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-rw-r--r--OpenSim/Region/Framework/Scenes/ScenePresence.cs2
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs132
2 files changed, 73 insertions, 61 deletions
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 23fe2d3..6772f75 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -2269,7 +2269,7 @@ namespace OpenSim.Region.Framework.Scenes
2269 { 2269 {
2270 //Record the time we enter this state so we know whether to "land" or not 2270 //Record the time we enter this state so we know whether to "land" or not
2271 m_animPersistUntil = DateTime.Now.Ticks; 2271 m_animPersistUntil = DateTime.Now.Ticks;
2272 return "FALLDOWN"; 2272 return "FALLDOWN"; // this falling animation is invoked too frequently when capsule tilt correction is used - why?
2273 } 2273 }
2274 } 2274 }
2275 } 2275 }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index dd58a4e..a00ba11 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -107,6 +107,7 @@ namespace OpenSim.Region.Physics.OdePlugin
107 public float MinimumGroundFlightOffset = 3f; 107 public float MinimumGroundFlightOffset = 3f;
108 108
109 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. 109 private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes.
110 private float m_tiltMagnitudeWhenProjectedOnXYPlane = 0.1131371f; // used to introduce a fixed tilt because a straight-up capsule falls through terrain, probably a bug in terrain collider
110 111
111 112
112 private float m_buoyancy = 0f; 113 private float m_buoyancy = 0f;
@@ -477,7 +478,71 @@ namespace OpenSim.Region.Physics.OdePlugin
477 } 478 }
478 } 479 }
479 } 480 }
480 481
482 private void AlignAvatarTiltWithCurrentDirectionOfMovement(PhysicsVector movementVector)
483 {
484 movementVector.Z = 0f;
485 float magnitude = (float)Math.Sqrt((double)(movementVector.X * movementVector.X + movementVector.Y * movementVector.Y));
486 if (magnitude < 0.1f) return;
487
488 // normalize the velocity vector
489 float invMagnitude = 1.0f / magnitude;
490 movementVector.X *= invMagnitude;
491 movementVector.Y *= invMagnitude;
492
493 // if we change the capsule heading too often, the capsule can fall down
494 // therefore we snap movement vector to just 1 of 4 predefined directions (ne, nw, se, sw),
495 // meaning only 4 possible capsule tilt orientations
496 if (movementVector.X > 0)
497 {
498 // east
499 if (movementVector.Y > 0)
500 {
501 // northeast
502 movementVector.X = (float)Math.Sqrt(2.0);
503 movementVector.Y = (float)Math.Sqrt(2.0);
504 }
505 else
506 {
507 // southeast
508 movementVector.X = (float)Math.Sqrt(2.0);
509 movementVector.Y = -(float)Math.Sqrt(2.0);
510 }
511 }
512 else
513 {
514 // west
515 if (movementVector.Y > 0)
516 {
517 // northwest
518 movementVector.X = -(float)Math.Sqrt(2.0);
519 movementVector.Y = (float)Math.Sqrt(2.0);
520 }
521 else
522 {
523 // southwest
524 movementVector.X = -(float)Math.Sqrt(2.0);
525 movementVector.Y = -(float)Math.Sqrt(2.0);
526 }
527 }
528
529
530 // movementVector.Z is zero
531
532 // calculate tilt components based on desired amount of tilt and current (snapped) heading.
533 // the "-" sign is to force the tilt to be OPPOSITE the direction of movement.
534 float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
535 float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
536
537 //m_log.Debug("[PHYSICS] changing avatar tilt");
538 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
539 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
540 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
541 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, yTiltComponent); // same as lowstop
542 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
543 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
544 }
545
481 /// <summary> 546 /// <summary>
482 /// This creates the Avatar's physical Surrogate at the position supplied 547 /// This creates the Avatar's physical Surrogate at the position supplied
483 /// </summary> 548 /// </summary>
@@ -576,71 +641,13 @@ namespace OpenSim.Region.Physics.OdePlugin
576 // (with -0..0 motor stops) falls into the terrain for reasons yet 641 // (with -0..0 motor stops) falls into the terrain for reasons yet
577 // to be comprehended in their entirety. 642 // to be comprehended in their entirety.
