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author | Robert Adams | 2015-01-07 06:39:29 -0800 |
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committer | Robert Adams | 2015-01-07 06:39:29 -0800 |
commit | 700543b161f653ea41faf3d125a1eb9be389ec23 (patch) | |
tree | 719c9f864ecbeb5ee5f1cbaece208d440946a6f7 /OpenSim/Region/Physics/BulletSPlugin | |
parent | Donation of robust network connectors for estate service, as promised. This a... (diff) | |
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BulletSim: tweek step parameters and logic to make walking up steps
closer to SL. This change should address small floor edges acting like
walls, approaching a step at any angle (other than walking backwards)
will allow walking up, and reducing the avatar pop-up when going up
stairs.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 26 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 14 |
2 files changed, 28 insertions, 12 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 8e998ba..9bbba40 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | |||
@@ -341,7 +341,7 @@ public class BSActorAvatarMove : BSActor | |||
341 | // float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f; | 341 | // float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f; |
342 | // Note: there is a problem with the computation of the capsule height. Thus RawPosition is off | 342 | // Note: there is a problem with the computation of the capsule height. Thus RawPosition is off |
343 | // from the height. Revisit size and this computation when height is scaled properly. | 343 | // from the height. Revisit size and this computation when height is scaled properly. |
344 | float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - 0.05f; | 344 | float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - BSParam.AvatarStepGroundFudge; |
345 | float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; | 345 | float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; |
346 | 346 | ||
347 | // Look for a collision point that is near the character's feet and is oriented the same as the charactor is. | 347 | // Look for a collision point that is near the character's feet and is oriented the same as the charactor is. |
@@ -363,15 +363,25 @@ public class BSActorAvatarMove : BSActor | |||
363 | if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) | 363 | if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) |
364 | { | 364 | { |
365 | // This contact is within the 'near the feet' range. | 365 | // This contact is within the 'near the feet' range. |
366 | // The normal should be our contact point to the object so it is pointing away | 366 | // The step is presumed to be more or less vertical. Thus the Z component should |
367 | // thus the difference between our facing orientation and the normal should be small. | 367 | // be nearly horizontal. |
368 | OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; | 368 | OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; |
369 | OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); | 369 | OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); |
370 | float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); | 370 | const float PIOver2 = 1.571f; // Used to make unit vector axis into approx radian angles |
371 | if (diff < BSParam.AvatarStepApproachFactor) | 371 | // m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,avNormal={1},colNormal={2},diff={3}", |
372 | // m_controllingPrim.LocalID, directionFacing, touchNormal, | ||
373 | // Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)) ); | ||
374 | if ((Math.Abs(directionFacing.Z) * PIOver2) < BSParam.AvatarStepAngle | ||
375 | && (Math.Abs(touchNormal.Z) * PIOver2) < BSParam.AvatarStepAngle) | ||
372 | { | 376 | { |
373 | if (highestTouchPosition.Z < touchPosition.Z) | 377 | // The normal should be our contact point to the object so it is pointing away |
374 | highestTouchPosition = touchPosition; | 378 | // thus the difference between our facing orientation and the normal should be small. |
379 | float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); | ||
380 | if (diff < BSParam.AvatarStepApproachFactor) | ||
381 | { | ||
382 | if (highestTouchPosition.Z < touchPosition.Z) | ||
383 | highestTouchPosition = touchPosition; | ||
384 | } | ||
375 | } | 385 | } |
376 | } | 386 | } |
377 | } | 387 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index e7f4def..ef75e3f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | |||
@@ -153,6 +153,8 @@ public static class BSParam | |||
153 | public static int AvatarJumpFrames { get; private set; } | 153 | public static int AvatarJumpFrames { get; private set; } |
154 | public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } | 154 | public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } |
155 | public static float AvatarStepHeight { get; private set; } | 155 | public static float AvatarStepHeight { get; private set; } |
156 | public static float AvatarStepAngle { get; private set; } | ||
157 | public static float AvatarStepGroundFudge { get; private set; } | ||
156 | public static float AvatarStepApproachFactor { get; private set; } | 158 | public static float AvatarStepApproachFactor { get; private set; } |
157 | public static float AvatarStepForceFactor { get; private set; } | 159 | public static float AvatarStepForceFactor { get; private set; } |
158 | public static float AvatarStepUpCorrectionFactor { get; private set; } | 160 | public static float AvatarStepUpCorrectionFactor { get; private set; } |
@@ -614,13 +616,17 @@ public static class BSParam | |||
614 | new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", | 616 | new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", |
615 | 4 ), | 617 | 4 ), |
616 | new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction", | 618 | new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction", |
617 | 0.6f ) , | 619 | 0.999f ) , |
620 | new ParameterDefn<float>("AvatarStepAngle", "The angle (in radians) for a vertical surface to be considered a step", | ||
621 | 0.3f ) , | ||
622 | new ParameterDefn<float>("AvatarStepGroundFudge", "Fudge factor subtracted from avatar base when comparing collision height", | ||
623 | 0.1f ) , | ||
618 | new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", | 624 | new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", |
619 | 0.6f ), | 625 | 2f ), |
620 | new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", | 626 | new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", |
621 | 1.0f ), | 627 | 0f ), |
622 | new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step", | 628 | new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step", |
623 | 2.0f ), | 629 | 0.8f ), |
624 | new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs", | 630 | new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs", |
625 | 1 ), | 631 | 1 ), |
626 | 632 | ||