BulletSim: improve avatar stair walking up. Add more parameters to control force

of both position change and up force that move avatars over barrier.
Default parameters are for steps up to 0.5m in height.

1 files changed, 13 insertions, 2 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 06df85e..980d405 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -128,6 +128,8 @@ public static class BSParam
         public static float AvatarStepHeight { get; private set; }
         public static float AvatarStepApproachFactor { get; private set; }
         public static float AvatarStepForceFactor { get; private set; }
+        public static float AvatarStepUpCorrectionFactor { get; private set; }
+        public static int AvatarStepSmoothingSteps { get; private set; }
 
     // Vehicle parameters
     public static float VehicleMaxLinearVelocity { get; private set; }
@@ -234,6 +236,7 @@ public static class BSParam
             objectSet = pObjSetter;
         }
         /* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work
+         * TODO: Maybe use reflection and the name of the variable to create a reference for the getter/setter.
         public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc)
             : base(pName, pDesc)
         {
@@ -561,7 +564,7 @@ public static class BSParam
             (s) => { return AvatarBelowGroundUpCorrectionMeters; },
             (s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ),
             new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
-            0.3f,
+            0.6f,
             (s) => { return AvatarStepHeight; },
             (s,v) => { AvatarStepHeight = v; } ),
             new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
@@ -569,9 +572,17 @@ public static class BSParam
             (s) => { return AvatarStepApproachFactor; },
             (s,v) => { AvatarStepApproachFactor = v; } ),
             new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
-            2.0f,
+            1.0f,
             (s) => { return AvatarStepForceFactor; },
             (s,v) => { AvatarStepForceFactor = v; } ),
+            new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
+            1.0f,
+            (s) => { return AvatarStepUpCorrectionFactor; },
+            (s,v) => { AvatarStepUpCorrectionFactor = v; } ),
+            new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
+            2,
+            (s) => { return AvatarStepSmoothingSteps; },
+            (s,v) => { AvatarStepSmoothingSteps = v; } ),
 
         new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
             1000.0f,