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-rw-r--r--OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs147
-rw-r--r--OpenSim/Region/Framework/Scenes/ScenePresence.cs169
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs210
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs167
4 files changed, 493 insertions, 200 deletions
diff --git a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
index db3b834..6003e92 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
@@ -56,11 +56,13 @@ namespace OpenSim.Region.Framework.Scenes.Animation
56 /// The current movement animation 56 /// The current movement animation
57 /// </value> 57 /// </value>
58 public string CurrentMovementAnimation { get; private set; } 58 public string CurrentMovementAnimation { get; private set; }
59 59
60 private int m_animTickFall; 60 private int m_animTickFall;
61 public int m_animTickJump; // ScenePresence has to see this to control +Z force 61 private int m_animTickLand;
62 private int m_animTickJump;
63
62 public bool m_jumping = false; 64 public bool m_jumping = false;
63 public float m_jumpVelocity = 0f; 65
64// private int m_landing = 0; 66// private int m_landing = 0;
65 67
66 /// <summary> 68 /// <summary>
@@ -68,7 +70,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
68 /// </summary> 70 /// </summary>
69 public bool Falling { get; private set; } 71 public bool Falling { get; private set; }
70 72
71 private float m_fallHeight; 73 private float m_lastFallVelocity;
72 74
73 /// <value> 75 /// <value>
74 /// The scene presence that this animator applies to 76 /// The scene presence that this animator applies to
@@ -205,7 +207,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
205 207
206 if (aoSitGndAnim != UUID.Zero) 208 if (aoSitGndAnim != UUID.Zero)
207 { 209 {
208 avnChangeAnim(aoSitGndAnim, false, false); 210 avnChangeAnim(aoSitGndAnim, false, true);
209 aoSitGndAnim = UUID.Zero; 211 aoSitGndAnim = UUID.Zero;
210 } 212 }
211 213
@@ -258,20 +260,38 @@ namespace OpenSim.Region.Framework.Scenes.Animation
258 return ret; 260 return ret;
259 } 261 }
260 262
263 public enum motionControlStates : byte
264 {
265 sitted = 0,
266 flying,
267 falling,
268 jumping,
269 landing,
270 onsurface
271 }
272
273 public motionControlStates currentControlState = motionControlStates.onsurface;
274
261 /// <summary> 275 /// <summary>
262 /// This method determines the proper movement related animation 276 /// This method determines the proper movement related animation
263 /// </summary> 277 /// </summary>
264 private string DetermineMovementAnimation() 278 private string DetermineMovementAnimation()
265 { 279 {
266 const float FALL_DELAY = 800f; 280 const int FALL_DELAY = 800;
267 const float PREJUMP_DELAY = 200f; 281 const int PREJUMP_DELAY = 200;
268 const float JUMP_PERIOD = 800f; 282 const int JUMP_PERIOD = 800;
269 #region Inputs 283 #region Inputs
270 284
271 if (m_scenePresence.SitGround) 285 if (m_scenePresence.SitGround)
286 {
287 currentControlState = motionControlStates.sitted;
272 return "SITGROUND"; 288 return "SITGROUND";
289 }
273 if (m_scenePresence.ParentID != 0 || m_scenePresence.ParentUUID != UUID.Zero) 290 if (m_scenePresence.ParentID != 0 || m_scenePresence.ParentUUID != UUID.Zero)
291 {
292 currentControlState = motionControlStates.sitted;
274 return "SIT"; 293 return "SIT";
294 }
275 295
276 AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags; 296 AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags;
277 PhysicsActor actor = m_scenePresence.PhysicsActor; 297 PhysicsActor actor = m_scenePresence.PhysicsActor;
@@ -311,17 +331,31 @@ namespace OpenSim.Region.Framework.Scenes.Animation
311// bool moving = (move != Vector3.Zero); 331// bool moving = (move != Vector3.Zero);
312 #endregion Inputs 332 #endregion Inputs
313 333
334 // no physics actor case
335 if (actor == null)
336 {
337 // well what to do?
338
339 currentControlState = motionControlStates.onsurface;
340 if (move.X != 0f || move.Y != 0f)
341 return "WALK";
342
343 return "STAND";
344 }
345
346
314 #region Flying 347 #region Flying
315 348
316 if (actor != null && actor.Flying) 349 bool isColliding = actor.IsColliding;
350
351 if (actor.Flying)
317 { 352 {
318 m_animTickFall = 0; 353 m_animTickFall = 0;
319 m_animTickJump = 0; 354 m_animTickJump = 0;
320 m_jumping = false; 355 m_jumping = false;
321 Falling = false; 356 Falling = false;
322 m_jumpVelocity = 0f; 357
323 actor.Selected = false; 358 currentControlState = motionControlStates.flying;
324 m_fallHeight = actor.Position.Z; // save latest flying height
325 359
326 if (move.X != 0f || move.Y != 0f) 360 if (move.X != 0f || move.Y != 0f)
327 { 361 {
@@ -333,8 +367,13 @@ namespace OpenSim.Region.Framework.Scenes.Animation
333 } 367 }
334 else if (move.Z < 0f) 368 else if (move.Z < 0f)
335 { 369 {
336 if (actor != null && actor.IsColliding) 370 if (isColliding)
371 {
372 actor.Flying = false;
373 currentControlState = motionControlStates.landing;
374 m_animTickLand = Environment.TickCount;
337 return "LAND"; 375 return "LAND";
376 }
338 else 377 else
339 return "HOVER_DOWN"; 378 return "HOVER_DOWN";
340 } 379 }
@@ -343,29 +382,41 @@ namespace OpenSim.Region.Framework.Scenes.Animation
343 return "HOVER"; 382 return "HOVER";
344 } 383 }
345 } 384 }
385 else
386 {
387 if (isColliding && currentControlState == motionControlStates.flying)
388 {
389 currentControlState = motionControlStates.landing;
390 m_animTickLand = Environment.TickCount;
391 return "LAND";
392 }
393 }
346 394
347 #endregion Flying 395 #endregion Flying
348 396
349 #region Falling/Floating/Landing 397 #region Falling/Floating/Landing
350 398
351 if ((actor == null || !actor.IsColliding) && !m_jumping) 399 if (!isColliding && currentControlState != motionControlStates.jumping)
352 { 400 {
353 float fallElapsed = (float)(Environment.TickCount - m_animTickFall); 401 float fallVelocity = actor.Velocity.Z;
354 float fallVelocity = (actor != null) ? actor.Velocity.Z : 0.0f;
355 402
356 if (!m_jumping && (fallVelocity < -3.0f)) 403 if (fallVelocity < -2.5f)
357 Falling = true; 404 Falling = true;
358 405
359 if (m_animTickFall == 0 || (fallVelocity >= 0.0f)) 406 if (m_animTickFall == 0 || (fallVelocity >= -0.5f))
360 { 407 {
361 // not falling yet, or going up
362 // reset start of fall time
363 m_animTickFall = Environment.TickCount; 408 m_animTickFall = Environment.TickCount;
364 } 409 }
365 else if (!m_jumping && (fallElapsed > FALL_DELAY) && (fallVelocity < -3.0f) && (m_scenePresence.WasFlying)) 410 else
366 { 411 {
367 // Falling long enough to trigger the animation 412 int fallElapsed = (Environment.TickCount - m_animTickFall);
368 return "FALLDOWN"; 413 if ((fallElapsed > FALL_DELAY) && (fallVelocity < -3.0f))
414 {
415 currentControlState = motionControlStates.falling;
416 m_lastFallVelocity = fallVelocity;
417 // Falling long enough to trigger the animation
418 return "FALLDOWN";
419 }
369 } 420 }
370 421
371 // Check if the user has stopped walking just now 422 // Check if the user has stopped walking just now
@@ -375,49 +426,44 @@ namespace OpenSim.Region.Framework.Scenes.Animation
375 return CurrentMovementAnimation; 426 return CurrentMovementAnimation;
376 } 427 }
377 428
378 #endregion Falling/Floating/Landing 429 m_animTickFall = 0;
379 430
431 #endregion Falling/Floating/Landing
380 432
381 #region Jumping // section added for jumping... 433 #region Jumping // section added for jumping...
