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* 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 2008-01-18 02:26:43 +00:00
parent 333826903c
commit ecd6c1110a
3 changed files with 44 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
OpenSim/Region/Environment/Scenes/ScenePresence.cs
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@ -1510,7 +1510,7 @@ namespace OpenSim.Region.Environment.Scenes
adb.AgentID = agentID; adb.AgentID = agentID;
adb.SessionID = sessionID; // More security adb.SessionID = sessionID; // More security
gdb.GodLevel = (byte) 100; gdb.GodLevel = (byte) 250;
gdb.Token = token; gdb.Token = token;
//respondPacket.AgentData = (GrantGodlikePowersPacket.AgentDataBlock)ablock; //respondPacket.AgentData = (GrantGodlikePowersPacket.AgentDataBlock)ablock;
respondPacket.GrantData = gdb; respondPacket.GrantData = gdb;

55
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
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@ -71,8 +71,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private static float PID_D = 3020.0f; private static float PID_D = 3020.0f;
private static float PID_P = 7000.0f; private static float PID_P = 7000.0f;
private static float POSTURE_SERVO = 10000.0f; private static float POSTURE_SERVO = 10000.0f;
public static float CAPSULE_RADIUS = 0.5f; public static float CAPSULE_RADIUS = 0.37f;
public float CAPSULE_LENGTH = 0.79f; public float CAPSULE_LENGTH = 2.140599f;
private bool flying = false; private bool flying = false;
private bool m_iscolliding = false; private bool m_iscolliding = false;
private bool m_iscollidingGround = false; private bool m_iscollidingGround = false;
@ -326,12 +326,14 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeScene.OdeLock) lock (OdeScene.OdeLock)
{ {
d.JointDestroy(Amotor); d.JointDestroy(Amotor);
PhysicsVector SetSize = value; PhysicsVector SetSize = value;
float prevCapsule = CAPSULE_LENGTH; float prevCapsule = CAPSULE_LENGTH;
float capsuleradius = CAPSULE_RADIUS; float capsuleradius = CAPSULE_RADIUS;
capsuleradius = 0.2f; //capsuleradius = 0.2f;
CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z*0.43f))); // subtract 43% of the size CAPSULE_LENGTH = (SetSize.Z - ((SetSize.Z*0.43f))); // subtract 43% of the size
OpenSim.Framework.Console.MainLog.Instance.Verbose("SIZE", CAPSULE_LENGTH.ToString());
d.BodyDestroy(Body); d.BodyDestroy(Body);
d.GeomDestroy(Shell); d.GeomDestroy(Shell);
AvatarGeomAndBodyCreation(_position.X, _position.Y, AvatarGeomAndBodyCreation(_position.X, _position.Y,
@ -351,6 +353,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="npositionZ"></param> /// <param name="npositionZ"></param>
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{ {
int dAMotorEuler = 1; int dAMotorEuler = 1;
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH); d.MassSetCapsuleTotal(out ShellMass, m_mass, 2, CAPSULE_RADIUS, CAPSULE_LENGTH);
@ -360,7 +363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetMass(Body, ref ShellMass); d.BodySetMass(Body, ref ShellMass);
// 90 Stand up on the cap of the capped cyllinder // 90 Stand up on the cap of the capped cyllinder
d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 0, (float)(Math.PI / 2)); d.RFromAxisAndAngle(out m_StandUpRotation, 1, 0, 1, (float)(Math.PI / 2));
d.GeomSetRotation(Shell, ref m_StandUpRotation); d.GeomSetRotation(Shell, ref m_StandUpRotation);
@ -395,21 +398,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f); d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f); d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 3800000f);
//standupStraight();
// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
// change appearance and when you enter the simulator
// After this routine is done, the amotor stabilizes much quicker
d.Vector3 feet;
d.Vector3 head;
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
float posture = head.Z - feet.Z;
// restoring force proportional to lack of posture:
float servo = (2.5f - posture) * POSTURE_SERVO;
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
} }
@ -428,6 +418,27 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
private void standupStraight()
{
// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
// change appearance and when you enter the simulator
// After this routine is done, the amotor stabilizes much quicker
d.Vector3 feet;
d.Vector3 head;
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
float posture = head.Z - feet.Z;
// restoring force proportional to lack of posture:
float servo = (2.5f - posture) * POSTURE_SERVO;
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
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);
}
public override PhysicsVector Force public override PhysicsVector Force
{ {
get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); } get { return new PhysicsVector(_target_velocity.X, _target_velocity.Y, _target_velocity.Z); }
@ -467,7 +478,12 @@ namespace OpenSim.Region.Physics.OdePlugin
public override Quaternion Orientation public override Quaternion Orientation
{ {
get { return Quaternion.Identity; } get { return Quaternion.Identity; }
set { } set {
//Matrix3 or = Orientation.ToRotationMatrix();
//d.Matrix3 ord = new d.Matrix3(or.m00, or.m10, or.m20, or.m01, or.m11, or.m21, or.m02, or.m12, or.m22);
//d.BodySetRotation(Body, ref ord);
}
} }
public override PhysicsVector Acceleration public override PhysicsVector Acceleration
@ -505,6 +521,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!collidelock) if (!collidelock)
{ {
d.BodyAddForce(Body, force.X, force.Y, force.Z); d.BodyAddForce(Body, force.X, force.Y, force.Z);
//standupStraight();
} }
} }

12
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -174,7 +174,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Set the gravity,, don't disable things automatically (we set it explicitly on some things) // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f); d.WorldSetGravity(world, 0.0f, 0.0f, -9.8f);
d.WorldSetAutoDisableFlag(world, false); d.WorldSetAutoDisableFlag(world, false);
d.WorldSetContactSurfaceLayer(world, 0.001f); d.WorldSetContactSurfaceLayer(world, 0.001f);
@ -336,8 +336,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (contacts[i].depth >= 0.08f) if (contacts[i].depth >= 0.08f)
{ {
/* This is disabled at the moment only because it needs more tweaking //This is disabled at the moment only because it needs more tweaking
It will eventually be uncommented //It will eventually be uncommented
if (contacts[i].depth >= 1.00f) if (contacts[i].depth >= 1.00f)
{ {
@ -363,7 +363,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
{ {
contacts[i].depth = 0.0000000f; //contacts[i].depth = 0.0000000f;
} }
if (p1.PhysicsActorType == (int) ActorTypes.Agent) if (p1.PhysicsActorType == (int) ActorTypes.Agent)
{ {
@ -378,10 +378,10 @@ namespace OpenSim.Region.Physics.OdePlugin
else else
{ {
contacts[i].depth = 0.0000000f; //contacts[i].depth = 0.0000000f;
} }
} }
*/
// If you interpenetrate a prim with another prim // If you interpenetrate a prim with another prim
if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim) if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)