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-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs325
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs19
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs6
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs105
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs2
-rw-r--r--OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs290
6 files changed, 238 insertions, 509 deletions
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index e912997..ecd5474 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -95,10 +95,7 @@ namespace OpenSim.Region.Physics.OdePlugin
95 95
96 private float m_feetOffset = 0; 96 private float m_feetOffset = 0;
97 private float feetOff = 0; 97 private float feetOff = 0;
98 private float feetSZ = 0.5f;
99 const float feetScale = 0.8f;
100 private float boneOff = 0; 98 private float boneOff = 0;
101 private float m_lastVelocitySqr = 0;
102 99
103 public float walkDivisor = 1.3f; 100 public float walkDivisor = 1.3f;
104 public float runDivisor = 0.8f; 101 public float runDivisor = 0.8f;
@@ -110,7 +107,6 @@ namespace OpenSim.Region.Physics.OdePlugin
110 107
111 private bool _zeroFlag = false; 108 private bool _zeroFlag = false;
112 109
113 private int m_requestedUpdateFrequency = 0;
114 private uint m_localID = 0; 110 private uint m_localID = 0;
115 public bool m_returnCollisions = false; 111 public bool m_returnCollisions = false;
116 // taints and their non-tainted counterparts 112 // taints and their non-tainted counterparts
@@ -127,7 +123,6 @@ namespace OpenSim.Region.Physics.OdePlugin
127 int m_colliderfilter = 0; 123 int m_colliderfilter = 0;
128 int m_colliderGroundfilter = 0; 124 int m_colliderGroundfilter = 0;
129 int m_colliderObjectfilter = 0; 125 int m_colliderObjectfilter = 0;
130 bool m_collisionException = false;
131 126
132 // Default we're a Character 127 // Default we're a Character
133 private CollisionCategories m_collisionCategories = (CollisionCategories.Character); 128 private CollisionCategories m_collisionCategories = (CollisionCategories.Character);
@@ -140,9 +135,7 @@ namespace OpenSim.Region.Physics.OdePlugin
140 // we do land collisions not ode | CollisionCategories.Land); 135 // we do land collisions not ode | CollisionCategories.Land);
141 public IntPtr Body = IntPtr.Zero; 136 public IntPtr Body = IntPtr.Zero;
142 private OdeScene _parent_scene; 137 private OdeScene _parent_scene;
143 private IntPtr topbox = IntPtr.Zero; 138 private IntPtr capsule = IntPtr.Zero;
144 private IntPtr midbox = IntPtr.Zero;
145 private IntPtr feetbox = IntPtr.Zero;
146 private IntPtr bbox = IntPtr.Zero; 139 private IntPtr bbox = IntPtr.Zero;
147 public IntPtr collider = IntPtr.Zero; 140 public IntPtr collider = IntPtr.Zero;
148 141
@@ -150,9 +143,6 @@ namespace OpenSim.Region.Physics.OdePlugin
150 143
151 public d.Mass ShellMass; 144 public d.Mass ShellMass;
152 145
153
154
155
156 public int m_eventsubscription = 0; 146 public int m_eventsubscription = 0;
157 private int m_cureventsubscription = 0; 147 private int m_cureventsubscription = 0;
158 private CollisionEventUpdate CollisionEventsThisFrame = null; 148 private CollisionEventUpdate CollisionEventsThisFrame = null;
@@ -214,8 +204,6 @@ namespace OpenSim.Region.Physics.OdePlugin
214 // force lower density for testing 204 // force lower density for testing
215 m_density = 3.0f; 205 m_density = 3.0f;
216 206
217 m_density *= 1.4f; // scale to have mass similar to capsule
218
219 mu = parent_scene.AvatarFriction; 207 mu = parent_scene.AvatarFriction;
220 208
221 walkDivisor = walk_divisor; 209 walkDivisor = walk_divisor;
@@ -704,58 +692,6 @@ namespace OpenSim.Region.Physics.OdePlugin
704 AddChange(changes.Momentum, momentum); 692 AddChange(changes.Momentum, momentum);
705 } 693 }
706 694
707 private void ajustCollider()
708 {
709 float vq = _velocity.LengthSquared();
710 if (m_lastVelocitySqr != vq)
711 {
712 m_lastVelocitySqr = vq;
713 if (vq > 100.0f)
714 {
715 Vector3 off = _velocity;
716 float t = 0.5f * timeStep;
717 off = off * t;
718 d.Quaternion qtmp;
719 d.GeomCopyQuaternion(bbox, out qtmp);
720 Quaternion q;
721 q.X = qtmp.X;
722 q.Y = qtmp.Y;
723 q.Z = qtmp.Z;
724 q.W = qtmp.W;
725 off *= Quaternion.Conjugate(q);
726
727 d.GeomSetOffsetPosition(bbox, off.X, off.Y, off.Z);
728
729 off.X = 2.0f * (m_size.X + Math.Abs(off.X));
730 off.Y = 2.0f * (m_size.Y + Math.Abs(off.Y));
731 off.Z = m_size.Z + 2.0f * Math.Abs(off.Z);
732 d.GeomBoxSetLengths(bbox, off.X, off.Y, off.Z);
733
734 d.GeomSetCategoryBits(bbox, (uint)m_collisionCategories);
735 d.GeomSetCollideBits(bbox, (uint)m_collisionFlags);
736 d.GeomSetCategoryBits(topbox, 0);
737 d.GeomSetCollideBits(topbox, 0);
738 d.GeomSetCategoryBits(midbox, 0);
739 d.GeomSetCollideBits(midbox, 0);
740 d.GeomSetCategoryBits(feetbox, 0);
741 d.GeomSetCollideBits(feetbox, 0);
742 }
743 else
744 {
745 d.GeomSetCategoryBits(bbox, 0);
746 d.GeomSetCollideBits(bbox, 0);
747 d.GeomSetCategoryBits(topbox, (uint)m_collisionCategories);
748 d.GeomSetCollideBits(topbox, (uint)m_collisionFlags);
749 d.GeomSetCategoryBits(midbox, (uint)m_collisionCategories);
750 d.GeomSetCollideBits(midbox, (uint)m_collisionFlags);
751 d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
752 d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
753 }
754 uint cat1 = d.GeomGetCategoryBits(bbox);
755 uint col1 = d.GeomGetCollideBits(bbox);
756
757 }
758 }
759 695
760 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) 696 private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
761 { 697 {
@@ -764,37 +700,14 @@ namespace OpenSim.Region.Physics.OdePlugin
764 float sy = m_size.Y; 700 float sy = m_size.Y;
765 float sz = m_size.Z; 701 float sz = m_size.Z;
766 702
767 float topsx = sx * 0.9f; 703 float bot = -sz * 0.5f + m_feetOffset;
768 float midsx = sx; 704 boneOff = bot + 0.3f;
769 float feetsx = sx * feetScale;
770 float bonesx = sx * 0.2f;
771
772 float topsy = sy * 0.4f;
773 float midsy = sy;
774 float feetsy = sy * feetScale * 0.8f;
775 float bonesy = feetsy * 0.2f;
776 705
777 float topsz = sz * 0.15f;
778 float feetsz = sz * 0.45f; 706 float feetsz = sz * 0.45f;
779 if (feetsz > 0.6f) 707 if (feetsz > 0.6f)
780 feetsz = 0.6f; 708 feetsz = 0.6f;
781 709
782 float midsz = sz - topsz - feetsz; 710 feetOff = bot + feetsz;
783 float bonesz = sz;
784
785 float bot = -sz * 0.5f + m_feetOffset;
786
787 boneOff = bot + 0.3f;
788
789 float feetz = bot + feetsz * 0.5f;
790 bot += feetsz;
791
792 feetOff = bot;
793 feetSZ = feetsz;
794
795 float midz = bot + midsz * 0.5f;
796 bot += midsz;
797 float topz = bot + topsz * 0.5f;
798 711
799 _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace); 712 _parent_scene.waitForSpaceUnlock(_parent_scene.CharsSpace);
800 713
@@ -805,9 +718,13 @@ namespace OpenSim.Region.Physics.OdePlugin
805 d.GeomSetCategoryBits(collider, (uint)m_collisionCategories); 718 d.GeomSetCategoryBits(collider, (uint)m_collisionCategories);
