* ODE Physics update. fixed weird rotation of the avatar surrogate.
* Set the avatar's radius to 0.37m, I think this gives the *best* balance between spaces the avatar can fit, and the ability to climb steps * Fixed a few things * Tweaked some more * Played with gravity (-9.8m/s)ThreadPoolClientBranch
Teravus Ovares
parent
333826903c
commit
ecd6c1110a
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@ -1510,7 +1510,7 @@ namespace OpenSim.Region.Environment.Scenes
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adb.AgentID = agentID;
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adb.SessionID = sessionID; // More security
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gdb.GodLevel = (byte) 100;
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gdb.GodLevel = (byte) 250;
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gdb.Token = token;
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//respondPacket.AgentData = (GrantGodlikePowersPacket.AgentDataBlock)ablock;
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respondPacket.GrantData = gdb;
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@ -71,8 +71,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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private static float PID_D = 3020.0f;
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private static float PID_P = 7000.0f;
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private static float POSTURE_SERVO = 10000.0f;
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public static float CAPSULE_RADIUS = 0.5f;
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public float CAPSULE_LENGTH = 0.79f;
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public static float CAPSULE_RADIUS = 0.37f;
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public float CAPSULE_LENGTH = 2.140599f;
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private bool flying = false;
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private bool m_iscolliding = false;
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private bool m_iscollidingGround = false;
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@ -326,12 +326,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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lock (OdeScene.OdeLock)
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{
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d.JointDestroy(Amotor);
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PhysicsVector SetSize = value;
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float prevCapsule = CAPSULE_LENGTH;
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float capsuleradius = CAPSULE_RADIUS;
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capsuleradius = 0.2f;
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//capsuleradius = 0.2f;
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CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z*0.43f))); // subtract 43% of the size
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OpenSim.Framework.Console.MainLog.Instance.Verbose("SIZE", CAPSULE_LENGTH.ToString());
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d.BodyDestroy(Body);
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d.GeomDestroy(Shell);
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AvatarGeomAndBodyCreation(_position.X, _position.Y,
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@ -351,6 +353,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// <param name="npositionZ"></param>
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private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
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{
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int dAMotorEuler = 1;
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Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
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@ -360,7 +363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodySetMass(Body, ref ShellMass);
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// 90 Stand up on the cap of the capped cyllinder
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d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 0, (float)(Math.PI / 2));
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d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 1, (float)(Math.PI / 2));
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d.GeomSetRotation(Shell, ref m_StandUpRotation);
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@ -395,21 +398,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f);
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// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
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// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
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// change appearance and when you enter the simulator
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// After this routine is done, the amotor stabilizes much quicker
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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//standupStraight();
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}
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@ -428,6 +418,27 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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private void standupStraight()
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{
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// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
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// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
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// change appearance and when you enter the simulator
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// After this routine is done, the amotor stabilizes much quicker
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d.Vector3 feet;
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d.Vector3 head;
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
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d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
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float posture = head.Z - feet.Z;
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// restoring force proportional to lack of posture:
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float servo = (2.5f - posture) * POSTURE_SERVO;
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
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d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
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d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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OpenSim.Framework.Console.MainLog.Instance.Verbose("PHYSICSAV", "Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
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}
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public override PhysicsVector Force
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{
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get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
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@ -467,7 +478,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override Quaternion Orientation
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{
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get { return Quaternion.Identity; }
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set { }
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set {
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//Matrix3 or = Orientation.ToRotationMatrix();
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//d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
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//d.BodySetRotation(Body, ref ord);
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}
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}
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public override PhysicsVector Acceleration
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@ -505,6 +521,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (!collidelock)
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{
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d.BodyAddForce(Body, force.X, force.Y, force.Z);
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//standupStraight();
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}
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}
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@ -174,7 +174,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
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d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
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d.WorldSetGravity(world, 0.0f, 0.0f, -9.8f);
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d.WorldSetAutoDisableFlag(world, false);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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@ -336,8 +336,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (contacts[i].depth >= 0.08f)
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{
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/* This is disabled at the moment only because it needs more tweaking
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It will eventually be uncommented
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//This is disabled at the moment only because it needs more tweaking
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//It will eventually be uncommented
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if (contacts[i].depth >= 1.00f)
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{
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@ -363,7 +363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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else
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{
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contacts[i].depth = 0.0000000f;
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//contacts[i].depth = 0.0000000f;
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}
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if (p1.PhysicsActorType == (int) ActorTypes.Agent)
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{
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@ -378,10 +378,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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else
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{
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contacts[i].depth = 0.0000000f;
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//contacts[i].depth = 0.0000000f;
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}
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}
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*/
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// If you interpenetrate a prim with another prim
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if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
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