make ubitODE ignore X and Y rotation components on avatar rotations
parent
f35e3c6fe0
commit
71fc9f29f9
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@ -80,6 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private Vector3 m_rotationalVelocity;
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private Vector3 m_size;
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private Quaternion m_orientation;
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private Quaternion m_orientation2D;
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private float m_mass = 80f;
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public float m_density = 60f;
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private bool m_pidControllerActive = true;
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@ -207,6 +208,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_feetOffset = pfeetOffset;
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m_orientation = Quaternion.Identity;
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m_orientation2D = Quaternion.Identity;
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m_density = density;
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// force lower density for testing
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@ -649,7 +651,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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// fakeori = value;
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// givefakeori++;
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value.Normalize();
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AddChange(changes.Orientation, value);
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}
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@ -977,7 +978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// force a full inelastic collision
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m_collisionException = true;
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offset = m_size * m_orientation;
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offset = m_size * m_orientation2D;
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offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth;
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offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth;
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@ -1143,10 +1144,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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// so force it back to identity
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d.Quaternion qtmp;
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qtmp.W = m_orientation.W;
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qtmp.X = m_orientation.X;
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qtmp.Y = m_orientation.Y;
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qtmp.Z = m_orientation.Z;
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qtmp.W = m_orientation2D.W;
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qtmp.X = m_orientation2D.X;
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qtmp.Y = m_orientation2D.Y;
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qtmp.Z = m_orientation2D.Z;
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d.BodySetQuaternion(Body, ref qtmp);
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if (m_pidControllerActive == false)
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@ -1679,14 +1680,36 @@ namespace OpenSim.Region.Physics.OdePlugin
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private void changeOrientation(Quaternion newOri)
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{
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d.Quaternion myrot = new d.Quaternion();
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myrot.X = newOri.X;
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myrot.Y = newOri.Y;
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myrot.Z = newOri.Z;
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myrot.W = newOri.W;
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float t = d.JointGetAMotorAngle(Amotor, 2);
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d.BodySetQuaternion(Body,ref myrot);
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m_orientation = newOri;
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if (m_orientation != newOri)
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{
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m_orientation = newOri; // keep a copy for core use
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// but only use rotations around Z
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m_orientation2D.W = newOri.W;
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m_orientation2D.Z = newOri.Z;
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float t = m_orientation2D.W * m_orientation2D.W + m_orientation2D.Z * m_orientation2D.Z;
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if (t > 0)
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{
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t = 1.0f / (float)Math.Sqrt(t);
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m_orientation2D.W *= t;
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m_orientation2D.Z *= t;
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}
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else
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{
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m_orientation2D.W = 1.0f;
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m_orientation2D.Z = 0f;
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}
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m_orientation2D.Y = 0f;
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m_orientation2D.X = 0f;
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d.Quaternion myrot = new d.Quaternion();
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myrot.X = m_orientation2D.X;
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myrot.Y = m_orientation2D.Y;
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myrot.Z = m_orientation2D.Z;
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myrot.W = m_orientation2D.W;
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d.BodySetQuaternion(Body, ref myrot);
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}
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}
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private void changeVelocity(Vector3 newVel)
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