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Avatars have no bounce

avinationmerge
UbitUmarov 2012-03-24 11:30:29 +00:00
parent 4db05a98c2
commit 21a97408d4
3 changed files with 3949 additions and 3699 deletions
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4
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
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@ -137,7 +137,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool bad = false;
float mu;
float bounce;
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
{
@ -170,7 +169,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_mass = 80f; // sure we have a default
mu = parent_scene.AvatarFriction;
bounce = parent_scene.AvatarBounce;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
@ -194,7 +192,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void getContactData(ref ContactData cdata)
{
cdata.mu = mu;
cdata.bounce = bounce;
cdata.bounce = 0;
cdata.softcolide = false;
}

263
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
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@ -70,6 +70,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_fakeisphantom;
protected bool m_building;
protected bool m_forcePosOrRotation;
private Quaternion m_lastorientation = new Quaternion();
private Quaternion _orientation;
@ -499,6 +501,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override Vector3 Velocity
{
get
@ -1429,7 +1432,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat);
// set the body rotation and position
// set the body rotation
d.BodySetRotation(Body, ref mymat);
// recompute full object inertia if needed
@ -1725,6 +1728,215 @@ namespace OpenSim.Region.Physics.OdePlugin
m_collisionscore = 0;
}
private void FixInertia(Vector3 NewPos,Quaternion newrot)
{
d.Matrix3 mat = new d.Matrix3();
d.Quaternion quat = new d.Quaternion();
d.Mass tmpdmass = new d.Mass { };
d.Mass objdmass = new d.Mass { };
d.BodyGetMass(Body, out tmpdmass);
objdmass = tmpdmass;
d.Vector3 dobjpos;
d.Vector3 thispos;
// get current object position and rotation
dobjpos = d.BodyGetPosition(Body);
// get prim own inertia in its local frame
tmpdmass = primdMass;
// transform to object frame
mat = d.GeomGetOffsetRotation(prim_geom);
d.MassRotate(ref tmpdmass, ref mat);
thispos = d.GeomGetOffsetPosition(prim_geom);
d.MassTranslate(ref tmpdmass,
thispos.X,
thispos.Y,
thispos.Z);
// subtract current prim inertia from object
DMassSubPartFromObj(ref tmpdmass, ref objdmass);
// back prim own inertia
tmpdmass = primdMass;
// update to new position and orientation
_position = NewPos;
d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
_orientation = newrot;
quat.X = newrot.X;
quat.Y = newrot.Y;
quat.Z = newrot.Z;
quat.W = newrot.W;
d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
mat = d.GeomGetOffsetRotation(prim_geom);
d.MassRotate(ref tmpdmass, ref mat);
thispos = d.GeomGetOffsetPosition(prim_geom);
d.MassTranslate(ref tmpdmass,
thispos.X,
thispos.Y,
thispos.Z);
d.MassAdd(ref objdmass, ref tmpdmass);
// fix all positions
IntPtr g = d.BodyGetFirstGeom(Body);
while (g != IntPtr.Zero)
{
thispos = d.GeomGetOffsetPosition(g);
thispos.X -= objdmass.c.X;
thispos.Y -= objdmass.c.Y;
thispos.Z -= objdmass.c.Z;
d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
g = d.dBodyGetNextGeom(g);
}
d.BodyVectorToWorld(Body,objdmass.c.X, objdmass.c.Y, objdmass.c.Z,out thispos);
d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
}
private void FixInertia(Vector3 NewPos)
{
d.Matrix3 primmat = new d.Matrix3();
d.Mass tmpdmass = new d.Mass { };
d.Mass objdmass = new d.Mass { };
d.Mass primmass = new d.Mass { };
d.Vector3 dobjpos;
d.Vector3 thispos;
d.BodyGetMass(Body, out objdmass);
// get prim own inertia in its local frame
primmass = primdMass;
// transform to object frame
primmat = d.GeomGetOffsetRotation(prim_geom);
d.MassRotate(ref primmass, ref primmat);
tmpdmass = primmass;
thispos = d.GeomGetOffsetPosition(prim_geom);
d.MassTranslate(ref tmpdmass,
thispos.X,
thispos.Y,
thispos.Z);
// subtract current prim inertia from object
DMassSubPartFromObj(ref tmpdmass, ref objdmass);
// update to new position
_position = NewPos;
d.GeomSetOffsetWorldPosition(prim_geom, NewPos.X, NewPos.Y, NewPos.Z);
thispos = d.GeomGetOffsetPosition(prim_geom);
d.MassTranslate(ref primmass,
thispos.X,
thispos.Y,
thispos.Z);
d.MassAdd(ref objdmass, ref primmass);
// fix all positions
IntPtr g = d.BodyGetFirstGeom(Body);
while (g != IntPtr.Zero)
{
thispos = d.GeomGetOffsetPosition(g);
thispos.X -= objdmass.c.X;
thispos.Y -= objdmass.c.Y;
thispos.Z -= objdmass.c.Z;
d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
g = d.dBodyGetNextGeom(g);
}
d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
// get current object position and rotation
dobjpos = d.BodyGetPosition(Body);
d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
}
private void FixInertia(Quaternion newrot)
{
d.Matrix3 mat = new d.Matrix3();
d.Quaternion quat = new d.Quaternion();
d.Mass tmpdmass = new d.Mass { };
d.Mass objdmass = new d.Mass { };
d.Vector3 dobjpos;
d.Vector3 thispos;
d.BodyGetMass(Body, out objdmass);
// get prim own inertia in its local frame
tmpdmass = primdMass;
mat = d.GeomGetOffsetRotation(prim_geom);
d.MassRotate(ref tmpdmass, ref mat);
// transform to object frame
thispos = d.GeomGetOffsetPosition(prim_geom);
d.MassTranslate(ref tmpdmass,
thispos.X,
thispos.Y,
thispos.Z);
// subtract current prim inertia from object
DMassSubPartFromObj(ref tmpdmass, ref objdmass);
// update to new orientation
_orientation = newrot;
quat.X = newrot.X;
quat.Y = newrot.Y;
quat.Z = newrot.Z;
quat.W = newrot.W;
d.GeomSetOffsetWorldQuaternion(prim_geom, ref quat);
tmpdmass = primdMass;
mat = d.GeomGetOffsetRotation(prim_geom);
d.MassRotate(ref tmpdmass, ref mat);
d.MassTranslate(ref tmpdmass,
thispos.X,
thispos.Y,
thispos.Z);
d.MassAdd(ref objdmass, ref tmpdmass);
// fix all positions
IntPtr g = d.BodyGetFirstGeom(Body);
while (g != IntPtr.Zero)
{
thispos = d.GeomGetOffsetPosition(g);
thispos.X -= objdmass.c.X;
thispos.Y -= objdmass.c.Y;
thispos.Z -= objdmass.c.Z;
d.GeomSetOffsetPosition(g, thispos.X, thispos.Y, thispos.Z);
g = d.dBodyGetNextGeom(g);
}
d.BodyVectorToWorld(Body, objdmass.c.X, objdmass.c.Y, objdmass.c.Z, out thispos);
// get current object position and rotation
dobjpos = d.BodyGetPosition(Body);
d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
}
#region Mass Calculation
private float CalculatePrimVolume()
@ -2126,17 +2338,18 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (prim_geom != IntPtr.Zero)
{
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos);
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
d.Quaternion qtmp = new d.Quaternion { };
d.GeomCopyQuaternion(prim_geom, out qtmp);
_orientation.W = qtmp.W;
_orientation.X = qtmp.X;
_orientation.Y = qtmp.Y;
_orientation.Z = qtmp.Z;
d.Vector3 lpos;
d.GeomCopyPosition(prim_geom, out lpos);
_position.X = lpos.X;
_position.Y = lpos.Y;
_position.Z = lpos.Z;
}
}
@ -2593,6 +2806,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{
_position = newPos;
}
else if (m_forcePosOrRotation && _position != newPos && Body != IntPtr.Zero)
{
FixInertia(newPos);
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
}
else
{
@ -2637,6 +2857,14 @@ namespace OpenSim.Region.Physics.OdePlugin
{
_orientation = newOri;
}
/*
else if (m_forcePosOrRotation && _orientation != newOri && Body != IntPtr.Zero)
{
FixInertia(_position, newOri);
if (!d.BodyIsEnabled(Body))
d.BodyEnable(Body);
}
*/
}
else
{
@ -3512,6 +3740,29 @@ namespace OpenSim.Region.Physics.OdePlugin
dst.I.M22 = src.I.M22;
}
internal static void DMassSubPartFromObj(ref d.Mass part, ref d.Mass theobj)
{
// assumes object center of mass is zero
float smass = part.mass;
theobj.mass -= smass;
smass *= 1.0f / (theobj.mass); ;
theobj.c.X -= part.c.X * smass;
theobj.c.Y -= part.c.Y * smass;
theobj.c.Z -= part.c.Z * smass;
theobj.I.M00 -= part.I.M00;
theobj.I.M01 -= part.I.M01;
theobj.I.M02 -= part.I.M02;
theobj.I.M10 -= part.I.M10;
theobj.I.M11 -= part.I.M11;
theobj.I.M12 -= part.I.M12;
theobj.I.M20 -= part.I.M20;
theobj.I.M21 -= part.I.M21;
theobj.I.M22 -= part.I.M22;
}
private static void DMassDup(ref d.Mass src, out d.Mass dst)
{
dst = new d.Mass { };

9
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -169,7 +169,6 @@ namespace OpenSim.Region.Physics.OdePlugin
float TerrainBounce = 0.1f;
float TerrainFriction = 0.3f;
public float AvatarBounce = 0.3f;
public float AvatarFriction = 0;// 0.9f * 0.5f;
private const uint m_regionWidth = Constants.RegionSize;
@ -712,7 +711,7 @@ namespace OpenSim.Region.Physics.OdePlugin
p1.getContactData(ref contactdata1);
p2.getContactData(ref contactdata2);
bounce = contactdata1.bounce * contactdata2.bounce;
bounce = 0;
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@ -726,7 +725,8 @@ namespace OpenSim.Region.Physics.OdePlugin
case (int)ActorTypes.Prim:
p1.getContactData(ref contactdata1);
p2.getContactData(ref contactdata2);
bounce = contactdata1.bounce * contactdata2.bounce;
bounce = 0;
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@ -751,7 +751,8 @@ namespace OpenSim.Region.Physics.OdePlugin
case (int)ActorTypes.Agent:
p1.getContactData(ref contactdata1);
p2.getContactData(ref contactdata2);
bounce = contactdata1.bounce * contactdata2.bounce;
bounce = 0;
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);