diff options
author | UbitUmarov | 2014-07-19 16:16:13 +0100 |
---|---|---|
committer | UbitUmarov | 2014-07-19 16:16:13 +0100 |
commit | 9654b81b2d73e524ad5541bc38440949f4952bad (patch) | |
tree | 0a01acced983aa2ee40049471a1992177c5a3e23 /OpenSim/Region/Physics | |
parent | reduce avatar hover in basic ode plugin (diff) | |
download | opensim-SC_OLD-9654b81b2d73e524ad5541bc38440949f4952bad.zip opensim-SC_OLD-9654b81b2d73e524ad5541bc38440949f4952bad.tar.gz opensim-SC_OLD-9654b81b2d73e524ad5541bc38440949f4952bad.tar.bz2 opensim-SC_OLD-9654b81b2d73e524ad5541bc38440949f4952bad.tar.xz |
revert to capsule representation of avatar collider
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 325 |
1 files changed, 28 insertions, 297 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs index e912997..ecd5474 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | |||
@@ -95,10 +95,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
95 | 95 | ||
96 | private float m_feetOffset = 0; | 96 | private float m_feetOffset = 0; |
97 | private float feetOff = 0; | 97 | private float feetOff = 0; |
98 | private float feetSZ = 0.5f; | ||
99 | const float feetScale = 0.8f; | ||
100 | private float boneOff = 0; | 98 | private float boneOff = 0; |
101 | private float m_lastVelocitySqr = 0; | ||
102 | 99 | ||
103 | public float walkDivisor = 1.3f; | 100 | public float walkDivisor = 1.3f; |
104 | public float runDivisor = 0.8f; | 101 | public float runDivisor = 0.8f; |
@@ -110,7 +107,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
110 | 107 | ||
111 | private bool _zeroFlag = false; | 108 | private bool _zeroFlag = false; |
112 | 109 | ||
113 | private int m_requestedUpdateFrequency = 0; | ||
114 | private uint m_localID = 0; | 110 | private uint m_localID = 0; |
115 | public bool m_returnCollisions = false; | 111 | public bool m_returnCollisions = false; |
116 | // taints and their non-tainted counterparts | 112 | // taints and their non-tainted counterparts |
@@ -127,7 +123,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
127 | int m_colliderfilter = 0; | 123 | int m_colliderfilter = 0; |
128 | int m_colliderGroundfilter = 0; | 124 | int m_colliderGroundfilter = 0; |
129 | int m_colliderObjectfilter = 0; | 125 | int m_colliderObjectfilter = 0; |
130 | bool m_collisionException = false; | ||
131 | 126 | ||
132 | // Default we're a Character | 127 | // Default we're a Character |
133 | private CollisionCategories m_collisionCategories = (CollisionCategories.Character); | 128 | private CollisionCategories m_collisionCategories = (CollisionCategories.Character); |
@@ -140,9 +135,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
140 | // we do land collisions not ode | CollisionCategories.Land); | 135 | // we do land collisions not ode | CollisionCategories.Land); |
141 | public IntPtr Body = IntPtr.Zero; | 136 | public IntPtr Body = IntPtr.Zero; |
142 | private OdeScene _parent_scene; | 137 | private OdeScene _parent_scene; |
143 | private IntPtr topbox = IntPtr.Zero; | 138 | private IntPtr capsule = IntPtr.Zero; |
144 | private IntPtr midbox = IntPtr.Zero; | ||
145 | private IntPtr feetbox = IntPtr.Zero; | ||
146 | private IntPtr bbox = IntPtr.Zero; | 139 | private IntPtr bbox = IntPtr.Zero; |
147 | public IntPtr collider = IntPtr.Zero; | 140 | public IntPtr collider = IntPtr.Zero; |
148 | 141 | ||
@@ -150,9 +143,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
150 | 143 | ||
151 | public d.Mass ShellMass; | 144 | public d.Mass ShellMass; |
152 | 145 | ||
153 | |||
154 | |||
155 | |||
156 | public int m_eventsubscription = 0; | 146 | public int m_eventsubscription = 0; |
157 | private int m_cureventsubscription = 0; | 147 | private int m_cureventsubscription = 0; |
