*** DANGER TESTING **** changed prims mesh generation hopefully removing
spurius faces. CHanged several aspects. Fixed prims inertia that was too low, still using box as model. Increased number of quickstep SOR iterations to 15. Keep it 15 even on heavy load ( will only jump simulation time).avinationmerge
UbitUmarov
parent
a348c8e44a
commit
4e72cf9ee2
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@ -256,9 +256,9 @@ public class Vertex : IComparable<Vertex>
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// settings your machine works with. Unusable for a machine readable file format :-(
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NumberFormatInfo nfi = new NumberFormatInfo();
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nfi.NumberDecimalSeparator = ".";
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nfi.NumberDecimalDigits = 3;
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nfi.NumberDecimalDigits = 6;
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String s1 = X.ToString("N2", nfi) + " " + Y.ToString("N2", nfi) + " " + Z.ToString("N2", nfi);
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String s1 = X.ToString(nfi) + " " + Y.ToString(nfi) + " " + Z.ToString(nfi);
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return s1;
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}
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@ -205,34 +205,21 @@ namespace OpenSim.Region.Physics.Meshing
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}
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private float fRound(float f)
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{
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int i;
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if (f == 0f)
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return f;
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else if (f > 0f)
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i = (int)(1e5f * f + 0.5f);
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else
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i = (int)(1e5f * f - 0.5f);
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return ((float)i * 1e-5f);
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}
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public void Add(Triangle triangle)
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{
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if (m_indicesPtr != IntPtr.Zero || m_verticesPtr != IntPtr.Zero)
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throw new NotSupportedException("Attempt to Add to a pinned Mesh");
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// round down
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triangle.v1.X = fRound(triangle.v1.X);
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triangle.v1.Y = fRound(triangle.v1.Y);
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triangle.v1.Z = fRound(triangle.v1.Z);
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triangle.v2.X = fRound(triangle.v2.X);
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triangle.v2.Y = fRound(triangle.v2.Y);
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triangle.v2.Z = fRound(triangle.v2.Z);
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triangle.v3.X = fRound(triangle.v3.X);
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triangle.v3.Y = fRound(triangle.v3.Y);
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triangle.v3.Z = fRound(triangle.v3.Z);
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triangle.v1.X = (float)Math.Round(triangle.v1.X, 6);
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triangle.v1.Y = (float)Math.Round(triangle.v1.Y, 6);
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triangle.v1.Z = (float)Math.Round(triangle.v1.Z, 6);
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triangle.v2.X = (float)Math.Round(triangle.v2.X, 6);
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triangle.v2.Y = (float)Math.Round(triangle.v2.Y, 6);
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triangle.v2.Z = (float)Math.Round(triangle.v2.Z, 6);
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triangle.v3.X = (float)Math.Round(triangle.v3.X, 6);
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triangle.v3.Y = (float)Math.Round(triangle.v3.Y, 6);
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triangle.v3.Z = (float)Math.Round(triangle.v3.Z, 6);
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if ((triangle.v1.X == triangle.v2.X && triangle.v1.Y == triangle.v2.Y && triangle.v1.Z == triangle.v2.Z)
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|| (triangle.v1.X == triangle.v3.X && triangle.v1.Y == triangle.v3.Y && triangle.v1.Z == triangle.v3.Z)
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@ -816,15 +816,31 @@ namespace OpenSim.Region.Physics.Meshing
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float profileBegin = (float)primShape.ProfileBegin * 2.0e-5f;
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float profileEnd = 1.0f - (float)primShape.ProfileEnd * 2.0e-5f;
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if (profileBegin < 0.0f)
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profileBegin = 0.0f;
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if (profileEnd < 0.02f)
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profileEnd = 0.02f;
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else if (profileEnd > 1.0f)
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profileEnd = 1.0f;
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if (profileBegin >= profileEnd)
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profileBegin = profileEnd - 0.02f;
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float profileHollow = (float)primShape.ProfileHollow * 2.0e-5f;
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if (profileHollow > 0.95f)
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profileHollow = 0.95f;
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int sides = 4;
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LevelOfDetail iLOD = (LevelOfDetail)lod;
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if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
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byte profshape = (byte)(primShape.ProfileCurve & 0x07);
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if (profshape == (byte)ProfileShape.EquilateralTriangle
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|| profshape == (byte)ProfileShape.IsometricTriangle
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|| profshape == (byte)ProfileShape.RightTriangle)
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sides = 3;
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else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