806 d.GeomSetCollideBits(collider, (uint)m_collisionFlags); 719 d.GeomSetCollideBits(collider, (uint)m_collisionFlags);
807 720
808 feetbox = d.CreateBox(collider, feetsx, feetsy, feetsz); 721 float r = m_size.X;
809 midbox = d.CreateBox(collider, midsx, midsy, midsz); 722 if (m_size.Y > r)
810 topbox = d.CreateBox(collider, topsx, topsy, topsz); 723 r = m_size.Y;
724 float l = m_size.Z - r;
725 r *= 0.5f;
726 capsule = d.CreateCapsule(collider, r, l);
727
811 bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z); 728 bbox = d.CreateBox(collider, m_size.X, m_size.Y, m_size.Z);
812 729
813 m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass 730 m_mass = m_density * m_size.X * m_size.Y * m_size.Z; // update mass
@@ -820,12 +737,10 @@ namespace OpenSim.Region.Physics.OdePlugin
820 Body = d.BodyCreate(_parent_scene.world); 737 Body = d.BodyCreate(_parent_scene.world);
821 738
822 _zeroFlag = false; 739 _zeroFlag = false;
823 m_collisionException = false;
824 m_pidControllerActive = true; 740 m_pidControllerActive = true;
825 m_freemove = false; 741 m_freemove = false;
826 742
827 _velocity = Vector3.Zero; 743 _velocity = Vector3.Zero;
828 m_lastVelocitySqr = 0;
829 744
830 d.BodySetAutoDisableFlag(Body, false); 745 d.BodySetAutoDisableFlag(Body, false);
831 d.BodySetPosition(Body, npositionX, npositionY, npositionZ); 746 d.BodySetPosition(Body, npositionX, npositionY, npositionZ);
@@ -835,17 +750,9 @@ namespace OpenSim.Region.Physics.OdePlugin
835 _position.Z = npositionZ; 750 _position.Z = npositionZ;
836 751
837 d.BodySetMass(Body, ref ShellMass); 752 d.BodySetMass(Body, ref ShellMass);
838 d.GeomSetBody(feetbox, Body);
839 d.GeomSetBody(midbox, Body);
840 d.GeomSetBody(topbox, Body);
841 d.GeomSetBody(bbox, Body);
842
843 d.GeomSetOffsetPosition(feetbox, 0, 0, feetz);
844 d.GeomSetOffsetPosition(midbox, 0, 0, midz);
845 d.GeomSetOffsetPosition(topbox, 0, 0, topz);
846
847 ajustCollider();
848 753
754 d.GeomSetBody(bbox, Body);
755 d.GeomSetBody(capsule, Body);
849 756
850 // The purpose of the AMotor here is to keep the avatar's physical 757 // The purpose of the AMotor here is to keep the avatar's physical
851 // surrogate from rotating while moving 758 // surrogate from rotating while moving
@@ -906,26 +813,12 @@ namespace OpenSim.Region.Physics.OdePlugin
906 } 813 }
907 814
908 //kill the Geoms 815 //kill the Geoms
909 if (topbox != IntPtr.Zero) 816 if (capsule != IntPtr.Zero)
910 { 817 {
911 _parent_scene.actor_name_map.Remove(topbox); 818 _parent_scene.actor_name_map.Remove(capsule);
912 _parent_scene.waitForSpaceUnlock(collider); 819 _parent_scene.waitForSpaceUnlock(collider);
913 d.GeomDestroy(topbox); 820 d.GeomDestroy(capsule);
914 topbox = IntPtr.Zero; 821 capsule = IntPtr.Zero;
915 }
916 if (midbox != IntPtr.Zero)
917 {
918 _parent_scene.actor_name_map.Remove(midbox);
919 _parent_scene.waitForSpaceUnlock(collider);
920 d.GeomDestroy(midbox);
921 midbox = IntPtr.Zero;
922 }
923 if (feetbox != IntPtr.Zero)
924 {
925 _parent_scene.actor_name_map.Remove(feetbox);
926 _parent_scene.waitForSpaceUnlock(collider);
927 d.GeomDestroy(feetbox);
928 feetbox = IntPtr.Zero;
929 } 822 }
930 823
931 if (bbox != IntPtr.Zero) 824 if (bbox != IntPtr.Zero)
@@ -981,163 +874,21 @@ namespace OpenSim.Region.Physics.OdePlugin
981 public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision) 874 public bool Collide(IntPtr me, bool reverse, ref d.ContactGeom contact, ref bool feetcollision)
982 { 875 {
983 feetcollision = false; 876 feetcollision = false;
984 if (m_collisionException)
985 return false;
986 877
987 Vector3 offset; 878 Vector3 offset;
988 879
989 if (me == bbox) // if moving fast
990 {
991 // force a full inelastic collision
992 m_collisionException = true;
993
994 offset = m_size * m_orientation2D;
995
996 offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth;
997 offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth;
998 offset.Z = (float)Math.Abs(offset.Z) * 0.5f + contact.depth;
999
1000 if (reverse)
1001 {
1002 offset.X *= -contact.normal.X;
1003 offset.Y *= -contact.normal.Y;
1004 offset.Z *= -contact.normal.Z;
1005 }
1006 else
1007 {
1008 offset.X *= contact.normal.X;
1009 offset.Y *= contact.normal.Y;
1010 offset.Z *= contact.normal.Z;
1011 }
1012
1013 offset.X += contact.pos.X;
1014 offset.Y += contact.pos.Y;
1015 offset.Z += contact.pos.Z;
1016
1017 //_position = offset;
1018 //return false;
1019 }
1020
1021 offset.X = contact.pos.X - _position.X; 880 offset.X = contact.pos.X - _position.X;
1022 offset.Y = contact.pos.Y - _position.Y; 881 offset.Y = contact.pos.Y - _position.Y;
1023 882
1024 if (me == topbox) 883 if (me == capsule)
1025 {
1026 offset.Z = contact.pos.Z - _position.Z;
1027
1028 offset.Normalize();
1029
1030 if (reverse)
1031 {
1032 contact.normal.X = offset.X;
1033 contact.normal.Y = offset.Y;
1034 contact.normal.Z = offset.Z;
1035 }
1036 else
1037 {
1038 contact.normal.X = -offset.X;
1039 contact.normal.Y = -offset.Y;
1040 contact.normal.Z = -offset.Z;
1041 }
1042 return true;
1043 }
1044
1045 if (me == midbox)
1046 {
1047 if (Math.Abs(contact.normal.Z) > 0.95f)
1048 {
1049 offset.Z = contact.pos.Z - _position.Z;
1050 offset.X = (float)Math.Abs(offset.X) * 0.5f + contact.depth;
1051 offset.Y = (float)Math.Abs(offset.Y) * 0.5f + contact.depth;
1052 offset.Z = (float)Math.Abs(offset.Z) * 0.5f + contact.depth;
1053
1054 if (reverse)
1055 {
1056 offset.X *= -contact.normal.X;
1057 offset.Y *= -contact.normal.Y;
1058 offset.Z *= -contact.normal.Z;
1059 }
1060 else
1061 {
1062 offset.X *= contact.normal.X;
1063 offset.Y *= contact.normal.Y;
1064 offset.Z *= contact.normal.Z;
1065 }
1066
1067 offset.X += contact.pos.X;
1068 offset.Y += contact.pos.Y;
1069 offset.Z += contact.pos.Z;
1070 _position = offset;
1071 return true;
1072 }
1073 else
1074 offset.Z = contact.normal.Z;
1075
1076 offset.Normalize();
1077
1078 /*
1079 if (reverse)
1080 {
1081 contact.normal.X = offset.X;
1082 contact.normal.Y = offset.Y;
1083 contact.normal.Z = offset.Z;
1084 }
1085 else
1086 {
1087 contact.normal.X = -offset.X;
1088 contact.normal.Y = -offset.Y;
1089 contact.normal.Z = -offset.Z;
1090 }
1091 */
1092 //_position.Z = offset.Z;
1093 return true;
1094 }
1095
1096 else if (me == feetbox)
1097 { 884 {
1098 float h = contact.pos.Z - _position.Z; 885 float h = contact.pos.Z - _position.Z;
1099 886 offset.Z = h - feetOff;
1100 // Only do this if the normal is sufficiently pointing in the 'up' direction
1101 if (Math.Abs(contact.normal.Z) > 0.95f)
1102 {
1103 // We Only want to do this if we're sunk into the object a bit and we're stuck and we're trying to move and feetcollision is false
1104 if ((contact.depth > 0.0010f && _velocity.X == 0f && _velocity.Y == 0 && _velocity.Z == 0)
1105 && (_target_velocity.X > 0 || _target_velocity.Y > 0 || _target_velocity.Z > 0)
1106 && (!feetcollision) )
1107 {
1108 m_collisionException = true; // Stop looping, do this only once not X times Contacts
1109 _position.Z += contact.depth + 0.01f; // Move us Up the amount that we sank in, and add 0.01 meters to gently lift avatar up.
