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ubOde move static/dynamic friction to unmanaged code. Note this now requeries ode version OS0.13.3 currently at opensim-libs repo trunk/unmanaged/ODE-OpenSim-Test

httptests
UbitUmarov 2017-08-21 04:54:01 +01:00
parent f9c01db33c
commit 6cf27e2191
1 changed files with 14 additions and 13 deletions
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27
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
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@ -179,12 +179,13 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; // 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 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2; // const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2;
const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1;
const float comumContactERP = 0.75f; const float comumContactERP = 0.75f;
const float comumContactCFM = 0.0001f; const float comumContactCFM = 0.0001f;
const float comumContactSLIP = 0f; const float comumContactSLIP = 0f;
float frictionMovementMult = 0.8f; // float frictionMovementMult = 0.2f;
float TerrainBounce = 0.001f; float TerrainBounce = 0.001f;
float TerrainFriction = 0.3f; float TerrainFriction = 0.3f;
@ -866,9 +867,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
break; break;
case (int)ActorTypes.Prim: case (int)ActorTypes.Prim:
Vector3 relV = p1.rootVelocity - p2.rootVelocity; // Vector3 relV = p1.rootVelocity - p2.rootVelocity;
float relVlenSQ = relV.LengthSquared(); // float relVlenSQ = relV.LengthSquared();
if (relVlenSQ > 0.0001f) // if (relVlenSQ > 0.0001f)
{ {
p1.CollidingObj = true; p1.CollidingObj = true;
p2.CollidingObj = true; p2.CollidingObj = true;
@ -878,8 +879,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bounce = contactdata1.bounce * contactdata2.bounce; bounce = contactdata1.bounce * contactdata2.bounce;
mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
if (relVlenSQ > 0.01f) // if (relVlenSQ > 0.01f)
mu *= frictionMovementMult; // mu *= frictionMovementMult;
if(d.GeomGetClass(g2) == d.GeomClassID.TriMeshClass && if(d.GeomGetClass(g2) == d.GeomClassID.TriMeshClass &&
d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
@ -891,9 +892,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bounce = contactdata1.bounce * TerrainBounce; bounce = contactdata1.bounce * TerrainBounce;
mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
Vector3 v1 = p1.rootVelocity; // Vector3 v1 = p1.rootVelocity;
if (Math.Abs(v1.X) > 0.1f || Math.Abs(v1.Y) > 0.1f) // if (Math.Abs(v1.X) > 0.1f || Math.Abs(v1.Y) > 0.1f)
mu *= frictionMovementMult; // mu *= frictionMovementMult;
p1.CollidingGround = true; p1.CollidingGround = true;
if(d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) if(d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
@ -918,9 +919,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// if (curContact.side1 > 0) // should be 2 ? // if (curContact.side1 > 0) // should be 2 ?
// IgnoreNegSides = true; // IgnoreNegSides = true;
Vector3 v2 = p2.rootVelocity; // Vector3 v2 = p2.rootVelocity;
if (Math.Abs(v2.X) > 0.1f || Math.Abs(v2.Y) > 0.1f) // if (Math.Abs(v2.X) > 0.1f || Math.Abs(v2.Y) > 0.1f)
mu *= frictionMovementMult; // mu *= frictionMovementMult;
if(d.GeomGetClass(g2) == d.GeomClassID.TriMeshClass) if(d.GeomGetClass(g2) == d.GeomClassID.TriMeshClass)
smoothMesh = true; smoothMesh = true;