Revise Materials properties; Fix Double-Click Autopilot; Allow non-script sit positions >= 0.1M; Add llLookAt(); Comment out spammy bad adjacent sim message.
Kitto Flora
parent
dc4f557426
commit
ba7a227763
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@ -1758,7 +1758,7 @@ namespace OpenSim.Region.Framework.Scenes
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return;
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}
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m_moveToPositionInProgress = true;
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m_moveToPositionTarget = new Vector3(locx, locy, locz);
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m_moveToPositionTarget = new Vector3(locx, locy, locz + (m_appearance.AvatarHeight / 2.0f));
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}
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catch (Exception ex)
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{
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@ -2008,7 +2008,7 @@ namespace OpenSim.Region.Framework.Scenes
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}
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else // Not Scripted
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{
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if ( (Math.Abs(offset.X) > 0.5f) || (Math.Abs(offset.Y) > 0.5f) )
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if ( (Math.Abs(offset.X) > 0.1f) || (Math.Abs(offset.Y) > 0.1f) ) // Changed 0.5M to 0.1M as they want to be able to sit close together
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{
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// large prim & offset, ignore if other Avs sitting
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// offset.Z -= 0.05f;
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@ -85,6 +85,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private float m_APIDStrength = 0.5f;
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private float m_APIDDamping = 0.5f;
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private bool m_useAPID = false;
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private float m_APIDdamper = 1.0f;
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// These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
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// do not confuse with VEHICLE HOVER
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@ -735,12 +736,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override float Buoyancy
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{
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get { return m_buoyancy; }
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// set { m_buoyancy = value; }
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set {
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m_buoyancy = value;
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Console.WriteLine("m_buoyancy={0}", m_buoyancy);
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}
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set { m_buoyancy = value; }
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}
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public override void link(PhysicsActor obj)
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@ -1293,7 +1289,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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disableBody();
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}
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}
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IntPtr vertices, indices;
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int vertexCount, indexCount;
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int vertexStride, triStride;
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@ -1349,8 +1344,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (prim_geom != IntPtr.Zero)
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{
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if (!_position.ApproxEquals(m_taintposition, 0f))
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{
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changemove(timestep);
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}
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if (m_taintrot != _orientation)
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{
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if(childPrim && IsPhysical) // For physical child prim...
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@ -1370,8 +1366,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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//
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if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
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{
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changePhysicsStatus(timestep);
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//
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}//
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if (!_size.ApproxEquals(m_taintsize,0f))
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changesize(timestep);
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@ -1482,6 +1479,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (Body == IntPtr.Zero)
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{
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Body = d.BodyCreate(_parent_scene.world);
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// disconnect from world gravity so we can apply buoyancy
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d.BodySetGravityMode (Body, false);
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setMass();
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}
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if (Body != IntPtr.Zero)
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@ -1522,7 +1522,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_log.Warn("[PHYSICS]: Unable to link one of the linkset elements. No geom yet");
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continue;
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}
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//Console.WriteLine(" GeomSetCategoryBits 1: " + prm.prim_geom + " - " + (int)prm.m_collisionCategories + " for " + m_primName);
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d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
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d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
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@ -1565,9 +1564,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_collisionCategories |= CollisionCategories.Body;
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m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
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//Console.WriteLine("GeomSetCategoryBits 2: " + prim_geom + " - " + (int)m_collisionCategories + " for " + m_primName);
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d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
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//Console.WriteLine(" Post GeomSetCategoryBits 2");
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d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
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@ -1721,14 +1718,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (m_isphysical)
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{
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disableBodySoft();
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if (Body != IntPtr.Zero)
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{
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d.BodySetLinearVel(Body, 0f, 0f, 0f);
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d.BodySetForce(Body, 0, 0, 0);
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enableBodySoft();
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}
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}
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if (Body != IntPtr.Zero)
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{
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d.BodySetLinearVel(Body, 0f, 0f, 0f);
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d.BodySetForce(Body, 0f, 0f, 0f);
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d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f);
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d.BodySetTorque (Body, 0.0f, 0.0f, 0.0f);
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}
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}
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else
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{
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@ -1749,17 +1747,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
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d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
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}
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/* Uhhh - stop the motion if the object is _selected_!!
