diff options
Diffstat (limited to 'OpenSim/Region')
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 4 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs | 25 | ||||
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 55 |
3 files changed, 64 insertions, 20 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs index 43b4581..b0711d7 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | |||
@@ -1006,9 +1006,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1006 | } | 1006 | } |
1007 | } | 1007 | } |
1008 | 1008 | ||
1009 | if (velLengthSquared > 625.0f) // 25m/s apply breaks | 1009 | if (velLengthSquared > 2500.0f) // 50m/s apply breaks |
1010 | { | 1010 | { |
1011 | breakfactor = 0.31f * m_mass; | 1011 | breakfactor = 0.16f * m_mass; |
1012 | vec.X -= breakfactor * vel.X; | 1012 | vec.X -= breakfactor * vel.X; |
1013 | vec.Y -= breakfactor * vel.Y; | 1013 | vec.Y -= breakfactor * vel.Y; |
1014 | vec.Z -= breakfactor * vel.Z; | 1014 | vec.Z -= breakfactor * vel.Z; |
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs index e88e559..56d0f1a 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs | |||
@@ -63,6 +63,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
63 | private OdeScene _pParentScene; | 63 | private OdeScene _pParentScene; |
64 | 64 | ||
65 | // Vehicle properties | 65 | // Vehicle properties |
66 | // WARNING this are working copies for internel use | ||
67 | // their values may not be the corresponding parameter | ||
68 | |||
66 | private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | 69 | private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier |
67 | private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? | 70 | private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? |
68 | 71 | ||
@@ -244,6 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
244 | if (pValue < m_timestep) pValue = m_timestep; | 247 | if (pValue < m_timestep) pValue = m_timestep; |
245 | else if (pValue > 120) pValue = 120; | 248 | else if (pValue > 120) pValue = 120; |
246 | m_angularMotorDecayTimescale = pValue * m_invtimestep; | 249 | m_angularMotorDecayTimescale = pValue * m_invtimestep; |
250 | m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; | ||
247 | break; | 251 | break; |
248 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | 252 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: |
249 | if (pValue < m_timestep) pValue = m_timestep; | 253 | if (pValue < m_timestep) pValue = m_timestep; |
@@ -293,6 +297,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
293 | if (pValue < m_timestep) pValue = m_timestep; | 297 | if (pValue < m_timestep) pValue = m_timestep; |
294 | else if (pValue > 120) pValue = 120; | 298 | else if (pValue > 120) pValue = 120; |
295 | m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep; | 299 | m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep; |
300 | m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); | ||
296 | break; | 301 | break; |
297 | case Vehicle.LINEAR_MOTOR_TIMESCALE: | 302 | case Vehicle.LINEAR_MOTOR_TIMESCALE: |
298 | if (pValue < m_timestep) pValue = m_timestep; | 303 | if (pValue < m_timestep) pValue = m_timestep; |
@@ -320,7 +325,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
320 | if (len > 12.566f) | 325 | if (len > 12.566f) |
321 | m_angularMotorDirection *= (12.566f / len); | 326 | m_angularMotorDirection *= (12.566f / len); |
322 | 327 | ||
323 | m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on | 328 | m_amEfect = 1.0f ; // turn it on |
324 | m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; | 329 | m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; |
325 | 330 | ||
326 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | 331 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) |
@@ -338,7 +343,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
338 | m_linearMotorDirection *= (100.0f / len); | 343 | m_linearMotorDirection *= (100.0f / len); |
339 | 344 | ||
340 | m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; | 345 | m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; |
