From 8aa5fdb6a3f1e4b349757df5d9fcc06ab8dfdb64 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Mon, 3 Dec 2012 17:05:05 +0000
Subject: *TEST* diferent avatar collider
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 15 +-
.../Region/Physics/UbitOdePlugin/ODECharacter.cs | 369 ++++++++++++++++-----
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 69 ++--
3 files changed, 350 insertions(+), 103 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 7f07d73..bacc9c9 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -571,7 +571,18 @@ namespace OpenSim.Region.Framework.Scenes
set
{
m_bodyRot = value;
-// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
+ // m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
+ if (PhysicsActor != null)
+ {
+ try
+ {
+ PhysicsActor.Orientation = value;
+ }
+ catch (Exception e)
+ {
+ m_log.Error("[SCENE PRESENCE]: Orientation " + e.Message);
+ }
+ }
}
}
@@ -3435,7 +3446,7 @@ namespace OpenSim.Region.Framework.Scenes
PhysicsActor = scene.AddAvatar(
LocalId, Firstname + "." + Lastname, pVec,
- new Vector3(0f, 0f, Appearance.AvatarHeight), isFlying);
+ new Vector3(0.45f, 0.6f, Appearance.AvatarHeight), isFlying);
//PhysicsActor.OnRequestTerseUpdate += SendTerseUpdateToAllClients;
PhysicsActor.OnCollisionUpdate += PhysicsCollisionUpdate;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 94ed663..3d5be3e 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -79,6 +79,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 _target_velocity;
private Vector3 _acceleration;
private Vector3 m_rotationalVelocity;
+ private Vector3 m_size;
+ private Quaternion m_orientation;
private float m_mass = 80f;
public float m_density = 60f;
private bool m_pidControllerActive = true;
@@ -86,10 +88,17 @@ namespace OpenSim.Region.Physics.OdePlugin
public float PID_P = 900.0f;
//private static float POSTURE_SERVO = 10000.0f;
- public float CAPSULE_RADIUS = 0.37f;
- public float CAPSULE_LENGTH = 2.140599f;
- const float CAP_OFFSET = -.2f; // compensation of SL size offset plus spheric collision shape bottom
+ private float m_invElipSizeX;
+ private float m_invElipSizeY;
+
+ private float feetOff = 0;
+ private float feetSZ = 0.5f;
+ const float feetScale = 0.9f;
+ const float invFeetScale = 1.0f / 0.9f;
+ const float sizeZAdjust = 0.15f;
+ private float boneOff = 0;
+
public float walkDivisor = 1.3f;
public float runDivisor = 0.8f;
@@ -127,10 +136,16 @@ namespace OpenSim.Region.Physics.OdePlugin
// we do land collisions not ode | CollisionCategories.Land);
public IntPtr Body = IntPtr.Zero;
private OdeScene _parent_scene;
- public IntPtr Shell = IntPtr.Zero;
+ public IntPtr topbox = IntPtr.Zero;
+ public IntPtr midbox = IntPtr.Zero;
+ public IntPtr feetbox = IntPtr.Zero;
+ public IntPtr bonebox = IntPtr.Zero;
+
public IntPtr Amotor = IntPtr.Zero;
+
public d.Mass ShellMass;
-// public bool collidelock = false;
+
+
public int m_eventsubscription = 0;
private int m_cureventsubscription = 0;
@@ -145,7 +160,7 @@ namespace OpenSim.Region.Physics.OdePlugin
- public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
+ public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pid_d, float pid_p, float density, float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
@@ -171,9 +186,20 @@ namespace OpenSim.Region.Physics.OdePlugin
PID_D = pid_d;
PID_P = pid_p;
- CAPSULE_RADIUS = capsule_radius;
+
+ m_size.X = pSize.X;
+ m_size.Y = pSize.Y;
+ m_size.Z = pSize.Z;
+
+ if(m_size.X <0.01f)
+ m_size.X = 0.01f;
+ if(m_size.Y <0.01f)
+ m_size.Y = 0.01f;
+ if(m_size.Z <0.01f)
+ m_size.Z = 0.01f;
+
