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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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78
OpenSim.Physics/OdePlugin/OdePlugin.cs
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@ -50,16 +50,16 @@ namespace OpenSim.Physics.OdePlugin
public PhysicsScene GetScene() public PhysicsScene GetScene()
{ {
if(_mScene == null) if (_mScene == null)
{ {
_mScene = new OdeScene(); _mScene = new OdeScene();
} }
return(_mScene); return (_mScene);
} }
public string GetName() public string GetName()
{ {
return("OpenDynamicsEngine"); return ("OpenDynamicsEngine");
} }
public void Dispose() public void Dispose()
@ -68,7 +68,7 @@ namespace OpenSim.Physics.OdePlugin
} }
} }
public class OdeScene :PhysicsScene public class OdeScene : PhysicsScene
{ {
static public IntPtr world; static public IntPtr world;
static public IntPtr space; static public IntPtr space;
@ -78,22 +78,33 @@ namespace OpenSim.Physics.OdePlugin
private double[] _heightmap; private double[] _heightmap;
static private d.NearCallback nearCallback = near; static private d.NearCallback nearCallback = near;
private List<OdeCharacter> _characters = new List<OdeCharacter>(); private List<OdeCharacter> _characters = new List<OdeCharacter>();
private static d.ContactGeom[] contacts = new d.ContactGeom[500]; private static d.ContactGeom[] contacts = new d.ContactGeom[30];
private static d.Contact contact; private static d.Contact contact;
public OdeScene() { 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(); world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero); space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0); contactgroup = d.JointGroupCreate(0);
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
d.WorldSetCFM(world, 1e-5f); //d.WorldSetCFM(world, 1e-5f);
d.WorldSetAutoDisableFlag(world, false); d.WorldSetAutoDisableFlag(world, false);
this._heightmap=new double[65536]; 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 // This function blatantly ripped off from BoxStack.cs
static private void near(IntPtr space, IntPtr g1, IntPtr g2) static private void near(IntPtr space, IntPtr g1, IntPtr g2)
{ {
//Console.WriteLine("collision callback");
IntPtr b1 = d.GeomGetBody(g1); IntPtr b1 = d.GeomGetBody(g1);
IntPtr b2 = d.GeomGetBody(g2); IntPtr b2 = d.GeomGetBody(g2);
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
@ -114,8 +125,8 @@ namespace OpenSim.Physics.OdePlugin
PhysicsVector pos = new PhysicsVector(); PhysicsVector pos = new PhysicsVector();
pos.X = position.X; pos.X = position.X;
pos.Y = position.Y; pos.Y = position.Y;
pos.Z = position.Z; pos.Z = position.Z + 20;
OdeCharacter newAv= new OdeCharacter(this,pos); OdeCharacter newAv = new OdeCharacter(this, pos);
this._characters.Add(newAv); this._characters.Add(newAv);
return newAv; return newAv;
} }
@ -135,11 +146,12 @@ namespace OpenSim.Physics.OdePlugin
public override void Simulate(float timeStep) public override void Simulate(float timeStep)
{ {
foreach (OdeCharacter actor in _characters) { foreach (OdeCharacter actor in _characters)
actor.Move(timeStep*5f); {
actor.Move(timeStep * 5f);
} }
d.SpaceCollide(space, IntPtr.Zero, nearCallback); d.SpaceCollide(space, IntPtr.Zero, nearCallback);
d.WorldQuickStep(world, timeStep*5f); d.WorldQuickStep(world, timeStep * 5f);
d.JointGroupEmpty(contactgroup); d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters) foreach (OdeCharacter actor in _characters)
{ {
@ -157,18 +169,35 @@ namespace OpenSim.Physics.OdePlugin
{ {
get get
{ {
return(false); // for now we won't be multithreaded return (false); // for now we won't be multithreaded
} }
} }
public override void SetTerrain(float[] heightMap) public override void SetTerrain(float[] heightMap)
{ {
for(int i=0; i<65536; i++) { for (int i = 0; i < 65536; i++)
this._heightmap[i]=(double)heightMap[i]; {
this._heightmap[i] = (double)heightMap[i];
} }
IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildDouble(HeightmapData,_heightmap,1,256,256,256,256,1.0f,0.0f,2.0f,0); d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
LandGeom=d.CreateHeightfield(space, HeightmapData, 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 override void DeleteTerrain()
@ -195,9 +224,10 @@ namespace OpenSim.Physics.OdePlugin
_acceleration = new PhysicsVector(); _acceleration = new PhysicsVector();
d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
this.BoundingCapsule=d.BodyCreate(OdeScene.world); this.BoundingCapsule = d.BodyCreate(OdeScene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass); d.BodySetMass(BoundingCapsule, ref capsule_mass);
d.BodySetPosition(BoundingCapsule,pos.X,pos.Y,pos.Z); d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
d.GeomSetBody(capsule_geom, BoundingCapsule);
} }
public override bool Flying public override bool Flying
@ -268,7 +298,7 @@ namespace OpenSim.Physics.OdePlugin
} }
} }
public void SetAcceleration (PhysicsVector accel) public void SetAcceleration(PhysicsVector accel)
{ {
this._acceleration = accel; this._acceleration = accel;
} }
@ -288,9 +318,9 @@ namespace OpenSim.Physics.OdePlugin
PhysicsVector vec = new PhysicsVector(); PhysicsVector vec = new PhysicsVector();
vec.X = this._velocity.X * timeStep; vec.X = this._velocity.X * timeStep;
vec.Y = this._velocity.Y * timeStep; vec.Y = this._velocity.Y * timeStep;
if(flying) if (flying)
{ {
vec.Z = ( this._velocity.Z+0.5f) * timeStep; vec.Z = (this._velocity.Z + 0.5f) * timeStep;
} }
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
} }
@ -396,7 +426,7 @@ namespace OpenSim.Physics.OdePlugin
} }
} }
public void SetAcceleration (PhysicsVector accel) public void SetAcceleration(PhysicsVector accel)
{ {
this._acceleration = accel; this._acceleration = accel;
} }

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bin/ode.dll Normal file
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