From afd5da6851f30945c86d8cd950879582fdf82a62 Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Thu, 15 May 2008 23:11:31 +0000 Subject: * Adds various tweakable avatar control options to the OpenSim.ini.example. --- OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 64 +++++++++--------------- OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 47 ++++++++++++++++- 2 files changed, 70 insertions(+), 41 deletions(-) (limited to 'OpenSim/Region/Physics/OdePlugin') diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 606b13e..4165484 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs @@ -67,14 +67,17 @@ namespace OpenSim.Region.Physics.OdePlugin private PhysicsVector _acceleration; private PhysicsVector m_rotationalVelocity; private float m_mass = 80f; - private float m_density = 60f; + public float m_density = 60f; private bool m_pidControllerActive = true; - private float PID_D = 800.0f; - private float PID_P = 900.0f; + public float PID_D = 800.0f; + public float PID_P = 900.0f; //private static float POSTURE_SERVO = 10000.0f; - public static float CAPSULE_RADIUS = 0.37f; + public float CAPSULE_RADIUS = 0.37f; public float CAPSULE_LENGTH = 2.140599f; - private float m_tensor = 3800000f; + public float m_tensor = 3800000f; + public float heightFudgeFactor = 0.52f; + public float walkDivisor = 1.3f; + public float runDivisor = 0.8f; private bool flying = false; private bool m_iscolliding = false; private bool m_iscollidingGround = false; @@ -115,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin public int m_eventsubscription = 0; private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); - public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size) + public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { ode = dode; _velocity = new PhysicsVector(); @@ -124,14 +127,15 @@ namespace OpenSim.Region.Physics.OdePlugin _acceleration = new PhysicsVector(); _parent_scene = parent_scene; - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - m_tensor = 2000000f; - } - else - { - m_tensor = 1300000f; - } + PID_D = pid_d; + PID_P = pid_p; + CAPSULE_RADIUS = capsule_radius; + m_tensor = tensor; + m_density = density; + heightFudgeFactor = height_fudge_factor; + walkDivisor = walk_divisor; + runDivisor = rundivisor; + m_StandUpRotation = new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f, @@ -141,7 +145,7 @@ namespace OpenSim.Region.Physics.OdePlugin { m_colliderarr[i] = false; } - CAPSULE_LENGTH = (size.Z - ((size.Z * 0.52f))); + CAPSULE_LENGTH = (size.Z - ((size.Z * height_fudge_factor))); lock (OdeScene.OdeLock) { @@ -391,7 +395,7 @@ namespace OpenSim.Region.Physics.OdePlugin float capsuleradius = CAPSULE_RADIUS; //capsuleradius = 0.2f; - CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z*0.52f))); // subtract 43% of the size + CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * heightFudgeFactor))); // subtract 43% of the size //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); d.BodyDestroy(Body); @@ -416,15 +420,6 @@ namespace OpenSim.Region.Physics.OdePlugin private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor) { - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - m_tensor = 2000000f; - } - else - { - m_tensor = 550000f; - } - int dAMotorEuler = 1; _parent_scene.waitForSpaceUnlock(_parent_scene.space); Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); @@ -662,17 +657,7 @@ namespace OpenSim.Region.Physics.OdePlugin // If the PID Controller isn't active then we set our force // calculating base velocity to the current position - if (Environment.OSVersion.Platform == PlatformID.Unix) - { - PID_D = 3200.0f; - PID_P = 1400.0f; - } - else - { - PID_D = 2200.0f; - PID_P = 900.0f; - } - + if (m_pidControllerActive == false) { @@ -686,11 +671,11 @@ namespace OpenSim.Region.Physics.OdePlugin if (!m_alwaysRun) { - movementdivisor = 1.3f; + movementdivisor = walkDivisor; } else { - movementdivisor = 0.8f; + movementdivisor = runDivisor; } // if velocity is zero, use position control; otherwise, velocity control @@ -830,11 +815,10 @@ namespace OpenSim.Region.Physics.OdePlugin _velocity.Y = (vec.Y); _velocity.Z = (vec.Z); + if (_velocity.Z < -6 && !m_hackSentFall) { - // Collisionupdates will be used in the future, right now the're not being used. m_hackSentFall = true; - //base.SendCollisionUpdate(new CollisionEventUpdate()); m_pidControllerActive = false; } else if (flying && !m_hackSentFly) diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index 873abc7..d795e45 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs @@ -166,6 +166,16 @@ namespace OpenSim.Region.Physics.OdePlugin private float mAvatarObjectContactBounce = 0.1f; + private float avPIDD = 3200f; + private float avPIDP = 1400f; + private float avCapRadius = 0.37f; + private float avStandupTensor = 2000000f; + private float avDensity = 80f; + private float avHeightFudgeFactor = 0.52f; + private float avMovementDivisorWalk = 1.3f; + private float avMovementDivisorRun = 0.8f; + + private float[] _heightmap; private float[] _watermap; @@ -271,6 +281,21 @@ namespace OpenSim.Region.Physics.OdePlugin { mesher = meshmerizer; m_config = config; + // Defaults + + if (Environment.OSVersion.Platform == PlatformID.Unix) + { + avPIDD = 3200.0f; + avPIDP = 1400.0f; + avStandupTensor = 2000000f; + } + else + { + avPIDD = 2200.0f; + avPIDP = 900.0f; + avStandupTensor = 550000f; + } + if (m_config != null) { IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"]; @@ -306,6 +331,26 @@ namespace OpenSim.Region.Physics.OdePlugin ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f); m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10); + avDensity = physicsconfig.GetFloat("av_density", 80f); + avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f); + avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); + avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); + avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); + + if (Environment.OSVersion.Platform == PlatformID.Unix) + { + avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 3200.0f); + avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 1400.0f); + avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 2000000f); + } + else + { + avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f); + avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f); + avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f); + } + + } } @@ -1054,7 +1099,7 @@ namespace OpenSim.Region.Physics.OdePlugin pos.X = position.X; pos.Y = position.Y; pos.Z = position.Z; - OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size); + OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun); _characters.Add(newAv); return newAv; } -- cgit v1.1