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authorTeravus Ovares2008-01-28 03:25:02 +0000
committerTeravus Ovares2008-01-28 03:25:02 +0000
commit5e36feada2a109ef01944eee4ed34fefdacf36a5 (patch)
tree8bf8f5216d1d3f49a0b8ea078ac281e9423ab243
parent* Highly experimental ODE_STEPSIZE = 0.025f - 1000 / 25 = 40fps - 10 substeps... (diff)
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* Mostly ODE update. Things are a bit more behaved then the last experimental update.
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/Environment/Scenes/ScenePresence.cs9
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs42
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs7
3 files changed, 47 insertions, 11 deletions
diff --git a/OpenSim/Region/Environment/Scenes/ScenePresence.cs b/OpenSim/Region/Environment/Scenes/ScenePresence.cs
index de3380a..75ccf1a 100644
--- a/OpenSim/Region/Environment/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Environment/Scenes/ScenePresence.cs
@@ -812,7 +812,10 @@ namespace OpenSim.Region.Environment.Scenes
812 } 812 }
813 813
814 if (m_physicsActor == null) 814 if (m_physicsActor == null)
815 {
815 AddToPhysicalScene(); 816 AddToPhysicalScene();
817
818 }
816 819
817 m_pos += m_parentPosition + new LLVector3(0.0f, 0.0f, 2.0f*m_sitAvatarHeight); 820 m_pos += m_parentPosition + new LLVector3(0.0f, 0.0f, 2.0f*m_sitAvatarHeight);
818 m_parentPosition = new LLVector3(); 821 m_parentPosition = new LLVector3();
@@ -820,6 +823,12 @@ namespace OpenSim.Region.Environment.Scenes
820 823
821 m_parentID = 0; 824 m_parentID = 0;
822 SendFullUpdateToAllClients(); 825 SendFullUpdateToAllClients();
826
827 if (m_physicsActor != null)
828 {
829 SetHeight(m_avHeight);
830
831 }
823 } 832 }
824 833
825 SetMovementAnimation(Animations.AnimsLLUUID["STAND"], 1); 834 SetMovementAnimation(Animations.AnimsLLUUID["STAND"], 1);
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 6bd2706..aa74509 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -112,11 +112,11 @@ namespace OpenSim.Region.Physics.OdePlugin
112 if (System.Environment.OSVersion.Platform == PlatformID.Unix) 112 if (System.Environment.OSVersion.Platform == PlatformID.Unix)
113 { 113 {
114 m_foundDebian = true; 114 m_foundDebian = true;
115 m_tensor = 1000000f; 115 m_tensor = 2000000f;
116 } 116 }
117 else 117 else
118 { 118 {
119 m_tensor = 1000000f; 119 m_tensor = 1300000f;
120 } 120 }
121 121
122 m_StandUpRotation = 122 m_StandUpRotation =
@@ -366,7 +366,17 @@ namespace OpenSim.Region.Physics.OdePlugin
366 /// <param name="npositionZ"></param> 366 /// <param name="npositionZ"></param>
367 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor) 367 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
368 { 368 {
369 369
370 if (System.Environment.OSVersion.Platform == PlatformID.Unix)
371 {
372 m_foundDebian = true;
373 m_tensor = 2000000f;
374 }
375 else
376 {
377 m_tensor = 550000f;
378 }
379
370 int dAMotorEuler = 1; 380 int dAMotorEuler = 1;
371 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); 381 Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
372 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH); 382 d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
@@ -561,7 +571,8 @@ namespace OpenSim.Region.Physics.OdePlugin
561 571
562 // If the PID Controller isn't active then we set our force 572 // If the PID Controller isn't active then we set our force
563 // calculating base velocity to the current position 573 // calculating base velocity to the current position
564 574 PID_D = 2200.0f;
575 PID_P = 900.0f;
565 576
566 if (m_pidControllerActive == false) 577 if (m_pidControllerActive == false)
567 { 578 {
@@ -599,8 +610,8 @@ namespace OpenSim.Region.Physics.OdePlugin
599 // Prim to avatar collisions 610 // Prim to avatar collisions
600 611
601 d.Vector3 pos = d.BodyGetPosition(Body); 612 d.Vector3 pos = d.BodyGetPosition(Body);
602 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * PID_P; 613 vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
603 vec.Y = (_target_velocity.Y - vel.Y)*(PID_D) + (_zeroPosition.Y - pos.Y)*PID_P; 614 vec.Y = (_target_velocity.Y - vel.Y)*(PID_D) + (_zeroPosition.Y - pos.Y)* (PID_P * 2);
604 if (flying) 615 if (flying)
605 { 616 {
606 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P; 617 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
@@ -612,12 +623,25 @@ namespace OpenSim.Region.Physics.OdePlugin
612 { 623 {
613 m_pidControllerActive = true; 624 m_pidControllerActive = true;
614 _zeroFlag = false; 625 _zeroFlag = false;
615 if (m_iscolliding || flying) 626 if (m_iscolliding && !flying)
627 {
628 // We're flying and colliding with something
629 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D);
630 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D);
631 }
632 else if (m_iscolliding && flying)
616 { 633 {
617 // We're flying and colliding with something 634 // We're flying and colliding with something
618 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*PID_D; 635 vec.X = ((_target_velocity.X/movementdivisor) - vel.X)*(PID_D / 16);
619 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*PID_D; 636 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y)*(PID_D / 16);
620 } 637 }
638 else if (!m_iscolliding && flying)
639 {
640 // We're flying and colliding with something
641 vec.X = ((_target_velocity.X / movementdivisor) - vel.X) * (PID_D/6);
642 vec.Y = ((_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D/6);
643 }
644
621 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f) 645 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
622 { 646 {
623 // We're colliding with something and we're not flying but we're moving 647 // We're colliding with something and we're not flying but we're moving
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index e22b2a1..610d4de 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -338,7 +338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
338 { 338 {
339 //This is disabled at the moment only because it needs more tweaking 339 //This is disabled at the moment only because it needs more tweaking
340 //It will eventually be uncommented 340 //It will eventually be uncommented
341 /* 341
342 if (contacts[i].depth >= 1.00f) 342 if (contacts[i].depth >= 1.00f)
343 { 343 {
344 //MainLog.Instance.Debug("PHYSICS",contacts[i].depth.ToString()); 344 //MainLog.Instance.Debug("PHYSICS",contacts[i].depth.ToString());
@@ -350,6 +350,8 @@ namespace OpenSim.Region.Physics.OdePlugin
350 (p1.PhysicsActorType == (int) ActorTypes.Agent && 350 (p1.PhysicsActorType == (int) ActorTypes.Agent &&
351 p2.PhysicsActorType == (int) ActorTypes.Prim)) 351 p2.PhysicsActorType == (int) ActorTypes.Prim))
352 { 352 {
353 //contacts[i].depth = contacts[i].depth * 4.15f;
354 /*
353 if (p2.PhysicsActorType == (int) ActorTypes.Agent) 355 if (p2.PhysicsActorType == (int) ActorTypes.Agent)
354 { 356 {
355 p2.CollidingObj = true; 357 p2.CollidingObj = true;
@@ -380,8 +382,9 @@ namespace OpenSim.Region.Physics.OdePlugin
380 382
381 //contacts[i].depth = 0.0000000f; 383 //contacts[i].depth = 0.0000000f;
382 } 384 }
385 */
383 } 386 }
384 */ 387
385 388
386 // If you interpenetrate a prim with another prim 389 // If you interpenetrate a prim with another prim
387 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim) 390 if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)