Added height field building to ODE plugin

1 files changed, 20 insertions, 2 deletions

diff --git a/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim.Physics/OdePlugin/OdePlugin.cs
index cb96533..3337a37 100644
--- a/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim.Physics/OdePlugin/OdePlugin.cs
@@ -27,6 +27,7 @@
 using System;

 using System.Collections.Generic;

 using OpenSim.Physics.Manager;

+using Ode.NET;

 

 namespace OpenSim.Physics.OdePlugin

 {

@@ -69,10 +70,21 @@ namespace OpenSim.Physics.OdePlugin
         

         public class OdeScene :PhysicsScene

         {

-                

+                private IntPtr world;

+                private IntPtr space;

+                private IntPtr contactgroup;

+                private double[] _heightmap;

+

                 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, true);

+                        d.WorldSetContactMaxCorrectingVel(world, 0.1f);

+                        d.WorldSetContactSurfaceLayer(world, 0.001f);

                 }

                 

                 public override PhysicsActor AddAvatar(PhysicsVector position)

@@ -117,6 +129,12 @@ namespace OpenSim.Physics.OdePlugin
                 

                 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);

+                        d.CreateHeightfield(space, HeightmapData, 0);

                 }

         }