physical prims
dan miller
parent
a07769db41
commit
62a43affe4
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@ -34,7 +34,6 @@ using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Region.Physics.OdePlugin.Meshing;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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@ -84,13 +83,18 @@ namespace OpenSim.Region.Physics.OdePlugin
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public d.TriArrayCallback triArrayCallback;
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private List<OdeCharacter> _characters = new List<OdeCharacter>();
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private List<OdePrim> _prims = new List<OdePrim>();
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private List<OdePrim> _activeprims = new List<OdePrim>();
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public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
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public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
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private d.ContactGeom[] contacts = new d.ContactGeom[30];
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private d.Contact contact;
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private d.Contact TerrainContact;
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private int m_physicsiterations = 10;
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private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
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private PhysicsActor PANull = new NullPhysicsActor();
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private float step_time = 0.0f;
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public IntPtr world;
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public IntPtr space;
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public static Object OdeLock = new Object();
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@ -106,17 +110,25 @@ namespace OpenSim.Region.Physics.OdePlugin
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contact.surface.soft_erp = 0.005f;
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contact.surface.soft_cfm = 0.00003f;
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*/
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contact.surface.mu = 250.0f;
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contact.surface.bounce = 0.2f;
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TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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TerrainContact.surface.mu = 250.0f;
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TerrainContact.surface.bounce = 0.1f;
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TerrainContact.surface.soft_erp = 0.1025f;
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lock (OdeLock)
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{
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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contactgroup = d.JointGroupCreate(0);
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//contactgroup
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d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
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d.WorldSetAutoDisableFlag(world, false);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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d.WorldSetQuickStepNumIterations(world, 10);
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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}
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@ -127,6 +139,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// This function blatantly ripped off from BoxStack.cs
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private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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// no lock here! It's invoked from within Simulate(), which is thread-locked
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IntPtr b1 = d.GeomGetBody(g1);
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IntPtr b2 = d.GeomGetBody(g2);
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@ -142,6 +155,19 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomClassID id = d.GeomGetClass(g1);
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String name1 = null;
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String name2 = null;
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if (!geom_name_map.TryGetValue(g1, out name1))
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{
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name1 = "null";
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}
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if (!geom_name_map.TryGetValue(g2, out name2))
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{
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name2 = "null";
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}
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if (id == d.GeomClassID.TriMeshClass)
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{
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@ -149,33 +175,47 @@ namespace OpenSim.Region.Physics.OdePlugin
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// MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
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//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
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}
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int count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
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int count;
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count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
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for (int i = 0; i < count; i++)
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{
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contact.geom = contacts[i];
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IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
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d.JointAttach(joint, b1, b2);
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PhysicsActor p1;
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IntPtr joint;
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// If we're colliding with terrain, use 'TerrainContact' instead of contact.
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// allows us to have different settings
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if (name1 == "Terrain" || name2 == "Terrain")
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{
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TerrainContact.geom = contacts[i];
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joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
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}
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else
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{
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contact.geom = contacts[i];
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joint = d.JointCreateContact(world, contactgroup, ref contact);
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}
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d.JointAttach(joint, b1, b2);
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PhysicsActor p2;
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if (!actor_name_map.TryGetValue(g1, out p1))
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{
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p1 = PANull;
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}
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if (!actor_name_map.TryGetValue(g2, out p2))
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{
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p2 = PANull;
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}
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p1.IsColliding = true;
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// We only need to test p2 for 'jump crouch purposes'
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p2.IsColliding = true;
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//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
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}
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}
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private void collision_optimized()
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private void collision_optimized(float timeStep)
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{
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foreach (OdeCharacter chr in _characters)
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{
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@ -183,17 +223,45 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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foreach (OdeCharacter chr in _characters)
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{
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d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
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foreach (OdeCharacter ch2 in _characters)
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/// should be a separate space -- lots of avatars will be N**2 slow
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{
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/// should be a separate space -- lots of avatars will be N**2 slow
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{
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d.SpaceCollide2(chr.Shell, ch2.Shell, IntPtr.Zero, nearCallback);
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}
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}
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// If the sim is running slow this frame,
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// don't process collision for prim!
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if (timeStep < (m_SkipFramesAtms / 2))
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{
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foreach (OdePrim chr in _activeprims)
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{
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// This if may not need to be there.. it might be skipped anyway.