1110
1111 return true;
1112 }
1113
1114 if (contact.normal.Z > 0)
1115 contact.normal.Z = 1.0f;
1116 else
1117 contact.normal.Z = -1.0f;
1118 contact.normal.X = 0.0f;
1119 contact.normal.Y = 0.0f;
1120 feetcollision = true;
1121 if (h < boneOff)
1122 IsColliding = true;
1123 return true;
1124 }
1125
1126 offset.Z = h - feetOff; // distance from top of feetbox
1127 887
1128 if (offset.Z > 0) 888 if (offset.Z > 0)
1129 return false; 889 return true;
1130 890
1131 if (offset.Z > -0.01) 891 offset.Normalize();
1132 {
1133 offset.X = 0;
1134 offset.Y = 0;
1135 offset.Z = -1.0f;
1136 }
1137 else
1138 {
1139 offset.Normalize();
1140 }
1141 892
1142 if (reverse) 893 if (reverse)
1143 { 894 {
@@ -1171,23 +922,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1171 if (Body == IntPtr.Zero) 922 if (Body == IntPtr.Zero)
1172 return; 923 return;
1173 924
1174 if (m_collisionException)
1175 {
1176 d.BodySetPosition(Body,_position.X, _position.Y, _position.Z);
1177 d.BodySetLinearVel(Body, 0, 0, 0);
1178
1179 float v = _velocity.Length();
1180 if (v != 0)
1181 {
1182 v = 5.0f / v;
1183 _velocity = _velocity * v;
1184 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
1185 }
1186 ajustCollider();
1187 m_collisionException = false;
1188 return;
1189 }
1190
1191 d.Vector3 dtmp = d.BodyGetPosition(Body); 925 d.Vector3 dtmp = d.BodyGetPosition(Body);
1192 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); 926 Vector3 localpos = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
1193 927
@@ -1263,7 +997,8 @@ namespace OpenSim.Region.Physics.OdePlugin
1263 // colide with land 997 // colide with land
1264 998
1265 d.AABB aabb; 999 d.AABB aabb;
1266 d.GeomGetAABB(feetbox, out aabb); 1000// d.GeomGetAABB(feetbox, out aabb);
1001 d.GeomGetAABB(capsule, out aabb);
1267 float chrminZ = aabb.MinZ; ; // move up a bit 1002 float chrminZ = aabb.MinZ; ; // move up a bit
1268 Vector3 posch = localpos; 1003 Vector3 posch = localpos;
1269 1004
@@ -1489,7 +1224,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1489 m_rotationalVelocity.Z = dtmp.Z; 1224 m_rotationalVelocity.Z = dtmp.Z;
1490 Math.Round(m_rotationalVelocity.Z,3); 1225 Math.Round(m_rotationalVelocity.Z,3);
1491 } 1226 }
1492 ajustCollider();
1493 } 1227 }
1494 1228
1495 public void round(ref Vector3 v, int digits) 1229 public void round(ref Vector3 v, int digits)
@@ -1655,10 +1389,11 @@ namespace OpenSim.Region.Physics.OdePlugin
1655 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z); 1389 AvatarGeomAndBodyCreation(_position.X, _position.Y, _position.Z);
1656 1390
1657 _parent_scene.actor_name_map[collider] = (PhysicsActor)this; 1391 _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
1658 _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this; 1392// _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
1659 _parent_scene.actor_name_map[midbox] = (PhysicsActor)this; 1393// _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
1660 _parent_scene.actor_name_map[topbox] = (PhysicsActor)this; 1394// _parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
1661 _parent_scene.actor_name_map[bbox] = (PhysicsActor)this; 1395 _parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
1396 _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
1662 _parent_scene.AddCharacter(this); 1397 _parent_scene.AddCharacter(this);
1663 } 1398 }
1664 else 1399 else
@@ -1714,13 +1449,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1714 1449
1715 1450
1716 _parent_scene.actor_name_map[collider] = (PhysicsActor)this; 1451 _parent_scene.actor_name_map[collider] = (PhysicsActor)this;
1717 _parent_scene.actor_name_map[feetbox] = (PhysicsActor)this;
1718 _parent_scene.actor_name_map[midbox] = (PhysicsActor)this;
1719 _parent_scene.actor_name_map[topbox] = (PhysicsActor)this;
1720 _parent_scene.actor_name_map[bbox] = (PhysicsActor)this; 1452 _parent_scene.actor_name_map[bbox] = (PhysicsActor)this;
1453 _parent_scene.actor_name_map[capsule] = (PhysicsActor)this;
1721 } 1454 }
1722 m_freemove = false; 1455 m_freemove = false;
1723 m_collisionException = false;
1724 m_pidControllerActive = true; 1456 m_pidControllerActive = true;
1725 } 1457 }
1726 else 1458 else
@@ -1851,7 +1583,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1851 1583
1852 if (Body != IntPtr.Zero) 1584 if (Body != IntPtr.Zero)
1853 d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); 1585 d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
1854 ajustCollider();
1855 } 1586 }
1856 1587
1857 private void donullchange() 1588 private void donullchange()
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index a7dda7a..3c952ae 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
137 float m_amdampY; 137 float m_amdampY;
138 float m_amdampZ; 138 float m_amdampZ;
139 139
140 float m_gravmod;
140 141
141 public float FrictionFactor 142 public float FrictionFactor
142 { 143 {
@@ -146,6 +147,14 @@ namespace OpenSim.Region.Physics.OdePlugin
146 } 147 }
147 } 148 }
148 149
150 public float GravMod
151 {
152 set
153 {
154 m_gravmod = value;
155 }
156 }
157
149 158
150 public ODEDynamics(OdePrim rootp) 159 public ODEDynamics(OdePrim rootp)
151 { 160 {
@@ -153,6 +162,7 @@ namespace OpenSim.Region.Physics.OdePlugin
153 _pParentScene = rootPrim._parent_scene; 162 _pParentScene = rootPrim._parent_scene;
154 m_timestep = _pParentScene.ODE_STEPSIZE; 163 m_timestep = _pParentScene.ODE_STEPSIZE;
155 m_invtimestep = 1.0f / m_timestep; 164 m_invtimestep = 1.0f / m_timestep;
165 m_gravmod = rootPrim.GravModifier;
156 } 166 }
157 167
158 public void DoSetVehicle(VehicleData vd) 168 public void DoSetVehicle(VehicleData vd)
@@ -816,7 +826,7 @@ namespace OpenSim.Region.Physics.OdePlugin
816 m_lmEfect = 0; 826 m_lmEfect = 0;
817 m_ffactor = 1f; 827 m_ffactor = 1f;
818 } 828 }
819 829
820 // hover 830 // hover
821 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero) 831 if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
822 { 832 {
@@ -862,7 +872,7 @@ namespace OpenSim.Region.Physics.OdePlugin
862 force.Z += perr; 872 force.Z += perr;
863 ldampZ *= -curVel.Z; 873 ldampZ *= -curVel.Z;
864 874
865 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); 875 force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy);
866 } 876 }
867 else // no buoyancy 877 else // no buoyancy
868 force.Z += _pParentScene.gravityz; 878 force.Z += _pParentScene.gravityz;
@@ -870,7 +880,7 @@ namespace OpenSim.Region.Physics.OdePlugin