382 434
383 int jumptime; 435 if (isColliding && move.Z > 0f && currentControlState != motionControlStates.jumping)
384 jumptime = Environment.TickCount - m_animTickJump;
385
386 if ((move.Z > 0f) && (!m_jumping))
387 { 436 {
388 // Start jumping, prejump 437 // Start jumping, prejump
389 m_animTickFall = 0; 438 currentControlState = motionControlStates.jumping;
390 m_jumping = true; 439 m_jumping = true;
391 Falling = false; 440 Falling = false;
392 actor.Selected = true; // borrowed for jumping flag
393 m_animTickJump = Environment.TickCount; 441 m_animTickJump = Environment.TickCount;
394 m_jumpVelocity = 0.35f;
395 return "PREJUMP"; 442 return "PREJUMP";
396 } 443 }
397 444
398 if (m_jumping) 445 if (currentControlState == motionControlStates.jumping)
399 { 446 {
447 int jumptime = Environment.TickCount - m_animTickJump;
400 if ((jumptime > (JUMP_PERIOD * 1.5f)) && actor.IsColliding) 448 if ((jumptime > (JUMP_PERIOD * 1.5f)) && actor.IsColliding)
401 { 449 {
402 // end jumping 450 // end jumping
403 m_jumping = false; 451 m_jumping = false;
404 Falling = false; 452 Falling = false;
405 actor.Selected = false; // borrowed for jumping flag 453 actor.Selected = false; // borrowed for jumping flag
406 m_jumpVelocity = 0f; 454 m_animTickLand = Environment.TickCount;
407 m_animTickFall = Environment.TickCount; 455 currentControlState = motionControlStates.landing;
408 return "LAND"; 456 return "LAND";
409 } 457 }
410 else if (jumptime > JUMP_PERIOD) 458 else if (jumptime > JUMP_PERIOD)
411 { 459 {
412 // jump down 460 // jump down
413 m_jumpVelocity = 0f;
414 return "JUMP"; 461 return "JUMP";
415 } 462 }
416 else if (jumptime > PREJUMP_DELAY) 463 else if (jumptime > PREJUMP_DELAY)
417 { 464 {
418 // jump up 465 // jump up
419 m_jumping = true; 466 m_jumping = true;
420 m_jumpVelocity = 10f;
421 return "JUMP"; 467 return "JUMP";
422 } 468 }
423 } 469 }
@@ -426,42 +472,48 @@ namespace OpenSim.Region.Framework.Scenes.Animation
426 472
427 #region Ground Movement 473 #region Ground Movement
428 474
429 if (CurrentMovementAnimation == "FALLDOWN") 475 if (currentControlState == motionControlStates.falling)
430 { 476 {
431 Falling = false; 477 Falling = false;
432 m_animTickFall = Environment.TickCount; 478 currentControlState = motionControlStates.landing;
479 m_animTickLand = Environment.TickCount;
433 // TODO: SOFT_LAND support 480 // TODO: SOFT_LAND support
434 float fallHeight = m_fallHeight - actor.Position.Z; 481 float fallVsq =m_lastFallVelocity*m_lastFallVelocity;
435 if (fallHeight > 15.0f) 482 if (fallVsq > 300f) // aprox 20*h
436 return "STANDUP"; 483 return "STANDUP";
437 else if (fallHeight > 8.0f) 484 else if (fallVsq > 160f)
438 return "SOFT_LAND"; 485 return "SOFT_LAND";
439 else 486 else
440 return "LAND"; 487 return "LAND";
441 } 488 }
442 else if ((CurrentMovementAnimation == "LAND") || (CurrentMovementAnimation == "SOFT_LAND") || (CurrentMovementAnimation == "STANDUP")) 489
490
491 if (currentControlState == motionControlStates.landing)
443 { 492 {
444 int landElapsed = Environment.TickCount - m_animTickFall; 493 Falling = false;
494 int landElapsed = Environment.TickCount - m_animTickLand;
445 int limit = 1000; 495 int limit = 1000;
446 if (CurrentMovementAnimation == "LAND") 496 if (CurrentMovementAnimation == "LAND")
447 limit = 350; 497 limit = 350;
448 // NB if the above is set too long a weird anim reset from some place prevents STAND from being sent to client 498 // NB if the above is set too long a weird anim reset from some place prevents STAND from being sent to client
449 499
450 if ((m_animTickFall != 0) && (landElapsed <= limit)) 500 if ((m_animTickLand != 0) && (landElapsed <= limit))
451 { 501 {
452 return CurrentMovementAnimation; 502 return CurrentMovementAnimation;
453 } 503 }
454 else 504 else
455 { 505 {
456 m_fallHeight = actor.Position.Z; // save latest flying height 506 currentControlState = motionControlStates.onsurface;
507 m_animTickLand = 0;
457 return "STAND"; 508 return "STAND";
458 } 509 }
459 } 510 }
460 511
512
461 // next section moved outside paren. and realigned for jumping 513 // next section moved outside paren. and realigned for jumping
462 if (move.X != 0f || move.Y != 0f) 514 if (move.X != 0f || move.Y != 0f)
463 { 515 {
464 m_fallHeight = actor.Position.Z; // save latest flying height 516 currentControlState = motionControlStates.onsurface;
465 Falling = false; 517 Falling = false;
466 // Walking / crouchwalking / running 518 // Walking / crouchwalking / running
467 if (move.Z < 0f) 519 if (move.Z < 0f)
@@ -480,6 +532,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
480 } 532 }
481 else if (!m_jumping) 533 else if (!m_jumping)
482 { 534 {
535 currentControlState = motionControlStates.onsurface;
483 Falling = false; 536 Falling = false;
484 // Not walking 537 // Not walking
485 if (move.Z < 0) 538 if (move.Z < 0)
@@ -493,8 +546,6 @@ namespace OpenSim.Region.Framework.Scenes.Animation
