reduce jitter due to viewer interpolators on objects that are really almost at rest
parent
2e2c1a1fcd
commit
9ec9eee75f
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@ -109,7 +109,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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private float m_buoyancy; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
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private int body_autodisable_frames;
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public int bodydisablecontrol;
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public int bodydisablecontrol = 0;
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private float m_gravmod = 1.0f;
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// Default we're a Geometry
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@ -1633,7 +1633,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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UpdateCollisionCatFlags();
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ApplyCollisionCatFlags();
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_zeroFlag = true;
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d.BodyEnable(Body);
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}
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}
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resetCollisionAccounting();
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@ -1788,9 +1790,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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d.BodySetAutoDisableFlag(Body, true);
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d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
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d.BodySetAutoDisableAngularThreshold(Body, 0.01f);
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d.BodySetAutoDisableLinearThreshold(Body, 0.01f);
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d.BodySetDamping(Body, .005f, .001f);
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d.BodySetAutoDisableAngularThreshold(Body, 0.05f);
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d.BodySetAutoDisableLinearThreshold(Body, 0.05f);
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d.BodySetDamping(Body, .008f, .005f);
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if (m_targetSpace != IntPtr.Zero)
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{
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@ -1872,15 +1874,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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createAMotor(m_angularlock);
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}
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if (m_isSelected || m_disabled)
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{
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d.BodyDisable(Body);
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_zeroFlag = true;
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}
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else
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{
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d.BodySetAngularVel(Body, m_rotationalVelocity.X, m_rotationalVelocity.Y, m_rotationalVelocity.Z);
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d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
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_zeroFlag = false;
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bodydisablecontrol = 0;
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}
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_parent_scene.addActiveGroups(this);
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}
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@ -2634,7 +2638,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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if (!childPrim)
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{
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if (Body != IntPtr.Zero && !m_disabled)
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{
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_zeroFlag = true;
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d.BodyEnable(Body);
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}
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}
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// else if (_parent != null)
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// ((OdePrim)_parent).ChildSelectedChange(false);
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@ -2664,7 +2671,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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{
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FixInertia(newPos);
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if (!d.BodyIsEnabled(Body))
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{
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_zeroFlag = true;
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d.BodyEnable(Body);
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}
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}
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}
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else
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@ -2675,7 +2685,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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_position = newPos;
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}
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if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
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{
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_zeroFlag = true;
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d.BodyEnable(Body);
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}
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}
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}
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else
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@ -2733,7 +2746,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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createAMotor(m_angularlock);
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}
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if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
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{
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_zeroFlag = true;
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d.BodyEnable(Body);
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}
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}
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}
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else
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@ -2788,7 +2804,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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_position = newPos;
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}
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if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
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{
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_zeroFlag = true;
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d.BodyEnable(Body);
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}
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}
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}
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else
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@ -3265,14 +3284,20 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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// let vehicles sleep
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if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
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return;
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if (++bodydisablecontrol < 20)
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return;
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if (++bodydisablecontrol < 50)
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return;
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// clear residuals
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d.BodySetAngularVel(Body,0f,0f,0f);
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d.BodySetLinearVel(Body,0f,0f,0f);
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_zeroFlag = true;
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d.BodyEnable(Body);
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bodydisablecontrol = -4;
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}
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bodydisablecontrol = 0;
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if(bodydisablecontrol < 0)
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bodydisablecontrol ++;
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d.Vector3 lpos = d.GeomGetPosition(prim_geom); // root position that is seem by rest of simulator
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@ -3440,6 +3465,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
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{
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bool bodyenabled = d.BodyIsEnabled(Body);
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if(bodydisablecontrol < 0)
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return;
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if (bodyenabled || !_zeroFlag)
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{
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bool lastZeroFlag = _zeroFlag;
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@ -3532,23 +3561,60 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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// use positions since this are integrated quantities
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// tolerance values depende a lot on simulation noise...
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// use simple math.abs since we dont need to be exact
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if (!bodyenabled ||
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(Math.Abs(_position.X - lpos.X) < 0.005f)
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&& (Math.Abs(_position.Y - lpos.Y) < 0.005f)
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&& (Math.Abs(_position.Z - lpos.Z) < 0.005f)
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&& (Math.Abs(_orientation.X - ori.X) < 0.0005f)
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&& (Math.Abs(_orientation.Y - ori.Y) < 0.0005f)
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&& (Math.Abs(_orientation.Z - ori.Z) < 0.0005f) // ignore W
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)
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if(!bodyenabled)
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{
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_zeroFlag = true;
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}
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else
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_zeroFlag = false;
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{
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float poserror;
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float angerror;
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if(_zeroFlag)
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{
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poserror = 0.01f;
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angerror = 0.001f;
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}
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else
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{
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poserror = 0.005f;
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angerror = 0.0005f;
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}
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if (
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(Math.Abs(_position.X - lpos.X) < poserror)
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&& (Math.Abs(_position.Y - lpos.Y) < poserror)
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&& (Math.Abs(_position.Z - lpos.Z) < poserror)
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&& (Math.Abs(_orientation.X - ori.X) < angerror)
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&& (Math.Abs(_orientation.Y - ori.Y) < angerror)
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&& (Math.Abs(_orientation.Z - ori.Z) < angerror) // ignore W
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)
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_zeroFlag = true;
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else
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_zeroFlag = false;
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}
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// update position
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if (!(_zeroFlag && lastZeroFlag))
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{
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_position.X = lpos.X;
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_position.Y = lpos.Y;
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_position.Z = lpos.Z;
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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}
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// update velocities and aceleration
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if (!(_zeroFlag && lastZeroFlag))
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if (_zeroFlag || lastZeroFlag)
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{
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// disable interpolators
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_velocity = Vector3.Zero;
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_acceleration = Vector3.Zero;
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m_rotationalVelocity = Vector3.Zero;
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}
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else
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{
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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@ -3591,26 +3657,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
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m_rotationalVelocity.Y = vel.Y;
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m_rotationalVelocity.Z = vel.Z;
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}
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// }
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_position.X = lpos.X;
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_position.Y = lpos.Y;
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_position.Z = lpos.Z;
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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}
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if (_zeroFlag)
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{
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if (lastZeroFlag)
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{
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_velocity = Vector3.Zero;
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_acceleration = Vector3.Zero;
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m_rotationalVelocity = Vector3.Zero;
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}
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if (!m_lastUpdateSent)
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{
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base.RequestPhysicsterseUpdate();
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