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ubitODE: trial workaround for avatar colisions

avinationmerge
UbitUmarov 2012-05-12 12:17:28 +01:00
parent 8dd5f08b6e
commit 46095c963c
1 changed files with 49 additions and 6 deletions
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55
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
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@ -537,7 +537,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Essentially Steps * m_physicsiterations // Essentially Steps * m_physicsiterations
d.WorldSetQuickStepNumIterations(world, m_physicsiterations); d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
d.WorldSetContactMaxCorrectingVel(world, 50.0f); d.WorldSetContactMaxCorrectingVel(world, 100.0f);
spacesPerMeter = 1 / metersInSpace; spacesPerMeter = 1 / metersInSpace;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
@ -754,14 +754,15 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
// big messy collision analises // big messy collision analises
Vector3 normoverride = Vector3.Zero; //damm c#
float mu = 0; float mu = 0;
float bounce = 0; float bounce = 0;
float cfm = 0.0001f; float cfm = 0.0001f;
float erp = 0.1f;
float erpscale = 1.0f; float erpscale = 1.0f;
float dscale = 1.0f; float dscale = 1.0f;
bool IgnoreNegSides = false; bool IgnoreNegSides = false;
ContactData contactdata1 = new ContactData(0, 0, false); ContactData contactdata1 = new ContactData(0, 0, false);
ContactData contactdata2 = new ContactData(0, 0, false); ContactData contactdata2 = new ContactData(0, 0, false);
@ -770,14 +771,30 @@ namespace OpenSim.Region.Physics.OdePlugin
bool dop1foot = false; bool dop1foot = false;
bool dop2foot = false; bool dop2foot = false;
bool ignore = false; bool ignore = false;
bool AvanormOverride = false;
switch (p1.PhysicsActorType) switch (p1.PhysicsActorType)
{ {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
{ {
bounce = 0; AvanormOverride = true;
mu = 0; Vector3 tmp = p2.Position - p1.Position;
cfm = 0.0001f; normoverride = p2.Velocity - p1.Velocity;
mu = normoverride.LengthSquared();
if (mu > 1e-6)
{
mu = 1.0f / (float)Math.Sqrt(mu);
normoverride *= mu;
mu = Vector3.Dot(tmp, normoverride);
if (mu > 0)
normoverride *= -1;
}
else
{
tmp.Normalize();
normoverride = -tmp;
}
switch (p2.PhysicsActorType) switch (p2.PhysicsActorType)
{ {
@ -824,6 +841,25 @@ namespace OpenSim.Region.Physics.OdePlugin
// p1.getContactData(ref contactdata1); // p1.getContactData(ref contactdata1);
// p2.getContactData(ref contactdata2); // p2.getContactData(ref contactdata2);
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
normoverride = p2.Velocity - p1.Velocity;
mu = normoverride.LengthSquared();
if (mu > 1e-6)
{
mu = 1.0f / (float)Math.Sqrt(mu);
normoverride *= mu;
mu = Vector3.Dot(tmp, normoverride);
if (mu > 0)
normoverride *= -1;
}
else
{
tmp.Normalize();
normoverride = -tmp;
}
bounce = 0; bounce = 0;
mu = 0; mu = 0;
cfm = 0.0001f; cfm = 0.0001f;
@ -974,6 +1010,13 @@ namespace OpenSim.Region.Physics.OdePlugin
if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
p2.IsColliding = true; p2.IsColliding = true;
if (AvanormOverride && curContact.depth > 0.3f)
{
curContact.normal.X = normoverride.X;
curContact.normal.Y = normoverride.Y;
curContact.normal.Z = normoverride.Z;
}
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale); Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
d.JointAttach(Joint, b1, b2); d.JointAttach(Joint, b1, b2);