diff options
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 36 |
1 files changed, 27 insertions, 9 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 273ee23..33b2e4f 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
@@ -40,6 +40,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
40 | { | 40 | { |
41 | private PhysicsVector _position; | 41 | private PhysicsVector _position; |
42 | private d.Vector3 _zeroPosition; | 42 | private d.Vector3 _zeroPosition; |
43 | private d.Matrix3 m_StandUpRotation; | ||
43 | private bool _zeroFlag = false; | 44 | private bool _zeroFlag = false; |
44 | private bool m_lastUpdateSent = false; | 45 | private bool m_lastUpdateSent = false; |
45 | private PhysicsVector _velocity; | 46 | private PhysicsVector _velocity; |
@@ -86,6 +87,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
86 | _acceleration = new PhysicsVector(); | 87 | _acceleration = new PhysicsVector(); |
87 | _parent_scene = parent_scene; | 88 | _parent_scene = parent_scene; |
88 | 89 | ||
90 | m_StandUpRotation = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f); | ||
91 | |||
89 | for (int i = 0; i < 11; i++) | 92 | for (int i = 0; i < 11; i++) |
90 | { | 93 | { |
91 | m_colliderarr[i] = false; | 94 | m_colliderarr[i] = false; |
@@ -100,7 +103,15 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
100 | d.BodySetMass(Body, ref ShellMass); | 103 | d.BodySetMass(Body, ref ShellMass); |
101 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); | 104 | d.BodySetPosition(Body, pos.X, pos.Y, pos.Z); |
102 | d.GeomSetBody(Shell, Body); | 105 | d.GeomSetBody(Shell, Body); |
103 | Amotor = d.JointCreateAMotor(parent_scene.world, IntPtr.Zero); | 106 | |
107 | |||
108 | |||
109 | |||
110 | d.BodySetRotation(Body, ref m_StandUpRotation); | ||
111 | |||
112 | |||
113 | |||
114 | Amotor = d.JointCreateAMotor(parent_scene.world, IntPtr.Zero); | ||
104 | d.JointAttach(Amotor, Body, IntPtr.Zero); | 115 | d.JointAttach(Amotor, Body, IntPtr.Zero); |
105 | d.JointSetAMotorMode(Amotor, dAMotorEuler); | 116 | d.JointSetAMotorMode(Amotor, dAMotorEuler); |
106 | d.JointSetAMotorNumAxes(Amotor, 3); | 117 | d.JointSetAMotorNumAxes(Amotor, 3); |
@@ -117,6 +128,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
117 | d.JointSetAMotorParam(Amotor, 3, 0); | 128 | d.JointSetAMotorParam(Amotor, 3, 0); |
118 | d.JointSetAMotorParam(Amotor, 2, 0); | 129 | d.JointSetAMotorParam(Amotor, 2, 0); |
119 | 130 | ||
131 | |||
132 | |||
120 | } | 133 | } |
121 | m_name = avName; | 134 | m_name = avName; |
122 | parent_scene.geom_name_map[Shell] = avName; | 135 | parent_scene.geom_name_map[Shell] = avName; |
@@ -381,16 +394,21 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
381 | d.BodyAddForce(Body, force.X, force.Y, force.Z); | 394 | d.BodyAddForce(Body, force.X, force.Y, force.Z); |
382 | 395 | ||
383 | // ok -- let's stand up straight! | 396 | // ok -- let's stand up straight! |
384 | d.Vector3 feet; | 397 | //d.Matrix3 StandUpRotationalMatrix = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f); |
385 | d.Vector3 head; | 398 | //d.BodySetRotation(Body, ref StandUpRotationalMatrix); |
386 | d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet); | 399 | d.BodySetRotation(Body, ref m_StandUpRotation); |
387 | d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head); | 400 | // The above matrix was generated with the amazing standup routine below by danX0r *cheer* |
388 | float posture = head.Z - feet.Z; | 401 | //d.Vector3 feet; |
402 | //d.Vector3 head; | ||
403 | //d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet); | ||
404 | //d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head); | ||
405 | //float posture = head.Z - feet.Z; | ||
389 | 406 | ||
390 | // restoring force proportional to lack of posture: | 407 | // restoring force proportional to lack of posture: |
391 | float servo = (2.5f - posture) * POSTURE_SERVO; | 408 | //float servo = (2.5f - posture) * POSTURE_SERVO; |
392 | d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); | 409 | //d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); |
393 | d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); | 410 | //d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); |
411 | |||
394 | //m_lastUpdateSent = false; | 412 | //m_lastUpdateSent = false; |
395 | 413 | ||
396 | } | 414 | } |