* Added about half of the planned ODE physics options to OpenSim.ini.example.
* Some will do cool things, some will make your scene explode dramatically if you're not careful.0.6.0-stable
Teravus Ovares
parent
bc177b1c37
commit
173d13b0a4
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@ -780,7 +780,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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if (flying)
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{
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vec.Z += (9.8f*m_mass);
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vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
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}
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@ -1155,14 +1155,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (m_buoyancy > 0)
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{
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fz = ((9.8f * m_buoyancy) * m_mass);
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fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass);
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//d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
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//m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (9.8f * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
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//m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
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}
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else
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{
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fz = (-1 * ((9.8f * (-1 * m_buoyancy)) * m_mass));
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fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass));
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}
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@ -1171,7 +1171,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (m_usePID)
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{
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// If we're using the PID controller, then we have no gravity
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fz = 9.8f * this.Mass;
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fz = (-1 * _parent_scene.gravityz) * this.Mass;
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// no lock; for now it's only called from within Simulate()
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@ -127,8 +127,20 @@ namespace OpenSim.Region.Physics.OdePlugin
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private const uint m_regionWidth = Constants.RegionSize;
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private const uint m_regionHeight = Constants.RegionSize;
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private static float ODE_STEPSIZE = 0.020f;
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private static float metersInSpace = 29.9f;
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private float ODE_STEPSIZE = 0.020f;
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private float metersInSpace = 29.9f;
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public float gravityx = 0f;
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public float gravityy = 0f;
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public float gravityz = -9.8f;
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private float contactsurfacelayer = 0.001f;
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private int worldHashspaceLow = -4;
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private int worldHashspaceHigh = 128;
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private int smallHashspaceLow = -4;
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private int smallHashspaceHigh = 66;
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private float waterlevel = 0f;
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private int framecount = 0;
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@ -139,6 +151,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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private IntPtr WaterGeom = (IntPtr)0;
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private float nmTerrainContactFriction = 255.0f;
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private float nmTerrainContactBounce = 0.1f;
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private float nmTerrainContactERP = 0.1025f;
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private float mTerrainContactFriction = 75f;
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private float mTerrainContactBounce = 0.1f;
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private float mTerrainContactERP = 0.05025f;
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private float nmAvatarObjectContactFriction = 250f;
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private float nmAvatarObjectContactBounce = 0.1f;
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private float mAvatarObjectContactFriction = 75f;
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private float mAvatarObjectContactBounce = 0.1f;
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private float[] _heightmap;
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private float[] _watermap;
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@ -188,7 +215,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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//private IntPtr tmpSpace;
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// split static geometry collision handling into spaces of 30 meters
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public IntPtr[,] staticPrimspace = new IntPtr[(int) (300/metersInSpace),(int) (300/metersInSpace)];
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public IntPtr[,] staticPrimspace;
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public static Object OdeLock = new Object();
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@ -208,25 +235,94 @@ namespace OpenSim.Region.Physics.OdePlugin
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nearCallback = near;
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triCallback = TriCallback;
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triArrayCallback = TriArrayCallback;
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/*
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contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
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contact.surface.mu = 10.0f;
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contact.surface.bounce = 0.9f;
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contact.surface.soft_erp = 0.005f;
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contact.surface.soft_cfm = 0.00003f;
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*/
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lock (OdeLock)
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{
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// Creat the world and the first space
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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contactgroup = d.JointGroupCreate(0);
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//contactgroup
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d.WorldSetAutoDisableFlag(world, false);
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}
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// zero out a heightmap array float array (single dimention [flattened]))
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_heightmap = new float[514*514];
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_watermap = new float[258 * 258];
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// Zero out the prim spaces array (we split our space into smaller spaces so
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// we can hit test less.
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}
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// Initialize the mesh plugin
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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{
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mesher = meshmerizer;
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m_config = config;
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if (m_config != null)
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{
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IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
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if (physicsconfig != null)
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{
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gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
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gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
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gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
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worldHashspaceLow = physicsconfig.GetInt("world_hashspace_low", -4);
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worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_high", 128);
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metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
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smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
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smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
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contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
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nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
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nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
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nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
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mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
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mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.1f);
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mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
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nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
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nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
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mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
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mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
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ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
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m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
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}
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}
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staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
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// Centeral contact friction and bounce
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contact.surface.mu = 250.0f;
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contact.surface.bounce = 0.2f;
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contact.surface.mu = nmAvatarObjectContactFriction;
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contact.surface.bounce = nmAvatarObjectContactBounce;
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// Terrain contact friction and Bounce
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// This is the *non* moving version. Use this when an avatar
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// isn't moving to keep it in place better
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TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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TerrainContact.surface.mu = 255.0f;
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TerrainContact.surface.bounce = 0.1f;
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TerrainContact.surface.soft_erp = 0.1025f;
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TerrainContact.surface.mu = nmTerrainContactFriction;
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TerrainContact.surface.bounce = nmTerrainContactBounce;
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TerrainContact.surface.soft_erp = nmTerrainContactERP;
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WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
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WaterContact.surface.mu = 0f; // No friction
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@ -238,46 +334,29 @@ namespace OpenSim.Region.Physics.OdePlugin
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// THis is the *non* moving version of friction and bounce
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// Use this when an avatar comes in contact with a prim
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// and is moving
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AvatarMovementprimContact.surface.mu = 75.0f;
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AvatarMovementprimContact.surface.bounce = 0.1f;
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AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
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AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
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// Terrain contact friction bounce and various error correcting calculations
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// Use this when an avatar is in contact with the terrain and moving.
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AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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AvatarMovementTerrainContact.surface.mu = 75.0f;
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AvatarMovementTerrainContact.surface.bounce = 0.05f;
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AvatarMovementTerrainContact.surface.soft_erp = 0.05025f;
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AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
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AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
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AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
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lock (OdeLock)
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{
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d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
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// Creat the world and the first space
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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d.HashSpaceSetLevels(space, -4, 128);
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contactgroup = d.JointGroupCreate(0);
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//contactgroup
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// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
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d.WorldSetGravity(world, gravityx, gravityy, gravityz);
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d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
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// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
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// Set how many steps we go without running collision testing
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// This is in addition to the step size.
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// Essentially Steps * m_physicsiterations
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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//d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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d.WorldSetGravity(world, 0.0f, 0.0f, -9.8f);
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d.WorldSetAutoDisableFlag(world, false);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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// Set how many steps we go without running collision testing
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// This is in addition to the step size.
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// Essentially Steps * m_physicsiterations
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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///d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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}
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// zero out a heightmap array float array (single dimention [flattened]))
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_heightmap = new float[514*514];
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_watermap = new float[258 * 258];
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// Zero out the prim spaces array (we split our space into smaller spaces so
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// we can hit test less.
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for (int i = 0; i < staticPrimspace.GetLength(0); i++)
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{
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for (int j = 0; j < staticPrimspace.GetLength(1); j++)
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@ -285,14 +364,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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staticPrimspace[i, j] = IntPtr.Zero;
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}
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}
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}
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// Initialize the mesh plugin
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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{
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mesher = meshmerizer;
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m_config = config;
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}
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internal void waitForSpaceUnlock(IntPtr space)
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@ -649,8 +721,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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}
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WaterContact.surface.soft_cfm = 0.0000f;
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WaterContact.surface.soft_erp = 0.00000f;
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//WaterContact.surface.soft_cfm = 0.0000f;
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//WaterContact.surface.soft_erp = 0.00000f;
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if (contacts[i].depth > 0.1f)
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{
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contacts[i].depth *= 52;
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@ -1345,7 +1417,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (newspace == IntPtr.Zero)
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{
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newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
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d.HashSpaceSetLevels(newspace, -4, 66);
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d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
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}
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return newspace;
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@ -158,6 +158,56 @@ whisper_distance = 10
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say_distance = 30
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shout_distance = 100
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[ODEPhysicsSettings]
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;# World Settings
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;Gravity. Feel like falling up? change world_gravityz to 9.8 instead of -9.8. m/s
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world_gravityx = 0
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world_gravityy = 0
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world_gravityz = -9.8
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; World Step size. (warning these are dangerous. Changing these will probably cause your scene to explode dramatically)
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; reference: fps = (0.09375/ODE_STEPSIZE) * 1000;
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world_stepsize = 0.020
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world_internal_steps_without_collisions = 10
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;World Space settings. Affects memory consumption vs Collider CPU time for avatar and physical prim
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world_hashspace_size_low = -4
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world_hashSpace_size_high = 128
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;Dynamic space settings Affects memory consumption vs Collider CPU time for static prim
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meters_in_small_space = 29.9
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small_hashspace_size_low = -4
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small_hashspace_size_high = 66
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; # Contact properties. (the stuff that happens when things come in contact with each other)
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; surface layer around geometries other geometries can sink into before generating a contact
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world_contact_surface_layer = 0.001
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; Non Moving Terrain Contact (avatar isn't moving)
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nm_terraincontact_friction = 255.0
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nm_terraincontact_bounce = 0.1
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nm_terraincontact_erp = 0.1025
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; Moving Terrain Contact (avatar is moving)
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m_terraincontact_friction = 75.0
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m_terraincontact_bounce = 0.05
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m_terrainContact_erp = 0.05025
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; Moving Avatar to object Contact
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m_avatarobjectcontact_friction = 75.0
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m_avatarobjectcontact_bounce = 0.1
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; Object to Object Contact and Non-Moving Avatar to object
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objectcontact_friction = 250.0
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objectcontact_bounce = 0.2
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[RemoteAdmin]
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enabled = false
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access_password = unknown
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