870 else 880 else
871 { 881 {
872 // default gravity and Buoyancy 882 // default gravity and Buoyancy
873 force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); 883 force.Z += _pParentScene.gravityz * m_gravmod * (1f - m_VehicleBuoyancy);
874 } 884 }
875 885
876 // linear deflection 886 // linear deflection
@@ -1063,8 +1073,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1063 torque.Y -= curLocalAngVel.Y * m_amdampY; 1073 torque.Y -= curLocalAngVel.Y * m_amdampY;
1064 torque.Z -= curLocalAngVel.Z * m_amdampZ; 1074 torque.Z -= curLocalAngVel.Z * m_amdampZ;
1065 } 1075 }
1066 1076
1067
1068 1077
1069 if (force.X != 0 || force.Y != 0 || force.Z != 0) 1078 if (force.X != 0 || force.Y != 0 || force.Z != 0)
1070 { 1079 {
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
index 0df71eb..5030cec 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEMeshWorker.cs
@@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
448 else 448 else
449 { 449 {
450 repData.meshState = MeshState.needMesh; 450 repData.meshState = MeshState.needMesh;
451 mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true); 451 mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
452 if (mesh == null) 452 if (mesh == null)
453 { 453 {
454 repData.meshState = MeshState.MeshFailed; 454 repData.meshState = MeshState.MeshFailed;
@@ -513,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
513 clod = (int)LevelOfDetail.Low; 513 clod = (int)LevelOfDetail.Low;
514 } 514 }
515 515
516 mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, false, convex, true); 516 mesh = m_mesher.CreateMesh(actor.Name, pbs, size, clod, true, convex, true);
517 517
518 if (mesh == null) 518 if (mesh == null)
519 { 519 {
@@ -929,4 +929,4 @@ namespace OpenSim.Region.Physics.OdePlugin
929 repData.actor.Name); 929 repData.actor.Name);
930 } 930 }
931 } 931 }
932} 932} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index faa9488..4cac0aa 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -25,7 +25,7 @@
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27 27
28/* Revision 2011/12 by Ubit Umarov 28/* Revision 2011/12/13 by Ubit Umarov
29 * 29 *
30 * 30 *
31 */ 31 */
@@ -115,7 +115,7 @@ namespace OpenSim.Region.Physics.OdePlugin
115 115
116 private int body_autodisable_frames; 116 private int body_autodisable_frames;
117 public int bodydisablecontrol; 117 public int bodydisablecontrol;
118 118 private float m_gravmod = 1.0f;
119 119
120 // Default we're a Geometry 120 // Default we're a Geometry
121 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom); 121 private CollisionCategories m_collisionCategories = (CollisionCategories.Geom);
@@ -914,6 +914,55 @@ namespace OpenSim.Region.Physics.OdePlugin
914 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce; 914 bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
915 } 915 }
916 916
917 public override float Density
918 {
919 get
920 {
921 return m_density * 100f;
922 }
923 set
924 {
925 m_density = value / 100f;
926 // for not prim mass is not updated since this implies full rebuild of body inertia TODO
927 }
928 }
929 public override float GravModifier
930 {
931 get
932 {
933 return m_gravmod;
934 }
935 set
936 {
937 m_gravmod = value;
938 if (m_vehicle != null)
939 m_vehicle.GravMod = m_gravmod;
940 }
941 }
942 public override float Friction
943 {
944 get
945 {
946 return mu;
947 }
948 set
949 {
950 mu = value;
951 }
952 }
953
954 public override float Restitution
955 {
956 get
957 {
958 return bounce;
959 }
960 set
961 {
962 bounce = value;
963 }
964 }
965
917 public void setPrimForRemoval() 966 public void setPrimForRemoval()
918 { 967 {
919 AddChange(changes.Remove, null); 968 AddChange(changes.Remove, null);
@@ -1736,7 +1785,9 @@ namespace OpenSim.Region.Physics.OdePlugin
1736 1785
1737 d.BodySetAutoDisableFlag(Body, true); 1786 d.BodySetAutoDisableFlag(Body, true);
1738 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 1787 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1739 d.BodySetDamping(Body, .005f, .005f); 1788 d.BodySetAutoDisableAngularThreshold(Body, 0.01f);
1789 d.BodySetAutoDisableLinearThreshold(Body, 0.01f);
1790 d.BodySetDamping(Body, .005f, .001f);
1740 1791
1741 if (m_targetSpace != IntPtr.Zero) 1792 if (m_targetSpace != IntPtr.Zero)
1742 { 1793 {
@@ -2144,7 +2195,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2144 2195
2145 _mass = primMass; // just in case 2196 _mass = primMass; // just in case
2146 2197
2147 d.MassSetBoxTotal(out primdMass, primMass, m_OBB.X, m_OBB.Y, m_OBB.Z); 2198 d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z);
2148 2199
2149 d.MassTranslate(ref primdMass, 2200 d.MassTranslate(ref primdMass,
2150 m_OBBOffset.X, 2201 m_OBBOffset.X,
@@ -2362,6 +2413,7 @@ namespace OpenSim.Region.Physics.OdePlugin
2362 MakeBody(); 2413 MakeBody();
2363 } 2414 }
2364 2415
2416
2365 #region changes 2417 #region changes
2366 2418
2367 private void changeadd() 2419 private void changeadd()
@@ -3213,7 +3265,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3213 3265
3214 if (++bodydisablecontrol < 20) 3266 if (++bodydisablecontrol < 20)
3215 return; 3267 return;
3216
3217 3268
3218 d.BodyEnable(Body); 3269 d.BodyEnable(Body);
3219 } 3270 }
@@ -3334,7 +3385,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3334 } 3385 }
3335 else 3386 else
3336 { 3387 {
3337 float b = (1.0f - m_buoyancy); 3388 float b = (1.0f - m_buoyancy) * m_gravmod;
3338 fx = _parent_scene.gravityx * b; 3389 fx = _parent_scene.gravityx * b;
3339 fy = _parent_scene.gravityy * b; 3390 fy = _parent_scene.gravityy * b;
3340 fz = _parent_scene.gravityz * b; 3391 fz = _parent_scene.gravityz * b;
@@ -3381,11 +3432,12 @@ namespace OpenSim.Region.Physics.OdePlugin
3381 } 3432 }
3382 } 3433 }
3383 3434
3384 public void UpdatePositionAndVelocity() 3435 public void UpdatePositionAndVelocity(int frame)
3385 { 3436 {
3386 if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero) 3437 if (_parent == null && !m_disabled && !m_building && !m_outbounds && Body != IntPtr.Zero)
3387 { 3438 {
3388 if (d.BodyIsEnabled(Body) || !_zeroFlag) 3439 bool bodyenabled = d.BodyIsEnabled(Body);
3440 if (bodyenabled || !_zeroFlag)
3389 { 3441 {
3390 bool lastZeroFlag = _zeroFlag; 3442 bool lastZeroFlag = _zeroFlag;
3391 3443
@@ -3478,13 +3530,13 @@ namespace OpenSim.Region.Physics.OdePlugin
3478 // tolerance values depende a lot on simulation noise... 3530 // tolerance values depende a lot on simulation noise...
3479 // use simple math.abs since we dont need to be exact 3531 // use simple math.abs since we dont need to be exact
3480 3532
3481 if ( 3533 if (!bodyenabled ||
3482 (Math.Abs(_position.X - lpos.X) < 0.001f) 3534 (Math.Abs(_position.X - lpos.X) < 0.005f)
3483 && (Math.Abs(_position.Y - lpos.Y) < 0.001f) 3535 && (Math.Abs(_position.Y - lpos.Y) < 0.005f)
3484 && (Math.Abs(_position.Z - lpos.Z) < 0.001f) 3536 && (Math.Abs(_position.Z - lpos.Z) < 0.005f)
3485 && (Math.Abs(_orientation.X - ori.X) < 0.0001f) 3537 && (Math.Abs(_orientation.X - ori.X) < 0.0005f)
3486 && (Math.Abs(_orientation.Y - ori.Y) < 0.0001f) 3538 && (Math.Abs(_orientation.Y - ori.Y) < 0.0005f)
3487 && (Math.Abs(_orientation.Z - ori.Z) < 0.0001f) // ignore W 3539 && (Math.Abs(_orientation.Z - ori.Z) < 0.0005f) // ignore W
3488 ) 3540 )
3489 { 3541 {
3490 _zeroFlag = true; 3542 _zeroFlag = true;
@@ -3499,9 +3551,9 @@ namespace OpenSim.Region.Physics.OdePlugin
3499 3551
3500 _acceleration = _velocity; 3552 _acceleration = _velocity;
3501 3553
3502 if ((Math.Abs(vel.X) < 0.001f) && 3554 if ((Math.Abs(vel.X) < 0.005f) &&
3503 (Math.Abs(vel.Y) < 0.001f) && 3555 (Math.Abs(vel.Y) < 0.005f) &&
3504 (Math.Abs(vel.Z) < 0.001f)) 3556 (Math.Abs(vel.Z) < 0.005f))
3505 { 3557 {
3506 _velocity = Vector3.Zero; 3558 _velocity = Vector3.Zero;
3507 float t = -m_invTimeStep; 3559 float t = -m_invTimeStep;
@@ -3538,6 +3590,15 @@ namespace OpenSim.Region.Physics.OdePlugin
3538 } 3590 }
3539 } 3591 }
3540 3592
3593 _position.X = lpos.X;
3594 _position.Y = lpos.Y;
3595 _position.Z = lpos.Z;
3596
3597 _orientation.X = ori.X;
3598 _orientation.Y = ori.Y;
3599 _orientation.Z = ori.Z;
3600 _orientation.W = ori.W;
3601
3541 if (_zeroFlag) 3602 if (_zeroFlag)
3542 { 3603 {
3543 if (lastZeroFlag) 3604 if (lastZeroFlag)
@@ -3556,14 +3617,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3556 return; 3617 return;
3557 } 3618 }
3558 3619
3559 _position.X = lpos.X;
3560 _position.Y = lpos.Y;
3561 _position.Z = lpos.Z;
3562
3563 _orientation.X = ori.X;
3564 _orientation.Y = ori.Y;
3565 _orientation.Z = ori.Z;
3566 _orientation.W = ori.W;
3567 base.RequestPhysicsterseUpdate(); 3620 base.RequestPhysicsterseUpdate();
3568 m_lastUpdateSent = false; 3621 m_lastUpdateSent = false;
3569 } 3622 }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
index 2923ccf..73ababa 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -680,4 +680,4 @@ namespace OpenSim.Region.Physics.OdePlugin
680 public RayFilterFlags filter; 680 public RayFilterFlags filter;
681 public Quaternion orientation; 681 public Quaternion orientation;
682 } 682 }
683} 683} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 754bc86..8abf6cf 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -25,6 +25,7 @@
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27 27
28// Revision 2011/12/13 by Ubit Umarov
28//#define SPAM 29//#define SPAM
29 30
30using System; 31using System;
@@ -43,25 +44,7 @@ using OpenMetaverse;
43 44
44namespace OpenSim.Region.Physics.OdePlugin 45namespace OpenSim.Region.Physics.OdePlugin
45{ 46{
46 public enum StatusIndicators : int 47 // colision flags of things others can colide with
47 {
48 Generic = 0,
49 Start = 1,
50 End = 2
51 }
52
53 public struct sCollisionData
54 {
55 public uint ColliderLocalId;
56 public uint CollidedWithLocalId;
57 public int NumberOfCollisions;
58 public int CollisionType;
59 public int StatusIndicator;
60 public int lastframe;
61 }
62
63
64 // colision flags of things others can colide with
65 // rays, sensors, probes removed since can't be colided with 48 // rays, sensors, probes removed since can't be colided with
66 // The top space where things are placed provided further selection 49 // The top space where things are placed provided further selection
67 // ie physical are in active space nonphysical in static 50 // ie physical are in active space nonphysical in static
@@ -188,12 +171,14 @@ namespace OpenSim.Region.Physics.OdePlugin
188 171
189 public bool OdeUbitLib = false; 172 public bool OdeUbitLib = false;
190// private int threadid = 0; 173// private int threadid = 0;
191 private Random fluidRandomizer = new Random(Environment.TickCount); 174// private Random fluidRandomizer = new Random(Environment.TickCount);
175
176// const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
192 177
193 const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce; 178 const d.ContactFlags comumContactFlags = d.ContactFlags.Bounce | d.ContactFlags.Approx1 | d.ContactFlags.Slip1 | d.ContactFlags.Slip2;
194 const float MaxERP = 0.8f; 179 const float comumContactERP = 0.7f;
195 const float minERP = 0.1f;
196 const float comumContactCFM = 0.0001f; 180 const float comumContactCFM = 0.0001f;
181 const float comumContactSLIP = 0f;
197 182
198 float frictionMovementMult = 0.8f; 183 float frictionMovementMult = 0.8f;
199 184
@@ -236,8 +221,8 @@ namespace OpenSim.Region.Physics.OdePlugin
236 221
237 public float geomDefaultDensity = 10.000006836f; 222 public float geomDefaultDensity = 10.000006836f;
238 223
239 public int geomContactPointsStartthrottle = 3; 224// public int geomContactPointsStartthrottle = 3;
240 public int geomUpdatesPerThrottledUpdate = 15; 225// public int geomUpdatesPerThrottledUpdate = 15;
241 226
242 public float bodyPIDD = 35f; 227 public float bodyPIDD = 35f;
243 public float bodyPIDG = 25; 228 public float bodyPIDG = 25;
@@ -246,7 +231,6 @@ namespace OpenSim.Region.Physics.OdePlugin
246 231
247 public int bodyFramesAutoDisable = 5; 232 public int bodyFramesAutoDisable = 5;
248 233
249
250 private d.NearCallback nearCallback; 234 private d.NearCallback nearCallback;
251 235
252 private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>(); 236 private HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
@@ -266,11 +250,12 @@ namespace OpenSim.Region.Physics.OdePlugin
266// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); 250// public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
267 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); 251 public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
268 252
269 private float contactsurfacelayer = 0.002f; 253 private float contactsurfacelayer = 0.001f;
270 254
271 private int contactsPerCollision = 80; 255 private int contactsPerCollision = 80;
272 internal IntPtr ContactgeomsArray = IntPtr.Zero; 256 internal IntPtr ContactgeomsArray = IntPtr.Zero;
273 private IntPtr GlobalContactsArray = IntPtr.Zero; 257 private IntPtr GlobalContactsArray = IntPtr.Zero;
258 private d.Contact SharedTmpcontact = new d.Contact();
274 259
275 const int maxContactsbeforedeath = 4000; 260 const int maxContactsbeforedeath = 4000;
