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* Added ODEPlugin Support for llSetBuoyancy. Set Buoyancy to 1 for space prim. 

* Added WaterLevel support to the ODEPlugin.   More on this later.
0.6.0-stable
Teravus Ovares 2008-03-10 05:23:43 +00:00
parent 8bba8e232c
commit 8bea3dbdb9
13 changed files with 259 additions and 12 deletions
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1
OpenSim/Region/ClientStack/RegionApplicationBase.cs
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@ -127,6 +127,7 @@ namespace OpenSim.Region.ClientStack
scene.PhysicsScene = GetPhysicsScene();
scene.PhysicsScene.SetTerrain(scene.Heightmap.GetFloatsSerialised());
scene.PhysicsScene.SetWaterLevel(regionInfo.EstateSettings.waterHeight);
//Master Avatar Setup
UserProfileData masterAvatar;

8
OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
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@ -934,6 +934,14 @@ namespace OpenSim.Region.Environment.Scenes
m_sitTargetOrientation = orientation;
}
public void SetBuoyancy(float fvalue)
{
if (PhysActor != null)
{
PhysActor.Buoyancy = fvalue;
}
}
public LLVector3 GetSitTargetPositionLL()
{
return new LLVector3(m_sitTargetPosition.x, m_sitTargetPosition.y, m_sitTargetPosition.z);

11
OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
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@ -189,6 +189,11 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
_heightMap = heightMap;
}
public override void SetWaterLevel(float baseheight)
{
}
public override void DeleteTerrain()
{
}
@ -243,6 +248,12 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public override bool IsPhysical
{
get { return false; }

12
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@ -412,6 +412,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
}
public override void SetWaterLevel(float baseheight)
{
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
{
PhysicsVector pos = new PhysicsVector();
@ -918,6 +924,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public virtual void SetAcceleration(PhysicsVector accel)
{
lock (BulletXScene.BulletXLock)

6
OpenSim/Region/Physics/Manager/PhysicsActor.cs
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@ -208,6 +208,8 @@ namespace OpenSim.Region.Physics.Manager
public abstract bool Kinematic { get; set; }
public abstract float Buoyancy { get; set; }
public abstract void AddForce(PhysicsVector force);
public abstract void SetMomentum(PhysicsVector momentum);
@ -249,6 +251,10 @@ namespace OpenSim.Region.Physics.Manager
set { return; }
}
public override float Buoyancy {
get { return 0f; }
set { return; }
}
public override bool CollidingGround
{

6
OpenSim/Region/Physics/Manager/PhysicsScene.cs
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@ -79,6 +79,8 @@ namespace OpenSim.Region.Physics.Manager
public abstract void SetTerrain(float[] heightMap);
public abstract void SetWaterLevel(float baseheight);
public abstract void DeleteTerrain();
public abstract void Dispose();
@ -108,6 +110,10 @@ namespace OpenSim.Region.Physics.Manager
public override void RemovePrim(PhysicsActor prim)
{
}
public override void SetWaterLevel(float baseheight)
{
}
/*
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)

7
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
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@ -87,6 +87,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_hackSentFly = false;
public uint m_localID = 0;
private float m_buoyancy = 0f;
private CollisionLocker ode;
private string m_name = String.Empty;
@ -177,6 +179,11 @@ namespace OpenSim.Region.Physics.OdePlugin
set { return; }
}
public override float Buoyancy
{
get { return m_buoyancy; }
set { m_buoyancy = value; }
}
public override bool IsPhysical
{

