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Merge branch 'ubitwork' into avination

avinationmerge
Melanie 2012-07-10 17:14:42 +02:00
parent 1077d7b6f5 df55de5b3d
commit b346e36016
7 changed files with 144 additions and 44 deletions
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39
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
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@ -959,7 +959,15 @@ namespace OpenSim.Region.Framework.Scenes
}
return m_angularVelocity;
}
set { m_angularVelocity = value; }
set
{
m_angularVelocity = value;
PhysicsActor actor = PhysActor;
if ((actor != null) && actor.IsPhysical && ParentGroup.RootPart == this && VehicleType == (int)Vehicle.TYPE_NONE)
{
actor.RotationalVelocity = m_angularVelocity;
}
}
}
/// <summary></summary>
@ -1845,7 +1853,7 @@ namespace OpenSim.Region.Framework.Scenes
}
}
// SetVelocity for LSL llSetVelocity.. may need revision if having other uses in future
// SetVelocity for LSL llSetVelocity.. may need revision if having other uses in future
public void SetVelocity(Vector3 pVel, bool localGlobalTF)
{
if (ParentGroup == null || ParentGroup.IsDeleted)
@ -1872,6 +1880,33 @@ namespace OpenSim.Region.Framework.Scenes
ParentGroup.Velocity = pVel;
}
// SetAngularVelocity for LSL llSetAngularVelocity.. may need revision if having other uses in future
public void SetAngularVelocity(Vector3 pAngVel, bool localGlobalTF)
{
if (ParentGroup == null || ParentGroup.IsDeleted)
return;
if (ParentGroup.IsAttachment)
return; // don't work on attachments (for now ??)
SceneObjectPart root = ParentGroup.RootPart;
if (root.VehicleType != (int)Vehicle.TYPE_NONE) // don't mess with vehicles
return;
PhysicsActor pa = root.PhysActor;
if (pa == null || !pa.IsPhysical)
return;
if (localGlobalTF)
{
pAngVel = pAngVel * GetWorldRotation();
}
root.AngularVelocity = pAngVel;
}
/// <summary>
/// hook to the physics scene to apply angular impulse

53
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
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@ -583,8 +583,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (value.IsFinite())
{
AddChange(changes.Velocity, value);
// _velocity = value;
}
else
{
@ -676,9 +674,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (value.IsFinite())
{
m_rotationalVelocity = value;
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
d.BodyEnable(Body);
AddChange(changes.AngVelocity, value);
}
else
{
@ -687,7 +683,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override float Buoyancy
{
get { return m_buoyancy; }
@ -1737,9 +1732,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetAutoDisableFlag(Body, true);
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
// d.BodySetLinearDampingThreshold(Body, 0.01f);
// d.BodySetAngularDampingThreshold(Body, 0.001f);
d.BodySetDamping(Body, .002f, .002f);
d.BodySetDamping(Body, .005f, .005f);
if (m_targetSpace != IntPtr.Zero)
{
@ -1748,7 +1741,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.SpaceRemove(m_targetSpace, prim_geom);
}
if (childrenPrim.Count == 0)
{
collide_geom = prim_geom;
@ -3296,6 +3288,13 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changevelocity(Vector3 newVel)
{
float len = newVel.LengthSquared();
if (len > 100000.0f) // limit to 100m/s
{
len = 100.0f / (float)Math.Sqrt(len);
newVel *= len;
}
if (!m_isSelected)
{
if (Body != IntPtr.Zero)
@ -3312,6 +3311,33 @@ namespace OpenSim.Region.Physics.OdePlugin
_velocity = newVel;
}
private void changeangvelocity(Vector3 newAngVel)
{
float len = newAngVel.LengthSquared();
if (len > 144.0f) // limit to 12rad/s
{
len = 12.0f / (float)Math.Sqrt(len);
newAngVel *= len;
}
if (!m_isSelected)
{
if (Body != IntPtr.Zero)
{
if (m_disabled)
enableBodySoft();
else if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);
}
//resetCollisionAccounting();
}
m_rotationalVelocity = newAngVel;
}
private void changeVolumedetetion(bool newVolDtc)
{
m_isVolumeDetect = newVolDtc;
@ -3948,9 +3974,10 @@ namespace OpenSim.Region.Physics.OdePlugin
// case changes.Acceleration:
// changeacceleration((Vector3)arg);
// break;
// case changes.AngVelocity:
// changeangvelocity((Vector3)arg);
// break;
case changes.AngVelocity:
changeangvelocity((Vector3)arg);
break;
case changes.Force:
changeForce((Vector3)arg);

9
OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
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@ -1312,7 +1312,14 @@ namespace OdeAPI
public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
public static extern string GetConfiguration(string str);
public static extern IntPtr iGetConfiguration();
public static string GetConfiguration()
{
IntPtr ptr = iGetConfiguration();
string s = Marshal.PtrToStringAnsi(ptr);
return s;
}
[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
public static extern IntPtr HashSpaceCreate(IntPtr space);

