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avatar collision plane send to viewer is only relative to feet. change 

avatar collider, just rounding the boxes, etc
avinationmerge
UbitUmarov 2012-12-05 23:19:18 +00:00
parent b6d29aa124
commit de3180a63e
4 changed files with 85 additions and 105 deletions
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15
OpenSim/Region/Framework/Scenes/ScenePresence.cs
View File

@ -3465,6 +3465,7 @@ namespace OpenSim.Region.Framework.Scenes
ControllingClient.SendAgentAlertMessage("Physics is having a problem with your avatar. You may not be able to move until you relog.", true); ControllingClient.SendAgentAlertMessage("Physics is having a problem with your avatar. You may not be able to move until you relog.", true);
} }
/// <summary> /// <summary>
/// Event called by the physics plugin to tell the avatar about a collision. /// Event called by the physics plugin to tell the avatar about a collision.
/// </summary> /// </summary>
@ -3494,7 +3495,6 @@ namespace OpenSim.Region.Framework.Scenes
CollisionEventUpdate collisionData = (CollisionEventUpdate)e; CollisionEventUpdate collisionData = (CollisionEventUpdate)e;
Dictionary<uint, ContactPoint> coldata = collisionData.m_objCollisionList; Dictionary<uint, ContactPoint> coldata = collisionData.m_objCollisionList;
CollisionPlane = Vector4.UnitW;
// // No collisions at all means we may be flying. Update always // // No collisions at all means we may be flying. Update always
// // to make falling work // // to make falling work
@ -3504,6 +3504,8 @@ namespace OpenSim.Region.Framework.Scenes
// m_lastColCount = coldata.Count; // m_lastColCount = coldata.Count;
// } // }
CollisionPlane = Vector4.UnitW;
if (coldata.Count != 0) if (coldata.Count != 0)
{ {
switch (Animator.CurrentMovementAnimation) switch (Animator.CurrentMovementAnimation)
@ -3517,17 +3519,22 @@ namespace OpenSim.Region.Framework.Scenes
ContactPoint lowest; ContactPoint lowest;
lowest.SurfaceNormal = Vector3.Zero; lowest.SurfaceNormal = Vector3.Zero;
lowest.Position = Vector3.Zero; lowest.Position = Vector3.Zero;
lowest.Position.Z = Single.NaN; lowest.Position.Z = float.MaxValue;
foreach (ContactPoint contact in coldata.Values) foreach (ContactPoint contact in coldata.Values)
{ {
if (Single.IsNaN(lowest.Position.Z) || contact.Position.Z < lowest.Position.Z)
if (contact.CharacterFeet && contact.Position.Z < lowest.Position.Z)
{ {
lowest = contact; lowest = contact;
} }
} }
CollisionPlane = new Vector4(-lowest.SurfaceNormal, -Vector3.Dot(lowest.Position, lowest.SurfaceNormal)); if (lowest.Position.Z != float.MaxValue)
{
lowest.SurfaceNormal = -lowest.SurfaceNormal;
CollisionPlane = new Vector4(lowest.SurfaceNormal, Vector3.Dot(lowest.Position, lowest.SurfaceNormal));
}
} }
break; break;
} }

2
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -61,6 +61,7 @@ namespace OpenSim.Region.Physics.Manager
public Vector3 SurfaceNormal; public Vector3 SurfaceNormal;
public float PenetrationDepth; public float PenetrationDepth;
public float RelativeSpeed; public float RelativeSpeed;
public bool CharacterFeet;
public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth) public ContactPoint(Vector3 position, Vector3 surfaceNormal, float penetrationDepth)
{ {
@ -68,6 +69,7 @@ namespace OpenSim.Region.Physics.Manager
SurfaceNormal = surfaceNormal; SurfaceNormal = surfaceNormal;
PenetrationDepth = penetrationDepth; PenetrationDepth = penetrationDepth;
RelativeSpeed = 0f; // for now let this one be set explicity RelativeSpeed = 0f; // for now let this one be set explicity