493 } 546 }
494 #endregion Ground Movement 547 #endregion Ground Movement
495 548
496 Falling = false;
497
498 return CurrentMovementAnimation; 549 return CurrentMovementAnimation;
499 } 550 }
500 551
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 5946979..e6a366d 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -287,14 +287,7 @@ namespace OpenSim.Region.Framework.Scenes
287 set { PhysicsActor.Flying = value; } 287 set { PhysicsActor.Flying = value; }
288 } 288 }
289 289
290 // add for fly velocity control 290 public bool IsColliding
291 private bool FlyingOld {get; set;}
292 public bool WasFlying
293 {
294 get; private set;
295 }
296
297 public bool IsColliding
298 { 291 {
299 get { return PhysicsActor != null && PhysicsActor.IsColliding; } 292 get { return PhysicsActor != null && PhysicsActor.IsColliding; }
300 // We would expect setting IsColliding to be private but it's used by a hack in Scene 293 // We would expect setting IsColliding to be private but it's used by a hack in Scene
@@ -936,7 +929,7 @@ namespace OpenSim.Region.Framework.Scenes
936 /// <remarks> 929 /// <remarks>
937 /// AGENT_CONTRL_STOP comes about if user holds down space key on viewers. 930 /// AGENT_CONTRL_STOP comes about if user holds down space key on viewers.
938 /// </remarks> 931 /// </remarks>
939 private float AgentControlStopSlowWhilstMoving = 0.5f; 932 private float AgentControlStopSlowWhilstMoving = 0.2f;
940 933
941 private bool m_forceFly; 934 private bool m_forceFly;
942 935
@@ -2174,7 +2167,7 @@ namespace OpenSim.Region.Framework.Scenes
2174 bool DCFlagKeyPressed = false; 2167 bool DCFlagKeyPressed = false;
2175 Vector3 agent_control_v3 = Vector3.Zero; 2168 Vector3 agent_control_v3 = Vector3.Zero;
2176 2169
2177 bool newFlying = actor.Flying; 2170 bool newFlying = false;
2178 2171
2179 if (ForceFly) 2172 if (ForceFly)
2180 newFlying = true; 2173 newFlying = true;
@@ -2286,11 +2279,11 @@ namespace OpenSim.Region.Framework.Scenes
2286 if (Flying && !ForceFly) 2279 if (Flying && !ForceFly)
2287 { 2280 {
2288 // Need to stop in mid air if user holds down AGENT_CONTROL_STOP 2281 // Need to stop in mid air if user holds down AGENT_CONTROL_STOP
2289 if (AgentControlStopActive) 2282 // if (AgentControlStopActive)
2290 { 2283 // {
2291 agent_control_v3 = Vector3.Zero; 2284 // agent_control_v3 = Vector3.Zero;
2292 } 2285 // }
2293 else 2286 // else
2294 { 2287 {
2295 // Landing detection code 2288 // Landing detection code
2296 2289
@@ -2298,38 +2291,44 @@ namespace OpenSim.Region.Framework.Scenes
2298 bool controlland = (((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0) || 2291 bool controlland = (((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0) ||
2299 ((flags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG) != 0)); 2292 ((flags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG) != 0));
2300 2293
2301 //m_log.Debug("[CONTROL]: " +flags); 2294 //m_log.Debug("[CONTROL]: " +flags);
2302 // Applies a satisfying roll effect to the avatar when flying. 2295 // Applies a satisfying roll effect to the avatar when flying.
2303 if ((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) != 0 && (flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_POS) != 0) 2296 if ((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) != 0 && (flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_POS) != 0)
2304 { 2297 {
2305 ApplyFlyingRoll( 2298 ApplyFlyingRoll(
2306 FLY_ROLL_RADIANS_PER_UPDATE, 2299 FLY_ROLL_RADIANS_PER_UPDATE,
2307 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0, 2300 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0,
2308 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0); 2301 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0);
2309 } 2302 }
2310 else if ((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) != 0 && 2303 else if ((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) != 0 &&
2311 (flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_NEG) != 0) 2304 (flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_NEG) != 0)
2312 { 2305 {
2313 ApplyFlyingRoll( 2306 ApplyFlyingRoll(
2314 -FLY_ROLL_RADIANS_PER_UPDATE, 2307 -FLY_ROLL_RADIANS_PER_UPDATE,
2315 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0, 2308 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0,
2316 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0); 2309 (flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0);
2317 } 2310 }
2318 else 2311 else
2319 { 2312 {
2320 if (m_AngularVelocity.Z != 0) 2313 if (m_AngularVelocity.Z != 0)
2321 m_AngularVelocity.Z += CalculateFlyingRollResetToZero(FLY_ROLL_RESET_RADIANS_PER_UPDATE); 2314 m_AngularVelocity.Z += CalculateFlyingRollResetToZero(FLY_ROLL_RESET_RADIANS_PER_UPDATE);
2322 }
2323
2324 if (Flying && IsColliding && controlland)
2325 {
2326 // nesting this check because LengthSquared() is expensive and we don't
2327 // want to do it every step when flying.
