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-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs76
1 files changed, 54 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 7eca7ed..472a10b 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -89,6 +89,8 @@ namespace OpenSim.Region.Physics.OdePlugin
89 private d.ContactGeom[] contacts = new d.ContactGeom[30]; 89 private d.ContactGeom[] contacts = new d.ContactGeom[30];
90 private d.Contact contact; 90 private d.Contact contact;
91 private d.Contact TerrainContact; 91 private d.Contact TerrainContact;
92 private d.Contact AvatarMovementprimContact;
93 private d.Contact AvatarMovementTerrainContact;
92 94
93 private int m_physicsiterations = 10; 95 private int m_physicsiterations = 10;
94 private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag 96 private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
@@ -116,11 +118,20 @@ namespace OpenSim.Region.Physics.OdePlugin
116 118
117 contact.surface.mu = 250.0f; 119 contact.surface.mu = 250.0f;
118 contact.surface.bounce = 0.2f; 120 contact.surface.bounce = 0.2f;
121
119 TerrainContact.surface.mode |= d.ContactFlags.SoftERP; 122 TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
120 TerrainContact.surface.mu = 250.0f; 123 TerrainContact.surface.mu = 250.0f;
121 TerrainContact.surface.bounce = 0.1f; 124 TerrainContact.surface.bounce = 0.1f;
122 TerrainContact.surface.soft_erp = 0.1025f; 125 TerrainContact.surface.soft_erp = 0.1025f;
123 126
127 AvatarMovementprimContact.surface.mu = 150.0f;
128 AvatarMovementprimContact.surface.bounce = 0.2f;
129
130 AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
131 AvatarMovementTerrainContact.surface.mu = 150.0f;
132 AvatarMovementTerrainContact.surface.bounce = 0.1f;
133 AvatarMovementTerrainContact.surface.soft_erp = 0.1025f;
134
124 lock (OdeLock) 135 lock (OdeLock)
125 { 136 {
126 world = d.WorldCreate(); 137 world = d.WorldCreate();
@@ -195,23 +206,6 @@ namespace OpenSim.Region.Physics.OdePlugin
195 IntPtr joint; 206 IntPtr joint;
196 // If we're colliding with terrain, use 'TerrainContact' instead of contact. 207 // If we're colliding with terrain, use 'TerrainContact' instead of contact.
197 // allows us to have different settings 208 // allows us to have different settings
198 if (name1 == "Terrain" || name2 == "Terrain")
199 {
200
201 TerrainContact.geom = contacts[i];
202 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
203
204 }
205 else
206 {
207 contact.geom = contacts[i];
208 joint = d.JointCreateContact(world, contactgroup, ref contact);
209 }
210
211
212 d.JointAttach(joint, b1, b2);
213
214
215 PhysicsActor p1; 209 PhysicsActor p1;
216 PhysicsActor p2; 210 PhysicsActor p2;
217 211
@@ -226,6 +220,7 @@ namespace OpenSim.Region.Physics.OdePlugin
226 220
227 // We only need to test p2 for 'jump crouch purposes' 221 // We only need to test p2 for 'jump crouch purposes'
228 p2.IsColliding = true; 222 p2.IsColliding = true;
223
229 switch(p1.PhysicsActorType) { 224 switch(p1.PhysicsActorType) {
230 case (int)ActorTypes.Agent: 225 case (int)ActorTypes.Agent:
231 p2.CollidingObj = true; 226 p2.CollidingObj = true;
@@ -237,6 +232,43 @@ namespace OpenSim.Region.Physics.OdePlugin
237 p2.CollidingGround = true; 232 p2.CollidingGround = true;
238 break; 233 break;
239 } 234 }
235
236 if (name1 == "Terrain" || name2 == "Terrain")
237 {
238 if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
239 {
240 AvatarMovementTerrainContact.geom = contacts[i];
241 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
242 }
243 else
244 {
245 TerrainContact.geom = contacts[i];
246 joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
247 }
248
249
250 }
251 else
252 {
253 if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
254 {
255 AvatarMovementprimContact.geom = contacts[i];
256 joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
257 }
258 else
259 {
260 contact.geom = contacts[i];
261 joint = d.JointCreateContact(world, contactgroup, ref contact);
262
263 }
264
265 }
266
267
268 d.JointAttach(joint, b1, b2);
269
270
271
240 if (count > 3) 272 if (count > 3)
241 { 273 {
242 p2.ThrottleUpdates = true; 274 p2.ThrottleUpdates = true;
@@ -652,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
652 private PhysicsVector _target_velocity; 684 private PhysicsVector _target_velocity;
653 private PhysicsVector _acceleration; 685 private PhysicsVector _acceleration;
654 private PhysicsVector m_rotationalVelocity; 686 private PhysicsVector m_rotationalVelocity;
655 private static float PID_D = 4000.0f; 687 private static float PID_D = 3020.0f;
656 private static float PID_P = 7000.0f; 688 private static float PID_P = 7000.0f;
657 private static float POSTURE_SERVO = 10000.0f; 689 private static float POSTURE_SERVO = 10000.0f;
658 public static float CAPSULE_RADIUS = 0.5f; 690 public static float CAPSULE_RADIUS = 0.5f;
@@ -955,11 +987,11 @@ namespace OpenSim.Region.Physics.OdePlugin
955 987
956 if (!m_alwaysRun) 988 if (!m_alwaysRun)
957 { 989 {
958 movementdivisor = 10.5f; 990 movementdivisor = 1.3f;
959 } 991 }
960 else 992 else
961 { 993 {
962 movementdivisor = 0.2079f; 994 movementdivisor = 0.8f;
963 995
964 } 996 }
965 997
@@ -987,8 +1019,8 @@ namespace OpenSim.Region.Physics.OdePlugin
987 if (m_iscolliding || flying) 1019 if (m_iscolliding || flying)
988 { 1020 {
989 1021
990 vec.X = ((_target_velocity.X - vel.X)/movementdivisor) * PID_D; 1022 vec.X = ((_target_velocity.X/movementdivisor) - vel.X) * PID_D;
991 vec.Y = ((_target_velocity.Y - vel.Y)/movementdivisor) * PID_D; 1023 vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y) * PID_D;
992 } 1024 }
993 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f) 1025 if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
994 { 1026 {