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Done some fixes to the ODE plugin, but its still not working correctly, believe that the terrain is rotated /placed wrongly.

0.1-prestable
MW 2007-03-30 15:19:15 +00:00
parent cf182b9897
commit e4316394c3
2 changed files with 404 additions and 374 deletions
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OpenSim.Physics/OdePlugin/OdePlugin.cs
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@ -31,387 +31,417 @@ using Ode.NET;
namespace OpenSim.Physics.OdePlugin
{
/// <summary>
/// ODE plugin
/// </summary>
public class OdePlugin : IPhysicsPlugin
{
private OdeScene _mScene;
public OdePlugin()
{
}
public bool Init()
{
return true;
}
public PhysicsScene GetScene()
{
if(_mScene == null)
{
_mScene = new OdeScene();
}
return(_mScene);
}
public string GetName()
{
return("OpenDynamicsEngine");
}
public void Dispose()
{
}
}
public class OdeScene :PhysicsScene
{
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<OdeCharacter> _characters = new List<OdeCharacter>();
private static d.ContactGeom[] contacts = new d.ContactGeom[500];
private static d.Contact contact;
/// <summary>
/// ODE plugin
/// </summary>
public class OdePlugin : IPhysicsPlugin
{
private OdeScene _mScene;
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, 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;
public OdePlugin()
{
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 bool Init()
{
return true;
}
public override PhysicsActor AddAvatar(PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv= new OdeCharacter(this,pos);
this._characters.Add(newAv);
return newAv;
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
PhysicsVector siz = new PhysicsVector();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
return new OdePrim();
}
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);
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
actor.UpdatePosition();
}
public PhysicsScene GetScene()
{
if (_mScene == null)
{
_mScene = new OdeScene();
}
return (_mScene);
}
}
public override void GetResults()
{
}
public override bool IsThreaded
{
get
{
return(false); // for now we won't be multithreaded
}
}
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);
LandGeom=d.CreateHeightfield(space, HeightmapData, 0);
}
public string GetName()
{
return ("OpenDynamicsEngine");
}
public void Dispose()
{
}
}
public class OdeScene : PhysicsScene
{
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<OdeCharacter> _characters = new List<OdeCharacter>();
private static d.ContactGeom[] contacts = new d.ContactGeom[30];
private static d.Contact contact;
public OdeScene()
{
contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
contact.surface.mu = d.Infinity;
contact.surface.mu2 = 0.0f;
contact.surface.bounce = 0.1f;
contact.surface.bounce_vel = 0.1f;
contact.surface.soft_cfm = 0.01f;
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, false);
d.WorldSetContactSurfaceLayer(world, 0.001f);
// d.CreatePlane(space, 0, 0, 1, 0);
this._heightmap = new double[65536];
}
// This function blatantly ripped off from BoxStack.cs
static private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
//Console.WriteLine("collision callback");
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 + 20;
OdeCharacter newAv = new OdeCharacter(this, pos);
this._characters.Add(newAv);
return newAv;
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
PhysicsVector siz = new PhysicsVector();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
return new OdePrim();
}
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);
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
actor.UpdatePosition();
}
}
public override void GetResults()
{
}
public override bool IsThreaded
{
get
{
return (false); // for now we won't be multithreaded
}
}
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, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
d.Matrix3 R = new d.Matrix3();
Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
//Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
q1 = q1 * q2;
//q1 = q1 * q3;
Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
float angle = 0;
q1.ToAngleAxis(ref angle, ref v3);
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
d.GeomSetRotation(LandGeom, ref R);
d.GeomSetPosition(LandGeom, 128, 128, 0);
}
public override void DeleteTerrain()
{
}
}
public class OdeCharacter : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private bool flying;
private float gravityAccel;
private IntPtr BoundingCapsule;
IntPtr capsule_geom;
d.Mass capsule_mass;
public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
{
_velocity = new PhysicsVector();
_position = pos;
_acceleration = new PhysicsVector();
d.MassSetCapsule(out capsule_mass, 5.0f, 3, 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
{
get
{
return flying;
}
set
{
flying = value;
}
}
public override PhysicsVector Position
{
get
{
return _position;
}
set
{
_position = value;
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
}
set
{
}
}
public override Axiom.MathLib.Quaternion Orientation
{
get
{
return Axiom.MathLib.Quaternion.Identity;
}
set
{
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public void SetAcceleration (PhysicsVector accel)
{
this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
public void Move(float timeStep)
{
PhysicsVector vec = new PhysicsVector();
vec.X = this._velocity.X * timeStep;
vec.Y = this._velocity.Y * timeStep;
if(flying)
{
vec.Z = ( this._velocity.Z+0.5f) * timeStep;
}
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
}
public void UpdatePosition()
{
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z;
}
}
public class OdePrim : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
public OdePrim()
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_acceleration = new PhysicsVector();
}
public override bool Flying
{
get
{
return false; //no flying prims for you
}
set
{
}
}
public override PhysicsVector Position
{
get
{
PhysicsVector pos = new PhysicsVector();
// PhysicsVector vec = this._prim.Position;
//pos.X = vec.X;
//pos.Y = vec.Y;
//pos.Z = vec.Z;
return pos;
}
set
{
/*PhysicsVector vec = value;
PhysicsVector pos = new PhysicsVector();
pos.X = vec.X;
pos.Y = vec.Y;
pos.Z = vec.Z;
this._prim.Position = pos;*/
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
//return this._prim.Kinematic;
}
set
{
//this._prim.Kinematic = value;
}
}
public override Axiom.MathLib.Quaternion Orientation
{
get
{
Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
return res;
}
set
{
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public void SetAcceleration (PhysicsVector accel)
{
this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
}
}
}
public class OdeCharacter : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private bool flying;
private float gravityAccel;
private IntPtr BoundingCapsule;
IntPtr capsule_geom;
d.Mass capsule_mass;
public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
{
_velocity = new PhysicsVector();
_position = pos;
_acceleration = new PhysicsVector();
d.MassSetCapsule(out capsule_mass, 5.0f, 3, 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);
d.GeomSetBody(capsule_geom, BoundingCapsule);
}
public override bool Flying
{
get
{
return flying;
}
set
{
flying = value;
}
}
public override PhysicsVector Position
{
get
{
return _position;
}
set
{
_position = value;
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
}
set
{
}
}
public override Axiom.MathLib.Quaternion Orientation
{
get
{
return Axiom.MathLib.Quaternion.Identity;
}
set
{
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
public void Move(float timeStep)
{
PhysicsVector vec = new PhysicsVector();
vec.X = this._velocity.X * timeStep;
vec.Y = this._velocity.Y * timeStep;
if (flying)
{
vec.Z = (this._velocity.Z + 0.5f) * timeStep;
}
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
}
public void UpdatePosition()
{
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z;
}
}
public class OdePrim : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
public OdePrim()
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_acceleration = new PhysicsVector();
}
public override bool Flying
{
get
{
return false; //no flying prims for you
}
set
{
}
}
public override PhysicsVector Position
{
get
{
PhysicsVector pos = new PhysicsVector();
// PhysicsVector vec = this._prim.Position;
//pos.X = vec.X;
//pos.Y = vec.Y;
//pos.Z = vec.Z;
return pos;
}
set
{
/*PhysicsVector vec = value;
PhysicsVector pos = new PhysicsVector();
pos.X = vec.X;
pos.Y = vec.Y;
pos.Z = vec.Z;
this._prim.Position = pos;*/
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
//return this._prim.Kinematic;
}
set
{
//this._prim.Kinematic = value;
}
}
public override Axiom.MathLib.Quaternion Orientation
{
get
{
Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
return res;
}
set
{
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
}
}

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bin/ode.dll Normal file
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