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update ODE binaries for windows. Other platforms need to compile from opensim-libs repo, folder ODE-OpenSim-0.13.2, read file OPENSIM-README.txt. Remove code to reduce bounce on non physical placement, new unmanaged should handle that

httptests
UbitUmarov 2017-04-18 00:50:55 +01:00
parent 9354e60df0
commit 49884b94a7
3 changed files with 77 additions and 122 deletions
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199
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
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@ -111,7 +111,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private int m_body_autodisable_frames; private int m_body_autodisable_frames;
public int m_bodydisablecontrol = 0; public int m_bodydisablecontrol = 0;
public int m_bodyMoveCoolDown = 0;
private float m_gravmod = 1.0f; private float m_gravmod = 1.0f;
// Default we're a Geometry // Default we're a Geometry
@ -1030,18 +1029,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.AllocateODEDataForThread(0); d.AllocateODEDataForThread(0);
if(Body != IntPtr.Zero) if(Body != IntPtr.Zero)
{ {
if(m_bodyMoveCoolDown >= 0) d.Vector3 dtmp = d.BodyGetAngularVel(Body);
{ m_rotationalVelocity.X = dtmp.X;
d.Vector3 dtmp = d.BodyGetAngularVel(Body); m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.X = dtmp.X; m_rotationalVelocity.Z = dtmp.Z;
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;
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.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); d.BodySetAngularVel(Body, 0, 0, 0);
} }
@ -1345,7 +1342,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce; bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
m_building = true; // control must set this to false when done m_building = true; // control must set this to false when done
m_bodyMoveCoolDown = 0;
AddChange(changes.Add, null); AddChange(changes.Add, null);
@ -2144,14 +2140,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
else else
{ {
/*
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z); d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
*/
_zeroFlag = false; _zeroFlag = false;
m_bodydisablecontrol = 0; m_bodydisablecontrol = 0;
} }
m_bodyMoveCoolDown = -5;
_parent_scene.addActiveGroups(this); _parent_scene.addActiveGroups(this);
} }
@ -2244,7 +2238,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
m_mass = primMass; m_mass = primMass;
m_collisionscore = 0; m_collisionscore = 0;
m_bodyMoveCoolDown = 0;
} }
private void FixInertia(Vector3 NewPos,Quaternion newrot) private void FixInertia(Vector3 NewPos,Quaternion newrot)
@ -2907,7 +2900,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
_zeroFlag = true; _zeroFlag = true;
d.BodyEnable(Body); d.BodyEnable(Body);
m_bodyMoveCoolDown = -5;
} }
} }
// else if (_parent != null) // else if (_parent != null)
@ -2950,8 +2942,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z); d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
_position = newPos; _position = newPos;
if (Body != IntPtr.Zero && !m_disabled)
m_bodyMoveCoolDown = -5;
} }
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{ {
@ -3016,7 +3006,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
if(m_angularlocks != 0) if(m_angularlocks != 0)
createAMotor(m_angularlocks); createAMotor(m_angularlocks);
m_bodyMoveCoolDown = -5;
} }
} }
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
@ -3391,8 +3380,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
enableBodySoft(); enableBodySoft();
else if (!d.BodyIsEnabled(Body)) else if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body); d.BodyEnable(Body);
if(m_bodyMoveCoolDown >= 0)
d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
} }
//resetCollisionAccounting(); //resetCollisionAccounting();
} }
@ -3416,9 +3403,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
enableBodySoft(); enableBodySoft();
else if (!d.BodyIsEnabled(Body)) else if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body); d.BodyEnable(Body);
if(m_bodyMoveCoolDown >= 0);
d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
} }
//resetCollisionAccounting(); //resetCollisionAccounting();
} }
@ -3569,26 +3553,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (!childPrim && m_isphysical && Body != IntPtr.Zero && if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && !m_building && !m_outbounds) !m_disabled && !m_isSelected && !m_building && !m_outbounds)
{ {
if(m_bodyMoveCoolDown < 0)
{
m_bodyMoveCoolDown++;
// if(!IsColliding)
// m_bodyCoolDown +=2;
if(m_bodyMoveCoolDown >= 0)
{
d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
}
else
{
d.BodySetAngularVel(Body, 0, 0, 0);
d.BodySetLinearVel(Body, 0, 0, 0);
m_forceacc = Vector3.Zero;
m_angularForceacc = Vector3.Zero;
_zeroFlag = false;
return;
}
}
if (!d.BodyIsEnabled(Body)) if (!d.BodyIsEnabled(Body))
{ {
// let vehicles sleep // let vehicles sleep
@ -3844,18 +3808,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_lastposition = _position; m_lastposition = _position;
m_lastorientation = _orientation; m_lastorientation = _orientation;
if(m_bodyMoveCoolDown >= 0) d.Vector3 dtmp = d.BodyGetAngularVel(Body);
{ m_rotationalVelocity.X = dtmp.X;
d.Vector3 dtmp = d.BodyGetAngularVel(Body); m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.X = dtmp.X; m_rotationalVelocity.Z = dtmp.Z;
m_rotationalVelocity.Y = dtmp.Y;
m_rotationalVelocity.Z = dtmp.Z;
dtmp = d.BodyGetLinearVel(Body); dtmp = d.BodyGetLinearVel(Body);
_velocity.X = dtmp.X; _velocity.X = dtmp.X;
_velocity.Y = dtmp.Y; _velocity.Y = dtmp.Y;
_velocity.Z = dtmp.Z; _velocity.Z = dtmp.Z;
}
d.BodySetLinearVel(Body, 0, 0, 0); // stop it d.BodySetLinearVel(Body, 0, 0, 0); // stop it
d.BodySetAngularVel(Body, 0, 0, 0); d.BodySetAngularVel(Body, 0, 0, 0);
@ -3880,33 +3841,30 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
else else
{ {
if(m_bodyMoveCoolDown >= 0) float poserror;
float angerror;
if(_zeroFlag)
{ {
float poserror; poserror = 0.01f;
float angerror; angerror = 0.001f;
if(_zeroFlag)
{
poserror = 0.01f;
angerror = 0.001f;
}
else
{
poserror = 0.005f;
angerror = 0.0005f;
}
if (
(Math.Abs(_position.X - lpos.X) < poserror)
&& (Math.Abs(_position.Y - lpos.Y) < poserror)
&& (Math.Abs(_position.Z - lpos.Z) < poserror)
&& (Math.Abs(_orientation.X - ori.X) < angerror)
&& (Math.Abs(_orientation.Y - ori.Y) < angerror)
&& (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
)
_zeroFlag = true;
else
_zeroFlag = false;
} }
else
{
poserror = 0.005f;
angerror = 0.0005f;
}
if (
(Math.Abs(_position.X - lpos.X) < poserror)
&& (Math.Abs(_position.Y - lpos.Y) < poserror)
&& (Math.Abs(_position.Z - lpos.Z) < poserror)
&& (Math.Abs(_orientation.X - ori.X) < angerror)
&& (Math.Abs(_orientation.Y - ori.Y) < angerror)
&& (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
)
_zeroFlag = true;
else
_zeroFlag = false;
} }
// update position // update position
@ -3932,49 +3890,46 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
else else
{ {
if(m_bodyMoveCoolDown >= 0) d.Vector3 vel = d.BodyGetLinearVel(Body);
m_acceleration = _velocity;
if ((Math.Abs(vel.X) < 0.005f) &&
(Math.Abs(vel.Y) < 0.005f) &&
(Math.Abs(vel.Z) < 0.005f))
{ {
d.Vector3 vel = d.BodyGetLinearVel(Body); _velocity = Vector3.Zero;
float t = -m_invTimeStep;
m_acceleration = m_acceleration * t;
}
else
{
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
m_acceleration = (_velocity - m_acceleration) * m_invTimeStep;
}
m_acceleration = _velocity; if ((Math.Abs(m_acceleration.X) < 0.01f) &&
(Math.Abs(m_acceleration.Y) < 0.01f) &&
(Math.Abs(m_acceleration.Z) < 0.01f))
{
m_acceleration = Vector3.Zero;
}
if ((Math.Abs(vel.X) < 0.005f) && vel = d.BodyGetAngularVel(Body);
(Math.Abs(vel.Y) < 0.005f) && if ((Math.Abs(vel.X) < 0.0001) &&
(Math.Abs(vel.Z) < 0.005f)) (Math.Abs(vel.Y) < 0.0001) &&
{ (Math.Abs(vel.Z) < 0.0001)
_velocity = Vector3.Zero; )
float t = -m_invTimeStep; {
m_acceleration = m_acceleration * t; m_rotationalVelocity = Vector3.Zero;
} }
else else
{ {
_velocity.X = vel.X; m_rotationalVelocity.X = vel.X;
_velocity.Y = vel.Y; m_rotationalVelocity.Y = vel.Y;
_velocity.Z = vel.Z; m_rotationalVelocity.Z = vel.Z;
m_acceleration = (_velocity - m_acceleration) * m_invTimeStep;
}
if ((Math.Abs(m_acceleration.X) < 0.01f) &&
(Math.Abs(m_acceleration.Y) < 0.01f) &&
(Math.Abs(m_acceleration.Z) < 0.01f))
{
m_acceleration = Vector3.Zero;
}
vel = d.BodyGetAngularVel(Body);
if ((Math.Abs(vel.X) < 0.0001) &&
(Math.Abs(vel.Y) < 0.0001) &&
(Math.Abs(vel.Z) < 0.0001)
)
{
m_rotationalVelocity = Vector3.Zero;
}
else
{
m_rotationalVelocity.X = vel.X;
m_rotationalVelocity.Y = vel.Y;
m_rotationalVelocity.Z = vel.Z;
}
} }
} }

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bin/lib32/ode.dll
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bin/lib64/ode.dll
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