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RotLookAt repaired; debug msg cleanup.

avinationmerge
Kitto Flora 2010-03-14 16:22:13 -04:00
parent 1379ae4310
commit 8198062610
4 changed files with 159 additions and 452 deletions
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4
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
View File

@ -1955,7 +1955,7 @@ namespace OpenSim.Region.Framework.Scenes
else
{
if (rootpart.PhysActor != null)
{
{ // APID must be implemented in your physics system for this to function.
rootpart.PhysActor.APIDTarget = new Quaternion(target.X, target.Y, target.Z, target.W);
rootpart.PhysActor.APIDStrength = strength;
rootpart.PhysActor.APIDDamping = damping;
@ -1971,7 +1971,7 @@ namespace OpenSim.Region.Framework.Scenes
if (rootpart != null)
{
if (rootpart.PhysActor != null)
{
{ // APID must be implemented in your physics system for this to function.
rootpart.PhysActor.APIDActive = false;
}
}

35
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
View File

@ -2705,38 +2705,7 @@ namespace OpenSim.Region.Framework.Scenes
public void RotLookAt(Quaternion target, float strength, float damping)
{
rotLookAt(target, strength, damping);
}
public void rotLookAt(Quaternion target, float strength, float damping)
{
if (IsAttachment)
{
/*
ScenePresence avatar = m_scene.GetScenePresence(rootpart.AttachedAvatar);
if (avatar != null)
{
Rotate the Av?
} */
}
else
{
APIDDamp = damping;
APIDStrength = strength;
APIDTarget = target;
}
}
public void startLookAt(Quaternion rot, float damp, float strength)
{
APIDDamp = damp;
APIDStrength = strength;
APIDTarget = rot;
}
public void stopLookAt()
{
APIDTarget = Quaternion.Identity;
m_parentGroup.rotLookAt(target, strength, damping); // This calls method in SceneObjectGroup.
}
/// <summary>
@ -3460,7 +3429,7 @@ namespace OpenSim.Region.Framework.Scenes
public void StopLookAt()
{
m_parentGroup.stopLookAt();
m_parentGroup.stopLookAt(); // This calls method in SceneObjectGroup.
m_parentGroup.ScheduleGroupForTerseUpdate();
}

306
OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
View File

@ -652,7 +652,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return true;
}
public override Vector3 Acceleration
public override Vector3 Acceleration // client updates read data via here
{
get { return _acceleration; }
}
@ -696,14 +696,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
/* Vector3 pv = Vector3.Zero;
if (_zeroFlag)
return pv;
m_lastUpdateSent = false;
if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
return pv;
*/
return m_rotationalVelocity;
}
set
@ -1398,9 +1390,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintCollidesWater != m_collidesWater)
changefloatonwater(timestep);
// ##*
if (!m_angularEnable.ApproxEquals(m_taintAngularLock,0f))
Console.WriteLine("ALchange req {0} is {1}", m_taintAngularLock, m_angularEnable);
changeAngularLock(timestep);
}
@ -1411,16 +1401,10 @@ Console.WriteLine("ALchange req {0} is {1}", m_taintAngularLock, m_angularEna
}
private void changeAngularLock(float timestep) // ##*
private void changeAngularLock(float timestep)
{
// do we have a Physical object?
// if (Body != IntPtr.Zero)
// {
//Check that we have a Parent
//If we have a parent then we're not authorative here
if (_parent == null)
{
Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
m_angularEnable = m_taintAngularLock;
}
}
@ -1435,7 +1419,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
{
OdePrim obj = (OdePrim)m_taintparent;
//obj.disableBody();
//Console.WriteLine("changelink calls ParentPrim");
obj.ParentPrim(this);
/*
@ -1453,8 +1436,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
// destroy link
else if (_parent != null && m_taintparent == null)
{
//Console.WriteLine(" changelink B");
if (_parent is OdePrim)
{
OdePrim obj = (OdePrim)_parent;
@ -1480,7 +1461,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
// prim is the child
public void ParentPrim(OdePrim prim)
{
//Console.WriteLine("ParentPrim " + m_primName);
if (this.m_localID != prim.m_localID)
{
if (Body == IntPtr.Zero)
@ -1494,7 +1474,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
{
if (!childrenPrim.Contains(prim))
{
//Console.WriteLine("childrenPrim.Add " + prim);
childrenPrim.Add(prim);
foreach (OdePrim prm in childrenPrim)
@ -1640,7 +1619,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
{
foreach (OdePrim prm in childrenPrim)
{
//Console.WriteLine("ChildSetGeom calls ParentPrim");
ParentPrim(prm);
}
}
@ -1667,7 +1645,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
lock (childrenPrim)
{
//Console.WriteLine("childrenPrim.Remove " + odePrim);
childrenPrim.Remove(odePrim);
}
@ -1680,7 +1657,6 @@ Console.WriteLine("Alock changed to {0}", m_taintAngularLock);
{
foreach (OdePrim prm in childrenPrim)
{
//Console.WriteLine("ChildDelink calls ParentPrim");
ParentPrim(prm);
}
}
@ -2417,219 +2393,9 @@ Console.WriteLine(" JointCreateFixed");
public void UpdatePositionAndVelocity()
{
return; // moved to the MOVE() method
return; // moved to the Move() method
}
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
/* if (_parent == null)
{
Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag;
if (Body != (IntPtr)0) // FIXME -> or if it is a joint
{
d.Vector3 vec = d.BodyGetPosition(Body);
d.Quaternion ori = d.BodyGetQuaternion(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
d.Vector3 torque = d.BodyGetTorque(Body);
_torque = new Vector3(torque.X, torque.Y, torque.Z);
Vector3 l_position = Vector3.Zero;
Quaternion l_orientation = Quaternion.Identity;
// 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 (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
//if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
//if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
//if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
m_lastposition = _position;
m_lastorientation = _orientation;
l_position.X = vec.X;
l_position.Y = vec.Y;
l_position.Z = vec.Z;
l_orientation.X = ori.X;
l_orientation.Y = ori.Y;
l_orientation.Z = ori.Z;
l_orientation.W = ori.W;
// if(l_position.Y != m_lastposition.Y){
// Console.WriteLine("UP&V {0} {1}", m_primName, l_position);
// }
if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f)
{
//base.RaiseOutOfBounds(l_position);
if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
{
_position = l_position;
//_parent_scene.remActivePrim(this);
if (_parent == null)
base.RequestPhysicsterseUpdate();
return;
}
else
{
if (_parent == null)
base.RaiseOutOfBounds(l_position);
return;
}
}
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.
//IsPhysical = false;
if (_parent == null)
base.RaiseOutOfBounds(_position);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (_parent == null)
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
//outofBounds = true;
}
//float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
//Console.WriteLine("Adiff " + m_primName + " = " + Adiff);
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large
{
_zeroFlag = true;
//Console.WriteLine("ZFT 2");
m_throttleUpdates = false;
}
else
{
//m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
_zeroFlag = false;
m_lastUpdateSent = false;
//m_throttleUpdates = false;
}
if (_zeroFlag)
{
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
//_orientation.w = 0f;
//_orientation.X = 0f;
//_orientation.Y = 0f;
//_orientation.Z = 0f;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
throttleCounter = 0;
m_rotationalVelocity = pv;
if (_parent == null)
{
base.RequestPhysicsterseUpdate();
}
m_lastUpdateSent = true;
}
}
else
{
if (lastZeroFlag != _zeroFlag)
{
if (_parent == null)
{
base.RequestPhysicsterseUpdate();
}
}
m_lastVelocity = _velocity;
_position = l_position;
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
_acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
// if (_velocity.ApproxEquals(pv, 0.5f)) ???? Disregard rotational vel if lin vel is < 0.5 ?????
// {
// m_rotationalVelocity = pv;/
// }
// else
// {
m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
// }
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
m_lastUpdateSent = false;
if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
{
if (_parent == null)
{