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if (Body != IntPtr.Zero)
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{
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d.BodySetLinearVel(Body, 0f, 0f, 0f);
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d.BodySetForce(Body, 0f, 0f, 0f);
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d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f);
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d.BodySetTorque (Body, 0.0f, 0.0f, 0.0f);
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}
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if (m_isphysical)
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{
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if (Body != IntPtr.Zero)
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{
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d.BodySetLinearVel(Body, 0f, 0f, 0f);
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d.BodySetForce(Body, 0, 0, 0);
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enableBodySoft();
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}
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}
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*/
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}
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resetCollisionAccounting();
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@ -1781,7 +1783,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void CreateGeom(IntPtr m_targetSpace, IMesh _mesh)
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{
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//Console.WriteLine("CreateGeom:");
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if (_mesh != null) // Special - make mesh
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{
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setMesh(_parent_scene, _mesh);
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@ -1797,7 +1798,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.waitForSpaceUnlock(m_targetSpace);
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try
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{
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//Console.WriteLine(" CreateGeom 1");
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SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
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}
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catch (AccessViolationException)
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@ -1812,7 +1812,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.waitForSpaceUnlock(m_targetSpace);
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try
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{
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//Console.WriteLine(" CreateGeom 2");
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SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
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}
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catch (AccessViolationException)
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@ -1828,7 +1827,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.waitForSpaceUnlock(m_targetSpace);
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try
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{
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//Console.WriteLine(" CreateGeom 3");
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SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
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}
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catch (AccessViolationException)
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@ -1845,7 +1843,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.waitForSpaceUnlock(m_targetSpace);
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try
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{
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//Console.WriteLine(" CreateGeom 4");
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SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
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}
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catch (AccessViolationException)
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@ -1890,7 +1887,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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lock (_parent_scene.OdeLock)
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{
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//Console.WriteLine("changeadd 1");
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CreateGeom(m_targetSpace, _mesh);
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if (prim_geom != IntPtr.Zero)
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@ -1917,10 +1913,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void changemove(float timestep)
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{
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//Console.WriteLine("changemove sing/root {0} to {1}", m_primName, _position );
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if (m_isphysical)
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{
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//Console.WriteLine("phys {0} {1} {2}", m_disabled, m_taintremove, childPrim);
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// if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
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if (!m_taintremove && !childPrim)
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{
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@ -1946,7 +1940,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (Body != (IntPtr)0 && odParent.Body != (IntPtr)0 && Body != odParent.Body)
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{
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// KF: Fixed Joints were removed? Anyway - this Console.WriteLine does not show up, so routine is not used??
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Console.WriteLine(" JointCreateFixed");
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Console.WriteLine("ODEPrim JointCreateFixed !!!");
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m_linkJoint = d.JointCreateFixed(_parent_scene.world, _linkJointGroup);
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d.JointAttach(m_linkJoint, Body, odParent.Body);
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d.JointSetFixed(m_linkJoint);
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@ -2059,7 +2053,6 @@ Console.WriteLine(" JointCreateFixed");
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if (_pbs.SculptEntry && _parent_scene.meshSculptedPrim)
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{
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_mesh = null;
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//Console.WriteLine("changePhysicsStatus for " + m_primName );
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changeadd(2f);
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}
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if (childPrim)
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@ -2142,7 +2135,6 @@ Console.WriteLine(" JointCreateFixed");
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}
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//IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
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//Console.WriteLine("changesize 1");
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CreateGeom(m_targetSpace, mesh);
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@ -2150,7 +2142,6 @@ Console.WriteLine(" JointCreateFixed");
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else
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{
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_mesh = null;
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//Console.WriteLine("changesize 2");
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CreateGeom(m_targetSpace, _mesh);
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}
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@ -2255,7 +2246,6 @@ Console.WriteLine(" JointCreateFixed");
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else
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{
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_mesh = null;
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//Console.WriteLine("changeshape");
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CreateGeom(m_targetSpace, null);
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}
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@ -2330,6 +2320,7 @@ Console.WriteLine(" JointCreateFixed");
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return;
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}
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d.BodyEnable(Body);
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d.BodyAddForce(Body, iforce.X, iforce.Y, iforce.Z);
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}
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m_forcelist.Clear();
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@ -3107,8 +3098,6 @@ Console.WriteLine(" JointCreateFixed");
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else
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{ // Too many tries
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if (_parent == null) base.RaiseOutOfBounds(l_position);
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//Console.WriteLine("ROOB 2");
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return; // Dont process any other motion?
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} // end various methods
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} // end outside region horizontally
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@ -3124,7 +3113,6 @@ Console.WriteLine(" JointCreateFixed");
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//IsPhysical = false;
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if (_parent == null) base.RaiseOutOfBounds(_position);
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//Console.WriteLine("ROOB 3");
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_acceleration.X = 0; // This stuff may stop client display but it has no
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@ -3147,10 +3135,12 @@ Console.WriteLine(" JointCreateFixed");
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} // end neg Z check
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// Is it moving?
