* Maintainence: Applying Dan's ODE Patch to Trunk

1 files changed, 21 insertions, 20 deletions

diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
index 5233042..6758f76 100644
--- a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
@@ -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;

         }

     }