change avatar physics and motion control. Still not that good :(
UbitUmarov
parent
bb019945e8
commit
3052a53889
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@ -56,11 +56,13 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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/// The current movement animation
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/// </value>
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public string CurrentMovementAnimation { get; private set; }
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private int m_animTickFall;
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public int m_animTickJump; // ScenePresence has to see this to control +Z force
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private int m_animTickLand;
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private int m_animTickJump;
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public bool m_jumping = false;
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public float m_jumpVelocity = 0f;
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// private int m_landing = 0;
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/// <summary>
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@ -68,7 +70,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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/// </summary>
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public bool Falling { get; private set; }
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private float m_fallHeight;
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private float m_lastFallVelocity;
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/// <value>
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/// The scene presence that this animator applies to
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@ -205,7 +207,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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if (aoSitGndAnim != UUID.Zero)
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{
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avnChangeAnim(aoSitGndAnim, false, false);
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avnChangeAnim(aoSitGndAnim, false, true);
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aoSitGndAnim = UUID.Zero;
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}
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@ -258,20 +260,38 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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return ret;
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}
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public enum motionControlStates : byte
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{
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sitted = 0,
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flying,
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falling,
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jumping,
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landing,
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onsurface
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}
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public motionControlStates currentControlState = motionControlStates.onsurface;
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/// <summary>
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/// This method determines the proper movement related animation
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/// </summary>
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private string DetermineMovementAnimation()
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{
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const float FALL_DELAY = 800f;
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const float PREJUMP_DELAY = 200f;
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const float JUMP_PERIOD = 800f;
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const int FALL_DELAY = 800;
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const int PREJUMP_DELAY = 200;
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const int JUMP_PERIOD = 800;
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#region Inputs
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if (m_scenePresence.SitGround)
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{
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currentControlState = motionControlStates.sitted;
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return "SITGROUND";
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}
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if (m_scenePresence.ParentID != 0 || m_scenePresence.ParentUUID != UUID.Zero)
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{
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currentControlState = motionControlStates.sitted;
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return "SIT";
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}
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AgentManager.ControlFlags controlFlags = (AgentManager.ControlFlags)m_scenePresence.AgentControlFlags;
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PhysicsActor actor = m_scenePresence.PhysicsActor;
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@ -311,17 +331,31 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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// bool moving = (move != Vector3.Zero);
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#endregion Inputs
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// no physics actor case
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if (actor == null)
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{
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// well what to do?
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currentControlState = motionControlStates.onsurface;
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if (move.X != 0f || move.Y != 0f)
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return "WALK";
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return "STAND";
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}
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#region Flying
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if (actor != null && actor.Flying)
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bool isColliding = actor.IsColliding;
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if (actor.Flying)
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{
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m_animTickFall = 0;
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m_animTickJump = 0;
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m_jumping = false;
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Falling = false;
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m_jumpVelocity = 0f;
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actor.Selected = false;
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m_fallHeight = actor.Position.Z; // save latest flying height
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currentControlState = motionControlStates.flying;
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if (move.X != 0f || move.Y != 0f)
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{
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@ -333,8 +367,13 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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}
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else if (move.Z < 0f)
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{
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if (actor != null && actor.IsColliding)
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if (isColliding)
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{
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actor.Flying = false;
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currentControlState = motionControlStates.landing;
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m_animTickLand = Environment.TickCount;
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return "LAND";
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}
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else
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return "HOVER_DOWN";
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}
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@ -343,29 +382,41 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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return "HOVER";
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}
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}
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else
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{
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if (isColliding && currentControlState == motionControlStates.flying)
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{
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currentControlState = motionControlStates.landing;
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m_animTickLand = Environment.TickCount;
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return "LAND";
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}
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}
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#endregion Flying
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#region Falling/Floating/Landing
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if ((actor == null || !actor.IsColliding) && !m_jumping)
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if (!isColliding && currentControlState != motionControlStates.jumping)
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{
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float fallElapsed = (float)(Environment.TickCount - m_animTickFall);
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float fallVelocity = (actor != null) ? actor.Velocity.Z : 0.0f;
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float fallVelocity = actor.Velocity.Z;
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if (!m_jumping && (fallVelocity < -3.0f))
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if (fallVelocity < -2.5f)
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Falling = true;
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if (m_animTickFall == 0 || (fallVelocity >= 0.0f))
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if (m_animTickFall == 0 || (fallVelocity >= -0.5f))
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{
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// not falling yet, or going up
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// reset start of fall time
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m_animTickFall = Environment.TickCount;
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}
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else if (!m_jumping && (fallElapsed > FALL_DELAY) && (fallVelocity < -3.0f) && (m_scenePresence.WasFlying))
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else
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{
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// Falling long enough to trigger the animation
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return "FALLDOWN";
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int fallElapsed = (Environment.TickCount - m_animTickFall);
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if ((fallElapsed > FALL_DELAY) && (fallVelocity < -3.0f))
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{
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currentControlState = motionControlStates.falling;
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m_lastFallVelocity = fallVelocity;
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// Falling long enough to trigger the animation
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return "FALLDOWN";
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}
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}
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// Check if the user has stopped walking just now
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@ -375,49 +426,44 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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return CurrentMovementAnimation;
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}
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#endregion Falling/Floating/Landing
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m_animTickFall = 0;
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#endregion Falling/Floating/Landing
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#region Jumping // section added for jumping...
