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authornlin2009-07-08 01:41:05 +0000
committernlin2009-07-08 01:41:05 +0000
commit0ec6dfb1a1bfcbe70b40927fabca956782aa2a8c (patch)
tree039a2e269c8ed6bee86c3a87e52611aba670416d /OpenSim/Region/Physics/OdePlugin
parentA stab at fixong a Windows build break (diff)
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Experimental fix for tilted avatar capsule, Mantis #2905
Set av_capsule_tilted to false in opensim.ini. Default is true, so there is no change in avatar behavior (and no breaking of existing content which relies on the tilted capsule). This commit straightens up the avatar capsule so it behaves consistently (e.g. same collision behavior against prims regardless of which direction the avatar is coming from; ability to fit through narrow doorways). Please note this introduces other side effects which have not been fixed. In particular: * The avatar frequently falls through the terrain if it is not flat, though the avatar behaves pretty well on flat terrain. This requires investigation of the ode terrain collider. * The apparent foot position of the avatar with respect to the ground is changed. This requires investigation of the avatar height/capsule height. Please consider this as work in progress.
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs33
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs3
2 files changed, 29 insertions, 7 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index e5e7d07..b832e0a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -519,7 +519,14 @@ namespace OpenSim.Region.Physics.OdePlugin
519 d.BodySetMass(Body, ref ShellMass); 519 d.BodySetMass(Body, ref ShellMass);
520 d.Matrix3 m_caprot; 520 d.Matrix3 m_caprot;
521 // 90 Stand up on the cap of the capped cyllinder 521 // 90 Stand up on the cap of the capped cyllinder
522 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2)); 522 if (_parent_scene.IsAvCapsuleTilted)
523 {
524 d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
525 }
526 else
527 {
528 d.RFromAxisAndAngle(out m_caprot, 0, 0, 1, (float)(Math.PI / 2));
529 }
523 530
524 531
525 d.GeomSetRotation(Shell, ref m_caprot); 532 d.GeomSetRotation(Shell, ref m_caprot);
@@ -542,12 +549,24 @@ namespace OpenSim.Region.Physics.OdePlugin
542 d.JointSetAMotorAngle(Amotor, 2, 0); 549 d.JointSetAMotorAngle(Amotor, 2, 0);
543 550
544 // These lowstops and high stops are effectively (no wiggle room) 551 // These lowstops and high stops are effectively (no wiggle room)
545 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f); 552 if (_parent_scene.IsAvCapsuleTilted)
546 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f); 553 {
547 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f); 554 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
548 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f); 555 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
549 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f); 556 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
550 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f); 557 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
558 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
559 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
560 }
561 else
562 {
563 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0);
564 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0);
565 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0);
566 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0);
567 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0);
568 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0);
569 }
551 570
552 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the 571 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
553 // capped cyllinder will fall over 572 // capped cyllinder will fall over
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0f92358..889afb6 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -199,6 +199,8 @@ namespace OpenSim.Region.Physics.OdePlugin
199 private float avPIDP = 1400f; 199 private float avPIDP = 1400f;
200 private float avCapRadius = 0.37f; 200 private float avCapRadius = 0.37f;
201 private float avStandupTensor = 2000000f; 201 private float avStandupTensor = 2000000f;
202 private bool avCapsuleTilted = true; // true = old compatibility mode with leaning capsule; false = new corrected mode
203 public bool IsAvCapsuleTilted { get { return avCapsuleTilted; } set { avCapsuleTilted = value; } }
202 private float avDensity = 80f; 204 private float avDensity = 80f;
203 private float avHeightFudgeFactor = 0.52f; 205 private float avHeightFudgeFactor = 0.52f;
204 private float avMovementDivisorWalk = 1.3f; 206 private float avMovementDivisorWalk = 1.3f;
@@ -426,6 +428,7 @@ namespace OpenSim.Region.Physics.OdePlugin
426 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f); 428 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
427 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f); 429 avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
428 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f); 430 avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
431 avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", true);
429 432
430 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); 433 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
431 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); 434 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);