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if (d.BodyIsEnabled(chr.Body))
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{
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d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
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foreach (OdePrim ch2 in _prims)
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/// should be a separate space -- lots of avatars will be N**2 slow
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{
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if (ch2.IsPhysical && d.BodyIsEnabled(ch2.Body))
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{
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// Only test prim that are 0.03 meters away in one direction.
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// This should be Optimized!
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if ((Math.Abs(ch2.Position.X - chr.Position.X) < 0.03) || (Math.Abs(ch2.Position.Y - chr.Position.Y) < 0.03) || (Math.Abs(ch2.Position.X - chr.Position.X) < 0.03))
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{
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d.SpaceCollide2(chr.prim_geom, ch2.prim_geom, IntPtr.Zero, nearCallback);
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}
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}
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}
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}
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}
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}
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}
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@ -223,14 +291,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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lock (OdeLock)
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{
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d.GeomDestroy(((OdePrim) prim).prim_geom);
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_prims.Remove((OdePrim) prim);
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if (prim.IsPhysical)
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{
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OdePrim p;
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p = (OdePrim) prim;
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p.disableBody();
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}
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d.GeomDestroy(((OdePrim)prim).prim_geom);
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_prims.Remove((OdePrim)prim);
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}
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}
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}
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private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
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Mesh mesh, PrimitiveBaseShape pbs)
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Mesh mesh, PrimitiveBaseShape pbs, bool isphysical)
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{
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PhysicsVector pos = new PhysicsVector();
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pos.X = position.X;
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@ -248,13 +323,27 @@ namespace OpenSim.Region.Physics.OdePlugin
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OdePrim newPrim;
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lock (OdeLock)
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{
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newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs);
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newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical);
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}
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_prims.Add(newPrim);
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return newPrim;
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}
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public void addActivePrim(OdePrim activatePrim)
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{
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// adds active prim.. (ones that should be iterated over in collisions_optimized
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lock (OdeLock)
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{
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_activeprims.Add(activatePrim);
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}
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}
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public void remActivePrim(OdePrim deactivatePrim)
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{
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lock (OdeLock)
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{
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_activeprims.Remove(deactivatePrim);
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}
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}
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public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
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{
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/* String name1 = null;
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@ -276,7 +365,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
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{
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/*
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String name1 = null;
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String name2 = null;
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@ -297,7 +385,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
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// MainLog.Instance.Debug("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
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*/
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return 1;
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}
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@ -318,7 +406,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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return this.AddPrimShape(primName, pbs, position, size, rotation, false);
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
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PhysicsVector size, Quaternion rotation, bool isPhysical)
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{
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@ -337,12 +424,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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break;
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}
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result = AddPrim(primName, position, size, rotation, mesh, pbs);
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result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
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return result;
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}
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public override void Simulate(float timeStep)
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{
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step_time += timeStep;
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@ -367,17 +455,45 @@ namespace OpenSim.Region.Physics.OdePlugin
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rx.z + "," + ry.z + "," + rz.z);
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}
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}
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// If We're loaded down by something else,
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// or debugging with the Visual Studio project on pause
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// skip a few frames to catch up gracefully.
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// without shooting the physicsactors all over the place
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if (step_time >= m_SkipFramesAtms)
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{
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// Instead of trying to catch up, it'll do one physics frame only
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step_time = ODE_STEPSIZE;
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this.m_physicsiterations = 5;
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}
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else
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{
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m_physicsiterations = 10;
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}
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// Process 10 frames if the sim is running normal..
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// process 5 frames if the sim is running slow
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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int i = 0;
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while (step_time > 0.0f)
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{
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foreach (OdeCharacter actor in _characters)
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{
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actor.Move(timeStep);
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actor.collidelock = true;
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}
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collision_optimized();
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collision_optimized(timeStep);
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d.WorldQuickStep(world, ODE_STEPSIZE);
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d.JointGroupEmpty(contactgroup);
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foreach (OdeCharacter actor in _characters)
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{
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actor.collidelock = false;
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}
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step_time -= ODE_STEPSIZE;
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i++;
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}
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@ -414,6 +530,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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"1,0,0, 0,1,0, 0,0,1"); // rotation
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}
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}
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if (timeStep < 0.2f)
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{
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foreach (OdePrim actor in _activeprims)
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{
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if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
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{
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actor.UpdatePositionAndVelocity();
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}
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}
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}
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}
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}
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@ -495,7 +621,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private static float PID_P = 7000.0f;
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.5f;
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public static float CAPSULE_LENGTH = 0.9f;
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public static float CAPSULE_LENGTH = 0.79f;
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private bool flying = false;
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private bool iscolliding = false;
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private bool jumping = false;
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@ -504,6 +630,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private OdeScene _parent_scene;
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public IntPtr Shell;
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public d.Mass ShellMass;
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public bool collidelock = false;
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public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos)
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{
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@ -514,6 +641,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene = parent_scene;
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lock (OdeScene.OdeLock)
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{
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Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
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Body = d.BodyCreate(parent_scene.world);
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@ -608,19 +736,22 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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public void doForce(PhysicsVector force)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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if (!collidelock)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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// ok -- let's stand up straight!
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// ok -- let's stand up straight!
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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}
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}
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public override void SetMomentum(PhysicsVector momentum)
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@ -675,6 +806,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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vec.Z += 10.0f;
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}
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doForce(vec);
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}
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@ -702,9 +835,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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else
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{
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vec = d.BodyGetLinearVel(Body);
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_velocity.X = vec.X;
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_velocity.Y = vec.Y;
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_velocity.Z = vec.Z;
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_velocity.X = (vec.X);
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_velocity.Y = (vec.Y);
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_velocity.Z = (vec.Z);
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}
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}
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@ -723,19 +856,33 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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public PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f,0.0f,0.0f);
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private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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public Quaternion _orientation;
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private Mesh _mesh;
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private PrimitiveBaseShape _pbs;
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private OdeScene _parent_scene;
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public IntPtr prim_geom;
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public IntPtr _triMeshData;
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private bool iscolliding = false;
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private bool m_isphysical = false;
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public bool _zeroFlag = false;
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public IntPtr Body = (IntPtr) 0;
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private String m_primName;
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private PhysicsVector _target_velocity;
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public d.Mass pMass;
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private const float MassMultiplier = 500f; // Ref: Water: 1000kg.. this iset to 500
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private int debugcounter = 0;
|
||||
|
||||
|
||||
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
|
||||
Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
|
||||
Quaternion rotation, Mesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
|
||||
{
|
||||
|
||||
|
||||
_velocity = new PhysicsVector();
|
||||
_position = pos;
|
||||
_size = size;
|
||||
|
|
@ -744,6 +891,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
_mesh = mesh;
|
||||
_pbs = pbs;
|
||||
_parent_scene = parent_scene;
|
||||
m_isphysical = pisPhysical;
|
||||
m_primName = primName;
|
||||
|
||||
|
||||
|
||||
lock (OdeScene.OdeLock)
|
||||
|
|
@ -764,20 +914,60 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
myrot.Y = rotation.y;
|
||||
myrot.Z = rotation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
|
||||
if (m_isphysical && Body == (IntPtr)0) {
|
||||
enableBody();
|
||||
}
|
||||
parent_scene.geom_name_map[prim_geom] = primName;
|
||||
parent_scene.actor_name_map[prim_geom] = (PhysicsActor) this;
|
||||
parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
|
||||
// don't do .add() here; old geoms get recycled with the same hash
|
||||
}
|
||||
}
|
||||
|
||||
public override bool IsPhysical
|
||||
public void enableBody()
|
||||
{
|
||||
get { return false; }
|
||||
set { return; }
|
||||
}
|
||||
// Sets the geom to a body
|
||||
Body = d.BodyCreate(_parent_scene.world);
|
||||
|
||||
setMass();
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.BodySetQuaternion(Body, ref myrot);
|
||||
d.GeomSetBody(prim_geom, Body);
|
||||
d.BodySetAutoDisableFlag(Body, true);
|
||||
d.BodySetAutoDisableSteps(Body,20);
|
||||
_parent_scene.addActivePrim(this);
|
||||
}
|
||||
public void setMass()
|
||||
{
|
||||
//Sets Mass based on member MassMultiplier.
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);
|
||||
d.BodySetMass(Body, ref pMass);
|
||||
}
|
||||
}
|
||||
public void disableBody()
|
||||
{
|
||||
//this kills the body so things like 'mesh' can re-create it.
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
_parent_scene.remActivePrim(this);
|
||||
d.BodyDestroy(Body);
|
||||
Body = (IntPtr)0;
|
||||
}
|
||||
}
|
||||
public void setMesh(OdeScene parent_scene, Mesh mesh)
|
||||
{
|
||||
//Kill Body so that mesh can re-make the geom
|
||||
if (IsPhysical && Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
float[] vertexList = mesh.getVertexListAsFloat(); // Note, that vertextList is pinned in memory
|
||||
int[] indexList = mesh.getIndexListAsInt(); // Also pinned, needs release after usage
|
||||
int VertexCount = vertexList.GetLength(0)/3;
|
||||
|
|
@ -790,6 +980,46 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.GeomTriMeshDataPreprocess(_triMeshData);
|
||||
|
||||
prim_geom = d.CreateTriMesh(parent_scene.space, _triMeshData, parent_scene.triCallback, null, null);
|
||||
|
||||
if (IsPhysical && Body == (IntPtr)0)
|
||||
{
|
||||
// Recreate the body
|
||||
enableBody();
|
||||
}
|
||||
}
|
||||
|
||||
public override bool IsPhysical
|
||||
{
|
||||
get { return m_isphysical; }
|
||||
set {
|
||||
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
if (m_isphysical == value)
|
||||
{
|
||||
// If the object is already what the user checked
|
||||
|
||||
return;
|
||||
}
|
||||
if (value == true)
|
||||
{
|
||||
if (Body == (IntPtr)0)
|
||||
{
|
||||
enableBody();
|
||||
}
|
||||
|
||||
}
|
||||
else if (value == false)
|
||||
{
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
}
|
||||
m_isphysical = value;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public override bool Flying
|
||||
|
|
@ -808,13 +1038,27 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
public override PhysicsVector Position
|
||||
{
|
||||
get { return _position; }
|
||||
get { return _position;}
|
||||
set
|
||||
{
|
||||
_position = value;
|
||||
lock (OdeScene.OdeLock)
|
||||
{
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
if (m_isphysical)
|
||||
{
|
||||
// This is a fallback.. May no longer be necessary.
|
||||
if (Body == (IntPtr)0)
|
||||
enableBody();
|
||||
// Prim auto disable after 20 frames,
|
||||
// if you move it, re-enable the prim manually.
|
||||
d.BodyEnable(Body);
|
||||
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -830,29 +1074,38 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
string oldname = _parent_scene.geom_name_map[prim_geom];
|
||||
|
||||
// Cleanup of old prim geometry
|
||||
d.GeomDestroy(prim_geom);
|
||||
if (_mesh != null)
|
||||
{
|
||||
// Cleanup meshing here
|
||||
}
|
||||
|
||||
//kill body to rebuild
|
||||
if (IsPhysical && Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
// Construction of new prim
|
||||
if (this._parent_scene.needsMeshing(_pbs))
|
||||
{
|
||||
|
||||
// Don't need to re-enable body.. it's done in SetMesh
|
||||
Mesh mesh = Meshmerizer.CreateMesh(oldname, _pbs, _size);
|
||||
setMesh(_parent_scene, mesh);
|
||||
} else {
|
||||
prim_geom = d.CreateBox(_parent_scene.space, _size.X, _size.Y, _size.Z);
|
||||
|
||||
if (IsPhysical && Body == (IntPtr)0)
|
||||
{
|
||||
// Re creates body on size.
|
||||
// EnableBody also does setMass()
|
||||
enableBody();
|
||||
d.BodyEnable(Body);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
_parent_scene.geom_name_map[prim_geom] = oldname;
|
||||
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -866,11 +1119,17 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
string oldname = _parent_scene.geom_name_map[prim_geom];
|
||||
|
||||
// Cleanup of old prim geometry
|
||||
// Cleanup of old prim geometry and Bodies
|
||||
if (IsPhysical && Body != (IntPtr)0)
|
||||
{
|
||||
disableBody();
|
||||
}
|
||||
d.GeomDestroy(prim_geom);
|
||||
if (_mesh != null)
|
||||
{
|
||||
// Cleanup meshing here
|
||||
|
||||
d.GeomBoxSetLengths(prim_geom, _size.X, _size.Y, _size.Z);
|
||||
|
||||
}
|
||||
|
||||
// Construction of new prim
|
||||
|
|
@ -881,15 +1140,24 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
} else {
|
||||
prim_geom = d.CreateBox(_parent_scene.space, _size.X, _size.Y, _size.Z);
|
||||
}
|
||||
if (IsPhysical && Body == (IntPtr)0)
|
||||
{
|
||||
//re-create new body
|
||||
enableBody();
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
}
|
||||
_parent_scene.geom_name_map[prim_geom] = oldname;
|
||||
|
||||
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
|
||||
d.Quaternion myrot = new d.Quaternion();
|
||||
myrot.W = _orientation.w;
|
||||
myrot.X = _orientation.x;
|
||||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -897,7 +1165,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
public override PhysicsVector Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
get {
|
||||
// Averate previous velocity with the new one so
|
||||
// client object interpolation works a 'little' better
|
||||
PhysicsVector returnVelocity = new PhysicsVector();
|
||||
returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
|
||||
returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
|
||||
returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
|
||||
return returnVelocity;
|
||||
}
|
||||
set { _velocity = value; }
|
||||
}
|
||||
|
||||
|
|
@ -921,6 +1197,10 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
myrot.Y = _orientation.y;
|
||||
myrot.Z = _orientation.z;
|
||||
d.GeomSetQuaternion(prim_geom, ref myrot);
|
||||
if (m_isphysical && Body != (IntPtr)0)
|
||||
{
|
||||
d.BodySetQuaternion(Body, ref myrot);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -930,6 +1210,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
get { return _acceleration; }
|
||||
}
|
||||
|
||||
|
||||
public void SetAcceleration(PhysicsVector accel)
|
||||
{
|
||||
_acceleration = accel;
|
||||
|
|
@ -938,7 +1219,103 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
public override void AddForce(PhysicsVector force)
|
||||
{
|
||||
}
|
||||
public void Move(float timestep)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public void UpdatePositionAndVelocity() {
|
||||
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
d.Vector3 vec = d.BodyGetPosition(Body);
|
||||
d.Quaternion ori = d.BodyGetQuaternion(Body);
|
||||
d.Vector3 vel = d.BodyGetLinearVel(Body);
|
||||
PhysicsVector l_position = new PhysicsVector();
|
||||
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
|
||||
if (vec.X < 0.0f) vec.X = 0.0f;
|
||||
if (vec.Y < 0.0f) vec.Y = 0.0f;
|
||||
if (vec.X > 255.95f) vec.X = 255.95f;
|
||||
if (vec.Y > 255.95f) vec.Y = 255.95f;
|
||||
m_lastposition = _position;
|
||||
|
||||
l_position.X = vec.X;
|
||||
l_position.Y = vec.Y;
|
||||
l_position.Z = vec.Z;
|
||||
if (l_position.Z < 0)
|
||||
{
|
||||
// This is so prim that get lost underground don't fall forever and suck up
|
||||
//
|
||||
// Sim resources and memory.
|
||||
// Disables the prim's movement physics....
|
||||
// It's a hack and will generate a console message if it fails.
|
||||
|
||||
try
|
||||
{
|
||||
disableBody();
|
||||
|
||||
}
|
||||
catch (System.Exception e)
|
||||
{
|
||||
if (Body != (IntPtr)0)
|
||||
{
|
||||
d.BodyDestroy(Body);
|
||||
Body = (IntPtr)0;
|
||||
|
||||
}
|
||||
}
|
||||
IsPhysical = false;
|
||||
_velocity.X = 0;
|
||||
_velocity.Y = 0;
|
||||
_velocity.Z = 0;
|
||||
_zeroFlag = true;
|
||||
}
|
||||
|
||||
if (m_lastposition == l_position)
|
||||
{
|
||||
_zeroFlag = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
_zeroFlag = false;
|
||||
}
|
||||
m_lastposition = l_position;
|
||||
|
||||
|
||||
if (_zeroFlag)
|
||||
{
|
||||
// Supposedly this is supposed to tell SceneObjectGroup that
|
||||
// no more updates need to be sent..
|
||||
// but it seems broken.
|
||||
_velocity.X = 0.0f;
|
||||
_velocity.Y = 0.0f;
|
||||
_velocity.Z = 0.0f;
|
||||
_orientation.w = 0f;
|
||||
_orientation.x = 0f;
|
||||
_orientation.y = 0f;
|
||||
_orientation.z = 0f;
|
||||
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
m_lastVelocity = _velocity;
|
||||
|
||||
_position = l_position;
|
||||
|
||||
_velocity.X = vel.X;
|
||||
_velocity.Y = vel.Y;
|
||||
_velocity.Z = vel.Z;
|
||||
|
||||
_orientation.w = ori.W;
|
||||
_orientation.x = ori.X;
|
||||
_orientation.y = ori.Y;
|
||||
_orientation.z = ori.Z;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
public override void SetMomentum(PhysicsVector momentum)
|
||||
{
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue