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authorTeravus Ovares2008-01-18 21:38:47 +0000
committerTeravus Ovares2008-01-18 21:38:47 +0000
commit741d136f8c44fbbaa9259438732185121841fd22 (patch)
tree818ad05f896286ada1d3ffa31b4ef946b66439a8 /OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
parentWhy don't you try compiling before you commit? (diff)
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* Return of the avatar wobble.
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/ODECharacter.cs')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs78
1 files changed, 43 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 9a37a9e..08524a7 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -73,6 +73,7 @@ namespace OpenSim.Region.Physics.OdePlugin
73 private static float POSTURE_SERVO = 10000.0f; 73 private static float POSTURE_SERVO = 10000.0f;
74 public static float CAPSULE_RADIUS = 0.37f; 74 public static float CAPSULE_RADIUS = 0.37f;
75 public float CAPSULE_LENGTH = 2.140599f; 75 public float CAPSULE_LENGTH = 2.140599f;
76 private float m_tensor = 3800000f;
76 private bool flying = false; 77 private bool flying = false;
77 private bool m_iscolliding = false; 78 private bool m_iscolliding = false;
78 private bool m_iscollidingGround = false; 79 private bool m_iscollidingGround = false;
@@ -105,10 +106,10 @@ namespace OpenSim.Region.Physics.OdePlugin
105 _position = pos; 106 _position = pos;
106 _acceleration = new PhysicsVector(); 107 _acceleration = new PhysicsVector();
107 _parent_scene = parent_scene; 108 _parent_scene = parent_scene;
108 109
109 m_StandUpRotation = 110 m_StandUpRotation =
110 new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, 111 new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
111 -0.004689182f, 0.9998941f); 112 0.5f);
112 113
113 for (int i = 0; i < 11; i++) 114 for (int i = 0; i < 11; i++)
114 { 115 {
@@ -117,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
117 118
118 lock (OdeScene.OdeLock) 119 lock (OdeScene.OdeLock)
119 { 120 {
120 AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z); 121 AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z, m_tensor);
121 } 122 }
122 m_name = avName; 123 m_name = avName;
123 parent_scene.geom_name_map[Shell] = avName; 124 parent_scene.geom_name_map[Shell] = avName;
@@ -325,7 +326,7 @@ namespace OpenSim.Region.Physics.OdePlugin
325 m_pidControllerActive = true; 326 m_pidControllerActive = true;
326 lock (OdeScene.OdeLock) 327 lock (OdeScene.OdeLock)
327 { 328 {
328 d.JointDestroy(Amotor); 329 //d.JointDestroy(Amotor);
329 330
330 PhysicsVector SetSize = value; 331 PhysicsVector SetSize = value;
331 float prevCapsule = CAPSULE_LENGTH; 332 float prevCapsule = CAPSULE_LENGTH;
@@ -337,7 +338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
337 d.BodyDestroy(Body); 338 d.BodyDestroy(Body);
338 d.GeomDestroy(Shell); 339 d.GeomDestroy(Shell);
339 AvatarGeomAndBodyCreation(_position.X, _position.Y, 340 AvatarGeomAndBodyCreation(_position.X, _position.Y,
340 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule)*2)); 341 _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
341 Velocity = new PhysicsVector(0f, 0f, 0f); 342 Velocity = new PhysicsVector(0f, 0f, 0f);
342 343
343 } 344 }
@@ -351,7 +352,7 @@ namespace OpenSim.Region.Physics.OdePlugin
351 /// <param name="npositionX"></param> 352 /// <param name="npositionX"></param>
352 /// <param name="npositionY"></param> 353 /// <param name="npositionY"></param>
353 /// <param name="npositionZ"></param> 354 /// <param name="npositionZ"></param>
354 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) 355 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
355 { 356 {
356 357
357 int dAMotorEuler = 1; 358 int dAMotorEuler = 1;
@@ -361,44 +362,49 @@ namespace OpenSim.Region.Physics.OdePlugin
361 d.BodySetPosition(Body, npositionX, npositionY, npositionZ); 362 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
362 363
363 d.BodySetMass(Body, ref ShellMass); 364 d.BodySetMass(Body, ref ShellMass);
364 365 d.Matrix3 m_caprot;
365 // 90 Stand up on the cap of the capped cyllinder 366 // 90 Stand up on the cap of the capped cyllinder
366 d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 1, (float)(Math.PI / 2)); 367 //d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
367 368
368 369
369 d.GeomSetRotation(Shell, ref m_StandUpRotation); 370 //d.GeomSetRotation(Shell, ref m_caprot);
