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BulletSim: Make avatar capsule so it is not circular. 

Simple attempt to make avatars better shaped.
Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth'
and 'avatarCapsuleDepth'.
More tweeking to avatar height calculation. A little better but
short avatar's feet are above the terrain and tall avatar's feet
are a little below the ground.
connector_plugin
Robert Adams 2012-11-21 16:31:23 -08:00
parent 4a0de01704
commit cbc7e7bf85
7 changed files with 41 additions and 22 deletions
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24
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -82,7 +82,13 @@ public sealed class BSCharacter : BSPhysObject
{
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
@ -175,8 +181,7 @@ public sealed class BSCharacter : BSPhysObject
get
{
// Avatar capsule size is kept in the scale parameter.
// return _size;
return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
return _size;
}
set {
@ -614,14 +619,19 @@ public sealed class BSCharacter : BSPhysObject
// The 'size' given by the simulator is the mid-point of the avatar
// and X and Y are unspecified.
OMV.Vector3 newScale = OMV.Vector3.Zero;
newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
OMV.Vector3 newScale = size;
// newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
// newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
// From the total height, remove the capsule half spheres that are at each end
// The 1.15f came from ODE. Not sure what this factors in.
newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
Scale = newScale;
// newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
// The total scale height is the central cylindar plus the caps on the two ends.
newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
// Convert diameters to radii and height to half height -- the way Bullet expects it.
Scale = newScale / 2f;
}
// set _avatarVolume and _mass based on capsule size, _density and Scale

4
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -93,7 +93,7 @@ public sealed class BSPrim : BSPhysObject
_physicsActorType = (int)ActorTypes.Prim;
_position = pos;
_size = size;
Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
Scale = size; // the scale will be set by CreateGeom depending on object type
_orientation = rotation;
_buoyancy = 1f;
_velocity = OMV.Vector3.Zero;
@ -154,6 +154,8 @@ public sealed class BSPrim : BSPhysObject
public override OMV.Vector3 Size {
get { return _size; }
set {
// We presume the scale and size are the same. If scale must be changed for
// the physical shape, that is done when the geometry is built.
_size = value;
ForceBodyShapeRebuild(false);
}

18
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -1185,14 +1185,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarRestitution; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
0.37f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleRadius; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
0.6f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleWidth; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
0.45f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleDepth; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
// 1.5f,
2.140599f,
1.5f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleHeight; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),

9
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -525,9 +525,6 @@ public sealed class BSShapeCollection : IDisposable
// release any previous shape
DereferenceShape(prim.PhysShape, true, shapeCallback);
// Bullet native objects are scaled by the Bullet engine so pass the size in
prim.Scale = prim.Size;
BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
// Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
@ -547,12 +544,13 @@ public sealed class BSShapeCollection : IDisposable
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.Size = prim.Scale; // unneeded, I think.
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == PhysicsShapeType.SHAPE_CAPSULE)
{
// The proper scale has been calculated in the prim.
newShape = new BulletShape(
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
, shapeType);
@ -560,6 +558,9 @@ public sealed class BSShapeCollection : IDisposable
}
else
{
// Native shapes are scaled in Bullet so set the scaling to the size
prim.Scale = prim.Size;
nativeShapeData.Scale = prim.Scale;
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
}
if (newShape.ptr == IntPtr.Zero)

2
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
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@ -308,7 +308,7 @@ public sealed class BSTerrainManager
{
PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
LogHeader, PhysicsScene.RegionName, terrainRegionBase,
PhysicsScene.Params.terrainImplementation);
(BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation);
BSTerrainPhys newTerrainPhys = null;
switch ((int)PhysicsScene.Params.terrainImplementation)
{

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -291,7 +291,8 @@ public struct ConfigurationParameters
public float avatarStandingFriction;
public float avatarDensity;
public float avatarRestitution;
public float avatarCapsuleRadius;
public float avatarCapsuleWidth;
public float avatarCapsuleDepth;
public float avatarCapsuleHeight;
public float avatarContactProcessingThreshold;

3
bin/OpenSimDefaults.ini
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@ -913,7 +913,8 @@
AvatarFriction = 0.2
AvatarRestitution = 0.0
AvatarDensity = 60.0
AvatarCapsuleRadius = 0.37
AvatarCapsuleWidth = 0.6
AvatarCapsuleDepth = 0.45
AvatarCapsuleHeight = 1.5
AvatarContactProcessingThreshold = 0.1