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author | UbitUmarov | 2017-07-01 01:43:58 +0100 |
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committer | UbitUmarov | 2017-07-01 01:43:58 +0100 |
commit | edc7575f9ec3cd61aeec4ae9c3d65dc1235eb6ec (patch) | |
tree | 2924ad184b1955fa212818863541d7fe76988441 /OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | |
parent | do calls to m_host.AddScriptLPS() on the right place on osslm this stat is of... (diff) | |
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a few changes to ubOde avatar collisions
Diffstat (limited to 'OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs')
-rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | 65 |
1 files changed, 36 insertions, 29 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs index de7e879..b0f3f52 100644 --- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs +++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | |||
@@ -103,7 +103,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
103 | 103 | ||
104 | public float walkDivisor = 1.3f; | 104 | public float walkDivisor = 1.3f; |
105 | public float runDivisor = 0.8f; | 105 | public float runDivisor = 0.8f; |
106 | private bool flying = false; | 106 | private bool m_flying = false; |
107 | private bool m_iscolliding = false; | 107 | private bool m_iscolliding = false; |
108 | private bool m_iscollidingGround = false; | 108 | private bool m_iscollidingGround = false; |
109 | private bool m_iscollidingObj = false; | 109 | private bool m_iscollidingObj = false; |
@@ -298,10 +298,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
298 | 298 | ||
299 | public override bool Flying | 299 | public override bool Flying |
300 | { | 300 | { |
301 | get { return flying; } | 301 | get { return m_flying; } |
302 | set | 302 | set |
303 | { | 303 | { |
304 | flying = value; | 304 | m_flying = value; |
305 | // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying); | 305 | // m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying); |
306 | } | 306 | } |
307 | } | 307 | } |
@@ -900,10 +900,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
900 | } | 900 | } |
901 | 901 | ||
902 | public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact, | 902 | public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact, |
903 | ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision) | 903 | ref bool feetcollision) |
904 | { | 904 | { |
905 | feetcollision = false; | 905 | feetcollision = false; |
906 | useAltcontact = false; | ||
907 | 906 | ||
908 | if (me == capsule) | 907 | if (me == capsule) |
909 | { | 908 | { |
@@ -943,12 +942,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
943 | } | 942 | } |
944 | return true; | 943 | return true; |
945 | } | 944 | } |
946 | /* | 945 | |
947 | d.AABB aabb; | ||
948 | d.GeomGetAABB(other,out aabb); | ||
949 | float othertop = aabb.MaxZ - _position.Z; | ||
950 | */ | ||
951 | // if (offset.Z > 0 || othertop > -feetOff || contact.normal.Z > 0.35f) | ||
952 | if (offset.Z > 0 || contact.normal.Z > 0.35f) | 946 | if (offset.Z > 0 || contact.normal.Z > 0.35f) |
953 | { | 947 | { |
954 | if (offset.Z <= 0) | 948 | if (offset.Z <= 0) |
@@ -965,27 +959,40 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
965 | return true; | 959 | return true; |
966 | } | 960 | } |
967 | 961 | ||
968 | altContact = contact; | 962 | if(m_flying) |
969 | useAltcontact = true; | 963 | return true; |
970 | 964 | ||
971 | offset.Z -= 0.2f; | 965 | offset.Z -= 0.2f; |
972 | 966 | ||
973 | offset.Normalize(); | 967 | offset.Normalize(); |
974 | 968 | ||
975 | if (contact.depth > 0.1f) | 969 | float tdp = contact.depth; |
976 | contact.depth = 0.1f; | 970 | float t = contact.normal.Z * contact.normal.Z; |
971 | t = Math.Abs(t); | ||
972 | if(t > 1e-6) | ||
973 | { | ||
974 | tdp /= t; | ||
975 | tdp *= offset.Z * offset.Z; | ||
976 | } | ||
977 | else | ||
978 | tdp *= 10; | ||
979 | |||
980 | if (tdp > 0.25f) | ||
981 | tdp = 0.25f; | ||
982 | |||
983 | contact.depth = tdp; | ||
977 | 984 | ||
978 | if (reverse) | 985 | if (reverse) |
979 | { | 986 | { |
980 | altContact.normal.X = offset.X; | 987 | contact.normal.X = offset.X; |
981 | altContact.normal.Y = offset.Y; | 988 | contact.normal.Y = offset.Y; |