2328 if ((Velocity.LengthSquared() <= LAND_VELOCITYMAG_MAX))
2329 StopFlying();
2330 } 2315 }
2316
2317 /*
2318 if (Flying && IsColliding && controlland)
2319 {
2320 // nesting this check because LengthSquared() is expensive and we don't
2321 // want to do it every step when flying.
2322 if ((Velocity.LengthSquared() <= LAND_VELOCITYMAG_MAX))
2323 StopFlying();
2324 }
2325 */
2331 } 2326 }
2332 } 2327 }
2328 else if (IsColliding && agent_control_v3.Z < 0f)
2329 agent_control_v3.Z = 0;
2330// else if(AgentControlStopActive %% Velocity.Z <0.01f)
2331
2333 2332
2334// m_log.DebugFormat("[SCENE PRESENCE]: MovementFlag {0} for {1}", MovementFlag, Name); 2333// m_log.DebugFormat("[SCENE PRESENCE]: MovementFlag {0} for {1}", MovementFlag, Name);
2335 2334
@@ -2342,32 +2341,22 @@ namespace OpenSim.Region.Framework.Scenes
2342 if (update_movementflag 2341 if (update_movementflag
2343 || (update_rotation && DCFlagKeyPressed && (!AgentControlStopActive || MovementFlag != 0))) 2342 || (update_rotation && DCFlagKeyPressed && (!AgentControlStopActive || MovementFlag != 0)))
2344 { 2343 {
2345// if (update_movementflag || !AgentControlStopActive || MovementFlag != 0)
2346// {
2347// m_log.DebugFormat(
2348// "[SCENE PRESENCE]: In {0} adding velocity of {1} to {2}, umf = {3}, mf = {4}, ur = {5}",
2349// m_scene.RegionInfo.RegionName, agent_control_v3, Name,
2350// update_movementflag, MovementFlag, update_rotation);
2351
2352 float speedModifier;
2353 2344
2354 if (AgentControlStopActive) 2345 if (AgentControlStopActive)
2355 speedModifier = AgentControlStopSlowWhilstMoving; 2346 {
2347// if (MovementFlag == 0 && Animator.Falling)
2348 if (MovementFlag == 0 && Animator.currentControlState == ScenePresenceAnimator.motionControlStates.falling)
2349 {
2350 AddNewMovement(agent_control_v3, AgentControlStopSlowWhilstMoving, true);
2351 }
2356 else 2352 else
2357 speedModifier = 1; 2353 AddNewMovement(agent_control_v3, AgentControlStopSlowWhilstMoving);
2354 }
2355
2356 else
2357 AddNewMovement(agent_control_v3);
2358 2358
2359 AddNewMovement(agent_control_v3, speedModifier);
2360// }
2361 } 2359 }
2362// else
2363// {
2364// if (!update_movementflag)
2365// {
2366// m_log.DebugFormat(
2367// "[SCENE PRESENCE]: In {0} ignoring requested update of {1} for {2} as update_movementflag = false",
2368// m_scene.RegionInfo.RegionName, agent_control_v3, Name);
2369// }
2370// }
2371 2360
2372 if (update_movementflag && ParentID == 0) 2361 if (update_movementflag && ParentID == 0)
2373 { 2362 {
@@ -3246,68 +3235,58 @@ namespace OpenSim.Region.Framework.Scenes
3246 /// <param name="vec">The vector in which to move. This is relative to the rotation argument</param> 3235 /// <param name="vec">The vector in which to move. This is relative to the rotation argument</param>
3247 /// <param name="thisAddSpeedModifier"> 3236 /// <param name="thisAddSpeedModifier">
3248 /// Optional additional speed modifier for this particular add. Default is 1</param> 3237 /// Optional additional speed modifier for this particular add. Default is 1</param>
3249 public void AddNewMovement(Vector3 vec, float thisAddSpeedModifier = 1) 3238 public void AddNewMovement(Vector3 vec, float thisAddSpeedModifier = 1, bool breaking = false)
3250 { 3239 {
3251// m_log.DebugFormat( 3240 // m_log.DebugFormat(
3252// "[SCENE PRESENCE]: Adding new movement {0} with rotation {1}, thisAddSpeedModifier {2} for {3}", 3241 // "[SCENE PRESENCE]: Adding new movement {0} with rotation {1}, thisAddSpeedModifier {2} for {3}",
3253// vec, Rotation, thisAddSpeedModifier, Name); 3242 // vec, Rotation, thisAddSpeedModifier, Name);
3254 3243
3255 Vector3 direc = vec * Rotation; 3244 Vector3 direc = vec * Rotation;
3256 direc.Normalize(); 3245 direc.Normalize();
3257 3246
3258 if (Flying != FlyingOld) // add for fly velocity control
3259 {
3260 FlyingOld = Flying; // add for fly velocity control
3261 if (!Flying)
3262 WasFlying = true; // add for fly velocity control
3263 }
3264
3265 if (IsColliding)
3266 WasFlying = false; // add for fly velocity control
3267
3268 if ((vec.Z == 0f) && !Flying) 3247 if ((vec.Z == 0f) && !Flying)
3269 direc.Z = 0f; // Prevent camera WASD up. 3248 direc.Z = 0f; // Prevent camera WASD up.
