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Added height field building to ODE plugin

tourmaline
gareth 2007-03-26 00:27:22 +00:00
parent 84c2a72140
commit 95e45e5b63
1 changed files with 20 additions and 2 deletions
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20
OpenSim.Physics/OdePlugin/OdePlugin.cs
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@ -27,6 +27,7 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using OpenSim.Physics.Manager; using OpenSim.Physics.Manager;
using Ode.NET;
namespace OpenSim.Physics.OdePlugin namespace OpenSim.Physics.OdePlugin
{ {
@ -69,10 +70,21 @@ namespace OpenSim.Physics.OdePlugin
public class OdeScene :PhysicsScene public class OdeScene :PhysicsScene
{ {
private IntPtr world;
private IntPtr space;
private IntPtr contactgroup;
private double[] _heightmap;
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);
} }
public override PhysicsActor AddAvatar(PhysicsVector position) public override PhysicsActor AddAvatar(PhysicsVector position)
@ -117,6 +129,12 @@ namespace OpenSim.Physics.OdePlugin
public override void SetTerrain(float[] heightMap) public override void SetTerrain(float[] heightMap)
{ {
for(int i=0; i<65536; i++) {
this._heightmap[i]=(double)heightMap[i];
}
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);
} }
} }