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int jumptime;
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jumptime = Environment.TickCount - m_animTickJump;
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if ((move.Z > 0f) && (!m_jumping))
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if (isColliding && move.Z > 0f && currentControlState != motionControlStates.jumping)
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{
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// Start jumping, prejump
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m_animTickFall = 0;
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currentControlState = motionControlStates.jumping;
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m_jumping = true;
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Falling = false;
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actor.Selected = true; // borrowed for jumping flag
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m_animTickJump = Environment.TickCount;
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m_jumpVelocity = 0.35f;
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return "PREJUMP";
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}
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if (m_jumping)
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if (currentControlState == motionControlStates.jumping)
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{
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int jumptime = Environment.TickCount - m_animTickJump;
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if ((jumptime > (JUMP_PERIOD * 1.5f)) && actor.IsColliding)
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{
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// end jumping
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m_jumping = false;
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Falling = false;
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actor.Selected = false; // borrowed for jumping flag
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m_jumpVelocity = 0f;
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m_animTickFall = Environment.TickCount;
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m_animTickLand = Environment.TickCount;
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currentControlState = motionControlStates.landing;
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return "LAND";
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}
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else if (jumptime > JUMP_PERIOD)
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{
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// jump down
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m_jumpVelocity = 0f;
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return "JUMP";
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}
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else if (jumptime > PREJUMP_DELAY)
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{
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// jump up
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m_jumping = true;
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m_jumpVelocity = 10f;
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return "JUMP";
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}
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}
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@ -426,42 +472,48 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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#region Ground Movement
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if (CurrentMovementAnimation == "FALLDOWN")
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if (currentControlState == motionControlStates.falling)
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{
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Falling = false;
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m_animTickFall = Environment.TickCount;
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currentControlState = motionControlStates.landing;
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m_animTickLand = Environment.TickCount;
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// TODO: SOFT_LAND support
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float fallHeight = m_fallHeight - actor.Position.Z;
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if (fallHeight > 15.0f)
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float fallVsq =m_lastFallVelocity*m_lastFallVelocity;
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if (fallVsq > 300f) // aprox 20*h
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return "STANDUP";
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else if (fallHeight > 8.0f)
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else if (fallVsq > 160f)
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return "SOFT_LAND";
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else
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return "LAND";
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}
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else if ((CurrentMovementAnimation == "LAND") || (CurrentMovementAnimation == "SOFT_LAND") || (CurrentMovementAnimation == "STANDUP"))
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if (currentControlState == motionControlStates.landing)
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{
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int landElapsed = Environment.TickCount - m_animTickFall;
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Falling = false;
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int landElapsed = Environment.TickCount - m_animTickLand;
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int limit = 1000;
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if (CurrentMovementAnimation == "LAND")
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limit = 350;
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// NB if the above is set too long a weird anim reset from some place prevents STAND from being sent to client
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if ((m_animTickFall != 0) && (landElapsed <= limit))
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if ((m_animTickLand != 0) && (landElapsed <= limit))
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{
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return CurrentMovementAnimation;
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}
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else
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{
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m_fallHeight = actor.Position.Z; // save latest flying height
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currentControlState = motionControlStates.onsurface;
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m_animTickLand = 0;
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return "STAND";
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}
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}
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// next section moved outside paren. and realigned for jumping
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if (move.X != 0f || move.Y != 0f)
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{
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m_fallHeight = actor.Position.Z; // save latest flying height
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currentControlState = motionControlStates.onsurface;
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Falling = false;
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// Walking / crouchwalking / running
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if (move.Z < 0f)
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@ -480,6 +532,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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}
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else if (!m_jumping)
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{
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currentControlState = motionControlStates.onsurface;
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Falling = false;
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// Not walking
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if (move.Z < 0)
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@ -493,8 +546,6 @@ namespace OpenSim.Region.Framework.Scenes.Animation
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}
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#endregion Ground Movement
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Falling = false;
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return CurrentMovementAnimation;
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}
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@ -287,14 +287,7 @@ namespace OpenSim.Region.Framework.Scenes
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set { PhysicsActor.Flying = value; }
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}
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// add for fly velocity control
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private bool FlyingOld {get; set;}
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public bool WasFlying
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{
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get; private set;
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}
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public bool IsColliding
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public bool IsColliding
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{
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get { return PhysicsActor != null && PhysicsActor.IsColliding; }
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// We would expect setting IsColliding to be private but it's used by a hack in Scene
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@ -936,7 +929,7 @@ namespace OpenSim.Region.Framework.Scenes
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/// <remarks>
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/// AGENT_CONTRL_STOP comes about if user holds down space key on viewers.
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/// </remarks>
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private float AgentControlStopSlowWhilstMoving = 0.5f;
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private float AgentControlStopSlowWhilstMoving = 0.2f;
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private bool m_forceFly;
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@ -2174,7 +2167,7 @@ namespace OpenSim.Region.Framework.Scenes
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bool DCFlagKeyPressed = false;
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Vector3 agent_control_v3 = Vector3.Zero;
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bool newFlying = actor.Flying;
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bool newFlying = false;
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if (ForceFly)
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newFlying = true;
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@ -2286,11 +2279,11 @@ namespace OpenSim.Region.Framework.Scenes
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if (Flying && !ForceFly)
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{
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// Need to stop in mid air if user holds down AGENT_CONTROL_STOP
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if (AgentControlStopActive)
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{
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agent_control_v3 = Vector3.Zero;
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}
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else
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// if (AgentControlStopActive)
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// {
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// agent_control_v3 = Vector3.Zero;
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// }
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// else
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{
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// Landing detection code
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@ -2298,38 +2291,44 @@ namespace OpenSim.Region.Framework.Scenes
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bool controlland = (((flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0) ||
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((flags & AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG) != 0));
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//m_log.Debug("[CONTROL]: " +flags);
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//m_log.Debug("[CONTROL]: " +flags);
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// Applies a satisfying roll effect to the avatar when flying.
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if ((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_LEFT) != 0 && (flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_POS) != 0)
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{
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ApplyFlyingRoll(
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FLY_ROLL_RADIANS_PER_UPDATE,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0,
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FLY_ROLL_RADIANS_PER_UPDATE,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0);
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}
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}
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else if ((flags & AgentManager.ControlFlags.AGENT_CONTROL_TURN_RIGHT) != 0 &&
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_YAW_NEG) != 0)
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{
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ApplyFlyingRoll(
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-FLY_ROLL_RADIANS_PER_UPDATE,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0);
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-FLY_ROLL_RADIANS_PER_UPDATE,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_POS) != 0,
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(flags & AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0);
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}
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else
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{
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if (m_AngularVelocity.Z != 0)
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m_AngularVelocity.Z += CalculateFlyingRollResetToZero(FLY_ROLL_RESET_RADIANS_PER_UPDATE);
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}
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if (Flying && IsColliding && controlland)
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{
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// nesting this check because LengthSquared() is expensive and we don't
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// want to do it every step when flying.
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if ((Velocity.LengthSquared() <= LAND_VELOCITYMAG_MAX))
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StopFlying();
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m_AngularVelocity.Z += CalculateFlyingRollResetToZero(FLY_ROLL_RESET_RADIANS_PER_UPDATE);
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}
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/*
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if (Flying && IsColliding && controlland)
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{
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// nesting this check because LengthSquared() is expensive and we don't
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// want to do it every step when flying.
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if ((Velocity.LengthSquared() <= LAND_VELOCITYMAG_MAX))
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StopFlying();
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}
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*/
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}
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}
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else if (IsColliding && agent_control_v3.Z < 0f)
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agent_control_v3.Z = 0;
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// else if(AgentControlStopActive %% Velocity.Z <0.01f)
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// m_log.DebugFormat("[SCENE PRESENCE]: MovementFlag {0} for {1}", MovementFlag, Name);
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@ -2342,32 +2341,22 @@ namespace OpenSim.Region.Framework.Scenes
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if (update_movementflag
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|| (update_rotation && DCFlagKeyPressed && (!AgentControlStopActive || MovementFlag != 0)))
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{
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// if (update_movementflag || !AgentControlStopActive || MovementFlag != 0)
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// {
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// m_log.DebugFormat(
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// "[SCENE PRESENCE]: In {0} adding velocity of {1} to {2}, umf = {3}, mf = {4}, ur = {5}",
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// m_scene.RegionInfo.RegionName, agent_control_v3, Name,
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// update_movementflag, MovementFlag, update_rotation);
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float speedModifier;
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if (AgentControlStopActive)
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speedModifier = AgentControlStopSlowWhilstMoving;
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if (AgentControlStopActive)
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{
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// if (MovementFlag == 0 && Animator.Falling)
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if (MovementFlag == 0 && Animator.currentControlState == ScenePresenceAnimator.motionControlStates.falling)
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{
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AddNewMovement(agent_control_v3, AgentControlStopSlowWhilstMoving, true);
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}
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else
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speedModifier = 1;
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AddNewMovement(agent_control_v3, AgentControlStopSlowWhilstMoving);
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}
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else
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AddNewMovement(agent_control_v3);
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AddNewMovement(agent_control_v3, speedModifier);
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// }
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}
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// else
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// {
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// if (!update_movementflag)
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// {
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// m_log.DebugFormat(
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// "[SCENE PRESENCE]: In {0} ignoring requested update of {1} for {2} as update_movementflag = false",
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// m_scene.RegionInfo.RegionName, agent_control_v3, Name);
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// }
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// }
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if (update_movementflag && ParentID == 0)
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{
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@ -3246,68 +3235,58 @@ namespace OpenSim.Region.Framework.Scenes
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/// <param name="vec">The vector in which to move. This is relative to the rotation argument</param>
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/// <param name="thisAddSpeedModifier">
|
||||
/// Optional additional speed modifier for this particular add. Default is 1</param>
|
||||
public void AddNewMovement(Vector3 vec, float thisAddSpeedModifier = 1)
|
||||
public void AddNewMovement(Vector3 vec, float thisAddSpeedModifier = 1, bool breaking = false)
|
||||
{
|
||||
// m_log.DebugFormat(
|
||||
// "[SCENE PRESENCE]: Adding new movement {0} with rotation {1}, thisAddSpeedModifier {2} for {3}",
|
||||
// vec, Rotation, thisAddSpeedModifier, Name);
|
||||
// m_log.DebugFormat(
|
||||
// "[SCENE PRESENCE]: Adding new movement {0} with rotation {1}, thisAddSpeedModifier {2} for {3}",
|
||||
// vec, Rotation, thisAddSpeedModifier, Name);
|
||||
|
||||
Vector3 direc = vec * Rotation;
|
||||
direc.Normalize();
|
||||
|
||||
if (Flying != FlyingOld) // add for fly velocity control
|
||||
{
|
||||
FlyingOld = Flying; // add for fly velocity control
|
||||
if (!Flying)
|
||||
WasFlying = true; // add for fly velocity control
|
||||
}
|
||||
|
||||
if (IsColliding)
|
||||
WasFlying = false; // add for fly velocity control
|
||||
|
||||
if ((vec.Z == 0f) && !Flying)
|
||||
direc.Z = 0f; // Prevent camera WASD up.
|
||||
|
||||
direc *= 0.03f * 128f * SpeedModifier * thisAddSpeedModifier;
|
||||
|
||||
// m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name);
|
||||
// m_log.DebugFormat("[SCENE PRESENCE]: Force to apply before modification was {0} for {1}", direc, Name);
|
||||
|
||||
if (PhysicsActor != null)
|
||||
if (Animator.currentControlState == ScenePresenceAnimator.motionControlStates.falling)
|
||||
{
|
||||
if (Flying)
|
||||
{
|
||||
if (breaking)
|
||||
direc.Z = -9999f; //hack
|
||||
else
|
||||
direc = Vector3.Zero;
|
||||
}
|
||||
else if (Flying)
|
||||
{
|
||||
if(IsColliding)
|
||||
direc = Vector3.Zero;
|
||||
else
|
||||
direc *= 4.0f;
|
||||
//bool controlland = (((m_AgentControlFlags & (uint)AgentManager.ControlFlags.AGENT_CONTROL_UP_NEG) != 0) || ((m_AgentControlFlags & (uint)AgentManager.ControlFlags.AGENT_CONTROL_NUDGE_UP_NEG) != 0));
|
||||
//if (controlland)
|
||||
// m_log.Info("[AGENT]: landCommand");
|
||||
//if (IsColliding)
|
||||
// m_log.Info("[AGENT]: colliding");
|
||||
//if (Flying && IsColliding && controlland)
|
||||
//{
|
||||
// StopFlying();
|
||||
// m_log.Info("[AGENT]: Stop Flying");
|
||||
//}
|
||||
}
|
||||
if (Animator.Falling && WasFlying) // if falling from flying, disable motion add
|
||||
}
|
||||
else if (IsColliding)
|
||||
{
|
||||
if (direc.Z > 2.0f)
|
||||
{
|
||||
direc *= 0.0f;
|
||||
direc.Z *= 2.6f;
|
||||
}
|
||||
else if (!Flying && IsColliding)
|
||||
else if (direc.Z < 0)
|
||||
direc.Z = 0;
|
||||
/*
|
||||
float c = CollisionPlane.Z;
|
||||
if (c > 0.2f && c < 0.94f && (direc.X != 0 || direc.Y != 0))
|
||||
{
|
||||
if (direc.Z > 2.0f)
|
||||
{
|
||||
direc.Z *= 2.6f;
|
||||
|
||||
// TODO: PreJump and jump happen too quickly. Many times prejump gets ignored.
|
||||
// Animator.TrySetMovementAnimation("PREJUMP");
|
||||
// Animator.TrySetMovementAnimation("JUMP");
|
||||
}
|
||||
float p = direc.X * CollisionPlane.X + direc.Y * CollisionPlane.Y;
|
||||
direc.X -= p * CollisionPlane.X;
|
||||
direc.Y -= p * CollisionPlane.Y;
|
||||
direc.Z -= p * c;
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
// m_log.DebugFormat("[SCENE PRESENCE]: Setting force to apply to {0} for {1}", direc, Name);
|
||||
// m_log.DebugFormat("[SCENE PRESENCE]: Setting force to apply to {0} for {1}", direc, Name);
|
||||
|
||||
// TODO: Add the force instead of only setting it to support multiple forces per frame?