370 d.BodySetRotation(Body, ref m_StandUpRotation); 371 //d.BodySetRotation(Body, ref m_caprot);
371 372
372 d.GeomSetBody(Shell, Body); 373 d.GeomSetBody(Shell, Body);
373 374
374 375
375 // The purpose of the AMotor here is to keep the avatar's physical 376 // The purpose of the AMotor here is to keep the avatar's physical
376 // surrogate from rotating while moving 377 // surrogate from rotating while moving
377 Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); 378 //Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
378 d.JointAttach(Amotor, Body, IntPtr.Zero); 379 //d.JointAttach(Amotor, Body, IntPtr.Zero);
379 d.JointSetAMotorMode(Amotor, dAMotorEuler); 380 ///d.JointSetAMotorMode(Amotor, dAMotorEuler);
380 d.JointSetAMotorNumAxes(Amotor, 3); 381 //d.JointSetAMotorNumAxes(Amotor, 3);
381 d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0); 382 //d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
382 d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0); 383 //d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
383 d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1); 384 //d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
384 d.JointSetAMotorAngle(Amotor, 0, 0); 385 //d.JointSetAMotorAngle(Amotor, 0, 0);
385 d.JointSetAMotorAngle(Amotor, 1, 0); 386 //d.JointSetAMotorAngle(Amotor, 1, 0);
386 d.JointSetAMotorAngle(Amotor, 2, 0); 387 //d.JointSetAMotorAngle(Amotor, 2, 0);
387 388
388 // These lowstops and high stops are effectively (no wiggle room) 389 // These lowstops and high stops are effectively (no wiggle room)
389 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f); 390 //d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
390 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f); 391 //d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
391 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f); 392 //d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
392 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f); 393 //d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
393 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f); 394 //d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
394 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f); 395 //d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
395 396
396 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the 397 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
397 // capped cyllinder will fall over 398 // capped cyllinder will fall over
398 d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); 399 //d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
399 d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f); 400 //d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
400 401
401 standupStraight(); 402 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
403 //d.QfromR(
404 //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
405 //
406 //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
407 //standupStraight();
402 408
403 409
404 410
@@ -435,8 +441,8 @@ namespace OpenSim.Region.Physics.OdePlugin
435 float servo = (2.5f - posture) * POSTURE_SERVO; 441 float servo = (2.5f - posture) * POSTURE_SERVO;
436 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); 442 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
437 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); 443 d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
438 d.Matrix3 bodyrotation = d.BodyGetRotation(Body); 444 //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
439 OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22); 445 //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
440 } 446 }
441 447
442 public override PhysicsVector Force 448 public override PhysicsVector Force
@@ -521,7 +527,9 @@ namespace OpenSim.Region.Physics.OdePlugin
521 if (!collidelock) 527 if (!collidelock)
522 { 528 {
523 d.BodyAddForce(Body, force.X, force.Y, force.Z); 529 d.BodyAddForce(Body, force.X, force.Y, force.Z);
524 //standupStraight(); 530 //d.BodySetRotation(Body, ref m_StandUpRotation);
531 standupStraight();
532
525 } 533 }
526 } 534 }
527 535
@@ -713,7 +721,7 @@ namespace OpenSim.Region.Physics.OdePlugin
713 lock (OdeScene.OdeLock) 721 lock (OdeScene.OdeLock)
714 { 722 {
715 // Kill the Amotor 723 // Kill the Amotor
716 d.JointDestroy(Amotor); 724 //d.JointDestroy(Amotor);
717 725
718 //kill the Geometry 726 //kill the Geometry
719 d.GeomDestroy(Shell); 727 d.GeomDestroy(Shell);