3270 3249
3271 direc *= 0.03f * 128f * SpeedModifier * thisAddSpeedModifier; 3250 direc *= 0.03f * 128f * SpeedModifier * thisAddSpeedModifier;
3272 3251
3273// m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name); 3252 // m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name);
3274 3253
3275 if (PhysicsActor != null) 3254 if (Animator.currentControlState == ScenePresenceAnimator.motionControlStates.falling)
3276 { 3255 {
3277 if (Flying) 3256 if (breaking)
3278 { 3257 direc.Z = -9999f; //hack
3258 else
3259 direc = Vector3.Zero;
3260 }
3261 else if (Flying)
3262 {
3263 if(IsColliding)
3264 direc = Vector3.Zero;
3265 else
3279 direc *= 4.0f; 3266 direc *= 4.0f;
3280 //bool controlland = (((m_AgentControlFlags & (uint)AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0) || ((m_AgentControlFlags & (uint)AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG) != 0)); 3267 }
3281 //if (controlland) 3268 else if (IsColliding)
3282 // m_log.Info("[AGENT]: landCommand"); 3269 {
3283 //if (IsColliding) 3270 if (direc.Z > 2.0f)
3284 // m_log.Info("[AGENT]: colliding");
3285 //if (Flying && IsColliding && controlland)
3286 //{
3287 // StopFlying();
3288 // m_log.Info("[AGENT]: Stop Flying");
3289 //}
3290 }
3291 if (Animator.Falling && WasFlying) // if falling from flying, disable motion add
3292 { 3271 {
3293 direc *= 0.0f; 3272 direc.Z *= 2.6f;
3294 } 3273 }
3295 else if (!Flying && IsColliding) 3274 else if (direc.Z < 0)
3275 direc.Z = 0;
3276/*
3277 float c = CollisionPlane.Z;
3278 if (c > 0.2f && c < 0.94f && (direc.X != 0 || direc.Y != 0))
3296 { 3279 {
3297 if (direc.Z > 2.0f) 3280 float p = direc.X * CollisionPlane.X + direc.Y * CollisionPlane.Y;
3298 { 3281 direc.X -= p * CollisionPlane.X;
3299 direc.Z *= 2.6f; 3282 direc.Y -= p * CollisionPlane.Y;
3300 3283 direc.Z -= p * c;
3301 // TODO: PreJump and jump happen too quickly. Many times prejump gets ignored.
3302// Animator.TrySetMovementAnimation("PREJUMP");
3303// Animator.TrySetMovementAnimation("JUMP");
3304 }
3305 } 3284 }
3285 */
3306 } 3286 }
3307 3287
3308// m_log.DebugFormat("[SCENE PRESENCE]: Setting force to apply to {0} for {1}", direc, Name); 3288 // m_log.DebugFormat("[SCENE PRESENCE]: Setting force to apply to {0} for {1}", direc, Name);
3309 3289
3310 // TODO: Add the force instead of only setting it to support multiple forces per frame?
3311 m_forceToApply = direc; 3290 m_forceToApply = direc;
3312 Animator.UpdateMovementAnimations(); 3291 Animator.UpdateMovementAnimations();
3313 } 3292 }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index daf6c7c..4a98df4 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -79,6 +79,7 @@ namespace OpenSim.Region.Physics.OdePlugin
79 private Vector3 _acceleration; 79 private Vector3 _acceleration;
80 private Vector3 m_rotationalVelocity; 80 private Vector3 m_rotationalVelocity;
81 private Vector3 m_size; 81 private Vector3 m_size;
82 private Vector3 m_collideNormal;
82 private Quaternion m_orientation; 83 private Quaternion m_orientation;
83 private Quaternion m_orientation2D; 84 private Quaternion m_orientation2D;
84 private float m_mass = 80f; 85 private float m_mass = 80f;
@@ -109,6 +110,7 @@ namespace OpenSim.Region.Physics.OdePlugin
109 110
110 private bool _zeroFlag = false; 111 private bool _zeroFlag = false;
111 112
113
112 private uint m_localID = 0; 114 private uint m_localID = 0;
113 public bool m_returnCollisions = false; 115 public bool m_returnCollisions = false;
114 // taints and their non-tainted counterparts 116 // taints and their non-tainted counterparts
@@ -153,9 +155,7 @@ namespace OpenSim.Region.Physics.OdePlugin
153 public UUID m_uuid; 155 public UUID m_uuid;
154 public bool bad = false; 156 public bool bad = false;
155 157
156 float mu; 158 float mu;
157
158
159 159
160 public OdeCharacter(uint localID, String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor) 160 public OdeCharacter(uint localID, String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
161 { 161 {
@@ -864,11 +864,12 @@ namespace OpenSim.Region.Physics.OdePlugin
864 x = tx * cos - y * sin; 864 x = tx * cos - y * sin;
865 y = tx * sin + y * cos; 865 y = tx * sin + y * cos;
866 } 866 }
867 867
868 868 public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact,
869 public bool Collide(IntPtr me,IntPtr other, bool reverse, ref d.ContactGeom contact, ref bool feetcollision) 869 ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision)
870 { 870 {
871 feetcollision = false; 871 feetcollision = false;
872 useAltcontact = false;
872 873
873 if (me == capsule) 874 if (me == capsule)
874 { 875 {
@@ -899,31 +900,77 @@ namespace OpenSim.Region.Physics.OdePlugin
899 { 900 {
900 feetcollision = true; 901 feetcollision = true;
901 if (h < boneOff) 902 if (h < boneOff)
903 {
904 m_collideNormal.X = contact.normal.X;
905 m_collideNormal.Y = contact.normal.Y;
906 m_collideNormal.Z = contact.normal.Z;
902 IsColliding = true; 907 IsColliding = true;
908 }
903 } 909 }
904 return true; 910 return true;
905 } 911 }
912
913 d.AABB aabb;
914 d.GeomGetAABB(other,out aabb);
915 float othertop = aabb.MaxZ - _position.Z;
916
917 if (offset.Z > 0 || othertop > -feetOff || contact.normal.Z > 0.35f)
918 {
919 if (offset.Z <= 0)
920 {
921 feetcollision = true;
922 if (h < boneOff)
923 {
924 m_collideNormal.X = contact.normal.X;
925 m_collideNormal.Y = contact.normal.Y;
926 m_collideNormal.Z = contact.normal.Z;
927 IsColliding = true;
928 }
929 }
906 930
907 if (offset.Z > 0) 931 if (contact.normal.Z < 0.2f)
932 {
933 contact.normal.Z = 0;
934 float t = contact.normal.X * contact.normal.X + contact.normal.Y * contact.normal.Y;
935 if (t > 0)
936 {
937 t = 1.0f / t;
938 contact.normal.X *= t;
939 contact.normal.Y *= t;
940 }
941 }
908 return true; 942 return true;
943 }
944
945 altContact = contact;
946 useAltcontact = true;
909 947
910 offset.Normalize(); 948 offset.Normalize();
911 949
950 if (contact.depth > 0.1f)
951 contact.depth = 0.1f;
952
912 if (reverse) 953 if (reverse)
913 { 954 {
914 contact.normal.X = offset.X; 955 altContact.normal.X = offset.X;
915 contact.normal.Y = offset.Y; 956 altContact.normal.Y = offset.Y;
916 contact.normal.Z = offset.Z; 957 altContact.normal.Z = offset.Z;
917 } 958 }
918 else 959 else
919 { 960 {
920 contact.normal.X = -offset.X; 961 altContact.normal.X = -offset.X;
921 contact.normal.Y = -offset.Y; 962 altContact.normal.Y = -offset.Y;
922 contact.normal.Z = -offset.Z; 963 altContact.normal.Z = -offset.Z;
923 } 964 }
965
924 feetcollision = true; 966 feetcollision = true;
925 if (h < boneOff) 967 if (h < boneOff)
968 {
969 m_collideNormal.X = contact.normal.X;
970 m_collideNormal.Y = contact.normal.Y;
971 m_collideNormal.Z = contact.normal.Z;
926 IsColliding = true; 972 IsColliding = true;
973 }
927 return true; 974 return true;
928 } 975 }
929 return false; 976 return false;
@@ -1003,6 +1050,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1003 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); 1050 Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
1004 float velLengthSquared = vel.LengthSquared(); 1051 float velLengthSquared = vel.LengthSquared();
1005 1052
1053
1054 Vector3 ctz = _target_velocity;
1055
1006 float movementdivisor = 1f; 1056 float movementdivisor = 1f;
1007 //Ubit change divisions into multiplications below 1057 //Ubit change divisions into multiplications below
1008 if (!m_alwaysRun) 1058 if (!m_alwaysRun)
@@ -1010,13 +1060,16 @@ namespace OpenSim.Region.Physics.OdePlugin
1010 else 1060 else
1011 movementdivisor = 1 / runDivisor; 1061 movementdivisor = 1 / runDivisor;
1012 1062
1063 ctz.X *= movementdivisor;
1064 ctz.Y *= movementdivisor;
1065
1013 //****************************************** 1066 //******************************************
1014 // colide with land 1067 // colide with land
1015 1068
1016 d.AABB aabb; 1069 d.AABB aabb;
1017// d.GeomGetAABB(feetbox, out aabb); 1070// d.GeomGetAABB(feetbox, out aabb);
1018 d.GeomGetAABB(capsule, out aabb); 1071 d.GeomGetAABB(capsule, out aabb);
1019 float chrminZ = aabb.MinZ; ; // move up a bit 1072 float chrminZ = aabb.MinZ; // move up a bit
1020 Vector3 posch = localpos; 1073 Vector3 posch = localpos;
1021 1074
1022 float ftmp; 1075 float ftmp;
@@ -1031,15 +1084,18 @@ namespace OpenSim.Region.Physics.OdePlugin
1031 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); 1084 float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
1032 if (chrminZ < terrainheight) 1085 if (chrminZ < terrainheight)
1033 { 1086 {
1087 if (ctz.Z < 0)
1088 ctz.Z = 0;
1089
1090 Vector3 n = _parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y);
1034 float depth = terrainheight - chrminZ; 1091 float depth = terrainheight - chrminZ;
1092
1093 vec.Z = depth * PID_P * 50;
1094
1035 if (!flying) 1095 if (!flying)
1036 { 1096 vec.Z += -vel.Z * PID_D;
1037 vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
1038 }
1039 else
1040 vec.Z = depth * PID_P * 50;
1041 1097
1042 if (depth < 0.1f) 1098 if (depth < 0.2f)
1043 { 1099 {
1044 m_colliderGroundfilter++; 1100 m_colliderGroundfilter++;
1045 if (m_colliderGroundfilter > 2) 1101 if (m_colliderGroundfilter > 2)
@@ -1053,50 +1109,83 @@ namespace OpenSim.Region.Physics.OdePlugin
1053 m_freemove = false; 1109 m_freemove = false;
1054 } 1110 }
1055 1111
1112 m_collideNormal.X = n.X;
1113 m_collideNormal.Y = n.Y;
1114 m_collideNormal.Z = n.Z;
1115
1056 m_iscollidingGround = true; 1116 m_iscollidingGround = true;
1057 1117
1118
1058 ContactPoint contact = new ContactPoint(); 1119 ContactPoint contact = new ContactPoint();
1059 contact.PenetrationDepth = depth; 1120 contact.PenetrationDepth = depth;
1060 contact.Position.X = localpos.X; 1121 contact.Position.X = localpos.X;
1061 contact.Position.Y = localpos.Y; 1122 contact.Position.Y = localpos.Y;
1062 contact.Position.Z = terrainheight; 1123 contact.Position.Z = terrainheight;
1063 contact.SurfaceNormal.X = 0.0f; 1124 contact.SurfaceNormal.X = -n.X;
1064 contact.SurfaceNormal.Y = 0.0f; 1125 contact.SurfaceNormal.Y = -n.Y;
1065 contact.SurfaceNormal.Z = -1f; 1126 contact.SurfaceNormal.Z = -n.Z;
1066 contact.RelativeSpeed = -vel.Z; 1127 contact.RelativeSpeed = -vel.Z;
1067 contact.CharacterFeet = true; 1128 contact.CharacterFeet = true;
1068 AddCollisionEvent(0, contact); 1129 AddCollisionEvent(0, contact);
1069 1130
1070 vec.Z *= 0.5f; 1131// vec.Z *= 0.5f;
1071 } 1132 }
1072 } 1133 }
1073 1134
1074 else 1135 else
1075 { 1136 {
1076 m_colliderGroundfilter = 0; 1137 m_colliderGroundfilter -= 5;
1077 m_iscollidingGround = false; 1138 if (m_colliderGroundfilter <= 0)
1139 {
1140 m_colliderGroundfilter = 0;
1141 m_iscollidingGround = false;
1142 }
1078 } 1143 }
1079 } 1144 }
1080 else 1145 else
1081 { 1146 {
1082 m_colliderGroundfilter = 0; 1147 m_colliderGroundfilter -= 5;
1083 m_iscollidingGround = false; 1148 if (m_colliderGroundfilter <= 0)
1149 {
1150 m_colliderGroundfilter = 0;
1151 m_iscollidingGround = false;
1152 }
1084 } 1153 }
1085 1154
1086 1155
1087 //****************************************** 1156 //******************************************
1157 if (!m_iscolliding)
1158 m_collideNormal.Z = 0;
1159
1160 bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f);
1161
1088 1162
1089 bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
1090 1163
1091 // if (!tviszero || m_iscolliding || velLengthSquared <0.01)
1092 if (!tviszero) 1164 if (!tviszero)
1165 {
1093 m_freemove = false; 1166 m_freemove = false;
1094 1167
1168 // movement relative to surface if moving on it
1169 // dont disturbe vertical movement, ie jumps
1170 if (m_iscolliding && !flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
1171 {
1172 float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y;
1173 ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
1174 ctz.Y *= (float)Math.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y);
1175 ctz.Z -= p;
1176 if (ctz.Z < 0)
1177 ctz.Z *= 2;
1178
1179 }
1180
1181 }
1182
1183
1095 if (!m_freemove) 1184 if (!m_freemove)
1096 { 1185 {
1097 1186
1098 // if velocity is zero, use position control; otherwise, velocity control 1187 // if velocity is zero, use position control; otherwise, velocity control
1099 if (tviszero && m_iscolliding) 1188 if (tviszero && m_iscolliding && !flying)
1100 { 1189 {
1101 // keep track of where we stopped. No more slippin' & slidin' 1190 // keep track of where we stopped. No more slippin' & slidin'
1102 if (!_zeroFlag) 1191 if (!_zeroFlag)
@@ -1129,22 +1218,48 @@ namespace OpenSim.Region.Physics.OdePlugin
1129 { 1218 {
1130 if (!flying) 1219 if (!flying)
1131 { 1220 {
1132 if (_target_velocity.Z > 0.0f) 1221 // we are on a surface
1222 if (ctz.Z > 0f)
1133 { 1223 {
1134 // We're colliding with something and we're not flying but we're moving 1224 // moving up or JUMPING
1135 // This means we're walking or running. JUMPING 1225 vec.Z += (ctz.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
1136 vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P; 1226 vec.X += (ctz.X - vel.X) * (PID_D);
1227 vec.Y += (ctz.Y - vel.Y) * (PID_D);
1137 } 1228 }
1229 else
1230 {
1231 // we are moving down on a surface
1232 if (ctz.Z == 0)
1233 {
1234 if (vel.Z > 0)
1235 vec.Z -= vel.Z * PID_D * 2.0f;
1236 vec.X += (ctz.X - vel.X) * (PID_D);
1237 vec.Y += (ctz.Y - vel.Y) * (PID_D);
1238 }
1239 // intencionally going down
1240 else
1241 {
1242 if (ctz.Z < vel.Z)
1243 vec.Z += (ctz.Z - vel.Z) * PID_D * 2.0f;
1244 else
1245 {
1246 }
1247
1248 if (Math.Abs(ctz.X) > Math.Abs(vel.X))
1249 vec.X += (ctz.X - vel.X) * (PID_D);
1250 if (Math.Abs(ctz.Y) > Math.Abs(vel.Y))
1251 vec.Y += (ctz.Y - vel.Y) * (PID_D);
1252 }
1253 }
1254
1138 // We're standing on something 1255 // We're standing on something
1139 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
1140 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
1141 } 1256 }
1142 else 1257 else
1143 { 1258 {
1144 // We're flying and colliding with something 1259 // We're flying and colliding with something
1145 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f); 1260 vec.X += (ctz.X - vel.X) * (PID_D * 0.0625f);
1146 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f); 1261 vec.Y += (ctz.Y - vel.Y) * (PID_D * 0.0625f);
1147 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); 1262 vec.Z += (ctz.Z - vel.Z) * (PID_D);
1148 } 1263 }
1149 } 1264 }
1150 else // ie not colliding 1265 else // ie not colliding
@@ -1152,9 +1267,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1152 if (flying) //(!m_iscolliding && flying) 1267 if (flying) //(!m_iscolliding && flying)
1153 { 1268 {
1154 // we're in mid air suspended 1269 // we're in mid air suspended
1155 vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f); 1270 vec.X += (ctz.X - vel.X) * (PID_D * 1.667f);
1156 vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f); 1271 vec.Y += (ctz.Y - vel.Y) * (PID_D * 1.667f);
1157 vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); 1272 vec.Z += (ctz.Z - vel.Z) * (PID_D);
1158 } 1273 }
1159 1274
1160 else 1275 else
@@ -1163,8 +1278,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1163 // m_iscolliding includes collisions with the ground. 1278 // m_iscolliding includes collisions with the ground.
1164 1279
1165 // d.Vector3 pos = d.BodyGetPosition(Body); 1280 // d.Vector3 pos = d.BodyGetPosition(Body);
1166 vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f; 1281 vec.X += (ctz.X - vel.X) * PID_D * 0.833f;
1167 vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f; 1282 vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f;
1283 // hack for breaking on fall
1284 if (ctz.Z == -9999f)
1285 vec.Z += -vel.Z * PID_D - _parent_scene.gravityz * m_mass;
1168 } 1286 }
1169 } 1287 }
1170 } 1288 }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 9bf2abe..2adbe01 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -935,18 +935,22 @@ namespace OpenSim.Region.Physics.OdePlugin
935 SharedTmpcontact.surface.mu = mu; 935 SharedTmpcontact.surface.mu = mu;
936 SharedTmpcontact.surface.bounce = bounce; 936 SharedTmpcontact.surface.bounce = bounce;
937 937
938 d.ContactGeom altContact = new d.ContactGeom();
939 bool useAltcontact = false;
940 bool noskip = true;
941
938 while (true) 942 while (true)
939 { 943 {
940// if (!(IgnoreNegSides && curContact.side1 < 0)) 944// if (!(IgnoreNegSides && curContact.side1 < 0))
941 { 945 {
942 bool noskip = true; 946 noskip = true;
947 useAltcontact = false;
948
943 if (dop1ava) 949 if (dop1ava)
944 { 950 {
