diff options
author | John Hurliman | 2009-09-30 15:28:23 -0700 |
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committer | John Hurliman | 2009-09-30 15:28:23 -0700 |
commit | acfe2d9f4e5a55d38b16cac7d0d0a25b64b6b009 (patch) | |
tree | 305349e1bd0a5849fd7f96483e24d5e07b24b8f4 /OpenSim/Region/Physics/OdePlugin | |
parent | * Adding Scale to EntityBase * Fixing the incorrect initialization of EntityB... (diff) | |
parent | Formatting cleanup. (diff) | |
download | opensim-SC_OLD-acfe2d9f4e5a55d38b16cac7d0d0a25b64b6b009.zip opensim-SC_OLD-acfe2d9f4e5a55d38b16cac7d0d0a25b64b6b009.tar.gz opensim-SC_OLD-acfe2d9f4e5a55d38b16cac7d0d0a25b64b6b009.tar.bz2 opensim-SC_OLD-acfe2d9f4e5a55d38b16cac7d0d0a25b64b6b009.tar.xz |
Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 132 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 17 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs | 2 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 10 |
4 files changed, 81 insertions, 80 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index dd58a4e..a00ba11 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
@@ -107,6 +107,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
107 | public float MinimumGroundFlightOffset = 3f; | 107 | public float MinimumGroundFlightOffset = 3f; |
108 | 108 | ||
109 | private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. | 109 | private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. |
110 | private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider | ||
110 | 111 | ||
111 | 112 | ||
112 | private float m_buoyancy = 0f; | 113 | private float m_buoyancy = 0f; |
@@ -477,7 +478,71 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
477 | } | 478 | } |
478 | } | 479 | } |
479 | } | 480 | } |
480 | 481 | ||
482 | private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector) | ||
483 | { | ||
484 | movementVector.Z = 0f; | ||
485 | float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y)); | ||
486 | if (magnitude < 0.1f) return; | ||
487 | |||
488 | // normalize the velocity vector | ||
489 | float invMagnitude = 1.0f / magnitude; | ||
490 | movementVector.X *= invMagnitude; | ||
491 | movementVector.Y *= invMagnitude; | ||
492 | |||
493 | // if we change the capsule heading too often, the capsule can fall down | ||
494 | // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw), | ||
495 | // meaning only 4 possible capsule tilt orientations | ||
496 | if (movementVector.X > 0) | ||
497 | { | ||
498 | // east | ||
499 | if (movementVector.Y > 0) | ||
500 | { | ||
501 | // northeast | ||
502 | movementVector.X = (float)Math.Sqrt(2.0); | ||
503 | movementVector.Y = (float)Math.Sqrt(2.0); | ||
504 | } | ||
505 | else | ||
506 | { | ||
507 | // southeast | ||
508 | movementVector.X = (float)Math.Sqrt(2.0); | ||
509 | movementVector.Y = -(float)Math.Sqrt(2.0); | ||
510 | } | ||
511 | } | ||
512 | else | ||
513 | { | ||
514 | // west | ||
515 | if (movementVector.Y > 0) | ||
516 | { | ||
517 | // northwest | ||
518 | movementVector.X = -(float)Math.Sqrt(2.0); | ||
519 | movementVector.Y = (float)Math.Sqrt(2.0); | ||
520 | } | ||
521 | else | ||
522 | { | ||
523 | // southwest | ||
524 | movementVector.X = -(float)Math.Sqrt(2.0); | ||
525 | movementVector.Y = -(float)Math.Sqrt(2.0); | ||
526 | } | ||
527 | } | ||
528 | |||
529 | |||
530 | // movementVector.Z is zero | ||
531 | |||
532 | // calculate tilt components based on desired amount of tilt and current (snapped) heading. | ||
533 | // the "-" sign is to force the tilt to be OPPOSITE the direction of movement. | ||
534 | float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane; | ||
535 | float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane; | ||
536 | |||
537 | //m_log.Debug("[PHYSICS] changing avatar tilt"); | ||
538 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent); | ||
539 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced | ||
540 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent); | ||
541 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop | ||
542 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f); | ||
543 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop | ||
544 | } | ||
545 | |||
481 | /// <summary> | 546 | /// <summary> |
482 | /// This creates the Avatar's physical Surrogate at the position supplied | 547 | /// This creates the Avatar's physical Surrogate at the position supplied |
483 | /// </summary> | 548 | /// </summary> |
@@ -576,71 +641,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
576 | // (with -0..0 motor stops) falls into the terrain for reasons yet | 641 | // (with -0..0 motor stops) falls into the terrain for reasons yet |
577 | // to be comprehended in their entirety. | 642 | // to be comprehended in their entirety. |
578 | #endregion | 643 | #endregion |
644 | AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0)); | ||
579 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); | 645 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); |
580 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); | 646 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); |
581 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); | 647 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); |
582 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced | 648 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced |
583 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop | 649 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop |
584 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop | 650 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop |
585 | #region Documentation of capsule motor StopERP and StopCFM parameters | ||
586 | // In addition to the above tilt, we allow a dynamic tilt, or | ||
587 | // wobble, to emerge as the capsule is pushed around the environment. | ||
588 | // We do this with an experimentally determined combination of | ||
589 | // StopERP and StopCFM which make the above motor stops soft. | ||
590 | // The softness of the stops should be tweaked according to two | ||
591 | // requirements: | ||
592 | // | ||
593 | // 1. Motor stops should be weak enough to allow enough wobble such | ||
594 | // that the capsule can tilt slightly more when moving, to allow | ||
595 | // "gliding" over obstacles: | ||
596 | // | ||
597 | // | ||
598 | // .-. | ||
599 | // / / | ||
600 | // / / | ||
601 | // _ / / _ | ||
602 | // / \ .-. / / / \ | ||
603 | // | | ----> / / / / | | | ||
604 | // | | / / `-' | | | ||
605 | // | | / / +------+ | | | ||
606 | // | | / / | | | | | ||
607 | // | | / / | | | | | ||
608 | // \_/ `-' +------+ \_/ | ||
609 | // ---------------------------------------------------------- | ||
610 | // | ||
611 | // Note that requirement 1 is made complicated by the ever-present | ||
612 | // slight avatar tilt (assigned in the above code to prevent avatar | ||
613 | // from falling through terrain), which introduces a direction-dependent | ||
614 | // bias into the wobble (wobbling against the existing tilt is harder | ||
615 | // than wobbling with the tilt), which makes it easier to walk over | ||
616 | // prims from some directions. I have tried to minimize this effect by | ||
617 | // minimizing the avatar tilt to the minimum that prevents the avatar from | ||
618 | // falling through the terrain. | ||
619 | // | ||
620 | // 2. Motor stops should be strong enough to prevent the capsule | ||
621 | // from being forced all the way to the ground; otherwise the | ||
622 | // capsule could slip underneath obstacles like this: | ||
623 | // _ _ | ||
624 | // / \ +------+ / \ | ||
625 | // | | ----> | | | | | ||
626 | // | | | | | | | ||
627 | // | | .--.___ +------+ | | | ||
628 | // | | `--.__`--.__ | | | ||
629 | // | | `--.__`--. | | | ||
630 | // \_/ `--' \_/ | ||
631 | // ---------------------------------------------------------- | ||
632 | // | ||
633 | // | ||
634 | // It is strongly recommended you enable USE_DRAWSTUFF if you want to | ||
635 | // tweak these values, to see how the capsule is reacting in various | ||
636 | // situations. | ||
637 | #endregion | ||
638 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0.0035f); | ||
639 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0.0035f); | ||
640 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0.0035f); | ||
641 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f); | ||
642 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f); | ||
643 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f); | ||
644 | } | 651 | } |
645 | 652 | ||
646 | // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the | 653 | // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the |
@@ -939,6 +946,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
939 | 946 | ||
940 | PhysicsVector vec = new PhysicsVector(); | 947 | PhysicsVector vec = new PhysicsVector(); |
941 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 948 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
949 | |||
942 | float movementdivisor = 1f; | 950 | float movementdivisor = 1f; |
943 | 951 | ||
944 | if (!m_alwaysRun) | 952 | if (!m_alwaysRun) |
@@ -1052,6 +1060,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1052 | if (PhysicsVector.isFinite(vec)) | 1060 | if (PhysicsVector.isFinite(vec)) |
1053 | { | 1061 | { |
1054 | doForce(vec); | 1062 | doForce(vec); |
1063 | if (!_zeroFlag) | ||
1064 | { | ||
1065 | AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z)); | ||
1066 | } | ||
1055 | } | 1067 | } |
1056 | else | 1068 | else |
1057 | { | 1069 | { |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 673ae39..032b5df 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -82,7 +82,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
82 | 82 | ||
83 | // private float m_tensor = 5f; | 83 | // private float m_tensor = 5f; |
84 | private int body_autodisable_frames = 20; | 84 | private int body_autodisable_frames = 20; |
85 | private IMesh primMesh = null; | ||
86 | 85 | ||
87 | 86 | ||
88 | private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom | 87 | private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom |
@@ -814,14 +813,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
814 | } | 813 | } |
815 | } | 814 | } |
816 | 815 | ||
817 | IMesh oldMesh = primMesh; | 816 | float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory |
817 | int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage | ||
818 | 818 | ||
819 | primMesh = mesh; | 819 | mesh.releaseSourceMeshData(); // free up the original mesh data to save memory |
820 | |||
821 | float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory | ||
822 | int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage | ||
823 | |||
824 | primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory | ||
825 | 820 | ||
826 | int VertexCount = vertexList.GetLength(0)/3; | 821 | int VertexCount = vertexList.GetLength(0)/3; |
827 | int IndexCount = indexList.GetLength(0); | 822 | int IndexCount = indexList.GetLength(0); |
@@ -847,12 +842,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
847 | return; | 842 | return; |
848 | } | 843 | } |
849 | 844 | ||
850 | if (oldMesh != null) | ||
851 | { | ||
852 | oldMesh.releasePinned(); | ||
853 | oldMesh = null; | ||
854 | } | ||
855 | |||
856 | // if (IsPhysical && Body == (IntPtr) 0) | 845 | // if (IsPhysical && Body == (IntPtr) 0) |
857 | // { | 846 | // { |
858 | // Recreate the body | 847 | // Recreate the body |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs index d9f4951..c8ae229 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs | |||
@@ -228,7 +228,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
228 | mono [0x81d28b6] | 228 | mono [0x81d28b6] |
229 | mono [0x81ea2c6] | 229 | mono [0x81ea2c6] |
230 | /lib/i686/cmov/libpthread.so.0 [0xb7e744c0] | 230 | /lib/i686/cmov/libpthread.so.0 [0xb7e744c0] |
231 | /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de] | 231 | /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de] |
232 | */ | 232 | */ |
233 | 233 | ||
234 | // Exclude heightfield geom | 234 | // Exclude heightfield geom |
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index 94223d8..0769c90 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | |||
@@ -2536,7 +2536,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2536 | 2536 | ||
2537 | if (iPropertiesNotSupportedDefault == 0) | 2537 | if (iPropertiesNotSupportedDefault == 0) |
2538 | { | 2538 | { |
2539 | #if SPAM | 2539 | #if SPAM |
2540 | m_log.Warn("NonMesh"); | 2540 | m_log.Warn("NonMesh"); |
2541 | #endif | 2541 | #endif |
2542 | return false; | 2542 | return false; |
@@ -3334,7 +3334,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
3334 | { | 3334 | { |
3335 | // this._heightmap[i] = (double)heightMap[i]; | 3335 | // this._heightmap[i] = (double)heightMap[i]; |
3336 | // dbm (danx0r) -- creating a buffer zone of one extra sample all around | 3336 | // dbm (danx0r) -- creating a buffer zone of one extra sample all around |
3337 | //_origheightmap = heightMap; | 3337 | //_origheightmap = heightMap; |
3338 | 3338 | ||
3339 | float[] _heightmap; | 3339 | float[] _heightmap; |
3340 | 3340 | ||
@@ -3520,16 +3520,16 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
3520 | 3520 | ||
3521 | d.GeomDestroy(g); | 3521 | d.GeomDestroy(g); |
3522 | //removingHeightField = new float[0]; | 3522 | //removingHeightField = new float[0]; |
3523 | } | 3523 | } |
3524 | } | 3524 | } |
3525 | } | 3525 | } |
3526 | else | 3526 | else |
3527 | { | 3527 | { |
3528 | m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); | 3528 | m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data."); |
3529 | } | 3529 | } |
3530 | } | 3530 | } |
3531 | } | 3531 | } |
3532 | } | 3532 | } |
3533 | 3533 | ||
3534 | public override void SetWaterLevel(float baseheight) | 3534 | public override void SetWaterLevel(float baseheight) |
3535 | { | 3535 | { |