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https://github.com/opensim/opensim.git
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Experimental change of PhysicsVector to Vector3. Untested
This commit is contained in:
John Hurliman
@@ -43,44 +43,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private PhysicsVector _position;
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private PhysicsVector m_zeroPosition;
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private PhysicsVector _velocity;
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private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
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private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private Quaternion m_lastorientation = new Quaternion();
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private PhysicsVector m_rotationalVelocity;
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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private Vector3 _position;
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private Vector3 m_zeroPosition;
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private Vector3 _velocity;
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private Vector3 _torque;
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private Vector3 m_lastVelocity;
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private Vector3 m_lastposition;
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private Quaternion m_lastorientation = Quaternion.Identity;
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private Vector3 m_rotationalVelocity;
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private Vector3 _size;
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private Vector3 _acceleration;
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// private d.Vector3 _zeroPosition = new d.Vector3(0.0f, 0.0f, 0.0f);
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private Quaternion _orientation;
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private PhysicsVector m_taintposition;
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private PhysicsVector m_taintsize;
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private PhysicsVector m_taintVelocity = new PhysicsVector(0, 0, 0);
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private PhysicsVector m_taintTorque = new PhysicsVector(0, 0, 0);
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private Vector3 m_taintposition;
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private Vector3 m_taintsize;
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private Vector3 m_taintVelocity;
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private Vector3 m_taintTorque;
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private Quaternion m_taintrot;
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private PhysicsVector m_angularlock = new PhysicsVector(1f, 1f, 1f);
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private PhysicsVector m_taintAngularLock = new PhysicsVector(1f, 1f, 1f);
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private Vector3 m_angularlock = Vector3.One;
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private Vector3 m_taintAngularLock = Vector3.One;
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// private btGeneric6DofConstraint Amotor;
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private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
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private float m_PIDTau = 0f;
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private float m_PIDHoverHeight = 0f;
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private float m_PIDHoverTau = 0f;
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private bool m_useHoverPID = false;
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private Vector3 m_PIDTarget;
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private float m_PIDTau;
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private float m_PIDHoverHeight;
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private float m_PIDHoverTau;
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private bool m_useHoverPID;
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private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
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private float m_targetHoverHeight = 0f;
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private float m_groundHeight = 0f;
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private float m_waterHeight = 0f;
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private float m_targetHoverHeight;
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private float m_groundHeight;
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private float m_waterHeight;
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private float PID_D = 35f;
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private float PID_G = 25f;
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// private float m_tensor = 5f;
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// private int body_autodisable_frames = 20;
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private IMesh primMesh = null;
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private bool m_usePID = false;
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private IMesh primMesh;
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private bool m_usePID;
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private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
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| CollisionCategories.Space
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@@ -88,11 +87,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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| CollisionCategories.Character
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);
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private bool m_taintshape = false;
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private bool m_taintPhysics = false;
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private bool m_taintshape;
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private bool m_taintPhysics;
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// private bool m_collidesLand = true;
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private bool m_collidesWater = false;
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public bool m_returnCollisions = false;
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private bool m_collidesWater;
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public bool m_returnCollisions;
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// Default we're a Geometry
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// private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
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@@ -100,23 +99,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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// Default, Collide with Other Geometries, spaces and Bodies
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// private CollisionCategories m_collisionFlags = m_default_collisionFlags;
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public bool m_taintremove = false;
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public bool m_taintdisable = false;
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public bool m_disabled = false;
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public bool m_taintadd = false;
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public bool m_taintselected = false;
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public bool m_taintCollidesWater = false;
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public bool m_taintremove;
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public bool m_taintdisable;
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public bool m_disabled;
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public bool m_taintadd;
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public bool m_taintselected;
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public bool m_taintCollidesWater;
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public uint m_localID = 0;
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public uint m_localID;
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//public GCHandle gc;
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// private CollisionLocker ode;
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private bool m_taintforce = false;
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private bool m_taintaddangularforce = false;
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private PhysicsVector m_force = new PhysicsVector(0.0f, 0.0f, 0.0f);
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private List<PhysicsVector> m_forcelist = new List<PhysicsVector>();
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private List<PhysicsVector> m_angularforcelist = new List<PhysicsVector>();
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private bool m_taintforce;
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private bool m_taintaddangularforce;
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private Vector3 m_force;
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private List<Vector3> m_forcelist = new List<Vector3>();
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private List<Vector3> m_angularforcelist = new List<Vector3>();
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private IMesh _mesh;
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private PrimitiveBaseShape _pbs;
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@@ -124,40 +123,40 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public btCollisionShape prim_geom;
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public IntPtr _triMeshData;
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private PhysicsActor _parent = null;
