From 741d136f8c44fbbaa9259438732185121841fd22 Mon Sep 17 00:00:00 2001
From: Teravus Ovares
Date: Fri, 18 Jan 2008 21:38:47 +0000
Subject: * Return of the avatar wobble.
---
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 78 +++++++++++++-----------
1 file changed, 43 insertions(+), 35 deletions(-)
(limited to 'OpenSim/Region/Physics/OdePlugin')
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 9a37a9e..08524a7 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -73,6 +73,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private static float POSTURE_SERVO = 10000.0f;
public static float CAPSULE_RADIUS = 0.37f;
public float CAPSULE_LENGTH = 2.140599f;
+ private float m_tensor = 3800000f;
private bool flying = false;
private bool m_iscolliding = false;
private bool m_iscollidingGround = false;
@@ -105,10 +106,10 @@ namespace OpenSim.Region.Physics.OdePlugin
_position = pos;
_acceleration = new PhysicsVector();
_parent_scene = parent_scene;
-
+
m_StandUpRotation =
- new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f,
- -0.004689182f, 0.9998941f);
+ new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
+ 0.5f);
for (int i = 0; i < 11; i++)
{
@@ -117,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeScene.OdeLock)
{
- AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z);
+ AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z, m_tensor);
}
m_name = avName;
parent_scene.geom_name_map[Shell] = avName;
@@ -325,7 +326,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_pidControllerActive = true;
lock (OdeScene.OdeLock)
{
- d.JointDestroy(Amotor);
+ //d.JointDestroy(Amotor);
PhysicsVector SetSize = value;
float prevCapsule = CAPSULE_LENGTH;
@@ -337,7 +338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyDestroy(Body);
d.GeomDestroy(Shell);
AvatarGeomAndBodyCreation(_position.X, _position.Y,
- _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule)*2));
+ _position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
Velocity = new PhysicsVector(0f, 0f, 0f);
}
@@ -351,7 +352,7 @@ namespace OpenSim.Region.Physics.OdePlugin
///
///
///
- private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
+ private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
{
int dAMotorEuler = 1;
@@ -361,44 +362,49 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
d.BodySetMass(Body, ref ShellMass);
-
+ d.Matrix3 m_caprot;
// 90 Stand up on the cap of the capped cyllinder
- d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 1, (float)(Math.PI / 2));
+ //d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
- d.GeomSetRotation(Shell, ref m_StandUpRotation);
- d.BodySetRotation(Body, ref m_StandUpRotation);
+ //d.GeomSetRotation(Shell, ref m_caprot);
+ //d.BodySetRotation(Body, ref m_caprot);
d.GeomSetBody(Shell, Body);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
- Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
- d.JointAttach(Amotor, Body, IntPtr.Zero);
- d.JointSetAMotorMode(Amotor, dAMotorEuler);
- d.JointSetAMotorNumAxes(Amotor, 3);
- d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
- d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
- d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
- d.JointSetAMotorAngle(Amotor, 0, 0);
- d.JointSetAMotorAngle(Amotor, 1, 0);
- d.JointSetAMotorAngle(Amotor, 2, 0);
+ //Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
+ //d.JointAttach(Amotor, Body, IntPtr.Zero);
+ ///d.JointSetAMotorMode(Amotor, dAMotorEuler);
+ //d.JointSetAMotorNumAxes(Amotor, 3);
+ //d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
+ //d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
+ //d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
+ //d.JointSetAMotorAngle(Amotor, 0, 0);
+ //d.JointSetAMotorAngle(Amotor, 1, 0);
+ //d.JointSetAMotorAngle(Amotor, 2, 0);
// These lowstops and high stops are effectively (no wiggle room)
- d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
- d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
// capped cyllinder will fall over
- d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
- d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f);
-
- standupStraight();
+ //d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
+ //d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
+
+ //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
+ //d.QfromR(
+ //d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
+ //
+ //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
+ //standupStraight();
@@ -435,8 +441,8 @@ namespace OpenSim.Region.Physics.OdePlugin
float servo = (2.5f - posture) * POSTURE_SERVO;
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
- d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
- OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
+ //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
+ //OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
}
public override PhysicsVector Force
@@ -521,7 +527,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!collidelock)
{
d.BodyAddForce(Body, force.X, force.Y, force.Z);
- //standupStraight();
+ //d.BodySetRotation(Body, ref m_StandUpRotation);
+ standupStraight();
+
}
}
@@ -713,7 +721,7 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeScene.OdeLock)
{
// Kill the Amotor
- d.JointDestroy(Amotor);
+ //d.JointDestroy(Amotor);
//kill the Geometry
d.GeomDestroy(Shell);
--
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