From d8f691664a8de15655eb7a3dd0485c21202982e2 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Fri, 27 Apr 2012 03:36:49 +0100 Subject: [PATCH] testing --- .../Physics/UbitOdePlugin/ODECharacter.cs | 131 ++++++++++-------- 1 file changed, 72 insertions(+), 59 deletions(-) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs index 4b093bacf3..2c1197ab62 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs @@ -103,6 +103,7 @@ namespace OpenSim.Region.Physics.OdePlugin private float m_buoyancy = 0f; + private bool m_freemove = false; // private CollisionLocker ode; private string m_name = String.Empty; @@ -687,6 +688,7 @@ namespace OpenSim.Region.Physics.OdePlugin _zeroFlag = false; m_pidControllerActive = true; + m_freemove = false; d.BodySetAutoDisableFlag(Body, false); d.BodySetPosition(Body, npositionX, npositionY, npositionZ); @@ -789,7 +791,7 @@ namespace OpenSim.Region.Physics.OdePlugin qtmp.Z = 0; d.BodySetQuaternion(Body, ref qtmp); - if (m_pidControllerActive == false) + if (m_pidControllerActive == false && !m_freemove) { _zeroPosition = localpos; } @@ -861,6 +863,7 @@ namespace OpenSim.Region.Physics.OdePlugin float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); if (chrminZ < terrainheight) { + m_freemove = false; float depth = terrainheight - chrminZ; if (!flying) { @@ -896,77 +899,86 @@ namespace OpenSim.Region.Physics.OdePlugin //****************************************** - // if velocity is zero, use position control; otherwise, velocity control - if (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f - && m_iscolliding) - { - // keep track of where we stopped. No more slippin' & slidin' - if (!_zeroFlag) - { - _zeroFlag = true; - _zeroPosition = localpos; - } - if (m_pidControllerActive) - { - // We only want to deactivate the PID Controller if we think we want to have our surrogate - // react to the physics scene by moving it's position. - // Avatar to Avatar collisions - // Prim to avatar collisions + bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f); - vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2); - vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2); - if (flying) + if(!tviszero || !m_iscolliding) + m_freemove = false; + + if (!m_freemove) + { + + // if velocity is zero, use position control; otherwise, velocity control + if (tviszero && m_iscolliding) + { + // keep track of where we stopped. No more slippin' & slidin' + if (!_zeroFlag) { - vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; + _zeroFlag = true; + _zeroPosition = localpos; } - } - //PidStatus = true; - } - else - { - m_pidControllerActive = true; - _zeroFlag = false; - - if (m_iscolliding) - { - if (!flying) + if (m_pidControllerActive) { - if (_target_velocity.Z > 0.0f) + // We only want to deactivate the PID Controller if we think we want to have our surrogate + // react to the physics scene by moving it's position. + // Avatar to Avatar collisions + // Prim to avatar collisions + + vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2); + vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2); + if (flying) { - // We're colliding with something and we're not flying but we're moving - // This means we're walking or running. JUMPING - vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P; + vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; } - // We're standing on something - vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D); - vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D); - } - else - { - // We're flying and colliding with something - vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f); - vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f); - vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); } + //PidStatus = true; } - else // ie not colliding + else { - if (flying) //(!m_iscolliding && flying) + m_freemove = false; + m_pidControllerActive = true; + _zeroFlag = false; + + if (m_iscolliding) { - // we're in mid air suspended - vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f); - vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f); - vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); + if (!flying) + { + if (_target_velocity.Z > 0.0f) + { + // We're colliding with something and we're not flying but we're moving + // This means we're walking or running. JUMPING + vec.Z += (_target_velocity.Z - vel.Z) * PID_D * 1.2f;// +(_zeroPosition.Z - localpos.Z) * PID_P; + } + // We're standing on something + vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D); + vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D); + } + else + { + // We're flying and colliding with something + vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 0.0625f); + vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 0.0625f); + vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); + } } - - else + else // ie not colliding { - // we're not colliding and we're not flying so that means we're falling! - // m_iscolliding includes collisions with the ground. + if (flying) //(!m_iscolliding && flying) + { + // we're in mid air suspended + vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f); + vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f); + vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); + } - // d.Vector3 pos = d.BodyGetPosition(Body); - vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f; - vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f; + else + { + // we're not colliding and we're not flying so that means we're falling! + // m_iscolliding includes collisions with the ground. + + // d.Vector3 pos = d.BodyGetPosition(Body); + vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f; + vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f; + } } } } @@ -1274,6 +1286,7 @@ namespace OpenSim.Region.Physics.OdePlugin { _velocity = newmomentum; _target_velocity = Vector3.Zero; + m_freemove = true; m_pidControllerActive = true; m_colliderfilter = 0; m_colliderObjectfilter = 0;