diff options
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
| -rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 86 |
1 files changed, 78 insertions, 8 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 9aff1ca..9d60cca 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
| @@ -49,16 +49,20 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
| 49 | FudgeFactor = 4, | 49 | FudgeFactor = 4, |
| 50 | Bounce = 5, | 50 | Bounce = 5, |
| 51 | CFM = 6, | 51 | CFM = 6, |
| 52 | ERP = 7, | 52 | StopERP = 7, |
| 53 | StopCFM = 8, | 53 | StopCFM = 8, |
| 54 | LoStop2 = 256, | 54 | LoStop2 = 256, |
| 55 | HiStop2 = 257, | 55 | HiStop2 = 257, |
| 56 | Vel2 = 258, | 56 | Vel2 = 258, |
| 57 | FMax2 = 259, | 57 | FMax2 = 259, |
| 58 | StopERP2 = 7 + 256, | ||
| 59 | StopCFM2 = 8 + 256, | ||
| 58 | LoStop3 = 512, | 60 | LoStop3 = 512, |
| 59 | HiStop3 = 513, | 61 | HiStop3 = 513, |
| 60 | Vel3 = 514, | 62 | Vel3 = 514, |
| 61 | FMax3 = 515 | 63 | FMax3 = 515, |
| 64 | StopERP3 = 7 + 512, | ||
| 65 | StopCFM3 = 8 + 512 | ||
| 62 | } | 66 | } |
| 63 | public class OdeCharacter : PhysicsActor | 67 | public class OdeCharacter : PhysicsActor |
| 64 | { | 68 | { |
| @@ -560,12 +564,78 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
| 560 | } | 564 | } |
| 561 | else | 565 | else |
| 562 | { | 566 | { |
| 563 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0); | 567 | #region Documentation of capsule motor LowStop and HighStop parameters |
| 564 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0); | 568 | // Intentionally introduce some tilt into the capsule by setting |
| 565 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0); | 569 | // the motor stops to small epsilon values. This small tilt prevents |
| 566 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0); | 570 | // the capsule from falling into the terrain; a straight-up capsule |
| 567 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0); | 571 | // (with -0..0 motor stops) falls into the terrain for reasons yet |
| 568 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0); | 572 | // to be comprehended in their entirety. |
| 573 | #endregion | ||
| 574 | d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0.08f); | ||
| 575 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f); | ||
| 576 | d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0.08f); | ||
| 577 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.08f); // must be same as lowstop, else a different, spurious tilt is introduced | ||
| 578 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f); // same as lowstop | ||
| 579 | d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.08f); // same as lowstop | ||
| 580 | #region Documentation of capsule motor StopERP and StopCFM parameters | ||
| 581 | // In addition to the above tilt, we allow a dynamic tilt, or | ||
| 582 | // wobble, to emerge as the capsule is pushed around the environment. | ||
| 583 | // We do this with an experimentally determined combination of | ||
| 584 | // StopERP and StopCFM which make the above motor stops soft. | ||
| 585 | // The softness of the stops should be tweaked according to two | ||
| 586 | // requirements: | ||
| 587 | // | ||
| 588 | // 1. Motor stops should be weak enough to allow enough wobble such | ||
| 589 | // that the capsule can tilt slightly more when moving, to allow | ||
| 590 | // "gliding" over obstacles: | ||
| 591 | // | ||
| 592 | // | ||
| 593 | // .-. | ||
| 594 | // / / | ||
| 595 | // / / | ||
| 596 | // _ / / _ | ||
| 597 | // / \ .-. / / / \ | ||
| 598 | // | | ----> / / / / | | | ||
| 599 | // | | / / `-' | | | ||
| 600 | // | | / / +------+ | | | ||
| 601 | // | | / / | | | | | ||
| 602 | // | | / / | | | | | ||
| 603 | // \_/ `-' +------+ \_/ | ||
| 604 | // ---------------------------------------------------------- | ||
| 605 | // | ||
| 606 | // Note that requirement 1 is made complicated by the ever-present | ||
| 607 | // slight avatar tilt (assigned in the above code to prevent avatar | ||
| 608 | // from falling through terrain), which introduces a direction-dependent | ||
| 609 | // bias into the wobble (wobbling against the existing tilt is harder | ||
| 610 | // than wobbling with the tilt), which makes it easier to walk over | ||
| 611 | // prims from some directions. I have tried to minimize this effect by | ||
| 612 | // minimizing the avatar tilt to the minimum that prevents the avatar from | ||
| 613 | // falling through the terrain. | ||
| 614 | // | ||
| 615 | // 2. Motor stops should be strong enough to prevent the capsule | ||
| 616 | // from being forced all the way to the ground; otherwise the | ||
| 617 | // capsule could slip underneath obstacles like this: | ||
| 618 | // _ _ | ||
| 619 | // / \ +------+ / \ | ||
| 620 | // | | ----> | | | | | ||
| 621 | // | | | | | | | ||
| 622 | // | | .--.___ +------+ | | | ||
| 623 | // | | `--.__`--.__ | | | ||
| 624 | // | | `--.__`--. | | | ||
| 625 | // \_/ `--' \_/ | ||
| 626 | // ---------------------------------------------------------- | ||
| 627 | // | ||
| 628 | // | ||
| 629 | // It is strongly recommended you enable USE_DRAWSTUFF if you want to | ||
| 630 | // tweak these values, to see how the capsule is reacting in various | ||
| 631 | // situations. | ||
| 632 | #endregion | ||
| 633 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0.0035f); | ||
| 634 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0.0035f); | ||
| 635 | d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0.0035f); | ||
| 636 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP, 0.8f); | ||
| 637 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP2, 0.8f); | ||
| 638 | d.JointSetAMotorParam(Amotor, (int)dParam.StopERP3, 0.8f); | ||
| 569 | } | 639 | } |
| 570 | 640 | ||
| 571 | // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the | 641 | // Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the |