49
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
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@ -55,7 +55,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
| CollisionCategories.Space
| CollisionCategories.Body
| CollisionCategories.Character);
| CollisionCategories.Character
);
private bool m_taintshape = false;
private bool m_taintPhysics = false;
private bool m_collidesLand = true;
@ -106,6 +107,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public int m_roundsUnderMotionThreshold = 0;
private int m_crossingfailures = 0;
public float m_buoyancy = 0f;
public bool outofBounds = false;
private float m_density = 10.000006836f; // Aluminum g/cm3;
@ -704,7 +707,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim_geom != (IntPtr)0)
{
if (m_taintposition != _position)
Move(timestep);
changemove(timestep);
if (m_taintrot != _orientation)
rotate(timestep);
@ -829,7 +832,10 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
if (m_isphysical)
{
d.BodySetLinearVel(Body, 0f, 0f, 0f);
enableBodySoft();
}
}
@ -1003,7 +1009,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void Move(float timestep)
public void changemove(float timestep)
{
@ -1063,6 +1069,37 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintposition = _position;
}
public void Move(float timestep)
{
if (IsPhysical && Body != (IntPtr)0 && !m_isSelected)
{
float m_mass = CalculateMass();
//m_log.Info(m_collisionFlags.ToString());
if (m_buoyancy != 0)
{
float buoyancy = 0f;
if (m_buoyancy > 0)
{
buoyancy = ((9.8f * m_buoyancy) * m_mass);
//d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
//m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (9.8f * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
}
else
{
buoyancy = (-1 * ((9.8f * (-1 * m_buoyancy)) * m_mass));
}
d.BodyAddForce(Body, 0, 0, buoyancy);
}
}
else
{
return;
}
}
public void rotate(float timestep)
{
@ -1676,6 +1713,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override float Buoyancy
{
get { return m_buoyancy; }
set { m_buoyancy = value; }
}
public override void link(PhysicsActor obj)
{
m_taintparent = obj;

126
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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@ -49,6 +49,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private CollisionLocker ode;
private OdeScene _mScene;
public OdePlugin()
{
ode = new CollisionLocker();
@ -99,15 +100,25 @@ namespace OpenSim.Region.Physics.OdePlugin
CollisionLocker ode;
protected Random fluidRandomizer = new Random(System.Environment.TickCount);
private const uint m_regionWidth = Constants.RegionSize;
private const uint m_regionHeight = Constants.RegionSize;
private static float ODE_STEPSIZE = 0.020f;
private static float metersInSpace = 29.9f;
private float waterlevel = 0f;
private int framecount = 0;
private IntPtr contactgroup;
private IntPtr LandGeom = (IntPtr) 0;
private IntPtr WaterGeom = (IntPtr)0;
private float[] _heightmap;
private float[] _watermap;
private float[] _origheightmap;
private d.NearCallback nearCallback;
@ -120,13 +131,15 @@ namespace OpenSim.Region.Physics.OdePlugin
public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
private d.ContactGeom[] contacts = new d.ContactGeom[80];
private d.Contact contact;
private d.Contact TerrainContact;
private d.Contact AvatarMovementprimContact;
private d.Contact AvatarMovementTerrainContact;
private d.Contact WaterContact;
private int m_randomizeWater = 200;
private int m_physicsiterations = 10;
private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
private PhysicsActor PANull = new NullPhysicsActor();
@ -176,6 +189,12 @@ namespace OpenSim.Region.Physics.OdePlugin
TerrainContact.surface.bounce = 0.1f;
TerrainContact.surface.soft_erp = 0.1025f;
WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
WaterContact.surface.mu = 0f; // No friction
WaterContact.surface.bounce = 0.0f; // No bounce
WaterContact.surface.soft_cfm = 0.01f;
WaterContact.surface.soft_erp = 0.010f;
// Prim contact friction and bounce
// THis is the *non* moving version of friction and bounce
// Use this when an avatar comes in contact with a prim
@ -187,8 +206,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// Use this when an avatar is in contact with the terrain and moving.
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
AvatarMovementTerrainContact.surface.mu = 75.0f;
AvatarMovementTerrainContact.surface.bounce = 0.1f;
AvatarMovementTerrainContact.surface.soft_erp = 0.1025f;
AvatarMovementTerrainContact.surface.bounce = 0.05f;
AvatarMovementTerrainContact.surface.soft_erp = 0.05025f;
lock (OdeLock)
{
@ -216,7 +235,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// zero out a heightmap array float array (single dimention [flattened]))
_heightmap = new float[514*514];
_watermap = new float[258 * 258];
// Zero out the prim spaces array (we split our space into smaller spaces so
// we can hit test less.
@ -571,12 +590,36 @@ namespace OpenSim.Region.Physics.OdePlugin
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
}
}
else if (name1 == "Water" || name2 == "Water")
{
if ((p2.PhysicsActorType == (int)ActorTypes.Prim))
{
}
else
{
}
WaterContact.surface.soft_cfm = 0.0000f;
WaterContact.surface.soft_erp = 0.00000f;
if (contacts[i].depth > 0.1f)
{
contacts[i].depth *= 52;
//contacts[i].normal = new d.Vector3(0, 0, 1);
//contacts[i].pos = new d.Vector3(0, 0, contacts[i].pos.Z - 5f);
}
WaterContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
//m_log.Info("[PHYSICS]: Prim Water Contact" + contacts[i].depth);
}
else
{
// we're colliding with prim or avatar
// check if we're moving
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
if ((p2.PhysicsActorType == (int)ActorTypes.Agent) &&
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
{
// Use the Movement prim contact
@ -1279,6 +1322,11 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <returns></returns>
public override float Simulate(float timeStep)
{
if (framecount >= int.MaxValue)
framecount = 0;
framecount++;
float fps = 0;
//m_log.Info(timeStep.ToString());
step_time += timeStep;
@ -1369,11 +1417,12 @@ namespace OpenSim.Region.Physics.OdePlugin
foreach (OdePrim prim in _activeprims)
{
prim.m_collisionscore = 0;
prim.Move(timeStep);
}
}
//if ((framecount % m_randomizeWater) == 0)
// randomizeWater(waterlevel);
collision_optimized(timeStep);
@ -1772,6 +1821,69 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
public override void SetWaterLevel(float baseheight)
{
waterlevel = baseheight;
randomizeWater(waterlevel);
}
public void randomizeWater(float baseheight)
{
const uint heightmapWidth = m_regionWidth + 2;
const uint heightmapHeight = m_regionHeight + 2;
const uint heightmapWidthSamples = m_regionWidth + 2;
const uint heightmapHeightSamples = m_regionHeight + 2;
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 2.9f;
const int wrap = 0;
for (int i = 0; i < (258 * 258); i++)
{
_watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
}
lock (OdeLock)
{
if (!(WaterGeom == (IntPtr)0))
{
d.SpaceRemove(space, WaterGeom);
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (WaterGeom != (IntPtr)0)
{
d.GeomSetCategoryBits(WaterGeom, (int)(CollisionCategories.Water));
d.GeomSetCollideBits(WaterGeom, (int)(CollisionCategories.Space));
}
geom_name_map[WaterGeom] = "Water";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
q1 = q1 * q2;
//q1 = q1 * q3;
Vector3 v3 = new Vector3();
float angle = 0;
q1.ToAngleAxis(ref angle, ref v3);
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
d.GeomSetRotation(WaterGeom, ref R);
d.GeomSetPosition(WaterGeom, 128, 128, 0);
}
}
public override void Dispose()
{
lock (OdeLock)

