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ubitODE: prims - update managed dinamic parameters from unmanaged at ODE rate and not heartbeat.

avinationmerge
UbitUmarov 2012-04-17 16:49:08 +01:00
parent 9132c9e499
commit 9464fcebcd
1 changed files with 46 additions and 78 deletions
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124
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
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@ -3228,17 +3228,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && !m_building && !m_outbounds)
// !m_disabled && !m_isSelected && !m_building && !m_outbounds)
{
// if (!d.BodyIsEnabled(Body)) d.BodyEnable(Body); // KF add 161009
if (d.BodyIsEnabled(Body))
{
float timestep = _parent_scene.ODE_STEPSIZE;
// check outside region
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
if (lpos.Z < -100 || lpos.Z > 100000f)
{
@ -3321,12 +3317,9 @@ namespace OpenSim.Region.Physics.OdePlugin
{
// 'VEHICLES' are dealt with in ODEDynamics.cs
m_vehicle.Step();
return;
}
else
{
float fx = 0;
float fy = 0;
float fz = 0;
@ -3512,10 +3505,39 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z);
}
}
// update our ideia of velocities and acelerations
d.Quaternion ori;
d.Vector3 dtmpu;
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
d.GeomCopyQuaternion(prim_geom, out ori);
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
_acceleration = _velocity;
dtmpu = d.BodyGetLinearVel(Body);
_velocity.X = dtmpu.X;
_velocity.Y = dtmpu.Y;
_velocity.Z = dtmpu.Z;
float invts = 1 / timestep;
_acceleration = (_velocity - _acceleration) * invts;
dtmpu = d.BodyGetAngularVel(Body);
m_rotationalVelocity.X = dtmpu.X;
m_rotationalVelocity.Y = dtmpu.Y;
m_rotationalVelocity.Z = dtmpu.Z;
}
else // body disabled
else // body disabled/sleeping
{
// let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
@ -3546,36 +3568,23 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (Body != IntPtr.Zero)
{
Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag;
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
d.Quaternion ori;
d.GeomCopyQuaternion(prim_geom, out ori);
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
if ((Math.Abs(m_lastposition.X - lpos.X) < 0.01)
&& (Math.Abs(m_lastposition.Y - lpos.Y) < 0.01)
&& (Math.Abs(m_lastposition.Z - lpos.Z) < 0.01)
&& (Math.Abs(m_lastorientation.X - ori.X) < 0.0001)
&& (Math.Abs(m_lastorientation.Y - ori.Y) < 0.0001)
&& (Math.Abs(m_lastorientation.Z - ori.Z) < 0.0001)
if ((Math.Abs(m_lastposition.X - _position.X) < 0.01)
&& (Math.Abs(m_lastposition.Y - _position.Y) < 0.01)
&& (Math.Abs(m_lastposition.Z - _position.Z) < 0.01)
&& (Math.Abs(m_lastorientation.X - _orientation.X) < 0.0001)
&& (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001)
&& (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)
)
{
_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)
@ -3583,22 +3592,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_lastposition = _position;
m_lastorientation = _orientation;
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
throttleCounter = 0;
m_rotationalVelocity = pv;
base.RequestPhysicsterseUpdate();
@ -3612,39 +3613,12 @@ namespace OpenSim.Region.Physics.OdePlugin
base.RequestPhysicsterseUpdate();
}
m_lastVelocity = _velocity;
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
_velocity.X = vel.X;
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
_orientation.X = ori.X;
_orientation.Y = ori.Y;
_orientation.Z = ori.Z;
_orientation.W = ori.W;
_acceleration = ((_velocity - m_lastVelocity) / simulatedtime);
if (m_rotationalVelocity.ApproxEquals(pv, 0.0001f))
{
m_rotationalVelocity = pv;
}
else
{
m_rotationalVelocity.X = rotvel.X;
m_rotationalVelocity.Y = rotvel.Y;
m_rotationalVelocity.Z = rotvel.Z;
}
m_lastUpdateSent = false;
if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
{
m_lastposition = _position;
m_lastorientation = _orientation;
m_lastVelocity = _velocity;
base.RequestPhysicsterseUpdate();
}
else
@ -3656,17 +3630,11 @@ namespace OpenSim.Region.Physics.OdePlugin
else if (!m_lastUpdateSent || !_zeroFlag)
{
// Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
_velocity = Vector3.Zero;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
m_lastVelocity = Vector3.Zero;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
_zeroFlag = true;
if (!m_lastUpdateSent)