578 #endregion 643 #endregion
644 AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(0,0,0));
579 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); 645 d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f);
580 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); 646 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
581 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); 647 d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f);
582 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced 648 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced
583 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop 649 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop
584 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop 650 d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop
585 #region Documentation of capsule motor StopERP and StopCFM parameters
586 // In addition to the above tilt, we allow a dynamic tilt, or
587 // wobble, to emerge as the capsule is pushed around the environment.
588 // We do this with an experimentally determined combination of
589 // StopERP and StopCFM which make the above motor stops soft.
590 // The softness of the stops should be tweaked according to two
591 // requirements:
592 //
593 // 1. Motor stops should be weak enough to allow enough wobble such
594 // that the capsule can tilt slightly more when moving, to allow
595 // "gliding" over obstacles:
596 //
597 //
598 // .-.
599 // / /
600 // / /
601 // _ / / _
602 // / \ .-. / / / \
603 // | | ----> / / / / | |
604 // | | / / `-' | |
605 // | | / / +------+ | |
606 // | | / / | | | |
607 // | | / / | | | |
608 // \_/ `-' +------+ \_/
609 // ----------------------------------------------------------
610 //
611 // Note that requirement 1 is made complicated by the ever-present
612 // slight avatar tilt (assigned in the above code to prevent avatar
613 // from falling through terrain), which introduces a direction-dependent
614 // bias into the wobble (wobbling against the existing tilt is harder
615 // than wobbling with the tilt), which makes it easier to walk over
616 // prims from some directions. I have tried to minimize this effect by
617 // minimizing the avatar tilt to the minimum that prevents the avatar from
618 // falling through the terrain.
619 //
620 // 2. Motor stops should be strong enough to prevent the capsule
621 // from being forced all the way to the ground; otherwise the
622 // capsule could slip underneath obstacles like this:
623 // _ _
624 // / \ +------+ / \
625 // | | ----> | | | |
626 // | | | | | |
627 // | | .--.___ +------+ | |
628 // | | `--.__`--.__ | |
629 // | | `--.__`--. | |
630 // \_/ `--' \_/
631 // ----------------------------------------------------------
632 //
633 //
634 // It is strongly recommended you enable USE_DRAWSTUFF if you want to
635 // tweak these values, to see how the capsule is reacting in various
636 // situations.
637 #endregion
638 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0.0035f);
639 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0.0035f);
640 d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0.0035f);
641 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f);
642 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f);
643 d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f);
644 } 651 }
645 652
646 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the 653 // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
@@ -939,6 +946,7 @@ namespace OpenSim.Region.Physics.OdePlugin
939 946
940 PhysicsVector vec = new PhysicsVector(); 947 PhysicsVector vec = new PhysicsVector();
941 d.Vector3 vel = d.BodyGetLinearVel(Body); 948 d.Vector3 vel = d.BodyGetLinearVel(Body);
949
942 float movementdivisor = 1f; 950 float movementdivisor = 1f;
943 951
944 if (!m_alwaysRun) 952 if (!m_alwaysRun)
@@ -1052,6 +1060,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1052 if (PhysicsVector.isFinite(vec)) 1060 if (PhysicsVector.isFinite(vec))
1053 { 1061 {
1054 doForce(vec); 1062 doForce(vec);
1063 if (!_zeroFlag)
1064 {
1065 AlignAvatarTiltWithCurrentDirectionOfMovement(new PhysicsVector(vec.X, vec.Y, vec.Z));
1066 }
1055 } 1067 }
1056 else 1068 else
1057 { 1069 {
generated by cgit v1.1 at 2024-11-17 04:24:28 +0000