* Return of the avatar wobble.
Teravus Ovares
parent
ab5527dd53
commit
741d136f8c
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@ -73,6 +73,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.37f;
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public float CAPSULE_LENGTH = 2.140599f;
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private float m_tensor = 3800000f;
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private bool flying = false;
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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@ -105,10 +106,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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_position = pos;
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_acceleration = new PhysicsVector();
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_parent_scene = parent_scene;
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m_StandUpRotation =
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new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f,
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-0.004689182f, 0.9998941f);
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new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
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0.5f);
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for (int i = 0; i < 11; i++)
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{
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@ -117,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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lock (OdeScene.OdeLock)
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{
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AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z);
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AvatarGeomAndBodyCreation(pos.X, pos.Y, pos.Z, m_tensor);
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}
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m_name = avName;
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parent_scene.geom_name_map[Shell] = avName;
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@ -325,7 +326,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_pidControllerActive = true;
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lock (OdeScene.OdeLock)
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{
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d.JointDestroy(Amotor);
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//d.JointDestroy(Amotor);
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PhysicsVector SetSize = value;
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float prevCapsule = CAPSULE_LENGTH;
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@ -337,7 +338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodyDestroy(Body);
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d.GeomDestroy(Shell);
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AvatarGeomAndBodyCreation(_position.X, _position.Y,
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_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule)*2));
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_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2), m_tensor);
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Velocity = new PhysicsVector(0f, 0f, 0f);
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}
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@ -351,7 +352,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// <param name="npositionX"></param>
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/// <param name="npositionY"></param>
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/// <param name="npositionZ"></param>
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private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
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private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
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{
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int dAMotorEuler = 1;
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@ -361,44 +362,49 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
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d.BodySetMass(Body, ref ShellMass);
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d.Matrix3 m_caprot;
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// 90 Stand up on the cap of the capped cyllinder
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d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 1, (float)(Math.PI / 2));
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//d.RFromAxisAndAngle(out m_caprot, 1, 0, 1, (float)(Math.PI / 2));
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d.GeomSetRotation(Shell, ref m_StandUpRotation);
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d.BodySetRotation(Body, ref m_StandUpRotation);
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//d.GeomSetRotation(Shell, ref m_caprot);
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//d.BodySetRotation(Body, ref m_caprot);
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d.GeomSetBody(Shell, Body);
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// The purpose of the AMotor here is to keep the avatar's physical
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// surrogate from rotating while moving
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Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, dAMotorEuler);
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d.JointSetAMotorNumAxes(Amotor, 3);
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d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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d.JointSetAMotorAngle(Amotor, 0, 0);
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d.JointSetAMotorAngle(Amotor, 1, 0);
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d.JointSetAMotorAngle(Amotor, 2, 0);
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//Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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//d.JointAttach(Amotor, Body, IntPtr.Zero);
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///d.JointSetAMotorMode(Amotor, dAMotorEuler);
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//d.JointSetAMotorNumAxes(Amotor, 3);
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//d.JointSetAMotorAxis(Amotor, 0, 0, 1, 0, 0);
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//d.JointSetAMotorAxis(Amotor, 1, 0, 0, 1, 0);
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//d.JointSetAMotorAxis(Amotor, 2, 0, 0, 0, 1);
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//d.JointSetAMotorAngle(Amotor, 0, 0);
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//d.JointSetAMotorAngle(Amotor, 1, 0);
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//d.JointSetAMotorAngle(Amotor, 2, 0);
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// These lowstops and high stops are effectively (no wiggle room)
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
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// Fudge factor is 1f by default, we're setting it to 0. We don't want it to Fudge or the
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// capped cyllinder will fall over
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d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f);
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standupStraight();
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//d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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//d.JointSetAMotorParam(Amotor, (int)dParam.FMax, tensor);
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//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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//d.QfromR(
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//d.Matrix3 checkrotation = new d.Matrix3(0.7071068,0.5, -0.7071068,
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//
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//OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
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//standupStraight();
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@ -435,8 +441,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
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//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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//OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
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}
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public override PhysicsVector Force
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@ -521,7 +527,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (!collidelock)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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//standupStraight();
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//d.BodySetRotation(Body, ref m_StandUpRotation);
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standupStraight();
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}
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}
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@ -713,7 +721,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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lock (OdeScene.OdeLock)
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{
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// Kill the Amotor
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d.JointDestroy(Amotor);
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//d.JointDestroy(Amotor);
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//kill the Geometry
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d.GeomDestroy(Shell);
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