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