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try mk huggers a bit better

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UbitUmarov
2022-11-04 22:45:53 +00:00
parent 0d76b04ad4
commit 2f3cf5260c
1 changed files with 11 additions and 5 deletions
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16
OpenSim/Region/PhysicsModules/ubOde/ODECollision.cs
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@@ -48,7 +48,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
internal static bool CollideVerticalChars(OdeCharacter p1, OdeCharacter p2, ref ContactPoint cp, ref int feet)
public static Vector3 minusXRotateByShortQZ(Vector2 shortQuaternion)
{
float num = shortQuaternion.X + shortQuaternion.X;
return new(shortQuaternion.X * num - 1f, shortQuaternion.Y * num, 0);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
internal static bool CollideSimpleChars(OdeCharacter p1, OdeCharacter p2, ref ContactPoint cp, ref int feet)
{
Vector3 tt;
tt.Z = p1._position.Z - p2._position.Z;
@@ -70,13 +77,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
cp.Position = p1._position;
cp.Position.Z -= 0.5f * tt.Z;
cp.SurfaceNormal.Z = 0;
float hd = tt.X * tt.X + tt.Y * tt.Y;
if (hd < 1e-6f)
{
cp.SurfaceNormal.X = 1;
cp.SurfaceNormal.Y = 0;
cp.SurfaceNormal = minusXRotateByShortQZ(p1.Orientation2D);
cp.PenetrationDepth = rsum;
return true;
}
@@ -99,6 +104,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
cp.SurfaceNormal.X = tt.X;
cp.SurfaceNormal.Y = tt.Y;
cp.SurfaceNormal.Z = 0;
float hk = r1 - 0.5f * rhsum;
if (hk <= 0)
@@ -166,7 +172,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (ContactJointCount >= maxContactJoints)
return;
int feetcollision = 0;
if (!CollideVerticalChars(p1, p2, ref SharedChrContact, ref feetcollision))
if (!CollideSimpleChars(p1, p2, ref SharedChrContact, ref feetcollision))
return;
p1.CollidingObj = true;