341 | m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on | 346 | m_lmEfect = 1.0f; // turn it on |
342 | 347 | ||
343 | m_ffactor = 0.01f; | 348 | m_ffactor = 0.01f; |
344 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | 349 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) |
@@ -374,7 +379,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
374 | if (len > 12.566f) | 379 | if (len > 12.566f) |
375 | m_angularMotorDirection *= (12.566f / len); | 380 | m_angularMotorDirection *= (12.566f / len); |
376 | 381 | ||
377 | m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on | 382 | m_amEfect = 1.0f; // turn it on |
378 | m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; | 383 | m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; |
379 | 384 | ||
380 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | 385 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) |
@@ -393,11 +398,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
393 | if (len > 100.0f) | 398 | if (len > 100.0f) |
394 | m_linearMotorDirection *= (100.0f / len); | 399 | m_linearMotorDirection *= (100.0f / len); |
395 | 400 | ||
396 | m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on | 401 | m_lmEfect = 1.0f; // turn it on |
397 | m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; | 402 | m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; |
398 | 403 | ||
399 | |||
400 | |||
401 | m_ffactor = 0.01f; | 404 | m_ffactor = 0.01f; |
402 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) | 405 | if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) |
403 | && !rootPrim.m_isSelected && !rootPrim.m_disabled) | 406 | && !rootPrim.m_isSelected && !rootPrim.m_disabled) |
@@ -776,10 +779,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
776 | float ldampZ = 0; | 779 | float ldampZ = 0; |
777 | 780 | ||
778 | // linear motor | 781 | // linear motor |
779 | if (m_lmEfect > 0.001 && m_linearMotorTimescale < 1000) | 782 | if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) |
780 | { | 783 | { |
781 | tmpV = m_linearMotorDirection - curLocalVel; // velocity error | 784 | tmpV = m_linearMotorDirection - curLocalVel; // velocity error |
782 | tmpV *= m_lmEfect; // error to correct in this timestep | 785 | tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep |
783 | tmpV *= rotq; // to world | 786 | tmpV *= rotq; // to world |
784 | 787 | ||
785 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) | 788 | if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) |
@@ -799,9 +802,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
799 | } | 802 | } |
800 | 803 | ||
801 | m_lmEfect *= m_lmDecay; | 804 | m_lmEfect *= m_lmDecay; |
802 | 805 | m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); | |
803 | // m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); | ||
804 | m_ffactor = 0; | ||
805 | } | 806 | } |
806 | else | 807 | else |
807 | { | 808 | { |
@@ -1007,7 +1008,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1007 | if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) | 1008 | if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) |
1008 | { | 1009 | { |
1009 | tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error | 1010 | tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error |
1010 | tmpV *= m_amEfect; // error to correct in this timestep | 1011 | tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep |
1011 | torque.X += tmpV.X * m_ampwr; | 1012 | torque.X += tmpV.X * m_ampwr; |
1012 | torque.Y += tmpV.Y * m_ampwr; | 1013 | torque.Y += tmpV.Y * m_ampwr; |
1013 | torque.Z += tmpV.Z; | 1014 | torque.Z += tmpV.Z; |
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index e0de6cc..7367719 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | |||
@@ -537,7 +537,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
537 | // Essentially Steps * m_physicsiterations | 537 | // Essentially Steps * m_physicsiterations |
538 | d.WorldSetQuickStepNumIterations(world, m_physicsiterations); | 538 | d.WorldSetQuickStepNumIterations(world, m_physicsiterations); |
539 | 539 | ||
540 | d.WorldSetContactMaxCorrectingVel(world, 50.0f); | 540 | d.WorldSetContactMaxCorrectingVel(world, 60.0f); |
541 | 541 | ||
542 | spacesPerMeter = 1 / metersInSpace; | 542 | spacesPerMeter = 1 / metersInSpace; |
543 | spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); | 543 | spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); |
@@ -754,14 +754,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
754 | } | 754 | } |
755 | 755 | ||
756 | // big messy collision analises | 756 | // big messy collision analises |
757 | |||
758 | Vector3 normoverride = Vector3.Zero; //damm c# | ||
759 | |||
757 | float mu = 0; | 760 | float mu = 0; |
758 | float bounce = 0; | 761 | float bounce = 0; |
759 | float cfm = 0.0001f; | 762 | float cfm = 0.0001f; |
760 | float erp = 0.1f; | ||
761 | float erpscale = 1.0f; | 763 | float erpscale = 1.0f; |
762 | float dscale = 1.0f; | 764 | float dscale = 1.0f; |
763 | bool IgnoreNegSides = false; | 765 | bool IgnoreNegSides = false; |
764 | |||
765 | 766 | ||
766 | ContactData contactdata1 = new ContactData(0, 0, false); | 767 | ContactData contactdata1 = new ContactData(0, 0, false); |
767 | ContactData contactdata2 = new ContactData(0, 0, false); | 768 | ContactData contactdata2 = new ContactData(0, 0, false); |
@@ -770,14 +771,30 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
770 | bool dop1foot = false; | 771 | bool dop1foot = false; |
771 | bool dop2foot = false; | 772 | bool dop2foot = false; |
772 | bool ignore = false; | 773 | bool ignore = false; |
774 | bool AvanormOverride = false; | ||
773 | 775 | ||
774 | switch (p1.PhysicsActorType) | 776 | switch (p1.PhysicsActorType) |
775 | { | 777 | { |
776 | case (int)ActorTypes.Agent: | 778 | case (int)ActorTypes.Agent: |
777 | { | 779 | { |
778 | bounce = 0; | 780 | AvanormOverride = true; |
779 | mu = 0; | 781 | Vector3 tmp = p2.Position - p1.Position; |
780 | cfm = 0.0001f; | 782 | normoverride = p2.Velocity - p1.Velocity; |
783 | mu = normoverride.LengthSquared(); | ||
784 | |||
785 | if (mu > 1e-6) | ||
786 | { | ||
787 | mu = 1.0f / (float)Math.Sqrt(mu); | ||
788 | normoverride *= mu; | ||
789 | mu = Vector3.Dot(tmp, normoverride); | ||
790 | if (mu > 0) | ||
791 | normoverride *= -1; | ||
792 | } | ||
793 | else | ||
794 | { | ||
795 | tmp.Normalize(); | ||
796 | normoverride = -tmp; | ||
797 | } | ||
781 | 798 | ||
782 | switch (p2.PhysicsActorType) | 799 | switch (p2.PhysicsActorType) |
783 | { | 800 | { |
@@ -824,6 +841,25 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
824 | // p1.getContactData(ref contactdata1); | 841 | // p1.getContactData(ref contactdata1); |
825 | // p2.getContactData(ref contactdata2); | 842 | // p2.getContactData(ref contactdata2); |
826 | 843 | ||
844 | AvanormOverride = true; | ||
845 | |||
846 | Vector3 tmp = p2.Position - p1.Position; | ||
847 | normoverride = p2.Velocity - p1.Velocity; | ||
848 | mu = normoverride.LengthSquared(); | ||
849 | if (mu > 1e-6) | ||
850 | { | ||
851 | mu = 1.0f / (float)Math.Sqrt(mu); | ||
852 | normoverride *= mu; | ||
853 | mu = Vector3.Dot(tmp, normoverride); | ||
854 | if (mu > 0) | ||
855 | normoverride *= -1; | ||
856 | } | ||
857 | else | ||
858 | { | ||
859 | tmp.Normalize(); | ||
860 | normoverride = -tmp; | ||
861 | } | ||
862 | |||
827 | bounce = 0; | 863 | bounce = 0; |
828 | mu = 0; | 864 | mu = 0; |
829 | cfm = 0.0001f; | 865 | cfm = 0.0001f; |
@@ -974,6 +1010,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
974 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) | 1010 | if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) |
975 | p2.IsColliding = true; | 1011 | p2.IsColliding = true; |
976 | 1012 | ||
1013 | if (AvanormOverride && curContact.depth > 0.3f) | ||
1014 | { | ||
1015 | curContact.normal.X = normoverride.X; | ||
1016 | curContact.normal.Y = normoverride.Y; | ||
1017 | curContact.normal.Z = normoverride.Z; | ||
1018 | } | ||
1019 | |||
977 | Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); | 1020 | Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); |
978 | d.JointAttach(Joint, b1, b2); | 1021 | d.JointAttach(Joint, b1, b2); |
979 | 1022 | ||