276 private volatile int m_global_contactcount = 0; 261 private volatile int m_global_contactcount = 0;
@@ -283,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin
283 private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>(); 268 private Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
284 private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>(); 269 private Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
285 270
286 private int m_physicsiterations = 10; 271 private int m_physicsiterations = 15;
287 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag 272 private const float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
288// private PhysicsActor PANull = new NullPhysicsActor(); 273// private PhysicsActor PANull = new NullPhysicsActor();
289 private float step_time = 0.0f; 274 private float step_time = 0.0f;
@@ -303,8 +288,6 @@ namespace OpenSim.Region.Physics.OdePlugin
303 public IntPtr StaticSpace; // space for the static things around 288 public IntPtr StaticSpace; // space for the static things around
304 public IntPtr GroundSpace; // space for ground 289 public IntPtr GroundSpace; // space for ground
305 290
306 public IntPtr SharedRay;
307
308 // some speedup variables 291 // some speedup variables
309 private int spaceGridMaxX; 292 private int spaceGridMaxX;
310 private int spaceGridMaxY; 293 private int spaceGridMaxY;
@@ -428,11 +411,9 @@ namespace OpenSim.Region.Physics.OdePlugin
428 d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land)); 411 d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land));
429 d.GeomSetCollideBits(GroundSpace, 0); 412 d.GeomSetCollideBits(GroundSpace, 0);
430 413
431 contactgroup = d.JointGroupCreate(0); 414 contactgroup = d.JointGroupCreate(maxContactsbeforedeath + 1);
432 //contactgroup 415 //contactgroup
433 416
434 SharedRay = d.CreateRay(TopSpace, 1.0f);
435
436 d.WorldSetAutoDisableFlag(world, false); 417 d.WorldSetAutoDisableFlag(world, false);
437 } 418 }
438 } 419 }
@@ -481,10 +462,10 @@ namespace OpenSim.Region.Physics.OdePlugin
481 462
482 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace); 463 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
483 464
484 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer); 465// contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
485 466
486 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE); 467 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
487 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations); 468// m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", m_physicsiterations);
488 469
489 avDensity = physicsconfig.GetFloat("av_density", avDensity); 470 avDensity = physicsconfig.GetFloat("av_density", avDensity);
490 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk); 471 avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
@@ -492,8 +473,8 @@ namespace OpenSim.Region.Physics.OdePlugin
492 473
493 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision); 474 contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
494 475
495 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); 476// geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
496 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); 477// geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
497// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); 478// geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
498 479
499 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity); 480 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
@@ -508,6 +489,23 @@ namespace OpenSim.Region.Physics.OdePlugin
508 } 489 }
509 } 490 }
510 491
492
493 d.WorldSetCFM(world, comumContactCFM);
494 d.WorldSetERP(world, comumContactERP);
495
496 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
497
498 d.WorldSetLinearDamping(world, 0.002f);
499 d.WorldSetAngularDamping(world, 0.002f);
500 d.WorldSetAngularDampingThreshold(world, 0f);
501 d.WorldSetLinearDampingThreshold(world, 0f);
502 d.WorldSetMaxAngularSpeed(world, 100f);
503
504 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
505
506 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
507 d.WorldSetContactMaxCorrectingVel(world, 60.0f);
508
511 m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig); 509 m_meshWorker = new ODEMeshWorker(this, m_log, meshmerizer, physicsconfig);
512 510
513 HalfOdeStep = ODE_STEPSIZE * 0.5f; 511 HalfOdeStep = ODE_STEPSIZE * 0.5f;
@@ -516,6 +514,20 @@ namespace OpenSim.Region.Physics.OdePlugin
516 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf); 514 ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
517 GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf); 515 GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
518 516
517 SharedTmpcontact.geom.g1 = IntPtr.Zero;
518 SharedTmpcontact.geom.g2 = IntPtr.Zero;
519
520 SharedTmpcontact.geom.side1 = -1;
521 SharedTmpcontact.geom.side2 = -1;
522
523 SharedTmpcontact.surface.mode = comumContactFlags;
524 SharedTmpcontact.surface.mu = 0;
525 SharedTmpcontact.surface.bounce = 0;
526 SharedTmpcontact.surface.soft_cfm = comumContactCFM;
527 SharedTmpcontact.surface.soft_erp = comumContactERP;
528 SharedTmpcontact.surface.slip1 = comumContactSLIP;
529 SharedTmpcontact.surface.slip2 = comumContactSLIP;
530
519 m_materialContactsData[(int)Material.Stone].mu = 0.8f; 531 m_materialContactsData[(int)Material.Stone].mu = 0.8f;
520 m_materialContactsData[(int)Material.Stone].bounce = 0.4f; 532 m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
521 533
@@ -540,27 +552,6 @@ namespace OpenSim.Region.Physics.OdePlugin
540 m_materialContactsData[(int)Material.light].mu = 0.0f; 552 m_materialContactsData[(int)Material.light].mu = 0.0f;
541 m_materialContactsData[(int)Material.light].bounce = 0.0f; 553 m_materialContactsData[(int)Material.light].bounce = 0.0f;
542 554
543 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
544
545 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
546 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
547
548 d.WorldSetLinearDamping(world, 0.002f);
549 d.WorldSetAngularDamping(world, 0.002f);
550 d.WorldSetAngularDampingThreshold(world, 0f);
551 d.WorldSetLinearDampingThreshold(world, 0f);
552 d.WorldSetMaxAngularSpeed(world, 100f);
553
554 d.WorldSetCFM(world,1e-6f); // a bit harder than default
555 //d.WorldSetCFM(world, 1e-4f); // a bit harder than default
556 d.WorldSetERP(world, 0.6f); // higher than original
557
558 // Set how many steps we go without running collision testing
559 // This is in addition to the step size.