|
||||
m_forceToApply = direc;
|
||||
Animator.UpdateMovementAnimations();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -79,6 +79,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
private Vector3 _acceleration;
|
||||
private Vector3 m_rotationalVelocity;
|
||||
private Vector3 m_size;
|
||||
private Vector3 m_collideNormal;
|
||||
private Quaternion m_orientation;
|
||||
private Quaternion m_orientation2D;
|
||||
private float m_mass = 80f;
|
||||
|
|
@ -109,6 +110,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
private bool _zeroFlag = false;
|
||||
|
||||
|
||||
private uint m_localID = 0;
|
||||
public bool m_returnCollisions = false;
|
||||
// taints and their non-tainted counterparts
|
||||
|
|
@ -153,9 +155,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
public UUID m_uuid;
|
||||
public bool bad = false;
|
||||
|
||||
float mu;
|
||||
|
||||
|
||||
float mu;
|
||||
|
||||
public OdeCharacter(uint localID, String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
|
||||
{
|
||||
|
|
@ -864,11 +864,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
x = tx * cos - y * sin;
|
||||
y = tx * sin + y * cos;
|
||||
}
|
||||
|
||||
|
||||
public bool Collide(IntPtr me,IntPtr other, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
|
||||
|
||||
public bool Collide(IntPtr me, IntPtr other, bool reverse, ref d.ContactGeom contact,
|
||||
ref d.ContactGeom altContact , ref bool useAltcontact, ref bool feetcollision)
|
||||
{
|
||||
feetcollision = false;
|
||||
useAltcontact = false;
|
||||
|
||||
if (me == capsule)
|
||||
{
|
||||
|
|
@ -899,31 +900,77 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
feetcollision = true;
|
||||
if (h < boneOff)
|
||||
{
|
||||
m_collideNormal.X = contact.normal.X;
|
||||
m_collideNormal.Y = contact.normal.Y;
|
||||
m_collideNormal.Z = contact.normal.Z;
|
||||
IsColliding = true;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
d.AABB aabb;
|
||||
d.GeomGetAABB(other,out aabb);
|
||||
float othertop = aabb.MaxZ - _position.Z;
|
||||
|
||||
if (offset.Z > 0 || othertop > -feetOff || contact.normal.Z > 0.35f)
|
||||
{
|
||||
if (offset.Z <= 0)
|
||||
{
|
||||
feetcollision = true;
|
||||
if (h < boneOff)
|
||||
{
|
||||
m_collideNormal.X = contact.normal.X;
|
||||
m_collideNormal.Y = contact.normal.Y;
|
||||
m_collideNormal.Z = contact.normal.Z;
|
||||
IsColliding = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (contact.normal.Z < 0.2f)
|
||||
{
|
||||
contact.normal.Z = 0;
|
||||
float t = contact.normal.X * contact.normal.X + contact.normal.Y * contact.normal.Y;
|
||||
if (t > 0)
|
||||
{
|
||||
t = 1.0f / t;
|
||||
contact.normal.X *= t;
|
||||
contact.normal.Y *= t;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
if (offset.Z > 0)
|
||||
return true;
|
||||
altContact = contact;
|
||||
useAltcontact = true;
|
||||
|
||||
offset.Normalize();
|
||||
|
||||
if (contact.depth > 0.1f)
|
||||
contact.depth = 0.1f;
|
||||
|
||||
if (reverse)
|
||||
{
|
||||
contact.normal.X = offset.X;
|
||||
contact.normal.Y = offset.Y;
|
||||
contact.normal.Z = offset.Z;
|
||||
altContact.normal.X = offset.X;
|
||||
altContact.normal.Y = offset.Y;
|
||||
altContact.normal.Z = offset.Z;
|
||||
}
|
||||
else
|
||||
{
|
||||
contact.normal.X = -offset.X;
|
||||
contact.normal.Y = -offset.Y;
|
||||
contact.normal.Z = -offset.Z;
|
||||
altContact.normal.X = -offset.X;
|
||||
altContact.normal.Y = -offset.Y;
|
||||
altContact.normal.Z = -offset.Z;
|
||||
}
|
||||
|
||||
feetcollision = true;
|
||||
if (h < boneOff)
|
||||
{
|
||||
m_collideNormal.X = contact.normal.X;
|
||||
m_collideNormal.Y = contact.normal.Y;
|
||||
m_collideNormal.Z = contact.normal.Z;
|
||||
IsColliding = true;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
|
@ -1003,6 +1050,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
|
||||
float velLengthSquared = vel.LengthSquared();
|
||||
|
||||
|
||||
Vector3 ctz = _target_velocity;
|
||||
|
||||
float movementdivisor = 1f;
|
||||
//Ubit change divisions into multiplications below
|
||||
if (!m_alwaysRun)
|
||||
|
|
@ -1010,13 +1060,16 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
else
|
||||
movementdivisor = 1 / runDivisor;
|
||||
|
||||
ctz.X *= movementdivisor;
|
||||