158 | private CollisionEventUpdate CollisionEventsThisFrame = null; | 148 | private CollisionEventUpdate CollisionEventsThisFrame = null; |
@@ -214,8 +204,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
214 | // force lower density for testing | 204 | // force lower density for testing |
215 | m_density = 3.0f; | 205 | m_density = 3.0f; |
216 | 206 | ||
217 | m_density *= 1.4f; // scale to have mass similar to capsule | ||
218 | |||
219 | mu = parent_scene.AvatarFriction; | 207 | mu = parent_scene.AvatarFriction; |
220 | 208 | ||
221 | walkDivisor = walk_divisor; | 209 | walkDivisor = walk_divisor; |
@@ -704,58 +692,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
704 | AddChange(changes.Momentum, momentum); | 692 | AddChange(changes.Momentum, momentum); |
705 | } | 693 | } |
706 | 694 | ||
707 | private void ajustCollider() | ||
708 | { | ||
709 | float vq = _velocity.LengthSquared(); | ||
710 | if (m_lastVelocitySqr != vq) | ||
711 | { | ||
712 | m_lastVelocitySqr = vq; | ||
713 | if (vq > 100.0f) | ||
714 | { | ||
715 | Vector3 off = _velocity; | ||
716 | float t = 0.5f * timeStep; | ||
717 | off = off * t; | ||
718 | d.Quaternion qtmp; | ||
719 | d.GeomCopyQuaternion(bbox, out qtmp); | ||
720 | Quaternion q; | ||
721 | q.X = qtmp.X; | ||
722 | q.Y = qtmp.Y; | ||
723 | q.Z = qtmp.Z; | ||
724 | q.W = qtmp.W; | ||
725 | off *= Quaternion.Conjugate(q); | ||
726 | |||
727 | d.GeomSetOffsetPosition(bbox, off.X, off.Y, off.Z); | ||
728 | |||
729 | off.X = 2.0f * (m_size.X + Math.Abs(off.X)); | ||
730 | off.Y = 2.0f * (m_size.Y + Math.Abs(off.Y)); | ||
731 | off.Z = m_size.Z + 2.0f * Math.Abs(off.Z); | ||
732 | d.GeomBoxSetLengths(bbox, off.X, off.Y, off.Z); | ||
733 | |||
734 | d.GeomSetCategoryBits(bbox, (uint)m_collisionCategories); | ||
735 | d.GeomSetCollideBits(bbox, (uint)m_collisionFlags); | ||
736 | d.GeomSetCategoryBits(topbox, 0); | ||
737 | d.GeomSetCollideBits(topbox, 0); | ||
738 | d.GeomSetCategoryBits(midbox, 0); | ||
739 | d.GeomSetCollideBits(midbox, 0); | ||
740 | d.GeomSetCategoryBits(feetbox, 0); | ||
741 | d.GeomSetCollideBits(feetbox, 0); | ||
742 | } | ||
743 | else | ||
744 | { | ||
745 | d.GeomSetCategoryBits(bbox, 0); | ||
746 | d.GeomSetCollideBits(bbox, 0); | ||
747 | d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories); | ||
748 | d.GeomSetCollideBits(topbox, (uint)m_collisionFlags); | ||
749 | d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories); | ||
750 | d.GeomSetCollideBits(midbox, (uint)m_collisionFlags); | ||
751 | d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories); | ||
752 | d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags); | ||
753 | } | ||
754 | uint cat1 = d.GeomGetCategoryBits(bbox); | ||
755 | uint col1 = d.GeomGetCollideBits(bbox); | ||
756 | |||
757 | } | ||
758 | } | ||
759 | 695 | ||
760 | private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) | 696 | private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) |
761 | { | 697 | { |
@@ -764,37 +700,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
764 | float sy = m_size.Y; | 700 | float sy = m_size.Y; |
765 | float sz = m_size.Z; | 701 | float sz = m_size.Z; |
766 | 702 | ||
767 | float topsx = sx * 0.9f; | 703 | float bot = -sz * 0.5f + m_feetOffset; |
768 | float midsx = sx; | 704 | boneOff = bot + 0.3f; |
769 | float feetsx = sx * feetScale; | ||
770 | float bonesx = sx * 0.2f; | ||
771 | |||
772 | float topsy = sy * 0.4f; | ||
773 | float midsy = sy; | ||
774 | float feetsy = sy * feetScale * 0.8f; | ||
775 | float bonesy = feetsy * 0.2f; | ||
776 | 705 | ||
777 | float topsz = sz * 0.15f; | ||
