OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

78
OpenSim.Physics/OdePlugin/OdePlugin.cs
View File

@ -50,16 +50,16 @@ namespace OpenSim.Physics.OdePlugin
public PhysicsScene GetScene()
{
if(_mScene == null)
if (_mScene == null)
{
_mScene = new OdeScene();
}
return(_mScene);
return (_mScene);
}
public string GetName()
{
return("OpenDynamicsEngine");
return ("OpenDynamicsEngine");
}
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 space;
@ -78,22 +78,33 @@ namespace OpenSim.Physics.OdePlugin
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.ContactGeom[] contacts = new d.ContactGeom[30];
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();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
d.WorldSetCFM(world, 1e-5f);
//d.WorldSetCFM(world, 1e-5f);
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
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))
@ -114,8 +125,8 @@ namespace OpenSim.Physics.OdePlugin
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv= new OdeCharacter(this,pos);
pos.Z = position.Z + 20;
OdeCharacter newAv = new OdeCharacter(this, pos);
this._characters.Add(newAv);
return newAv;
}
@ -135,11 +146,12 @@ namespace OpenSim.Physics.OdePlugin
public override void Simulate(float timeStep)
{
foreach (OdeCharacter actor in _characters) {
actor.Move(timeStep*5f);
foreach (OdeCharacter actor in _characters)
{
actor.Move(timeStep * 5f);
}
d.SpaceCollide(space, IntPtr.Zero, nearCallback);
d.WorldQuickStep(world, timeStep*5f);
d.WorldQuickStep(world, timeStep * 5f);
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
@ -157,18 +169,35 @@ namespace OpenSim.Physics.OdePlugin
{
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)
{
for(int i=0; i<65536; i++) {
this._heightmap[i]=(double)heightMap[i];
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);
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()
@ -195,9 +224,10 @@ namespace OpenSim.Physics.OdePlugin
_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);
this.BoundingCapsule = d.BodyCreate(OdeScene.world);
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
@ -268,7 +298,7 @@ namespace OpenSim.Physics.OdePlugin
}
}
public void SetAcceleration (PhysicsVector accel)
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
}
@ -288,9 +318,9 @@ namespace OpenSim.Physics.OdePlugin
PhysicsVector vec = new PhysicsVector();
vec.X = this._velocity.X * 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);
}
@ -396,7 +426,7 @@ namespace OpenSim.Physics.OdePlugin
}
}
public void SetAcceleration (PhysicsVector accel)
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
}

BIN
bin/ode.dll Normal file
View File

Binary file not shown.