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if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
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/* if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
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&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
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&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
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&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // KF 0.01 is far to large
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&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) */
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if ( (Vector3.Mag(_velocity) < 0.01) && // moving very slowly
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(Vector3.Mag(_velocity) < Vector3.Mag(m_lastVelocity)) && // decelerating
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(1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001) ) // spinning very slowly
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{
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_zeroFlag = true;
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m_throttleUpdates = false;
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@ -3167,15 +3157,19 @@ Console.WriteLine(" JointCreateFixed");
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{ // Its stopped
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_velocity.X = 0.0f;
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_velocity.Y = 0.0f;
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_velocity.Z = 0.0f;
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// _velocity.Z = 0.0f;
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_acceleration.X = 0;
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_acceleration.Y = 0;
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_acceleration.Z = 0;
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// _acceleration.Z = 0;
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m_rotationalVelocity.X = 0;
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m_rotationalVelocity.Y = 0;
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m_rotationalVelocity.Z = 0;
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// Stop it in the phys engine
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d.BodySetLinearVel(Body, 0.0f, 0.0f, _velocity.Z);
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d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f);
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if (!m_lastUpdateSent)
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{
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m_throttleUpdates = false;
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@ -3221,13 +3215,13 @@ Console.WriteLine(" JointCreateFixed");
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// Snapshot current angles, set up Amotor(s)
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m_rotateEnableUpdate = false;
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m_rotateEnable = m_rotateEnableRequest;
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Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
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//Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
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if (Amotor != IntPtr.Zero)
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{
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d.JointDestroy(Amotor);
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Amotor = IntPtr.Zero;
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Console.WriteLine("Old Amotor Destroyed");
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//Console.WriteLine("Old Amotor Destroyed");
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}
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if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
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@ -3249,33 +3243,33 @@ Console.WriteLine("Old Amotor Destroyed");
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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, 0); // User mode??
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Console.WriteLine("New Amotor Created for {0}", m_primName);
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//Console.WriteLine("New Amotor Created for {0}", m_primName);
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float axisnum = 3; // how many to lock
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axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
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d.JointSetAMotorNumAxes(Amotor,(int)axisnum);
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Console.WriteLine("AxisNum={0}",(int)axisnum);
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//Console.WriteLine("AxisNum={0}",(int)axisnum);
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int i = 0;
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if (m_rotateEnable.X == 0)
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{
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d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
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Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
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//Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
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i++;
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}
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if (m_rotateEnable.Y == 0)
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{
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d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
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Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
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//Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
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i++;
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}
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if (m_rotateEnable.Z == 0)
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{
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d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
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Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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//Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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i++;
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}
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@ -3308,7 +3302,6 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
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Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
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m_lLinObjectVel = vel_now * irotq;
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if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
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{
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if ( Vector3.Mag(m_lLinMotorDVel) < 1.0f)
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@ -3434,7 +3427,7 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
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// apply gravity force
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d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
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//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
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//if(frcount == 0) Console.WriteLine("Vel={0} Force={1}",linvel , grav);
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// end MoveLinear()
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@ -3608,7 +3601,6 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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float m_mass = CalculateMass();
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// calculate z-force due togravity on object.
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fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
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if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
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{
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fz = 0; // llMoveToTarget ignores gravity.
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@ -3624,6 +3616,7 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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(m_PIDTarget.Z - pos.Z));
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if (error.ApproxEquals(Vector3.Zero,0.01f))
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{ // Very close, Jump there and quit move
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d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
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_target_velocity = Vector3.Zero;
|
||||
d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
|
||||
|
|
@ -3714,11 +3707,10 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
|
|||
// Avatar to Avatar collisions
|
||||
// Prim to avatar collisions
|
||||
d.Vector3 dlinvel = vel;
|
||||
|
||||
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
|
||||
d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
|
||||
d.BodyAddForce(Body, 0, 0, fz);
|
||||
//KF this prevents furthur motions return;
|
||||
//KF this prevents furthur motions return;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -3734,7 +3726,6 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
|
|||
fx *= m_mass;
|
||||
fy *= m_mass;
|
||||
//fz *= m_mass;
|
||||
|
||||
fx += m_force.X;
|
||||
fy += m_force.Y;
|
||||
fz += m_force.Z;
|
||||
|
|
@ -3751,7 +3742,7 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
|
|||
// this appears to re-enable it incase the surface it is upon vanishes,
|
||||
// and the body should fall again.
