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author | Teravus Ovares | 2007-12-15 05:08:08 +0000 |
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committer | Teravus Ovares | 2007-12-15 05:08:08 +0000 |
commit | 81828c9b145c1d5da36559c32559cf89d414287b (patch) | |
tree | 6b2849fbd264962d6c1ca28890300d49e941648f /OpenSim/Region/Physics/OdePlugin | |
parent | Grid Inventory feature upgrade: renaming folders should now be correct, subfo... (diff) | |
download | opensim-SC-81828c9b145c1d5da36559c32559cf89d414287b.zip opensim-SC-81828c9b145c1d5da36559c32559cf89d414287b.tar.gz opensim-SC-81828c9b145c1d5da36559c32559cf89d414287b.tar.bz2 opensim-SC-81828c9b145c1d5da36559c32559cf89d414287b.tar.xz |
* Added an Avatar control tweak that disables the PID controller in certain circumstances.
* This allows collisions with other avatar and prim with a velocity greater then 0 to push avatar around.
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 64 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 12 |
2 files changed, 55 insertions, 21 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 2e694b6..6f22ecf 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
@@ -46,6 +46,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
46 | private PhysicsVector _target_velocity; | 46 | private PhysicsVector _target_velocity; |
47 | private PhysicsVector _acceleration; | 47 | private PhysicsVector _acceleration; |
48 | private PhysicsVector m_rotationalVelocity; | 48 | private PhysicsVector m_rotationalVelocity; |
49 | private bool m_pidControllerActive = true; | ||
49 | private static float PID_D = 3020.0f; | 50 | private static float PID_D = 3020.0f; |
50 | private static float PID_P = 7000.0f; | 51 | private static float PID_P = 7000.0f; |
51 | private static float POSTURE_SERVO = 10000.0f; | 52 | private static float POSTURE_SERVO = 10000.0f; |
@@ -56,6 +57,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
56 | private bool m_iscollidingGround = false; | 57 | private bool m_iscollidingGround = false; |
57 | private bool m_wascolliding = false; | 58 | private bool m_wascolliding = false; |
58 | private bool m_wascollidingGround = false; | 59 | private bool m_wascollidingGround = false; |
60 | private bool m_iscollidingObj = false; | ||
61 | private bool m_wascollidingObj = false; | ||
59 | private bool m_alwaysRun = false; | 62 | private bool m_alwaysRun = false; |
60 | private bool m_hackSentFall = false; | 63 | private bool m_hackSentFall = false; |
61 | private bool m_hackSentFly = false; | 64 | private bool m_hackSentFly = false; |
@@ -165,10 +168,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
165 | else | 168 | else |
166 | { | 169 | { |
167 | m_iscolliding = true; | 170 | m_iscolliding = true; |
171 | |||
172 | |||
168 | } | 173 | } |
169 | if (m_wascolliding != m_iscolliding) | 174 | if (m_wascolliding != m_iscolliding) |
170 | { | 175 | { |
171 | base.SendCollisionUpdate(new CollisionEventUpdate()); | 176 | base.SendCollisionUpdate(new CollisionEventUpdate()); |
177 | |||
172 | } | 178 | } |
173 | m_wascolliding = m_iscolliding; | 179 | m_wascolliding = m_iscolliding; |
174 | } | 180 | } |
@@ -222,8 +228,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
222 | } | 228 | } |
223 | public override bool CollidingObj | 229 | public override bool CollidingObj |
224 | { | 230 | { |
225 | get { return false; } | 231 | get { return m_iscollidingObj; } |
226 | set { return; } | 232 | set { |
233 | m_iscollidingObj = value; | ||
234 | if (value) | ||
235 | m_pidControllerActive = false; | ||
236 | else | ||
237 | m_pidControllerActive = true; | ||
238 | } | ||
227 | } | 239 | } |
228 | 240 | ||
229 | public override PhysicsVector Position | 241 | public override PhysicsVector Position |
