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* Maintainence: Applying Dan's ODE Patch to Trunk

afrisby
Adam Frisby 2007-07-06 05:41:22 +00:00
parent 8df2119bc7
commit e8671a2c05
1 changed files with 21 additions and 20 deletions
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41
OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
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@ -84,21 +84,18 @@ namespace OpenSim.Physics.OdePlugin
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;
contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
contact.surface.mu = 10.0f;
contact.surface.bounce = 0.9f;
contact.surface.soft_erp = 0.005f;
contact.surface.soft_cfm = 0.00003f;
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.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
d.WorldSetAutoDisableFlag(world, false);
d.WorldSetContactSurfaceLayer(world, 0.001f);
// d.CreatePlane(space, 0, 0, 1, 0);
this._heightmap = new double[65536];
}
@ -153,16 +150,19 @@ namespace OpenSim.Physics.OdePlugin
{
foreach (OdeCharacter actor in _characters)
{
actor.Move(timeStep * 5f);
actor.Move(timeStep);
}
d.SpaceCollide(space, IntPtr.Zero, nearCallback);
d.WorldQuickStep(world, timeStep * 5f);
for (int i = 0; i < 50; i++)
{
d.WorldQuickStep(world, timeStep * 0.02f);
}
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
actor.UpdatePosition();
}
}
public override void GetResults()
@ -220,7 +220,7 @@ namespace OpenSim.Physics.OdePlugin
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private bool flying;
private bool flying = false;
//private float gravityAccel;
private IntPtr BoundingCapsule;
IntPtr capsule_geom;
@ -231,8 +231,8 @@ namespace OpenSim.Physics.OdePlugin
_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);
d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
this.BoundingCapsule = d.BodyCreate(OdeScene.world);
d.BodySetMass(BoundingCapsule, ref capsule_mass);
d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
@ -325,13 +325,14 @@ namespace OpenSim.Physics.OdePlugin
public void Move(float timeStep)
{
PhysicsVector vec = new PhysicsVector();
vec.X = this._velocity.X * timeStep;
vec.Y = this._velocity.Y * timeStep;
d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
vec.X = (vel.X - this._velocity.X) * -75000.0f;
vec.Y = (vel.Y - this._velocity.Y) * -75000.0f;
if (flying)
{
vec.Z = (this._velocity.Z + 0.5f) * timeStep;
vec.Z = (vel.Z - this._velocity.Z) * -75000.0f;
}
d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
}
public void UpdatePosition()
@ -339,7 +340,7 @@ namespace OpenSim.Physics.OdePlugin
d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
this._position.X = vec.X;
this._position.Y = vec.Y;
this._position.Z = vec.Z+1.0f;
this._position.Z = vec.Z;
}
}