|
||||
d.BodySetLinearVel(Body, 0f, 0f, 0f);
|
||||
d.BodySetForce(Body, 0, 0, 0);
|
||||
d.BodySetForce(Body, 0f, 0f, 0f);
|
||||
enableBodySoft();
|
||||
}
|
||||
|
||||
|
|
@ -3769,11 +3760,10 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
|
|||
if (fy < nmin)
|
||||
fy = nmin;
|
||||
d.BodyAddForce(Body, fx, fy, fz);
|
||||
//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
|
||||
} // end apply forces
|
||||
} // end Vehicle/Dynamics
|
||||
|
||||
/// RotLookAt =================================================================================
|
||||
/// RotLookAt / LookAt =================================================================================
|
||||
if (m_useAPID)
|
||||
{
|
||||
// RotLookAt, apparently overrides all other rotation sources. Inputs:
|
||||
|
|
@ -3784,41 +3774,87 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
|
|||
// Factors:
|
||||
// get present body rotation
|
||||
float limit = 1.0f;
|
||||
float scaler = 50f; // adjusts damping time
|
||||
float rscaler = 50f; // adjusts rotation damping time
|
||||
float lscaler = 10f; // adjusts linear damping time in llLookAt
|
||||
float RLAservo = 0f;
|
||||
|
||||
d.Quaternion rot = d.BodyGetQuaternion(Body);
|
||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
|
||||
Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
|
||||
float diff_angle;
|
||||
Vector3 diff_axis;
|
||||
rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
|
||||
diff_axis.Normalize();
|
||||
if(diff_angle > 0.01f) // diff_angle is always +ve
|
||||
float diff_angle;
|
||||
d.Quaternion rot = d.BodyGetQuaternion(Body); // prim present rotation
|
||||
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
|
||||
Quaternion rtarget = new Quaternion();
|
||||
|
||||
if(m_APIDTarget.W == -99.9f)
|
||||
{
|
||||
// PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
|
||||
Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
|
||||
rotforce = rotforce * rotq;
|
||||
if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
|
||||
// RLAservo = timestep / m_APIDStrength * m_mass * scaler;
|
||||
// rotforce = rotforce * RLAservo * diff_angle ;
|
||||
// d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
|
||||
RLAservo = timestep / m_APIDStrength * scaler;
|
||||
rotforce = rotforce * RLAservo * diff_angle ;
|
||||
/*
|
||||
if (m_angularEnable.X == 0)
|
||||
rotforce.X = 0;
|
||||
if (m_angularEnable.Y == 0)
|
||||
rotforce.Y = 0;
|
||||
if (m_angularEnable.Z == 0)
|
||||
rotforce.Z = 0;
|
||||
*/
|
||||
d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
|
||||
//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
|
||||
// this is really a llLookAt(), x,y,z is the target vector
|
||||
Vector3 target = new Vector3(m_APIDTarget.X, m_APIDTarget.Y, m_APIDTarget.Z);
|
||||
Vector3 ospin = new Vector3(1.0f, 0.0f, 0.0f) * rotq;
|
||||
Vector3 error = new Vector3(0.0f, 0.0f, 0.0f);
|
||||
float twopi = 2.0f * (float)Math.PI;
|
||||
Vector3 dir = target - _position;
|
||||
dir.Normalize();
|
||||
float tzrot = (float)Math.Atan2(dir.Y, dir.X);
|
||||
float txy = (float)Math.Sqrt((dir.X * dir.X) + (dir.Y * dir.Y));
|
||||
float terot = (float)Math.Atan2(dir.Z, txy);
|
||||
float ozrot = (float)Math.Atan2(ospin.Y, ospin.X);
|
||||
float oxy = (float)Math.Sqrt((ospin.X * ospin.X) + (ospin.Y * ospin.Y));
|
||||
float oerot = (float)Math.Atan2(ospin.Z, oxy);
|
||||
float ra = 2.0f * ((rotq.W * rotq.X) + (rotq.Y * rotq.Z));
|
||||
float rb = 1.0f - 2.0f * ((rotq.Y * rotq.Y)+(rotq.X * rotq.X));
|
||||
float roll = (float)Math.Atan2(ra, rb);
|
||||
float errorz = tzrot - ozrot;
|
||||
if(errorz > (float)Math.PI) errorz -= twopi;
|
||||
else if(errorz < -(float)Math.PI) errorz += twopi;
|
||||
float errory = oerot - terot;
|
||||
if(errory > (float)Math.PI) errory -= twopi;
|
||||
else if(errory < -(float)Math.PI) errory += twopi;
|
||||
diff_angle = Math.Abs(errorz) + Math.Abs(errory) + Math.Abs(roll);
|
||||
if(diff_angle > 0.01f * m_APIDdamper)
|
||||
{
|
||||
m_APIDdamper = 1.0f;
|
||||
RLAservo = timestep / m_APIDStrength * rscaler;
|
||||
errorz *= RLAservo;
|
||||
errory *= RLAservo;
|
||||
error.X = -roll * 8.0f;
|
||||
error.Y = errory;
|
||||
error.Z = errorz;
|
||||
error *= rotq;
|
||||
d.BodySetAngularVel (Body, error.X, error.Y, error.Z);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f);
|
||||
m_APIDdamper = 2.0f;
|
||||
}
|
||||
}
|
||||
//if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
|
||||
else
|
||||
{
|
||||
// this is a llRotLookAt()
|
||||
rtarget = m_APIDTarget;
|
||||
|
||||
Quaternion rot_diff = Quaternion.Inverse(rotq) * rtarget; // difference to desired rot
|
||||
rot_diff.GetAxisAngle(out diff_axis, out diff_angle); // convert to axis to point at & error angle
|
||||
//if(frcount == 0) Console.WriteLine("axis {0} angle {1}",diff_axis * 57.3f, diff_angle);
|
||||
|
||||
// diff_axis.Normalize(); it already is!