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private PhysicsActor m_taintparent = null;
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private PhysicsActor _parent;
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private PhysicsActor m_taintparent;
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private List<BulletDotNETPrim> childrenPrim = new List<BulletDotNETPrim>();
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private bool iscolliding = false;
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private bool m_isphysical = false;
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private bool m_isSelected = false;
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private bool iscolliding;
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private bool m_isphysical;
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private bool m_isSelected;
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internal bool m_isVolumeDetect = false; // If true, this prim only detects collisions but doesn't collide actively
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internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
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private bool m_throttleUpdates = false;
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// private int throttleCounter = 0;
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public int m_interpenetrationcount = 0;
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public float m_collisionscore = 0;
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public int m_roundsUnderMotionThreshold = 0;
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private int m_crossingfailures = 0;
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private bool m_throttleUpdates;
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// private int throttleCounter;
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public int m_interpenetrationcount;
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public float m_collisionscore;
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public int m_roundsUnderMotionThreshold;
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private int m_crossingfailures;
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public float m_buoyancy = 0f;
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public float m_buoyancy;
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public bool outofBounds = false;
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public bool outofBounds;
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private float m_density = 10.000006836f; // Aluminum g/cm3;
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public bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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public bool _zeroFlag;
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private bool m_lastUpdateSent;
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private String m_primName;
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private PhysicsVector _target_velocity;
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private Vector3 _target_velocity;
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public int m_eventsubscription = 0;
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public int m_eventsubscription;
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// private CollisionEventUpdate CollisionEventsThisFrame = null;
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public volatile bool childPrim = false;
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public volatile bool childPrim;
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private btVector3 tempPosition1;
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private btVector3 tempPosition2;
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@@ -190,7 +189,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public btRigidBody Body;
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public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size,
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public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
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Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
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{
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tempPosition1 = new btVector3(0, 0, 0);
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@@ -225,8 +224,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
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_target_velocity = new PhysicsVector(0, 0, 0);
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_velocity = new PhysicsVector();
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_target_velocity = Vector3.Zero;
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_velocity = Vector3.Zero;
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_position = pos;
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m_taintposition = pos;
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PID_D = parent_scene.bodyPIDD;
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@@ -244,8 +243,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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_size = size;
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m_taintsize = _size;
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_acceleration = new PhysicsVector();
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m_rotationalVelocity = PhysicsVector.Zero;
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_acceleration = Vector3.Zero;
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m_rotationalVelocity = Vector3.Zero;
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_orientation = rotation;
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m_taintrot = _orientation;
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_mesh = mesh;
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@@ -274,7 +273,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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get { return _zeroFlag; }
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}
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public override PhysicsVector Size
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public override Vector3 Size
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{
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get { return _size; }
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set { _size = value; }
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@@ -348,13 +347,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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m_taintparent = null;
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}
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public override void LockAngularMotion(PhysicsVector axis)
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public override void LockAngularMotion(Vector3 axis)
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{
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m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
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m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
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m_taintAngularLock = axis;
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}
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public override PhysicsVector Position
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public override Vector3 Position
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{
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get { return _position; }
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@@ -370,9 +369,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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get { return CalculateMass(); }
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}
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public override PhysicsVector Force
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public override Vector3 Force
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{
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//get { return PhysicsVector.Zero; }
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//get { return Vector3.Zero; }
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get { return m_force; }
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set { m_force = value; }
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}
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@@ -388,7 +387,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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//TODO:
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}
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public override void VehicleVectorParam(int param, PhysicsVector value)
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public override void VehicleVectorParam(int param, Vector3 value)
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{
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//TODO:
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}
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@@ -405,23 +404,23 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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public override PhysicsVector GeometricCenter
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public override Vector3 GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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get { return Vector3.Zero; }
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}
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public override PhysicsVector CenterOfMass
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public override Vector3 CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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get { return Vector3.Zero; }
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}
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public override PhysicsVector Velocity
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public override Vector3 Velocity
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{
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get
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{
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// Averate previous velocity with the new one so
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// client object interpolation works a 'little' better
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PhysicsVector returnVelocity = new PhysicsVector();
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Vector3 returnVelocity;
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returnVelocity.X = (m_lastVelocity.X + _velocity.X) / 2;
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returnVelocity.Y = (m_lastVelocity.Y + _velocity.Y) / 2;
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returnVelocity.Z = (m_lastVelocity.Z + _velocity.Z) / 2;
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@@ -436,12 +435,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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public override PhysicsVector Torque
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public override Vector3 Torque
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{
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get
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{
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if (!m_isphysical || Body.Handle == IntPtr.Zero)
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return new PhysicsVector(0, 0, 0);
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return Vector3.Zero;
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return _torque;
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}
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@@ -459,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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set { m_collisionscore = value; }
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}
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public override PhysicsVector Acceleration
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public override Vector3 Acceleration
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{
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get { return _acceleration; }
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}
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@@ -528,16 +527,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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public override PhysicsVector RotationalVelocity
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public override Vector3 RotationalVelocity
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{
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get
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{
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PhysicsVector pv = new PhysicsVector(0, 0, 0);
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Vector3 pv = Vector3.Zero;
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if (_zeroFlag)
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return pv;
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m_lastUpdateSent = false;
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if (m_rotationalVelocity.IsIdentical(pv, 0.2f))
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if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
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return pv;
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return m_rotationalVelocity;
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@@ -557,7 +556,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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set { m_buoyancy = value; }
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}
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public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
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public override Vector3 PIDTarget { set { m_PIDTarget = value; ; } }
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public override bool PIDActive { set { m_usePID = value; } }
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public override float PIDTau { set { m_PIDTau = value; } }
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@@ -567,20 +566,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
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public override void AddForce(PhysicsVector force, bool pushforce)
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public override void AddForce(Vector3 force, bool pushforce)
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{
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m_forcelist.Add(force);
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m_taintforce = true;
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//m_log.Info("[PHYSICS]: Added Force:" + force.ToString() + " to prim at " + Position.ToString());
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}
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public override void AddAngularForce(PhysicsVector force, bool pushforce)
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public override void AddAngularForce(Vector3 force, bool pushforce)
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{
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m_angularforcelist.Add(force);
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m_taintaddangularforce = true;
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}
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public override void SetMomentum(PhysicsVector momentum)
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public override void SetMomentum(Vector3 momentum)
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{
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}
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@@ -778,7 +777,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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if (!_position.IsIdentical(m_taintposition, 0f))
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if (!_position.ApproxEquals(m_taintposition, 0f))
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{
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m_log.Debug("[PHYSICS]: TaintMove");
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changemove(timestep);
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@@ -796,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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//
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if (!_size.IsIdentical(m_taintsize, 0))
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if (!_size.ApproxEquals(m_taintsize, 0f))
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{
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m_log.Debug("[PHYSICS]: TaintSize");
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changesize(timestep);
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@@ -820,7 +819,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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m_log.Debug("[PHYSICS]: TaintAngularForce");
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changeAddAngularForce(timestep);
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}
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if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
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if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
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{
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m_log.Debug("[PHYSICS]: TaintTorque");
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changeSetTorque(timestep);
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@@ -835,7 +834,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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m_log.Debug("[PHYSICS]: TaintSelected");
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changeSelectedStatus(timestep);
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}
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if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
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if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
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{
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m_log.Debug("[PHYSICS]: TaintVelocity");
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changevelocity(timestep);
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@@ -849,7 +848,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
|
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changefloatonwater(timestep);
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}
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if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
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if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
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{
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m_log.Debug("[PHYSICS]: TaintAngularLock");
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changeAngularLock(timestep);
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@@ -1012,7 +1011,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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if (_parent_scene.needsMeshing(_pbs))
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{
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ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
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ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
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// createmesh returns null when it doesn't mesh.
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CreateGeom(IntPtr.Zero, _mesh);
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}
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@@ -1029,7 +1028,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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return _parent_scene.needsMeshing(_pbs);
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}
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internal void ProcessGeomCreationAsTriMesh(PhysicsVector positionOffset, Quaternion orientation)
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internal void ProcessGeomCreationAsTriMesh(Vector3 positionOffset, Quaternion orientation)
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{
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// Don't need to re-enable body.. it's done in SetMesh
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float meshlod = _parent_scene.meshSculptLOD;
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@@ -1038,7 +1037,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
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meshlod = _parent_scene.MeshSculptphysicalLOD;
|
||||
|
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IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
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if (!positionOffset.IsIdentical(PhysicsVector.Zero, 0.001f) || orientation != Quaternion.Identity)
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if (!positionOffset.ApproxEquals(Vector3.Zero, 0.001f) || orientation != Quaternion.Identity)
|
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{
|
||||
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float[] xyz = new float[3];
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@@ -1202,7 +1201,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
//m_log.Info("[PHYSICS]: dequeing forcelist");
|
||||
if (IsPhysical)
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||||
{
|
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PhysicsVector iforce = new PhysicsVector();
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Vector3 iforce = Vector3.Zero;
|
||||
for (int i = 0; i < m_forcelist.Count; i++)
|
||||
{
|
||||
iforce = iforce + m_forcelist[i];
|
||||
@@ -1237,7 +1236,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
//m_log.Info("[PHYSICS]: dequeing forcelist");
|
||||
if (IsPhysical)
|
||||
{
|
||||
PhysicsVector iforce = new PhysicsVector();
|
||||
Vector3 iforce = Vector3.Zero;
|
||||
for (int i = 0; i < m_angularforcelist.Count; i++)
|
||||
{
|
||||
iforce = iforce + m_angularforcelist[i];
|
||||
@@ -1276,7 +1275,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
}
|
||||
}
|
||||
m_taintTorque = new PhysicsVector(0, 0, 0);
|
||||
m_taintTorque = Vector3.Zero;
|
||||
}
|
||||
|
||||
private void changedisable(float timestep)
|
||||
@@ -1317,7 +1316,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
//resetCollisionAccounting();
|
||||
}
|
||||
m_taintVelocity = PhysicsVector.Zero;
|
||||
m_taintVelocity = Vector3.Zero;
|
||||
}
|
||||
|
||||
private void changelink(float timestep)
|
||||
@@ -1361,7 +1360,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
if (m_taintparent != null)
|
||||
{
|
||||
m_taintparent.Position.Z = m_taintparent.Position.Z + 0.02f;
|
||||
Vector3 taintparentPosition = m_taintparent.Position;
|
||||
taintparentPosition.Z = m_taintparent.Position.Z + 0.02f;
|
||||
m_taintparent.Position = taintparentPosition;
|
||||
_parent_scene.AddPhysicsActorTaint(m_taintparent);
|
||||
}
|
||||
}
|
||||
@@ -1382,7 +1383,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (_parent == null)
|
||||
{
|
||||
if (!m_taintAngularLock.IsIdentical(new PhysicsVector(1f, 1f, 1f), 0))
|
||||
if (!m_taintAngularLock.ApproxEquals(Vector3.One, 0f))
|
||||
{
|
||||
//d.BodySetFiniteRotationMode(Body, 0);
|
||||
//d.BodySetFiniteRotationAxis(Body,m_taintAngularLock.X,m_taintAngularLock.Y,m_taintAngularLock.Z);
|
||||
@@ -1395,7 +1396,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
}
|
||||
|
||||
}
|
||||
m_angularlock = new PhysicsVector(m_taintAngularLock.X, m_taintAngularLock.Y, m_taintAngularLock.Z);
|
||||
m_angularlock = m_taintAngularLock;
|
||||
|
||||
}
|
||||
#endregion
|
||||
@@ -1460,17 +1461,17 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
// TODO: NEED btVector3 for Linear Velocity
|
||||
// NEED btVector3 for Position
|
||||
|
||||
PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet
|
||||
PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z);
|
||||
Vector3 pos = _position; //TODO: Insert values gotten from bullet
|
||||
Vector3 vel = _velocity;
|
||||
|
||||
_target_velocity =
|
||||
new PhysicsVector(
|
||||
new Vector3(
|
||||
(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
|
||||
(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
|
||||
(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
|
||||
);
|
||||
|
||||
if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
|
||||
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
|
||||
{
|
||||
|
||||
/* TODO: Do Bullet equiv
|
||||
@@ -1512,8 +1513,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
PID_G = m_PIDTau + 1;
|
||||
}
|
||||
PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
|
||||
PhysicsVector vel = new PhysicsVector(0, 0, 0);
|
||||
Vector3 pos = Vector3.Zero; //TODO: Insert values gotten from bullet
|
||||
Vector3 vel = Vector3.Zero;
|
||||
|
||||
// determine what our target height really is based on HoverType
|
||||
switch (m_PIDHoverType)
|
||||
@@ -1545,13 +1546,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
|
||||
_target_velocity =
|
||||
new PhysicsVector(0.0f, 0.0f,
|
||||
new Vector3(0.0f, 0.0f,
|
||||
(m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
|
||||
);
|
||||
|
||||
// if velocity is zero, use position control; otherwise, velocity control
|
||||
|
||||
if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
|
||||
if (_target_velocity.ApproxEquals(Vector3.Zero, 0.1f))
|
||||
{
|
||||
|
||||
/* TODO: Do Bullet Equiv
|
||||
@@ -1626,8 +1627,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
else
|
||||
{
|
||||
if (m_zeroPosition == null)
|
||||
m_zeroPosition = new PhysicsVector(0, 0, 0);
|
||||
m_zeroPosition.setValues(_position.X, _position.Y, _position.Z);
|
||||
m_zeroPosition = Vector3.Zero;
|
||||
m_zeroPosition = _position;
|
||||
return;
|
||||
}
|
||||
}
|
||||
@@ -2177,7 +2178,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
|
||||
//if (hasTrimesh)
|
||||
//{
|
||||
ProcessGeomCreationAsTriMesh(PhysicsVector.Zero, Quaternion.Identity);
|
||||
ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
|
||||
// createmesh returns null when it doesn't mesh.
|
||||
|
||||
/*
|
||||
@@ -2197,11 +2198,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (chld == null)
|
||||
continue;
|
||||
PhysicsVector offset = chld.Position - Position;
|
||||
Vector3 offset = chld.Position - Position;
|
||||
Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
|
||||
pos *= Quaternion.Inverse(Orientation);
|
||||
//pos *= Orientation;
|
||||
offset.setValues(pos.X, pos.Y, pos.Z);
|
||||
offset = pos;
|
||||
chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
|
||||
|
||||
_mesh.Append(chld._mesh);
|
||||
@@ -2433,7 +2434,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_collisionscore = 0;
|
||||
m_disabled = false;
|
||||
// The body doesn't already have a finite rotation mode set here
|
||||
if ((!m_angularlock.IsIdentical(PhysicsVector.Zero, 0)) && _parent == null)
|
||||
if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
|
||||
{
|
||||
// TODO: Create Angular Motor on Axis Lock!
|
||||
}
|
||||
@@ -2447,7 +2448,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
{
|
||||
if (_parent == null)
|
||||
{
|
||||
PhysicsVector pv = new PhysicsVector(0, 0, 0);
|
||||
Vector3 pv = Vector3.Zero;
|
||||
bool lastZeroFlag = _zeroFlag;
|
||||
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
|
||||
tempPosition3.Dispose();
|
||||
@@ -2471,10 +2472,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
|
||||
tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
|
||||
|
||||
_torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
|
||||
_torque = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
|
||||
tempAngularVelocity1.getZ());
|
||||
PhysicsVector l_position = new PhysicsVector();
|
||||
Quaternion l_orientation = new Quaternion();
|
||||
Vector3 l_position = Vector3.Zero;
|
||||
Quaternion l_orientation = Quaternion.Identity;
|
||||
m_lastposition = _position;
|
||||
m_lastorientation = _orientation;
|
||||
|
||||
@@ -2598,20 +2599,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
_velocity.Z = tempLinearVelocity1.getZ();
|
||||
|
||||
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
|
||||
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f,
|
||||
_acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
|
||||
_velocity.Y - m_lastVelocity.Y / 0.1f,
|
||||
_velocity.Z - m_lastVelocity.Z / 0.1f);
|
||||
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
|
||||
|
||||
if (_velocity.IsIdentical(pv, 0.5f))
|
||||
if (_velocity.ApproxEquals(pv, 0.5f))
|
||||
{
|
||||
m_rotationalVelocity = pv;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
|
||||
tempAngularVelocity1.getZ());
|
||||
m_rotationalVelocity = new Vector3(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
|
||||
}
|
||||
|
||||
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
|
||||
@@ -2665,7 +2664,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
|
||||
m_taintremove = true;
|
||||
}
|
||||
|
||||
internal void EnableAxisMotor(PhysicsVector axislock)
|
||||
internal void EnableAxisMotor(Vector3 axislock)
|
||||
{
|
||||
if (m_aMotor != null)
|
||||
DisableAxisMotor();
|
||||
|
||||
Reference in New Issue
Block a user