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-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs132
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs17
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs2
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs10
4 files changed, 81 insertions, 80 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index dd58a4e..a00ba11 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -107,6 +107,7 @@ namespace OpenSim.Region.Physics.OdePlugin
107 public float MinimumGroundFlightOffset = 3f; 107 public float MinimumGroundFlightOffset = 3f;
108 108
109 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 109 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
110 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
110 111
111 112
112 private float m_buoyancy = 0f; 113 private float m_buoyancy = 0f;
@@ -477,7 +478,71 @@ namespace OpenSim.Region.Physics.OdePlugin
477 } 478 }
478 } 479 }
479 } 480 }
480 481
482 private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
483 {
484 movementVector.Z = 0f;
485 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
486 if (magnitude < 0.1f) return;
487
488 // normalize the velocity vector
489 float invMagnitude = 1.0f / magnitude;
490 movementVector.X *= invMagnitude;
491 movementVector.Y *= invMagnitude;
492
493 // if we change the capsule heading too often, the capsule can fall down
494 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
495 // meaning only 4 possible capsule tilt orientations
496 if (movementVector.X > 0)
497 {
498 // east
499 if (movementVector.Y > 0)
500 {
501 // northeast
502 movementVector.X = (float)Math.Sqrt(2.0);
503 movementVector.Y = (float)Math.Sqrt(2.0);
504 }
505 else
506 {
507 // southeast
508 movementVector.X = (float)Math.Sqrt(2.0);
509 movementVector.Y = -(float)Math.Sqrt(2.0);
510 }
511 }
512 else
513 {
514 // west
515 if (movementVector.Y > 0)
516 {
517 // northwest
518 movementVector.X = -(float)Math.Sqrt(2.0);
519 movementVector.Y = (float)Math.Sqrt(2.0);
520 }
521 else
522 {
523 // southwest
524 movementVector.X = -(float)Math.Sqrt(2.0);
525 movementVector.Y = -(float)Math.Sqrt(2.0);
526 }
527 }
528
529
530 // movementVector.Z is zero
531
532 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
533 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
534 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
535 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
536
537 //m_log.Debug("[PHYSICS] changing avatar tilt");
538 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
539 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
540 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
541 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
542 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
544 }
545
481 /// <summary> 546 /// <summary>
482 /// This creates the Avatar's physical Surrogate at the position supplied 547 /// This creates the Avatar's physical Surrogate at the position supplied
483 /// </summary> 548 /// </summary>
@@ -576,71 +641,13 @@ namespace OpenSim.Region.Physics.OdePlugin
576 // (with -0..0 motor stops) falls into the terrain for reasons yet 641 // (with -0..0 motor stops) falls into the terrain for reasons yet
577 // to be comprehended in their entirety. 642 // to be comprehended in their entirety.
578 #endregion 643 #endregion
644 AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
579 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); 645 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
580 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); 646 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
581 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); 647 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
582 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced 648 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
583 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop 649 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
584 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop 650 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
585 #region Documentation of capsule motor StopERP and StopCFM parameters
586 // In addition to the above tilt, we allow a dynamic tilt, or
587 // wobble, to emerge as the capsule is pushed around the environment.
588 // We do this with an experimentally determined combination of
589 // StopERP and StopCFM which make the above motor stops soft.
590 // The softness of the stops should be tweaked according to two
591 // requirements:
592 //
593 // 1. Motor stops should be weak enough to allow enough wobble such
594 // that the capsule can tilt slightly more when moving, to allow
595 // "gliding" over obstacles:
596 //
597 //
598 // .-.
599 // / /
600 // / /
601 // _ / / _
602 // / \ .-. / / / \
603 // | | ----> / / / / | |
604 // | | / / `-' | |
605 // | | / / +------+ | |
606 // | | / / | | | |
607 // | | / / | | | |
608 // \_/ `-' +------+ \_/
609 // ----------------------------------------------------------
610 //
611 // Note that requirement 1 is made complicated by the ever-present
612 // slight avatar tilt (assigned in the above code to prevent avatar
613 // from falling through terrain), which introduces a direction-dependent
614 // bias into the wobble (wobbling against the existing tilt is harder
615 // than wobbling with the tilt), which makes it easier to walk over
616 // prims from some directions. I have tried to minimize this effect by
617 // minimizing the avatar tilt to the minimum that prevents the avatar from
618 // falling through the terrain.
619 //
620 // 2. Motor stops should be strong enough to prevent the capsule
621 // from being forced all the way to the ground; otherwise the
622 // capsule could slip underneath obstacles like this:
623 // _ _
624 // / \ +------+ / \
625 // | | ----> | | | |
626 // | | | | | |
627 // | | .--.___ +------+ | |
628 // | | `--.__`--.__ | |
629 // | | `--.__`--. | |
630 // \_/ `--' \_/
631 // ----------------------------------------------------------
632 //
633 //
634 // It is strongly recommended you enable USE_DRAWSTUFF if you want to
635 // tweak these values, to see how the capsule is reacting in various
636 // situations.
637 #endregion
638 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0.0035f);
639 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0.0035f);
640 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0.0035f);
641 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
642 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
643 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
644 } 651 }
645 652
646 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the 653 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
@@ -939,6 +946,7 @@ namespace OpenSim.Region.Physics.OdePlugin
939 946
940 PhysicsVector vec = new PhysicsVector(); 947 PhysicsVector vec = new PhysicsVector();
941 d.Vector3 vel = d.BodyGetLinearVel(Body); 948 d.Vector3 vel = d.BodyGetLinearVel(Body);
949
942 float movementdivisor = 1f; 950 float movementdivisor = 1f;
943 951
944 if (!m_alwaysRun) 952 if (!m_alwaysRun)
@@ -1052,6 +1060,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1052 if (PhysicsVector.isFinite(vec)) 1060 if (PhysicsVector.isFinite(vec))
1053 { 1061 {
1054 doForce(vec); 1062 doForce(vec);
1063 if (!_zeroFlag)
1064 {
1065 AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
1066 }
1055 } 1067 }
1056 else 1068 else
1057 { 1069 {
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 673ae39..032b5df 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -82,7 +82,6 @@ namespace OpenSim.Region.Physics.OdePlugin
82 82
83 // private float m_tensor = 5f; 83 // private float m_tensor = 5f;
84 private int body_autodisable_frames = 20; 84 private int body_autodisable_frames = 20;
85 private IMesh primMesh = null;
86 85
87 86
88 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom 87 private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
@@ -814,14 +813,10 @@ namespace OpenSim.Region.Physics.OdePlugin
814 } 813 }
815 } 814 }
816 815
817 IMesh oldMesh = primMesh; 816 float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
817 int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
818 818
819 primMesh = mesh; 819 mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
820
821 float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
822 int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
823
824 primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
825 820
826 int VertexCount = vertexList.GetLength(0)/3; 821 int VertexCount = vertexList.GetLength(0)/3;
827 int IndexCount = indexList.GetLength(0); 822 int IndexCount = indexList.GetLength(0);
@@ -847,12 +842,6 @@ namespace OpenSim.Region.Physics.OdePlugin
847 return; 842 return;
848 } 843 }
849 844
850 if (oldMesh != null)
851 {
852 oldMesh.releasePinned();
853 oldMesh = null;
854 }
855
856 // if (IsPhysical && Body == (IntPtr) 0) 845 // if (IsPhysical && Body == (IntPtr) 0)
857 // { 846 // {
858 // Recreate the body 847 // Recreate the body
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
index d9f4951..c8ae229 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
@@ -228,7 +228,7 @@ namespace OpenSim.Region.Physics.OdePlugin
228 mono [0x81d28b6] 228 mono [0x81d28b6]
229 mono [0x81ea2c6] 229 mono [0x81ea2c6]
230 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0] 230 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
231 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de] 231 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
232 */ 232 */
233 233
234 // Exclude heightfield geom 234 // Exclude heightfield geom
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 94223d8..0769c90 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -2536,7 +2536,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2536 2536
2537 if (iPropertiesNotSupportedDefault == 0) 2537 if (iPropertiesNotSupportedDefault == 0)
2538 { 2538 {
2539#if SPAM 2539#if SPAM
2540 m_log.Warn("NonMesh"); 2540 m_log.Warn("NonMesh");
2541#endif 2541#endif
2542 return false; 2542 return false;
@@ -3334,7 +3334,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3334 { 3334 {
3335 // this._heightmap[i] = (double)heightMap[i]; 3335 // this._heightmap[i] = (double)heightMap[i];
3336 // dbm (danx0r) -- creating a buffer zone of one extra sample all around 3336 // dbm (danx0r) -- creating a buffer zone of one extra sample all around
3337 //_origheightmap = heightMap; 3337 //_origheightmap = heightMap;
3338 3338
3339 float[] _heightmap; 3339 float[] _heightmap;
3340 3340
@@ -3520,16 +3520,16 @@ namespace OpenSim.Region.Physics.OdePlugin
3520 3520
3521 d.GeomDestroy(g); 3521 d.GeomDestroy(g);
3522 //removingHeightField = new float[0]; 3522 //removingHeightField = new float[0];
3523 } 3523 }
3524 } 3524 }
3525 } 3525 }
3526 else 3526 else
3527 { 3527 {
3528 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); 3528 m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
3529 } 3529 }
3530 } 3530 }
3531 } 3531 }
3532 } 3532 }
3533 3533
3534 public override void SetWaterLevel(float baseheight) 3534 public override void SetWaterLevel(float baseheight)
3535 { 3535 {
generated by cgit v1.1 at 2024-12-13 23:54:31 +0000