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authorUbitUmarov2012-04-17 15:50:14 +0100
committerUbitUmarov2012-04-17 15:50:14 +0100
commit9132c9e49963c656e303815e5cb9e0c4341f0821 (patch)
tree7e79a34ea797353e35878100b5bca4c57f1fd2a2 /OpenSim/Region
parentubitODE: - made avatar/ground collision pid servo a bit softer since seems a ... (diff)
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ubitODE: - character managed ode was only getting position etc from unmanaged at heartbeat rate like core ode. Now do it at ODE rate in move(..). UpdatePositionAndVelocity() called once per heartbeat is now empty.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs162
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs5
2 files changed, 48 insertions, 119 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 1c8de56..b9ec6b5 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -771,16 +771,10 @@ namespace OpenSim.Region.Physics.OdePlugin
771 /// <param name="timeStep"></param> 771 /// <param name="timeStep"></param>
772 public void Move(float timeStep, List<OdeCharacter> defects) 772 public void Move(float timeStep, List<OdeCharacter> defects)
773 { 773 {
774 // no lock; for now it's only called from within Simulate()
775
776 // If the PID Controller isn't active then we set our force
777 // calculating base velocity to the current position
778
779 if (Body == IntPtr.Zero) 774 if (Body == IntPtr.Zero)
780 return; 775 return;
781 776
782 d.Vector3 dtmp; 777 d.Vector3 dtmp = d.BodyGetPosition(Body);
783 d.BodyCopyPosition(Body, out dtmp);
784 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); 778 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
785 779
786 // the Amotor still lets avatar rotation to drift during colisions 780 // the Amotor still lets avatar rotation to drift during colisions
@@ -797,22 +791,43 @@ namespace OpenSim.Region.Physics.OdePlugin
797 { 791 {
798 _zeroPosition = localpos; 792 _zeroPosition = localpos;
799 } 793 }
800 //PidStatus = true;
801
802 794
803 if (!localpos.IsFinite()) 795 if (!localpos.IsFinite())
804 { 796 {
805
806 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); 797 m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
807 defects.Add(this); 798 defects.Add(this);
808 // _parent_scene.RemoveCharacter(this); 799 // _parent_scene.RemoveCharacter(this);
809 800
810 // destroy avatar capsule and related ODE data 801 // destroy avatar capsule and related ODE data
811 AvatarGeomAndBodyDestroy(); 802 AvatarGeomAndBodyDestroy();
812
813 return; 803 return;
814 } 804 }
815 805
806 // check outbounds forcing to be in world
807 bool fixbody = false;
808 if (localpos.X < 0.0f)
809 {
810 fixbody = true;
811 localpos.X = 0.1f;
812 }
813 else if (localpos.X > _parent_scene.WorldExtents.X - 0.1f)
814 {
815 fixbody = true;
816 localpos.X = _parent_scene.WorldExtents.X - 0.1f;
817 }
818 if (localpos.Y < 0.0f)
819 {
820 fixbody = true;
821 localpos.Y = 0.1f;
822 }
823 else if (localpos.Y > _parent_scene.WorldExtents.Y - 0.1)
824 {
825 fixbody = true;
826 localpos.Y = _parent_scene.WorldExtents.Y - 0.1f;
827 }
828 if (fixbody)
829 d.BodySetPosition(Body, localpos.X, localpos.Y, localpos.Z);
830
816 Vector3 vec = Vector3.Zero; 831 Vector3 vec = Vector3.Zero;
817 dtmp = d.BodyGetLinearVel(Body); 832 dtmp = d.BodyGetLinearVel(Body);
818 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); 833 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
@@ -820,16 +835,12 @@ namespace OpenSim.Region.Physics.OdePlugin
820 float movementdivisor = 1f; 835 float movementdivisor = 1f;
821 //Ubit change divisions into multiplications below 836 //Ubit change divisions into multiplications below
822 if (!m_alwaysRun) 837 if (!m_alwaysRun)
823 {
824 movementdivisor = 1 / walkDivisor; 838 movementdivisor = 1 / walkDivisor;
825 }
826 else 839 else
827 {
828 movementdivisor = 1 / runDivisor; 840 movementdivisor = 1 / runDivisor;
829 }
830 841
842 //******************************************
831 // colide with land 843 // colide with land
832
833 d.AABB aabb; 844 d.AABB aabb;
834 d.GeomGetAABB(Shell, out aabb); 845 d.GeomGetAABB(Shell, out aabb);
835 float chrminZ = aabb.MinZ; 846 float chrminZ = aabb.MinZ;
@@ -856,26 +867,6 @@ namespace OpenSim.Region.Physics.OdePlugin
856 else 867 else
857 vec.Z = depth * PID_P * 30; 868 vec.Z = depth * PID_P * 30;
858 869
859 /*
860 Vector3 vtmp;
861 vtmp.X = _target_velocity.X * timeStep;
862 vtmp.Y = _target_velocity.Y * timeStep;
863 // fake and avoid squares
864 float k = (Math.Abs(vtmp.X) + Math.Abs(vtmp.Y));
865 if (k > 0)
866 {
867 posch.X += vtmp.X;
868 posch.Y += vtmp.Y;
869 terrainheight -= _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
870 k = 1 + Math.Abs(terrainheight) / k;
871 movementdivisor /= k;
872
873 if (k < 1)
874 k = 1;
875 }
876 */
877
878
879 if (depth < 0.1f) 870 if (depth < 0.1f)
880 { 871 {
881 m_iscolliding = true; 872 m_iscolliding = true;
@@ -901,6 +892,7 @@ namespace OpenSim.Region.Physics.OdePlugin
901 else 892 else
902 m_iscollidingGround = false; 893 m_iscollidingGround = false;
903 894
895 //******************************************
904 896
905 // if velocity is zero, use position control; otherwise, velocity control 897 // if velocity is zero, use position control; otherwise, velocity control
906 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f 898 if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f
@@ -1012,97 +1004,31 @@ namespace OpenSim.Region.Physics.OdePlugin
1012 // _parent_scene.RemoveCharacter(this); 1004 // _parent_scene.RemoveCharacter(this);
1013 // destroy avatar capsule and related ODE data 1005 // destroy avatar capsule and related ODE data
1014 AvatarGeomAndBodyDestroy(); 1006 AvatarGeomAndBodyDestroy();
1007 return;
1015 } 1008 }
1009
1010 // update our local ideia of position velocity and aceleration
1011 _position = localpos;
1012 _acceleration = _velocity; // previus velocity
1013 _velocity = vel;
1014 _acceleration = (vel - _acceleration) / timeStep;
1015
1016 } 1016 }
1017 1017
1018 /// <summary> 1018 /// <summary>
1019 /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. 1019 /// Updates the reported position and velocity.
