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Add taint target velocity for ODECharacters as is already done for ODECharacter position and position and velocity for ODEPrims. 

This is to help stop surprises if the velocity is set in the middle of physics calculations, though this probably isn't a huge problem.
It's more for consistency and for the next step of removing some scene locks
remove-scene-viewer
Justin Clark-Casey (justincc) 2011-10-29 02:30:33 +01:00
parent ef8370fb8e
commit 9fdd1753fa
1 changed files with 12 additions and 7 deletions
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19
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
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@ -74,6 +74,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool _zeroFlag = false; private bool _zeroFlag = false;
private bool m_lastUpdateSent = false; private bool m_lastUpdateSent = false;
private Vector3 _velocity; private Vector3 _velocity;
private Vector3 m_taintTargetVelocity;
private Vector3 _target_velocity; private Vector3 _target_velocity;
private Vector3 _acceleration; private Vector3 _acceleration;
private Vector3 m_rotationalVelocity; private Vector3 m_rotationalVelocity;
@ -701,7 +702,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); // d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
// d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); // d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
// //d.Matrix3 bodyrotation = d.BodyGetRotation(Body); // //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
// //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22); // //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyFArotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
// } // }
public override Vector3 Force public override Vector3 Force
@ -767,14 +768,15 @@ namespace OpenSim.Region.Physics.OdePlugin
if (value.IsFinite()) if (value.IsFinite())
{ {
m_pidControllerActive = true; m_pidControllerActive = true;
_target_velocity = value; m_taintTargetVelocity = value;
_parent_scene.AddPhysicsActorTaint(this);
} }
else else
{ {
m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character"); m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
} }
// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", _target_velocity); // m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity);
} }
} }
@ -834,14 +836,14 @@ namespace OpenSim.Region.Physics.OdePlugin
// If uncommented, things get pushed off world // If uncommented, things get pushed off world
// //
// m_log.Debug("Push!"); // m_log.Debug("Push!");
// _target_velocity.X += force.X; // m_taintTargetVelocity.X += force.X;
// _target_velocity.Y += force.Y; // m_taintTargetVelocity.Y += force.Y;
// _target_velocity.Z += force.Z; // m_taintTargetVelocity.Z += force.Z;
} }
else else
{ {
m_pidControllerActive = true; m_pidControllerActive = true;
_target_velocity += force; m_taintTargetVelocity += force;
} }
} }
else else
@ -1248,6 +1250,9 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
if (m_taintTargetVelocity != _target_velocity)
_target_velocity = m_taintTargetVelocity;
if (m_tainted_isPhysical != m_isPhysical) if (m_tainted_isPhysical != m_isPhysical)
{ {
if (m_tainted_isPhysical) if (m_tainted_isPhysical)