+ m_orientation = Quaternion.Identity;
m_density = density;
- m_mass = 80f; // sure we have a default
// force lower density for testing
m_density = 3.0f;
@@ -183,8 +209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
walkDivisor = walk_divisor;
runDivisor = rundivisor;
- CAPSULE_LENGTH = size.Z - CAPSULE_RADIUS + CAP_OFFSET;
- //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
+ m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
m_isPhysical = false; // current status: no ODE information exists
@@ -426,14 +451,21 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </summary>
public override Vector3 Size
{
- get {
- float d = CAPSULE_RADIUS * 2;
- return new Vector3(d, d, (CAPSULE_LENGTH + CAPSULE_RADIUS - CAP_OFFSET));
+ get
+ {
+ return m_size;
}
set
{
if (value.IsFinite())
{
+ if(value.X <0.01f)
+ value.X = 0.01f;
+ if(value.Y <0.01f)
+ value.Y = 0.01f;
+ if(value.Z <0.01f)
+ value.Z = 0.01f;
+
AddChange(changes.Size, value);
}
else
@@ -459,8 +491,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
- float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
- return m_density * AVvolume;
+ return m_density * m_size.X * m_size.Y * m_size.Z;
}
}
public override void link(PhysicsActor obj)
@@ -578,9 +609,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public override Quaternion Orientation
{
- get { return Quaternion.Identity; }
+ get { return m_orientation; }
set
{
+ // fakeori = value;
+ // givefakeori++;
+
+ value.Normalize();
+ AddChange(changes.Orientation, value);
}
}
@@ -632,32 +668,65 @@ namespace OpenSim.Region.Physics.OdePlugin
AddChange(changes.Momentum, momentum);
}
-
- // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
- // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
- // place that is safe to call this routine AvatarGeomAndBodyCreation.
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{
+ // sizes one day should came from visual parameters
+ float sz = m_size.Z + sizeZAdjust;
+
+ m_invElipSizeX = 1.0f / m_size.X;
+ m_invElipSizeY = 1.0f / m_size.Y;
+
+ float topsx = m_size.X;
+ float midsx = m_size.X;
+ float feetsx = m_size.X * feetScale;
+ float bonesx = feetsx * 0.2f;
+
+ float topsy = m_size.Y * 0.5f;
+ float midsy = m_size.Y;
+ float feetsy = m_size.Y * feetScale;
+ float bonesy = feetsy * 0.2f;
+
+ float topsz = sz * 0.15f;
+ float feetsz = sz * 0.3f;
+ if (feetsz > 0.6f)
+ feetsz = 0.6f;
+
+ float midsz = sz - topsz - feetsz;
+ float bonesz = sz;
+
+ float bot = -sz * 0.5f;
+
+ boneOff = bot + 0.3f;
+
+ float feetz = bot + feetsz * 0.5f;
+ bot += feetsz;
+
+ feetOff = bot;
+ feetSZ = feetsz;
+
+ float midz = bot + midsz * 0.5f;
+ bot += midsz;
+ float topz = bot + topsz * 0.5f;
+
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
- if (CAPSULE_LENGTH <= 0)
- {
- m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
- CAPSULE_LENGTH = 0.01f;
- }
+ feetbox = d.CreateBox(_parent_scene.ActiveSpace, feetsx, feetsy, feetsz);
+ d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
+ d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
- if (CAPSULE_RADIUS <= 0)
- {
- m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
- CAPSULE_RADIUS = 0.01f;
+ midbox = d.CreateBox(_parent_scene.ActiveSpace, midsx, midsy, midsz);
+ d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories);
+ d.GeomSetCollideBits(midbox, (uint)m_collisionFlags);
- }
- Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
+ topbox = d.CreateBox(_parent_scene.ActiveSpace, topsx, topsy, topsz);
+ d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories);
+ d.GeomSetCollideBits(topbox, (uint)m_collisionFlags);