778 | float feetsz = sz * 0.45f; | 706 | float feetsz = sz * 0.45f; |
779 | if (feetsz > 0.6f) | 707 | if (feetsz > 0.6f) |
780 | feetsz = 0.6f; | 708 | feetsz = 0.6f; |
781 | 709 | ||
782 | float midsz = sz - topsz - feetsz; | 710 | feetOff = bot + feetsz; |
783 | float bonesz = sz; | ||
784 | |||
785 | float bot = -sz * 0.5f + m_feetOffset; | ||
786 | |||
787 | boneOff = bot + 0.3f; | ||
788 | |||
789 | float feetz = bot + feetsz * 0.5f; | ||
790 | bot += feetsz; | ||
791 | |||
792 | feetOff = bot; | ||
793 | feetSZ = feetsz; | ||
794 | |||
795 | float midz = bot + midsz * 0.5f; | ||
796 | bot += midsz; | ||
797 | float topz = bot + topsz * 0.5f; | ||
798 | 711 | ||
799 | _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); | 712 | _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); |
800 | 713 | ||
@@ -805,9 +718,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
805 | d.GeomSetCategoryBits(collider, (uint)m_collisionCategories); | 718 | d.GeomSetCategoryBits(collider, (uint)m_collisionCategories); |
806 | d.GeomSetCollideBits(collider, (uint)m_collisionFlags); | 719 | d.GeomSetCollideBits(collider, (uint)m_collisionFlags); |
807 | 720 | ||
808 | feetbox = d.CreateBox(collider, feetsx, feetsy, feetsz); | 721 | float r = m_size.X; |
809 | midbox = d.CreateBox(collider, midsx, midsy, midsz); | 722 | if (m_size.Y > r) |
810 | topbox = d.CreateBox(collider, topsx, topsy, topsz); | 723 | r = m_size.Y; |
724 | float l = m_size.Z - r; | ||
725 | r *= 0.5f; | ||
726 | capsule = d.CreateCapsule(collider, r, l); | ||
727 | |||
811 | bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z); | 728 | bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z); |
812 | 729 | ||
813 | m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass | 730 | m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass |
@@ -820,12 +737,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
820 | Body = d.BodyCreate(_parent_scene.world); | 737 | Body = d.BodyCreate(_parent_scene.world); |
821 | 738 | ||
822 | _zeroFlag = false; | 739 | _zeroFlag = false; |
823 | m_collisionException = false; | ||
824 | m_pidControllerActive = true; | 740 | m_pidControllerActive = true; |
825 | m_freemove = false; | 741 | m_freemove = false; |
826 | 742 | ||
827 | _velocity = Vector3.Zero; | 743 | _velocity = Vector3.Zero; |
828 | m_lastVelocitySqr = 0; | ||
829 | 744 | ||
830 | d.BodySetAutoDisableFlag(Body, false); | 745 | d.BodySetAutoDisableFlag(Body, false); |
831 | d.BodySetPosition(Body, npositionX, npositionY, npositionZ); | 746 | d.BodySetPosition(Body, npositionX, npositionY, npositionZ); |
@@ -835,17 +750,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
835 | _position.Z = npositionZ; | 750 | _position.Z = npositionZ; |
836 | 751 | ||
837 | d.BodySetMass(Body, ref ShellMass); | 752 | d.BodySetMass(Body, ref ShellMass); |
838 | d.GeomSetBody(feetbox, Body); | ||
839 | d.GeomSetBody(midbox, Body); | ||
840 | d.GeomSetBody(topbox, Body); | ||
841 | d.GeomSetBody(bbox, Body); | ||
842 | |||
843 | d.GeomSetOffsetPosition(feetbox, 0, 0, feetz); | ||
844 | d.GeomSetOffsetPosition(midbox, 0, 0, midz); | ||
845 | d.GeomSetOffsetPosition(topbox, 0, 0, topz); | ||
846 | |||
847 | ajustCollider(); | ||
848 | 753 | ||
754 | d.GeomSetBody(bbox, Body); | ||
755 | d.GeomSetBody(capsule, Body); | ||
849 | 756 | ||
850 | // The purpose of the AMotor here is to keep the avatar's physical | 757 | // The purpose of the AMotor here is to keep the avatar's physical |
851 | // surrogate from rotating while moving | 758 | // surrogate from rotating while moving |
@@ -906,26 +813,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
906 | } | 813 | } |
907 | 814 | ||
908 | //kill the Geoms | 815 | //kill the Geoms |
909 | if (topbox != IntPtr.Zero) | 816 | if (capsule != IntPtr.Zero) |
910 | { | 817 | { |
911 | _parent_scene.actor_name_map.Remove(topbox); | 818 | _parent_scene.actor_name_map.Remove(capsule); |
912 | _parent_scene.waitForSpaceUnlock(collider); | 819 | _parent_scene.waitForSpaceUnlock(collider); |
913 | d.GeomDestroy(topbox); | 820 | d.GeomDestroy(capsule); |
914 | topbox = IntPtr.Zero; | 821 | capsule = IntPtr.Zero; |
915 | } | ||
916 | if (midbox != IntPtr.Zero) | ||
917 | { | ||
918 | _parent_scene.actor_name_map.Remove(midbox); | ||
919 | _parent_scene.waitForSpaceUnlock(collider); | ||
920 | d.GeomDestroy(midbox); | ||
921 | midbox = IntPtr.Zero; | ||
922 | } | ||
923 | if (feetbox != IntPtr.Zero) | ||
924 | { | ||
925 | _parent_scene.actor_name_map.Remove(feetbox); | ||
926 | _parent_scene.waitForSpaceUnlock(collider); | ||
927 | d.GeomDestroy(feetbox); | ||
928 | feetbox = IntPtr.Zero; | ||
929 | } | 822 | } |
930 | 823 | ||
931 | if (bbox != IntPtr.Zero) | 824 | if (bbox != IntPtr.Zero) |
@@ -981,163 +874,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
981 | public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision) | 874 | public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision) |
982 | { | 875 | { |
983 | feetcollision = false; | 876 | feetcollision = false; |
984 | if (m_collisionException) | ||
985 | return false; | ||
986 | 877 | ||
987 | Vector3 offset; | 878 | Vector3 offset; |
988 | 879 | ||
989 | if (me == bbox) // if moving fast | ||
990 | { | ||
991 | // force a full inelastic collision | ||
992 | m_collisionException = true; | ||
993 | |||
994 | offset = m_size * m_orientation2D; | ||
995 | |||
996 | offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth; | ||
997 | offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth; | ||
998 | offset.Z = (float)Math.Abs(offset.Z) * 0.5f + contact.depth; | ||
999 | |||
1000 | if (reverse) | ||
1001 | { | ||
1002 | offset.X *= -contact.normal.X; | ||
1003 | offset.Y *= -contact.normal.Y; | ||
1004 | offset.Z *= -contact.normal.Z; | ||
1005 | } | ||
1006 | else | ||
1007 | { | ||
1008 | offset.X *= contact.normal.X; | ||
1009 | offset.Y *= contact.normal.Y; | ||
1010 | offset.Z *= contact.normal.Z; | ||
1011 | } | ||
1012 | |||
1013 | offset.X += contact.pos.X; | ||
1014 | offset.Y += contact.pos.Y; | ||
1015 | offset.Z += contact.pos.Z; | ||
1016 | |||
1017 | //_position = offset; | ||
1018 | //return false; | ||
1019 | } | ||
1020 | |||
1021 | offset.X = contact.pos.X - _position.X; | 880 | offset.X = contact.pos.X - _position.X; |
1022 | offset.Y = contact.pos.Y - _position.Y; | 881 | offset.Y = contact.pos.Y - _position.Y; |
1023 | 882 | ||
1024 | if (me == topbox) | 883 | if (me == capsule) |
1025 | { | ||
1026 | offset.Z = contact.pos.Z - _position.Z; | ||
1027 | |||
1028 | offset.Normalize(); | ||
1029 | |||
1030 | if (reverse) | ||
1031 | { | ||
1032 | contact.normal.X = offset.X; | ||
1033 | contact.normal.Y = offset.Y; | ||
1034 | contact.normal.Z = offset.Z; | ||
1035 | } | ||
1036 | else | ||
1037 | { | ||
1038 | contact.normal.X = -offset.X; | ||
1039 | contact.normal.Y = -offset.Y; | ||
1040 | contact.normal.Z = -offset.Z; | ||
1041 | } | ||
1042 | return true; | ||
1043 | } | ||
1044 | |||
1045 | if (me == midbox) | ||
1046 | { | ||
1047 | if (Math.Abs(contact.normal.Z) > 0.95f) | ||
1048 | { | ||
1049 | offset.Z = contact.pos.Z - _position.Z; | ||
1050 | offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth; | ||
1051 | offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth; | ||
1052 | offset.Z = (float)Math.Abs(offset.Z) * 0.5f + contact.depth; | ||
1053 | |||
1054 | if (reverse) | ||
