* Allow passing of material type to physics engine

* Define low friction and medium bounce for Glass

2 files changed, 248 insertions, 19 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index adb559a..7b3d18f 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -169,6 +169,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private ODEVehicleSettings m_vehicle;
 
+        internal int m_material = (int)Material.Wood;
+
         public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
                        Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
         {
@@ -3096,5 +3098,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             dst.I.M22 = src.I.M22;
         }
 
+        public override void SetMaterial(int pMaterial)
+        {
+            m_material = pMaterial;
+        }
+
     }
 }
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 1abedf5..178e6fd 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -123,6 +123,28 @@ namespace OpenSim.Region.Physics.OdePlugin
         Selected = 0x00000100
     }
 
+    /// <summary>
+    /// Material type for a primitive
+    /// </summary>
+    public enum Material : int
+    {
+        /// <summary></summary>
+        Stone = 0,
+        /// <summary></summary>
+        Metal = 1,
+        /// <summary></summary>
+        Glass = 2,
+        /// <summary></summary>
+        Wood = 3,
+        /// <summary></summary>
+        Flesh = 4,
+        /// <summary></summary>
+        Plastic = 5,
+        /// <summary></summary>
+        Rubber = 6
+
+    }
+
     public sealed class OdeScene : PhysicsScene
     {
         private readonly ILog m_log;
@@ -239,6 +261,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private d.Contact AvatarMovementprimContact;
         private d.Contact AvatarMovementTerrainContact;
         private d.Contact WaterContact;
+        private d.Contact[,] m_materialContacts;
 
 //Ckrinke: Comment out until used. We declare it, initialize it, but do not use it
 //Ckrinke        private int m_randomizeWater = 200;
@@ -319,6 +342,11 @@ namespace OpenSim.Region.Physics.OdePlugin
             _heightmap = new float[514*514];
             _watermap = new float[258 * 258];
 
+
+
+
+
+
             // Zero out the prim spaces array (we split our space into smaller spaces so
             // we can hit test less.
         }
@@ -479,6 +507,131 @@ namespace OpenSim.Region.Physics.OdePlugin
             AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
             AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
 
+
+            /*
+                <summary></summary>
+                Stone = 0,
+                /// <summary></summary>
+                Metal = 1,
+                /// <summary></summary>
+                Glass = 2,
+                /// <summary></summary>
+                Wood = 3,
+                /// <summary></summary>
+                Flesh = 4,
+                /// <summary></summary>
+                Plastic = 5,
+                /// <summary></summary>
+                Rubber = 6
+             */
+
+            m_materialContacts = new d.Contact[7,2];
+
+            m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
+            m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
+            m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
+
+            /*
+                private float nmAvatarObjectContactFriction = 250f;
+                private float nmAvatarObjectContactBounce = 0.1f;
+
+                private float mAvatarObjectContactFriction = 75f;
+                private float mAvatarObjectContactBounce = 0.1f;
+            */
+            m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
+            m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
+            m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
+            m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
+
+            m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
+            m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
+            m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
+            m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
+            m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
+            m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
+
             d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
 
             // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
@@ -869,13 +1022,63 @@ namespace OpenSim.Region.Physics.OdePlugin
                         }
                         else
                         {
-                            // Use the non moving terrain contact
-                            TerrainContact.geom = contacts[i];
-                            _perloopContact.Add(contacts[i]);
-                            if (m_global_contactcount < maxContactsbeforedeath)
+                            if (p2.PhysicsActorType == (int)ActorTypes.Agent)
                             {
-                                joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
-                                m_global_contactcount++;
+                                // Use the non moving terrain contact
+                                TerrainContact.geom = contacts[i];
+                                _perloopContact.Add(contacts[i]);
+                                if (m_global_contactcount < maxContactsbeforedeath)
+                                {
+                                    joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
+                                    m_global_contactcount++;
+                                }
+                            }
+                            else
+                            {
+                                if (p2.PhysicsActorType == (int)ActorTypes.Prim && p1.PhysicsActorType == (int)ActorTypes.Prim)
+                                {
+                                    // prim prim contact
+                                    int pj294950 = 0;
+                                    int movintYN = 0;
+                                    // prim terrain contact
+                                    if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
+                                    {
+                                        movintYN = 1;
+                                    }
+                                    int material = ((OdePrim)p2).m_material;
+                                    //m_log.DebugFormat("Material: {0}", material);
+                                    m_materialContacts[material, movintYN].geom = contacts[i];
+                                    _perloopContact.Add(contacts[i]);
+
+                                    if (m_global_contactcount < maxContactsbeforedeath)
+                                    {
+                                        joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+                                        m_global_contactcount++;
+
+                                    }
+                                    
+                                }
+                                else
+                                {
+
+                                    int movintYN = 0;
+                                    // prim terrain contact
+                                    if (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f)
+                                    {
+                                        movintYN = 1;
+                                    }
+                                    int material = ((OdePrim)p2).m_material;
+                                    //m_log.DebugFormat("Material: {0}", material);
+                                    m_materialContacts[material, movintYN].geom = contacts[i];
+                                    _perloopContact.Add(contacts[i]);
+
+                                    if (m_global_contactcount < maxContactsbeforedeath)
+                                    {
+                                        joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, movintYN]);
+                                        m_global_contactcount++;
+
+                                    }
+                                }
                             }
                         }
                         //if (p2.PhysicsActorType == (int)ActorTypes.Prim)
@@ -885,13 +1088,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }
                     else if (name1 == "Water" || name2 == "Water")
                     {
+                        /*
                         if ((p2.PhysicsActorType == (int) ActorTypes.Prim))
                         {
                         }
                         else
                         {
                         }
-
+                        */
                         //WaterContact.surface.soft_cfm = 0.0000f;
                         //WaterContact.surface.soft_erp = 0.00000f;
                         if (contacts[i].depth > 0.1f)
@@ -913,28 +1117,46 @@ namespace OpenSim.Region.Physics.OdePlugin
                     {
                         // we're colliding with prim or avatar
                         // check if we're moving
-                        if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
-                            (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
+                        if ((p2.PhysicsActorType == (int)ActorTypes.Agent))
                         {
-                            // Use the Movement prim contact
-                            AvatarMovementprimContact.geom = contacts[i];
-                            _perloopContact.Add(contacts[i]);
-                            if (m_global_contactcount < maxContactsbeforedeath)
+                            if ((Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
                             {
-                                joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
-                                m_global_contactcount++;
+                                // Use the Movement prim contact
+                                AvatarMovementprimContact.geom = contacts[i];
+                                _perloopContact.Add(contacts[i]);
+                                if (m_global_contactcount < maxContactsbeforedeath)
+                                {
+                                    joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
+                                    m_global_contactcount++;
+                                }
+                            }
+                            else
+                            {
+                                // Use the non movement contact
+                                contact.geom = contacts[i];
+                                _perloopContact.Add(contacts[i]);
+
+                                if (m_global_contactcount < maxContactsbeforedeath)
+                                {
+                                    joint = d.JointCreateContact(world, contactgroup, ref contact);
+                                    m_global_contactcount++;
+                                }
                             }
                         }
-                        else
+                        else if (p2.PhysicsActorType == (int)ActorTypes.Prim)
                         {
-                            // Use the non movement contact
-                            contact.geom = contacts[i];
+                            //p1.PhysicsActorType
+                            int material = ((OdePrim)p2).m_material;
+                            
+                            //m_log.DebugFormat("Material: {0}", material);
+                            m_materialContacts[material, 0].geom = contacts[i];
                             _perloopContact.Add(contacts[i]);
 
                             if (m_global_contactcount < maxContactsbeforedeath)
                             {
-                                joint = d.JointCreateContact(world, contactgroup, ref contact);
+                                joint = d.JointCreateContact(world, contactgroup, ref m_materialContacts[material, 0]);
                                 m_global_contactcount++;
+
                             }
                         }
                     }