982 | altContact.normal.Z = offset.Z; | 989 | contact.normal.Z = offset.Z; |
983 | } | 990 | } |
984 | else | 991 | else |
985 | { | 992 | { |
986 | altContact.normal.X = -offset.X; | 993 | contact.normal.X = -offset.X; |
987 | altContact.normal.Y = -offset.Y; | 994 | contact.normal.Y = -offset.Y; |
988 | altContact.normal.Z = -offset.Z; | 995 | contact.normal.Z = -offset.Z; |
989 | } | 996 | } |
990 | 997 | ||
991 | feetcollision = true; | 998 | feetcollision = true; |
@@ -1098,7 +1105,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1098 | 1105 | ||
1099 | float ftmp; | 1106 | float ftmp; |
1100 | 1107 | ||
1101 | if (flying) | 1108 | if (m_flying) |
1102 | { | 1109 | { |
1103 | ftmp = timeStep; | 1110 | ftmp = timeStep; |
1104 | posch.X += vel.X * ftmp; | 1111 | posch.X += vel.X * ftmp; |
@@ -1122,7 +1129,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1122 | 1129 | ||
1123 | vec.Z = depth * PID_P * 50; | 1130 | vec.Z = depth * PID_P * 50; |
1124 | 1131 | ||
1125 | if (!flying) | 1132 | if (!m_flying) |
1126 | { | 1133 | { |
1127 | vec.Z += -vel.Z * PID_D; | 1134 | vec.Z += -vel.Z * PID_D; |
1128 | if(n.Z < 0.4f) | 1135 | if(n.Z < 0.4f) |
@@ -1259,7 +1266,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1259 | 1266 | ||
1260 | // movement relative to surface if moving on it | 1267 | // movement relative to surface if moving on it |
1261 | // dont disturbe vertical movement, ie jumps | 1268 | // dont disturbe vertical movement, ie jumps |
1262 | if (m_iscolliding && !flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f) | 1269 | if (m_iscolliding && !m_flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f) |
1263 | { | 1270 | { |
1264 | float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y; | 1271 | float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y; |
1265 | ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X); | 1272 | ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X); |
@@ -1276,7 +1283,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1276 | { | 1283 | { |
1277 | 1284 | ||
1278 | // if velocity is zero, use position control; otherwise, velocity control | 1285 | // if velocity is zero, use position control; otherwise, velocity control |
1279 | if (tviszero && m_iscolliding && !flying) | 1286 | if (tviszero && m_iscolliding && !m_flying) |
1280 | { | 1287 | { |
1281 | // keep track of where we stopped. No more slippin' & slidin' | 1288 | // keep track of where we stopped. No more slippin' & slidin' |
1282 | if (!_zeroFlag) | 1289 | if (!_zeroFlag) |
@@ -1313,7 +1320,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1313 | 1320 | ||
1314 | if (m_iscolliding) | 1321 | if (m_iscolliding) |
1315 | { | 1322 | { |
1316 | if (!flying) | 1323 | if (!m_flying) |
1317 | { | 1324 | { |
1318 | // we are on a surface | 1325 | // we are on a surface |
1319 | if (ctz.Z > 0f) | 1326 | if (ctz.Z > 0f) |
@@ -1361,7 +1368,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1361 | } | 1368 | } |
1362 | else // ie not colliding | 1369 | else // ie not colliding |
1363 | { | 1370 | { |
1364 | if (flying || hoverPIDActive) //(!m_iscolliding && flying) | 1371 | if (m_flying || hoverPIDActive) //(!m_iscolliding && flying) |
1365 | { | 1372 | { |
1366 | // we're in mid air suspended | 1373 | // we're in mid air suspended |
1367 | vec.X += (ctz.X - vel.X) * (PID_D); | 1374 | vec.X += (ctz.X - vel.X) * (PID_D); |
@@ -1397,13 +1404,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1397 | breakfactor = m_mass; | 1404 | breakfactor = m_mass; |
1398 | vec.X -= breakfactor * vel.X; | 1405 | vec.X -= breakfactor * vel.X; |
1399 | vec.Y -= breakfactor * vel.Y; | 1406 | vec.Y -= breakfactor * vel.Y; |
1400 | if (flying) | 1407 | if (m_flying) |
1401 | vec.Z -= 0.5f * breakfactor * vel.Z; | 1408 | vec.Z -= 0.5f * breakfactor * vel.Z; |
1402 | else | 1409 | else |
1403 | vec.Z -= .16f* m_mass * vel.Z; | 1410 | vec.Z -= .16f* m_mass * vel.Z; |
1404 | } | 1411 | } |
1405 | 1412 | ||
1406 | if (flying || hoverPIDActive) | 1413 | if (m_flying || hoverPIDActive) |
1407 | { | 1414 | { |
1408 | vec.Z -= m_parent_scene.gravityz * m_mass; | 1415 | vec.Z -= m_parent_scene.gravityz * m_mass; |
1409 | 1416 | ||