- d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
- d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
+ bonebox = d.CreateBox(_parent_scene.ActiveSpace, bonesx, bonesy, bonesz);
+ d.GeomSetCategoryBits(bonebox, (uint)m_collisionCategories);
+ d.GeomSetCollideBits(bonebox, (uint)m_collisionFlags);
- d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
+ d.MassSetBox(out ShellMass, m_density, m_size.X , m_size.Y, m_size.Z);
m_mass = ShellMass.mass; // update mass
@@ -688,7 +757,14 @@ namespace OpenSim.Region.Physics.OdePlugin
_position.Z = npositionZ;
d.BodySetMass(Body, ref ShellMass);
- d.GeomSetBody(Shell, Body);
+ d.GeomSetBody(feetbox, Body);
+ d.GeomSetBody(midbox, Body);
+ d.GeomSetBody(topbox, Body);
+ d.GeomSetBody(bonebox, Body);
+
+ d.GeomSetOffsetPosition(feetbox, 0, 0, feetz);
+ d.GeomSetOffsetPosition(midbox, 0, 0, midz);
+ d.GeomSetOffsetPosition(topbox, 0, 0, topz);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
@@ -748,15 +824,152 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = IntPtr.Zero;
}
- //kill the Geometry
- if (Shell != IntPtr.Zero)
+ //kill the Geoms
+ if (topbox != IntPtr.Zero)
{
-// _parent_scene.geom_name_map.Remove(Shell);
- _parent_scene.actor_name_map.Remove(Shell);
+ _parent_scene.actor_name_map.Remove(topbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
- d.GeomDestroy(Shell);
- Shell = IntPtr.Zero;
+ d.GeomDestroy(topbox);
+ topbox = IntPtr.Zero;
+ }
+ if (midbox != IntPtr.Zero)
+ {
+ _parent_scene.actor_name_map.Remove(midbox);
+ _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
+ d.GeomDestroy(midbox);
+ midbox = IntPtr.Zero;
+ }
+ if (feetbox != IntPtr.Zero)
+ {
+ _parent_scene.actor_name_map.Remove(feetbox);
+ _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
+ d.GeomDestroy(feetbox);
+ feetbox = IntPtr.Zero;
+ }
+
+ if (bonebox != IntPtr.Zero)
+ {
+ _parent_scene.actor_name_map.Remove(bonebox);
+ _parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
+ d.GeomDestroy(bonebox);
+ bonebox = IntPtr.Zero;
+ }
+
+ }
+
+ public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact)
+ {
+
+ if (me == bonebox) // inner bone
+ {
+ if (contact.pos.Z - _position.Z < boneOff)
+ IsColliding = true;
+ return true;
+ }
+
+ if (me == topbox) // keep a box head
+ return true;
+
+ // rotate elipsoide assuming only rotation around Z
+ float ca = m_orientation.W * m_orientation.W - m_orientation.Z * m_orientation.Z;
+ float sa = 2 * m_orientation.W * m_orientation.Z;
+
+ float isx;
+ float isy;
+
+ if (me == feetbox) // feet have narrow bounds
+ {
+
+ isx = m_invElipSizeX * invFeetScale;
+ isy = m_invElipSizeY * invFeetScale;
+ }
+ else
+ {
+ isx = m_invElipSizeX;
+ isy = m_invElipSizeY;
+ }
+
+ float a = isx * ca - isy * sa;
+ float b = isx * sa + isy * ca;
+
+ float offx = contact.pos.X - _position.X;
+ float er = offx * a;
+ er *= er;
+
+ float offy = contact.pos.Y - _position.Y;
+ float ty = offy * b;
+ er += ty * ty;
+
+ if (me == midbox)
+ {
+ if (er > 4.0f) // no collision
+ return false;
+ if (er < 0.2f)
+ return true;
+
+ float t = offx * offx + offy * offy;
+ t = (float)Math.Sqrt(t);
+ t = 1 / t;
+ offx *= t;
+ offy *= t;
+
+ if (reverse)
+ {
+ contact.normal.X = offx;
+ contact.normal.Y = offy;
+ }
+ else
+ {
+ contact.normal.X = -offx;
+ contact.normal.Y = -offy;
+ }
+
+ contact.normal.Z = 0;
+ return true;
+ }
+
+ else if (me == feetbox)
+ {
+ float c = feetSZ * 2;
+ float h = contact.pos.Z - _position.Z;
+ float offz = h - feetOff; // distance from top of feetbox
+
+ float tz = offz / c;
+ er += tz * tz;
+
+ if (er > 4.0f) // no collision
+ return false;
+
+ if (er > 0.2f)
+ {
+ float t = offx * offx + offy * offy + offz * offz;
+ t = (float)Math.Sqrt(t);
+ t = 1 / t;
+ offx *= t;
+ offy *= t;
+ offz *= t;
+
+ if (reverse)
+ {
+ contact.normal.X = offx;
+ contact.normal.Y = offy;
+ contact.normal.Z = offz;
+ }
+ else
+ {
+ contact.normal.X = -offx;
+ contact.normal.Y = -offy;
+ contact.normal.Z = -offz;
+ }
+ }
+
+ if(h < boneOff)
+ IsColliding = true;
}
+ else
+ return false;
+
+ return true;
}
/// <summary>
@@ -776,10 +989,10 @@ namespace OpenSim.Region.Physics.OdePlugin
// so force it back to identity
d.Quaternion qtmp;
- qtmp.W = 1;
- qtmp.X = 0;
- qtmp.Y = 0;
- qtmp.Z = 0;
+ qtmp.W = m_orientation.W;
+ qtmp.X = m_orientation.X;
+ qtmp.Y = m_orientation.Y;
+ qtmp.Z = m_orientation.Z;
d.BodySetQuaternion(Body, ref qtmp);
if (m_pidControllerActive == false)
@@ -843,7 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//******************************************
// colide with land
d.AABB aabb;
- d.GeomGetAABB(Shell, out aabb);
+ d.GeomGetAABB(feetbox, out aabb);
float chrminZ = aabb.MinZ - 0.04f; // move up a bit
Vector3 posch = localpos;
@@ -1182,20 +1395,14 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (NewStatus)
{
- // Create avatar capsule and related ODE data
- if ((Shell != IntPtr.Zero))
- {
- // a lost shell ?
- m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
- + (Shell != IntPtr.Zero ? "Shell " : "")
- + (Body != IntPtr.Zero ? "Body " : "")
- + (Amotor != IntPtr.Zero ? "Amotor " : ""));
- AvatarGeomAndBodyDestroy();
- }
+ AvatarGeomAndBodyDestroy();
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
- _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[bonebox] = (PhysicsActor)this;
_parent_scene.AddCharacter(this);
}
else
@@ -1224,37 +1431,29 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
- private void changeSize(Vector3 Size)
+ private void changeSize(Vector3 pSize)
{
- if (Size.IsFinite())
+ if (pSize.IsFinite())
{
- float caplen = Size.Z;
+ // for now only look to Z changes since viewers also don't change X and Y
+ if (pSize.Z != m_size.Z)
+ {
+ AvatarGeomAndBodyDestroy();
- caplen = caplen - CAPSULE_RADIUS + CAP_OFFSET;
- if (caplen != CAPSULE_LENGTH)
- {
- if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
- {
- AvatarGeomAndBodyDestroy();
+ float oldsz = m_size.Z;
+ m_size = pSize;
- float prevCapsule = CAPSULE_LENGTH;
- CAPSULE_LENGTH = caplen;
- AvatarGeomAndBodyCreation(_position.X, _position.Y,
- _position.Z + (CAPSULE_LENGTH - prevCapsule) * 0.5f);
+ AvatarGeomAndBodyCreation(_position.X, _position.Y,
+ _position.Z + (m_size.Z - oldsz) * 0.5f);
- Velocity = Vector3.Zero;
+ Velocity = Vector3.Zero;
- _parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
- }
- else
- {
- m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
- + (Shell == IntPtr.Zero ? "Shell " : "")
- + (Body == IntPtr.Zero ? "Body " : "")
- + (Amotor == IntPtr.Zero ? "Amotor " : ""));
- }
+ _parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
+ _parent_scene.actor_name_map[bonebox] = (PhysicsActor)this;
}
m_freemove = false;
m_pidControllerActive = true;
@@ -1276,6 +1475,14 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeOrientation(Quaternion newOri)
{
+ d.Quaternion myrot = new d.Quaternion();
+ myrot.X = newOri.X;
+ myrot.Y = newOri.Y;
+ myrot.Z = newOri.Z;
+ myrot.W = newOri.W;
+ float t = d.JointGetAMotorAngle(Amotor, 2);
+ d.BodySetQuaternion(Body,ref myrot);
+ m_orientation = newOri;
}
private void changeVelocity(Vector3 newVel)
@@ -1365,7 +1572,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool DoAChange(changes what, object arg)
{
- if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
+ if (topbox == IntPtr.Zero && what != changes.Add && what != changes.Remove)
{
return false;
}
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 54bc29f..003a91c 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -840,6 +840,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{
case (int)ActorTypes.Agent:
{
+ dop1foot = true;
+
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
normoverride = p2.Velocity - p1.Velocity;
@@ -883,6 +885,10 @@ namespace OpenSim.Region.Physics.OdePlugin
switch (p2.PhysicsActorType)
{
case (int)ActorTypes.Agent:
+
+
+ dop2foot = true;
+
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
@@ -1017,6 +1023,7 @@ namespace OpenSim.Region.Physics.OdePlugin
IntPtr Joint;
int i = 0;
+ int ncontacts = 0;
while(true)
{
@@ -1031,7 +1038,28 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
+ if(dop1foot)
+ {
+ if (!(((OdeCharacter)p1).Collide(g1,false, ref curContact)))
+ {
+ if (++i >= count)
+ break;
+ else
+ continue;
+ }
+ }
+ else if(dop2foot)
+ {
+ if(!(((OdeCharacter) p2).Collide(g2,true,ref curContact)))
+ {
+ if (++i >= count)
+ break;
+ else
+ continue;
+ }
+ }
+/*
if (AvanormOverride)
{
if (curContact.depth > 0.3f)
@@ -1081,34 +1109,31 @@ namespace OpenSim.Region.Physics.OdePlugin
{
float sz = p2.Size.Z;
Vector3 vtmp = p2.Position;
- float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f;
+ vtmp.Z -= sz * 0.5f;
+ vtmp.Z += 0.5f;
+ float ppos = vtmp.Z - curContact.pos.Z;
if (ppos > 0f)
{
if (!p2.Flying)
{
- d.AABB aabb;
- d.GeomGetAABB(g1, out aabb);
float tmp = vtmp.Z - sz * .18f;
-
- if (aabb.MaxZ < tmp)
- {
- vtmp.X = curContact.pos.X - vtmp.X;
- vtmp.Y = curContact.pos.Y - vtmp.Y;
- vtmp.Z = -0.2f;
- vtmp.Normalize();
- curContact.normal.X = vtmp.X;
- curContact.normal.Y = vtmp.Y;
- curContact.normal.Z = vtmp.Z;
- }
+ vtmp.X = curContact.pos.X - vtmp.X;
+ vtmp.Y = curContact.pos.Y - vtmp.Y;
+ vtmp.Z = curContact.pos.Z - vtmp.Z;
+ vtmp.Normalize();
+ curContact.normal.X = vtmp.X;
+ curContact.normal.Y = vtmp.Y;
+ curContact.normal.Z = vtmp.Z;
}
}
- else
+// else
p2.IsColliding = true;
}
}
}
-
+*/
+ ncontacts++;
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
d.JointAttach(Joint, b1, b2);
@@ -1134,7 +1159,8 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- collision_accounting_events(p1, p2, maxDepthContact);
+ if(ncontacts > 0)
+ collision_accounting_events(p1, p2, maxDepthContact);
/*
if (notskipedcount > geomContactPointsStartthrottle)
@@ -1234,14 +1260,17 @@ namespace OpenSim.Region.Physics.OdePlugin
{
foreach (OdeCharacter chr in _characters)
{
- if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
+ if (chr == null || chr.Body == IntPtr.Zero)
continue;
chr.IsColliding = false;
// chr.CollidingGround = false; not done here
chr.CollidingObj = false;
// do colisions with static space
- d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
+ d.SpaceCollide2(StaticSpace, chr.topbox, IntPtr.Zero, nearCallback);
+ d.SpaceCollide2(StaticSpace, chr.midbox, IntPtr.Zero, nearCallback);
+ d.SpaceCollide2(StaticSpace, chr.feetbox, IntPtr.Zero, nearCallback);
+ d.SpaceCollide2(StaticSpace, chr.bonebox, IntPtr.Zero, nearCallback);
// no coll with gnd
}
}
@@ -1334,7 +1363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
- OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
+ OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
newAv.Flying = isFlying;
newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
--
cgit v1.1