Merge branch 'avination'
commit
58d460542d
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@ -4046,13 +4046,25 @@ namespace OpenSim.Region.Framework.Scenes
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if (nparts <= 1)
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return gc;
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Quaternion parentRot = RootPart.RotationOffset;
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Vector3 pPos;
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// average all parts positions
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for (int i = 0; i < nparts; i++)
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gc += parts[i].GetWorldPosition();
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{
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// do it directly
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// gc += parts[i].GetWorldPosition();
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if (parts[i] != RootPart)
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{
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pPos = parts[i].OffsetPosition;
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gc += pPos;
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}
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}
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gc /= nparts;
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// relative to root:
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gc -= AbsolutePosition;
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// gc -= AbsolutePosition;
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return gc;
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}
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@ -470,15 +470,20 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearDeflectionEfficiency = 1;
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m_linearDeflectionTimescale = 1;
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m_angularDeflectionEfficiency = 0;
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m_angularDeflectionTimescale = 1000;
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m_angularDeflectionTimescale = 10;
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m_verticalAttractionEfficiency = 1;
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m_verticalAttractionTimescale = 1000;
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m_bankingEfficiency = 0;
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m_bankingMix = 1;
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m_bankingTimescale = 10;
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m_flags &=
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~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
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VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
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VehicleFlag.LIMIT_ROLL_ONLY |
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VehicleFlag.LIMIT_MOTOR_UP);
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break;
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case Vehicle.TYPE_CAR:
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m_linearFrictionTimescale = new Vector3(100, 2, 1000);
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m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
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@ -499,9 +504,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_bankingEfficiency = -0.2f;
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m_bankingMix = 1;
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m_bankingTimescale = 1;
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m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
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VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
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m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
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VehicleFlag.HOVER_TERRAIN_ONLY |
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VehicleFlag.HOVER_GLOBAL_HEIGHT);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
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VehicleFlag.LIMIT_ROLL_ONLY |
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VehicleFlag.LIMIT_MOTOR_UP |
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VehicleFlag.HOVER_UP_ONLY);
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break;
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case Vehicle.TYPE_BOAT:
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m_linearFrictionTimescale = new Vector3(10, 3, 2);
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@ -525,12 +534,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_bankingTimescale = 1;
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m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
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VehicleFlag.HOVER_GLOBAL_HEIGHT |
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VehicleFlag.HOVER_UP_ONLY |
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VehicleFlag.LIMIT_ROLL_ONLY);
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VehicleFlag.HOVER_UP_ONLY); // |
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// VehicleFlag.LIMIT_ROLL_ONLY);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
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VehicleFlag.LIMIT_MOTOR_UP |
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VehicleFlag.HOVER_UP_ONLY | // new sl
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VehicleFlag.HOVER_WATER_ONLY);
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break;
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case Vehicle.TYPE_AIRPLANE:
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m_linearFrictionTimescale = new Vector3(200, 10, 5);
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m_angularFrictionTimescale = new Vector3(20, 20, 20);
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@ -559,6 +570,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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VehicleFlag.LIMIT_MOTOR_UP);
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m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
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break;
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case Vehicle.TYPE_BALLOON:
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m_linearFrictionTimescale = new Vector3(5, 5, 5);
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m_angularFrictionTimescale = new Vector3(10, 10, 10);
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@ -574,7 +586,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearDeflectionTimescale = 5 * m_invtimestep;
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m_angularDeflectionEfficiency = 0;
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m_angularDeflectionTimescale = 5;
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m_verticalAttractionEfficiency = 0f;
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m_verticalAttractionEfficiency = 1f;
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m_verticalAttractionTimescale = 1000f;
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m_bankingEfficiency = 0;
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m_bankingMix = 0.7f;
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@ -583,9 +595,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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VehicleFlag.HOVER_TERRAIN_ONLY |
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VehicleFlag.HOVER_UP_ONLY |
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VehicleFlag.NO_DEFLECTION_UP |
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VehicleFlag.LIMIT_MOTOR_UP);
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m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
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VehicleFlag.HOVER_GLOBAL_HEIGHT);
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VehicleFlag.LIMIT_MOTOR_UP | //);
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VehicleFlag.LIMIT_ROLL_ONLY | // new sl
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VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl
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// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
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// VehicleFlag.HOVER_GLOBAL_HEIGHT);
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break;
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}
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@ -768,9 +783,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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// hover
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if (m_VhoverTimescale < 300)
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if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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// d.Vector3 pos = d.BodyGetPosition(Body);
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d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
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pos.Z -= 0.21f; // minor offset that seems to be always there in sl
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float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
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float perr;
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@ -449,54 +449,57 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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get
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{
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d.Vector3 dtmp;
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if (!childPrim && Body != IntPtr.Zero)
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lock (_parent_scene.OdeLock)
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{
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dtmp = d.BodyGetPosition(Body);
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return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
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}
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else if (prim_geom != IntPtr.Zero)
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{
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d.Quaternion dq;
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d.GeomCopyQuaternion(prim_geom, out dq);
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Quaternion q;
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q.X = dq.X;
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q.Y = dq.Y;
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q.Z = dq.Z;
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q.W = dq.W;
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Vector3 Ptot = primOOBoffset * q;
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dtmp = d.GeomGetPosition(prim_geom);
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Ptot.X += dtmp.X;
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Ptot.Y += dtmp.Y;
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Ptot.Z += dtmp.Z;
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// if(childPrim) we only know about physical linksets
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return Ptot;
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/*
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float tmass = _mass;
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Ptot *= tmass;
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float m;
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foreach (OdePrim prm in childrenPrim)
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d.Vector3 dtmp;
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if (!childPrim && Body != IntPtr.Zero)
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{
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m = prm._mass;
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Ptot += prm.CenterOfMass * m;
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tmass += m;
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dtmp = d.BodyGetPosition(Body);
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return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
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}
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else if (prim_geom != IntPtr.Zero)
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{
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d.Quaternion dq;
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d.GeomCopyQuaternion(prim_geom, out dq);
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Quaternion q;
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q.X = dq.X;
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q.Y = dq.Y;
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q.Z = dq.Z;
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q.W = dq.W;
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if (tmass == 0)
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tmass = 0;
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Vector3 Ptot = primOOBoffset * q;
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dtmp = d.GeomGetPosition(prim_geom);
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Ptot.X += dtmp.X;
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Ptot.Y += dtmp.Y;
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Ptot.Z += dtmp.Z;
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// if(childPrim) we only know about physical linksets
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return Ptot;
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/*
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float tmass = _mass;
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Ptot *= tmass;
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float m;
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foreach (OdePrim prm in childrenPrim)
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{
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m = prm._mass;
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Ptot += prm.CenterOfMass * m;
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tmass += m;
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}
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if (tmass == 0)
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tmass = 0;
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else
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tmass = 1.0f / tmass;
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Ptot *= tmass;
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return Ptot;
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*/
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}
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else
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tmass = 1.0f / tmass;
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Ptot *= tmass;
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return Ptot;
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*/
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return _position;
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}
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else
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return _position;
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}
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}
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/*
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@ -840,7 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if (force.IsFinite())
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{
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AddChange(changes.AddAngForce, force * m_invTimeStep);
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AddChange(changes.AddAngForce, force);
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}
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else
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{
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@ -1511,7 +1514,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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Body = IntPtr.Zero;
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hasOOBoffsetFromMesh = false;
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CalcPrimBodyData();
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}
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/*
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private void ChildSetGeom(OdePrim odePrim)
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@ -1601,7 +1603,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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Body = d.BodyCreate(_parent_scene.world);
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DMassDup(ref primdMass, out objdmass);
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objdmass = primdMass;
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// rotate inertia
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myrot.X = _orientation.X;
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@ -1623,9 +1625,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.Mass tmpdmass = new d.Mass { };
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Vector3 rcm;
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rcm.X = _position.X + objdmass.c.X;
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rcm.Y = _position.Y + objdmass.c.Y;
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||||
rcm.Z = _position.Z + objdmass.c.Z;
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rcm.X = _position.X;
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rcm.Y = _position.Y;
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rcm.Z = _position.Z;
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lock (childrenPrim)
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{
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|
@ -1637,7 +1639,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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continue;
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}
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DMassCopy(ref prm.primdMass, ref tmpdmass);
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tmpdmass = prm.primdMass;
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||||
|
||||
// apply prim current rotation to inertia
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||||
quat.X = prm._orientation.X;
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||||
|
@ -1648,10 +1650,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.MassRotate(ref tmpdmass, ref mat);
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|
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Vector3 ppos = prm._position;
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||||
ppos.X += tmpdmass.c.X - rcm.X;
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ppos.Y += tmpdmass.c.Y - rcm.Y;
|
||||
ppos.Z += tmpdmass.c.Z - rcm.Z;
|
||||
|
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ppos.X -= rcm.X;
|
||||
ppos.Y -= rcm.Y;
|
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ppos.Z -= rcm.Z;
|
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// refer inertia to root prim center of mass position
|
||||
d.MassTranslate(ref tmpdmass,
|
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ppos.X,
|
||||
|
@ -1683,9 +1684,13 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
|
||||
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
|
||||
myrot.W = -myrot.W;
|
||||
myrot.X = -myrot.X;
|
||||
myrot.Y = -myrot.Y;
|
||||
myrot.Z = -myrot.Z;
|
||||
|
||||
d.RfromQ(out mymat, ref myrot);
|
||||
d.MassRotate(ref objdmass, ref mymat);
|
||||
|
||||
d.BodySetMass(Body, ref objdmass);
|
||||
_mass = objdmass.mass;
|
||||
|
||||
|
@ -2237,7 +2242,33 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
case ProfileShape.HalfCircle:
|
||||
if (_pbs.PathCurve == (byte)Extrusion.Curve1)
|
||||
{
|
||||
volume *= 0.52359877559829887307710723054658f;
|
||||
volume *= 0.5236f;
|
||||
|
||||
if (hollowAmount > 0.0)
|
||||
{
|
||||
hollowVolume *= hollowAmount;
|
||||
|
||||
switch (_pbs.HollowShape)
|
||||
{
|
||||
case HollowShape.Circle:
|
||||
case HollowShape.Triangle: // diference in sl is minor and odd
|
||||
case HollowShape.Same:
|
||||
break;
|
||||
|
||||
case HollowShape.Square:
|
||||
hollowVolume *= 0.909f;
|
||||
break;
|
||||
|
||||
// case HollowShape.Triangle:
|
||||
// hollowVolume *= .827f;
|
||||
// break;
|
||||
default:
|
||||
hollowVolume = 0;
|
||||
break;
|
||||
}
|
||||
volume *= (1.0f - hollowVolume);
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
|
||||
|
@ -3186,7 +3217,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
private void changeAddImpulse(Vector3 impulse)
|
||||
{
|
||||
m_forceacc += impulse * m_invTimeStep;
|
||||
m_forceacc += impulse *m_invTimeStep;
|
||||
if (!m_isSelected)
|
||||
{
|
||||
lock (this)
|
||||
|
@ -3704,24 +3735,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return true;
|
||||
}
|
||||
|
||||
internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
|
||||
{
|
||||
dst.c.W = src.c.W;
|
||||
dst.c.X = src.c.X;
|
||||
dst.c.Y = src.c.Y;
|
||||
dst.c.Z = src.c.Z;
|
||||
dst.mass = src.mass;
|
||||
dst.I.M00 = src.I.M00;
|
||||
dst.I.M01 = src.I.M01;
|
||||
dst.I.M02 = src.I.M02;
|
||||
dst.I.M10 = src.I.M10;
|
||||
dst.I.M11 = src.I.M11;
|
||||
dst.I.M12 = src.I.M12;
|
||||
dst.I.M20 = src.I.M20;
|
||||
dst.I.M21 = src.I.M21;
|
||||
dst.I.M22 = src.I.M22;
|
||||
}
|
||||
|
||||
internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
|
||||
{
|
||||
// assumes object center of mass is zero
|
||||
|
@ -3745,25 +3758,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
theobj.I.M22 -= part.I.M22;
|
||||
}
|
||||
|
||||
private static void DMassDup(ref d.Mass src, out d.Mass dst)
|
||||
{
|
||||
dst = new d.Mass { };
|
||||
|
||||
dst.c.W = src.c.W;
|
||||
dst.c.X = src.c.X;
|
||||
dst.c.Y = src.c.Y;
|
||||
dst.c.Z = src.c.Z;
|
||||
dst.mass = src.mass;
|
||||
dst.I.M00 = src.I.M00;
|
||||
dst.I.M01 = src.I.M01;
|
||||
dst.I.M02 = src.I.M02;
|
||||
dst.I.M10 = src.I.M10;
|
||||
dst.I.M11 = src.I.M11;
|
||||
dst.I.M12 = src.I.M12;
|
||||
dst.I.M20 = src.I.M20;
|
||||
dst.I.M21 = src.I.M21;
|
||||
dst.I.M22 = src.I.M22;
|
||||
}
|
||||
private void donullchange()
|
||||
{
|
||||
}
|
||||
|
|
|
@ -301,7 +301,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// split static geometry collision into a grid as before
|
||||
private IntPtr[,] staticPrimspace;
|
||||
|
||||
private Object OdeLock;
|
||||
public Object OdeLock;
|
||||
private static Object SimulationLock;
|
||||
|
||||
public IMesher mesher;
|
||||
|
@ -746,8 +746,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
);
|
||||
// do volume detection case
|
||||
if (
|
||||
(p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) ||
|
||||
(p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
|
||||
(p1.IsVolumeDtc || p2.IsVolumeDtc))
|
||||
{
|
||||
collision_accounting_events(p1, p2, maxDepthContact);
|
||||
return;
|
||||
|
@ -1024,9 +1023,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
bool p1events = p1.SubscribedEvents();
|
||||
bool p2events = p2.SubscribedEvents();
|
||||
|
||||
if (p1 is OdePrim && p1.IsVolumeDtc)
|
||||
if (p1.IsVolumeDtc)
|
||||
p2events = false;
|
||||
if (p2 is OdePrim && p2.IsVolumeDtc)
|
||||
if (p2.IsVolumeDtc)
|
||||
p1events = false;
|
||||
|
||||
if (!(p2events || p1events))
|
||||
|
@ -1725,6 +1724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// checkThread();
|
||||
|
||||
lock (SimulationLock)
|
||||
lock(OdeLock)
|
||||
{
|
||||
// adjust number of iterations per step
|
||||
try
|
||||
|
|
|
@ -8401,7 +8401,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
|
|||
|
||||
public LSL_Vector llGetGeometricCenter()
|
||||
{
|
||||
return new LSL_Vector(m_host.GetGeometricCenter().X, m_host.GetGeometricCenter().Y, m_host.GetGeometricCenter().Z);
|
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Vector3 tmp = m_host.GetGeometricCenter();
|
||||
return new LSL_Vector(tmp.X, tmp.Y, tmp.Z);
|
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}
|
||||
|
||||
public LSL_List llGetPrimitiveParams(LSL_List rules)
|
||||
|
|
Loading…
Reference in New Issue