avatar collision plane send to viewer is only relative to feet. change
avatar collider, just rounding the boxes, etcavinationmerge
parent
b6d29aa124
commit
de3180a63e
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@ -3465,6 +3465,7 @@ namespace OpenSim.Region.Framework.Scenes
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ControllingClient.SendAgentAlertMessage("Physics is having a problem with your avatar. You may not be able to move until you relog.", true);
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}
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/// <summary>
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/// Event called by the physics plugin to tell the avatar about a collision.
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/// </summary>
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@ -3494,7 +3495,6 @@ namespace OpenSim.Region.Framework.Scenes
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CollisionEventUpdate collisionData = (CollisionEventUpdate)e;
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Dictionary<uint, ContactPoint> coldata = collisionData.m_objCollisionList;
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CollisionPlane = Vector4.UnitW;
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// // No collisions at all means we may be flying. Update always
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// // to make falling work
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@ -3504,6 +3504,8 @@ namespace OpenSim.Region.Framework.Scenes
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// m_lastColCount = coldata.Count;
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// }
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CollisionPlane = Vector4.UnitW;
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if (coldata.Count != 0)
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{
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switch (Animator.CurrentMovementAnimation)
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@ -3517,17 +3519,22 @@ namespace OpenSim.Region.Framework.Scenes
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ContactPoint lowest;
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lowest.SurfaceNormal = Vector3.Zero;
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lowest.Position = Vector3.Zero;
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lowest.Position.Z = Single.NaN;
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lowest.Position.Z = float.MaxValue;
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foreach (ContactPoint contact in coldata.Values)
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{
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if (Single.IsNaN(lowest.Position.Z) || contact.Position.Z < lowest.Position.Z)
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if (contact.CharacterFeet && contact.Position.Z < lowest.Position.Z)
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{
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lowest = contact;
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}
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}
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CollisionPlane = new Vector4(-lowest.SurfaceNormal, -Vector3.Dot(lowest.Position, lowest.SurfaceNormal));
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if (lowest.Position.Z != float.MaxValue)
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{
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lowest.SurfaceNormal = -lowest.SurfaceNormal;
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CollisionPlane = new Vector4(lowest.SurfaceNormal, Vector3.Dot(lowest.Position, lowest.SurfaceNormal));
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}
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}
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break;
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}
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@ -61,6 +61,7 @@ namespace OpenSim.Region.Physics.Manager
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public Vector3 SurfaceNormal;
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public float PenetrationDepth;
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public float RelativeSpeed;
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public bool CharacterFeet;
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public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
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{
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@ -68,6 +69,7 @@ namespace OpenSim.Region.Physics.Manager
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SurfaceNormal = surfaceNormal;
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PenetrationDepth = penetrationDepth;
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RelativeSpeed = 0f; // for now let this one be set explicity
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CharacterFeet = true; // keep other plugins work as before
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}
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}
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@ -84,18 +84,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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private float m_mass = 80f;
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public float m_density = 60f;
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private bool m_pidControllerActive = true;
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public float PID_D = 800.0f;
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public float PID_P = 900.0f;
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//private static float POSTURE_SERVO = 10000.0f;
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private float m_invElipSizeX;
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private float m_invElipSizeY;
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const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80))
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const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80))
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public float PID_D;
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public float PID_P;
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private float feetOff = 0;
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private float feetSZ = 0.5f;
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const float feetScale = 0.9f;
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const float invFeetScale = 1.0f / 0.9f;
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const float feetScale = 0.8f;
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const float sizeZAdjust = 0.18f;
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private float boneOff = 0;
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@ -160,7 +157,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pid_d, float pid_p, float density, float walk_divisor, float rundivisor)
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public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float density, float walk_divisor, float rundivisor)
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{
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m_uuid = UUID.Random();
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@ -184,8 +181,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene = parent_scene;
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PID_D = pid_d;
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PID_P = pid_p;
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m_size.X = pSize.X;
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m_size.Y = pSize.Y;
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@ -204,6 +199,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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// force lower density for testing
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m_density = 3.0f;
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m_density *= 1.4f; // scale to have mass similar to capsule
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mu = parent_scene.AvatarFriction;
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walkDivisor = walk_divisor;
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@ -211,6 +208,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
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PID_D = basePID_D * m_mass / parent_scene.ODE_STEPSIZE;
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PID_P = basePID_P * m_mass / parent_scene.ODE_STEPSIZE;
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m_isPhysical = false; // current status: no ODE information exists
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Name = avName;
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@ -491,7 +491,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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get
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{
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return m_density * m_size.X * m_size.Y * m_size.Z;
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return m_mass;
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}
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}
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public override void link(PhysicsActor obj)
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@ -671,23 +671,22 @@ namespace OpenSim.Region.Physics.OdePlugin
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private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
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{
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// sizes one day should came from visual parameters
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float sx = m_size.X;
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float sy = m_size.Y;
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float sz = m_size.Z + sizeZAdjust;
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m_invElipSizeX = 1.0f / m_size.X;
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m_invElipSizeY = 1.0f / m_size.Y;
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float topsx = sx * 0.9f;
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float midsx = sx;
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float feetsx = sx * feetScale;
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float bonesx = sx * 0.2f;
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float topsx = m_size.X * 0.9f;
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float midsx = m_size.X;
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float feetsx = m_size.X * feetScale;
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float bonesx = feetsx * 0.2f;
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float topsy = m_size.Y * 0.4f;
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float midsy = m_size.Y;
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float feetsy = m_size.Y * feetScale;
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float topsy = sy * 0.4f;
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float midsy = sy;
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float feetsy = sy * feetScale * 0.8f;
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float bonesy = feetsy * 0.2f;
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float topsz = sz * 0.15f;
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float feetsz = sz * 0.3f;
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float feetsz = sz * 0.45f;
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if (feetsz > 0.6f)
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feetsz = 0.6f;
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@ -726,22 +725,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomSetCategoryBits(bonebox, (uint)m_collisionCategories);
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d.GeomSetCollideBits(bonebox, (uint)m_collisionFlags);
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d.MassSetBox(out ShellMass, m_density, m_size.X , m_size.Y, m_size.Z);
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m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass
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m_mass = ShellMass.mass; // update mass
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d.MassSetBoxTotal(out ShellMass, m_mass, m_size.X, m_size.Y, m_size.Z);
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// rescale PID parameters
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PID_D = _parent_scene.avPIDD;
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PID_P = _parent_scene.avPIDP;
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// rescale PID parameters so that this aren't affected by mass
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// and so don't get unstable for some masses
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// also scale by ode time step so you don't need to refix them
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PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
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PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
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PID_P /= 50 * 80;
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PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
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PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE;
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PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE;
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Body = d.BodyCreate(_parent_scene.world);
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@ -857,8 +846,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact)
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public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
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{
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feetcollision = false;
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if (me == bonebox) // inner bone
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{
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@ -870,44 +860,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (me == topbox) // keep a box head
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return true;
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// rotate elipsoide assuming only rotation around Z
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float ca = m_orientation.W * m_orientation.W - m_orientation.Z * m_orientation.Z;
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float sa = 2 * m_orientation.W * m_orientation.Z;
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float isx;
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float isy;
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if (me == feetbox) // feet have narrow bounds
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{
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isx = m_invElipSizeX * invFeetScale;
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isy = m_invElipSizeY * invFeetScale;
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}
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else
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{
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isx = m_invElipSizeX;
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isy = m_invElipSizeY;
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}
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float a = isx * ca - isy * sa;
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float b = isx * sa + isy * ca;
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float t;
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float offx = contact.pos.X - _position.X;
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float er = offx * a;
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er *= er;
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float offy = contact.pos.Y - _position.Y;
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float ty = offy * b;
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er += ty * ty;
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if (me == midbox)
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{
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if (er > 4.0f) // no collision
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return false;
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if (er < 0.2f)
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return true;
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float t = offx * offx + offy * offy;
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t = offx * offx + offy * offy;
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t = (float)Math.Sqrt(t);
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t = 1 / t;
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offx *= t;
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@ -930,40 +889,51 @@ namespace OpenSim.Region.Physics.OdePlugin
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else if (me == feetbox)
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{
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float c = feetSZ * 2;
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float h = contact.pos.Z - _position.Z;
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if (Math.Abs(contact.normal.Z) > 0.95f)
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{
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feetcollision = true;
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if (h < boneOff)
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IsColliding = true;
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return true;
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}
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float offz = h - feetOff; // distance from top of feetbox
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float tz = offz / c;
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er += tz * tz;
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if (er > 4.0f) // no collision
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if (offz > 0)
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return false;
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if (er > 0.2f)
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if (offz > -0.01)
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{
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float t = offx * offx + offy * offy + offz * offz;
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offx = 0;
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offy = 0;
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offz = -1.0f;
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}
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else
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{
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t = offx * offx + offy * offy + offz * offz;
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t = (float)Math.Sqrt(t);
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t = 1 / t;
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offx *= t;
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offy *= t;
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offz *= t;
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if (reverse)
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{
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contact.normal.X = offx;
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contact.normal.Y = offy;
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contact.normal.Z = offz;
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}
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else
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{
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contact.normal.X = -offx;
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contact.normal.Y = -offy;
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contact.normal.Z = -offz;
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}
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}
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if(h < boneOff)
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if (reverse)
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{
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contact.normal.X = offx;
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contact.normal.Y = offy;
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contact.normal.Z = offz;
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}
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else
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{
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contact.normal.X = -offx;
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contact.normal.Y = -offy;
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contact.normal.Z = -offz;
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}
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feetcollision = true;
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if (h < boneOff)
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IsColliding = true;
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}
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else
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@ -1105,6 +1075,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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contact.SurfaceNormal.Y = 0f;
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contact.SurfaceNormal.Z = -1f;
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contact.RelativeSpeed = -vel.Z;
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contact.CharacterFeet = true;
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AddCollisionEvent(0, contact);
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vec.Z *= 0.5f;
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@ -224,9 +224,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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// private IntPtr WaterHeightmapData = IntPtr.Zero;
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// private GCHandle WaterMapHandler = new GCHandle();
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public float avPIDD = 2200f; // make it visible
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public float avPIDP = 900f; // make it visible
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private float avCapRadius = 0.37f;
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private float avDensity = 3f;
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private float avMovementDivisorWalk = 1.3f;
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private float avMovementDivisorRun = 0.8f;
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@ -486,7 +483,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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avDensity = physicsconfig.GetFloat("av_density", avDensity);
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avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
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avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
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avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
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contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
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@ -1040,6 +1036,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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IntPtr Joint;
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bool FeetCollision = false;
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int i = 0;
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int ncontacts = 0;
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while(true)
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@ -1058,7 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if(dop1foot)
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{
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if (!(((OdeCharacter)p1).Collide(g1,false, ref curContact)))
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if (!(((OdeCharacter)p1).Collide(g1, false, ref curContact, ref FeetCollision)))
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{
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if (++i >= count)
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break;
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@ -1068,7 +1066,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else if(dop2foot)
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{
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if(!(((OdeCharacter) p2).Collide(g2,true,ref curContact)))
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if (!(((OdeCharacter)p2).Collide(g2, true, ref curContact, ref FeetCollision)))
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{
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if (++i >= count)
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break;
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@ -1177,9 +1175,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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if(ncontacts > 0)
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if (ncontacts > 0)
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{
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maxDepthContact.CharacterFeet = FeetCollision;
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collision_accounting_events(p1, p2, maxDepthContact);
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}
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/*
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if (notskipedcount > geomContactPointsStartthrottle)
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{
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@ -1393,7 +1393,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
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OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
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newAv.Flying = isFlying;
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newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;
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