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* Should help avatar climb steps better 

* Reduced ground friction when an avatar is moving
* Followed Dan's advice and moved the walk/run movement controller to target_velocity instead of on the total movement
* Reduced PID_D power by 1/5th (80)
* More avatar movement tweaks.
afrisby
Teravus Ovares 2007-11-14 02:41:15 +00:00
parent 9a00c26dfe
commit 52fbc67100
1 changed files with 54 additions and 22 deletions
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76
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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@ -89,6 +89,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private d.ContactGeom[] contacts = new d.ContactGeom[30]; private d.ContactGeom[] contacts = new d.ContactGeom[30];
private d.Contact contact; private d.Contact contact;
private d.Contact TerrainContact; private d.Contact TerrainContact;
private d.Contact AvatarMovementprimContact;
private d.Contact AvatarMovementTerrainContact;
private int m_physicsiterations = 10; private int m_physicsiterations = 10;
private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
@ -116,11 +118,20 @@ namespace OpenSim.Region.Physics.OdePlugin
contact.surface.mu = 250.0f; contact.surface.mu = 250.0f;
contact.surface.bounce = 0.2f; contact.surface.bounce = 0.2f;
TerrainContact.surface.mode |= d.ContactFlags.SoftERP; TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
TerrainContact.surface.mu = 250.0f; TerrainContact.surface.mu = 250.0f;
TerrainContact.surface.bounce = 0.1f; TerrainContact.surface.bounce = 0.1f;
TerrainContact.surface.soft_erp = 0.1025f; TerrainContact.surface.soft_erp = 0.1025f;
AvatarMovementprimContact.surface.mu = 150.0f;
AvatarMovementprimContact.surface.bounce = 0.2f;
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
AvatarMovementTerrainContact.surface.mu = 150.0f;
AvatarMovementTerrainContact.surface.bounce = 0.1f;
AvatarMovementTerrainContact.surface.soft_erp = 0.1025f;
lock (OdeLock) lock (OdeLock)
{ {
world = d.WorldCreate(); world = d.WorldCreate();
@ -195,23 +206,6 @@ namespace OpenSim.Region.Physics.OdePlugin
IntPtr joint; IntPtr joint;
// If we're colliding with terrain, use 'TerrainContact' instead of contact. // If we're colliding with terrain, use 'TerrainContact' instead of contact.
// allows us to have different settings // allows us to have different settings
if (name1 == "Terrain" || name2 == "Terrain")
{
TerrainContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
}
else
{
contact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref contact);
}
d.JointAttach(joint, b1, b2);
PhysicsActor p1; PhysicsActor p1;
PhysicsActor p2; PhysicsActor p2;
@ -226,6 +220,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// We only need to test p2 for 'jump crouch purposes' // We only need to test p2 for 'jump crouch purposes'
p2.IsColliding = true; p2.IsColliding = true;
switch(p1.PhysicsActorType) { switch(p1.PhysicsActorType) {
case (int)ActorTypes.Agent: case (int)ActorTypes.Agent:
p2.CollidingObj = true; p2.CollidingObj = true;
@ -237,6 +232,43 @@ namespace OpenSim.Region.Physics.OdePlugin
p2.CollidingGround = true; p2.CollidingGround = true;
break; break;
} }
if (name1 == "Terrain" || name2 == "Terrain")
{
if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
{
AvatarMovementTerrainContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
}
else
{
TerrainContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
}
}
else
{
if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
{
AvatarMovementprimContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
}
else
{
contact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref contact);
}
}
d.JointAttach(joint, b1, b2);
if (count > 3) if (count > 3)
{ {
p2.ThrottleUpdates = true; p2.ThrottleUpdates = true;
@ -652,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsVector _target_velocity; private PhysicsVector _target_velocity;
private PhysicsVector _acceleration; private PhysicsVector _acceleration;
private PhysicsVector m_rotationalVelocity; private PhysicsVector m_rotationalVelocity;
private static float PID_D = 4000.0f; private static float PID_D = 3020.0f;
private static float PID_P = 7000.0f; private static float PID_P = 7000.0f;
private static float POSTURE_SERVO = 10000.0f; private static float POSTURE_SERVO = 10000.0f;
public static float CAPSULE_RADIUS = 0.5f; public static float CAPSULE_RADIUS = 0.5f;
@ -955,11 +987,11 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_alwaysRun) if (!m_alwaysRun)
{ {
movementdivisor = 10.5f; movementdivisor = 1.3f;
} }
else else
{ {
movementdivisor = 0.2079f; movementdivisor = 0.8f;
} }
@ -987,8 +1019,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_iscolliding || flying) if (m_iscolliding || flying)
{ {
vec.X = ((_target_velocity.X - vel.X)/movementdivisor) * PID_D; vec.X = ((_target_velocity.X/movementdivisor) - vel.X) * PID_D;
vec.Y = ((_target_velocity.Y - vel.Y)/movementdivisor) * PID_D; vec.Y = ((_target_velocity.Y/movementdivisor) - vel.Y) * PID_D;
} }
if (m_iscolliding && !flying && _target_velocity.Z > 0.0f) if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
{ {