ctz.Y *= movementdivisor;
|
||||
|
||||
//******************************************
|
||||
// colide with land
|
||||
|
||||
d.AABB aabb;
|
||||
// d.GeomGetAABB(feetbox, out aabb);
|
||||
d.GeomGetAABB(capsule, out aabb);
|
||||
float chrminZ = aabb.MinZ; ; // move up a bit
|
||||
float chrminZ = aabb.MinZ; // move up a bit
|
||||
Vector3 posch = localpos;
|
||||
|
||||
float ftmp;
|
||||
|
|
@ -1031,15 +1084,18 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
|
||||
if (chrminZ < terrainheight)
|
||||
{
|
||||
float depth = terrainheight - chrminZ;
|
||||
if (!flying)
|
||||
{
|
||||
vec.Z = -vel.Z * PID_D * 1.5f + depth * PID_P * 50;
|
||||
}
|
||||
else
|
||||
vec.Z = depth * PID_P * 50;
|
||||
if (ctz.Z < 0)
|
||||
ctz.Z = 0;
|
||||
|
||||
if (depth < 0.1f)
|
||||
Vector3 n = _parent_scene.GetTerrainNormalAtXY(posch.X, posch.Y);
|
||||
float depth = terrainheight - chrminZ;
|
||||
|
||||
vec.Z = depth * PID_P * 50;
|
||||
|
||||
if (!flying)
|
||||
vec.Z += -vel.Z * PID_D;
|
||||
|
||||
if (depth < 0.2f)
|
||||
{
|
||||
m_colliderGroundfilter++;
|
||||
if (m_colliderGroundfilter > 2)
|
||||
|
|
@ -1053,50 +1109,83 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
m_freemove = false;
|
||||
}
|
||||
|
||||
m_collideNormal.X = n.X;
|
||||
m_collideNormal.Y = n.Y;
|
||||
m_collideNormal.Z = n.Z;
|
||||
|
||||
m_iscollidingGround = true;
|
||||
|
||||
|
||||
ContactPoint contact = new ContactPoint();
|
||||
contact.PenetrationDepth = depth;
|
||||
contact.Position.X = localpos.X;
|
||||
contact.Position.Y = localpos.Y;
|
||||
contact.Position.Z = terrainheight;
|
||||
contact.SurfaceNormal.X = 0.0f;
|
||||
contact.SurfaceNormal.Y = 0.0f;
|
||||
contact.SurfaceNormal.Z = -1f;
|
||||
contact.SurfaceNormal.X = -n.X;
|
||||
contact.SurfaceNormal.Y = -n.Y;
|
||||
contact.SurfaceNormal.Z = -n.Z;
|
||||
contact.RelativeSpeed = -vel.Z;
|
||||
contact.CharacterFeet = true;
|
||||
AddCollisionEvent(0, contact);
|
||||
|
||||
vec.Z *= 0.5f;
|
||||
// vec.Z *= 0.5f;
|
||||
}
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
m_colliderGroundfilter = 0;
|
||||
m_iscollidingGround = false;
|
||||
m_colliderGroundfilter -= 5;
|
||||
if (m_colliderGroundfilter <= 0)
|
||||
{
|
||||
m_colliderGroundfilter = 0;
|
||||
m_iscollidingGround = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
m_colliderGroundfilter = 0;
|
||||
m_iscollidingGround = false;
|
||||
m_colliderGroundfilter -= 5;
|
||||
if (m_colliderGroundfilter <= 0)
|
||||
{
|
||||
m_colliderGroundfilter = 0;
|
||||
m_iscollidingGround = false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//******************************************
|
||||
if (!m_iscolliding)
|
||||
m_collideNormal.Z = 0;
|
||||
|
||||
bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f);
|
||||
|
||||
|
||||
bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
|
||||
|
||||
// if (!tviszero || m_iscolliding || velLengthSquared <0.01)
|
||||
if (!tviszero)
|
||||
{
|
||||
m_freemove = false;
|
||||
|
||||
// movement relative to surface if moving on it
|
||||
// dont disturbe vertical movement, ie jumps
|
||||
if (m_iscolliding && !flying && ctz.Z == 0 && m_collideNormal.Z > 0.2f && m_collideNormal.Z < 0.94f)
|
||||
{
|
||||
float p = ctz.X * m_collideNormal.X + ctz.Y * m_collideNormal.Y;
|
||||
ctz.X *= (float)Math.Sqrt(1 - m_collideNormal.X * m_collideNormal.X);
|
||||
ctz.Y *= (float)Math.Sqrt(1 - m_collideNormal.Y * m_collideNormal.Y);
|
||||
ctz.Z -= p;
|
||||
if (ctz.Z < 0)
|
||||
ctz.Z *= 2;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
if (!m_freemove)
|
||||
{
|
||||
|
||||
// if velocity is zero, use position control; otherwise, velocity control
|
||||
if (tviszero && m_iscolliding)
|
||||
if (tviszero && m_iscolliding && !flying)
|
||||
{
|
||||
// keep track of where we stopped. No more slippin' & slidin'
|
||||
if (!_zeroFlag)
|
||||
|
|
@ -1129,22 +1218,48 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
if (!flying)
|
||||
{
|
||||
if (_target_velocity.Z > 0.0f)
|
||||
// we are on a surface
|
||||
if (ctz.Z > 0f)
|
||||
{
|
||||
// We're colliding with something and we're not flying but we're moving
|
||||
// This means we're walking or running. JUMPING
|
||||
vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
|
||||
// moving up or JUMPING
|
||||
vec.Z += (ctz.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P;
|
||||
vec.X += (ctz.X - vel.X) * (PID_D);
|
||||
vec.Y += (ctz.Y - vel.Y) * (PID_D);
|
||||
}
|
||||
else
|
||||
{
|
||||
// we are moving down on a surface
|
||||
if (ctz.Z == 0)
|
||||
{
|
||||
if (vel.Z > 0)
|
||||
vec.Z -= vel.Z * PID_D * 2.0f;
|
||||
vec.X += (ctz.X - vel.X) * (PID_D);
|
||||
vec.Y += (ctz.Y - vel.Y) * (PID_D);
|
||||
}
|
||||
// intencionally going down
|
||||
else
|
||||
{
|
||||
if (ctz.Z < vel.Z)
|
||||
vec.Z += (ctz.Z - vel.Z) * PID_D * 2.0f;
|
||||
else
|
||||
{
|
||||
}
|
||||
|
||||
if (Math.Abs(ctz.X) > Math.Abs(vel.X))
|
||||
vec.X += (ctz.X - vel.X) * (PID_D);
|
||||
if (Math.Abs(ctz.Y) > Math.Abs(vel.Y))
|
||||
vec.Y += (ctz.Y - vel.Y) * (PID_D);
|
||||
}
|
||||
}
|
||||
|
||||
// We're standing on something
|
||||
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D);
|
||||
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D);
|
||||
}
|
||||
else
|
||||
{
|
||||
// We're flying and colliding with something
|
||||
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f);
|
||||
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f);
|
||||
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
|
||||
vec.X += (ctz.X - vel.X) * (PID_D * 0.0625f);
|
||||
vec.Y += (ctz.Y - vel.Y) * (PID_D * 0.0625f);
|
||||
vec.Z += (ctz.Z - vel.Z) * (PID_D);
|
||||
}
|
||||
}
|
||||
else // ie not colliding
|
||||
|
|
@ -1152,9 +1267,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (flying) //(!m_iscolliding && flying)
|
||||
{
|
||||
// we're in mid air suspended
|
||||
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f);
|
||||
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f);
|
||||
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D);
|
||||
vec.X += (ctz.X - vel.X) * (PID_D * 1.667f);
|
||||
vec.Y += (ctz.Y - vel.Y) * (PID_D * 1.667f);
|
||||
vec.Z += (ctz.Z - vel.Z) * (PID_D);
|
||||
}
|
||||
|
||||
else
|
||||
|
|
@ -1163,8 +1278,11 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// m_iscolliding includes collisions with the ground.
|
||||
|
||||
// d.Vector3 pos = d.BodyGetPosition(Body);
|
||||
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f;
|
||||
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f;
|
||||
vec.X += (ctz.X - vel.X) * PID_D * 0.833f;
|
||||
vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f;
|
||||
// hack for breaking on fall
|
||||
if (ctz.Z == -9999f)
|
||||
vec.Z += -vel.Z * PID_D - _parent_scene.gravityz * m_mass;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -935,18 +935,22 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
SharedTmpcontact.surface.mu = mu;
|
||||
SharedTmpcontact.surface.bounce = bounce;
|
||||
|
||||
d.ContactGeom altContact = new d.ContactGeom();
|
||||
bool useAltcontact = false;
|
||||
bool noskip = true;
|
||||
|
||||
while (true)
|
||||
{
|
||||
// if (!(IgnoreNegSides && curContact.side1 < 0))
|
||||
{
|
||||
bool noskip = true;
|
||||
noskip = true;
|
||||
useAltcontact = false;
|
||||
|
||||
if (dop1ava)
|
||||
{
|
||||
if (!(((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref FeetCollision)))
|
||||
noskip = false;
|
||||
else
|
||||
if ((((OdeCharacter)p1).Collide(g1, g2, false, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
|
||||
{
|
||||
if(p2.PhysicsActorType == (int)ActorTypes.Agent)
|
||||
if (p2.PhysicsActorType == (int)ActorTypes.Agent)
|
||||
{
|
||||
p1.CollidingObj = true;
|
||||
p2.CollidingObj = true;
|
||||
|
|
@ -954,18 +958,32 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
else if (p2.Velocity.LengthSquared() > 0.0f)
|
||||
p2.CollidingObj = true;
|
||||
}
|
||||
else
|
||||
noskip = false;
|
||||
}
|
||||
else if (dop2ava)
|
||||
{
|
||||
if (!(((OdeCharacter)p2).Collide(g2,g1, true, ref curContact, ref FeetCollision)))
|
||||
if ((((OdeCharacter)p2).Collide(g2, g1, true, ref curContact, ref altContact , ref useAltcontact, ref FeetCollision)))
|
||||
{
|
||||
if (p1.PhysicsActorType == (int)ActorTypes.Agent)
|
||||
{
|
||||
p1.CollidingObj = true;
|
||||
p2.CollidingObj = true;
|
||||
}
|
||||
else if (p2.Velocity.LengthSquared() > 0.0f)
|
||||
p1.CollidingObj = true;
|
