicsActorType { get; set; }
         public abstract bool IsPhysical { get; set; }
@@ -471,6 +478,7 @@ namespace OpenSim.Region.Physics.Manager
         public override Vector3 Acceleration
         {
             get { return Vector3.Zero; }
+            set { }
         }
 
         public override bool IsPhysical

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -835,6 +835,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         public override Vector3 Acceleration
         {
             get { return _acceleration; }
+            set { _acceleration = value; }
         }
 
         public void SetAcceleration(Vector3 accel)

OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

@@ -2501,6 +2501,7 @@ Console.WriteLine(" JointCreateFixed");
         public override Vector3 Acceleration
         {
             get { return _acceleration; }
+            set { _acceleration = value; }
         }
 
 

OpenSim/Region/Physics/PEPlugin/PECharacter.cs

@@ -44,7 +44,10 @@ public class PECharacter : PhysicsActor
     private bool _grabbed;
     private bool _selected;
     private Vector3 _position;
-    private float _mass;
+    private float _mass = 80f;
+    public float _density = 60f;
+    public float CAPSULE_RADIUS = 0.37f;
+    public float CAPSULE_LENGTH = 2.140599f;
     private Vector3 _force;
     private Vector3 _velocity;
     private Vector3 _torque;
@@ -79,6 +82,7 @@ public class PECharacter : PhysicsActor
     {
         _position = pos;
         _size = size;
+        _density = density;
         return;
     }
 
@@ -88,30 +92,25 @@ public class PECharacter : PhysicsActor
     public override Vector3 Size { 
         get { return _size; } 
         set { _size = value;
-            Prop.Set(_localID, PropType.Size, _size);
         } 
     }
     public override PrimitiveBaseShape Shape { 
         set { _pbs = value; 
-            Prop.Set(_localID, PropType.Shape, _pbs);
         } 
     }
     public override uint LocalID { 
         set { _localID = value; 
-            Prop.Set(_localID, PropType.LocalID, _localID);
         }
         get { return _localID; }
     }
     public override bool Grabbed { 
         set { _grabbed = value; 
             m_log.Debug("[RPE] PEChar set Grabbed");
-            Prop.Set(_localID, PropType.Grabbed, _grabbed);
         } 
     }
     public override bool Selected { 
         set { _selected = value; 
             m_log.Debug("[RPE] PEChar set Selected");
-            Prop.Set(_localID, PropType.Selected, _selected);
         } 
     }
     public override void CrossingFailure() { return; }
@@ -122,16 +121,18 @@ public class PECharacter : PhysicsActor
     public override Vector3 Position { 
         get { return _position; } 
         set { _position = value; 
-            Prop.Set(_localID, PropType.Position, _position);
         } 
     }
     public override float Mass { 
-        get { return _mass; } 
+        get { 
+            float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
+            _mass = _density*AVvolume;
+            return _mass; 
+        } 
     }
     public override Vector3 Force { 
         get { return _force; } 
         set { _force = value; 
-            Prop.Set(_localID, PropType.Force, _force);
         } 
     }
 
@@ -152,19 +153,16 @@ public class PECharacter : PhysicsActor
     public override Vector3 Velocity { 
         get { return _velocity; } 
         set { _velocity = value; 
-            Prop.Set(_localID, PropType.Velocity, _velocity);
         } 
     }
     public override Vector3 Torque { 
         get { return _torque; } 
         set { _torque = value; 
-            Prop.Set(_localID, PropType.Torque, _torque);
         } 
     }
     public override float CollisionScore { 
         get { return _collisionScore; } 
         set { _collisionScore = value; 
-            Prop.Set(_localID, PropType.CollisionScore, _collisionScore);
         } 
     }
     public override Vector3 Acceleration { 
@@ -173,7 +171,6 @@ public class PECharacter : PhysicsActor
     public override Quaternion Orientation { 
         get { return _orientation; } 
         set { _orientation = value; 
-            Prop.Set(_localID, PropType.Orientation, _orientation);
         } 
     }
     public override int PhysicsActorType { 
@@ -261,6 +258,18 @@ public class PECharacter : PhysicsActor
     public override float APIDDamping { set { return; } }
 
     public override void AddForce(Vector3 force, bool pushforce) { 
+        if (force.IsFinite())
+        {
+            // base.ChangingActorID = RegionSyncServerModule.ActorID;
+            _velocity.X += force.X;
+            _velocity.Y += force.Y;
+            _velocity.Z += force.Z;
+        }
+        else
+        {
+            m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
+        }
+        //m_lastUpdateSent = false;
     }
     public override void AddAngularForce(Vector3 force, bool pushforce) { 
     }

OpenSim/Region/Physics/PEPlugin/PEPrim.cs

@@ -92,34 +92,29 @@ public sealed class PEPrim : PhysicsActor
         set { _size = value;
             // m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set Size");
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.Size, _size);
         } 
     }
     public override PrimitiveBaseShape Shape { 
         set { _pbs = value; 
             m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set Shape");
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.Shape, _pbs);
         } 
     }
     public override uint LocalID { 
         set { _localID = value; 
             // m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set LocalID");
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.LocalID, _localID);
         }
         get { return _localID; }
     }
     public override bool Grabbed { 
         set { _grabbed = value; 
             m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set Grabbed");
-            Prop.Set(_localID, PropType.Grabbed, _grabbed);
         } 
     }
     public override bool Selected { 
         set { _selected = value; 
             m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set Selected");
-            Prop.Set(_localID, PropType.Selected, _selected);
         } 
     }
     public override void CrossingFailure() { return; }
@@ -132,7 +127,6 @@ public sealed class PEPrim : PhysicsActor
         set { _position = value; 
             ChangingActorID = RegionSyncServerModule.ActorID;
             // m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set Position");
-            Prop.Set(_localID, PropType.Position, _position);
         } 
     }
     public override float Mass { 
@@ -143,7 +137,6 @@ public sealed class PEPrim : PhysicsActor
         set { _force = value; 
             ChangingActorID = RegionSyncServerModule.ActorID;
             // m_log.Debug("[REMOTE PRIM ENGINE] PEPrim set Force");
-            Prop.Set(_localID, PropType.Force, _force);
         } 
     }
 
@@ -165,21 +158,18 @@ public sealed class PEPrim : PhysicsActor
         get { return _velocity; } 
         set { _velocity = value; 
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.Velocity, _velocity);
         } 
     }
     public override Vector3 Torque { 
         get { return _torque; } 
         set { _torque = value; 
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.Torque, _torque);
         } 
     }
     public override float CollisionScore { 
         get { return _collisionScore; } 
         set { _collisionScore = value; 
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.CollisionScore, _collisionScore);
         } 
     }
     public override Vector3 Acceleration { 
@@ -189,7 +179,6 @@ public sealed class PEPrim : PhysicsActor
         get { return _orientation; } 
         set { _orientation = value; 
             ChangingActorID = RegionSyncServerModule.ActorID;
-            Prop.Set(_localID, PropType.Orientation, _orientation);
         } 
     }
     public override int PhysicsActorType { 

OpenSim/Region/Physics/PEPlugin/Prop.cs

@@ -1,46 +0,0 @@
-using System;
-using System.Collections.Generic;
-using OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.PEPlugin
-{
-    public enum PropType
-    {
-        Size,
-        Shape,
-        LocalID,
-        Grabbed,
-        Selected,
-        Position,
-        Force,
-        Velocity,
-        Torque,
-        CollisionScore,
-        Orientation
-    };
-
-public class Prop
-{
-    public static void Set(uint localID, PropType type, uint val)
-    {
-    }
-    public static void Set(uint localID, PropType type, Vector3 val)
-    {
-    }
-    public static void Set(uint localID, PropType type, PrimitiveBaseShape val)
-    {
-    }
-    public static void Set(uint localID, PropType type, bool val)
-    {
-    }
-    public static void Set(uint localID, PropType type, float val)
-    {
-    }
-    public static void Set(uint localID, PropType type, Quaternion val)
-    {
-    }
-
-}
-}