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* Remove some super experimental stuff in BulletDotNETPlugin since it was causing issues.

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* Tweak the ODEPrim PID a bit more.
This commit is contained in:
Teravus Ovares
2009-04-16 08:11:05 +00:00
parent eac5d4015d
commit 8a7a0190e6
3 changed files with 18 additions and 11 deletions
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23
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
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@@ -2733,28 +2733,29 @@ namespace OpenSim.Region.Physics.OdePlugin
/*
// Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again.
d.Mass objMass;
d.MassSetZero(out objMass);
DMassCopy(ref pMass, ref objMass);
m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
//m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
Matrix4 dMassMat = FromDMass(objMass);
Matrix4 mathmat = Inverse(dMassMat);
m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]);
/*
//m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]);
mathmat = Inverse(mathmat);
objMass = FromMatrix4(mathmat, ref objMass);
m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
//m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
mathmat = Inverse(mathmat);
*/
if (axis.X == 0)
{
mathmat.M33 = 50.0000001f;
@@ -2775,12 +2776,18 @@ namespace OpenSim.Region.Physics.OdePlugin
mathmat = Inverse(mathmat);
objMass = FromMatrix4(mathmat, ref objMass);
m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
//m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
//return;
if (d.MassCheck(ref objMass))
{
d.BodySetMass(Body, ref objMass);
}
else
{
//m_log.Debug("[PHYSICS]: Mass invalid, ignoring");
}
d.BodySetMass(Body, ref objMass);
*/
if (axisnum <= 0)
return;
int dAMotorEuler = 1;