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authorRobert Adams2012-11-21 16:31:23 -0800
committerRobert Adams2012-11-21 16:43:53 -0800
commitcbc7e7bf85bfd9e916146b0ae4a605996c24720b (patch)
tree9873174e8174ce230b2b0e8d30c490d0b79db745
parentBulletSim: Properly position mesh terrain on creation (fixes terrain not appe... (diff)
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BulletSim: Make avatar capsule so it is not circular.
Simple attempt to make avatars better shaped. Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth' and 'avatarCapsuleDepth'. More tweeking to avatar height calculation. A little better but short avatar's feet are above the terrain and tall avatar's feet are a little below the ground.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs24
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs18
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs9
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs3
-rw-r--r--bin/OpenSimDefaults.ini3
7 files changed, 41 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 799211e..e2aa41e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -82,7 +82,13 @@ public sealed class BSCharacter : BSPhysObject
82 { 82 {
83 _physicsActorType = (int)ActorTypes.Agent; 83 _physicsActorType = (int)ActorTypes.Agent;
84 _position = pos; 84 _position = pos;
85
86 // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
87 // replace with the default values.
85 _size = size; 88 _size = size;
89 if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
90 if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
91
86 _flying = isFlying; 92 _flying = isFlying;
87 _orientation = OMV.Quaternion.Identity; 93 _orientation = OMV.Quaternion.Identity;
88 _velocity = OMV.Vector3.Zero; 94 _velocity = OMV.Vector3.Zero;
@@ -175,8 +181,7 @@ public sealed class BSCharacter : BSPhysObject
175 get 181 get
176 { 182 {
177 // Avatar capsule size is kept in the scale parameter. 183 // Avatar capsule size is kept in the scale parameter.
178 // return _size; 184 return _size;
179 return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
180 } 185 }
181 186
182 set { 187 set {
@@ -614,14 +619,19 @@ public sealed class BSCharacter : BSPhysObject
614 // The 'size' given by the simulator is the mid-point of the avatar 619 // The 'size' given by the simulator is the mid-point of the avatar
615 // and X and Y are unspecified. 620 // and X and Y are unspecified.
616 621
617 OMV.Vector3 newScale = OMV.Vector3.Zero; 622 OMV.Vector3 newScale = size;
618 newScale.X = PhysicsScene.Params.avatarCapsuleRadius; 623 // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
619 newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; 624 // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
620 625
621 // From the total height, remove the capsule half spheres that are at each end 626 // From the total height, remove the capsule half spheres that are at each end
622 // The 1.15f came from ODE. Not sure what this factors in. 627 // The 1.15f came from ODE. Not sure what this factors in.
623 newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); 628 // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
624 Scale = newScale; 629
630 // The total scale height is the central cylindar plus the caps on the two ends.
631 newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
632
633 // Convert diameters to radii and height to half height -- the way Bullet expects it.
634 Scale = newScale / 2f;
625 } 635 }
626 636
627 // set _avatarVolume and _mass based on capsule size, _density and Scale 637 // set _avatarVolume and _mass based on capsule size, _density and Scale
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2657e4b..5d16bbf 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -93,7 +93,7 @@ public sealed class BSPrim : BSPhysObject
93 _physicsActorType = (int)ActorTypes.Prim; 93 _physicsActorType = (int)ActorTypes.Prim;
94 _position = pos; 94 _position = pos;
95 _size = size; 95 _size = size;
96 Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type 96 Scale = size; // the scale will be set by CreateGeom depending on object type
97 _orientation = rotation; 97 _orientation = rotation;
98 _buoyancy = 1f; 98 _buoyancy = 1f;
99 _velocity = OMV.Vector3.Zero; 99 _velocity = OMV.Vector3.Zero;
@@ -154,6 +154,8 @@ public sealed class BSPrim : BSPhysObject
154 public override OMV.Vector3 Size { 154 public override OMV.Vector3 Size {
155 get { return _size; } 155 get { return _size; }
156 set { 156 set {
157 // We presume the scale and size are the same. If scale must be changed for
158 // the physical shape, that is done when the geometry is built.
