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change avatar hover, if target is below ground, move avatar close to ground, let z control have a little action

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UbitUmarov
2025-03-12 02:29:35 +00:00
parent 3cb2732855
commit d909aea684
1 changed files with 43 additions and 47 deletions
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90
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@@ -1242,8 +1242,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Vector3 vel = UBOdeNative.BodyGetLinearVelOMV(Body);
//******************************************
// colide with land
float tmpX = _position.X;
float tmpY = _position.Y;
if (m_flying)
@@ -1254,6 +1252,49 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Vector3 vec = Vector3.Zero;
float terrainheight = m_parent_scene.GetTerrainHeightAtXY(tmpX, tmpY);
bool hoverPIDActive = false;
if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
{
float targetHoverHeight = m_PIDHoverHeight;
switch (m_PIDHoverType)
{
case PIDHoverType.Ground:
targetHoverHeight += terrainheight;
break;
case PIDHoverType.GroundAndWater:
if (terrainheight > m_parent_scene.WaterLevel)
targetHoverHeight += terrainheight;
else
targetHoverHeight += m_parent_scene.WaterLevel;
break;
} // end switch (m_PIDHoverType)
hoverPIDActive = true;
float fz = targetHoverHeight - _position.Z;
// if error is zero, use position control; otherwise, velocity control
if (MathF.Abs(fz) < 0.01f)
{
ctv.Z *= 0.1f;
}
else
{
_zeroFlag = false;
fz /= m_PIDHoverTau;
float tmp = MathF.Abs(fz);
if (tmp > 50f)
fz = 50f * MathF.Sign(fz);
else if (tmp < 0.1f)
fz = 0.1f * MathF.Sign(fz);
ctv.Z = fz + 0.1f * ctv.Z;
}
}
if (aabbminz < terrainheight)
{
if (ctv.Z < 0f)
@@ -1343,51 +1384,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
bool hoverPIDActive = false;
if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
{
hoverPIDActive = true;
switch (m_PIDHoverType)
{
case PIDHoverType.Ground:
m_targetHoverHeight = terrainheight + m_PIDHoverHeight;
break;
case PIDHoverType.GroundAndWater:
if (terrainheight > m_parent_scene.WaterLevel)
m_targetHoverHeight = terrainheight + m_PIDHoverHeight;
else
m_targetHoverHeight = m_parent_scene.WaterLevel + m_PIDHoverHeight;
break;
} // end switch (m_PIDHoverType)
// don't go underground
if (m_targetHoverHeight > terrainheight + CapsuleSizeZ)
{
float fz = (m_targetHoverHeight - _position.Z);
// if error is zero, use position control; otherwise, velocity control
if (MathF.Abs(fz) < 0.01f)
{
ctv.Z = 0;
}
else
{
_zeroFlag = false;
fz /= m_PIDHoverTau;
float tmp = MathF.Abs(fz);
if (tmp > 50f)
fz = 50f * MathF.Sign(fz);
else if (tmp < 0.1f)
fz = 0.1f * MathF.Sign(fz);
ctv.Z = fz;
}
}
}
//******************************************
if (!m_iscolliding)