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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs126
1 files changed, 76 insertions, 50 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 3fc2de3..1a6907d 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -160,8 +160,8 @@ namespace OpenSim.Region.Physics.OdePlugin
160 private Random fluidRandomizer = new Random(Environment.TickCount); 160 private Random fluidRandomizer = new Random(Environment.TickCount);
161 161
162 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; 162 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
163 const float comumContactERP = 0.6f; 163 const float MaxERP = 0.8f;
164 const float comumSoftContactERP = 0.1f; 164 const float minERP = 0.1f;
165 const float comumContactCFM = 0.0001f; 165 const float comumContactCFM = 0.0001f;
166 166
167 float frictionMovementMult = 0.3f; 167 float frictionMovementMult = 0.3f;
@@ -527,7 +527,7 @@ namespace OpenSim.Region.Physics.OdePlugin
527 527
528 // sets a global contact for a joint for contactgeom , and base contact description) 528 // sets a global contact for a joint for contactgeom , and base contact description)
529 529
530 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, bool softerp) 530 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce,float cfm,float erp)
531 { 531 {
532 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) 532 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
533 return IntPtr.Zero; 533 return IntPtr.Zero;
@@ -545,11 +545,8 @@ namespace OpenSim.Region.Physics.OdePlugin
545 newcontact.surface.mode = comumContactFlags; 545 newcontact.surface.mode = comumContactFlags;
546 newcontact.surface.mu = mu; 546 newcontact.surface.mu = mu;
547 newcontact.surface.bounce = bounce; 547 newcontact.surface.bounce = bounce;
548 newcontact.surface.soft_cfm = comumContactCFM; 548 newcontact.surface.soft_cfm = cfm;
549 if (softerp) 549 newcontact.surface.soft_erp = erp;
550 newcontact.surface.soft_erp = comumSoftContactERP;
551 else
552 newcontact.surface.soft_erp = comumContactERP;
553 550
554 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); 551 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
555 Marshal.StructureToPtr(newcontact, contact, true); 552 Marshal.StructureToPtr(newcontact, contact, true);
@@ -693,9 +690,11 @@ namespace OpenSim.Region.Physics.OdePlugin
693 // big messy collision analises 690 // big messy collision analises
694 float mu = 0; 691 float mu = 0;
695 float bounce = 0; 692 float bounce = 0;
693 float cfm = 0.0001f;
694 float erp = 0.1f;
695
696 ContactData contactdata1 = new ContactData(0, 0, false); 696 ContactData contactdata1 = new ContactData(0, 0, false);
697 ContactData contactdata2 = new ContactData(0, 0, false); 697 ContactData contactdata2 = new ContactData(0, 0, false);
698 bool erpSoft = false;
699 698
700 String name = null; 699 String name = null;
701 bool dop1foot = false; 700 bool dop1foot = false;
@@ -705,61 +704,65 @@ namespace OpenSim.Region.Physics.OdePlugin
705 switch (p1.PhysicsActorType) 704 switch (p1.PhysicsActorType)
706 { 705 {
707 case (int)ActorTypes.Agent: 706 case (int)ActorTypes.Agent:
708 switch (p2.PhysicsActorType)
709 { 707 {
710 case (int)ActorTypes.Agent: 708 bounce = 0;
711 p1.getContactData(ref contactdata1); 709 mu = 0;
712 p2.getContactData(ref contactdata2); 710 cfm = 0.0001f;
713 711
714 bounce = 0; 712 switch (p2.PhysicsActorType)
715 713 {
716 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 714 case (int)ActorTypes.Agent:
715/*
716 p1.getContactData(ref contactdata1);
717 p2.getContactData(ref contactdata2);
717 718
718 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 719 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
719 mu *= frictionMovementMult;
720 720
721 erpSoft = contactdata1.softcolide | contactdata2.softcolide; 721 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
722 p1.CollidingObj = true; 722 mu *= frictionMovementMult;
723 p2.CollidingObj = true; 723*/
724 break; 724 p1.CollidingObj = true;
725 case (int)ActorTypes.Prim: 725 p2.CollidingObj = true;
726 p1.getContactData(ref contactdata1); 726 break;
727 p2.getContactData(ref contactdata2); 727 case (int)ActorTypes.Prim:
728/*
729 p1.getContactData(ref contactdata1);
730 p2.getContactData(ref contactdata2);
728 731
729 bounce = 0;
730
731 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
732 732
733 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 733 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
734 mu *= frictionMovementMult;
735 if (p2.Velocity.LengthSquared() > 0.0f)
736 p2.CollidingObj = true;
737 734
738 erpSoft = contactdata1.softcolide | contactdata2.softcolide; 735 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
736 mu *= frictionMovementMult;
737 */
738 if (p2.Velocity.LengthSquared() > 0.0f)
739 p2.CollidingObj = true;
739 740
740 dop1foot = true; 741 dop1foot = true;
741 break; 742 break;
742 default: 743 default:
743 ignore=true; // avatar to terrain and water ignored 744 ignore = true; // avatar to terrain and water ignored
744 break; 745 break;
746 }
747 break;
745 } 748 }
746 break;
747 749
748 case (int)ActorTypes.Prim: 750 case (int)ActorTypes.Prim:
749 switch (p2.PhysicsActorType) 751 switch (p2.PhysicsActorType)
750 { 752 {
751 case (int)ActorTypes.Agent: 753 case (int)ActorTypes.Agent:
752 p1.getContactData(ref contactdata1); 754// p1.getContactData(ref contactdata1);
753 p2.getContactData(ref contactdata2); 755// p2.getContactData(ref contactdata2);
754 756
755 bounce = 0; 757 bounce = 0;
756 758 mu = 0;
759 cfm = 0.0001f;
760/*
757 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 761 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
758 762
759 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 763 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
760 mu *= frictionMovementMult; 764 mu *= frictionMovementMult;
761 765*/
762 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
763 dop2foot = true; 766 dop2foot = true;
764 if (p1.Velocity.LengthSquared() > 0.0f) 767 if (p1.Velocity.LengthSquared() > 0.0f)
765 p1.CollidingObj = true; 768 p1.CollidingObj = true;
@@ -773,9 +776,16 @@ namespace OpenSim.Region.Physics.OdePlugin
773 p1.getContactData(ref contactdata1); 776 p1.getContactData(ref contactdata1);
774 p2.getContactData(ref contactdata2); 777 p2.getContactData(ref contactdata2);
775 bounce = contactdata1.bounce * contactdata2.bounce; 778 bounce = contactdata1.bounce * contactdata2.bounce;
776 erpSoft = contactdata1.softcolide | contactdata2.softcolide;
777 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 779 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
778 780
781 cfm = p1.Mass;
782 if (cfm > p2.Mass)
783 cfm = p2.Mass;
784 cfm = (float)Math.Sqrt(cfm);
785 cfm *= 0.0001f;
786 if (cfm > 0.8f)
787 cfm = 0.8f;
788
779 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f)) 789 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
780 mu *= frictionMovementMult; 790 mu *= frictionMovementMult;
781 791
@@ -790,12 +800,17 @@ namespace OpenSim.Region.Physics.OdePlugin
790 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); 800 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
791 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) 801 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
792 mu *= frictionMovementMult; 802 mu *= frictionMovementMult;
793 erpSoft = contactdata1.softcolide;
794 p1.CollidingGround = true; 803 p1.CollidingGround = true;
804 cfm = p1.Mass;
805 cfm = (float)Math.Sqrt(cfm);
806 cfm *= 0.0001f;
807 if (cfm > 0.8f)
808 cfm = 0.8f;
809
795 } 810 }
796 else if (name == "Water") 811 else if (name == "Water")
797 { 812 {
798 erpSoft = true; 813 ignore = true;
799 } 814 }
800 } 815 }
801 else 816 else
@@ -815,7 +830,11 @@ namespace OpenSim.Region.Physics.OdePlugin
815 p2.getContactData(ref contactdata2); 830 p2.getContactData(ref contactdata2);
816 bounce = contactdata2.bounce * TerrainBounce; 831 bounce = contactdata2.bounce * TerrainBounce;
817 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); 832 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
818 erpSoft = contactdata2.softcolide; 833 cfm = p2.Mass;
834 cfm = (float)Math.Sqrt(cfm);
835 cfm *= 0.0001f;
836 if (cfm > 0.8f)
837 cfm = 0.8f;
819 838
820 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) 839 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
821 mu *= frictionMovementMult; 840 mu *= frictionMovementMult;
@@ -827,7 +846,7 @@ namespace OpenSim.Region.Physics.OdePlugin
827 else if (name == "Water" && 846 else if (name == "Water" &&
828 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent)) 847 (p2.PhysicsActorType == (int)ActorTypes.Prim || p2.PhysicsActorType == (int)ActorTypes.Agent))
829 { 848 {
830 erpSoft = true; 849 ignore = true;
831 } 850 }
832 } 851 }
833 else 852 else
@@ -848,7 +867,14 @@ namespace OpenSim.Region.Physics.OdePlugin
848 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f) 867 if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
849 p2.IsColliding = true; 868 p2.IsColliding = true;
850 869
851 Joint = CreateContacJoint(ref curContact, mu, bounce, erpSoft); 870
871 erp = curContact.depth;
872 if (erp < minERP)
873 erp = minERP;
874 else if (erp > MaxERP)
875 erp = MaxERP;
876
877 Joint = CreateContacJoint(ref curContact, mu, bounce,cfm,erp);
852 d.JointAttach(Joint, b1, b2); 878 d.JointAttach(Joint, b1, b2);
853 879
854 if (++m_global_contactcount >= maxContactsbeforedeath) 880 if (++m_global_contactcount >= maxContactsbeforedeath)