@@ -248,6 +260,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
248 | get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } | 260 | get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } |
249 | set | 261 | set |
250 | { | 262 | { |
263 | m_pidControllerActive = true; | ||
251 | lock (OdeScene.OdeLock) | 264 | lock (OdeScene.OdeLock) |
252 | { | 265 | { |
253 | PhysicsVector SetSize = value; | 266 | PhysicsVector SetSize = value; |
@@ -282,7 +295,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
282 | public override PhysicsVector Velocity | 295 | public override PhysicsVector Velocity |
283 | { | 296 | { |
284 | get { return _velocity; } | 297 | get { return _velocity; } |
285 | set { _target_velocity = value; } | 298 | set { |
299 | m_pidControllerActive = true; | ||
300 | _target_velocity = value; } | ||
286 | } | 301 | } |
287 | 302 | ||
288 | public override bool Kinematic | 303 | public override bool Kinematic |
@@ -304,12 +319,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
304 | 319 | ||
305 | public void SetAcceleration(PhysicsVector accel) | 320 | public void SetAcceleration(PhysicsVector accel) |
306 | { | 321 | { |
322 | m_pidControllerActive = true; | ||
307 | _acceleration = accel; | 323 | _acceleration = accel; |
308 | } | 324 | } |
309 | 325 | ||
310 | public override void AddForce(PhysicsVector force) | 326 | public override void AddForce(PhysicsVector force) |
311 | { | 327 | { |
312 | 328 | m_pidControllerActive = true; | |
313 | _target_velocity.X += force.X; | 329 | _target_velocity.X += force.X; |
314 | _target_velocity.Y += force.Y; | 330 | _target_velocity.Y += force.Y; |
315 | _target_velocity.Z += force.Z; | 331 | _target_velocity.Z += force.Z; |
@@ -346,6 +362,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
346 | public void Move(float timeStep) | 362 | public void Move(float timeStep) |
347 | { | 363 | { |
348 | // no lock; for now it's only called from within Simulate() | 364 | // no lock; for now it's only called from within Simulate() |
365 | if (m_pidControllerActive == false) | ||
366 | { | ||
367 | _zeroPosition = d.BodyGetPosition(Body); | ||
368 | } | ||
369 | //PidStatus = true; | ||
370 | |||
349 | PhysicsVector vec = new PhysicsVector(); | 371 | PhysicsVector vec = new PhysicsVector(); |
350 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 372 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
351 | float movementdivisor = 1f; | 373 | float movementdivisor = 1f; |
@@ -369,17 +391,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
369 | _zeroFlag = true; | 391 | _zeroFlag = true; |
370 | _zeroPosition = d.BodyGetPosition(Body); | 392 | _zeroPosition = d.BodyGetPosition(Body); |
371 | } | 393 | } |
372 | d.Vector3 pos = d.BodyGetPosition(Body); | 394 | if (m_pidControllerActive) |
373 | vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P; | ||
374 | vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P; | ||
375 | if (flying) | ||
376 | { | 395 | { |
377 | vec.Z = (_target_velocity.Z - vel.Z) * (PID_D + 5100) + (_zeroPosition.Z - pos.Z) * PID_P; | 396 | d.Vector3 pos = d.BodyGetPosition(Body); |
397 | vec.X = (_target_velocity.X - vel.X) * PID_D + (_zeroPosition.X - pos.X) * PID_P; | ||
398 | vec.Y = (_target_velocity.Y - vel.Y) * PID_D + (_zeroPosition.Y - pos.Y) * PID_P; | ||
399 | if (flying) | ||
400 | { | ||
401 | vec.Z = (_target_velocity.Z - vel.Z) * (PID_D + 5100) + (_zeroPosition.Z - pos.Z) * PID_P; | ||
402 | } | ||
378 | } | 403 | } |
404 | //PidStatus = true; | ||
379 | } | 405 | } |
380 | else | 406 | else |
381 | { | 407 | { |
382 | 408 | m_pidControllerActive = true; | |
383 | _zeroFlag = false; | 409 | _zeroFlag = false; |
384 | if (m_iscolliding || flying) | 410 | if (m_iscolliding || flying) |
385 | { | 411 | { |
@@ -455,14 +481,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
