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*TEST* diferent avatar collider

avinationmerge
UbitUmarov 2012-12-03 17:05:05 +00:00 committed by Melanie
parent f21d990820
commit 8aa5fdb6a3
3 changed files with 351 additions and 104 deletions
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15
OpenSim/Region/Framework/Scenes/ScenePresence.cs
View File

@ -571,7 +571,18 @@ namespace OpenSim.Region.Framework.Scenes
set
{
m_bodyRot = value;
// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
if (PhysicsActor != null)
{
try
{
PhysicsActor.Orientation = value;
}
catch (Exception e)
{
m_log.Error("[SCENE PRESENCE]: Orientation " + e.Message);
}
}
}
}
@ -3435,7 +3446,7 @@ namespace OpenSim.Region.Framework.Scenes
PhysicsActor = scene.AddAvatar(
LocalId, Firstname + "." + Lastname, pVec,
new Vector3(0f, 0f, Appearance.AvatarHeight), isFlying);
new Vector3(0.45f, 0.6f, Appearance.AvatarHeight), isFlying);
//PhysicsActor.OnRequestTerseUpdate += SendTerseUpdateToAllClients;
PhysicsActor.OnCollisionUpdate += PhysicsCollisionUpdate;

371
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -79,6 +79,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 _target_velocity;
private Vector3 _acceleration;
private Vector3 m_rotationalVelocity;
private Vector3 m_size;
private Quaternion m_orientation;
private float m_mass = 80f;
public float m_density = 60f;
private bool m_pidControllerActive = true;
@ -86,10 +88,17 @@ namespace OpenSim.Region.Physics.OdePlugin
public float PID_P = 900.0f;
//private static float POSTURE_SERVO = 10000.0f;
public float CAPSULE_RADIUS = 0.37f;
public float CAPSULE_LENGTH = 2.140599f;
const float CAP_OFFSET = -.2f; // compensation of SL size offset plus spheric collision shape bottom
private float m_invElipSizeX;
private float m_invElipSizeY;
private float feetOff = 0;
private float feetSZ = 0.5f;
const float feetScale = 0.9f;
const float invFeetScale = 1.0f / 0.9f;
const float sizeZAdjust = 0.15f;
private float boneOff = 0;
public float walkDivisor = 1.3f;
public float runDivisor = 0.8f;
@ -127,10 +136,16 @@ namespace OpenSim.Region.Physics.OdePlugin
// we do land collisions not ode | CollisionCategories.Land);
public IntPtr Body = IntPtr.Zero;
private OdeScene _parent_scene;
public IntPtr Shell = IntPtr.Zero;
public IntPtr topbox = IntPtr.Zero;
public IntPtr midbox = IntPtr.Zero;
public IntPtr feetbox = IntPtr.Zero;
public IntPtr bonebox = IntPtr.Zero;
public IntPtr Amotor = IntPtr.Zero;
public d.Mass ShellMass;
// public bool collidelock = false;
public int m_eventsubscription = 0;
private int m_cureventsubscription = 0;
@ -145,7 +160,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pid_d, float pid_p, float density, float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
@ -171,9 +186,20 @@ namespace OpenSim.Region.Physics.OdePlugin
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_size.X = pSize.X;
m_size.Y = pSize.Y;
m_size.Z = pSize.Z;
if(m_size.X <0.01f)
m_size.X = 0.01f;
if(m_size.Y <0.01f)
m_size.Y = 0.01f;
if(m_size.Z <0.01f)
m_size.Z = 0.01f;
m_orientation = Quaternion.Identity;
m_density = density;
m_mass = 80f; // sure we have a default
// force lower density for testing
m_density = 3.0f;
@ -183,8 +209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
walkDivisor = walk_divisor;
runDivisor = rundivisor;
CAPSULE_LENGTH = size.Z - CAPSULE_RADIUS + CAP_OFFSET;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
m_isPhysical = false; // current status: no ODE information exists
@ -426,14 +451,21 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </summary>
public override Vector3 Size
{
get {
float d = CAPSULE_RADIUS * 2;
return new Vector3(d, d, (CAPSULE_LENGTH + CAPSULE_RADIUS - CAP_OFFSET));
get
{
return m_size;
}
set
{
if (value.IsFinite())
{
if(value.X <0.01f)
value.X = 0.01f;
if(value.Y <0.01f)
value.Y = 0.01f;
if(value.Z <0.01f)
value.Z = 0.01f;
AddChange(changes.Size, value);
}
else
@ -459,8 +491,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
get
{
float AVvolume = (float)(Math.PI * CAPSULE_RADIUS * CAPSULE_RADIUS * (1.3333333333f * CAPSULE_RADIUS + CAPSULE_LENGTH));
return m_density * AVvolume;
return m_density * m_size.X * m_size.Y * m_size.Z;
}
}
public override void link(PhysicsActor obj)
@ -578,9 +609,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public override Quaternion Orientation
{
get { return Quaternion.Identity; }
get { return m_orientation; }
set
{
// fakeori = value;
// givefakeori++;
value.Normalize();
AddChange(changes.Orientation, value);
}
}
@ -632,32 +668,65 @@ namespace OpenSim.Region.Physics.OdePlugin
AddChange(changes.Momentum, momentum);
}
// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
// place that is safe to call this routine AvatarGeomAndBodyCreation.
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{
// sizes one day should came from visual parameters
float sz = m_size.Z + sizeZAdjust;
m_invElipSizeX = 1.0f / m_size.X;
m_invElipSizeY = 1.0f / m_size.Y;
float topsx = m_size.X;
float midsx = m_size.X;
float feetsx = m_size.X * feetScale;
float bonesx = feetsx * 0.2f;
float topsy = m_size.Y * 0.5f;
float midsy = m_size.Y;
float feetsy = m_size.Y * feetScale;
float bonesy = feetsy * 0.2f;
float topsz = sz * 0.15f;
float feetsz = sz * 0.3f;
if (feetsz > 0.6f)
feetsz = 0.6f;
float midsz = sz - topsz - feetsz;
float bonesz = sz;
float bot = -sz * 0.5f;
boneOff = bot + 0.3f;
float feetz = bot + feetsz * 0.5f;
bot += feetsz;
feetOff = bot;
feetSZ = feetsz;
float midz = bot + midsz * 0.5f;
bot += midsz;
float topz = bot + topsz * 0.5f;
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
if (CAPSULE_LENGTH <= 0)
{
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f;
}
feetbox = d.CreateBox(_parent_scene.ActiveSpace, feetsx, feetsy, feetsz);
d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
if (CAPSULE_RADIUS <= 0)
{
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f;
midbox = d.CreateBox(_parent_scene.ActiveSpace, midsx, midsy, midsz);
d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(midbox, (uint)m_collisionFlags);
}
Shell = d.CreateCapsule(_parent_scene.ActiveSpace, CAPSULE_RADIUS, CAPSULE_LENGTH);
topbox = d.CreateBox(_parent_scene.ActiveSpace, topsx, topsy, topsz);
d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(topbox, (uint)m_collisionFlags);
d.GeomSetCategoryBits(Shell, (uint)m_collisionCategories);
d.GeomSetCollideBits(Shell, (uint)m_collisionFlags);
bonebox = d.CreateBox(_parent_scene.ActiveSpace, bonesx, bonesy, bonesz);
d.GeomSetCategoryBits(bonebox, (uint)m_collisionCategories);
d.GeomSetCollideBits(bonebox, (uint)m_collisionFlags);
d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.MassSetBox(out ShellMass, m_density, m_size.X , m_size.Y, m_size.Z);
m_mass = ShellMass.mass; // update mass
@ -688,7 +757,14 @@ namespace OpenSim.Region.Physics.OdePlugin
_position.Z = npositionZ;
d.BodySetMass(Body, ref ShellMass);
d.GeomSetBody(Shell, Body);
d.GeomSetBody(feetbox, Body);
d.GeomSetBody(midbox, Body);
d.GeomSetBody(topbox, Body);
d.GeomSetBody(bonebox, Body);
d.GeomSetOffsetPosition(feetbox, 0, 0, feetz);
d.GeomSetOffsetPosition(midbox, 0, 0, midz);
d.GeomSetOffsetPosition(topbox, 0, 0, topz);
// The purpose of the AMotor here is to keep the avatar's physical
// surrogate from rotating while moving
@ -748,15 +824,152 @@ namespace OpenSim.Region.Physics.OdePlugin
Body = IntPtr.Zero;
}
//kill the Geometry
if (Shell != IntPtr.Zero)
//kill the Geoms
if (topbox != IntPtr.Zero)
{
// _parent_scene.geom_name_map.Remove(Shell);
_parent_scene.actor_name_map.Remove(Shell);
_parent_scene.actor_name_map.Remove(topbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
d.GeomDestroy(Shell);
Shell = IntPtr.Zero;
d.GeomDestroy(topbox);
topbox = IntPtr.Zero;
}
if (midbox != IntPtr.Zero)
{
_parent_scene.actor_name_map.Remove(midbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
d.GeomDestroy(midbox);
midbox = IntPtr.Zero;
}
if (feetbox != IntPtr.Zero)
{
_parent_scene.actor_name_map.Remove(feetbox);
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
d.GeomDestroy(feetbox);
feetbox = IntPtr.Zero;
}
if (bonebox != IntPtr.Zero)
{
_parent_scene.actor_name_map.Remove(bonebox);
_parent_scene.waitForSpaceUnlock(_parent_scene.ActiveSpace);
d.GeomDestroy(bonebox);
bonebox = IntPtr.Zero;
}
}
public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact)
{
if (me == bonebox) // inner bone
{
if (contact.pos.Z - _position.Z < boneOff)
IsColliding = true;
return true;
}
if (me == topbox) // keep a box head
return true;
// rotate elipsoide assuming only rotation around Z
float ca = m_orientation.W * m_orientation.W - m_orientation.Z * m_orientation.Z;
float sa = 2 * m_orientation.W * m_orientation.Z;
float isx;
float isy;
if (me == feetbox) // feet have narrow bounds
{
isx = m_invElipSizeX * invFeetScale;
isy = m_invElipSizeY * invFeetScale;
}
else
{
isx = m_invElipSizeX;
isy = m_invElipSizeY;
}
float a = isx * ca - isy * sa;
float b = isx * sa + isy * ca;
float offx = contact.pos.X - _position.X;
float er = offx * a;
er *= er;
float offy = contact.pos.Y - _position.Y;
float ty = offy * b;
er += ty * ty;
if (me == midbox)
{
if (er > 4.0f) // no collision
return false;
if (er < 0.2f)
return true;
float t = offx * offx + offy * offy;
t = (float)Math.Sqrt(t);
t = 1 / t;
offx *= t;
offy *= t;
if (reverse)
{
contact.normal.X = offx;
contact.normal.Y = offy;
}
else
{
contact.normal.X = -offx;
contact.normal.Y = -offy;
}
contact.normal.Z = 0;
return true;
}
else if (me == feetbox)
{
float c = feetSZ * 2;
float h = contact.pos.Z - _position.Z;
float offz = h - feetOff; // distance from top of feetbox
float tz = offz / c;
er += tz * tz;
if (er > 4.0f) // no collision
return false;
if (er > 0.2f)
{
float t = offx * offx + offy * offy + offz * offz;
t = (float)Math.Sqrt(t);
t = 1 / t;
offx *= t;
offy *= t;
offz *= t;
if (reverse)
{
contact.normal.X = offx;
contact.normal.Y = offy;
contact.normal.Z = offz;
}
else
{
contact.normal.X = -offx;
contact.normal.Y = -offy;
contact.normal.Z = -offz;
}
}
if(h < boneOff)
IsColliding = true;
}
else
return false;
return true;
}
/// <summary>
@ -776,10 +989,10 @@ namespace OpenSim.Region.Physics.OdePlugin
// so force it back to identity
d.Quaternion qtmp;
qtmp.W = 1;
qtmp.X = 0;
qtmp.Y = 0;
qtmp.Z = 0;
qtmp.W = m_orientation.W;
qtmp.X = m_orientation.X;
qtmp.Y = m_orientation.Y;
qtmp.Z = m_orientation.Z;
d.BodySetQuaternion(Body, ref qtmp);
if (m_pidControllerActive == false)
@ -843,7 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//******************************************
// colide with land
d.AABB aabb;
d.GeomGetAABB(Shell, out aabb);
d.GeomGetAABB(feetbox, out aabb);
float chrminZ = aabb.MinZ - 0.04f; // move up a bit
Vector3 posch = localpos;
@ -1182,20 +1395,14 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (NewStatus)
{
// Create avatar capsule and related ODE data
if ((Shell != IntPtr.Zero))
{
// a lost shell ?
m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
+ (Shell != IntPtr.Zero ? "Shell " : "")
+ (Body != IntPtr.Zero ? "Body " : "")
+ (Amotor != IntPtr.Zero ? "Amotor " : ""));
AvatarGeomAndBodyDestroy();
}
AvatarGeomAndBodyDestroy();
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bonebox] = (PhysicsActor)this;
_parent_scene.AddCharacter(this);
}
else
@ -1224,37 +1431,29 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
private void changeSize(Vector3 Size)
private void changeSize(Vector3 pSize)
{
if (Size.IsFinite())
if (pSize.IsFinite())
{
float caplen = Size.Z;
caplen = caplen - CAPSULE_RADIUS + CAP_OFFSET;
if (caplen != CAPSULE_LENGTH)
// for now only look to Z changes since viewers also don't change X and Y
if (pSize.Z != m_size.Z)
{
if (Shell != IntPtr.Zero && Body != IntPtr.Zero && Amotor != IntPtr.Zero)
{
AvatarGeomAndBodyDestroy();
AvatarGeomAndBodyDestroy();
float prevCapsule = CAPSULE_LENGTH;
CAPSULE_LENGTH = caplen;
AvatarGeomAndBodyCreation(_position.X, _position.Y,
_position.Z + (CAPSULE_LENGTH - prevCapsule) * 0.5f);
float oldsz = m_size.Z;
m_size = pSize;
Velocity = Vector3.Zero;
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
}
else
{
m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - "
+ (Shell == IntPtr.Zero ? "Shell " : "")
+ (Body == IntPtr.Zero ? "Body " : "")
+ (Amotor == IntPtr.Zero ? "Amotor " : ""));
}
AvatarGeomAndBodyCreation(_position.X, _position.Y,
_position.Z + (m_size.Z - oldsz) * 0.5f);
Velocity = Vector3.Zero;
_parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bonebox] = (PhysicsActor)this;
}
m_freemove = false;
m_pidControllerActive = true;
@ -1276,6 +1475,14 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeOrientation(Quaternion newOri)
{
d.Quaternion myrot = new d.Quaternion();
myrot.X = newOri.X;
myrot.Y = newOri.Y;
myrot.Z = newOri.Z;
myrot.W = newOri.W;
float t = d.JointGetAMotorAngle(Amotor, 2);
d.BodySetQuaternion(Body,ref myrot);
m_orientation = newOri;
}
private void changeVelocity(Vector3 newVel)
@ -1365,7 +1572,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool DoAChange(changes what, object arg)
{
if (Shell == IntPtr.Zero && what != changes.Add && what != changes.Remove)
if (topbox == IntPtr.Zero && what != changes.Add && what != changes.Remove)
{
return false;
}

69
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -840,6 +840,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{
case (int)ActorTypes.Agent:
{
dop1foot = true;
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
normoverride = p2.Velocity - p1.Velocity;
@ -883,6 +885,10 @@ namespace OpenSim.Region.Physics.OdePlugin
switch (p2.PhysicsActorType)
{
case (int)ActorTypes.Agent:
dop2foot = true;
AvanormOverride = true;
Vector3 tmp = p2.Position - p1.Position;
@ -1017,6 +1023,7 @@ namespace OpenSim.Region.Physics.OdePlugin
IntPtr Joint;
int i = 0;
int ncontacts = 0;
while(true)
{
@ -1031,7 +1038,28 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
if(dop1foot)
{
if (!(((OdeCharacter)p1).Collide(g1,false, ref curContact)))
{
if (++i >= count)
break;
else
continue;
}
}
else if(dop2foot)
{
if(!(((OdeCharacter) p2).Collide(g2,true,ref curContact)))
{
if (++i >= count)
break;
else
continue;
}
}
/*
if (AvanormOverride)
{
if (curContact.depth > 0.3f)
@ -1081,34 +1109,31 @@ namespace OpenSim.Region.Physics.OdePlugin
{
float sz = p2.Size.Z;
Vector3 vtmp = p2.Position;
float ppos = curContact.pos.Z - vtmp.Z + (sz - avCapRadius) * 0.5f;
vtmp.Z -= sz * 0.5f;
vtmp.Z += 0.5f;
float ppos = vtmp.Z - curContact.pos.Z;
if (ppos > 0f)
{
if (!p2.Flying)
{
d.AABB aabb;
d.GeomGetAABB(g1, out aabb);
float tmp = vtmp.Z - sz * .18f;
if (aabb.MaxZ < tmp)
{
vtmp.X = curContact.pos.X - vtmp.X;
vtmp.Y = curContact.pos.Y - vtmp.Y;
vtmp.Z = -0.2f;
vtmp.Normalize();
curContact.normal.X = vtmp.X;
curContact.normal.Y = vtmp.Y;
curContact.normal.Z = vtmp.Z;
}
vtmp.X = curContact.pos.X - vtmp.X;
vtmp.Y = curContact.pos.Y - vtmp.Y;
vtmp.Z = curContact.pos.Z - vtmp.Z;
vtmp.Normalize();
curContact.normal.X = vtmp.X;
curContact.normal.Y = vtmp.Y;
curContact.normal.Z = vtmp.Z;
}
}
else
// else
p2.IsColliding = true;
}
}
}
*/
ncontacts++;
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
d.JointAttach(Joint, b1, b2);
@ -1134,7 +1159,8 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
collision_accounting_events(p1, p2, maxDepthContact);
if(ncontacts > 0)
collision_accounting_events(p1, p2, maxDepthContact);
/*
if (notskipedcount > geomContactPointsStartthrottle)
@ -1234,14 +1260,17 @@ namespace OpenSim.Region.Physics.OdePlugin
{
foreach (OdeCharacter chr in _characters)
{
if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
if (chr == null || chr.Body == IntPtr.Zero)
continue;
chr.IsColliding = false;
// chr.CollidingGround = false; not done here
chr.CollidingObj = false;
// do colisions with static space
d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.topbox, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.midbox, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.feetbox, IntPtr.Zero, nearCallback);
d.SpaceCollide2(StaticSpace, chr.bonebox, IntPtr.Zero, nearCallback);
// no coll with gnd
}
}
@ -1334,7 +1363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avCapRadius, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
newAv.Flying = isFlying;
newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;