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Merge branch 'ubitwork' into avination

avinationmerge
Melanie 2012-05-02 00:33:37 +02:00
parent 98e9f22544 303739622c
commit 82197c87a2
5 changed files with 138 additions and 114 deletions
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16
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
View File

@ -4024,13 +4024,25 @@ namespace OpenSim.Region.Framework.Scenes
if (nparts <= 1)
return gc;
Quaternion parentRot = RootPart.RotationOffset;
Vector3 pPos;
// average all parts positions
for (int i = 0; i < nparts; i++)
gc += parts[i].GetWorldPosition();
{
// do it directly
// gc += parts[i].GetWorldPosition();
if (parts[i] != RootPart)
{
pPos = parts[i].OffsetPosition;
gc += pPos;
}
}
gc /= nparts;
// relative to root:
gc -= AbsolutePosition;
// gc -= AbsolutePosition;
return gc;
}

43
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
View File

@ -470,15 +470,20 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionEfficiency = 1;
m_linearDeflectionTimescale = 1;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 1000;
m_angularDeflectionTimescale = 10;
m_verticalAttractionEfficiency = 1;
m_verticalAttractionTimescale = 1000;
m_bankingEfficiency = 0;
m_bankingMix = 1;
m_bankingTimescale = 10;
m_flags &=
~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.LIMIT_MOTOR_UP);
break;
case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
@ -499,9 +504,13 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingEfficiency = -0.2f;
m_bankingMix = 1;
m_bankingTimescale = 1;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY);
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.LIMIT_MOTOR_UP |
VehicleFlag.HOVER_UP_ONLY);
break;
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10, 3, 2);
@ -525,12 +534,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingTimescale = 1;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT |
VehicleFlag.HOVER_UP_ONLY |
VehicleFlag.LIMIT_ROLL_ONLY);
VehicleFlag.HOVER_UP_ONLY); // |
// VehicleFlag.LIMIT_ROLL_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_MOTOR_UP |
VehicleFlag.HOVER_UP_ONLY | // new sl
VehicleFlag.HOVER_WATER_ONLY);
break;
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
@ -559,6 +570,7 @@ namespace OpenSim.Region.Physics.OdePlugin
VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break;
case Vehicle.TYPE_BALLOON:
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
@ -574,7 +586,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionTimescale = 5 * m_invtimestep;
m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0f;
m_verticalAttractionEfficiency = 1f;
m_verticalAttractionTimescale = 1000f;
m_bankingEfficiency = 0;
m_bankingMix = 0.7f;
@ -583,9 +595,12 @@ namespace OpenSim.Region.Physics.OdePlugin
VehicleFlag.HOVER_TERRAIN_ONLY |
VehicleFlag.HOVER_UP_ONLY |
VehicleFlag.NO_DEFLECTION_UP |
VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
VehicleFlag.HOVER_GLOBAL_HEIGHT);
VehicleFlag.LIMIT_MOTOR_UP | //);
VehicleFlag.LIMIT_ROLL_ONLY | // new sl
VehicleFlag.HOVER_GLOBAL_HEIGHT); // new sl
// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
// VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
@ -768,9 +783,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// hover
if (m_VhoverTimescale < 300)
if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
{
d.Vector3 pos = d.BodyGetPosition(Body);
// d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 pos = d.GeomGetPosition(rootPrim.prim_geom);
pos.Z -= 0.21f; // minor offset that seems to be always there in sl
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float perr;

180
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -449,54 +449,57 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
d.Vector3 dtmp;
if (!childPrim && Body != IntPtr.Zero)
lock (_parent_scene.OdeLock)
{
dtmp = d.BodyGetPosition(Body);
return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
}
else if (prim_geom != IntPtr.Zero)
{
d.Quaternion dq;
d.GeomCopyQuaternion(prim_geom, out dq);
Quaternion q;
q.X = dq.X;
q.Y = dq.Y;
q.Z = dq.Z;
q.W = dq.W;
Vector3 Ptot = primOOBoffset * q;
dtmp = d.GeomGetPosition(prim_geom);
Ptot.X += dtmp.X;
Ptot.Y += dtmp.Y;
Ptot.Z += dtmp.Z;
// if(childPrim) we only know about physical linksets
return Ptot;
/*
float tmass = _mass;
Ptot *= tmass;
float m;
foreach (OdePrim prm in childrenPrim)
d.Vector3 dtmp;
if (!childPrim && Body != IntPtr.Zero)
{
m = prm._mass;
Ptot += prm.CenterOfMass * m;
tmass += m;
dtmp = d.BodyGetPosition(Body);
return new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
}
else if (prim_geom != IntPtr.Zero)
{
d.Quaternion dq;
d.GeomCopyQuaternion(prim_geom, out dq);
Quaternion q;
q.X = dq.X;
q.Y = dq.Y;
q.Z = dq.Z;
q.W = dq.W;
if (tmass == 0)
tmass = 0;
Vector3 Ptot = primOOBoffset * q;
dtmp = d.GeomGetPosition(prim_geom);
Ptot.X += dtmp.X;
Ptot.Y += dtmp.Y;
Ptot.Z += dtmp.Z;
// if(childPrim) we only know about physical linksets
return Ptot;
/*
float tmass = _mass;
Ptot *= tmass;
float m;
foreach (OdePrim prm in childrenPrim)
{
m = prm._mass;
Ptot += prm.CenterOfMass * m;
tmass += m;
}
if (tmass == 0)
tmass = 0;
else
tmass = 1.0f / tmass;
Ptot *= tmass;
return Ptot;
*/
}
else
tmass = 1.0f / tmass;
Ptot *= tmass;
return Ptot;
*/
return _position;
}
else
return _position;
}
}
/*
@ -840,7 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (force.IsFinite())
{
AddChange(changes.AddAngForce, force * m_invTimeStep);
AddChange(changes.AddAngForce, force);
}
else
{
@ -1511,7 +1514,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
Body = IntPtr.Zero;
hasOOBoffsetFromMesh = false;
CalcPrimBodyData();
}
/*
private void ChildSetGeom(OdePrim odePrim)
@ -1601,7 +1603,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = d.BodyCreate(_parent_scene.world);
DMassDup(ref primdMass, out objdmass);
objdmass = primdMass;
// rotate inertia
myrot.X = _orientation.X;
@ -1623,9 +1625,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Mass tmpdmass = new d.Mass { };
Vector3 rcm;
rcm.X = _position.X + objdmass.c.X;
rcm.Y = _position.Y + objdmass.c.Y;
rcm.Z = _position.Z + objdmass.c.Z;
rcm.X = _position.X;
rcm.Y = _position.Y;
rcm.Z = _position.Z;
lock (childrenPrim)
{
@ -1637,7 +1639,7 @@ namespace OpenSim.Region.Physics.OdePlugin
continue;
}
DMassCopy(ref prm.primdMass, ref tmpdmass);
tmpdmass = prm.primdMass;
// apply prim current rotation to inertia
quat.X = prm._orientation.X;
@ -1648,10 +1650,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.MassRotate(ref tmpdmass, ref mat);
Vector3 ppos = prm._position;
ppos.X += tmpdmass.c.X - rcm.X;
ppos.Y += tmpdmass.c.Y - rcm.Y;
ppos.Z += tmpdmass.c.Z - rcm.Z;
ppos.X -= rcm.X;
ppos.Y -= rcm.Y;
ppos.Z -= rcm.Z;
// refer inertia to root prim center of mass position
d.MassTranslate(ref tmpdmass,
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()
{
}

10
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -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

3
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
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@ -8527,7 +8527,8 @@ 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);
Vector3 tmp = m_host.GetGeometricCenter();
return new LSL_Vector(tmp.X, tmp.Y, tmp.Z);
}
public LSL_List llGetPrimitiveParams(LSL_List rules)