1020 /// Used to copy variables from unmanaged space at heartbeat rate and also trigger scene updates acording
1021 /// also outbounds checking
1022 /// copy and outbounds now done in move(..) at ode rate
1023 ///
1020 /// </summary> 1024 /// </summary>
1021 public void UpdatePositionAndVelocity() 1025 public void UpdatePositionAndVelocity()
1022 { 1026 {
1023 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 1027 return;
1024 if (Body == IntPtr.Zero)
1025 return;
1026 1028
1027 d.Vector3 vec; 1029// if (Body == IntPtr.Zero)
1028 try 1030// return;
1029 {
1030 d.BodyCopyPosition(Body, out vec);
1031 }
1032 catch (NullReferenceException)
1033 {
1034 bad = true;
1035 _parent_scene.BadCharacter(this);
1036 vec = new d.Vector3(_position.X, _position.Y, _position.Z);
1037 base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
1038 m_log.WarnFormat("[ODEPLUGIN]: Avatar Null reference for Avatar {0}, physical actor {1}", m_name, m_uuid);
1039 }
1040
1041 _position.X = vec.X;
1042 _position.Y = vec.Y;
1043 _position.Z = vec.Z;
1044
1045 bool fixbody = false;
1046
1047 if (_position.X < 0.0f)
1048 {
1049 fixbody = true;
1050 _position.X = 0.1f;
1051 }
1052 else if (_position.X > (int)_parent_scene.WorldExtents.X - 0.1f)
1053 {
1054 fixbody = true;
1055 _position.X = (int)_parent_scene.WorldExtents.X - 0.1f;
1056 }
1057
1058 if (_position.Y < 0.0f)
1059 {
1060 fixbody = true;
1061 _position.Y = 0.1f;
1062 }
1063 else if (_position.Y > (int)_parent_scene.WorldExtents.Y - 0.1)
1064 {
1065 fixbody = true;
1066 _position.Y = (int)_parent_scene.WorldExtents.Y - 0.1f;
1067 }
1068 1031
1069 if (fixbody)
1070 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1071
1072 // Did we move last? = zeroflag
1073 // This helps keep us from sliding all over
1074/*
1075 if (_zeroFlag)
1076 {
1077 _velocity.X = 0.0f;
1078 _velocity.Y = 0.0f;
1079 _velocity.Z = 0.0f;
1080
1081 // Did we send out the 'stopped' message?
1082 if (!m_lastUpdateSent)
1083 {
1084 m_lastUpdateSent = true;
1085 base.RequestPhysicsterseUpdate();
1086 }
1087 }
1088 else
1089 {
1090 m_lastUpdateSent = false;
1091 */
1092 try
1093 {
1094 vec = d.BodyGetLinearVel(Body);
1095 }
1096 catch (NullReferenceException)
1097 {
1098 vec.X = _velocity.X;
1099 vec.Y = _velocity.Y;
1100 vec.Z = _velocity.Z;
1101 }
1102 _velocity.X = (vec.X);
1103 _velocity.Y = (vec.Y);
1104 _velocity.Z = (vec.Z);
1105 // }
1106 } 1032 }
1107 1033
1108 /// <summary> 1034 /// <summary>
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 837eae3..9ca2d3f 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -1861,6 +1861,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1861 1861
1862 statstart = Util.EnvironmentTickCount(); 1862 statstart = Util.EnvironmentTickCount();
1863 1863
1864/*
1865// now included in characters move() and done at ode rate
1866// maybe be needed later if we need to do any extra work at hearbeat rate
1864 lock (_characters) 1867 lock (_characters)
1865 { 1868 {
1866 foreach (OdeCharacter actor in _characters) 1869 foreach (OdeCharacter actor in _characters)
@@ -1874,7 +1877,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1874 } 1877 }
1875 } 1878 }
1876 } 1879 }
1877 1880*/
1878 lock (_badCharacter) 1881 lock (_badCharacter)
1879 { 1882 {
1880 if (_badCharacter.Count > 0) 1883 if (_badCharacter.Count > 0)