diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs index 756c005035..e7455be6cb 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs @@ -496,7 +496,7 @@ namespace OpenSim.Region.Physics.OdePlugin contact.surface.mu = 255.0f; contact.surface.bounce = 0.0f; contact.surface.soft_cfm = 0.0f; - contact.surface.soft_erp = 1.00f; // If this is too small static Av will fall through a sloping prim. + contact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru // Terrain contact friction and Bounce // This is the *non* moving version. Use this when an avatar @@ -523,9 +523,9 @@ namespace OpenSim.Region.Physics.OdePlugin // Use this when an avatar comes in contact with a prim AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce; AvatarMovementprimContact.surface.mu = 255.0f; - AvatarMovementprimContact.surface.bounce = 0.01f; + AvatarMovementprimContact.surface.bounce = 0.0f; AvatarMovementprimContact.surface.soft_cfm = 0.0f; // if this is 0.01 then prims become phantom to Avs! - AvatarMovementprimContact.surface.soft_erp = 0.001f; + AvatarMovementprimContact.surface.soft_erp = 0.3f; // Terrain contact friction bounce and various error correcting calculations // Use this when an avatar is in contact with the terrain and moving. @@ -559,11 +559,11 @@ namespace OpenSim.Region.Physics.OdePlugin */ m_materialContacts = new d.Contact[7,2]; - + // V 1 = Sliding; 0 = static or fell onto m_materialContacts[(int)Material.Stone, 0] = new d.Contact(); m_materialContacts[(int)Material.Stone, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce; - m_materialContacts[(int)Material.Stone, 0].surface.mu = 1.8f; - m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f; + m_materialContacts[(int)Material.Stone, 0].surface.mu = 1.8f; // friction, 1 = slippery, 255 = no slip + m_materialContacts[(int)Material.Stone, 0].surface.bounce = 0.0f; m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.0f; m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; @@ -588,27 +588,19 @@ namespace OpenSim.Region.Physics.OdePlugin m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f; m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f; - /* - flags : d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce - private float nmAvatarObjectContactFriction = 250f; - private float nmAvatarObjectContactBounce = 0.1f; - - private float mAvatarObjectContactFriction = 75f; - private float mAvatarObjectContactBounce = 0.1f; - */ m_materialContacts[(int)Material.Glass, 0] = new d.Contact(); m_materialContacts[(int)Material.Glass, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce; m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f; - m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.1f; - m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.0f; + m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.0f; + m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.01f; m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.50f; m_materialContacts[(int)Material.Glass, 1] = new d.Contact(); m_materialContacts[(int)Material.Glass, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce; m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f; - m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.1f; + m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.0f; m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.0f; - m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f; + m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.30f; m_materialContacts[(int)Material.Wood, 0] = new d.Contact(); m_materialContacts[(int)Material.Wood, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce; @@ -827,6 +819,11 @@ namespace OpenSim.Region.Physics.OdePlugin p2 = PANull; } +if((p1 is OdePrim ) && (p2 is OdePrim)){ + OdePrim t1 = (OdePrim)p1; + OdePrim t2 = (OdePrim)p2; + Console.WriteLine("Collision {0} {1}", t1.m_primName, t2.m_primName); +} ContactPoint maxDepthContact = new ContactPoint(); if (p1.CollisionScore + count >= float.MaxValue) p1.CollisionScore = 0; @@ -835,7 +832,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (p2.CollisionScore + count >= float.MaxValue) p2.CollisionScore = 0; p2.CollisionScore += count; - for (int i = 0; i < count; i++) { d.ContactGeom curContact = contacts[i]; @@ -863,18 +859,13 @@ namespace OpenSim.Region.Physics.OdePlugin //#@ if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)) //#@ p2.IsColliding = true; if ((p2.Position.Z - curContact.pos.Z) > (p2.Size.Z * 0.6f)){ //## -//Console.WriteLine("AvColl 1 {0} - {1} - {2} - {3}", //## -// curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f)); //## p2.IsColliding = true; //## }else{ -//Console.WriteLine("AvColl 2 {0} - {1} - {2} - {3}", //## -// curContact.pos.Z, p2.Position.Z, (p2.Position.Z - curContact.pos.Z), (p2.Size.Z * 0.6f)); //## } //## } else { -//Console.WriteLine("AvColl 3 {0}", p2.PhysicsActorType); //## p2.IsColliding = true; } @@ -1075,6 +1066,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (!skipThisContact) { + // Add contact joints with materials params---------------------------------- + int material = (int) Material.Wood; + int movintYN = 0; // 1 = Sliding; 0 = static or fell onto + // If we're colliding against terrain if (name1 == "Terrain" || name2 == "Terrain") { @@ -1082,7 +1077,7 @@ namespace OpenSim.Region.Physics.OdePlugin if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) { - // Use the movement terrain contact + //$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact AvatarMovementTerrainContact.geom = curContact; _perloopContact.Add(curContact); if (m_global_contactcount < maxContactsbeforedeath) @@ -1095,7 +1090,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (p2.PhysicsActorType == (int)ActorTypes.Agent) { - // Use the non moving terrain contact + //$ Av standing on terrain, Use the non moving Avata terrain contact TerrainContact.geom = curContact; _perloopContact.Add(curContact); if (m_global_contactcount < maxContactsbeforedeath) @@ -1108,10 +1103,8 @@ namespace OpenSim.Region.Physics.OdePlugin { if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim) { - // prim prim contact + //& THIS NEVER HAPPENS prim prim contact //kf Huh? In terrain contact? // int pj294950 = 0; - int movintYN = 0; - int material = (int) Material.Wood; // prim terrain contact if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) { @@ -1120,7 +1113,6 @@ namespace OpenSim.Region.Physics.OdePlugin if (p2 is OdePrim) material = ((OdePrim)p2).m_material; - //m_log.DebugFormat("Material: {0}", material); m_materialContacts[material, movintYN].geom = curContact; _perloopContact.Add(curContact); @@ -1135,16 +1127,12 @@ namespace OpenSim.Region.Physics.OdePlugin } else { - - int movintYN = 0; - // prim terrain contact + //$ prim on terrain contact if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) { movintYN = 1; } - int material = (int)Material.Wood; - if (p2 is OdePrim) material = ((OdePrim)p2).m_material; //m_log.DebugFormat("Material: {0}", material); @@ -1167,6 +1155,7 @@ namespace OpenSim.Region.Physics.OdePlugin } else if (name1 == "Water" || name2 == "Water") { + //$ This never happens! /* if ((p2.PhysicsActorType == (int) ActorTypes.Prim)) { @@ -1194,10 +1183,12 @@ namespace OpenSim.Region.Physics.OdePlugin } else { - // we're colliding with prim or avatar + + // no terrain and no water, we're colliding with prim or avatar // check if we're moving if ((p2.PhysicsActorType == (int)ActorTypes.Agent)) { + //$ Avatar on Prim or other Avatar if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)) { // Use the AV Movement / prim contact @@ -1217,28 +1208,52 @@ namespace OpenSim.Region.Physics.OdePlugin if (m_global_contactcount < maxContactsbeforedeath) { + if (curContact.depth > 0.2) + { // embedded, eject slowly + contact.surface.soft_erp = 0.1f; + contact.surface.soft_cfm = 0.1f; + } + else + { // keep on the surface + contact.surface.soft_erp = 0.3f; + contact.surface.soft_cfm = 0.0f; + } joint = d.JointCreateContact(world, contactgroup, ref contact); m_global_contactcount++; +/* +Console.WriteLine("Prim | Av collision 2 mode={0} mu={1} bounce={2} bv={3} erp={4} cfm={5} mot={6} depth={7}", +contact.surface.mode, +contact.surface.mu, +contact.surface.bounce, +contact.surface.bounce_vel, +contact.surface.soft_erp, +contact.surface.soft_cfm, +contact.surface.motion1, +curContact.depth); +*/ } } } else if (p2.PhysicsActorType == (int)ActorTypes.Prim) { + //$ Prim on Prim //p1.PhysicsActorType - int material = (int)Material.Wood; - if (p2 is OdePrim) - material = ((OdePrim)p2).m_material; - + if (p2 is OdePrim) material = ((OdePrim)p2).m_material; //m_log.DebugFormat("Material: {0}", material); - m_materialContacts[material, 0].geom = curContact; + + if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) + { + movintYN = 1; + } + + m_materialContacts[material, movintYN].geom = curContact; _perloopContact.Add(curContact); if (m_global_contactcount < maxContactsbeforedeath) { - joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]); + joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]); m_global_contactcount++; - } } } @@ -1261,8 +1276,8 @@ namespace OpenSim.Region.Physics.OdePlugin } //m_log.Debug(count.ToString()); //m_log.Debug("near: A collision was detected between {1} and {2}", 0, name1, name2); - } - } + } // end for i.. loop + } // end near private bool checkDupe(d.ContactGeom contactGeom, int atype) {