CharacterFeet = true; // keep other plugins work as before
} }
} }

133
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -84,18 +84,15 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_mass = 80f; private float m_mass = 80f;
public float m_density = 60f; public float m_density = 60f;
private bool m_pidControllerActive = true; private bool m_pidControllerActive = true;
public float PID_D = 800.0f;
public float PID_P = 900.0f;
//private static float POSTURE_SERVO = 10000.0f;
const float basePID_D = 0.55f; // scaled for unit mass unit time (2200 /(50*80))
private float m_invElipSizeX; const float basePID_P = 0.225f; // scaled for unit mass unit time (900 /(50*80))
private float m_invElipSizeY; public float PID_D;
public float PID_P;
private float feetOff = 0; private float feetOff = 0;
private float feetSZ = 0.5f; private float feetSZ = 0.5f;
const float feetScale = 0.9f; const float feetScale = 0.8f;
const float invFeetScale = 1.0f / 0.9f;
const float sizeZAdjust = 0.18f; const float sizeZAdjust = 0.18f;
private float boneOff = 0; private float boneOff = 0;
@ -160,7 +157,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float pid_d, float pid_p, float density, float walk_divisor, float rundivisor) public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 pSize, float density, float walk_divisor, float rundivisor)
{ {
m_uuid = UUID.Random(); m_uuid = UUID.Random();
@ -184,8 +181,6 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene = parent_scene; _parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
m_size.X = pSize.X; m_size.X = pSize.X;
m_size.Y = pSize.Y; m_size.Y = pSize.Y;
@ -204,6 +199,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// force lower density for testing // force lower density for testing
m_density = 3.0f; m_density = 3.0f;
m_density *= 1.4f; // scale to have mass similar to capsule
mu = parent_scene.AvatarFriction; mu = parent_scene.AvatarFriction;
walkDivisor = walk_divisor; walkDivisor = walk_divisor;
@ -211,6 +208,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default m_mass = m_density * m_size.X * m_size.Y * m_size.Z; ; // sure we have a default
PID_D = basePID_D * m_mass / parent_scene.ODE_STEPSIZE;
PID_P = basePID_P * m_mass / parent_scene.ODE_STEPSIZE;
m_isPhysical = false; // current status: no ODE information exists m_isPhysical = false; // current status: no ODE information exists
Name = avName; Name = avName;
@ -491,7 +491,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
get get
{ {
return m_density * m_size.X * m_size.Y * m_size.Z; return m_mass;
} }
} }
public override void link(PhysicsActor obj) public override void link(PhysicsActor obj)
@ -671,23 +671,22 @@ namespace OpenSim.Region.Physics.OdePlugin
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{ {
// sizes one day should came from visual parameters // sizes one day should came from visual parameters
float sx = m_size.X;
float sy = m_size.Y;
float sz = m_size.Z + sizeZAdjust; float sz = m_size.Z + sizeZAdjust;
m_invElipSizeX = 1.0f / m_size.X; float topsx = sx * 0.9f;
m_invElipSizeY = 1.0f / m_size.Y; float midsx = sx;
float feetsx = sx * feetScale;
float bonesx = sx * 0.2f;
float topsx = m_size.X * 0.9f; float topsy = sy * 0.4f;
float midsx = m_size.X; float midsy = sy;
float feetsx = m_size.X * feetScale; float feetsy = sy * feetScale * 0.8f;
float bonesx = feetsx * 0.2f;
float topsy = m_size.Y * 0.4f;
float midsy = m_size.Y;
float feetsy = m_size.Y * feetScale;
float bonesy = feetsy * 0.2f; float bonesy = feetsy * 0.2f;
float topsz = sz * 0.15f; float topsz = sz * 0.15f;
