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author | dan miller | 2007-09-13 21:53:13 +0000 |
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committer | dan miller | 2007-09-13 21:53:13 +0000 |
commit | b31fc4980f95710cd93384f434b1a0655c30a2fd (patch) | |
tree | 8ef0b1eeebeb2733347e1ee4ceb4a13575f88248 /OpenSim/Region/Physics | |
parent | Added CLI "debug packet 0..255" to enable the in/out packet dumps with variou... (diff) | |
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ODE: no more slippin' & slidin'
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 28 |
1 files changed, 24 insertions, 4 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index bfbd880..a6834d4 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | |||
@@ -272,6 +272,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
272 | public class OdeCharacter : PhysicsActor | 272 | public class OdeCharacter : PhysicsActor |
273 | { | 273 | { |
274 | private PhysicsVector _position; | 274 | private PhysicsVector _position; |
275 | private d.Vector3 _zeroPosition; | ||
276 | private bool _zeroFlag=false; | ||
275 | private PhysicsVector _velocity; | 277 | private PhysicsVector _velocity; |
276 | private PhysicsVector _acceleration; | 278 | private PhysicsVector _acceleration; |
277 | private bool flying = false; | 279 | private bool flying = false; |
@@ -402,11 +404,29 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
402 | // no lock; for now it's only called from within Simulate() | 404 | // no lock; for now it's only called from within Simulate() |
403 | PhysicsVector vec = new PhysicsVector(); | 405 | PhysicsVector vec = new PhysicsVector(); |
404 | d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule); | 406 | d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule); |
405 | vec.X = (vel.X - this._velocity.X) * -75000.0f; | 407 | |
406 | vec.Y = (vel.Y - this._velocity.Y) * -75000.0f; | 408 | // if velocity is zero, use position control; otherwise, velocity control |
407 | if (flying) | 409 | if (_velocity.X == 0.0f & _velocity.Y == 0.0f & _velocity.Z == 0.0f & !flying) |
408 | { | 410 | { |
409 | vec.Z = (vel.Z - this._velocity.Z) * -75000.0f; | 411 | // keep track of where we stopped. No more slippin' & slidin' |
412 | if (!_zeroFlag) | ||
413 | { | ||
414 | _zeroFlag = true; | ||
415 | _zeroPosition = d.BodyGetPosition(BoundingCapsule); | ||
416 | } | ||
417 | d.Vector3 pos = d.BodyGetPosition(BoundingCapsule); | ||
418 | vec.X = (_velocity.X - vel.X) * 75000.0f + (_zeroPosition.X - pos.X) * 120000.0f; | ||
419 | vec.Y = (_velocity.Y - vel.Y) * 75000.0f + (_zeroPosition.Y - pos.Y) * 120000.0f; | ||
420 | } | ||
421 | else | ||
422 | { | ||
423 | _zeroFlag = false; | ||
424 | vec.X = (_velocity.X - vel.X) * 75000.0f; | ||
425 | vec.Y = (_velocity.Y - vel.Y) * 75000.0f; | ||
426 | if (flying) | ||
427 | { | ||
428 | vec.Z = (_velocity.Z - vel.Z) * 75000.0f; | ||
429 | } | ||
410 | } | 430 | } |
411 | d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z); | 431 | d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z); |
412 | } | 432 | } |