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

stop using a vector3 to store axis locks 3bit flags in ubOde

avinationmerge
UbitUmarov 2015-10-20 19:33:15 +01:00
parent 0045398324
commit f6891b36be
2 changed files with 46 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
View File

@ -539,7 +539,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
public override void LockAngularMotion(Vector3 axis) public override void LockAngularMotion(byte axislocks)
{ {
} }
@ -1743,7 +1743,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
} }
private void changeAngularLock(Vector3 arg) private void changeAngularLock(byte arg)
{ {
} }
@ -1892,7 +1892,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
break; break;
case changes.AngLock: case changes.AngLock:
changeAngularLock((Vector3)arg); changeAngularLock((byte)arg);
break; break;
case changes.Size: case changes.Size:

78
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@ -74,6 +74,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private bool m_lastdoneSelected; private bool m_lastdoneSelected;
internal bool m_outbounds; internal bool m_outbounds;
private byte m_angularlocks = 0;
private Quaternion m_lastorientation; private Quaternion m_lastorientation;
private Quaternion _orientation; private Quaternion _orientation;
@ -85,7 +87,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private Vector3 m_rotationalVelocity; private Vector3 m_rotationalVelocity;
private Vector3 _size; private Vector3 _size;
private Vector3 _acceleration; private Vector3 _acceleration;
private Vector3 m_angularlock = Vector3.One;
private IntPtr Amotor; private IntPtr Amotor;
private Vector3 m_force; private Vector3 m_force;
@ -981,21 +982,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
AddChange(changes.DeLink, null); AddChange(changes.DeLink, null);
} }
public override void LockAngularMotion(Vector3 axis) public override void LockAngularMotion(byte axislock)
{ {
// reverse the zero/non zero values for ODE.
if (axis.IsFinite())
{
axis.X = (axis.X > 0) ? 1f : 0f;
axis.Y = (axis.Y > 0) ? 1f : 0f;
axis.Z = (axis.Z > 0) ? 1f : 0f;
// m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z); // m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
AddChange(changes.AngLock, axis); AddChange(changes.AngLock, axislock);
}
else
{
m_log.WarnFormat("[PHYSICS]: Got NaN locking axis from Scene on Object {0}", Name);
}
} }
public override void SubscribeEvents(int ms) public override void SubscribeEvents(int ms)
@ -1297,7 +1288,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
} }
private void createAMotor(Vector3 axis) private void createAMotor(byte axislock)
{ {
if (Body == IntPtr.Zero) if (Body == IntPtr.Zero)
return; return;
@ -1308,11 +1299,28 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Amotor = IntPtr.Zero; Amotor = IntPtr.Zero;
} }
int axisnum = 3 - (int)(axis.X + axis.Y + axis.Z); int axisnum = 0;
bool axisX = false;
bool axisY = false;
bool axisZ = false;
if((axislock & 0x02) != 0)
{
axisnum++;
axisX = true;
}
if((axislock & 0x04) != 0)
{
axisnum++;
axisY = true;
}
if((axislock & 0x08) != 0)
{
axisnum++;
axisZ = true;
}
if (axisnum <= 0) if(axisnum == 0)
return; return;
// stop it // stop it
d.BodySetTorque(Body, 0, 0, 0); d.BodySetTorque(Body, 0, 0, 0);
d.BodySetAngularVel(Body, 0, 0, 0); d.BodySetAngularVel(Body, 0, 0, 0);
@ -1336,10 +1344,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int i = 0; int i = 0;
int j = 0; int j = 0;
if (axis.X == 0) if (axisX)
{ {
ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X ax = (new Vector3(1, 0, 0)) * curr; // rotate world X to current local X
// ODE should do this with axis relative to body 1 but seems to fail
d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z); d.JointSetAMotorAxis(Amotor, 0, 0, ax.X, ax.Y, ax.Z);
d.JointSetAMotorAngle(Amotor, 0, 0); d.JointSetAMotorAngle(Amotor, 0, 0);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.LoStop, 0f);
@ -1347,6 +1354,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0); d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel, 0);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.CFM, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f); d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
@ -1354,7 +1362,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
j = 256; // move to next axis set j = 256; // move to next axis set
} }
if (axis.Y == 0) if (axisY)
{ {
ax = (new Vector3(0, 1, 0)) * curr; ax = (new Vector3(0, 1, 0)) * curr;
d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
@ -1364,6 +1372,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
@ -1371,7 +1380,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
j += 256; j += 256;
} }
if (axis.Z == 0) if (axisZ)
{ {
ax = (new Vector3(0, 0, 1)) * curr; ax = (new Vector3(0, 0, 1)) * curr;
d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z); d.JointSetAMotorAxis(Amotor, i, 0, ax.X, ax.Y, ax.Z);
@ -1381,6 +1390,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Vel, 0);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.CFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f); d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
@ -1430,8 +1440,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
else if (x < 0.001f || y < 0.001f || z < 0.001f) else if (x < 0.001f || y < 0.001f || z < 0.001f)
m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}", m_log.WarnFormat("[PHYSICS]: small prim geo {0},size {1}, AABBsize <{2},{3},{4}, mesh {5} at {6}",
Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString()); Name, _size.ToString(), x, y, z, _pbs.SculptEntry ? _pbs.SculptTexture.ToString() : "primMesh", _position.ToString());
//
*/ */
} }
@ -1869,9 +1877,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
// The body doesn't already have a finite rotation mode set here // The body doesn't already have a finite rotation mode set here
if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null) if (m_angularlocks != 0 && _parent == null)
{ {
createAMotor(m_angularlock); createAMotor(m_angularlocks);
} }
if (m_isSelected || m_disabled) if (m_isSelected || m_disabled)
@ -2427,7 +2435,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{ {
} }
private void changeAngularLock(Vector3 newLock) private void changeAngularLock(byte newLocks)
{ {
// do we have a Physical object? // do we have a Physical object?
if (Body != IntPtr.Zero) if (Body != IntPtr.Zero)
@ -2436,9 +2444,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
//If we have a parent then we're not authorative here //If we have a parent then we're not authorative here
if (_parent == null) if (_parent == null)
{ {
if (!newLock.ApproxEquals(Vector3.One, 0f)) if (newLocks != 0)
{ {
createAMotor(newLock); createAMotor(newLocks);
} }
else else
{ {
@ -2451,7 +2459,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
} }
} }
// Store this for later in case we get turned into a separate body // Store this for later in case we get turned into a separate body
m_angularlock = newLock; m_angularlocks = newLocks;
} }
private void changeLink(OdePrim NewParent) private void changeLink(OdePrim NewParent)
@ -2742,8 +2750,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
myrot.W = newOri.W; myrot.W = newOri.W;
d.GeomSetQuaternion(prim_geom, ref myrot); d.GeomSetQuaternion(prim_geom, ref myrot);
_orientation = newOri; _orientation = newOri;
if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) if (Body != IntPtr.Zero && m_angularlocks != 0)
createAMotor(m_angularlock); createAMotor(m_angularlocks);
} }
if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body)) if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
{ {
@ -2795,8 +2803,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
myrot.W = newOri.W; myrot.W = newOri.W;
d.GeomSetQuaternion(prim_geom, ref myrot); d.GeomSetQuaternion(prim_geom, ref myrot);
_orientation = newOri; _orientation = newOri;
if (Body != IntPtr.Zero && !m_angularlock.ApproxEquals(Vector3.One, 0f)) if (Body != IntPtr.Zero && m_angularlocks != 0)
createAMotor(m_angularlock); createAMotor(m_angularlocks);
} }
if (_position != newPos) if (_position != newPos)
{ {
@ -3805,7 +3813,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
break; break;
case changes.AngLock: case changes.AngLock:
changeAngularLock((Vector3)arg); changeAngularLock((byte)arg);
break; break;
case changes.Size: case changes.Size: