diff --git a/OpenGridServices.GridServer/OpenGridServices.GridServer.exe.build b/OpenGridServices.GridServer/OpenGridServices.GridServer.exe.build
index a0541433fd..e119279dcb 100644
--- a/OpenGridServices.GridServer/OpenGridServices.GridServer.exe.build
+++ b/OpenGridServices.GridServer/OpenGridServices.GridServer.exe.build
@@ -1,49 +1,49 @@
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diff --git a/OpenGridServices.ServerConsole/OpenGridServices.ServerConsole.dll.build b/OpenGridServices.ServerConsole/OpenGridServices.ServerConsole.dll.build
index 270f92525c..2e6ec3e559 100644
--- a/OpenGridServices.ServerConsole/OpenGridServices.ServerConsole.dll.build
+++ b/OpenGridServices.ServerConsole/OpenGridServices.ServerConsole.dll.build
@@ -1,43 +1,43 @@
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diff --git a/OpenGridServices.UserServer/OpenGridServices.UserServer.exe.build b/OpenGridServices.UserServer/OpenGridServices.UserServer.exe.build
index f4e58d94e6..710b01b939 100644
--- a/OpenGridServices.UserServer/OpenGridServices.UserServer.exe.build
+++ b/OpenGridServices.UserServer/OpenGridServices.UserServer.exe.build
@@ -1,48 +1,48 @@
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diff --git a/OpenSim.Config/SimConfigDb4o/OpenSim.Config.SimConfigDb4o.dll.build b/OpenSim.Config/SimConfigDb4o/OpenSim.Config.SimConfigDb4o.dll.build
index 3dfa7ceb18..703abe6c72 100644
--- a/OpenSim.Config/SimConfigDb4o/OpenSim.Config.SimConfigDb4o.dll.build
+++ b/OpenSim.Config/SimConfigDb4o/OpenSim.Config.SimConfigDb4o.dll.build
@@ -1,47 +1,47 @@
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diff --git a/OpenSim.Framework.Console/OpenSim.Framework.Console.dll.build b/OpenSim.Framework.Console/OpenSim.Framework.Console.dll.build
index 9ceaea6277..2dfc9b0004 100644
--- a/OpenSim.Framework.Console/OpenSim.Framework.Console.dll.build
+++ b/OpenSim.Framework.Console/OpenSim.Framework.Console.dll.build
@@ -1,41 +1,41 @@
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diff --git a/OpenSim.Framework/OpenSim.Framework.dll.build b/OpenSim.Framework/OpenSim.Framework.dll.build
index 79bbf05be0..a5ec58cb37 100644
--- a/OpenSim.Framework/OpenSim.Framework.dll.build
+++ b/OpenSim.Framework/OpenSim.Framework.dll.build
@@ -1,63 +1,63 @@
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diff --git a/OpenSim.GridInterfaces/Local/OpenSim.GridInterfaces.Local.dll.build b/OpenSim.GridInterfaces/Local/OpenSim.GridInterfaces.Local.dll.build
index ec65ba8c71..e3b33cbeec 100644
--- a/OpenSim.GridInterfaces/Local/OpenSim.GridInterfaces.Local.dll.build
+++ b/OpenSim.GridInterfaces/Local/OpenSim.GridInterfaces.Local.dll.build
@@ -1,46 +1,46 @@
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diff --git a/OpenSim.GridInterfaces/Remote/OpenSim.GridInterfaces.Remote.dll.build b/OpenSim.GridInterfaces/Remote/OpenSim.GridInterfaces.Remote.dll.build
index 206045444e..01bf0df0f4 100644
--- a/OpenSim.GridInterfaces/Remote/OpenSim.GridInterfaces.Remote.dll.build
+++ b/OpenSim.GridInterfaces/Remote/OpenSim.GridInterfaces.Remote.dll.build
@@ -1,45 +1,45 @@
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diff --git a/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build
index f14673337a..4217a06281 100644
--- a/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build
+++ b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build
@@ -1,42 +1,42 @@
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diff --git a/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build b/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build
index 47e55347cc..4aaca6ad28 100644
--- a/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build
+++ b/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build
@@ -1,46 +1,46 @@
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diff --git a/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim.Physics/OdePlugin/OdePlugin.cs
index 352084c5bd..01eaf7704a 100644
--- a/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim.Physics/OdePlugin/OdePlugin.cs
@@ -70,31 +70,54 @@ namespace OpenSim.Physics.OdePlugin
public class OdeScene :PhysicsScene
{
- public IntPtr world;
- public IntPtr space;
- private IntPtr contactgroup;
+ static public IntPtr world;
+ static public IntPtr space;
+ static private IntPtr contactgroup;
+ static private IntPtr LandGeom;
+ static private IntPtr Land;
private double[] _heightmap;
+ static private d.NearCallback nearCallback = near;
+ private List _characters = new List();
+ private static d.ContactGeom[] contacts = new d.ContactGeom[500];
+ private static d.Contact contact;
- public OdeScene()
- {
+ public OdeScene() {
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
d.WorldSetCFM(world, 1e-5f);
- d.WorldSetAutoDisableFlag(world, true);
- d.WorldSetContactMaxCorrectingVel(world, 0.1f);
- d.WorldSetContactSurfaceLayer(world, 0.001f);
+ d.WorldSetAutoDisableFlag(world, false);
this._heightmap=new double[65536];
}
+ // This function blatantly ripped off from BoxStack.cs
