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ubitODE prims: - moved outbounds checking back to UpdatePositionAndVelocity() from move() so it's done at end of each ode step and when it reports positions to core. There should be no need to check in both places. - Addforce() and AddAngularForce now apply a force if parameter pushforce is true or apply a impulse if false as it's actually needed (the prims grab case should be a force)

avinationmerge
UbitUmarov 2012-05-05 10:40:03 +01:00
parent 163a86517a
commit 3b78e33d16
1 changed files with 91 additions and 4 deletions
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95
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
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@ -830,7 +830,10 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (force.IsFinite())
{
AddChange(changes.AddForce, force * m_invTimeStep);
if(pushforce)
AddChange(changes.AddForce, force);
else // a impulse
AddChange(changes.AddForce, force * m_invTimeStep);
}
else
{
@ -843,7 +846,10 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (force.IsFinite())
{
AddChange(changes.AddAngForce, force);
// if(pushforce) for now applyrotationimpulse seems more happy applied as a force
AddChange(changes.AddAngForce, force);
// else // a impulse
// AddChange(changes.AddAngForce, force * m_invTimeStep);
}
else
{
@ -3375,9 +3381,12 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(Body);
}
// check outside region
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
/* moved down to UpdateMove... where it belongs again
// check outside region
if (lpos.Z < -100 || lpos.Z > 100000f)
{
m_outbounds = true;
@ -3453,7 +3462,7 @@ namespace OpenSim.Region.Physics.OdePlugin
base.RequestPhysicsterseUpdate();
return;
}
*/
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
{
// 'VEHICLES' are dealt with in ODEDynamics.cs
@ -3507,6 +3516,7 @@ namespace OpenSim.Region.Physics.OdePlugin
fx = (_target_velocity.X - vel.X) * m_invTimeStep;
fy = (_target_velocity.Y - vel.Y) * m_invTimeStep;
fz = (_target_velocity.Z - vel.Z) * m_invTimeStep;
// d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
}
} // end if (m_usePID)
@ -3622,6 +3632,83 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 lpos = d.GeomGetPosition(prim_geom);
// check outside region
if (lpos.Z < -100 || lpos.Z > 100000f)
{
m_outbounds = true;
lpos.Z = Util.Clip(lpos.Z, -100f, 100000f);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); // stop it
d.BodySetPosition(Body, lpos.X, lpos.Y, lpos.Z); // put it somewhere
m_lastposition = _position;
m_lastorientation = _orientation;
base.RequestPhysicsterseUpdate();
throttleCounter = 0;
_zeroFlag = true;
disableBodySoft(); // disable it and colisions
base.RaiseOutOfBounds(_position);
return;
}
if (lpos.X < 0f)
{
_position.X = Util.Clip(lpos.X, -2f, -0.1f);
m_outbounds = true;
}
else if (lpos.X > _parent_scene.WorldExtents.X)
{
_position.X = Util.Clip(lpos.X, _parent_scene.WorldExtents.X + 0.1f, _parent_scene.WorldExtents.X + 2f);
m_outbounds = true;
}
if (lpos.Y < 0f)
{
_position.Y = Util.Clip(lpos.Y, -2f, -0.1f);
m_outbounds = true;
}
else if (lpos.Y > _parent_scene.WorldExtents.Y)
{
_position.Y = Util.Clip(lpos.Y, _parent_scene.WorldExtents.Y + 0.1f, _parent_scene.WorldExtents.Y + 2f);
m_outbounds = true;
}
if (m_outbounds)
{
m_lastposition = _position;
m_lastorientation = _orientation;
d.Vector3 dtmp = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmp.X;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X;
_velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z;
d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
disableBodySoft(); // stop collisions
base.RequestPhysicsterseUpdate();
return;
}
d.Quaternion ori;
d.GeomCopyQuaternion(prim_geom, out ori);