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author | UbitUmarov | 2012-12-11 22:53:24 +0000 |
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committer | UbitUmarov | 2012-12-11 22:53:24 +0000 |
commit | 71fc9f29f92edf2956ecb25dcbcdb97d262c8a14 (patch) | |
tree | 734244164dfde9ff60fad2c0a4e7f5c7bca963b8 /OpenSim | |
parent | changes on the fast speed avatars collider, collisions from above, etc (diff) | |
download | opensim-SC_OLD-71fc9f29f92edf2956ecb25dcbcdb97d262c8a14.zip opensim-SC_OLD-71fc9f29f92edf2956ecb25dcbcdb97d262c8a14.tar.gz opensim-SC_OLD-71fc9f29f92edf2956ecb25dcbcdb97d262c8a14.tar.bz2 opensim-SC_OLD-71fc9f29f92edf2956ecb25dcbcdb97d262c8a14.tar.xz |
make ubitODE ignore X and Y rotation components on avatar rotations
Diffstat (limited to 'OpenSim')
-rw-r--r-- | OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | 51 |
1 files changed, 37 insertions, 14 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs index 27a9f1c..bb04ea7 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs | |||
@@ -80,6 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
80 | private Vector3 m_rotationalVelocity; | 80 | private Vector3 m_rotationalVelocity; |
81 | private Vector3 m_size; | 81 | private Vector3 m_size; |
82 | private Quaternion m_orientation; | 82 | private Quaternion m_orientation; |
83 | private Quaternion m_orientation2D; | ||
83 | private float m_mass = 80f; | 84 | private float m_mass = 80f; |
84 | public float m_density = 60f; | 85 | public float m_density = 60f; |
85 | private bool m_pidControllerActive = true; | 86 | private bool m_pidControllerActive = true; |
@@ -207,6 +208,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
207 | 208 | ||
208 | m_feetOffset = pfeetOffset; | 209 | m_feetOffset = pfeetOffset; |
209 | m_orientation = Quaternion.Identity; | 210 | m_orientation = Quaternion.Identity; |
211 | m_orientation2D = Quaternion.Identity; | ||
210 | m_density = density; | 212 | m_density = density; |
211 | 213 | ||
212 | // force lower density for testing | 214 | // force lower density for testing |
@@ -649,7 +651,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
649 | { | 651 | { |
650 | // fakeori = value; | 652 | // fakeori = value; |
651 | // givefakeori++; | 653 | // givefakeori++; |
652 | |||
653 | value.Normalize(); | 654 | value.Normalize(); |
654 | AddChange(changes.Orientation, value); | 655 | AddChange(changes.Orientation, value); |
655 | } | 656 | } |
@@ -977,7 +978,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
977 | // force a full inelastic collision | 978 | // force a full inelastic collision |
978 | m_collisionException = true; | 979 | m_collisionException = true; |
979 | 980 | ||
980 | offset = m_size * m_orientation; | 981 | offset = m_size * m_orientation2D; |
981 | 982 | ||
982 | offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth; | 983 | offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth; |
983 | offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth; | 984 | offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth; |
@@ -1143,10 +1144,10 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1143 | // so force it back to identity | 1144 | // so force it back to identity |
1144 | 1145 | ||
1145 | d.Quaternion qtmp; | 1146 | d.Quaternion qtmp; |
1146 | qtmp.W = m_orientation.W; | 1147 | qtmp.W = m_orientation2D.W; |
1147 | qtmp.X = m_orientation.X; | 1148 | qtmp.X = m_orientation2D.X; |
1148 | qtmp.Y = m_orientation.Y; | 1149 | qtmp.Y = m_orientation2D.Y; |
1149 | qtmp.Z = m_orientation.Z; | 1150 | qtmp.Z = m_orientation2D.Z; |
1150 | d.BodySetQuaternion(Body, ref qtmp); | 1151 | d.BodySetQuaternion(Body, ref qtmp); |
1151 | 1152 | ||
1152 | if (m_pidControllerActive == false) | 1153 | if (m_pidControllerActive == false) |
@@ -1679,14 +1680,36 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1679 | 1680 | ||
1680 | private void changeOrientation(Quaternion newOri) | 1681 | private void changeOrientation(Quaternion newOri) |
1681 | { | 1682 | { |
1682 | d.Quaternion myrot = new d.Quaternion(); | 1683 | if (m_orientation != newOri) |
1683 | myrot.X = newOri.X; | 1684 | { |
1684 | myrot.Y = newOri.Y; | 1685 | m_orientation = newOri; // keep a copy for core use |
1685 | myrot.Z = newOri.Z; | 1686 | // but only use rotations around Z |
1686 | myrot.W = newOri.W; | 1687 | |
1687 | float t = d.JointGetAMotorAngle(Amotor, 2); | 1688 | m_orientation2D.W = newOri.W; |
1688 | d.BodySetQuaternion(Body,ref myrot); | 1689 | m_orientation2D.Z = newOri.Z; |
1689 | m_orientation = newOri; | 1690 | |
1691 | float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z; | ||
1692 | if (t > 0) | ||
1693 | { | ||
1694 | t = 1.0f / (float)Math.Sqrt(t); | ||
1695 | m_orientation2D.W *= t; | ||
1696 | m_orientation2D.Z *= t; | ||
1697 | } | ||
1698 | else | ||
1699 | { | ||
1700 | m_orientation2D.W = 1.0f; | ||
1701 | m_orientation2D.Z = 0f; | ||
1702 | } | ||
1703 | m_orientation2D.Y = 0f; | ||
1704 | m_orientation2D.X = 0f; | ||
1705 | |||
1706 | d.Quaternion myrot = new d.Quaternion(); | ||
1707 | myrot.X = m_orientation2D.X; | ||
1708 | myrot.Y = m_orientation2D.Y; | ||
1709 | myrot.Z = m_orientation2D.Z; | ||
1710 | myrot.W = m_orientation2D.W; | ||
1711 | d.BodySetQuaternion(Body, ref myrot); | ||
1712 | } | ||
1690 | } | 1713 | } |
1691 | 1714 | ||
1692 | private void changeVelocity(Vector3 newVel) | 1715 | private void changeVelocity(Vector3 newVel) |