1055 | { | ||
1056 | offset.X *= -contact.normal.X; | ||
1057 | offset.Y *= -contact.normal.Y; | ||
1058 | offset.Z *= -contact.normal.Z; | ||
1059 | } | ||
1060 | else | ||
1061 | { | ||
1062 | offset.X *= contact.normal.X; | ||
1063 | offset.Y *= contact.normal.Y; | ||
1064 | offset.Z *= contact.normal.Z; | ||
1065 | } | ||
1066 | |||
1067 | offset.X += contact.pos.X; | ||
1068 | offset.Y += contact.pos.Y; | ||
1069 | offset.Z += contact.pos.Z; | ||
1070 | _position = offset; | ||
1071 | return true; | ||
1072 | } | ||
1073 | else | ||
1074 | offset.Z = contact.normal.Z; | ||
1075 | |||
1076 | offset.Normalize(); | ||
1077 | |||
1078 | /* | ||
1079 | if (reverse) | ||
1080 | { | ||
1081 | contact.normal.X = offset.X; | ||
1082 | contact.normal.Y = offset.Y; | ||
1083 | contact.normal.Z = offset.Z; | ||
1084 | } | ||
1085 | else | ||
1086 | { | ||
1087 | contact.normal.X = -offset.X; | ||
1088 | contact.normal.Y = -offset.Y; | ||
1089 | contact.normal.Z = -offset.Z; | ||
1090 | } | ||
1091 | */ | ||
1092 | //_position.Z = offset.Z; | ||
1093 | return true; | ||
1094 | } | ||
1095 | |||
1096 | else if (me == feetbox) | ||
1097 | { | 884 | { |
1098 | float h = contact.pos.Z - _position.Z; | 885 | float h = contact.pos.Z - _position.Z; |
1099 | 886 | offset.Z = h - feetOff; | |
1100 | // Only do this if the normal is sufficiently pointing in the 'up' direction | ||
1101 | if (Math.Abs(contact.normal.Z) > 0.95f) | ||
1102 | { | ||
1103 | // We Only want to do this if we're sunk into the object a bit and we're stuck and we're trying to move and feetcollision is false | ||
1104 | if ((contact.depth > 0.0010f && _velocity.X == 0f && _velocity.Y == 0 && _velocity.Z == 0) | ||
1105 | && (_target_velocity.X > 0 || _target_velocity.Y > 0 || _target_velocity.Z > 0) | ||
1106 | && (!feetcollision) ) | ||
1107 | { | ||
1108 | m_collisionException = true; // Stop looping, do this only once not X times Contacts | ||
1109 | _position.Z += contact.depth + 0.01f; // Move us Up the amount that we sank in, and add 0.01 meters to gently lift avatar up. | ||
1110 | |||
1111 | return true; | ||
1112 | } | ||
1113 | |||
1114 | if (contact.normal.Z > 0) | ||
1115 | contact.normal.Z = 1.0f; | ||
1116 | else | ||
1117 | contact.normal.Z = -1.0f; | ||
1118 | contact.normal.X = 0.0f; | ||
1119 | contact.normal.Y = 0.0f; | ||
1120 | feetcollision = true; | ||
1121 | if (h < boneOff) | ||
1122 | IsColliding = true; | ||
1123 | return true; | ||
1124 | } | ||
1125 | |||
1126 | offset.Z = h - feetOff; // distance from top of feetbox | ||
1127 | 887 | ||
1128 | if (offset.Z > 0) | 888 | if (offset.Z > 0) |
1129 | return false; | 889 | return true; |
1130 | 890 | ||
1131 | if (offset.Z > -0.01) | 891 | offset.Normalize(); |
1132 | { | ||
1133 | offset.X = 0; | ||
1134 | offset.Y = 0; | ||
1135 | offset.Z = -1.0f; | ||
1136 | } | ||
1137 | else | ||
1138 | { | ||
1139 | offset.Normalize(); | ||
1140 | } | ||
1141 | 892 | ||
1142 | if (reverse) | 893 | if (reverse) |
1143 | { | 894 | { |
@@ -1171,23 +922,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1171 | if (Body == IntPtr.Zero) | 922 | if (Body == IntPtr.Zero) |
1172 | return; | 923 | return; |
1173 | 924 | ||
1174 | if (m_collisionException) | ||
1175 | { | ||
1176 | d.BodySetPosition(Body,_position.X, _position.Y, _position.Z); | ||
1177 | d.BodySetLinearVel(Body, 0, 0, 0); | ||
1178 | |||
1179 | float v = _velocity.Length(); | ||
1180 | if (v != 0) | ||
1181 | { | ||
1182 | v = 5.0f / v; | ||
1183 | _velocity = _velocity * v; | ||
1184 | d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z); | ||
1185 | } | ||
1186 | ajustCollider(); | ||
1187 | m_collisionException = false; | ||
1188 | return; | ||
1189 | } | ||
1190 | |||
1191 | d.Vector3 dtmp = d.BodyGetPosition(Body); | 925 | d.Vector3 dtmp = d.BodyGetPosition(Body); |
1192 | Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | 926 | Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); |
1193 | 927 | ||
@@ -1263,7 +997,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1263 | // colide with land | 997 | // colide with land |
1264 | 998 | ||
1265 | d.AABB aabb; | 999 | d.AABB aabb; |
1266 | d.GeomGetAABB(feetbox, out aabb); | 1000 | // d.GeomGetAABB(feetbox, out aabb); |
1001 | d.GeomGetAABB(capsule, out aabb); | ||
1267 | float chrminZ = aabb.MinZ; ; // move up a bit | 1002 | float chrminZ = aabb.MinZ; ; // move up a bit |
1268 | Vector3 posch = localpos; | 1003 | Vector3 posch = localpos; |
1269 | 1004 | ||
@@ -1489,7 +1224,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1489 | m_rotationalVelocity.Z = dtmp.Z; | 1224 | m_rotationalVelocity.Z = dtmp.Z; |
1490 | Math.Round(m_rotationalVelocity.Z,3); | 1225 | Math.Round(m_rotationalVelocity.Z,3); |
1491 | } | 1226 | } |
1492 | ajustCollider(); | ||
1493 | } | 1227 | } |
1494 | 1228 | ||
1495 | public void round(ref Vector3 v, int digits) | 1229 | public void round(ref Vector3 v, int digits) |
@@ -1655,10 +1389,11 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1655 | AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); | 1389 | AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); |
1656 | 1390 | ||
1657 | _parent_scene.actor_name_map[collider] = (PhysicsActor)this; | 1391 | _parent_scene.actor_name_map[collider] = (PhysicsActor)this; |
1658 | _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this; | 1392 | // _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this; |
1659 | _parent_scene.actor_name_map[midbox] = (PhysicsActor)this; | 1393 | // _parent_scene.actor_name_map[midbox] = (PhysicsActor)this; |
1660 | _parent_scene.actor_name_map[topbox] = (PhysicsActor)this; | 1394 | // _parent_scene.actor_name_map[topbox] = (PhysicsActor)this; |
1661 | _parent_scene.actor_name_map[bbox] = (PhysicsActor)this; | 1395 | _parent_scene.actor_name_map[bbox] = (PhysicsActor)this; |
1396 | _parent_scene.actor_name_map[capsule] = (PhysicsActor)this; | ||
1662 | _parent_scene.AddCharacter(this); | 1397 | _parent_scene.AddCharacter(this); |
1663 | } | 1398 | } |
1664 | else | 1399 | else |
@@ -1714,13 +1449,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1714 | 1449 | ||
1715 | 1450 | ||
1716 | _parent_scene.actor_name_map[collider] = (PhysicsActor)this; | 1451 | _parent_scene.actor_name_map[collider] = (PhysicsActor)this; |
1717 | _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this; | ||
1718 | _parent_scene.actor_name_map[midbox] = (PhysicsActor)this; | ||
1719 | _parent_scene.actor_name_map[topbox] = (PhysicsActor)this; | ||
1720 | _parent_scene.actor_name_map[bbox] = (PhysicsActor)this; | 1452 | _parent_scene.actor_name_map[bbox] = (PhysicsActor)this; |
1453 | _parent_scene.actor_name_map[capsule] = (PhysicsActor)this; | ||
1721 | } | 1454 | } |
1722 | m_freemove = false; | 1455 | m_freemove = false; |
1723 | m_collisionException = false; | ||
1724 | m_pidControllerActive = true; | 1456 | m_pidControllerActive = true; |
1725 | } | 1457 | } |
1726 | else | 1458 | else |
@@ -1851,7 +1583,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1851 | 1583 | ||
1852 | if (Body != IntPtr.Zero) | 1584 | if (Body != IntPtr.Zero) |
1853 | d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); | 1585 | d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); |
1854 | ajustCollider(); | ||
1855 | } | 1586 | } |
1856 | 1587 | ||
1857 | private void donullchange() | 1588 | private void donullchange() |