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ODE: no more slippin' & slidin'

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This commit is contained in:
dan miller
2007-09-13 21:53:13 +00:00
parent 1703cacaab
commit b31fc4980f
1 changed files with 24 additions and 4 deletions
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28
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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@@ -272,6 +272,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public class OdeCharacter : PhysicsActor
{
private PhysicsVector _position;
private d.Vector3 _zeroPosition;
private bool _zeroFlag=false;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private bool flying = false;
@@ -402,11 +404,29 @@ namespace OpenSim.Region.Physics.OdePlugin
// no lock; for now it's only called from within Simulate()
PhysicsVector vec = new PhysicsVector();
d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
vec.X = (vel.X - this._velocity.X) * -75000.0f;
vec.Y = (vel.Y - this._velocity.Y) * -75000.0f;
if (flying)
// if velocity is zero, use position control; otherwise, velocity control
if (_velocity.X == 0.0f & _velocity.Y == 0.0f & _velocity.Z == 0.0f & !flying)
{
vec.Z = (vel.Z - this._velocity.Z) * -75000.0f;
// keep track of where we stopped. No more slippin' & slidin'
if (!_zeroFlag)
{
_zeroFlag = true;
_zeroPosition = d.BodyGetPosition(BoundingCapsule);
}
d.Vector3 pos = d.BodyGetPosition(BoundingCapsule);
vec.X = (_velocity.X - vel.X) * 75000.0f + (_zeroPosition.X - pos.X) * 120000.0f;
vec.Y = (_velocity.Y - vel.Y) * 75000.0f + (_zeroPosition.Y - pos.Y) * 120000.0f;
}
else
{
_zeroFlag = false;
vec.X = (_velocity.X - vel.X) * 75000.0f;
vec.Y = (_velocity.Y - vel.Y) * 75000.0f;
if (flying)
{
vec.Z = (_velocity.Z - vel.Z) * 75000.0f;
}
}
d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
}