float feetsz = sz * 0.3f; float feetsz = sz * 0.45f;
if (feetsz > 0.6f) if (feetsz > 0.6f)
feetsz = 0.6f; feetsz = 0.6f;
@ -726,22 +725,12 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCategoryBits(bonebox, (uint)m_collisionCategories); d.GeomSetCategoryBits(bonebox, (uint)m_collisionCategories);
d.GeomSetCollideBits(bonebox, (uint)m_collisionFlags); d.GeomSetCollideBits(bonebox, (uint)m_collisionFlags);
d.MassSetBox(out ShellMass, m_density, m_size.X , m_size.Y, m_size.Z); m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass
m_mass = ShellMass.mass; // update mass d.MassSetBoxTotal(out ShellMass, m_mass, m_size.X, m_size.Y, m_size.Z);
// rescale PID parameters PID_D = basePID_D * m_mass / _parent_scene.ODE_STEPSIZE;
PID_D = _parent_scene.avPIDD; PID_P = basePID_P * m_mass / _parent_scene.ODE_STEPSIZE;
PID_P = _parent_scene.avPIDP;
// rescale PID parameters so that this aren't affected by mass
// and so don't get unstable for some masses
// also scale by ode time step so you don't need to refix them
PID_D /= 50 * 80; //scale to original mass of around 80 and 50 ODE fps
PID_D *= m_mass / _parent_scene.ODE_STEPSIZE;
PID_P /= 50 * 80;
PID_P *= m_mass / _parent_scene.ODE_STEPSIZE;
Body = d.BodyCreate(_parent_scene.world); Body = d.BodyCreate(_parent_scene.world);
@ -857,8 +846,9 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact) public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
{ {
feetcollision = false;
if (me == bonebox) // inner bone if (me == bonebox) // inner bone
{ {
@ -870,44 +860,13 @@ namespace OpenSim.Region.Physics.OdePlugin
if (me == topbox) // keep a box head if (me == topbox) // keep a box head
return true; return true;
// rotate elipsoide assuming only rotation around Z float t;
float ca = m_orientation.W * m_orientation.W - m_orientation.Z * m_orientation.Z;
float sa = 2 * m_orientation.W * m_orientation.Z;
float isx;
float isy;
if (me == feetbox) // feet have narrow bounds
{
isx = m_invElipSizeX * invFeetScale;
isy = m_invElipSizeY * invFeetScale;
}
else
{
isx = m_invElipSizeX;
isy = m_invElipSizeY;
}
float a = isx * ca - isy * sa;
float b = isx * sa + isy * ca;
float offx = contact.pos.X - _position.X; float offx = contact.pos.X - _position.X;
float er = offx * a;
er *= er;
float offy = contact.pos.Y - _position.Y; float offy = contact.pos.Y - _position.Y;
float ty = offy * b;
er += ty * ty;
if (me == midbox) if (me == midbox)
{ {
if (er > 4.0f) // no collision t = offx * offx + offy * offy;
return false;
if (er < 0.2f)
return true;
float t = offx * offx + offy * offy;
t = (float)Math.Sqrt(t); t = (float)Math.Sqrt(t);
t = 1 / t; t = 1 / t;
offx *= t; offx *= t;
@ -930,24 +889,36 @@ namespace OpenSim.Region.Physics.OdePlugin
else if (me == feetbox) else if (me == feetbox)
{ {
float c = feetSZ * 2;
float h = contact.pos.Z - _position.Z; float h = contact.pos.Z - _position.Z;
if (Math.Abs(contact.normal.Z) > 0.95f)
{
feetcollision = true;
if (h < boneOff)
IsColliding = true;
return true;
}
float offz = h - feetOff; // distance from top of feetbox float offz = h - feetOff; // distance from top of feetbox
float tz = offz / c; if (offz > 0)
er += tz * tz;
if (er > 4.0f) // no collision
return false; return false;
if (er > 0.2f) if (offz > -0.01)
{ {
float t = offx * offx + offy * offy + offz * offz; offx = 0;
offy = 0;
offz = -1.0f;
}
else
{
t = offx * offx + offy * offy + offz * offz;
t = (float)Math.Sqrt(t); t = (float)Math.Sqrt(t);
t = 1 / t; t = 1 / t;
offx *= t; offx *= t;
offy *= t; offy *= t;
offz *= t; offz *= t;
}
if (reverse) if (reverse)
