OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

testing

avinationmerge
UbitUmarov 2012-04-27 03:36:49 +01:00
parent 76d9040ed4
commit d8f691664a
1 changed files with 72 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

131
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -103,6 +103,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_buoyancy = 0f; private float m_buoyancy = 0f;
private bool m_freemove = false;
// private CollisionLocker ode; // private CollisionLocker ode;
private string m_name = String.Empty; private string m_name = String.Empty;
@ -687,6 +688,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_zeroFlag = false; _zeroFlag = false;
m_pidControllerActive = true; m_pidControllerActive = true;
m_freemove = false;
d.BodySetAutoDisableFlag(Body, false); d.BodySetAutoDisableFlag(Body, false);
d.BodySetPosition(Body, npositionX, npositionY, npositionZ); d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
@ -789,7 +791,7 @@ namespace OpenSim.Region.Physics.OdePlugin
qtmp.Z = 0; qtmp.Z = 0;
d.BodySetQuaternion(Body, ref qtmp); d.BodySetQuaternion(Body, ref qtmp);
if (m_pidControllerActive == false) if (m_pidControllerActive == false && !m_freemove)
{ {
_zeroPosition = localpos; _zeroPosition = localpos;
} }
@ -861,6 +863,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y); float terrainheight = _parent_scene.GetTerrainHeightAtXY(posch.X, posch.Y);
if (chrminZ < terrainheight) if (chrminZ < terrainheight)
{ {
m_freemove = false;
float depth = terrainheight - chrminZ; float depth = terrainheight - chrminZ;
if (!flying) if (!flying)
{ {
@ -896,77 +899,86 @@ namespace OpenSim.Region.Physics.OdePlugin
//****************************************** //******************************************
// if velocity is zero, use position control; otherwise, velocity control bool tviszero = (_target_velocity.X == 0.0f && _target_velocity.Y == 0.0f && _target_velocity.Z == 0.0f);
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
vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2); if(!tviszero || !m_iscolliding)
vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2); m_freemove = false;
if (flying)
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;
} }
} if (m_pidControllerActive)
//PidStatus = true;
}
else
{
m_pidControllerActive = true;
_zeroFlag = false;
if (m_iscolliding)
{
if (!flying)
{ {
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 vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
// 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);
} }
//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 if (!flying)
vec.X = ((_target_velocity.X * movementdivisor) - vel.X) * (PID_D * 1.667f); {
vec.Y = ((_target_velocity.Y * movementdivisor) - vel.Y) * (PID_D * 1.667f); if (_target_velocity.Z > 0.0f)
vec.Z += (_target_velocity.Z - vel.Z) * (PID_D); {
// 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 // ie not colliding
else
{ {
// we're not colliding and we're not flying so that means we're falling! if (flying) //(!m_iscolliding && flying)
// m_iscolliding includes collisions with the ground. {
// 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); else
vec.X = (_target_velocity.X - vel.X) * PID_D * 0.833f; {
vec.Y = (_target_velocity.Y - vel.Y) * PID_D * 0.833f; // 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; _velocity = newmomentum;
_target_velocity = Vector3.Zero; _target_velocity = Vector3.Zero;
m_freemove = true;
m_pidControllerActive = true; m_pidControllerActive = true;
m_colliderfilter = 0; m_colliderfilter = 0;
m_colliderObjectfilter = 0; m_colliderObjectfilter = 0;