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cosmetics on ubode character code

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UbitUmarov
2022-04-13 19:38:57 +01:00
parent d7a391efbb
commit 772b33bfef
1 changed files with 67 additions and 69 deletions
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136
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@@ -83,7 +83,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private Quaternion m_orientation;
private Quaternion m_orientation2D;
private float m_mass = 80f;
public float m_density = 60f;
public readonly float m_density = 60f;
private bool m_pidControllerActive = true;
public int m_bodydisablecontrol = 0;
@@ -93,8 +93,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public float PID_D;
public float PID_P;
private float timeStep;
private float invtimeStep;
private readonly ODEScene m_parent_scene;
private readonly float m_scenegravityZ;
private readonly float m_sceneTimeStep;
private readonly float m_sceneInverseTimeStep;
private float m_feetOffset = 0;
private float feetOff = 0;
@@ -102,8 +106,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float AvaAvaSizeXsq = 0.3f;
private float AvaAvaSizeYsq = 0.2f;
public float walkDivisor = 1.3f;
public float runDivisor = 0.8f;
public readonly float m_walkMultiplier = 1.0f / 1.3f;
public readonly float m_runMultiplier = 1.0f / 0.8f;
private bool m_flying = false;
private bool m_iscolliding = false;
private bool m_iscollidingGround = false;
@@ -130,16 +134,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int m_colliderObjectfilter = 0;
// Default we're a Character
private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
private const CollisionCategories m_collisionCategories = (CollisionCategories.Character);
// Default, Collide with Other Geometries, spaces, bodies and characters.
private CollisionCategories m_collisionFlags = (CollisionCategories.Character
private const CollisionCategories m_collisionFlags = (CollisionCategories.Character
| CollisionCategories.Geom
| CollisionCategories.VolumeDtc
);
// we do land collisions not ode | CollisionCategories.Land);
public IntPtr Body = IntPtr.Zero;
private ODEScene m_parent_scene;
private IntPtr capsule = IntPtr.Zero;
public IntPtr collider = IntPtr.Zero;
@@ -152,11 +155,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
private bool SentEmptyCollisionsEvent;
// unique UUID of this character object
public UUID m_uuid;
public bool bad = false;
float mu;
private readonly float m_frictionmu;
// HoverHeight control
private float m_PIDHoverHeight;
@@ -168,12 +169,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public OdeCharacter(uint localID,String avName,ODEScene parent_scene,Vector3 pos,Vector3 pSize,float pfeetOffset,float density,float walk_divisor,float rundivisor)
{
m_uuid = UUID.Random();
m_localID = localID;
m_parent_scene = parent_scene;
timeStep = parent_scene.ODE_STEPSIZE;
invtimeStep = 1 / timeStep;
m_scenegravityZ = parent_scene.gravityz;
m_sceneTimeStep = parent_scene.ODE_STEPSIZE;
m_sceneInverseTimeStep = 1.0f / m_sceneTimeStep;
if(pos.IsFinite())
{
@@ -193,16 +194,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
}
m_size.X = pSize.X;
m_size.Y = pSize.Y;
m_size.Z = pSize.Z;
m_size.X = pSize.X > 0.01f ? pSize.X : 0.01f;
m_size.Y = pSize.Y > 0.01f ? pSize.Y : 0.01f;
m_size.Z = pSize.Z > 0.01f ? pSize.Z : 0.01f;
if(m_size.X <0.01f)
m_size.X = 0.01f;
if(m_size.Y <0.01f)
m_size.Y = 0.01f;
if(m_size.Z <0.01f)
m_size.Z = 0.01f;
m_feetOffset = pfeetOffset;
m_orientation = Quaternion.Identity;
@@ -212,16 +207,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// force lower density for testing
m_density = 3.0f;
mu = m_parent_scene.AvatarFriction;
m_frictionmu = m_parent_scene.AvatarFriction;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
m_walkMultiplier = 1.0f / walk_divisor;
m_runMultiplier = 1.0f / rundivisor;
m_mass = m_density * m_size.X * m_size.Y * m_size.Z;
; // sure we have a default
PID_D = basePID_D * m_mass * invtimeStep;
PID_P = basePID_P * m_mass * invtimeStep;
PID_D = basePID_D * m_mass * m_sceneInverseTimeStep;
PID_P = basePID_P * m_mass * m_sceneInverseTimeStep;
m_isPhysical = false; // current status: no ODE information exists
@@ -244,7 +239,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override void getContactData(ref ContactData cdata)
{
cdata.mu = mu;
cdata.mu = m_frictionmu;
cdata.bounce = 0;
cdata.softcolide = false;
}
@@ -358,7 +353,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
