ogb912/opensim
1
0
Fork 0
mirror of https://github.com/opensim/opensim.git synced 2026-08-12 04:05:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

* Added Rotational Velocity reporting for Client Interpolation to Terse Updates

Browse Source 
* Added Angular Velocity reporting for smooth-ish rotations on object collisions
This commit is contained in:
Teravus Ovares
2007-11-08 00:10:40 +00:00
parent 08701ee7fc
commit 9e9dad1cde
10 changed files with 130 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@@ -617,6 +617,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsVector _velocity;
private PhysicsVector _target_velocity;
private PhysicsVector _acceleration;
private PhysicsVector m_rotationalVelocity;
private static float PID_D = 4000.0f;
private static float PID_P = 7000.0f;
private static float POSTURE_SERVO = 10000.0f;
@@ -682,7 +683,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
public override PhysicsVector RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
}
public override PhysicsVector Size
{
get { return new PhysicsVector(CAPSULE_RADIUS*2, CAPSULE_RADIUS*2, CAPSULE_LENGTH); }
@@ -858,6 +863,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsVector _velocity;
private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f,0.0f,0.0f);
private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
private PhysicsVector m_rotationalVelocity;
private PhysicsVector _size;
private PhysicsVector _acceleration;
public Quaternion _orientation;
@@ -887,6 +893,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_position = pos;
_size = size;
_acceleration = new PhysicsVector();
m_rotationalVelocity = PhysicsVector.Zero;
_orientation = rotation;
_mesh = mesh;
_pbs = pbs;
@@ -1224,7 +1231,12 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void Move(float timestep)
{
}
public override PhysicsVector RotationalVelocity
{
get{ return m_rotationalVelocity;}
set { m_rotationalVelocity = value; }
}
public void UpdatePositionAndVelocity() {
@@ -1234,6 +1246,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 vec = d.BodyGetPosition(Body);
d.Quaternion ori = d.BodyGetQuaternion(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
d.Vector3 rotvel = d.BodyGetAngularVel(Body);
PhysicsVector l_position = new PhysicsVector();
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
if (vec.X < 0.0f) vec.X = 0.0f;
@@ -1256,7 +1270,7 @@ namespace OpenSim.Region.Physics.OdePlugin
try
{
disableBody();
}
catch (System.Exception e)
{
@@ -1264,13 +1278,16 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.BodyDestroy(Body);
Body = (IntPtr)0;
}
}
}
IsPhysical = false;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
_zeroFlag = true;
}
@@ -1293,11 +1310,13 @@ namespace OpenSim.Region.Physics.OdePlugin
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
_orientation.w = 0f;
_orientation.x = 0f;
_orientation.y = 0f;
_orientation.z = 0f;
//_orientation.w = 0f;
//_orientation.x = 0f;
//_orientation.y = 0f;
//_orientation.z = 0f;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
}
else
@@ -1310,6 +1329,10 @@ namespace OpenSim.Region.Physics.OdePlugin
_velocity.Y = vel.Y;
_velocity.Z = vel.Z;
m_rotationalVelocity.X = rotvel.X;
m_rotationalVelocity.Y = rotvel.Y;
m_rotationalVelocity.Z = rotvel.Z;
//System.Console.WriteLine("ODE: " + m_rotationalVelocity.ToString());
_orientation.w = ori.W;
_orientation.x = ori.X;
_orientation.y = ori.Y;
@@ -1317,6 +1340,17 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
else
{
// Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
_zeroFlag = true;
}
}
public override void SetMomentum(PhysicsVector momentum)