560 // Essentially Steps * m_physicsiterations
561 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
562
563 d.WorldSetContactMaxCorrectingVel(world, 60.0f);
564 555
565 spacesPerMeter = 1 / metersInSpace; 556 spacesPerMeter = 1 / metersInSpace;
566 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); 557 spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);
@@ -631,40 +622,21 @@ namespace OpenSim.Region.Physics.OdePlugin
631 622
632 // sets a global contact for a joint for contactgeom , and base contact description) 623 // sets a global contact for a joint for contactgeom , and base contact description)
633 624
634 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale) 625
626
627 private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom)
635 { 628 {
636 if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath) 629 if (m_global_contactcount >= maxContactsbeforedeath)
637 return IntPtr.Zero; 630 return IntPtr.Zero;
638 631
639 float erp = contactGeom.depth; 632 m_global_contactcount++;
640 erp *= erpscale; 633
641 if (erp < minERP) 634 SharedTmpcontact.geom.depth = contactGeom.depth;
642 erp = minERP; 635 SharedTmpcontact.geom.pos = contactGeom.pos;
643 else if (erp > MaxERP) 636 SharedTmpcontact.geom.normal = contactGeom.normal;
644 erp = MaxERP;
645
646 float depth = contactGeom.depth * dscale;
647 if (depth > 0.5f)
648 depth = 0.5f;
649
650 d.Contact newcontact = new d.Contact();
651 newcontact.geom.depth = depth;
652 newcontact.geom.g1 = contactGeom.g1;
653 newcontact.geom.g2 = contactGeom.g2;
654 newcontact.geom.pos = contactGeom.pos;
655 newcontact.geom.normal = contactGeom.normal;
656 newcontact.geom.side1 = contactGeom.side1;
657 newcontact.geom.side2 = contactGeom.side2;
658
659 // this needs bounce also
660 newcontact.surface.mode = comumContactFlags;
661 newcontact.surface.mu = mu;
662 newcontact.surface.bounce = bounce;
663 newcontact.surface.soft_cfm = cfm;
664 newcontact.surface.soft_erp = erp;
665 637
666 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf)); 638 IntPtr contact = new IntPtr(GlobalContactsArray.ToInt64() + (Int64)(m_global_contactcount * d.Contact.unmanagedSizeOf));
667 Marshal.StructureToPtr(newcontact, contact, true); 639 Marshal.StructureToPtr(SharedTmpcontact, contact, true);
668 return d.JointCreateContactPtr(world, contactgroup, contact); 640 return d.JointCreateContactPtr(world, contactgroup, contact);
669 } 641 }
670 642
@@ -825,10 +797,12 @@ namespace OpenSim.Region.Physics.OdePlugin
825 if (!GetCurContactGeom(0, ref curContact)) 797 if (!GetCurContactGeom(0, ref curContact))
826 return; 798 return;
827 799
800 ContactPoint maxDepthContact = new ContactPoint();
801
828 // do volume detection case 802 // do volume detection case
829 if ((p1.IsVolumeDtc || p2.IsVolumeDtc)) 803 if ((p1.IsVolumeDtc || p2.IsVolumeDtc))
830 { 804 {
831 ContactPoint maxDepthContact = new ContactPoint( 805 maxDepthContact = new ContactPoint(
832 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z), 806 new Vector3(curContact.pos.X, curContact.pos.Y, curContact.pos.Z),
833 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z), 807 new Vector3(curContact.normal.X, curContact.normal.Y, curContact.normal.Z),
834 curContact.depth, false 808 curContact.depth, false
@@ -842,10 +816,7 @@ namespace OpenSim.Region.Physics.OdePlugin
842 816
843 float mu = 0; 817 float mu = 0;
844 float bounce = 0; 818 float bounce = 0;
845 float cfm = 0.0001f; 819// bool IgnoreNegSides = false;
846 float erpscale = 1.0f;
847 float dscale = 1.0f;
848 bool IgnoreNegSides = false;
849 820
850 ContactData contactdata1 = new ContactData(0, 0, false); 821 ContactData contactdata1 = new ContactData(0, 0, false);
851 ContactData contactdata2 = new ContactData(0, 0, false); 822 ContactData contactdata2 = new ContactData(0, 0, false);
@@ -890,7 +861,9 @@ namespace OpenSim.Region.Physics.OdePlugin
890 break; 861 break;
891 862
892 case (int)ActorTypes.Prim: 863 case (int)ActorTypes.Prim:
893 if ((p1.Velocity - p2.Velocity).LengthSquared() > 0.0f) 864 Vector3 relV = p1.Velocity - p2.Velocity;
865 float relVlenSQ = relV.LengthSquared();
866 if (relVlenSQ > 0.0001f)
894 { 867 {
895 p1.CollidingObj = true; 868 p1.CollidingObj = true;
896 p2.CollidingObj = true; 869 p2.CollidingObj = true;
@@ -900,21 +873,7 @@ namespace OpenSim.Region.Physics.OdePlugin
900 bounce = contactdata1.bounce * contactdata2.bounce; 873 bounce = contactdata1.bounce * contactdata2.bounce;
901 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu); 874 mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
902 875
903 cfm = p1.Mass; 876 if (relVlenSQ > 0.01f)
904 if (cfm > p2.Mass)
905 cfm = p2.Mass;
906 dscale = 10 / cfm;
907 dscale = (float)Math.Sqrt(dscale);
908 if (dscale > 1.0f)
909 dscale = 1.0f;
910 erpscale = cfm * 0.01f;
911 cfm = 0.0001f / cfm;
912 if (cfm > 0.01f)
913 cfm = 0.01f;
914 else if (cfm < 0.00001f)
915 cfm = 0.00001f;
916
917 if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
918 mu *= frictionMovementMult; 877 mu *= frictionMovementMult;
919 878
920 break; 879 break;
@@ -923,27 +882,17 @@ namespace OpenSim.Region.Physics.OdePlugin
923 p1.getContactData(ref contactdata1); 882 p1.getContactData(ref contactdata1);
924 bounce = contactdata1.bounce * TerrainBounce; 883 bounce = contactdata1.bounce * TerrainBounce;
925 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction); 884 mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
885
926 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f) 886 if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
927 mu *= frictionMovementMult; 887 mu *= frictionMovementMult;
928 p1.CollidingGround = true; 888 p1.CollidingGround = true;
929 889/*
930 cfm = p1.Mass;
931 dscale = 10 / cfm;
932 dscale = (float)Math.Sqrt(dscale);
933 if (dscale > 1.0f)
934 dscale = 1.0f;
935 erpscale = cfm * 0.01f;
936 cfm = 0.0001f / cfm;
937 if (cfm > 0.01f)
938 cfm = 0.01f;
939 else if (cfm < 0.00001f)
940 cfm = 0.00001f;
941
942 if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass) 890 if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
943 { 891 {
944 if (curContact.side1 > 0) 892 if (curContact.side1 > 0)
945 IgnoreNegSides = true; 893 IgnoreNegSides = true;
946 } 894 }
895 */
947 break; 896 break;
948 897
949 case (int)ActorTypes.Water: 898 case (int)ActorTypes.Water:
@@ -961,22 +910,8 @@ namespace OpenSim.Region.Physics.OdePlugin
961 bounce = contactdata2.bounce * TerrainBounce; 910 bounce = contactdata2.bounce * TerrainBounce;
962 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction); 911 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
963 912
964 cfm = p2.Mass; 913// if (curContact.side1 > 0) // should be 2 ?
965 dscale = 10 / cfm; 914// IgnoreNegSides = true;
966 dscale = (float)Math.Sqrt(dscale);
967
968 if (dscale > 1.0f)
969 dscale = 1.0f;
970
971 erpscale = cfm * 0.01f;
972 cfm = 0.0001f / cfm;
973 if (cfm > 0.01f)
974 cfm = 0.01f;
975 else if (cfm < 0.00001f)
976 cfm = 0.00001f;
977
978 if (curContact.side1 > 0) // should be 2 ?
979 IgnoreNegSides = true;
980 915
981 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f) 916 if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
982 mu *= frictionMovementMult; 917 mu *= frictionMovementMult;
@@ -993,26 +928,24 @@ namespace OpenSim.Region.Physics.OdePlugin
993 if (ignore) 928 if (ignore)
994 return; 929 return;
995 930
996
997 d.ContactGeom maxContact = curContact;
998 // if (IgnoreNegSides && curContact.side1 < 0)
999 // maxContact.depth = float.MinValue;
1000
1001 d.ContactGeom minContact = curContact;
1002 // if (IgnoreNegSides && curContact.side1 < 0)
1003 // minContact.depth = float.MaxValue;
1004
1005 IntPtr Joint; 931 IntPtr Joint;
1006 bool FeetCollision = false; 932 bool FeetCollision = false;
1007 int ncontacts = 0; 933 int ncontacts = 0;
1008 934
1009
1010 int i = 0; 935 int i = 0;
1011 936
937 maxDepthContact = new ContactPoint();
938 maxDepthContact.PenetrationDepth = float.MinValue;
939 ContactPoint minDepthContact = new ContactPoint();
940 minDepthContact.PenetrationDepth = float.MaxValue;
941
942 SharedTmpcontact.geom.depth = 0;
943 SharedTmpcontact.surface.mu = mu;
944 SharedTmpcontact.surface.bounce = bounce;
945
1012 while (true) 946 while (true)
1013 { 947 {
1014 948// if (!(IgnoreNegSides && curContact.side1 < 0))
1015// if (!(IgnoreNegSides && curContact.side1 < 0))
1016 { 949 {
1017 bool noskip = true; 950 bool noskip = true;
1018 if (dop1ava) 951 if (dop1ava)
@@ -1029,26 +962,32 @@ namespace OpenSim.Region.Physics.OdePlugin
1029 962
1030 if (noskip) 963 if (noskip)
1031 { 964 {
1032 m_global_contactcount++; 965 Joint = CreateContacJoint(ref curContact);
1033 if (m_global_contactcount >= maxContactsbeforedeath)
1034 break;
1035
1036 ncontacts++;
1037
1038 Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
1039 if (Joint == IntPtr.Zero) 966 if (Joint == IntPtr.Zero)
1040 break; 967 break;
1041 968
1042 d.JointAttach(Joint, b1, b2); 969 d.JointAttach(Joint, b1, b2);
1043 970
1044 if (curContact.depth > maxContact.depth) 971 ncontacts++;
1045 maxContact = curContact; 972
973 if (curContact.depth > maxDepthContact.PenetrationDepth)
974 {
975 maxDepthContact.Position.X = curContact.pos.X;
976 maxDepthContact.Position.Y = curContact.pos.Y;
977 maxDepthContact.Position.Z = curContact.pos.Z;
978 maxDepthContact.PenetrationDepth = curContact.depth;
979 maxDepthContact.CharacterFeet = FeetCollision;
980 }
1046 981
1047 if (curContact.depth < minContact.depth) 982 if (curContact.depth < minDepthContact.PenetrationDepth)
1048 minContact = curContact; 983 {
984 minDepthContact.PenetrationDepth = curContact.depth;
985 minDepthContact.SurfaceNormal.X = curContact.normal.X;
986 minDepthContact.SurfaceNormal.Y = curContact.normal.Y;
987 minDepthContact.SurfaceNormal.Z = curContact.normal.Z;
988 }
1049 } 989 }
1050 } 990 }
1051
1052 if (++i >= count) 991 if (++i >= count)
1053 break; 992 break;
1054 993
@@ -1058,11 +997,10 @@ namespace OpenSim.Region.Physics.OdePlugin
1058 997
1059 if (ncontacts > 0) 998 if (ncontacts > 0)
1060 { 999 {
1061 ContactPoint maxDepthContact = new ContactPoint( 1000 maxDepthContact.SurfaceNormal.X = minDepthContact.SurfaceNormal.X;
1062 new Vector3(maxContact.pos.X, maxContact.pos.Y, maxContact.pos.Z), 1001 maxDepthContact.SurfaceNormal.Y = minDepthContact.SurfaceNormal.Y;
1063 new Vector3(minContact.normal.X, minContact.normal.Y, minContact.normal.Z), 1002 maxDepthContact.SurfaceNormal.Z = minDepthContact.SurfaceNormal.Z;
1064 maxContact.depth, FeetCollision 1003
1065 );
1066 collision_accounting_events(p1, p2, maxDepthContact); 1004 collision_accounting_events(p1, p2, maxDepthContact);
1067 } 1005 }
1068 } 1006 }
@@ -1629,16 +1567,15 @@ namespace OpenSim.Region.Physics.OdePlugin
1629 if (framecount < 0) 1567 if (framecount < 0)
1630 framecount = 0; 1568 framecount = 0;
1631 1569
1632
1633 framecount++; 1570 framecount++;
1634 1571
1635 int curphysiteractions; 1572// int curphysiteractions;
1636 1573
1637 // if in trouble reduce step resolution 1574 // if in trouble reduce step resolution
1638 if (step_time >= m_SkipFramesAtms) 1575// if (step_time >= m_SkipFramesAtms)
1639 curphysiteractions = m_physicsiterations / 2; 1576// curphysiteractions = m_physicsiterations / 2;
1640 else 1577// else
1641 curphysiteractions = m_physicsiterations; 1578// curphysiteractions = m_physicsiterations;
1642 1579
1643// checkThread(); 1580// checkThread();
1644 int nodeframes = 0; 1581 int nodeframes = 0;
@@ -1653,14 +1590,12 @@ namespace OpenSim.Region.Physics.OdePlugin
1653 } 1590 }
1654 1591
1655 ODEchangeitem item; 1592 ODEchangeitem item;
1656
1657
1658 1593
1659 d.WorldSetQuickStepNumIterations(world, curphysiteractions); 1594// d.WorldSetQuickStepNumIterations(world, curphysiteractions);
1660 1595
1661 int loopstartMS = Util.EnvironmentTickCount(); 1596 int loopstartMS = Util.EnvironmentTickCount();
1662 int looptimeMS = 0; 1597 int looptimeMS = 0;
1663 1598
1664 1599
1665 while (step_time > HalfOdeStep) 1600 while (step_time > HalfOdeStep)
1666 { 1601 {
@@ -1763,6 +1698,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1763 1698
1764 // do a ode simulation step 1699 // do a ode simulation step
1765 d.WorldQuickStep(world, ODE_STEPSIZE); 1700 d.WorldQuickStep(world, ODE_STEPSIZE);
1701// d.WorldStep(world, ODE_STEPSIZE);
1766 d.JointGroupEmpty(contactgroup); 1702 d.JointGroupEmpty(contactgroup);
1767 1703
1768 // update managed ideia of physical data and do updates to core 1704 // update managed ideia of physical data and do updates to core
@@ -1789,7 +1725,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1789 { 1725 {
1790 if (actor.IsPhysical) 1726 if (actor.IsPhysical)
1791 { 1727 {
1792 actor.UpdatePositionAndVelocity(); 1728 actor.UpdatePositionAndVelocity(framecount);
1793 } 1729 }
1794 } 1730 }
1795 } 1731 }
generated by cgit v1.1 at 2025-01-24 05:53:03 +0000