set
{
m_flying = value;
// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
//m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
}
}
@@ -410,23 +405,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
set
{
/* we now control this
if (value)
{
m_colliderGroundfilter += 2;
if (m_colliderGroundfilter > 2)
m_colliderGroundfilter = 2;
}
else
{
m_colliderGroundfilter--;
if (m_colliderGroundfilter < 0)
m_colliderGroundfilter = 0;
}
if (value)
{
m_colliderGroundfilter += 2;
if (m_colliderGroundfilter > 2)
m_colliderGroundfilter = 2;
}
else
{
m_colliderGroundfilter--;
if (m_colliderGroundfilter < 0)
m_colliderGroundfilter = 0;
}
if (m_colliderGroundfilter == 0)
m_iscollidingGround = false;
else
m_iscollidingGround = true;
if (m_colliderGroundfilter == 0)
m_iscollidingGround = false;
else
m_iscollidingGround = true;
*/
}
@@ -820,7 +815,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if(pushforce)
{
AddChange(changes.Force,force * m_density / (m_parent_scene.ODE_STEPSIZE * 28f));
AddChange(changes.Force,force * m_density / (m_sceneTimeStep * 28f));
}
else
{
@@ -884,8 +879,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_mass = m_density * sx * sy * sz; // update mass
SafeNativeMethods.MassSetBoxTotal(out ShellMass, m_mass, sx, sy, sz);
PID_D = basePID_D * m_mass / m_parent_scene.ODE_STEPSIZE;
PID_P = basePID_P * m_mass / m_parent_scene.ODE_STEPSIZE;
PID_D = basePID_D * m_mass * m_sceneInverseTimeStep;
PID_P = basePID_P * m_mass * m_sceneInverseTimeStep;
Body = SafeNativeMethods.BodyCreate(m_parent_scene.world);
@@ -980,7 +975,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.SpaceDestroy(collider);
collider = IntPtr.Zero;
}
}
//in place 2D rotation around Z assuming rot is normalised and is a rotation around Z
@@ -1235,15 +1229,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Vector3 ctz = _target_velocity;
float movementdivisor = 1f;
//Ubit change divisions into multiplications below
if(!m_alwaysRun)
movementdivisor = 1 / walkDivisor;
if(m_alwaysRun)
{
ctz.X *= m_runMultiplier;
ctz.Y *= m_runMultiplier;
}
else
movementdivisor = 1 / runDivisor;
ctz.X *= movementdivisor;
ctz.Y *= movementdivisor;
{
ctz.X *= m_walkMultiplier;
ctz.Y *= m_walkMultiplier;
}
//******************************************
// colide with land
@@ -1254,13 +1249,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float chrminZ = aabb.MinZ; // move up a bit
Vector3 posch = localpos;
float ftmp;
if(m_flying)
{
ftmp = timeStep;
posch.X += vel.X * ftmp;
posch.Y += vel.Y * ftmp;
posch.X += vel.X * m_sceneTimeStep;
posch.Y += vel.Y * m_sceneTimeStep;
}
float terrainheight = m_parent_scene.GetTerrainHeightAtXY(posch.X,posch.Y);
@@ -1565,7 +1557,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
vec.Z -= .16f* m_mass * vel.Z;
}
if(m_flying || hoverPIDActive)
if (m_flying || hoverPIDActive)
{
vec.Z -= m_parent_scene.gravityz * m_mass;
@@ -1581,6 +1573,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// end add Kitto Flora
}
}
else if(m_buoyancy != 0.0)
{
vec.Z -= m_parent_scene.gravityz * m_buoyancy * m_mass;
}
if(vec.IsFinite())
{
@@ -1602,7 +1598,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
Vector3 a = _velocity; // previous velocity
SetSmooth(ref _velocity,ref vel,2);
a = (_velocity - a) * invtimeStep;
a = (_velocity - a) * m_sceneInverseTimeStep;
SetSmooth(ref _acceleration,ref a,2);
dtmp = SafeNativeMethods.BodyGetAngularVel(Body);
@@ -1728,7 +1724,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float tmp = 0;
if(value > 0)
{
float mint = (0.05f > timeStep ? 0.05f : timeStep);
float mint = (0.05f > m_sceneTimeStep ? 0.05f : m_sceneTimeStep);
if(value < mint)
tmp = mint;
else
@@ -1884,7 +1880,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if(pSize.IsFinite())
{
// for now only look to Z changes since viewers also don't change X and Y
if(pSize.Z != m_size.Z)
if(pSize.Z < 0.01f)
pSize.Z = 0.01f;
if (pSize.Z != m_size.Z)
{
float oldsz = m_size.Z;
m_size = pSize;
@@ -1916,8 +1914,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SafeNativeMethods.GeomCapsuleSetParams(capsule, r, l);
m_mass = m_density * sx * sy * sz; // update mass
PID_D = basePID_D * m_mass / m_parent_scene.ODE_STEPSIZE;
PID_P = basePID_P * m_mass / m_parent_scene.ODE_STEPSIZE;
PID_D = basePID_D * m_mass * m_sceneInverseTimeStep;
PID_P = basePID_P * m_mass * m_sceneInverseTimeStep;
SafeNativeMethods.MassSetBoxTotal(out ShellMass, m_mass, sx, sy, sz);
SafeNativeMethods.BodySetMass(Body, ref ShellMass);