base.RequestPhysicsterseUpdate();
}
}
else
{
throttleCounter++;
}
}
m_lastposition = l_position;
}
else
{
// Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
_zeroFlag = true;
}
}
}
*/
/* No one uses this?
public Matrix4 FromDMass(d.Mass pMass)
{
Matrix4 obj;
@ -2651,7 +2417,7 @@ Console.WriteLine(" JointCreateFixed");
obj.M44 = 1;
return obj;
}
*/
public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
{
obj.I.M00 = pMat[0, 0];
@ -2878,11 +2644,6 @@ Console.WriteLine(" JointCreateFixed");
m_material = pMaterial;
}
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
switch (pParam)
@ -3242,10 +3003,7 @@ Console.WriteLine(" JointCreateFixed");
{
// Old public void UpdatePositionAndVelocity(), more accuratley calculated here
// Vector3 pv = Vector3.Zero; // what was this for?
bool lastZeroFlag = _zeroFlag; // was it stopped
// if (Body != (IntPtr)0) // FIXME -> or if it is a joint
// {
d.Vector3 vec = d.BodyGetPosition(Body);
d.Quaternion ori = d.BodyGetQuaternion(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
@ -3255,12 +3013,6 @@ Console.WriteLine(" JointCreateFixed");
Vector3 l_position = Vector3.Zero;
Quaternion l_orientation = Quaternion.Identity;
// 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 (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
//if (vec.Y < 0.0f) { vec.Y = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
//if (vec.X > 255.95f) { vec.X = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
//if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
m_lastposition = _position;
m_lastorientation = _orientation;
@ -3273,29 +3025,25 @@ Console.WriteLine(" JointCreateFixed");
l_orientation.W = ori.W;
//Console.WriteLine("Move {0} at {1}", m_primName, l_position);
// Check if outside region horizontally
if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) ||
l_position.X < 0f ||
l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) ||
l_position.Y < 0f)
{
//base.RaiseOutOfBounds(l_position);
if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
{
{ // keep trying to cross?
_position = l_position;
//_parent_scene.remActivePrim(this);
if (_parent == null)
base.RequestPhysicsterseUpdate();
return;
if (_parent == null) base.RequestPhysicsterseUpdate();
return; // Dont process any other motion?
}
else
{
if (_parent == null)
base.RaiseOutOfBounds(l_position);
return;
}
{ // Too many tries
if (_parent == null) base.RaiseOutOfBounds(l_position);
return; // Dont process any other motion?
}
} // end outside region horizontally
if (l_position.Z < 0)
{
@ -3306,11 +3054,10 @@ Console.WriteLine(" JointCreateFixed");
// It's a hack and will generate a console message if it fails.
//IsPhysical = false;
if (_parent == null)
base.RaiseOutOfBounds(_position);
if (_parent == null) base.RaiseOutOfBounds(_position);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.X = 0; // This stuff may stop client display but it has no
_acceleration.Y = 0; // effect on the object in phys engine!
_acceleration.Z = 0;
_velocity.X = 0;
@ -3320,21 +3067,18 @@ Console.WriteLine(" JointCreateFixed");
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (_parent == null)
base.RequestPhysicsterseUpdate();
if (_parent == null) base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
//outofBounds = true;
}
} // end neg Z check
//float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
//Console.WriteLine("Adiff " + m_primName + " = " + Adiff);
// Is it moving?
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
// && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large
{
_zeroFlag = true;
@ -3358,7 +3102,6 @@ Console.WriteLine(" JointCreateFixed");
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
//_orientation.w = 0f;
//_orientation.X = 0f;
//_orientation.Y = 0f;
@ -3370,8 +3113,6 @@ Console.WriteLine(" JointCreateFixed");
{
m_throttleUpdates = false;
throttleCounter = 0;
// m_rotationalVelocity = pv; What was this for?
if (_parent == null)
{
base.RequestPhysicsterseUpdate();
@ -3701,7 +3442,6 @@ Console.WriteLine(" JointCreateFixed");
//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
m_lastAngularVelocity = angObjectVel;
if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable);
if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
{
@ -3720,14 +3460,11 @@ if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable);
d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
//if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
} // end VEHICLES ####
} // end VEHICLES
else
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
// NON-'VEHICLES' are dealt with here
// m_angularEnable = <1,1,1> means no lock. a 0 on axis means locked.
// NB this may be wrong - may lock global axis! Should be LOCAL axis!
/// Dynamics Angular Lock ========================================================================
if (d.BodyIsEnabled(Body) && !m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
{
@ -3802,7 +3539,7 @@ if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable);
d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
d.BodySetLinearVel(Body, 0, 0, 0);
d.BodyAddForce(Body, 0, 0, fz);
return;
// return;
}
else
{
@ -3911,7 +3648,6 @@ if(frcount == 0) Console.WriteLine("angularEnable {0}", m_angularEnable);
// float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
// Also in SL the mass of the object has no effect on time to get there.
// Factors:
//if(frcount == 0) Console.WriteLine("APID ");
// get present body rotation
float limit = 1.0f;
float scaler = 50f; // adjusts damping time

4
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@ -2899,10 +2899,12 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
// the angles of rotation in radians into rotation value
LSL_Types.Quaternion rot = llEuler2Rot(angle);
/*
Quaternion rotation = new Quaternion((float)rot.x, (float)rot.y, (float)rot.z, (float)rot.s);
m_host.startLookAt(rotation, (float)damping, (float)strength);
This would only work if your physics system contains an APID controller */
// Orient the object to the angle calculated
//llSetRot(rot);
llSetRot(rot);
}
public void llRotLookAt(LSL_Rotation target, double strength, double damping)