66
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
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@ -175,7 +175,7 @@ namespace OpenSim.Region.Physics.OdePlugin
const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
const float MaxERP = 0.8f;
const float minERP = 0.1f;
const float minERP = 0.2f;
const float comumContactCFM = 0.0001f;
float frictionMovementMult = 0.8f;
@ -268,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public ContactData[] m_materialContactsData = new ContactData[8];
private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
private readonly Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
@ -408,8 +408,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// checkThread();
mesher = meshmerizer;
m_config = config;
/*
string ode_config = d.GetConfiguration("ODE");
string ode_config = d.GetConfiguration();
if (ode_config != null && ode_config != "")
{
m_log.WarnFormat("ODE configuration: {0}", ode_config);
@ -419,7 +419,7 @@ namespace OpenSim.Region.Physics.OdePlugin
OdeUbitLib = true;
}
}
*/
/*
if (region != null)
{
@ -921,6 +921,8 @@ namespace OpenSim.Region.Physics.OdePlugin
cfm = 0.0001f / cfm;
if (cfm > 0.01f)
cfm = 0.01f;
else if (cfm < 0.0001f)
cfm = 0.0001f;
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
mu *= frictionMovementMult;
@ -947,6 +949,8 @@ namespace OpenSim.Region.Physics.OdePlugin
cfm = 0.0001f / cfm;
if (cfm > 0.01f)
cfm = 0.01f;
else if (cfm < 0.0001f)
cfm = 0.0001f;
if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
{
@ -1892,18 +1896,22 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (SimulationLock)
lock(OdeLock)
{
if (world == IntPtr.Zero)
return 0;
// adjust number of iterations per step
try
{
// try
// {
d.WorldSetQuickStepNumIterations(world, curphysiteractions);
}
/* }
catch (StackOverflowException)
{
m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
// ode.drelease(world);
base.TriggerPhysicsBasedRestart();
}
*/
while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
{
try
@ -2383,11 +2391,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
RegionTerrain.Add(pOffset, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
}
}
@ -2486,8 +2492,7 @@ namespace OpenSim.Region.Physics.OdePlugin
geom_name_map[GroundGeom] = "Terrain";
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
RegionTerrain.Add(pOffset, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
}
@ -2648,20 +2653,43 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public override void Dispose()
{
lock (OdeLock)
{
m_rayCastManager.Dispose();
m_rayCastManager = null;
lock (OdeLock)
{
lock (_prims)
{
ChangesQueue.Clear();
foreach (OdePrim prm in _prims)
{
RemovePrim(prm);
prm.DoAChange(changes.Remove, null);
_collisionEventPrim.Remove(prm);
}
_prims.Clear();
}
OdeCharacter[] chtorem;
lock (_characters)
{
chtorem = new OdeCharacter[_characters.Count];
_characters.CopyTo(chtorem);
}
ChangesQueue.Clear();
foreach (OdeCharacter ch in chtorem)
ch.DoAChange(changes.Remove, null);
foreach (IntPtr GroundGeom in RegionTerrain.Values)
{
if (GroundGeom != IntPtr.Zero)
d.GeomDestroy(GroundGeom);
}
RegionTerrain.Clear();
if (TerrainHeightFieldHeightsHandlers.Count > 0)
{
foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
@ -2671,6 +2699,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
TerrainHeightFieldHeightsHandlers.Clear();
TerrainHeightFieldHeights.Clear();
if (WaterGeom != IntPtr.Zero)
{
d.GeomDestroy(WaterGeom);
@ -2691,6 +2722,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldDestroy(world);
world = IntPtr.Zero;
//d.CloseODE();
}
}

5
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
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@ -2597,12 +2597,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
return new LSL_Vector(m_host.Acceleration.X, m_host.Acceleration.Y, m_host.Acceleration.Z);
}
public void llSetAngularVelocity(LSL_Vector avel, int local)
{
m_host.AddScriptLPS(1);
// Still not done !!!!
// m_host.SetAngularVelocity(new Vector3((float)avel.x, (float)avel.y, (float)avel.z), local != 0);
m_host.SetAngularVelocity(new Vector3((float)avel.x, (float)avel.y, (float)avel.z), local != 0);
}
public LSL_Vector llGetOmega()
@ -3806,6 +3804,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
protected void TargetOmega(SceneObjectPart part, LSL_Vector axis, double spinrate, double gain)
{
spinrate *= gain;
part.UpdateAngularVelocity(new Vector3((float)(axis.x * spinrate), (float)(axis.y * spinrate), (float)(axis.z * spinrate)));
}

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bin/lib32/libode.so Normal file → Executable file
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bin/lib32/ode.dll
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