|
||||
if(diff_angle > 0.01f * m_APIDdamper) // diff_angle is always +ve // if there is enough error
|
||||
{
|
||||
m_APIDdamper = 1.0f;
|
||||
Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
|
||||
rotforce = rotforce * rotq;
|
||||
if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
|
||||
RLAservo = timestep / m_APIDStrength * lscaler;
|
||||
rotforce = rotforce * RLAservo * diff_angle ;
|
||||
d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
|
||||
//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
|
||||
}
|
||||
else
|
||||
{ // close enough
|
||||
d.BodySetAngularVel (Body, 0.0f, 0.0f, 0.0f);
|
||||
m_APIDdamper = 2.0f;
|
||||
}
|
||||
} // end llLookAt/llRotLookAt
|
||||
//if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
|
||||
} // end m_useAPID
|
||||
|
||||
} // end root prims
|
||||
} // end Move()
|
||||
} // end class
|
||||
|
|
|
|||
|
|
@ -264,8 +264,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
|
||||
private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
|
||||
|
||||
private d.Contact contact;
|
||||
private d.Contact ContactCopy; // local copy that can be modified
|
||||
private d.Contact TerrainContact;
|
||||
private d.Contact AvatarStaticprimContact; // was 'contact'
|
||||
private d.Contact AvatarMovementprimContact;
|
||||
private d.Contact AvatarMovementTerrainContact;
|
||||
private d.Contact WaterContact;
|
||||
|
|
@ -491,169 +492,140 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
|
||||
|
||||
// Centeral contact friction and bounce // KF: This appears to be only for static AV on non-phys prim.
|
||||
contact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
contact.surface.mu = 255.0f;
|
||||
contact.surface.bounce = 0.0f;
|
||||
contact.surface.soft_cfm = 0.0f;
|
||||
contact.surface.soft_erp = 0.30f; // If this is too small static Av will fall through a sloping prim. 1.0 prevents fall-thru
|
||||
// Avatar static on a Prim parameters
|
||||
AvatarStaticprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
AvatarStaticprimContact.surface.mu = 255.0f;
|
||||
AvatarStaticprimContact.surface.bounce = 0.0f;
|
||||
AvatarStaticprimContact.surface.soft_cfm = 0.0f;
|
||||
AvatarStaticprimContact.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
|
||||
// isn't moving to keep it in place better
|
||||
/* TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
|
||||
TerrainContact.surface.mu = nmTerrainContactFriction;
|
||||
TerrainContact.surface.bounce = nmTerrainContactBounce;
|
||||
TerrainContact.surface.soft_erp = nmTerrainContactERP; */
|
||||
|
||||
TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
TerrainContact.surface.mu = 255.0f;
|
||||
TerrainContact.surface.bounce = 0.0f;
|
||||
TerrainContact.surface.soft_cfm = 0.0f;
|
||||
TerrainContact.surface.soft_erp = 0.05f;
|
||||
|
||||
WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
|
||||
WaterContact.surface.mu = 0.0f; // No friction
|
||||
WaterContact.surface.bounce = 0.0f; // No bounce
|
||||
WaterContact.surface.soft_cfm = 0.010f;
|
||||
WaterContact.surface.soft_erp = 0.010f;
|
||||
|
||||
// Prim contact friction and bounce
|
||||
// THis is the moving version of friction and bounce
|
||||
// Use this when an avatar comes in contact with a prim
|
||||
// Avatar moving on a Prim parameters
|
||||
AvatarMovementprimContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
AvatarMovementprimContact.surface.mu = 255.0f;
|
||||
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 = 0.3f;
|
||||
|
||||
// Terrain contact friction bounce and various error correcting calculations
|
||||
// Use this when an avatar is in contact with the terrain and moving.
|
||||
/*
|
||||
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
|
||||
AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
|
||||
AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
|
||||
AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
|
||||
*/
|
||||
// Static Avatar on Terrain parameters
|
||||
// Keeps Avatar in place better
|
||||
TerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
TerrainContact.surface.mu = 255.0f;
|
||||
TerrainContact.surface.bounce = 0.0f;
|
||||
TerrainContact.surface.soft_cfm = 0.0f;
|
||||
TerrainContact.surface.soft_erp = 0.05f;
|
||||
|
||||
// Moving Avatar on Terrain parameters
|
||||
AvatarMovementTerrainContact.surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
AvatarMovementTerrainContact.surface.mu = 75f;
|
||||
AvatarMovementTerrainContact.surface.bounce = 0.0f;
|
||||
AvatarMovementTerrainContact.surface.soft_cfm = 0.0f;
|
||||
AvatarMovementTerrainContact.surface.soft_erp = 0.05f;
|
||||
|
||||
/*
|
||||
<summary></summary>
|
||||
Stone = 0,
|
||||
/// <summary></summary>
|
||||
Metal = 1,
|
||||
/// <summary></summary>
|
||||
Glass = 2,
|
||||
/// <summary></summary>
|
||||
Wood = 3,
|
||||
/// <summary></summary>
|
||||
Flesh = 4,
|
||||
/// <summary></summary>
|
||||
Plastic = 5,
|
||||
/// <summary></summary>
|
||||
Rubber = 6
|
||||
*/
|
||||
// Avatar or prim the the water, this may not be used, possibly water is same as air?
