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Merge branch 'careminster-presence-refactor' of ssh://3dhosting.de/var/git/careminster into careminster-presence-refactor

avinationmerge
Melanie Thielker 2010-06-08 22:04:09 +02:00
parent 4921d5ac2d 54209907f3
commit 7d75dc1294
2 changed files with 185 additions and 51 deletions
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6
OpenSim/Data/MySQL/Resources/RegionStore.migrations
View File

@ -796,3 +796,9 @@ BEGIN;
ALTER TABLE regionsettings ADD map_tile_ID CHAR(36) NOT NULL DEFAULT '00000000-0000-0000-0000-000000000000'; ALTER TABLE regionsettings ADD map_tile_ID CHAR(36) NOT NULL DEFAULT '00000000-0000-0000-0000-000000000000';
COMMIT; COMMIT;
:VERSION 34 #---------------------
BEGIN;
ALTER TABLE `regionwindlight` CHANGE COLUMN `cloud_scroll_x` `cloud_scroll_x` FLOAT(4,2) NOT NULL DEFAULT '0.20' AFTER `cloud_detail_density`, CHANGE COLUMN `cloud_scroll_y` `cloud_scroll_y` FLOAT(4,2) NOT NULL DEFAULT '0.01' AFTER `cloud_scroll_x_lock`;
COMMIT;

230
OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
View File

@ -64,11 +64,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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_angularEnable = Vector3.One; // Current setting private Vector3 m_rotateEnable = Vector3.One; // Current setting
private Vector3 m_taintAngularLock = Vector3.One; // Request from LSL private Vector3 m_rotateEnableRequest = Vector3.One; // Request from LSL
private bool m_rotateEnableUpdate = false;
private Vector3 m_lockX;
private Vector3 m_lockY;
private Vector3 m_lockZ;
private IntPtr Amotor = IntPtr.Zero; private IntPtr Amotor = IntPtr.Zero;
private IntPtr AmotorX = IntPtr.Zero;
private IntPtr AmotorY = IntPtr.Zero;
private IntPtr AmotorZ = IntPtr.Zero;
private Vector3 m_PIDTarget; private Vector3 m_PIDTarget;
private float m_PIDTau; private float m_PIDTau;
@ -729,7 +734,12 @@ namespace OpenSim.Region.Physics.OdePlugin
public override float Buoyancy public override float Buoyancy
{ {
get { return m_buoyancy; } get { return m_buoyancy; }
set { m_buoyancy = value; } // set { m_buoyancy = value; }
set {
m_buoyancy = value;
Console.WriteLine("m_buoyancy={0}", m_buoyancy);
}
} }
public override void link(PhysicsActor obj) public override void link(PhysicsActor obj)
@ -744,14 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void LockAngularMotion(Vector3 axis) public override void LockAngularMotion(Vector3 axis)
{ {
// reverse the zero/non zero values for ODE. // This is actually ROTATION ENABLE, not a lock.
// default is <1,1,1> which is all enabled.
// The lock value is updated inside Move(), no point in using the taint system.
// OS 'm_taintAngularLock' etc change to m_rotateEnable.
if (axis.IsFinite()) if (axis.IsFinite())
{ {
axis.X = (axis.X > 0) ? 1f : 0f; axis.X = (axis.X > 0) ? 1f : 0f;
axis.Y = (axis.Y > 0) ? 1f : 0f; axis.Y = (axis.Y > 0) ? 1f : 0f;
axis.Z = (axis.Z > 0) ? 1f : 0f; axis.Z = (axis.Z > 0) ? 1f : 0f;
m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
m_taintAngularLock = axis; m_rotateEnableRequest = axis;
m_rotateEnableUpdate = true;
} }
else else
{ {
@ -1391,10 +1405,10 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintCollidesWater != m_collidesWater) if (m_taintCollidesWater != m_collidesWater)
changefloatonwater(timestep); changefloatonwater(timestep);
/* obsolete
if (!m_angularEnable.ApproxEquals(m_taintAngularLock,0f)) if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
changeAngularLock(timestep); changeAngularLock(timestep);
*/
} }
else else
{ {
@ -1402,15 +1416,16 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
/* obsolete
private void changeAngularLock(float timestep) private void changeAngularLock(float timestep)
{ {
if (_parent == null) if (_parent == null)
{ {
m_angularEnable = m_taintAngularLock; m_angularLock = m_taintAngularLock;
m_angularLockSet = true;
} }
} }
*/
private void changelink(float timestep) private void changelink(float timestep)
{ {
// If the newly set parent is not null // If the newly set parent is not null
@ -2991,7 +3006,7 @@ Console.WriteLine(" JointCreateFixed");
if (fence == 1) border_limit = 0.5f; // bounce point if (fence == 1) border_limit = 0.5f; // bounce point
frcount++; // used to limit debug comment output frcount++; // used to limit debug comment output
if (frcount > 10) if (frcount > 50)
frcount = 0; frcount = 0;
if(revcount > 0) revcount--; if(revcount > 0) revcount--;
@ -3200,8 +3215,91 @@ Console.WriteLine(" JointCreateFixed");
} }
m_lastposition = l_position; m_lastposition = l_position;
/// End UpdatePositionAndVelocity insert /// End UpdatePositionAndVelocity insert
// Rotation lock =====================================
if(m_rotateEnableUpdate)
{
// Snapshot current angles, set up Amotor(s)
m_rotateEnableUpdate = false;
m_rotateEnable = m_rotateEnableRequest;
Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
if (Amotor != IntPtr.Zero)
{
d.JointDestroy(Amotor);
Amotor = IntPtr.Zero;
Console.WriteLine("Old Amotor Destroyed");
}
if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
{ // not all are enabled
d.Quaternion r = d.BodyGetQuaternion(Body);
Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
// extract the axes vectors
Vector3 vX = new Vector3(1f,0f,0f);
Vector3 vY = new Vector3(0f,1f,0f);
Vector3 vZ = new Vector3(0f,0f,1f);
vX = vX * locrot;
vY = vY * locrot;
vZ = vZ * locrot;
// snapshot the current angle vectors
m_lockX = vX;
m_lockY = vY;
m_lockZ = vZ;
// m_lockRot = locrot;
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
d.JointAttach(Amotor, Body, IntPtr.Zero);
d.JointSetAMotorMode(Amotor, 0); // User mode??
Console.WriteLine("New Amotor Created for {0}", m_primName);
float axisnum = 3; // how many to lock
axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
d.JointSetAMotorNumAxes(Amotor,(int)axisnum);
Console.WriteLine("AxisNum={0}",(int)axisnum);
int i = 0;
if (m_rotateEnable.X == 0)
{
d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
i++;
}
if (m_rotateEnable.Y == 0)
{
d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
i++;
}
if (m_rotateEnable.Z == 0)
{
d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
i++;
}
// These lowstops and high stops are effectively (no wiggle room)
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 0f);
d.JointSetAMotorParam(Amotor, (int) dParam.Vel3, 0f);
d.JointSetAMotorParam(Amotor, (int) dParam.Vel2, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
} // else none are locked
} // end Rotation Update
// VEHICLE processing ==========================================
if (m_type != Vehicle.TYPE_NONE) if (m_type != Vehicle.TYPE_NONE)
{ {
// get body attitude // get body attitude
@ -3420,7 +3518,7 @@ Console.WriteLine(" JointCreateFixed");
//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel); //if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
// Rotation Axis Disables: /* // Rotation Axis Disables:
if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f)) if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
{ {
if (m_angularEnable.X == 0) if (m_angularEnable.X == 0)
@ -3430,7 +3528,7 @@ Console.WriteLine(" JointCreateFixed");
if (m_angularEnable.Z == 0) if (m_angularEnable.Z == 0)
angObjectVel.Z = 0f; angObjectVel.Z = 0f;
} }
*/
angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
// Vertical attractor section // Vertical attractor section
@ -3500,35 +3598,58 @@ Console.WriteLine(" JointCreateFixed");
} // end VEHICLES } // end VEHICLES
else else
{ {
// Dyamics (NON-'VEHICLES') are dealt with here ================================================================
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
/// Dynamics Angular Lock ======================================================================== /// Dynamics Buoyancy
if (d.BodyIsEnabled(Body) && !m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
{
d.Vector3 avel2 = d.BodyGetAngularVel(Body);
if (m_angularEnable.X == 0)
avel2.X = 0;
if (m_angularEnable.Y == 0)
avel2.Y = 0;
if (m_angularEnable.Z == 0)
avel2.Z = 0;
d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
}
/// Dynamics Buoyancy ===============================================================================
//KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle. //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
// m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
// NB Prims in ODE are no subject to global gravity // NB Prims in ODE are no subject to global gravity
// This should only affect gravity operations
float m_mass = CalculateMass(); float m_mass = CalculateMass();
// calculate z-force due togravity on object.
fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
if (m_usePID) if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
{ {
//if(frcount == 0) Console.WriteLine("PID " + m_primName); fz = 0; // llMoveToTarget ignores gravity.
// KF - this is for object MoveToTarget. // it also ignores mass of object, and any physical resting on it.
// Vector3 m_PIDTarget is where we are going
//if (!d.BodyIsEnabled(Body)) // float m_PIDTau is time to get there
fx = 0;
fy = 0;
d.Vector3 pos = d.BodyGetPosition(Body);
Vector3 error = new Vector3(
(m_PIDTarget.X - pos.X),
(m_PIDTarget.Y - pos.Y),
(m_PIDTarget.Z - pos.Z));
if (error.ApproxEquals(Vector3.Zero,0.01f))
{ // Very close, Jump there and quit move
d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
_target_velocity = Vector3.Zero;
d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
}
else
{
float scale = 50.0f * timestep / m_PIDTau;
if ((error.ApproxEquals(Vector3.Zero,0.5f)) && (_target_velocity != Vector3.Zero))
{
// Nearby, quit update of velocity
}
else
{ // Far, calc damped velocity
_target_velocity = error * scale;
}
d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
}
} // end PID MoveToTarget
/* Original OS implementation: Does not work correctly as another phys object resting on THIS object purturbs its position.
This is incorrect behavior. llMoveToTarget must move the Body no matter what phys object is resting on it.
//if (!d.BodyIsEnabled(Body))
//d.BodySetForce(Body, 0f, 0f, 0f); //d.BodySetForce(Body, 0f, 0f, 0f);
// no lock; for now it's only called from within Simulate() // no lock; for now it's only called from within Simulate()
@ -3559,6 +3680,7 @@ Console.WriteLine(" JointCreateFixed");
(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
); );
if(frcount == 0) Console.WriteLine("PID {0} b={1} fz={2} vel={3}", m_primName, m_buoyancy, fz, _target_velocity);
// if velocity is zero, use position control; otherwise, velocity control // if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f)) if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
@ -3591,9 +3713,11 @@ Console.WriteLine(" JointCreateFixed");
fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
} }
} // end if (m_usePID) } // end if (m_usePID)
End of old PID system */
/// Dynamics Hover =================================================================================== /// Dynamics Hover ===================================================================================
// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller // Hover PID Controller can only run if the PIDcontroller is not in use.
if (m_useHoverPID && !m_usePID) if (m_useHoverPID && !m_usePID)
{ {
//Console.WriteLine("Hover " + m_primName); //Console.WriteLine("Hover " + m_primName);
@ -3709,14 +3833,14 @@ Console.WriteLine(" JointCreateFixed");
// d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z); // d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
RLAservo = timestep / m_APIDStrength * scaler; RLAservo = timestep / m_APIDStrength * scaler;
rotforce = rotforce * RLAservo * diff_angle ; rotforce = rotforce * RLAservo * diff_angle ;
/*
if (m_angularEnable.X == 0) if (m_angularEnable.X == 0)
rotforce.X = 0; rotforce.X = 0;
if (m_angularEnable.Y == 0) if (m_angularEnable.Y == 0)
rotforce.Y = 0; rotforce.Y = 0;
if (m_angularEnable.Z == 0) if (m_angularEnable.Z == 0)
rotforce.Z = 0; rotforce.Z = 0;
*/
d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z); d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo); //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
} }
@ -3763,11 +3887,12 @@ Console.WriteLine(" JointCreateFixed");
fy = nmin; fy = nmin;
d.BodyAddForce(Body, fx, fy, fz); d.BodyAddForce(Body, fx, fy, fz);
//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz); //Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
} } // end apply forces
} } // end Dynamics
}
else /* obsolete?
{ // is not physical, or is not a body or is selected else
{ // is not physical, or is not a body or is selected
// from old UpdatePositionAndVelocity, ... Not a body.. so Make sure the client isn't interpolating // from old UpdatePositionAndVelocity, ... Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0; _velocity.X = 0;
_velocity.Y = 0; _velocity.Y = 0;
@ -3781,8 +3906,11 @@ Console.WriteLine(" JointCreateFixed");
m_rotationalVelocity.Y = 0; m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0; m_rotationalVelocity.Z = 0;
_zeroFlag = true; _zeroFlag = true;
return; return;
} }
} // end Move() */
} // end root prims
} // end Move()
} // end class } // end class
} }