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* Highly experimental ODE_STEPSIZE = 0.025f - 1000 / 25 = 40fps - 10 substeps with fallback to 5 substeps when things get slow 

* Just to give you an idea of the difference ..    previous ODE_STEPSIZE was 0.005f - 1000/5 = 200fps - 10 substeps with fallback to 5 substeps when things get slow
* *nix avatar may fall over again, *sorry*
ThreadPoolClientBranch
Teravus Ovares 2008-01-27 03:18:10 +00:00
parent 254e047dad
commit 205001ab8d
2 changed files with 13 additions and 12 deletions
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21
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -68,8 +68,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_mass = 80f; private float m_mass = 80f;
private float m_density = 60f; private float m_density = 60f;
private bool m_pidControllerActive = true; private bool m_pidControllerActive = true;
private static float PID_D = 3020.0f; private float PID_D = 800.0f;
private static float PID_P = 7000.0f; private float PID_P = 900.0f;
private static float POSTURE_SERVO = 10000.0f; private static float POSTURE_SERVO = 10000.0f;
public static float CAPSULE_RADIUS = 0.37f; public static float CAPSULE_RADIUS = 0.37f;
public float CAPSULE_LENGTH = 2.140599f; public float CAPSULE_LENGTH = 2.140599f;
@ -112,11 +112,11 @@ namespace OpenSim.Region.Physics.OdePlugin
if (System.Environment.OSVersion.Platform == PlatformID.Unix) if (System.Environment.OSVersion.Platform == PlatformID.Unix)
{ {
m_foundDebian = true; m_foundDebian = true;
m_tensor = 14000000f; m_tensor = 1000000f;
} }
else else
{ {
m_tensor = 3800000f; m_tensor = 1000000f;
} }
m_StandUpRotation = m_StandUpRotation =
@ -384,7 +384,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetBody(Shell, Body); d.GeomSetBody(Shell, Body);
// The purpose of the AMotor here is to keep the avatar's physical // The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving // surrogate from rotating while moving
Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero); Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
@ -562,6 +562,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// If the PID Controller isn't active then we set our force // If the PID Controller isn't active then we set our force
// calculating base velocity to the current position // calculating base velocity to the current position
if (m_pidControllerActive == false) if (m_pidControllerActive == false)
{ {
_zeroPosition = d.BodyGetPosition(Body); _zeroPosition = d.BodyGetPosition(Body);
@ -598,11 +599,11 @@ namespace OpenSim.Region.Physics.OdePlugin
// Prim to avatar collisions // Prim to avatar collisions
d.Vector3 pos = d.BodyGetPosition(Body); d.Vector3 pos = d.BodyGetPosition(Body);
vec.X = (_target_velocity.X - vel.X)*PID_D + (_zeroPosition.X - pos.X)*PID_P; vec.X = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * PID_P;
vec.Y = (_target_velocity.Y - vel.Y)*PID_D + (_zeroPosition.Y - pos.Y)*PID_P; vec.Y = (_target_velocity.Y - vel.Y)*(PID_D) + (_zeroPosition.Y - pos.Y)*PID_P;
if (flying) if (flying)
{ {
vec.Z = (_target_velocity.Z - vel.Z)*(PID_D + 5100) + (_zeroPosition.Z - pos.Z)*PID_P; vec.Z = (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
} }
} }
//PidStatus = true; //PidStatus = true;
@ -650,12 +651,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (flying) if (flying)
{ {
vec.Z = (_target_velocity.Z - vel.Z)*(PID_D + 5100); vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
} }
} }
if (flying) if (flying)
{ {
vec.Z += 10.0f; vec.Z += (9.8f*m_mass);
} }

4
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -80,7 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private const uint m_regionWidth = 256; private const uint m_regionWidth = 256;
private const uint m_regionHeight = 256; private const uint m_regionHeight = 256;
private static float ODE_STEPSIZE = 0.004f; private static float ODE_STEPSIZE = 0.025f;
private static bool RENDER_FLAG = false; private static bool RENDER_FLAG = false;
private static float metersInSpace = 29.9f; private static float metersInSpace = 29.9f;
private IntPtr contactgroup; private IntPtr contactgroup;
@ -1087,7 +1087,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Figure out the Frames Per Second we're going at. // Figure out the Frames Per Second we're going at.
//(step_time == 0.004f, there's 250 of those per second. Times the step time/step size //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
fps = ((step_time/ODE_STEPSIZE)*(m_physicsiterations*250)); fps = (step_time/ODE_STEPSIZE) * 1000;
while (step_time > 0.0f) while (step_time > 0.0f)