157 _size = value; 159 _size = value;
158 ForceBodyShapeRebuild(false); 160 ForceBodyShapeRebuild(false);
159 } 161 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 0e73d04..27a78d1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1185,14 +1185,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1185 (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, 1185 (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
1186 (s) => { return s.m_params[0].avatarRestitution; }, 1186 (s) => { return s.m_params[0].avatarRestitution; },
1187 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ), 1187 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
1188 new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", 1188 new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
1189 0.37f, 1189 0.6f,
1190 (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, 1190 (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
1191 (s) => { return s.m_params[0].avatarCapsuleRadius; }, 1191 (s) => { return s.m_params[0].avatarCapsuleWidth; },
1192 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), 1192 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
1193 new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
1194 0.45f,
1195 (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
1196 (s) => { return s.m_params[0].avatarCapsuleDepth; },
1197 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
1193 new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1198 new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
1194 // 1.5f, 1199 1.5f,
1195 2.140599f,
1196 (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, 1200 (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
1197 (s) => { return s.m_params[0].avatarCapsuleHeight; }, 1201 (s) => { return s.m_params[0].avatarCapsuleHeight; },
1198 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), 1202 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index a53ad6e..869735c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -525,9 +525,6 @@ public sealed class BSShapeCollection : IDisposable
525 // release any previous shape 525 // release any previous shape
526 DereferenceShape(prim.PhysShape, true, shapeCallback); 526 DereferenceShape(prim.PhysShape, true, shapeCallback);
527 527
528 // Bullet native objects are scaled by the Bullet engine so pass the size in
529 prim.Scale = prim.Size;
530
531 BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); 528 BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
532 529
533 // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. 530 // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
@@ -547,12 +544,13 @@ public sealed class BSShapeCollection : IDisposable
547 nativeShapeData.Type = shapeType; 544 nativeShapeData.Type = shapeType;
548 nativeShapeData.ID = prim.LocalID; 545 nativeShapeData.ID = prim.LocalID;
549 nativeShapeData.Scale = prim.Scale; 546 nativeShapeData.Scale = prim.Scale;
550 nativeShapeData.Size = prim.Scale; 547 nativeShapeData.Size = prim.Scale; // unneeded, I think.
551 nativeShapeData.MeshKey = (ulong)shapeKey; 548 nativeShapeData.MeshKey = (ulong)shapeKey;
552 nativeShapeData.HullKey = (ulong)shapeKey; 549 nativeShapeData.HullKey = (ulong)shapeKey;
553 550
554 if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) 551 if (shapeType == PhysicsShapeType.SHAPE_CAPSULE)
555 { 552 {
553 // The proper scale has been calculated in the prim.
556 newShape = new BulletShape( 554 newShape = new BulletShape(
557 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) 555 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
558 , shapeType); 556 , shapeType);
@@ -560,6 +558,9 @@ public sealed class BSShapeCollection : IDisposable
560 } 558 }
561 else 559 else
562 { 560 {
561 // Native shapes are scaled in Bullet so set the scaling to the size
562 prim.Scale = prim.Size;
563 nativeShapeData.Scale = prim.Scale;
563 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); 564 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
564 } 565 }
565 if (newShape.ptr == IntPtr.Zero) 566 if (newShape.ptr == IntPtr.Zero)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 097cd3e..71fca33 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -308,7 +308,7 @@ public sealed class BSTerrainManager
308 { 308 {
309 PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 309 PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
310 LogHeader, PhysicsScene.RegionName, terrainRegionBase, 310 LogHeader, PhysicsScene.RegionName, terrainRegionBase,
311 PhysicsScene.Params.terrainImplementation); 311 (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation);
312 BSTerrainPhys newTerrainPhys = null; 312 BSTerrainPhys newTerrainPhys = null;
313 switch ((int)PhysicsScene.Params.terrainImplementation) 313 switch ((int)PhysicsScene.Params.terrainImplementation)
314 { 314 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index e218053..4647c2d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -291,7 +291,8 @@ public struct ConfigurationParameters
291 public float avatarStandingFriction; 291 public float avatarStandingFriction;
292 public float avatarDensity; 292 public float avatarDensity;
293 public float avatarRestitution; 293 public float avatarRestitution;
294 public float avatarCapsuleRadius; 294 public float avatarCapsuleWidth;
295 public float avatarCapsuleDepth;
295 public float avatarCapsuleHeight; 296 public float avatarCapsuleHeight;
296 public float avatarContactProcessingThreshold; 297 public float avatarContactProcessingThreshold;
297 298
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index c81c658..818321e 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -913,7 +913,8 @@
913 AvatarFriction = 0.2 913 AvatarFriction = 0.2
914 AvatarRestitution = 0.0 914 AvatarRestitution = 0.0
915 AvatarDensity = 60.0 915 AvatarDensity = 60.0
916 AvatarCapsuleRadius = 0.37 916 AvatarCapsuleWidth = 0.6
917 AvatarCapsuleDepth = 0.45
917 AvatarCapsuleHeight = 1.5 918 AvatarCapsuleHeight = 1.5
918 AvatarContactProcessingThreshold = 0.1 919 AvatarContactProcessingThreshold = 0.1
919 920