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ubitode fix inertia for same cases. Added a nasty lock on llGetCenterOfMass and simulate

avinationmerge
UbitUmarov 2012-04-29 08:24:41 +01:00
parent 84b5b3e89b
commit be176b1e49
2 changed files with 90 additions and 96 deletions
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96
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
View File

@ -448,6 +448,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public override Vector3 CenterOfMass public override Vector3 CenterOfMass
{ {
get get
{
lock (_parent_scene.OdeLock)
{ {
d.Vector3 dtmp; d.Vector3 dtmp;
if (!childPrim && Body != IntPtr.Zero) if (!childPrim && Body != IntPtr.Zero)
@ -471,9 +473,9 @@ namespace OpenSim.Region.Physics.OdePlugin
Ptot.Y += dtmp.Y; Ptot.Y += dtmp.Y;
Ptot.Z += dtmp.Z; Ptot.Z += dtmp.Z;
// if(childPrim) we only know about physical linksets // if(childPrim) we only know about physical linksets
return Ptot; return Ptot;
/* /*
float tmass = _mass; float tmass = _mass;
Ptot *= tmass; Ptot *= tmass;
@ -499,6 +501,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return _position; return _position;
} }
} }
}
/* /*
public override Vector3 PrimOOBsize public override Vector3 PrimOOBsize
{ {
@ -1511,7 +1514,6 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
Body = IntPtr.Zero; Body = IntPtr.Zero;
hasOOBoffsetFromMesh = false; hasOOBoffsetFromMesh = false;
CalcPrimBodyData();
} }
/* /*
private void ChildSetGeom(OdePrim odePrim) private void ChildSetGeom(OdePrim odePrim)
@ -1601,7 +1603,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = d.BodyCreate(_parent_scene.world); Body = d.BodyCreate(_parent_scene.world);
DMassDup(ref primdMass, out objdmass); objdmass = primdMass;
// rotate inertia // rotate inertia
myrot.X = _orientation.X; myrot.X = _orientation.X;
@ -1623,9 +1625,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Mass tmpdmass = new d.Mass { }; d.Mass tmpdmass = new d.Mass { };
Vector3 rcm; Vector3 rcm;
rcm.X = _position.X + objdmass.c.X; rcm.X = _position.X;
rcm.Y = _position.Y + objdmass.c.Y; rcm.Y = _position.Y;
rcm.Z = _position.Z + objdmass.c.Z; rcm.Z = _position.Z;
lock (childrenPrim) lock (childrenPrim)
{ {
@ -1637,7 +1639,7 @@ namespace OpenSim.Region.Physics.OdePlugin
continue; continue;
} }
DMassCopy(ref prm.primdMass, ref tmpdmass); tmpdmass = prm.primdMass;
// apply prim current rotation to inertia // apply prim current rotation to inertia
quat.X = prm._orientation.X; quat.X = prm._orientation.X;
@ -1648,10 +1650,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.MassRotate(ref tmpdmass, ref mat); d.MassRotate(ref tmpdmass, ref mat);
Vector3 ppos = prm._position; Vector3 ppos = prm._position;
ppos.X += tmpdmass.c.X - rcm.X; ppos.X -= rcm.X;
ppos.Y += tmpdmass.c.Y - rcm.Y; ppos.Y -= rcm.Y;
ppos.Z += tmpdmass.c.Z - rcm.Z; ppos.Z -= rcm.Z;
// refer inertia to root prim center of mass position // refer inertia to root prim center of mass position
d.MassTranslate(ref tmpdmass, d.MassTranslate(ref tmpdmass,
ppos.X, ppos.X,
@ -1683,9 +1684,13 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z); d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
myrot.W = -myrot.W; myrot.X = -myrot.X;
myrot.Y = -myrot.Y;
myrot.Z = -myrot.Z;
d.RfromQ(out mymat, ref myrot); d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat); d.MassRotate(ref objdmass, ref mymat);
d.BodySetMass(Body, ref objdmass); d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass; _mass = objdmass.mass;
@ -2237,7 +2242,33 @@ namespace OpenSim.Region.Physics.OdePlugin
case ProfileShape.HalfCircle: case ProfileShape.HalfCircle:
if (_pbs.PathCurve == (byte)Extrusion.Curve1) if (_pbs.PathCurve == (byte)Extrusion.Curve1)
{ {
volume *= 0.52359877559829887307710723054658f; volume *= 0.5236f;
if (hollowAmount > 0.0)
{
hollowVolume *= hollowAmount;
switch (_pbs.HollowShape)
{
case HollowShape.Circle:
case HollowShape.Triangle: // diference in sl is minor and odd
case HollowShape.Same:
break;
case HollowShape.Square:
hollowVolume *= 0.909f;
break;
// case HollowShape.Triangle:
// hollowVolume *= .827f;
// break;
default:
hollowVolume = 0;
break;
}
volume *= (1.0f - hollowVolume);
}
} }
break; break;
@ -3704,24 +3735,6 @@ namespace OpenSim.Region.Physics.OdePlugin
return true; return true;
} }
internal static void DMassCopy(ref d.Mass src, ref d.Mass dst)
{
dst.c.W = src.c.W;
dst.c.X = src.c.X;
dst.c.Y = src.c.Y;
dst.c.Z = src.c.Z;
dst.mass = src.mass;
dst.I.M00 = src.I.M00;
dst.I.M01 = src.I.M01;
dst.I.M02 = src.I.M02;
dst.I.M10 = src.I.M10;
dst.I.M11 = src.I.M11;
dst.I.M12 = src.I.M12;
dst.I.M20 = src.I.M20;
dst.I.M21 = src.I.M21;
dst.I.M22 = src.I.M22;
}
internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj) internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
{ {
// assumes object center of mass is zero // assumes object center of mass is zero
@ -3745,25 +3758,6 @@ namespace OpenSim.Region.Physics.OdePlugin
theobj.I.M22 -= part.I.M22; theobj.I.M22 -= part.I.M22;
} }
private static void DMassDup(ref d.Mass src, out d.Mass dst)
{
dst = new d.Mass { };
dst.c.W = src.c.W;
dst.c.X = src.c.X;
dst.c.Y = src.c.Y;
dst.c.Z = src.c.Z;
dst.mass = src.mass;
dst.I.M00 = src.I.M00;
dst.I.M01 = src.I.M01;
dst.I.M02 = src.I.M02;
dst.I.M10 = src.I.M10;
dst.I.M11 = src.I.M11;
dst.I.M12 = src.I.M12;
dst.I.M20 = src.I.M20;
dst.I.M21 = src.I.M21;
dst.I.M22 = src.I.M22;
}
private void donullchange() private void donullchange()
{ {
} }

10
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -301,7 +301,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// split static geometry collision into a grid as before // split static geometry collision into a grid as before
private IntPtr[,] staticPrimspace; private IntPtr[,] staticPrimspace;
private Object OdeLock; public Object OdeLock;
private static Object SimulationLock; private static Object SimulationLock;
public IMesher mesher; public IMesher mesher;
@ -746,8 +746,7 @@ namespace OpenSim.Region.Physics.OdePlugin
); );
// do volume detection case // do volume detection case
if ( if (
(p1 is OdePrim) && (((OdePrim)p1).m_isVolumeDetect) || (p1.IsVolumeDtc || p2.IsVolumeDtc))
(p2 is OdePrim) && (((OdePrim)p2).m_isVolumeDetect))
{ {
collision_accounting_events(p1, p2, maxDepthContact); collision_accounting_events(p1, p2, maxDepthContact);
return; return;
@ -1024,9 +1023,9 @@ namespace OpenSim.Region.Physics.OdePlugin
bool p1events = p1.SubscribedEvents(); bool p1events = p1.SubscribedEvents();
bool p2events = p2.SubscribedEvents(); bool p2events = p2.SubscribedEvents();
if (p1 is OdePrim && p1.IsVolumeDtc) if (p1.IsVolumeDtc)
p2events = false; p2events = false;
if (p2 is OdePrim && p2.IsVolumeDtc) if (p2.IsVolumeDtc)
p1events = false; p1events = false;
if (!(p2events || p1events)) if (!(p2events || p1events))
@ -1725,6 +1724,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// checkThread(); // checkThread();
lock (SimulationLock) lock (SimulationLock)
lock(OdeLock)
{ {
// adjust number of iterations per step // adjust number of iterations per step
try try