OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

124
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -3228,17 +3228,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (!childPrim && m_isphysical && Body != IntPtr.Zero && if (!childPrim && m_isphysical && Body != IntPtr.Zero &&
!m_disabled && !m_isSelected && !m_building && !m_outbounds) !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)) if (d.BodyIsEnabled(Body))
{ {
float timestep = _parent_scene.ODE_STEPSIZE; float timestep = _parent_scene.ODE_STEPSIZE;
// check outside region // check outside region
d.Vector3 lpos; d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator
if (lpos.Z < -100 || lpos.Z > 100000f) if (lpos.Z < -100 || lpos.Z > 100000f)
{ {
@ -3321,12 +3317,9 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
// 'VEHICLES' are dealt with in ODEDynamics.cs // 'VEHICLES' are dealt with in ODEDynamics.cs
m_vehicle.Step(); m_vehicle.Step();
return;
} }
else else
{ {
float fx = 0; float fx = 0;
float fy = 0; float fy = 0;
float fz = 0; float fz = 0;
@ -3512,10 +3505,39 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
d.BodyAddTorque(Body, trq.X, trq.Y, trq.Z); 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 // let vehicles sleep
if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
@ -3546,36 +3568,23 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
{ {
Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag; bool lastZeroFlag = _zeroFlag;
d.Vector3 lpos; if ((Math.Abs(m_lastposition.X - _position.X) < 0.01)
d.GeomCopyPosition(prim_geom, out lpos); // root position that is seem by rest of simulator && (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)
d.Quaternion ori; && (Math.Abs(m_lastorientation.Y - _orientation.Y) < 0.0001)
d.GeomCopyQuaternion(prim_geom, out ori); && (Math.Abs(m_lastorientation.Z - _orientation.Z) < 0.0001)
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)
) )
{ {
_zeroFlag = true; _zeroFlag = true;
//Console.WriteLine("ZFT 2");
m_throttleUpdates = false; m_throttleUpdates = false;
} }
else else
{ {
//m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
_zeroFlag = false; _zeroFlag = false;
m_lastUpdateSent = false; m_lastUpdateSent = false;
//m_throttleUpdates = false;
} }
if (_zeroFlag) if (_zeroFlag)
@ -3583,22 +3592,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_lastposition = _position; m_lastposition = _position;
m_lastorientation = _orientation; m_lastorientation = _orientation;
_velocity.X = 0.0f; _velocity = Vector3.Zero;
_velocity.Y = 0.0f; _acceleration = Vector3.Zero;
_velocity.Z = 0.0f; 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) if (!m_lastUpdateSent)
{ {
m_throttleUpdates = false; m_throttleUpdates = false;
throttleCounter = 0; throttleCounter = 0;
m_rotationalVelocity = pv;
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
@ -3612,39 +3613,12 @@ namespace OpenSim.Region.Physics.OdePlugin
base.RequestPhysicsterseUpdate(); 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; m_lastUpdateSent = false;
if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
{ {
m_lastposition = _position; m_lastposition = _position;
m_lastorientation = _orientation; m_lastorientation = _orientation;
m_lastVelocity = _velocity;
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
else else
@ -3656,17 +3630,11 @@ namespace OpenSim.Region.Physics.OdePlugin
else if (!m_lastUpdateSent || !_zeroFlag) else if (!m_lastUpdateSent || !_zeroFlag)
{ {
// Not a body.. so Make sure the client isn't interpolating // Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0; _velocity = Vector3.Zero;
_velocity.Y = 0; _acceleration = Vector3.Zero;
_velocity.Z = 0; 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; _zeroFlag = true;
if (!m_lastUpdateSent) if (!m_lastUpdateSent)