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more variations on same thing

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UbitUmarov
2022-04-16 17:35:00 +01:00
parent a4fa491ea8
commit d785dc50e6
5 changed files with 148 additions and 206 deletions
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45
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@@ -83,6 +83,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private Quaternion m_orientation;
private Quaternion m_orientation2D;
private float m_mass = 80f;
private float m_massInvTimeScaled = 1600f;
public readonly float m_density = 60f;
private bool m_pidControllerActive = true;
@@ -94,7 +95,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public float PID_P;
private readonly ODEScene m_parent_scene;
private readonly float m_scenegravityZ;
private readonly float m_sceneGravityZ;
private float m_scenegravityForceZ;
private readonly float m_sceneTimeStep;
private readonly float m_sceneInverseTimeStep;
@@ -166,7 +168,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_localID = localID;
m_parent_scene = parent_scene;
m_scenegravityZ = parent_scene.gravityz;
m_sceneGravityZ = parent_scene.gravityz;
m_sceneTimeStep = parent_scene.ODE_STEPSIZE;
m_sceneInverseTimeStep = 1.0f / m_sceneTimeStep;
@@ -206,10 +208,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_runMultiplier = 1.0f / rundivisor;
m_mass = m_density * m_size.X * m_size.Y * m_size.Z;
; // sure we have a default
m_massInvTimeScaled = m_mass * m_sceneInverseTimeStep;
// sure we have a default
PID_D = basePID_D * m_mass * m_sceneInverseTimeStep;
PID_P = basePID_P * m_mass * m_sceneInverseTimeStep;
PID_D = basePID_D * m_massInvTimeScaled;
PID_P = basePID_P * m_massInvTimeScaled;
m_scenegravityForceZ = m_sceneGravityZ * m_mass;
m_isPhysical = false; // current status: no ODE information exists
@@ -792,7 +797,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
if (pushforce)
{
AddChange(changes.Force, force * m_density / (m_sceneTimeStep * 28f));
AddChange(changes.Force, force * m_density * m_sceneInverseTimeStep / 28f);
}
else
{
@@ -809,7 +814,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override void AvatarJump(float impulseZ)
{
// convert back to force and remove mass effect
AddChange(changes.Force, new Vector3(0, 0, impulseZ * m_sceneInverseTimeStep * m_mass));
AddChange(changes.Force, new Vector3(0, 0, impulseZ * m_massInvTimeScaled));
}
public override void AddAngularForce(Vector3 force, bool pushforce)
@@ -858,11 +863,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
capsule = SafeNativeMethods.CreateCapsule(collider, r, l);
m_mass = m_density * sx * sy * sz; // update mass
// update mass
m_mass = m_density * sx * sy * sz;
SafeNativeMethods.MassSetBoxTotal(out ShellMass, m_mass, sx, sy, sz);
PID_D = basePID_D * m_mass * m_sceneInverseTimeStep;
PID_P = basePID_P * m_mass * m_sceneInverseTimeStep;
m_massInvTimeScaled = m_mass * m_sceneInverseTimeStep;
PID_D = basePID_D * m_massInvTimeScaled;
PID_P = basePID_P * m_massInvTimeScaled;
m_scenegravityForceZ = m_sceneGravityZ * m_mass;
Body = SafeNativeMethods.BodyCreate(m_parent_scene.world);
@@ -1437,7 +1444,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
vec.Y += (ctz.Y - vel.Y) * pidd0833;
// hack for breaking on fall
if (ctz.Z == -9999f)
vec.Z += -vel.Z * PID_D - m_scenegravityZ * m_mass;
vec.Z += -vel.Z * PID_D - m_scenegravityForceZ;
;
}
}
else
@@ -1515,7 +1523,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
vec.Y += (ctz.Y - vel.Y) * pidd0833;
// hack for breaking on fall
if (ctz.Z == -9999f)
vec.Z += -vel.Z * PID_D - m_scenegravityZ * m_mass;
vec.Z += -vel.Z * PID_D - m_scenegravityForceZ;
}
}
}
@@ -1541,7 +1549,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_flying || hoverPIDActive)
{
vec.Z -= m_scenegravityZ * m_mass;
vec.Z -= m_sceneGravityZ * m_mass;
if (!hoverPIDActive)
{
@@ -1557,7 +1565,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else if (m_buoyancy != 0.0)
{
vec.Z -= m_scenegravityZ * m_buoyancy * m_mass;
vec.Z -= m_scenegravityForceZ * m_buoyancy;
}
if (vec.IsFinite())
@@ -1880,11 +1888,14 @@ 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_sceneInverseTimeStep;
PID_P = basePID_P * m_mass * m_sceneInverseTimeStep;
m_massInvTimeScaled = m_mass * m_sceneInverseTimeStep;
PID_D = basePID_D * m_massInvTimeScaled;
PID_P = basePID_P * m_massInvTimeScaled;
SafeNativeMethods.MassSetBoxTotal(out ShellMass, m_mass, sx, sy, sz);
SafeNativeMethods.BodySetMass(Body, ref ShellMass);
m_scenegravityForceZ = m_sceneGravityZ * m_mass;
_position.Z += (sz - oldsz) * 0.5f;
SafeNativeMethods.BodySetPosition(Body, _position.X, _position.Y, _position.Z);