455 | base.RequestPhysicsterseUpdate(); | 481 | base.RequestPhysicsterseUpdate(); |
456 | string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); | 482 | string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); |
457 | int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); | 483 | int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); |
458 | if (primScenAvatarIn == "0") | 484 | //if (primScenAvatarIn == "0") |
459 | { | 485 | //{ |
460 | MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); | 486 | //MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in space with no prim. Arr:':" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); |
461 | } | 487 | //} |
462 | else | 488 | //else |
463 | { | 489 | //{ |
464 | MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); | 490 | // MainLog.Instance.Verbose("Physics", "Avatar " + m_name + " in Prim space':" + primScenAvatarIn + ". Arr:" + arrayitem[0].ToString() + "," + arrayitem[1].ToString()); |
465 | } | 491 | //} |
492 | |||
466 | } | 493 | } |
467 | } | 494 | } |
468 | else | 495 | else |
@@ -477,6 +504,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
477 | { | 504 | { |
478 | m_hackSentFall = true; | 505 | m_hackSentFall = true; |
479 | base.SendCollisionUpdate(new CollisionEventUpdate()); | 506 | base.SendCollisionUpdate(new CollisionEventUpdate()); |
507 | m_pidControllerActive = false; | ||
480 | } | 508 | } |
481 | else if (flying && !m_hackSentFly) | 509 | else if (flying && !m_hackSentFly) |
482 | { | 510 | { |
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index a765878..0cbd4d6 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | |||
@@ -127,7 +127,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
127 | contact.surface.bounce = 0.2f; | 127 | contact.surface.bounce = 0.2f; |
128 | 128 | ||
129 | TerrainContact.surface.mode |= d.ContactFlags.SoftERP; | 129 | TerrainContact.surface.mode |= d.ContactFlags.SoftERP; |
130 | TerrainContact.surface.mu = 250.0f; | 130 | TerrainContact.surface.mu = 550.0f; |
131 | TerrainContact.surface.bounce = 0.1f; | 131 | TerrainContact.surface.bounce = 0.1f; |
132 | TerrainContact.surface.soft_erp = 0.1025f; | 132 | TerrainContact.surface.soft_erp = 0.1025f; |
133 | 133 | ||
@@ -255,7 +255,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
255 | PhysicsActor p1; | 255 | PhysicsActor p1; |
256 | PhysicsActor p2; | 256 | PhysicsActor p2; |
257 | 257 | ||
258 | if (!actor_name_map.TryGetValue(g2, out p1)) | 258 | if (!actor_name_map.TryGetValue(g1, out p1)) |
259 | { | 259 | { |
260 | p1 = PANull; | 260 | p1 = PANull; |
261 | } | 261 | } |
@@ -267,16 +267,22 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
267 | // We only need to test p2 for 'jump crouch purposes' | 267 | // We only need to test p2 for 'jump crouch purposes' |
268 | p2.IsColliding = true; | 268 | p2.IsColliding = true; |
269 | 269 | ||
270 | |||
271 | |||
270 | switch(p1.PhysicsActorType) { | 272 | switch(p1.PhysicsActorType) { |
271 | case (int)ActorTypes.Agent: | 273 | case (int)ActorTypes.Agent: |
272 | p2.CollidingObj = true; | 274 | p2.CollidingObj = true; |
273 | break; | 275 | break; |
274 | case (int)ActorTypes.Prim: | 276 | case (int)ActorTypes.Prim: |
275 | p2.CollidingObj = true; | 277 | if (p2.Velocity.X >0 || p2.Velocity.Y > 0 || p2.Velocity.Z > 0) |
278 | p2.CollidingObj = true; | ||
276 | break; | 279 | break; |
277 | case (int)ActorTypes.Unknown: | 280 | case (int)ActorTypes.Unknown: |
278 | p2.CollidingGround = true; | 281 | p2.CollidingGround = true; |
279 | break; | 282 | break; |
283 | default: | ||
284 | p2.CollidingGround = true; | ||
285 | break; | ||
280 | } | 286 | } |
281 | 287 | ||
282 | if (name1 == "Terrain" || name2 == "Terrain") | 288 | if (name1 == "Terrain" || name2 == "Terrain") |