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else if (profshape == (byte)ProfileShape.Circle)
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{
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switch (iLOD)
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{
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@ -835,7 +851,7 @@ namespace OpenSim.Region.Physics.Meshing
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default: sides = 24; break;
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}
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}
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else if ((primShape.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
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else if (profshape == (byte)ProfileShape.HalfCircle)
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{ // half circle, prim is a sphere
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switch (iLOD)
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{
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@ -865,10 +881,15 @@ namespace OpenSim.Region.Physics.Meshing
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else if (primShape.HollowShape == HollowShape.Square)
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hollowSides = 4;
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else if (primShape.HollowShape == HollowShape.Triangle)
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hollowSides = 3;
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{
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if (profshape == (byte)ProfileShape.HalfCircle)
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hollowSides = 6;
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else
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hollowSides = 3;
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}
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primMesh = new PrimMesh(sides, profileBegin, profileEnd, profileHollow, hollowSides);
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if (primMesh.errorMessage != null)
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if (primMesh.errorMessage.Length > 0)
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m_log.Error("[ERROR] " + primMesh.errorMessage);
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@ -880,17 +901,11 @@ namespace OpenSim.Region.Physics.Meshing
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if (primShape.PathCurve == (byte)Extrusion.Straight || primShape.PathCurve == (byte) Extrusion.Flexible)
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{
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primMesh.twistBegin = primShape.PathTwistBegin * 18 / 10;
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primMesh.twistEnd = primShape.PathTwist * 18 / 10;
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primMesh.twistBegin = (primShape.PathTwistBegin * 18) / 10;
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primMesh.twistEnd = (primShape.PathTwist * 18) / 10;
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primMesh.taperX = pathScaleX;
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primMesh.taperY = pathScaleY;
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if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
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{
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ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
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if (profileBegin < 0.0f) profileBegin = 0.0f;
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if (profileEnd > 1.0f) profileEnd = 1.0f;
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}
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#if SPAM
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m_log.Debug("****** PrimMesh Parameters (Linear) ******\n" + primMesh.ParamsToDisplayString());
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#endif
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@ -911,17 +926,11 @@ namespace OpenSim.Region.Physics.Meshing
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primMesh.radius = 0.01f * primShape.PathRadiusOffset;
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primMesh.revolutions = 1.0f + 0.015f * primShape.PathRevolutions;
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primMesh.skew = 0.01f * primShape.PathSkew;
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primMesh.twistBegin = primShape.PathTwistBegin * 36 / 10;
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primMesh.twistEnd = primShape.PathTwist * 36 / 10;
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primMesh.twistBegin = (primShape.PathTwistBegin * 36) / 10;
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primMesh.twistEnd = (primShape.PathTwist * 36) / 10;
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primMesh.taperX = primShape.PathTaperX * 0.01f;
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primMesh.taperY = primShape.PathTaperY * 0.01f;
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if (profileBegin < 0.0f || profileBegin >= profileEnd || profileEnd > 1.0f)
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{
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ReportPrimError("*** CORRUPT PRIM!! ***", primName, primMesh);
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if (profileBegin < 0.0f) profileBegin = 0.0f;
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if (profileEnd > 1.0f) profileEnd = 1.0f;
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}
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#if SPAM
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m_log.Debug("****** PrimMesh Parameters (Circular) ******\n" + primMesh.ParamsToDisplayString());
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#endif
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@ -1031,14 +1040,19 @@ namespace OpenSim.Region.Physics.Meshing
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public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
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{
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return CreateMesh(primName, primShape, size, lod, false,false,false,false);
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return CreateMesh(primName, primShape, size, lod, false,false,false);
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}
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public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
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{
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return CreateMesh(primName, primShape, size, lod, false,false,false,false);
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return CreateMesh(primName, primShape, size, lod, false,false,false);
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}
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public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde)
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{
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return CreateMesh(primName, primShape, size, lod, false, false, false);
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}
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public IMesh GetMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
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{
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Mesh mesh = null;
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@ -1080,7 +1094,7 @@ namespace OpenSim.Region.Physics.Meshing
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private static Vector3 m_MeshUnitSize = new Vector3(1.0f, 1.0f, 1.0f);
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public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache, bool convex, bool forOde)
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public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex, bool forOde)
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{
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#if SPAM
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m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
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File diff suppressed because it is too large
Load Diff
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@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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else
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{
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repData.meshState = MeshState.needMesh;
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mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
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mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
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if (mesh == null)
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{
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repData.meshState = MeshState.MeshFailed;
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@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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clod = (int)LevelOfDetail.Low;
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}
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mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true);
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mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
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if (mesh == null)
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{
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@ -929,4 +929,4 @@ namespace OpenSim.Region.Physics.OdePlugin
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repData.actor.Name);
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}
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}
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}
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}
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@ -25,7 +25,7 @@
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/* Revision 2011/12 by Ubit Umarov
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/* Revision 2011/12/13 by Ubit Umarov
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*
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*
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*/
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@ -1736,7 +1736,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodySetAutoDisableFlag(Body, true);
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d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
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d.BodySetDamping(Body, .005f, .005f);
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d.BodySetAutoDisableAngularThreshold(Body, 0.01f);
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d.BodySetAutoDisableLinearThreshold(Body, 0.01f);
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d.BodySetDamping(Body, .005f, .001f);
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if (m_targetSpace != IntPtr.Zero)
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{
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@ -2144,7 +2146,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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_mass = primMass; // just in case
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d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z);
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d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z);
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d.MassTranslate(ref primdMass,
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m_OBBOffset.X,
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@ -2362,6 +2364,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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MakeBody();
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}
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#region changes
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private void changeadd()
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@ -3213,7 +3216,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (++bodydisablecontrol < 20)
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return;
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d.BodyEnable(Body);
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}
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@ -3381,11 +3383,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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public void UpdatePositionAndVelocity()
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public void UpdatePositionAndVelocity(int frame)
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{
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if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
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{
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if (d.BodyIsEnabled(Body) || !_zeroFlag)
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bool bodyenabled = d.BodyIsEnabled(Body);
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if (bodyenabled || !_zeroFlag)
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{
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bool lastZeroFlag = _zeroFlag;
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@ -3478,13 +3481,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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// tolerance values depende a lot on simulation noise...
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// use simple math.abs since we dont need to be exact
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if (
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(Math.Abs(_position.X - lpos.X) < 0.001f)
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&& (Math.Abs(_position.Y - lpos.Y) < 0.001f)
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&& (Math.Abs(_position.Z - lpos.Z) < 0.001f)
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&& (Math.Abs(_orientation.X - ori.X) < 0.0001f)
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&& (Math.Abs(_orientation.Y - ori.Y) < 0.0001f)
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&& (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W
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if (!bodyenabled ||
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(Math.Abs(_position.X - lpos.X) < 0.005f)
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&& (Math.Abs(_position.Y - lpos.Y) < 0.005f)
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&& (Math.Abs(_position.Z - lpos.Z) < 0.005f)
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&& (Math.Abs(_orientation.X - ori.X) < 0.001f)
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&& (Math.Abs(_orientation.Y - ori.Y) < 0.001f)
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&& (Math.Abs(_orientation.Z - ori.Z) < 0.001f) // ignore W
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)
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{
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_zeroFlag = true;
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@ -3499,9 +3502,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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_acceleration = _velocity;
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if ((Math.Abs(vel.X) < 0.001f) &&
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(Math.Abs(vel.Y) < 0.001f) &&
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(Math.Abs(vel.Z) < 0.001f))
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if ((Math.Abs(vel.X) < 0.005f) &&
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(Math.Abs(vel.Y) < 0.005f) &&
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(Math.Abs(vel.Z) < 0.005f))
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{
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_velocity = Vector3.Zero;
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float t = -m_invTimeStep;
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@ -3538,6 +3541,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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_position.X = lpos.X;
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_position.Y = lpos.Y;
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_position.Z = lpos.Z;
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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if (_zeroFlag)
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{
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if (lastZeroFlag)
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@ -3556,14 +3568,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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return;
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}
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_position.X = lpos.X;
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_position.Y = lpos.Y;
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_position.Z = lpos.Z;
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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base.RequestPhysicsterseUpdate();
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m_lastUpdateSent = false;
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}
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@ -680,4 +680,4 @@ namespace OpenSim.Region.Physics.OdePlugin
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public RayFilterFlags filter;
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public Quaternion orientation;
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}
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}
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}
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@ -1869,7 +1869,7 @@ namespace OdeAPI
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]
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public static extern void SpaceSetCleanup(IntPtr space, bool mode);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
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[DllImport("ode.dll", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity]
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public static extern void SpaceSetSublevel(IntPtr space, int sublevel);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity]
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@ -25,6 +25,7 @@
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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// Revision 2011/12/13 by Ubit Umarov
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//#define SPAM
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using System;
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@ -43,25 +44,7 @@ using OpenMetaverse;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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public enum StatusIndicators : int
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{
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Generic = 0,
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Start = 1,
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End = 2
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}
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public struct sCollisionData
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{
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public uint ColliderLocalId;
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public uint CollidedWithLocalId;
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public int NumberOfCollisions;
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public int CollisionType;
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public int StatusIndicator;
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public int lastframe;
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}
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// colision flags of things others can colide with
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// colision flags of things others can colide with
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// rays, sensors, probes removed since can't be colided with
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// The top space where things are placed provided further selection
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// ie physical are in active space nonphysical in static
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@ -188,12 +171,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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public bool OdeUbitLib = false;
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// private int threadid = 0;
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private Random fluidRandomizer = new Random(Environment.TickCount);
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// private Random fluidRandomizer = new Random(Environment.TickCount);
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const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
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const float MaxERP = 0.8f;
|
||||
const float minERP = 0.1f;
|
||||
// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
|
||||
|
||||
const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1;
|
||||
const float comumContactERP = 0.7f;
|
||||
const float comumContactCFM = 0.0001f;
|
||||
const float comumContactSLIP = 0.000001f;
|
||||
|
||||
float frictionMovementMult = 0.8f;
|
||||
|
||||
|
|
@ -236,8 +221,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
public float geomDefaultDensity = 10.000006836f;
|
||||
|
||||
public int geomContactPointsStartthrottle = 3;
|
||||
public int geomUpdatesPerThrottledUpdate = 15;
|
||||
// public int geomContactPointsStartthrottle = 3;
|
||||
// public int geomUpdatesPerThrottledUpdate = 15;
|
||||
|
||||
public float bodyPIDD = 35f;
|
||||
public float bodyPIDG = 25;
|
||||
|
|
@ -246,7 +231,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
public int bodyFramesAutoDisable = 5;
|
||||
|
||||
|
||||
private d.NearCallback nearCallback;
|
||||
|
||||
private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
|
||||
|
|
@ -266,11 +250,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
|
||||
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
|
||||
|
||||
private float contactsurfacelayer = 0.002f;
|
||||
private float contactsurfacelayer = 0.001f;
|
||||
|
||||
private int contactsPerCollision = 80;
|
||||
internal IntPtr ContactgeomsArray = IntPtr.Zero;
|
||||
private IntPtr GlobalContactsArray = IntPtr.Zero;
|
||||
private d.Contact SharedTmpcontact = new d.Contact();
|
||||
|
||||
const int maxContactsbeforedeath = 4000;
|
||||
private volatile int m_global_contactcount = 0;
|
||||
|
|
@ -283,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
|
||||
private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
|
||||
|
||||
private int m_physicsiterations = 10;
|
||||
private int m_physicsiterations = 15;
|
||||
private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
|
||||
// private PhysicsActor PANull = new NullPhysicsActor();
|
||||
private float step_time = 0.0f;
|
||||
|
|
@ -303,8 +288,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
public IntPtr StaticSpace; // space for the static things around
|
||||
public IntPtr GroundSpace; // space for ground
|
||||
|
||||
public IntPtr SharedRay;
|
||||
|
||||
// some speedup variables
|
||||
private int spaceGridMaxX;
|
||||
private int spaceGridMaxY;
|
||||
|
|
@ -431,8 +414,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
contactgroup = d.JointGroupCreate(0);
|
||||
//contactgroup
|
||||
|
||||
SharedRay = d.CreateRay(TopSpace, 1.0f);
|
||||
|
||||
d.WorldSetAutoDisableFlag(world, false);
|
||||
}
|
||||
}
|
||||
|
|
@ -481,10 +462,10 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
|
||||
|
||||
contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
|
||||
// contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
|
||||
|
||||
ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
|
||||
m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
|
||||
// m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
|
||||
|
||||
avDensity = physicsconfig.GetFloat("av_density", avDensity);
|
||||
avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
|
||||
|
|
@ -492,8 +473,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
|
||||
|
||||
geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
|
||||
geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
|
||||
// geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
|
||||
// geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
|
||||
// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
|
||||
|
||||
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
|
||||
|
|
@ -508,6 +489,23 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
d.WorldSetCFM(world, comumContactCFM);
|
||||
d.WorldSetERP(world, comumContactERP);
|
||||
|
||||
d.WorldSetGravity(world, gravityx, gravityy, gravityz);
|
||||
|
||||
d.WorldSetLinearDamping(world, 0.002f);
|
||||
d.WorldSetAngularDamping(world, 0.002f);
|
||||
d.WorldSetAngularDampingThreshold(world, 0f);
|
||||
d.WorldSetLinearDampingThreshold(world, 0f);
|
||||
d.WorldSetMaxAngularSpeed(world, 100f);
|
||||
|
||||
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
||||
|
||||
d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
|
||||
d.WorldSetContactMaxCorrectingVel(world, 60.0f);
|
||||
|
||||
m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig);
|
||||
|
||||
HalfOdeStep = ODE_STEPSIZE * 0.5f;
|
||||
|
|
@ -516,6 +514,20 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
|
||||
GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
|
||||
|
||||
SharedTmpcontact.geom.g1 = IntPtr.Zero;
|
||||
SharedTmpcontact.geom.g2 = IntPtr.Zero;
|
||||
|
||||
SharedTmpcontact.geom.side1 = -1;
|
||||
SharedTmpcontact.geom.side2 = -1;
|
||||
|
||||
SharedTmpcontact.surface.mode = comumContactFlags;
|
||||
SharedTmpcontact.surface.mu = 0;
|
||||
SharedTmpcontact.surface.bounce = 0;
|
||||
SharedTmpcontact.surface.soft_cfm = comumContactCFM;
|
||||
SharedTmpcontact.surface.soft_erp = comumContactERP;
|
||||
SharedTmpcontact.surface.slip1 = comumContactSLIP;
|
||||
SharedTmpcontact.surface.slip2 = comumContactSLIP;
|
||||
|
||||
m_materialContactsData[(int)Material.Stone].mu = 0.8f;
|
||||
m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
|
||||
|
||||
|
|
@ -540,27 +552,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
m_materialContactsData[(int)Material.light].mu = 0.0f;
|
||||
m_materialContactsData[(int)Material.light].bounce = 0.0f;
|
||||
|
||||
// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
|
||||
|
||||
d.WorldSetGravity(world, gravityx, gravityy, gravityz);
|
||||
d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
|
||||
|
||||
d.WorldSetLinearDamping(world, 0.002f);
|
||||
d.WorldSetAngularDamping(world, 0.002f);
|
||||
d.WorldSetAngularDampingThreshold(world, 0f);
|
||||
d.WorldSetLinearDampingThreshold(world, 0f);
|
||||
d.WorldSetMaxAngularSpeed(world, 100f);
|
||||
|
||||
d.WorldSetCFM(world,1e-6f); // a bit harder than default
|
||||
//d.WorldSetCFM(world, 1e-4f); // a bit harder than default
|
||||
d.WorldSetERP(world, 0.6f); // higher than original
|
||||
|
||||
// Set how many steps we go without running collision testing
|
||||
// This is in addition to the step size.
|
||||
// Essentially Steps * m_physicsiterations
|
||||
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
||||
|
||||
d.WorldSetContactMaxCorrectingVel(world, 60.0f);
|
||||
|
||||
spacesPerMeter = 1 / metersInSpace;
|
||||
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
|
||||
|
|
@ -631,40 +622,21 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
// sets a global contact for a joint for contactgeom , and base contact description)
|
||||
|
||||
private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
|
||||
|
||||
|
||||
private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom)
|
||||
{
|
||||
if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
|
||||
if (m_global_contactcount >= maxContactsbeforedeath)
|
||||
return IntPtr.Zero;
|
||||
|
||||
float erp = contactGeom.depth;
|
||||
erp *= erpscale;
|
||||
if (erp < minERP)
|
||||
erp = minERP;
|
||||
else if (erp > MaxERP)
|
||||
erp = MaxERP;
|
||||
m_global_contactcount++;
|
||||
|
||||
float depth = contactGeom.depth * dscale;
|
||||
if (depth > 0.5f)
|
||||
depth = 0.5f;
|
||||
|
||||
d.Contact newcontact = new d.Contact();
|
||||
newcontact.geom.depth = depth;
|
||||
newcontact.geom.g1 = contactGeom.g1;
|
||||
newcontact.geom.g2 = contactGeom.g2;
|
||||
newcontact.geom.pos = contactGeom.pos;
|
||||
newcontact.geom.normal = contactGeom.normal;
|
||||
newcontact.geom.side1 = contactGeom.side1;
|
||||
newcontact.geom.side2 = contactGeom.side2;
|
||||
|
||||
// this needs bounce also
|
||||
newcontact.surface.mode = comumContactFlags;
|
||||
newcontact.surface.mu = mu;
|
||||
newcontact.surface.bounce = bounce;
|
||||
newcontact.surface.soft_cfm = cfm;
|
||||
newcontact.surface.soft_erp = erp;
|
||||
SharedTmpcontact.geom.depth = contactGeom.depth;
|
||||
SharedTmpcontact.geom.pos = contactGeom.pos;
|
||||
SharedTmpcontact.geom.normal = contactGeom.normal;
|
||||
|
||||
IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
|
||||
Marshal.StructureToPtr(newcontact, contact, true);
|
||||
Marshal.StructureToPtr(SharedTmpcontact, contact, true);
|
||||
return d.JointCreateContactPtr(world, contactgroup, contact);
|
||||
}
|
||||
|
||||
|
|
@ -825,10 +797,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (!GetCurContactGeom(0, ref curContact))
|
||||
return;
|
||||
|
||||
ContactPoint maxDepthContact = new ContactPoint();
|
||||
|
||||
// do volume detection case
|
||||
if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
|
||||
{
|
||||
ContactPoint maxDepthContact = new ContactPoint(
|
||||
maxDepthContact = new ContactPoint(
|
||||
new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
|
||||
new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
|
||||
curContact.depth, false
|
||||
|
|
@ -842,10 +816,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
float mu = 0;
|
||||
float bounce = 0;
|
||||
float cfm = 0.0001f;
|
||||
float erpscale = 1.0f;
|
||||
float dscale = 1.0f;
|
||||
bool IgnoreNegSides = false;
|
||||
// bool IgnoreNegSides = false;
|
||||
|
||||
ContactData contactdata1 = new ContactData(0, 0, false);
|
||||
ContactData contactdata2 = new ContactData(0, 0, false);
|
||||
|
|
@ -890,7 +861,9 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
break;
|
||||
|
||||
case (int)ActorTypes.Prim:
|
||||
if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f)
|
||||
Vector3 relV = p1.Velocity - p2.Velocity;
|
||||
float relVlenSQ = relV.LengthSquared();
|
||||
if (relVlenSQ > 0.0001f)
|
||||
{
|
||||
p1.CollidingObj = true;
|
||||
p2.CollidingObj = true;
|
||||
|
|
@ -900,21 +873,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
bounce = contactdata1.bounce * contactdata2.bounce;
|
||||
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
|
||||
|
||||
cfm = p1.Mass;
|
||||
if (cfm > p2.Mass)
|
||||
cfm = p2.Mass;
|
||||
dscale = 10 / cfm;
|
||||
dscale = (float)Math.Sqrt(dscale);
|
||||
if (dscale > 1.0f)
|
||||
dscale = 1.0f;
|
||||
erpscale = cfm * 0.01f;
|
||||
cfm = 0.0001f / cfm;
|
||||
if (cfm > 0.01f)
|
||||
cfm = 0.01f;
|
||||
else if (cfm < 0.00001f)
|
||||
cfm = 0.00001f;
|
||||
|
||||
if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
|
||||
if (relVlenSQ > 0.01f)
|
||||
mu *= frictionMovementMult;
|
||||
|
||||
break;
|
||||
|
|
@ -923,27 +882,17 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
p1.getContactData(ref contactdata1);
|
||||
bounce = contactdata1.bounce * TerrainBounce;
|
||||
mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
|
||||
|
||||
if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
|
||||
mu *= frictionMovementMult;
|
||||
p1.CollidingGround = true;
|
||||
|
||||
cfm = p1.Mass;
|
||||
dscale = 10 / cfm;
|
||||
dscale = (float)Math.Sqrt(dscale);
|
||||
if (dscale > 1.0f)
|
||||
dscale = 1.0f;
|
||||
erpscale = cfm * 0.01f;
|
||||
cfm = 0.0001f / cfm;
|
||||
if (cfm > 0.01f)
|
||||
cfm = 0.01f;
|
||||
else if (cfm < 0.00001f)
|
||||
cfm = 0.00001f;
|
||||
|
||||
/*
|
||||
if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
|
||||
{
|
||||
if (curContact.side1 > 0)
|
||||
IgnoreNegSides = true;
|
||||
}
|
||||
*/
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Water:
|
||||
|
|
@ -961,22 +910,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
bounce = contactdata2.bounce * TerrainBounce;
|
||||
mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
|
||||
|
||||
cfm = p2.Mass;
|
||||
dscale = 10 / cfm;
|
||||
dscale = (float)Math.Sqrt(dscale);
|
||||
|
||||
if (dscale > 1.0f)
|
||||
dscale = 1.0f;
|
||||
|
||||
erpscale = cfm * 0.01f;
|
||||
cfm = 0.0001f / cfm;
|
||||
if (cfm > 0.01f)
|
||||
cfm = 0.01f;
|
||||
else if (cfm < 0.00001f)
|
||||
cfm = 0.00001f;
|
||||
|
||||
if (curContact.side1 > 0) // should be 2 ?
|
||||
IgnoreNegSides = true;
|
||||
// if (curContact.side1 > 0) // should be 2 ?
|
||||
// IgnoreNegSides = true;
|
||||
|
||||
if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
|
||||
mu *= frictionMovementMult;
|
||||
|
|
@ -993,26 +928,24 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (ignore)
|
||||
return;
|
||||
|
||||
|
||||
d.ContactGeom maxContact = curContact;
|
||||
// if (IgnoreNegSides && curContact.side1 < 0)
|
||||
// maxContact.depth = float.MinValue;
|
||||
|
||||
d.ContactGeom minContact = curContact;
|
||||
// if (IgnoreNegSides && curContact.side1 < 0)
|
||||
// minContact.depth = float.MaxValue;
|
||||
|
||||
IntPtr Joint;
|
||||
bool FeetCollision = false;
|
||||
int ncontacts = 0;
|
||||
|
||||
|
||||
int i = 0;
|
||||
|
||||
maxDepthContact = new ContactPoint();
|
||||
maxDepthContact.PenetrationDepth = float.MinValue;
|
||||
ContactPoint minDepthContact = new ContactPoint();
|
||||
minDepthContact.PenetrationDepth = float.MaxValue;
|
||||
|
||||
SharedTmpcontact.geom.depth = 0;
|
||||
SharedTmpcontact.surface.mu = mu;
|
||||
SharedTmpcontact.surface.bounce = bounce;
|
||||
|
||||
while (true)
|
||||
{
|
||||
|
||||
// if (!(IgnoreNegSides && curContact.side1 < 0))
|
||||
// if (!(IgnoreNegSides && curContact.side1 < 0))
|
||||
{
|
||||
bool noskip = true;
|
||||
if (dop1ava)
|
||||
|
|
@ -1029,26 +962,32 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
if (noskip)
|
||||
{
|
||||
m_global_contactcount++;
|
||||
if (m_global_contactcount >= maxContactsbeforedeath)
|
||||
break;
|
||||
|
||||
ncontacts++;
|
||||
|
||||
Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
|
||||
Joint = CreateContacJoint(ref curContact);
|
||||
if (Joint == IntPtr.Zero)
|
||||
break;
|
||||
|
||||
d.JointAttach(Joint, b1, b2);
|
||||
|
||||
if (curContact.depth > maxContact.depth)
|
||||
maxContact = curContact;
|
||||
ncontacts++;
|
||||
|
||||
if (curContact.depth < minContact.depth)
|
||||
minContact = curContact;
|
||||
if (curContact.depth > maxDepthContact.PenetrationDepth)
|
||||
{
|
||||
maxDepthContact.Position.X = curContact.pos.X;
|
||||
maxDepthContact.Position.Y = curContact.pos.Y;
|
||||
maxDepthContact.Position.Z = curContact.pos.Z;
|
||||
maxDepthContact.PenetrationDepth = curContact.depth;
|
||||
maxDepthContact.CharacterFeet = FeetCollision;
|
||||
}
|
||||
|
||||
if (curContact.depth < minDepthContact.PenetrationDepth)
|
||||
{
|
||||
minDepthContact.PenetrationDepth = curContact.depth;
|
||||
minDepthContact.SurfaceNormal.X = curContact.normal.X;
|
||||
minDepthContact.SurfaceNormal.Y = curContact.normal.Y;
|
||||
minDepthContact.SurfaceNormal.Z = curContact.normal.Z;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (++i >= count)
|
||||
break;
|
||||
|
||||
|
|
@ -1058,11 +997,10 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
if (ncontacts > 0)
|
||||
{
|
||||
ContactPoint maxDepthContact = new ContactPoint(
|
||||
new Vector3(maxContact.pos.X, maxContact.pos.Y, maxContact.pos.Z),
|
||||
new Vector3(minContact.normal.X, minContact.normal.Y, minContact.normal.Z),
|
||||
maxContact.depth, FeetCollision
|
||||
);
|
||||
maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X;
|
||||
maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y;
|
||||
maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z;
|
||||
|
||||
collision_accounting_events(p1, p2, maxDepthContact);
|
||||
}
|
||||
}
|
||||
|
|
@ -1629,16 +1567,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (framecount < 0)
|
||||
framecount = 0;
|
||||
|
||||
|
||||
framecount++;
|
||||
|
||||
int curphysiteractions;
|
||||
// int curphysiteractions;
|
||||
|
||||
// if in trouble reduce step resolution
|
||||
if (step_time >= m_SkipFramesAtms)
|
||||
curphysiteractions = m_physicsiterations / 2;
|
||||
else
|
||||
curphysiteractions = m_physicsiterations;
|
||||
// if (step_time >= m_SkipFramesAtms)
|
||||
// curphysiteractions = m_physicsiterations / 2;
|
||||
// else
|
||||
// curphysiteractions = m_physicsiterations;
|
||||
|
||||
// checkThread();
|
||||
int nodeframes = 0;
|
||||
|
|
@ -1653,14 +1590,12 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
|
||||
ODEchangeitem item;
|
||||
|
||||
|
||||
|
||||
d.WorldSetQuickStepNumIterations(world, curphysiteractions);
|
||||
// d.WorldSetQuickStepNumIterations(world, curphysiteractions);
|
||||
|
||||
int loopstartMS = Util.EnvironmentTickCount();
|
||||
int looptimeMS = 0;
|
||||
|
||||
|
||||
|
||||
while (step_time > HalfOdeStep)
|
||||
{
|
||||
|
|
@ -1763,6 +1698,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
// do a ode simulation step
|
||||
d.WorldQuickStep(world, ODE_STEPSIZE);
|
||||
// d.WorldStep(world, ODE_STEPSIZE);
|
||||
d.JointGroupEmpty(contactgroup);
|
||||
|
||||
// update managed ideia of physical data and do updates to core
|
||||
|
|
@ -1789,7 +1725,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
{
|
||||
if (actor.IsPhysical)
|
||||
{
|
||||
actor.UpdatePositionAndVelocity();
|
||||
actor.UpdatePositionAndVelocity(framecount);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue