a few changes to ubOde avatar collisions

2 files changed, 39 insertions, 38 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
 
         public float walkDivisor = 1.3f;
         public float runDivisor = 0.8f;
-        private bool flying = false;
+        private bool m_flying = false;
         private bool m_iscolliding = false;
         private bool m_iscollidingGround = false;
         private bool m_iscollidingObj = false;
@@ -298,10 +298,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
         public override bool Flying
         {
-            get { return flying; }
+            get { return m_flying; }
             set
             {
-                flying = value;
+                m_flying = value;
 //                m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
             }
         }
@@ -900,10 +900,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
         }
 
         public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact,
-                ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision)
+                ref bool feetcollision)
         {
             feetcollision = false;
-            useAltcontact = false;
 
             if (me == capsule)
             {
@@ -943,12 +942,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     }
                     return true;
                 }
-/*
-                d.AABB aabb;
-                d.GeomGetAABB(other,out aabb);
-                float othertop = aabb.MaxZ - _position.Z;
-*/
-//                if (offset.Z > 0 || othertop > -feetOff || contact.normal.Z > 0.35f)
+
                 if (offset.Z > 0 || contact.normal.Z > 0.35f)
                 {
                     if (offset.Z <= 0)
@@ -965,27 +959,40 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     return true;
                 }
 
-                altContact = contact;
-                useAltcontact = true;
+                if(m_flying)
+                    return true;
 
                 offset.Z -= 0.2f;
 
                 offset.Normalize();
 
-                if (contact.depth > 0.1f)
-                    contact.depth = 0.1f;
+                float tdp = contact.depth;
+                float t = contact.normal.Z * contact.normal.Z;
+                t = Math.Abs(t);
+                if(t > 1e-6)
+                {
+                   tdp /= t;
+                   tdp *= offset.Z * offset.Z;
+                }
+                else
+                    tdp *= 10;
+
+                if (tdp > 0.25f)
+                    tdp = 0.25f;
+
+                contact.depth = tdp;
 
                 if (reverse)
                 {
-                    altContact.normal.X = offset.X;
-                    altContact.normal.Y = offset.Y;
-                    altContact.normal.Z = offset.Z;
+                    contact.normal.X = offset.X;
+                    contact.normal.Y = offset.Y;
+                    contact.normal.Z = offset.Z;
                 }
                 else
                 {
-                    altContact.normal.X = -offset.X;
-                    altContact.normal.Y = -offset.Y;
-                    altContact.normal.Z = -offset.Z;
+                    contact.normal.X = -offset.X;
+                    contact.normal.Y = -offset.Y;
+                    contact.normal.Z = -offset.Z;
                 }
 
                 feetcollision = true;
@@ -1098,7 +1105,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
             float ftmp;
 
-            if (flying)
+            if (m_flying)
             {
                 ftmp = timeStep;
                 posch.X += vel.X * ftmp;
@@ -1122,7 +1129,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                 vec.Z = depth * PID_P * 50;
 
-                if (!flying)
+                if (!m_flying)
                 {
                     vec.Z += -vel.Z * PID_D;
                     if(n.Z < 0.4f)
@@ -1259,7 +1266,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                 // movement relative to surface if moving on it
                 // dont disturbe vertical movement, ie jumps
-                if (m_iscolliding && !flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
+                if (m_iscolliding && !m_flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
                 {
                     float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y;
                     ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
@@ -1276,7 +1283,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             {
 
                 //  if velocity is zero, use position control; otherwise, velocity control
-                if (tviszero && m_iscolliding && !flying)
+                if (tviszero && m_iscolliding && !m_flying)
                 {
                     //  keep track of where we stopped.  No more slippin' & slidin'
                     if (!_zeroFlag)
@@ -1313,7 +1320,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                     if (m_iscolliding)
                     {
-                        if (!flying)
+                        if (!m_flying)
                         {
                             // we are on a surface
                             if (ctz.Z > 0f)
@@ -1361,7 +1368,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                     }
                     else // ie not colliding
                     {
-                        if (flying || hoverPIDActive) //(!m_iscolliding && flying)
+                        if (m_flying || hoverPIDActive) //(!m_iscolliding && flying)
                         {
                             // we're in mid air suspended
                             vec.X += (ctz.X - vel.X) * (PID_D);
@@ -1397,13 +1404,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 breakfactor = m_mass;
                 vec.X -= breakfactor * vel.X;
                 vec.Y -= breakfactor * vel.Y;
-                if (flying)
+                if (m_flying)
                     vec.Z -= 0.5f * breakfactor * vel.Z;
                 else
                     vec.Z -= .16f* m_mass * vel.Z;
             }
 
-            if (flying || hoverPIDActive)
+            if (m_flying || hoverPIDActive)
             {
                 vec.Z -= m_parent_scene.gravityz * m_mass;
 
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 86d41ea..0837bfb 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -951,8 +951,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             SharedTmpcontact.surface.mu = mu;
             SharedTmpcontact.surface.bounce = bounce;
 
-            d.ContactGeom altContact = new d.ContactGeom();
-            bool useAltcontact = false;
             bool noskip = true;
 
             if(dop1ava || dop2ava)
@@ -961,11 +959,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
             while (true)
             {
                 noskip = true;
-                useAltcontact = false;
 
                 if (dop1ava)
                 {
-                    if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
+                    if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref FeetCollision)))
                     {
                         if (p2.PhysicsActorType == (int)ActorTypes.Agent)
                         {
@@ -980,7 +977,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
                 }
                 else if (dop2ava)
                 {
-                if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
+                if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curContact, ref FeetCollision)))
                     {
                     if (p1.PhysicsActorType == (int)ActorTypes.Agent)
                         {
@@ -996,10 +993,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
 
                 if (noskip)
                 {
-                    if(useAltcontact)
-                        Joint = CreateContacJoint(ref altContact,smoothMesh);
-                    else
-                        Joint = CreateContacJoint(ref curContact,smoothMesh);
+                    Joint = CreateContacJoint(ref curContact,smoothMesh);
 
                     if (Joint == IntPtr.Zero)
                         break;