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umm, nevermind all that -- this is the real ODE region fix. I'll get subversion someday

afrisby
dan miller 2007-09-01 11:01:11 +00:00
parent b371f049b4
commit 0901dfded1
1 changed files with 33 additions and 22 deletions
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55
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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@ -73,20 +73,22 @@ namespace OpenSim.Region.Physics.OdePlugin
public class OdeScene : PhysicsScene
{
static public IntPtr world;
static public IntPtr space;
static private IntPtr contactgroup;
static private IntPtr LandGeom;
//static private IntPtr Land;
private IntPtr contactgroup;
private IntPtr LandGeom;
private double[] _heightmap;
static private d.NearCallback nearCallback = near;
private d.NearCallback nearCallback;
private List<OdeCharacter> _characters = new List<OdeCharacter>();
private List<OdePrim> _prims = new List<OdePrim>();
private static d.ContactGeom[] contacts = new d.ContactGeom[30];
private static d.Contact contact;
private d.ContactGeom[] contacts = new d.ContactGeom[30];
private d.Contact contact;
public IntPtr world;
public IntPtr space;
public static Object OdeLock = new Object();
public OdeScene()
{
nearCallback = near;
contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
contact.surface.mu = 10.0f;
contact.surface.bounce = 0.9f;
@ -103,11 +105,11 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldSetContactSurfaceLayer(world, 0.001f);
}
this._heightmap = new double[65536];
_heightmap = new double[65536];
}
// This function blatantly ripped off from BoxStack.cs
static private void near(IntPtr space, IntPtr g1, IntPtr g2)
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
// no lock here! It's invoked from within Simulate(), which is thread-locked
IntPtr b1 = d.GeomGetBody(g1);
@ -116,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
for (int i = 0; i < count; ++i)
for (int i = 0; i < count; i++)
{
contact.geom = contacts[i];
IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
@ -125,6 +127,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
private void collision_optimized()
{
foreach (OdeCharacter chr in _characters)
{
d.SpaceCollide2(space, _characters[_characters.Count - 1].capsule_geom, IntPtr.Zero, nearCallback);
}
}
public override PhysicsActor AddAvatar(PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
@ -132,7 +142,7 @@ namespace OpenSim.Region.Physics.OdePlugin
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv = new OdeCharacter(this, pos);
this._characters.Add(newAv);
_characters.Add(newAv);
return newAv;
}
@ -147,13 +157,14 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeLock)
{
d.GeomDestroy(((OdePrim)prim).prim_geom);
this._prims.Remove((OdePrim)prim);
_prims.Remove((OdePrim)prim);
}
}
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
{
Console.WriteLine("++++++++++++++++++++++++++++++++++ AddPrim: " + position);
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
@ -172,7 +183,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
newPrim = new OdePrim(this, pos, siz, rot);
}
this._prims.Add(newPrim);
_prims.Add(newPrim);
return newPrim;
}
@ -187,7 +198,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
actor.Move(timeStep);
}
d.SpaceCollide(space, IntPtr.Zero, nearCallback);
collision_optimized();
for (int i = 0; i < 50; i++)
{
d.WorldQuickStep(world, timeStep * 0.02f);
@ -222,7 +233,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
int x = i & 0xff;
int y = i >> 8;
this._heightmap[i] = (double)heightMap[x * 256 + y];
_heightmap[i] = (double)heightMap[x * 256 + y];
}
lock (OdeLock)
@ -263,9 +274,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool flying = false;
//private float gravityAccel;
private IntPtr BoundingCapsule;
IntPtr capsule_geom;
d.Mass capsule_mass;
private OdeScene _parent_scene;
public IntPtr capsule_geom;
public d.Mass capsule_mass;
public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
{
@ -276,8 +287,8 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeScene.OdeLock)
{
d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
this.BoundingCapsule = d.BodyCreate(OdeScene.world);
capsule_geom = d.CreateSphere(parent_scene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
BoundingCapsule = d.BodyCreate(parent_scene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass);
d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
d.GeomSetBody(capsule_geom, BoundingCapsule);
@ -370,7 +381,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
_acceleration = accel;
}
public override void AddForce(PhysicsVector force)
@ -432,7 +443,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_orientation = rotation;
lock (OdeScene.OdeLock)
{
prim_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z);
prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.W = rotation.w;