||||
}
|
||||
else
|
||||
noskip = false;
|
||||
else if (p1.Velocity.LengthSquared() > 0.0f)
|
||||
p1.CollidingObj = true;
|
||||
}
|
||||
|
||||
if (noskip)
|
||||
{
|
||||
Joint = CreateContacJoint(ref curContact);
|
||||
if(useAltcontact)
|
||||
Joint = CreateContacJoint(ref altContact);
|
||||
else
|
||||
Joint = CreateContacJoint(ref curContact);
|
||||
|
||||
if (Joint == IntPtr.Zero)
|
||||
break;
|
||||
|
||||
|
|
@ -1924,12 +1942,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
dy = 0;
|
||||
}
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
// we still have square fixed size regions
|
||||
// also flip x and y because of how map is done for ODE fliped axis
|
||||
// so ix,iy,dx and dy are inter exchanged
|
||||
|
||||
if (x < regsize - 1)
|
||||
{
|
||||
iy = (int)x;
|
||||
|
|
@ -1976,7 +1994,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
*/
|
||||
h0 = ((float)heights[iy]); // 0,0 vertice
|
||||
|
||||
if ((dy > dx))
|
||||
if (dy>dx)
|
||||
{
|
||||
iy += regsize;
|
||||
h2 = (float)heights[iy]; // 0,1 vertice
|
||||
|
|
@ -1994,6 +2012,133 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return h0 + h1 + h2;
|
||||
}
|
||||
|
||||
public Vector3 GetTerrainNormalAtXY(float x, float y)
|
||||
{
|
||||
int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
|
||||
int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
|
||||
|
||||
IntPtr heightFieldGeom = IntPtr.Zero;
|
||||
Vector3 norm = new Vector3(0, 0, 1);
|
||||
|
||||
// get region map
|
||||
if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
|
||||
return norm;
|
||||
|
||||
if (heightFieldGeom == IntPtr.Zero)
|
||||
return norm;
|
||||
|
||||
if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
|
||||
return norm;
|
||||
|
||||
// TerrainHeightField for ODE as offset 1m
|
||||
x += 1f - offsetX;
|
||||
y += 1f - offsetY;
|
||||
|
||||
// make position fit into array
|
||||
if (x < 0)
|
||||
x = 0;
|
||||
if (y < 0)
|
||||
y = 0;
|
||||
|
||||
// integer indexs
|
||||
int ix;
|
||||
int iy;
|
||||
// interpolators offset
|
||||
float dx;
|
||||
float dy;
|
||||
|
||||
|
||||
int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
|
||||
int xstep = 1;
|
||||
int ystep = regsize;
|
||||
bool firstTri = false;
|
||||
|
||||
if (OdeUbitLib)
|
||||
{
|
||||
if (x < regsize - 1)
|
||||
{
|
||||
ix = (int)x;
|
||||
dx = x - (float)ix;
|
||||
}
|
||||
else // out world use external height
|
||||
{
|
||||
ix = regsize - 2;
|
||||
dx = 0;
|
||||
}
|
||||
if (y < regsize - 1)
|
||||
{
|
||||
iy = (int)y;
|
||||
dy = y - (float)iy;
|
||||
}
|
||||
else
|
||||
{
|
||||
iy = regsize - 2;
|
||||
dy = 0;
|
||||
}
|
||||
firstTri = dy > dx;
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
xstep = regsize;
|
||||
ystep = 1;
|
||||
// we still have square fixed size regions
|
||||
// also flip x and y because of how map is done for ODE fliped axis
|
||||
// so ix,iy,dx and dy are inter exchanged
|
||||
if (x < regsize - 1)
|
||||
{
|
||||
iy = (int)x;
|
||||
dy = x - (float)iy;
|
||||
}
|
||||
else // out world use external height
|
||||
{
|
||||
iy = regsize - 2;
|
||||
dy = 0;
|
||||
}
|
||||
if (y < regsize - 1)
|
||||
{
|
||||
ix = (int)y;
|
||||
dx = y - (float)ix;
|
||||
}
|
||||
else
|
||||
{
|
||||
ix = regsize - 2;
|
||||
dx = 0;
|
||||
}
|
||||
firstTri = dx > dy;
|
||||
}
|
||||
|
||||
float h0;
|
||||
float h1;
|
||||
float h2;
|
||||
|
||||
iy *= regsize;
|
||||
iy += ix; // all indexes have iy + ix
|
||||
|
||||
float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
|
||||
|
||||
if (firstTri)
|
||||
{
|
||||
h1 = ((float)heights[iy]); // 0,0 vertice
|
||||
iy += ystep;
|
||||
h0 = (float)heights[iy]; // 0,1
|
||||
h2 = (float)heights[iy+xstep]; // 1,1 vertice
|
||||
norm.X = h0 - h2;
|
||||
norm.Y = h1 - h0;
|
||||
}
|
||||
else
|
||||
{
|
||||
h2 = ((float)heights[iy]); // 0,0 vertice
|
||||
iy += xstep;
|
||||
h0 = ((float)heights[iy]); // 1,0 vertice
|
||||
h1 = (float)heights[iy+ystep]; // vertice 1,1
|
||||
norm.X = h2 - h0;
|
||||
norm.Y = h0 - h1;
|
||||
}
|
||||
norm.Z = 1;
|
||||
norm.Normalize();
|
||||
return norm;
|
||||
}
|
||||
|
||||
public override void SetTerrain(float[] heightMap)
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue