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change ava to ava collisions a bit

avinationmerge
UbitUmarov 2014-07-21 19:16:23 +01:00
parent 726490a994
commit d9797b6478
1 changed files with 42 additions and 30 deletions
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72
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
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@ -96,6 +96,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_feetOffset = 0; private float m_feetOffset = 0;
private float feetOff = 0; private float feetOff = 0;
private float boneOff = 0; private float boneOff = 0;
private float AvaAvaSizeXsq = 0.3f;
private float AvaAvaSizeYsq = 0.2f;
public float walkDivisor = 1.3f; public float walkDivisor = 1.3f;
public float runDivisor = 0.8f; public float runDivisor = 0.8f;
@ -136,7 +138,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public IntPtr Body = IntPtr.Zero; public IntPtr Body = IntPtr.Zero;
private OdeScene _parent_scene; private OdeScene _parent_scene;
private IntPtr capsule = IntPtr.Zero; private IntPtr capsule = IntPtr.Zero;
private IntPtr bbox = IntPtr.Zero;
public IntPtr collider = IntPtr.Zero; public IntPtr collider = IntPtr.Zero;
public IntPtr Amotor = IntPtr.Zero; public IntPtr Amotor = IntPtr.Zero;
@ -709,6 +710,11 @@ namespace OpenSim.Region.Physics.OdePlugin
feetOff = bot + feetsz; feetOff = bot + feetsz;
AvaAvaSizeXsq = 0.4f * sx;
AvaAvaSizeXsq *= AvaAvaSizeXsq;
AvaAvaSizeYsq = 0.5f * sy;
AvaAvaSizeYsq *= AvaAvaSizeYsq;
_parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace);
collider = d.HashSpaceCreate(_parent_scene.CharsSpace); collider = d.HashSpaceCreate(_parent_scene.CharsSpace);
@ -723,9 +729,8 @@ namespace OpenSim.Region.Physics.OdePlugin
r = m_size.Y; r = m_size.Y;
float l = m_size.Z - r; float l = m_size.Z - r;
r *= 0.5f; r *= 0.5f;
capsule = d.CreateCapsule(collider, r, l);
bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z); capsule = d.CreateCapsule(collider, r, l);
m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass
@ -750,8 +755,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_position.Z = npositionZ; _position.Z = npositionZ;
d.BodySetMass(Body, ref ShellMass); d.BodySetMass(Body, ref ShellMass);
d.GeomSetBody(bbox, Body);
d.GeomSetBody(capsule, Body); d.GeomSetBody(capsule, Body);
// The purpose of the AMotor here is to keep the avatar's physical // The purpose of the AMotor here is to keep the avatar's physical
@ -821,14 +824,6 @@ namespace OpenSim.Region.Physics.OdePlugin
capsule = IntPtr.Zero; capsule = IntPtr.Zero;
} }
if (bbox != IntPtr.Zero)
{
_parent_scene.actor_name_map.Remove(bbox);
_parent_scene.waitForSpaceUnlock(collider);
d.GeomDestroy(bbox);
bbox = IntPtr.Zero;
}
if (collider != IntPtr.Zero) if (collider != IntPtr.Zero)
{ {
d.SpaceDestroy(collider); d.SpaceDestroy(collider);
@ -871,20 +866,44 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision) public bool Collide(IntPtr me,IntPtr other, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
{ {
feetcollision = false; feetcollision = false;
Vector3 offset;
offset.X = contact.pos.X - _position.X;
offset.Y = contact.pos.Y - _position.Y;
if (me == capsule) if (me == capsule)
{ {
Vector3 offset;
float h = contact.pos.Z - _position.Z; float h = contact.pos.Z - _position.Z;
offset.Z = h - feetOff; offset.Z = h - feetOff;
offset.X = contact.pos.X - _position.X;
offset.Y = contact.pos.Y - _position.Y;
d.GeomClassID gtype = d.GeomGetClass(other);
if (gtype == d.GeomClassID.CapsuleClass)
{
Vector3 roff = offset * Quaternion.Inverse(m_orientation2D);
float r = roff.X *roff.X / AvaAvaSizeXsq;
r += (roff.Y * roff.Y) / AvaAvaSizeYsq;
if (r > 1.0f)
return false;
float dp = 1.0f -(float)Math.Sqrt((double)r);
if (dp > 0.05f)
dp = 0.05f;
contact.depth = dp;
if (offset.Z < 0)
{
feetcollision = true;
if (h < boneOff)
IsColliding = true;
}
return true;
}
if (offset.Z > 0) if (offset.Z > 0)
return true; return true;
@ -905,11 +924,9 @@ namespace OpenSim.Region.Physics.OdePlugin
feetcollision = true; feetcollision = true;
if (h < boneOff) if (h < boneOff)
IsColliding = true; IsColliding = true;
return true;
} }
else return false;
return false;
return true;
} }
/// <summary> /// <summary>
@ -1094,8 +1111,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// Avatar to Avatar collisions // Avatar to Avatar collisions
// Prim to avatar collisions // Prim to avatar collisions
vec.X = -vel.X * PID_D + (_zeroPosition.X - localpos.X) * (PID_P * 2); vec.X = -vel.X * PID_D * 2 + (_zeroPosition.X - localpos.X) * (PID_P * 5);
vec.Y = -vel.Y * PID_D + (_zeroPosition.Y - localpos.Y) * (PID_P * 2); vec.Y = -vel.Y * PID_D * 2 + (_zeroPosition.Y - localpos.Y) * (PID_P * 5);
if (flying) if (flying)
{ {
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
@ -1389,10 +1406,6 @@ namespace OpenSim.Region.Physics.OdePlugin
AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
_parent_scene.actor_name_map[collider] = (PhysicsActor)this; _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
// _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
// _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
// _parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[capsule] = (PhysicsActor)this; _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
_parent_scene.AddCharacter(this); _parent_scene.AddCharacter(this);
} }
@ -1449,7 +1462,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.actor_name_map[collider] = (PhysicsActor)this; _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
_parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
_parent_scene.actor_name_map[capsule] = (PhysicsActor)this; _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
} }
m_freemove = false; m_freemove = false;