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authorJustin Clark-Casey (justincc)2012-02-11 02:26:53 +0000
committerJustin Clark-Casey (justincc)2012-02-11 02:28:40 +0000
commitf49897a4195df5fbd00e2c16461bcebb36ce8f72 (patch)
tree88de016a5c83a09130a0299faedc1ad947a50329 /OpenSim/Region/Physics
parentMerge branch 'master' of ssh://opensimulator.org/var/git/opensim (diff)
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Clamp ODE character velocity. Make ODE falling character 54m/s by default.
If velocity reaches 256 in any vector then bad things happen with ODE, so we now clamp this value. In addition, a falling avatar is clamped by default at 54 m/s, which is the same as a falling skydiver. This also appears to be the value used on the linden lab grid. This should resolve http://opensimulator.org/mantis/view.php?id=5882
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs43
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdeScene.cs11
2 files changed, 53 insertions, 1 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 7c1c046..6d1f41d 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -156,6 +156,22 @@ namespace OpenSim.Region.Physics.OdePlugin
156 internal UUID m_uuid { get; private set; } 156 internal UUID m_uuid { get; private set; }
157 internal bool bad = false; 157 internal bool bad = false;
158 158
159 /// <summary>
160 /// ODE Avatar.
161 /// </summary>
162 /// <param name="avName"></param>
163 /// <param name="parent_scene"></param>
164 /// <param name="pos"></param>
165 /// <param name="size"></param>
166 /// <param name="pid_d"></param>
167 /// <param name="pid_p"></param>
168 /// <param name="capsule_radius"></param>
169 /// <param name="tensor"></param>
170 /// <param name="density">
171 /// Only used right now to return information to LSL. Not actually used to set mass in ODE!
172 /// </param>
173 /// <param name="walk_divisor"></param>
174 /// <param name="rundivisor"></param>
159 public OdeCharacter( 175 public OdeCharacter(
160 String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, 176 String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p,
161 float capsule_radius, float tensor, float density, 177 float capsule_radius, float tensor, float density,
@@ -786,6 +802,10 @@ namespace OpenSim.Region.Physics.OdePlugin
786 Vector3 vec = Vector3.Zero; 802 Vector3 vec = Vector3.Zero;
787 d.Vector3 vel = d.BodyGetLinearVel(Body); 803 d.Vector3 vel = d.BodyGetLinearVel(Body);
788 804
805// m_log.DebugFormat(
806// "[ODE CHARACTER]: Current velocity in Move() is <{0},{1},{2}>, target {3} for {4}",
807// vel.X, vel.Y, vel.Z, _target_velocity, Name);
808
789 float movementdivisor = 1f; 809 float movementdivisor = 1f;
790 810
791 if (!m_alwaysRun) 811 if (!m_alwaysRun)
@@ -884,18 +904,20 @@ namespace OpenSim.Region.Physics.OdePlugin
884 904
885 if (flying) 905 if (flying)
886 { 906 {
907 // This also acts as anti-gravity so that we hover when flying rather than fall.
887 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D); 908 vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
888 } 909 }
889 } 910 }
890 911
891 if (flying) 912 if (flying)
892 { 913 {
914 // Anti-gravity so that we hover when flying rather than fall.
893 vec.Z += ((-1 * _parent_scene.gravityz) * m_mass); 915 vec.Z += ((-1 * _parent_scene.gravityz) * m_mass);
894 916
895 //Added for auto fly height. Kitto Flora 917 //Added for auto fly height. Kitto Flora
896 //d.Vector3 pos = d.BodyGetPosition(Body); 918 //d.Vector3 pos = d.BodyGetPosition(Body);
897 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset; 919 float target_altitude = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y) + MinimumGroundFlightOffset;
898 920
899 if (_position.Z < target_altitude) 921 if (_position.Z < target_altitude)
900 { 922 {
901 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f; 923 vec.Z += (target_altitude - _position.Z) * PID_P * 5.0f;
@@ -921,6 +943,25 @@ namespace OpenSim.Region.Physics.OdePlugin
921 943
922 return; 944 return;
923 } 945 }
946
947 d.Vector3 newVel = d.BodyGetLinearVel(Body);
948 if (newVel.X >= 256 || newVel.X <= 256 || newVel.Y >= 256 || newVel.Y <= 256 || newVel.Z >= 256 || newVel.Z <= 256)
949 {
950// m_log.DebugFormat(
951// "[ODE CHARACTER]: Limiting falling velocity from {0} to {1} for {2}", newVel.Z, -9.8, Name);
952
953 newVel.X = Util.Clamp<float>(newVel.X, -255f, 255f);
954 newVel.Y = Util.Clamp<float>(newVel.Y, -255f, 255f);
955
956 if (!flying)
957 newVel.Z
958 = Util.Clamp<float>(
959 newVel.Z, -_parent_scene.AvatarTerminalVelocity, _parent_scene.AvatarTerminalVelocity);
960 else
961 newVel.Z = Util.Clamp<float>(newVel.Z, -255f, 255f);
962
963 d.BodySetLinearVel(Body, newVel.X, newVel.Y, newVel.Z);
964 }
924 } 965 }
925 966
926 /// <summary> 967 /// <summary>
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 4530c09..7d1401c 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -144,6 +144,8 @@ namespace OpenSim.Region.Physics.OdePlugin
144 public float gravityy = 0f; 144 public float gravityy = 0f;
145 public float gravityz = -9.8f; 145 public float gravityz = -9.8f;
146 146
147 public float AvatarTerminalVelocity { get; set; }
148
147 private float contactsurfacelayer = 0.001f; 149 private float contactsurfacelayer = 0.001f;
148 150
149 private int worldHashspaceLow = -4; 151 private int worldHashspaceLow = -4;
@@ -459,6 +461,15 @@ namespace OpenSim.Region.Physics.OdePlugin
459 gravityy = physicsconfig.GetFloat("world_gravityy", 0f); 461 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
460 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f); 462 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
461 463
464 float avatarTerminalVelocity = physicsconfig.GetFloat("avatar_terminal_velocity", 9f);
465 AvatarTerminalVelocity = Util.Clamp<float>(avatarTerminalVelocity, 0, 255f);
466 if (AvatarTerminalVelocity != avatarTerminalVelocity)
467 {
468 m_log.WarnFormat(
469 "[ODE SCENE]: avatar_terminal_velocity of {0} is invalid. Clamping to {1}",
470 avatarTerminalVelocity, AvatarTerminalVelocity);
471 }
472
462 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4); 473 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
463 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128); 474 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
464 475