{ {
@ -961,9 +932,8 @@ namespace OpenSim.Region.Physics.OdePlugin
contact.normal.Y = -offy; contact.normal.Y = -offy;
contact.normal.Z = -offz; contact.normal.Z = -offz;
} }
} feetcollision = true;
if (h < boneOff)
if(h < boneOff)
IsColliding = true; IsColliding = true;
} }
else else
@ -1105,6 +1075,7 @@ namespace OpenSim.Region.Physics.OdePlugin
contact.SurfaceNormal.Y = 0f; contact.SurfaceNormal.Y = 0f;
contact.SurfaceNormal.Z = -1f; contact.SurfaceNormal.Z = -1f;
contact.RelativeSpeed = -vel.Z; contact.RelativeSpeed = -vel.Z;
contact.CharacterFeet = true;
AddCollisionEvent(0, contact); AddCollisionEvent(0, contact);
vec.Z *= 0.5f; vec.Z *= 0.5f;

18
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -224,9 +224,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// private IntPtr WaterHeightmapData = IntPtr.Zero; // private IntPtr WaterHeightmapData = IntPtr.Zero;
// private GCHandle WaterMapHandler = new GCHandle(); // private GCHandle WaterMapHandler = new GCHandle();
public float avPIDD = 2200f; // make it visible
public float avPIDP = 900f; // make it visible
private float avCapRadius = 0.37f;
private float avDensity = 3f; private float avDensity = 3f;
private float avMovementDivisorWalk = 1.3f; private float avMovementDivisorWalk = 1.3f;
private float avMovementDivisorRun = 0.8f; private float avMovementDivisorRun = 0.8f;
@ -486,7 +483,6 @@ namespace OpenSim.Region.Physics.OdePlugin
avDensity = physicsconfig.GetFloat("av_density", avDensity); avDensity = physicsconfig.GetFloat("av_density", avDensity);
avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun); avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
avCapRadius = physicsconfig.GetFloat("av_capsule_radius", avCapRadius);
contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
@ -1040,6 +1036,8 @@ namespace OpenSim.Region.Physics.OdePlugin
IntPtr Joint; IntPtr Joint;
bool FeetCollision = false;
int i = 0; int i = 0;
int ncontacts = 0; int ncontacts = 0;
while(true) while(true)
@ -1058,7 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if(dop1foot) if(dop1foot)
{ {
if (!(((OdeCharacter)p1).Collide(g1,false, ref curContact))) if (!(((OdeCharacter)p1).Collide(g1, false, ref curContact, ref FeetCollision)))
{ {
if (++i >= count) if (++i >= count)
break; break;
@ -1068,7 +1066,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else if(dop2foot) else if(dop2foot)
{ {
if(!(((OdeCharacter) p2).Collide(g2,true,ref curContact))) if (!(((OdeCharacter)p2).Collide(g2, true, ref curContact, ref FeetCollision)))
{ {
if (++i >= count) if (++i >= count)
break; break;
@ -1177,9 +1175,11 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
if(ncontacts > 0) if (ncontacts > 0)
{
maxDepthContact.CharacterFeet = FeetCollision;
collision_accounting_events(p1, p2, maxDepthContact); collision_accounting_events(p1, p2, maxDepthContact);
}
/* /*
if (notskipedcount > geomContactPointsStartthrottle) if (notskipedcount > geomContactPointsStartthrottle)
{ {
@ -1393,7 +1393,7 @@ namespace OpenSim.Region.Physics.OdePlugin
pos.X = position.X; pos.X = position.X;
pos.Y = position.Y; pos.Y = position.Y;
pos.Z = position.Z; pos.Z = position.Z;
OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avPIDD, avPIDP, avDensity, avMovementDivisorWalk, avMovementDivisorRun); OdeCharacter newAv = new OdeCharacter(avName, this, pos, size, avDensity, avMovementDivisorWalk, avMovementDivisorRun);
newAv.Flying = isFlying; newAv.Flying = isFlying;
newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset; newAv.MinimumGroundFlightOffset = minimumGroundFlightOffset;