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stop using a vector3 to store axis locks 3bit flags also in ode

avinationmerge
UbitUmarov 2015-10-20 23:57:57 +01:00
parent f6891b36be
commit 747044f587
2 changed files with 47 additions and 56 deletions
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2
OpenSim/Region/PhysicsModules/Ode/ODECharacter.cs
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@ -595,7 +595,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
public override void delink() {} public override void delink() {}
public override void LockAngularMotion(Vector3 axis) {} public override void LockAngularMotion(byte axislocks) {}
// This code is very useful. Written by DanX0r. We're just not using it right now. // This code is very useful. Written by DanX0r. We're just not using it right now.
// Commented out to prevent a warning. // Commented out to prevent a warning.

101
OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
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@ -111,10 +111,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
private Vector3 m_taintVelocity; private Vector3 m_taintVelocity;
private Vector3 m_taintTorque; private Vector3 m_taintTorque;
private Quaternion m_taintrot; private Quaternion m_taintrot;
private Vector3 m_angularlock = Vector3.One;
private Vector3 m_taintAngularLock = Vector3.One;
private IntPtr Amotor = IntPtr.Zero; private IntPtr Amotor = IntPtr.Zero;
private byte m_taintAngularLock = 0;
private byte m_angularlock = 0;
private bool m_assetFailed = false; private bool m_assetFailed = false;
private Vector3 m_PIDTarget; private Vector3 m_PIDTarget;
@ -452,7 +454,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
m_disabled = false; m_disabled = false;
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) if (m_angularlock != 0 && _parent == null)
{ {
createAMotor(m_angularlock); createAMotor(m_angularlock);
} }
@ -1008,7 +1010,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
if (m_taintCollidesWater != m_collidesWater) if (m_taintCollidesWater != m_collidesWater)
changefloatonwater(); changefloatonwater();
if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f)) if (m_taintAngularLock != m_angularlock)
changeAngularLock(); changeAngularLock();
} }
@ -1024,10 +1026,8 @@ Console.WriteLine("ZProcessTaints for " + Name);
//If we have a parent then we're not authorative here //If we have a parent then we're not authorative here
if (_parent == null) if (_parent == null)
{ {
if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f)) if (m_taintAngularLock != 0)
{ {
//d.BodySetFiniteRotationMode(Body, 0);
//d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
createAMotor(m_taintAngularLock); createAMotor(m_taintAngularLock);
} }
else else
@ -1041,7 +1041,6 @@ Console.WriteLine("ZProcessTaints for " + Name);
} }
} }
// Store this for later in case we get turned into a separate body
m_angularlock = m_taintAngularLock; m_angularlock = m_taintAngularLock;
} }
@ -1237,7 +1236,8 @@ Console.WriteLine("ZProcessTaints for " + Name);
m_disabled = false; m_disabled = false;
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.One, 0f)) && _parent == null) // or remove
if (_parent == null)
{ {
createAMotor(m_angularlock); createAMotor(m_angularlock);
} }
@ -1707,21 +1707,6 @@ Console.WriteLine(" JointCreateFixed");
{ {
//Console.WriteLine("Move " + Name); //Console.WriteLine("Move " + Name);
if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
// NON-'VEHICLES' are dealt with here
// if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
// {
// d.Vector3 avel2 = d.BodyGetAngularVel(Body);
// /*
// if (m_angularlock.X == 1)
// avel2.X = 0;
// if (m_angularlock.Y == 1)
// avel2.Y = 0;
// if (m_angularlock.Z == 1)
// avel2.Z = 0;
// d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
// */
// }
//float PID_P = 900.0f;
float m_mass = CalculateMass(); float m_mass = CalculateMass();
@ -1950,8 +1935,8 @@ Console.WriteLine(" JointCreateFixed");
d.BodySetQuaternion(Body, ref myrot); d.BodySetQuaternion(Body, ref myrot);
if (IsPhysical) if (IsPhysical)
{ {
if (!m_angularlock.ApproxEquals(Vector3.One, 0f)) // create or remove locks
createAMotor(m_angularlock); createAMotor(m_angularlock);
} }
} }
else else
@ -2719,21 +2704,10 @@ Console.WriteLine(" JointCreateFixed");
m_taintparent = null; m_taintparent = null;
} }
public override void LockAngularMotion(Vector3 axis) public override void LockAngularMotion(byte axislocks)
{ {
// reverse the zero/non zero values for ODE. // m_log.DebugFormat("[axislocks]: {0}", axislocks);
if (axis.IsFinite()) m_taintAngularLock = axislocks;
{
axis.X = (axis.X > 0) ? 1f : 0f;
axis.Y = (axis.Y > 0) ? 1f : 0f;
axis.Z = (axis.Z > 0) ? 1f : 0f;
m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
m_taintAngularLock = axis;
}
else
{
m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
}
} }
internal void UpdatePositionAndVelocity() internal void UpdatePositionAndVelocity()
@ -3021,7 +2995,7 @@ Console.WriteLine(" JointCreateFixed");
public override float APIDDamping{ set { return; } } public override float APIDDamping{ set { return; } }
private void createAMotor(Vector3 axis) private void createAMotor(byte axislocks)
{ {
if (Body == IntPtr.Zero) if (Body == IntPtr.Zero)
return; return;
@ -3032,13 +3006,32 @@ Console.WriteLine(" JointCreateFixed");
Amotor = IntPtr.Zero; Amotor = IntPtr.Zero;
} }
float axisnum = 3; if(axislocks == 0)
return;
axisnum = (axisnum - (axis.X + axis.Y + axis.Z)); int axisnum = 0;
bool axisX = false;
bool axisY = false;
bool axisZ = false;
if((axislocks & 0x02) != 0)
{
axisnum++;
axisX = true;
}
if((axislocks & 0x04) != 0)
{
axisnum++;
axisY = true;
}
if((axislocks & 0x08) != 0)
{
axisnum++;
axisZ = true;
}
// PhysicsVector totalSize = new PhysicsVector(_size.X, _size.Y, _size.Z); if(axisnum == 0)
return;
// Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again. // Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again.
d.Mass objMass; d.Mass objMass;
d.MassSetZero(out objMass); d.MassSetZero(out objMass);
@ -3061,23 +3054,21 @@ Console.WriteLine(" JointCreateFixed");
mathmat = Inverse(mathmat); mathmat = Inverse(mathmat);
*/ */
if (axis.X == 0) if (axisX)
{ {
mathmat.M33 = 50.0000001f; mathmat.M33 = 50.0000001f;
//objMass.I.M22 = 0; //objMass.I.M22 = 0;
} }
if (axis.Y == 0) if (axisY)
{ {
mathmat.M22 = 50.0000001f; mathmat.M22 = 50.0000001f;
//objMass.I.M11 = 0; //objMass.I.M11 = 0;
} }
if (axis.Z == 0) if (axisZ)
{ {
mathmat.M11 = 50.0000001f; mathmat.M11 = 50.0000001f;
//objMass.I.M00 = 0; //objMass.I.M00 = 0;
} }
mathmat = Inverse(mathmat); mathmat = Inverse(mathmat);
objMass = FromMatrix4(mathmat, ref objMass); objMass = FromMatrix4(mathmat, ref objMass);
@ -3104,25 +3095,25 @@ Console.WriteLine(" JointCreateFixed");
d.JointSetAMotorNumAxes(Amotor,(int)axisnum); d.JointSetAMotorNumAxes(Amotor,(int)axisnum);
int i = 0; int i = 0;
if (axis.X == 0) if (axisX)
{ {
d.JointSetAMotorAxis(Amotor, i, 0, 1, 0, 0); d.JointSetAMotorAxis(Amotor, i, 0, 1, 0, 0);
i++; i++;
} }
if (axis.Y == 0) if (axisY)
{ {
d.JointSetAMotorAxis(Amotor, i, 0, 0, 1, 0); d.JointSetAMotorAxis(Amotor, i, 0, 0, 1, 0);
i++; i++;
} }
if (axis.Z == 0) if (axisZ)
{ {
d.JointSetAMotorAxis(Amotor, i, 0, 0, 0, 1); d.JointSetAMotorAxis(Amotor, i, 0, 0, 0, 1);
i++; i++;
} }
for (int j = 0; j < (int)axisnum; j++) // for (int j = 0; j < (int)axisnum; j++)
{ {
//d.JointSetAMotorAngle(Amotor, j, 0); //d.JointSetAMotorAngle(Amotor, j, 0);
} }