945 if (!(((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref FeetCollision))) 951 if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
946 noskip = false;
947 else
948 { 952 {
949 if(p2.PhysicsActorType == (int)ActorTypes.Agent) 953 if (p2.PhysicsActorType == (int)ActorTypes.Agent)
950 { 954 {
951 p1.CollidingObj = true; 955 p1.CollidingObj = true;
952 p2.CollidingObj = true; 956 p2.CollidingObj = true;
@@ -954,18 +958,32 @@ namespace OpenSim.Region.Physics.OdePlugin
954 else if (p2.Velocity.LengthSquared() > 0.0f) 958 else if (p2.Velocity.LengthSquared() > 0.0f)
955 p2.CollidingObj = true; 959 p2.CollidingObj = true;
956 } 960 }
961 else
962 noskip = false;
957 } 963 }
958 else if (dop2ava) 964 else if (dop2ava)
959 { 965 {
960 if (!(((OdeCharacter)p2).Collide(g2,g1, true, ref curContact, ref FeetCollision))) 966 if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
967 {
968 if (p1.PhysicsActorType == (int)ActorTypes.Agent)
969 {
970 p1.CollidingObj = true;
971 p2.CollidingObj = true;
972 }
973 else if (p2.Velocity.LengthSquared() > 0.0f)
974 p1.CollidingObj = true;
975 }
976 else
961 noskip = false; 977 noskip = false;
962 else if (p1.Velocity.LengthSquared() > 0.0f)
963 p1.CollidingObj = true;
964 } 978 }
965 979
966 if (noskip) 980 if (noskip)
967 { 981 {
968 Joint = CreateContacJoint(ref curContact); 982 if(useAltcontact)
983 Joint = CreateContacJoint(ref altContact);
984 else
985 Joint = CreateContacJoint(ref curContact);
986
969 if (Joint == IntPtr.Zero) 987 if (Joint == IntPtr.Zero)
970 break; 988 break;
971 989
@@ -1924,12 +1942,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1924 dy = 0; 1942 dy = 0;
1925 } 1943 }
1926 } 1944 }
1927
1928 else 1945 else
1929 { 1946 {
1930 // we still have square fixed size regions 1947 // we still have square fixed size regions
1931 // also flip x and y because of how map is done for ODE fliped axis 1948 // also flip x and y because of how map is done for ODE fliped axis
1932 // so ix,iy,dx and dy are inter exchanged 1949 // so ix,iy,dx and dy are inter exchanged
1950
1933 if (x < regsize - 1) 1951 if (x < regsize - 1)
1934 { 1952 {
1935 iy = (int)x; 1953 iy = (int)x;
@@ -1976,7 +1994,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1976 */ 1994 */
1977 h0 = ((float)heights[iy]); // 0,0 vertice 1995 h0 = ((float)heights[iy]); // 0,0 vertice
1978 1996
1979 if ((dy > dx)) 1997 if (dy>dx)
1980 { 1998 {
1981 iy += regsize; 1999 iy += regsize;
1982 h2 = (float)heights[iy]; // 0,1 vertice 2000 h2 = (float)heights[iy]; // 0,1 vertice
@@ -1994,6 +2012,133 @@ namespace OpenSim.Region.Physics.OdePlugin
1994 return h0 + h1 + h2; 2012 return h0 + h1 + h2;
1995 } 2013 }
1996 2014
2015 public Vector3 GetTerrainNormalAtXY(float x, float y)
2016 {
2017 int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2018 int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
2019
2020 IntPtr heightFieldGeom = IntPtr.Zero;
2021 Vector3 norm = new Vector3(0, 0, 1);
2022
2023 // get region map
2024 if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
2025 return norm;
2026
2027 if (heightFieldGeom == IntPtr.Zero)
2028 return norm;
2029
2030 if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
2031 return norm;
2032
2033 // TerrainHeightField for ODE as offset 1m
2034 x += 1f - offsetX;
2035 y += 1f - offsetY;
2036
2037 // make position fit into array
2038 if (x < 0)
2039 x = 0;
2040 if (y < 0)
2041 y = 0;
2042
2043 // integer indexs
2044 int ix;
2045 int iy;
2046 // interpolators offset
2047 float dx;
2048 float dy;
2049
2050
2051 int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
2052 int xstep = 1;
2053 int ystep = regsize;
2054 bool firstTri = false;
2055
2056 if (OdeUbitLib)
2057 {
2058 if (x < regsize - 1)
2059 {
2060 ix = (int)x;
2061 dx = x - (float)ix;
2062 }
2063 else // out world use external height
2064 {
2065 ix = regsize - 2;
2066 dx = 0;
2067 }
2068 if (y < regsize - 1)
2069 {
2070 iy = (int)y;
2071 dy = y - (float)iy;
2072 }
2073 else
2074 {
2075 iy = regsize - 2;
2076 dy = 0;
2077 }
2078 firstTri = dy > dx;
2079 }
2080
2081 else
2082 {
2083 xstep = regsize;
2084 ystep = 1;
2085 // we still have square fixed size regions
2086 // also flip x and y because of how map is done for ODE fliped axis
2087 // so ix,iy,dx and dy are inter exchanged
2088 if (x < regsize - 1)
2089 {
2090 iy = (int)x;
2091 dy = x - (float)iy;
2092 }
2093 else // out world use external height
2094 {
2095 iy = regsize - 2;
2096 dy = 0;
2097 }
2098 if (y < regsize - 1)
2099 {
2100 ix = (int)y;
2101 dx = y - (float)ix;
2102 }
2103 else
2104 {
2105 ix = regsize - 2;
2106 dx = 0;
2107 }
2108 firstTri = dx > dy;
2109 }
2110
2111 float h0;
2112 float h1;
2113 float h2;
2114
2115 iy *= regsize;
2116 iy += ix; // all indexes have iy + ix
2117
2118 float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
2119
2120 if (firstTri)
2121 {
2122 h1 = ((float)heights[iy]); // 0,0 vertice
2123 iy += ystep;
2124 h0 = (float)heights[iy]; // 0,1
2125 h2 = (float)heights[iy+xstep]; // 1,1 vertice
2126 norm.X = h0 - h2;
2127 norm.Y = h1 - h0;
2128 }
2129 else
2130 {
2131 h2 = ((float)heights[iy]); // 0,0 vertice
2132 iy += xstep;
2133 h0 = ((float)heights[iy]); // 1,0 vertice
2134 h1 = (float)heights[iy+ystep]; // vertice 1,1
2135 norm.X = h2 - h0;
2136 norm.Y = h0 - h1;
2137 }
2138 norm.Z = 1;
2139 norm.Normalize();
2140 return norm;
2141 }
1997 2142
1998 public override void SetTerrain(float[] heightMap) 2143 public override void SetTerrain(float[] heightMap)
1999 { 2144 {
generated by cgit v1.1 at 2024-12-25 06:32:59 +0000