* Adds various tweakable avatar control options to the OpenSim.ini.example.

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -67,14 +67,17 @@ namespace OpenSim.Region.Physics.OdePlugin
         private PhysicsVector _acceleration;
         private PhysicsVector m_rotationalVelocity;
         private float m_mass = 80f;
-        private float m_density = 60f;
+        public float m_density = 60f;
         private bool m_pidControllerActive = true;
-        private float PID_D = 800.0f;
+        public float PID_D = 800.0f;
-        private float PID_P = 900.0f;
+        public float PID_P = 900.0f;
         //private static float POSTURE_SERVO = 10000.0f;
-        public static float CAPSULE_RADIUS = 0.37f;
+        public float CAPSULE_RADIUS = 0.37f;
         public float CAPSULE_LENGTH = 2.140599f;
-        private float m_tensor = 3800000f;
+        public float m_tensor = 3800000f;
+        public float heightFudgeFactor = 0.52f;
+        public float walkDivisor = 1.3f;
+        public float runDivisor = 0.8f;
         private bool flying = false;
         private bool m_iscolliding = false;
         private bool m_iscollidingGround = false;
@@ -115,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         public int m_eventsubscription = 0;
         private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
 
-        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size)
+        public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
         {
             ode = dode;
             _velocity = new PhysicsVector();
@@ -124,14 +127,15 @@ namespace OpenSim.Region.Physics.OdePlugin
             _acceleration = new PhysicsVector();
             _parent_scene = parent_scene;
 
-            if (Environment.OSVersion.Platform == PlatformID.Unix)
+            PID_D = pid_d;
-            {
+            PID_P = pid_p;
-                m_tensor = 2000000f;
+            CAPSULE_RADIUS = capsule_radius;
-            }
+            m_tensor = tensor;
-            else
+            m_density = density;
-            {
+            heightFudgeFactor = height_fudge_factor;
-                m_tensor = 1300000f;
+            walkDivisor = walk_divisor;
-            }
+            runDivisor = rundivisor;
+
 
             m_StandUpRotation =
                 new d.Matrix3(0.5f, 0.7071068f, 0.5f, -0.7071068f, 0f, 0.7071068f, 0.5f, -0.7071068f,
@@ -141,7 +145,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             {
                 m_colliderarr[i] = false;
             }
-            CAPSULE_LENGTH = (size.Z - ((size.Z * 0.52f))); 
+            CAPSULE_LENGTH = (size.Z - ((size.Z * height_fudge_factor))); 
 
             lock (OdeScene.OdeLock)
             {
@@ -391,7 +395,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     float capsuleradius = CAPSULE_RADIUS;
                     //capsuleradius = 0.2f;
 
-                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z*0.52f))); // subtract 43% of the size
+                    CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z * heightFudgeFactor))); // subtract 43% of the size
                     //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
                     d.BodyDestroy(Body);
 
@@ -416,15 +420,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ, float tensor)
         {
 
-            if (Environment.OSVersion.Platform == PlatformID.Unix)
-            {
-                m_tensor = 2000000f;
-            }
-            else
-            {
-                m_tensor = 550000f;
-            }
-
             int dAMotorEuler = 1;
             _parent_scene.waitForSpaceUnlock(_parent_scene.space);
             Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
@@ -662,16 +657,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             // If the PID Controller isn't active then we set our force 
             // calculating base velocity to the current position
-            if (Environment.OSVersion.Platform == PlatformID.Unix)
-            {
-                PID_D = 3200.0f;
-                PID_P = 1400.0f;
-            }
-            else
-            {
-                PID_D = 2200.0f;
-                PID_P = 900.0f;
-            }
             
 
             if (m_pidControllerActive == false)
@@ -686,11 +671,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             if (!m_alwaysRun)
             {
-                movementdivisor = 1.3f;
+                movementdivisor = walkDivisor;
             }
             else
             {
-                movementdivisor = 0.8f;
+                movementdivisor = runDivisor;
             }
 
             //  if velocity is zero, use position control; otherwise, velocity control
@@ -830,11 +815,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                 _velocity.Y = (vec.Y);
 
                 _velocity.Z = (vec.Z);
+                
                 if (_velocity.Z < -6 && !m_hackSentFall)
                 {
-                    // Collisionupdates will be used in the future, right now the're not being used.
                     m_hackSentFall = true;
-                    //base.SendCollisionUpdate(new CollisionEventUpdate());
                     m_pidControllerActive = false;
                 }
                 else if (flying && !m_hackSentFly)

OpenSim/Region/Physics/OdePlugin/OdePlugin.cs

@@ -166,6 +166,16 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float mAvatarObjectContactBounce = 0.1f;
 
 
+        private float avPIDD = 3200f;
+        private float avPIDP = 1400f;
+        private float avCapRadius = 0.37f;
+        private float avStandupTensor = 2000000f;
+        private float avDensity = 80f;
+        private float avHeightFudgeFactor = 0.52f;
+        private float avMovementDivisorWalk = 1.3f;
+        private float avMovementDivisorRun = 0.8f;
+
+
         private float[] _heightmap;
 
         private float[] _watermap;
@@ -271,6 +281,21 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             mesher = meshmerizer;
             m_config = config;
+            // Defaults
+            
+            if (Environment.OSVersion.Platform == PlatformID.Unix)
+            {
+                avPIDD = 3200.0f;
+                avPIDP = 1400.0f;
+                avStandupTensor = 2000000f;
+            }
+            else
+            {
+                avPIDD = 2200.0f;
+                avPIDP = 900.0f;
+                avStandupTensor = 550000f;
+            }
+
             if (m_config != null)
             {
                 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
@@ -306,6 +331,26 @@ namespace OpenSim.Region.Physics.OdePlugin
                     ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
                     m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
 
+                    avDensity = physicsconfig.GetFloat("av_density", 80f);
+                    avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
+                    avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
+                    avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
+                    avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
+
+                    if (Environment.OSVersion.Platform == PlatformID.Unix)
+                    {
+                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 3200.0f);
+                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 1400.0f);
+                        avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 2000000f);
+                    }
+                    else
+                    {
+                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
+                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
+                        avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
+                    }
+                    
+
                 }
 
             }
@@ -1054,7 +1099,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             pos.X = position.X;
             pos.Y = position.Y;
             pos.Z = position.Z;
-            OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size);
+            OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size, avPIDD, avPIDP, avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun);
             _characters.Add(newAv);
             return newAv;
         }

bin/OpenSim.ini.example

@@ -207,6 +207,41 @@ m_avatarobjectcontact_bounce = 0.1
 objectcontact_friction = 250.0
 objectcontact_bounce = 0.2
 
+; # Avatar Control
+
+; PID Controller Settings. These affect the math that causes the avatar to reach the 
+
+av_pid_derivative_linux = 3200.0
+av_pid_proportional_linux = 1400.0
+
+av_pid_derivative_win = 2200.0
+av_pid_proportional_win = 900.0;
+
+
+;girth of the avatar.  Adds radius to the height also
+av_capsule_radius = 0.37
+
+; Max force permissible to use to keep the avatar standing up straight
+av_capsule_standup_tensor_win = 550000
+av_capsule_standup_tensor_linux = 2000000
+
+; used to calculate mass of avatar.  
+; float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
+; av_density * AVvolume;
+
+av_density = 80
+
+; use this value to cut 52% of the height the sim gives us
+av_height_fudge_factor = 0.52
+
+; Movement.  Smaller is faster.
+
+; speed of movement with Always Run off
+av_movement_divisor_walk = 1.3
+
+; speed of movement with Always Run on
+av_movement_divisor_run = 0.8
+
 
 [RemoteAdmin]
 enabled = false