|
||||
WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
|
||||
WaterContact.surface.mu = 0.0f; // No friction
|
||||
WaterContact.surface.bounce = 0.0f; // No bounce
|
||||
WaterContact.surface.soft_cfm = 0.010f;
|
||||
WaterContact.surface.soft_erp = 0.010f;
|
||||
|
||||
|
||||
// Prim static or moving on a prim, depends on material type
|
||||
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; // friction, 1 = slippery, 255 = no slip
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.mu = 60f; // 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;
|
||||
m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.50f; // erp also changes friction, more erp=less friction
|
||||
|
||||
m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.mu = 1.8f;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.mu = 40f;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.bounce = 0.0f;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.mu = 1.3f;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.mu = 15f;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.bounce = 0.2f;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.mu = 1.3f;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.mu = 10f;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.bounce = 0.2f;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.50f;
|
||||
|
||||
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.mu = 7.5f;
|
||||
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_cfm = 0.0f;
|
||||
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.mu = 5f;
|
||||
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 = 0.30f;
|
||||
m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.50f;
|
||||
|
||||
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;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.mu = 1.6f;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.mu = 45f;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.bounce = 0.1f;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.mu = 1.6f;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.mu = 30f;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.bounce = 0.1f;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.mu = 2.0f;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.mu = 150f;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.bounce = 0.0f;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.mu = 2.0f;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.mu = 100f;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.bounce = 0.0f;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.mu = 1.5f;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.mu = 30f;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.bounce = 0.2f;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.mu = 1.5f;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.mu = 20f;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.bounce = 0.2f;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.mu = 2.0f;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.mu = 150f;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.bounce = 0.7f;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.50f;
|
||||
|
||||
m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.mode = d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP | d.ContactFlags.Bounce;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.mu = 2.0f;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.mu = 100f;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.bounce = 0.7f;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.0f;
|
||||
m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.50f;
|
||||
|
|
@ -819,11 +791,6 @@ 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;
|
||||
|
|
@ -847,7 +814,7 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
|
||||
//m_log.Warn("[CCOUNT]: " + count);
|
||||
IntPtr joint;
|
||||
// If we're colliding with terrain, use 'TerrainContact' instead of contact.
|
||||
// If we're colliding with terrain, use 'TerrainContact' instead of AvatarStaticprimContact.
|
||||
// allows us to have different settings
|
||||
|
||||
// We only need to test p2 for 'jump crouch purposes'
|
||||
|
|
@ -898,9 +865,9 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
//This is disabled at the moment only because it needs more tweaking
|
||||
//It will eventually be uncommented
|
||||
/*
|
||||
if (contact.depth >= 1.00f)
|
||||
if (AvatarStaticprimContact.depth >= 1.00f)
|
||||
{
|
||||
//m_log.Debug("[PHYSICS]: " + contact.depth.ToString());
|
||||
//m_log.Debug("[PHYSICS]: " + AvatarStaticprimContact.depth.ToString());
|
||||
}
|
||||
|
||||
//If you interpenetrate a prim with an agent
|
||||
|
|
@ -910,37 +877,37 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
p2.PhysicsActorType == (int) ActorTypes.Prim))
|
||||
{
|
||||
|
||||
//contact.depth = contact.depth * 4.15f;
|
||||
//AvatarStaticprimContact.depth = AvatarStaticprimContact.depth * 4.15f;
|
||||
/*
|
||||
if (p2.PhysicsActorType == (int) ActorTypes.Agent)
|
||||
{
|
||||
p2.CollidingObj = true;
|
||||
contact.depth = 0.003f;
|
||||
AvatarStaticprimContact.depth = 0.003f;
|
||||
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
|
||||
OdeCharacter character = (OdeCharacter) p2;
|
||||
character.SetPidStatus(true);
|
||||
contact.pos = new d.Vector3(contact.pos.X + (p1.Size.X / 2), contact.pos.Y + (p1.Size.Y / 2), contact.pos.Z + (p1.Size.Z / 2));
|
||||
AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p1.Size.X / 2), AvatarStaticprimContact.pos.Y + (p1.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p1.Size.Z / 2));
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
//contact.depth = 0.0000000f;
|
||||
//AvatarStaticprimContact.depth = 0.0000000f;
|
||||
}
|
||||
if (p1.PhysicsActorType == (int) ActorTypes.Agent)
|
||||
{
|
||||
|
||||
p1.CollidingObj = true;
|
||||
contact.depth = 0.003f;
|
||||
AvatarStaticprimContact.depth = 0.003f;
|
||||
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
|
||||
contact.pos = new d.Vector3(contact.pos.X + (p2.Size.X / 2), contact.pos.Y + (p2.Size.Y / 2), contact.pos.Z + (p2.Size.Z / 2));
|
||||
AvatarStaticprimContact.pos = new d.Vector3(AvatarStaticprimContact.pos.X + (p2.Size.X / 2), AvatarStaticprimContact.pos.Y + (p2.Size.Y / 2), AvatarStaticprimContact.pos.Z + (p2.Size.Z / 2));
|
||||
OdeCharacter character = (OdeCharacter)p1;
|
||||
character.SetPidStatus(true);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
//contact.depth = 0.0000000f;
|
||||
//AvatarStaticprimContact.depth = 0.0000000f;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -965,7 +932,7 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
//AddPhysicsActorTaint(p2);
|
||||
//}
|
||||
|
||||
//if (contact.depth >= 0.25f)
|
||||
//if (AvatarStaticprimContact.depth >= 0.25f)
|
||||
//{
|
||||
// Don't collide, one or both prim will expld.
