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authornlin2009-07-15 10:09:37 +0000
committernlin2009-07-15 10:09:37 +0000
commit56d295cfb5af59c7aecafcc817dc0ec2a90a035c (patch)
treee28edb68ddcaee8224c06ac3daac1b4ac8f2ef22 /OpenSim/Region
parentBump version in Framework/Servers/VersionInfo to 0.6.6. (diff)
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Fix for avatar falling through terrain when av_capsule_tilted=false, Mantis #2905
This fix re-introduces a small tilt into the capsule to prevent avatar falling through terrain. Re-introduction of the tilt means that some direction-dependent behavior when walking over prims, but I have tried to minimize this. Additionally this commit allows the capsule to wobble slightly when being pushed around the terrain. This should make walking over prims easier, as the capsule can wobble and glide diagonally over the prim's edge, instead of rigidly being stopped vertically against the prim's face.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs86
1 files changed, 78 insertions, 8 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 9aff1ca..9d60cca 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -49,16 +49,20 @@ namespace OpenSim.Region.Physics.OdePlugin
49 FudgeFactor = 4, 49 FudgeFactor = 4,
50 Bounce = 5, 50 Bounce = 5,
51 CFM = 6, 51 CFM = 6,
52 ERP = 7, 52 StopERP = 7,
53 StopCFM = 8, 53 StopCFM = 8,
54 LoStop2 = 256, 54 LoStop2 = 256,
55 HiStop2 = 257, 55 HiStop2 = 257,
56 Vel2 = 258, 56 Vel2 = 258,
57 FMax2 = 259, 57 FMax2 = 259,
58 StopERP2 = 7 + 256,
59 StopCFM2 = 8 + 256,
58 LoStop3 = 512, 60 LoStop3 = 512,
59 HiStop3 = 513, 61 HiStop3 = 513,
60 Vel3 = 514, 62 Vel3 = 514,
61 FMax3 = 515 63 FMax3 = 515,
64 StopERP3 = 7 + 512,
65 StopCFM3 = 8 + 512
62 } 66 }
63 public class OdeCharacter : PhysicsActor 67 public class OdeCharacter : PhysicsActor
64 { 68 {
@@ -560,12 +564,78 @@ namespace OpenSim.Region.Physics.OdePlugin
560 } 564 }
561 else 565 else
562 { 566 {
563 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0); 567 #region Documentation of capsule motor LowStop and HighStop parameters
564 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0); 568 // Intentionally introduce some tilt into the capsule by setting
565 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0); 569 // the motor stops to small epsilon values. This small tilt prevents
566 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0); 570 // the capsule from falling into the terrain; a straight-up capsule
567 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0); 571 // (with -0..0 motor stops) falls into the terrain for reasons yet
568 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0); 572 // to be comprehended in their entirety.
573 #endregion
574 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
575 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
576 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
577 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
578 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
579 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
580 #region Documentation of capsule motor StopERP and StopCFM parameters
581 // In addition to the above tilt, we allow a dynamic tilt, or
582 // wobble, to emerge as the capsule is pushed around the environment.
583 // We do this with an experimentally determined combination of
584 // StopERP and StopCFM which make the above motor stops soft.
585 // The softness of the stops should be tweaked according to two
586 // requirements:
587 //
588 // 1. Motor stops should be weak enough to allow enough wobble such
589 // that the capsule can tilt slightly more when moving, to allow
590 // "gliding" over obstacles:
591 //
592 //
593 // .-.
594 // / /
595 // / /
596 // _ / / _
597 // / \ .-. / / / \
598 // | | ----> / / / / | |
599 // | | / / `-' | |
600 // | | / / +------+ | |
601 // | | / / | | | |
602 // | | / / | | | |
603 // \_/ `-' +------+ \_/
604 // ----------------------------------------------------------
605 //
606 // Note that requirement 1 is made complicated by the ever-present
607 // slight avatar tilt (assigned in the above code to prevent avatar
608 // from falling through terrain), which introduces a direction-dependent
609 // bias into the wobble (wobbling against the existing tilt is harder
610 // than wobbling with the tilt), which makes it easier to walk over
611 // prims from some directions. I have tried to minimize this effect by
612 // minimizing the avatar tilt to the minimum that prevents the avatar from
613 // falling through the terrain.
614 //
615 // 2. Motor stops should be strong enough to prevent the capsule
616 // from being forced all the way to the ground; otherwise the
617 // capsule could slip underneath obstacles like this:
618 // _ _
619 // / \ +------+ / \
620 // | | ----> | | | |
621 // | | | | | |
622 // | | .--.___ +------+ | |
623 // | | `--.__`--.__ | |
624 // | | `--.__`--. | |
625 // \_/ `--' \_/
626 // ----------------------------------------------------------
627 //
628 //
629 // It is strongly recommended you enable USE_DRAWSTUFF if you want to
630 // tweak these values, to see how the capsule is reacting in various
631 // situations.
632 #endregion
633 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0.0035f);
634 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0.0035f);
635 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0.0035f);
636 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
637 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
638 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
569 } 639 }
570 640
571 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the 641 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the