+ static private void near(IntPtr space, IntPtr g1, IntPtr g2)
+ {
+ IntPtr b1 = d.GeomGetBody(g1);
+ IntPtr b2 = d.GeomGetBody(g2);
+ if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
+ return;
+
+ int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
+ for (int i = 0; i < count; ++i)
+ {
+ contact.geom = contacts[i];
+ IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
+ d.JointAttach(joint, b1, b2);
+ }
+
+ }
+
public override PhysicsActor AddAvatar(PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
- return new OdeCharacter(this,pos);
+ OdeCharacter newAv= new OdeCharacter(this,pos);
+ this._characters.Add(newAv);
+ return newAv;
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
@@ -112,7 +135,16 @@ namespace OpenSim.Physics.OdePlugin
public override void Simulate(float timeStep)
{
-
+ foreach (OdeCharacter actor in _characters) {
+ actor.Move(timeStep*5f);
+ }
+ d.SpaceCollide(space, IntPtr.Zero, nearCallback);
+ d.WorldQuickStep(world, timeStep*5f);
+ foreach (OdeCharacter actor in _characters)
+ {
+ actor.UpdatePosition();
+ }
+
}
public override void GetResults()
@@ -135,7 +167,8 @@ namespace OpenSim.Physics.OdePlugin
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildDouble(HeightmapData,_heightmap,1,256,256,256,256,1.0f,0.0f,2.0f,0);
- d.CreateHeightfield(space, HeightmapData, 0);
+ LandGeom=d.CreateHeightfield(space, HeightmapData, 1);
+ d.GeomSetPosition(LandGeom,0,0,0);
}
}
@@ -156,7 +189,10 @@ namespace OpenSim.Physics.OdePlugin
_position = pos;
_acceleration = new PhysicsVector();
d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
- capsule_geom = d.CreateCapsule(parent_scene.space, 0.5f, 2f);
+ capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
+ this.BoundingCapsule=d.BodyCreate(OdeScene.world);
+ d.BodySetMass(BoundingCapsule, ref capsule_mass);
+ d.BodySetPosition(BoundingCapsule,pos.X,pos.Y,pos.Z);
}
public override bool Flying
@@ -249,12 +285,7 @@ namespace OpenSim.Physics.OdePlugin
vec.Y = this._velocity.Y * timeStep;
if(flying)
{
- vec.Z = ( this._velocity.Z) * timeStep;
- }
- else
- {
- gravityAccel+= -9.8f;
- vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
+ vec.Z = ( this._velocity.Z+0.5f) * timeStep;
}
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
}
@@ -265,7 +296,6 @@ namespace OpenSim.Physics.OdePlugin
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z;
-
}
}
@@ -297,7 +327,7 @@ namespace OpenSim.Physics.OdePlugin
get
{
PhysicsVector pos = new PhysicsVector();
- //PhysicsVector vec = this._prim.Position;
+ // PhysicsVector vec = this._prim.Position;
//pos.X = vec.X;
//pos.Y = vec.Y;
//pos.Z = vec.Z;
diff --git a/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build b/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
index c67d8205cb..e738ab1090 100644
--- a/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
+++ b/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
@@ -1,43 +1,43 @@
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diff --git a/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build b/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build
index 8f9e7dc80f..395cc6b1e9 100644
--- a/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build
+++ b/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build
@@ -1,43 +1,43 @@
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diff --git a/OpenSim.RegionServer/OpenSim.RegionServer.dll.build b/OpenSim.RegionServer/OpenSim.RegionServer.dll.build
index 66d55fb8ab..dced3ae0c7 100644
--- a/OpenSim.RegionServer/OpenSim.RegionServer.dll.build
+++ b/OpenSim.RegionServer/OpenSim.RegionServer.dll.build
@@ -1,69 +1,69 @@
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diff --git a/OpenSim.Storage/LocalStorageDb4o/OpenSim.Storage.LocalStorageDb4o.dll.build b/OpenSim.Storage/LocalStorageDb4o/OpenSim.Storage.LocalStorageDb4o.dll.build
index 44e8597715..ebcda17842 100644
--- a/OpenSim.Storage/LocalStorageDb4o/OpenSim.Storage.LocalStorageDb4o.dll.build
+++ b/OpenSim.Storage/LocalStorageDb4o/OpenSim.Storage.LocalStorageDb4o.dll.build
@@ -1,46 +1,46 @@
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diff --git a/OpenSim.build b/OpenSim.build
index 972331bed3..a15f8da450 100644
--- a/OpenSim.build
+++ b/OpenSim.build
@@ -1,109 +1,109 @@
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diff --git a/OpenSim/OpenSim.exe.build b/OpenSim/OpenSim.exe.build
index 7d69d90e1e..fc516df66f 100644
--- a/OpenSim/OpenSim.exe.build
+++ b/OpenSim/OpenSim.exe.build
@@ -1,47 +1,47 @@
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diff --git a/Prebuild/Prebuild.build b/Prebuild/Prebuild.build
index 395fb31e54..743b8263b6 100644
--- a/Prebuild/Prebuild.build
+++ b/Prebuild/Prebuild.build
@@ -1,67 +1,67 @@
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diff --git a/Prebuild/src/Prebuild.exe.build b/Prebuild/src/Prebuild.exe.build
index 43f5516127..628e7e160d 100644
--- a/Prebuild/src/Prebuild.exe.build
+++ b/Prebuild/src/Prebuild.exe.build
@@ -1,80 +1,80 @@
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