|
||||
|
||||
|
|
@ -983,13 +950,13 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
//AddPhysicsActorTaint(p2);
|
||||
//}
|
||||
|
||||
//contact.depth = contact.depth / 8f;
|
||||
//contact.normal = new d.Vector3(0, 0, 1);
|
||||
//AvatarStaticprimContact.depth = AvatarStaticprimContact.depth / 8f;
|
||||
//AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
|
||||
//}
|
||||
//if (op1.m_disabled || op2.m_disabled)
|
||||
//{
|
||||
//Manually disabled objects stay disabled
|
||||
//contact.depth = 0f;
|
||||
//AvatarStaticprimContact.depth = 0f;
|
||||
//}
|
||||
#endregion
|
||||
}
|
||||
|
|
@ -997,7 +964,7 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
#endregion
|
||||
if (curContact.depth >= 1.00f)
|
||||
{
|
||||
//m_log.Info("[P]: " + contact.depth.ToString());
|
||||
//m_log.Info("[P]: " + AvatarStaticprimContact.depth.ToString());
|
||||
if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
|
||||
p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
|
||||
(p1.PhysicsActorType == (int) ActorTypes.Agent &&
|
||||
|
|
@ -1067,15 +1034,16 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
if (!skipThisContact)
|
||||
{
|
||||
// Add contact joints with materials params----------------------------------
|
||||
// p1 is what is being hit, p2 is the physical object doing the hitting
|
||||
int material = (int) Material.Wood;
|
||||
int movintYN = 0; // 1 = Sliding; 0 = static or fell onto
|
||||
if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f) movintYN = 1;
|
||||
|
||||
// If we're colliding against terrain
|
||||
if (name1 == "Terrain" || name2 == "Terrain")
|
||||
{
|
||||
// If we're moving
|
||||
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
|
||||
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
|
||||
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) && (movintYN == 1))
|
||||
{
|
||||
//$ Av walk/run on terrain (not falling) Use the Avatar movement terrain contact
|
||||
AvatarMovementTerrainContact.geom = curContact;
|
||||
|
|
@ -1103,13 +1071,9 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
{
|
||||
if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
|
||||
{
|
||||
//& THIS NEVER HAPPENS prim prim contact //kf Huh? In terrain contact?
|
||||
//& THIS NEVER HAPPENS? prim prim contact In terrain contact?
|
||||
// int pj294950 = 0;
|
||||
// prim terrain contact
|
||||
if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
|
||||
{
|
||||
movintYN = 1;
|
||||
}
|
||||
|
||||
if (p2 is OdePrim)
|
||||
material = ((OdePrim)p2).m_material;
|
||||
|
|
@ -1128,34 +1092,31 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
else
|
||||
{
|
||||
//$ prim on terrain contact
|
||||
if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
|
||||
{
|
||||
movintYN = 1;
|
||||
}
|
||||
|
||||
if (p2 is OdePrim)
|
||||
material = ((OdePrim)p2).m_material;
|
||||
//m_log.DebugFormat("Material: {0}", material);
|
||||
m_materialContacts[material, movintYN].geom = curContact;
|
||||
_perloopContact.Add(curContact);
|
||||
|
||||
ContactCopy = m_materialContacts[material, movintYN];
|
||||
if(movintYN == 1)
|
||||
{
|
||||
// prevent excessive slide on terrain
|
||||
ContactCopy.surface.mu = m_materialContacts[material, movintYN].surface.mu * 30.0f;
|
||||
}
|
||||
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
|
||||
joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
|
||||
m_global_contactcount++;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//if (p2.PhysicsActorType == (int)ActorTypes.Prim)
|
||||
//{
|
||||
//m_log.Debug("[PHYSICS]: prim contacting with ground");
|
||||
//}
|
||||
}
|
||||
else if (name1 == "Water" || name2 == "Water")
|
||||
{
|
||||
//$ This never happens!
|
||||
//$ This never happens! Perhaps water is treated like air?
|
||||
/*
|
||||
if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
|
||||
{
|
||||
|
|
@ -1169,8 +1130,8 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
if (curContact.depth > 0.1f)
|
||||
{
|
||||
curContact.depth *= 52;
|
||||
//contact.normal = new d.Vector3(0, 0, 1);
|
||||
//contact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
|
||||
//AvatarStaticprimContact.normal = new d.Vector3(0, 0, 1);
|
||||
//AvatarStaticprimContact.pos = new d.Vector3(0, 0, contact.pos.Z - 5f);
|
||||
}
|
||||
WaterContact.geom = curContact;
|
||||
_perloopContact.Add(curContact);
|
||||
|
|
@ -1179,7 +1140,7 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
joint = d.JointCreateContact(world, contactgroup, ref WaterContact);
|
||||
m_global_contactcount++;
|
||||
}
|
||||
//m_log.Info("[PHYSICS]: Prim Water Contact" + contact.depth);
|
||||
//m_log.Info("[PHYSICS]: Prim Water Contact" + AvatarStaticprimContact.depth);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -1189,7 +1150,7 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
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))
|
||||
if (movintYN == 1)
|
||||
{
|
||||
// Use the AV Movement / prim contact
|
||||
AvatarMovementprimContact.geom = curContact;
|
||||
|
|
@ -1203,34 +1164,24 @@ if((p1 is OdePrim ) && (p2 is OdePrim)){
|
|||
else
|
||||
{
|
||||
// Use the Av non movement / prim contact
|
||||
contact.geom = curContact;
|
||||
AvatarStaticprimContact.geom = curContact;
|
||||
_perloopContact.Add(curContact);
|
||||
ContactCopy = AvatarStaticprimContact; // local copy so we can change locally
|
||||
|
||||
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;
|
||||
ContactCopy.surface.soft_erp = 0.1f;
|
||||
ContactCopy.surface.soft_cfm = 0.1f;
|
||||
}
|
||||
else
|
||||
{ // keep on the surface
|
||||
contact.surface.soft_erp = 0.3f;
|
||||
contact.surface.soft_cfm = 0.0f;
|
||||
ContactCopy.surface.soft_erp = 0.3f;
|
||||
ContactCopy.surface.soft_cfm = 0.0f;
|
||||
}
|
||||
joint = d.JointCreateContact(world, contactgroup, ref contact);
|
||||
joint = d.JointCreateContact(world, contactgroup, ref ContactCopy);
|
||||
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);
|
||||
*/
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1241,16 +1192,11 @@ curContact.depth);
|
|||
|
||||
if (p2 is OdePrim) material = ((OdePrim)p2).m_material;
|
||||
//m_log.DebugFormat("Material: {0}", material);
|
||||
|
||||
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)
|
||||
if (m_global_contactcount < maxContactsbeforedeath)
|
||||
{
|
||||
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
|
||||
m_global_contactcount++;
|
||||
|
|
|
|||
|
|
@ -3019,8 +3019,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
|
|||
// http://bugs.meta7.com/view.php?id=28
|
||||
// - Tom
|
||||
|
||||
LSL_Rotation newrot = llGetRot() * llRotBetween(new LSL_Vector(1.0d, 0.0d, 0.0d) * llGetRot(), new LSL_Vector(0.0d, 0.0d, -1.0d));
|
||||
/* And the following does not do the job either. It has to be performed inside the ODE glue-code. -.- .._.
|
||||
LSL_Rotation newrot = llGetRot() * llRotBetween(new LSL_Vector(1.0d, 0.0d, 0.0d) * llGetRot(), new LSL_Vector(0.0d, 0.0d, -1.0d));
|
||||
llSetRot(newrot * llRotBetween(new LSL_Vector(0.0d,0.0d,1.0d) * newrot, target - llGetPos()));
|
||||
*/
|
||||
// Send the target vector to RotLookAt method inside a 'rotation', the .w -99.9 value indicates it is really a LookAt.
|
||||
Quaternion q = new Quaternion((float)target.x, (float)target.y, (float)target.z, -99.9f);
|
||||
m_host.RotLookAt(q, (float)strength, (float)damping);
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -310,7 +310,7 @@ namespace OpenSim.Services.Connectors.Simulation
|
|||
catch (WebException ex)
|
||||
//catch
|
||||
{
|
||||
m_log.WarnFormat("[REMOTE SIMULATION CONNECTOR]: Bad send on AgentUpdate {0}", ex.Message);
|
||||
// m_log.WarnFormat("[REMOTE SIMULATION CONNECTOR]: Bad send on AgentUpdate {0}", ex.Message);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue