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* Allow passing of material type to physics engine 

* Define low friction and medium bounce for Glass
0.6.5-rc1
Teravus Ovares 2009-04-20 03:07:53 +00:00
parent 0da7c8a78c
commit 21d4423030
4 changed files with 266 additions and 20 deletions
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9
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
View File

@ -421,7 +421,14 @@ namespace OpenSim.Region.Framework.Scenes
public byte Material
{
get { return (byte) m_material; }
set { m_material = (Material)value; }
set
{
m_material = (Material)value;
if (PhysActor != null)
{
PhysActor.SetMaterial((int)value);
}
}
}
public ulong RegionHandle

10
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -182,6 +182,11 @@ namespace OpenSim.Region.Physics.Manager
}
}
public virtual void SetMaterial (int material)
{
}
public abstract PhysicsVector Position { get; set; }
public abstract float Mass { get; }
public abstract PhysicsVector Force { get; set; }
@ -334,6 +339,11 @@ namespace OpenSim.Region.Physics.Manager
}
public override void SetMaterial(int material)
{
}
public override PhysicsVector CenterOfMass
{
get { return PhysicsVector.Zero; }

7
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -169,6 +169,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private ODEVehicleSettings m_vehicle;
internal int m_material = (int)Material.Wood;
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
@ -3096,5 +3098,10 @@ namespace OpenSim.Region.Physics.OdePlugin
dst.I.M22 = src.I.M22;
}
public override void SetMaterial(int pMaterial)
{
m_material = pMaterial;
}
}
}

260
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -123,6 +123,28 @@ namespace OpenSim.Region.Physics.OdePlugin
Selected = 0x00000100
}
/// <summary>
/// Material type for a primitive
/// </summary>
public enum Material : int
{
/// <summary></summary>
Stone = 0,
/// <summary></summary>
Metal = 1,
/// <summary></summary>
Glass = 2,
/// <summary></summary>
Wood = 3,
/// <summary></summary>
Flesh = 4,
/// <summary></summary>
Plastic = 5,
/// <summary></summary>
Rubber = 6
}
public sealed class OdeScene : PhysicsScene
{
private readonly ILog m_log;
@ -239,6 +261,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private d.Contact AvatarMovementprimContact;
private d.Contact AvatarMovementTerrainContact;
private d.Contact WaterContact;
private d.Contact[,] m_materialContacts;
//Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
//Ckrinke private int m_randomizeWater = 200;
@ -319,6 +342,11 @@ namespace OpenSim.Region.Physics.OdePlugin
_heightmap = new float[514*514];
_watermap = new float[258 * 258];
// Zero out the prim spaces array (we split our space into smaller spaces so
// we can hit test less.
}
@ -479,6 +507,131 @@ namespace OpenSim.Region.Physics.OdePlugin
AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
/*
<summary></summary>
Stone = 0,
/// <summary></summary>
Metal = 1,
/// <summary></summary>
Glass = 2,
/// <summary></summary>
Wood = 3,
/// <summary></summary>
Flesh = 4,
/// <summary></summary>
Plastic = 5,
/// <summary></summary>
Rubber = 6
*/
m_materialContacts = new d.Contact[7,2];
m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
/*
private float nmAvatarObjectContactFriction = 250f;
private float nmAvatarObjectContactBounce = 0.1f;
private float mAvatarObjectContactFriction = 75f;
private float mAvatarObjectContactBounce = 0.1f;
*/
m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
@ -869,13 +1022,63 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
// Use the non moving terrain contact
TerrainContact.geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
if (p2.PhysicsActorType == (int)ActorTypes.Agent)
{
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
m_global_contactcount++;
// Use the non moving terrain contact
TerrainContact.geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
m_global_contactcount++;
}
}
else
{
if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
{
// prim prim contact
int pj294950 = 0;
int movintYN = 0;
// prim terrain contact
if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
{
movintYN = 1;
}
int material = ((OdePrim)p2).m_material;
//m_log.DebugFormat("Material: {0}", material);
m_materialContacts[material, movintYN].geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
m_global_contactcount++;
}
}
else
{
int movintYN = 0;
// prim terrain contact
if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
{
movintYN = 1;
}
int material = ((OdePrim)p2).m_material;
//m_log.DebugFormat("Material: {0}", material);
m_materialContacts[material, movintYN].geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
m_global_contactcount++;
}
}
}
}
//if (p2.PhysicsActorType == (int)ActorTypes.Prim)
@ -885,13 +1088,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else if (name1 == "Water" || name2 == "Water")
{
/*
if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
{
}
else
{
}
*/
//WaterContact.surface.soft_cfm = 0.0000f;
//WaterContact.surface.soft_erp = 0.00000f;
if (contacts[i].depth > 0.1f)
@ -913,28 +1117,46 @@ namespace OpenSim.Region.Physics.OdePlugin
{
// we're colliding with prim or avatar
// check if we're moving
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
{
// Use the Movement prim contact
AvatarMovementprimContact.geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
{
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
m_global_contactcount++;
// Use the Movement prim contact
AvatarMovementprimContact.geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
m_global_contactcount++;
}
}
else
{
// Use the non movement contact
contact.geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref contact);
m_global_contactcount++;
}
}
}
else
else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
{
// Use the non movement contact
contact.geom = contacts[i];
//p1.PhysicsActorType
int material = ((OdePrim)p2).m_material;
//m_log.DebugFormat("Material: {0}", material);
m_materialContacts[material, 0].geom = contacts[i];
_perloopContact.Add(contacts[i]);
if (m_global_contactcount < maxContactsbeforedeath)
{
joint = d.JointCreateContact(world, contactgroup, ref contact);
joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
m_global_contactcount++;
}
}
}