17
OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
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@ -89,6 +89,11 @@ namespace OpenSim.Region.Physics.POSPlugin
return act;
}
public override void SetWaterLevel(float baseheight)
{
}
public override void RemovePrim(PhysicsActor prim)
{
POSPrim p = (POSPrim) prim;
@ -372,6 +377,12 @@ namespace OpenSim.Region.Physics.POSPlugin
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public override bool IsPhysical
{
get { return false; }
@ -605,6 +616,12 @@ namespace OpenSim.Region.Physics.POSPlugin
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public override PhysicsVector Velocity
{
get { return _velocity; }

17
OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
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@ -93,6 +93,11 @@ namespace OpenSim.Region.Physics.PhysXPlugin
}
public override void SetWaterLevel(float baseheight)
{
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
{
Vec3 pos = new Vec3();
@ -242,6 +247,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public override bool IsPhysical
{
get { return false; }
@ -467,6 +478,12 @@ namespace OpenSim.Region.Physics.PhysXPlugin
set { return; }
}
public override float Buoyancy
{
get { return 0f; }
set { return; }
}
public override bool ThrottleUpdates
{
get { return false; }

8
OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs
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@ -1499,7 +1499,13 @@ namespace OpenSim.Region.ScriptEngine.Common
public void llSetBuoyancy(double buoyancy)
{
m_host.AddScriptLPS(1);
NotImplemented("llSetBuoyancy");
if (m_host.ParentGroup != null)
{
if (m_host.ParentGroup.RootPart != null)
{
m_host.ParentGroup.RootPart.SetBuoyancy((float)buoyancy);
}
}
}
public void llSetHoverHeight(double height, int water, double tau)

1
OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands_Interface.cs
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@ -648,5 +648,6 @@ namespace OpenSim.Region.ScriptEngine.Common
void osRegionNotice(string msg);
bool osConsoleCommand(string Command);
void osSetParcelMediaURL(string url);
}
}