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authorAdam Frisby2007-07-06 05:41:22 +0000
committerAdam Frisby2007-07-06 05:41:22 +0000
commite8671a2c05334f8d4d2ad9e9f7b868ccdd59f39a (patch)
treecca920829c8f63259f0d4cdd2766d60e9cbfd5b1 /OpenSim/OpenSim.Physics/OdePlugin
parent* Changed XmlRpc to specify utf-8 (diff)
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* Maintainence: Applying Dan's ODE Patch to Trunk
Diffstat (limited to 'OpenSim/OpenSim.Physics/OdePlugin')
-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs41
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
84 84
85 public OdeScene() 85 public OdeScene()
86 { 86 {
87 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; 87 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
88 contact.surface.mu = d.Infinity; 88 contact.surface.mu = 10.0f;
89 contact.surface.mu2 = 0.0f; 89 contact.surface.bounce = 0.9f;
90 contact.surface.bounce = 0.1f; 90 contact.surface.soft_erp = 0.005f;
91 contact.surface.bounce_vel = 0.1f; 91 contact.surface.soft_cfm = 0.00003f;
92 contact.surface.soft_cfm = 0.01f;
93 92
94 world = d.WorldCreate(); 93 world = d.WorldCreate();
95 space = d.HashSpaceCreate(IntPtr.Zero); 94 space = d.HashSpaceCreate(IntPtr.Zero);
96 contactgroup = d.JointGroupCreate(0); 95 contactgroup = d.JointGroupCreate(0);
97 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); 96 d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
98 //d.WorldSetCFM(world, 1e-5f);
99 d.WorldSetAutoDisableFlag(world, false); 97 d.WorldSetAutoDisableFlag(world, false);
100 d.WorldSetContactSurfaceLayer(world, 0.001f); 98 d.WorldSetContactSurfaceLayer(world, 0.001f);
101 // d.CreatePlane(space, 0, 0, 1, 0);
102 this._heightmap = new double[65536]; 99 this._heightmap = new double[65536];
103 } 100 }
104 101
@@ -153,16 +150,19 @@ namespace OpenSim.Physics.OdePlugin
153 { 150 {
154 foreach (OdeCharacter actor in _characters) 151 foreach (OdeCharacter actor in _characters)
155 { 152 {
156 actor.Move(timeStep * 5f); 153 actor.Move(timeStep);
157 } 154 }
158 d.SpaceCollide(space, IntPtr.Zero, nearCallback); 155 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
159 d.WorldQuickStep(world, timeStep * 5f); 156 for (int i = 0; i < 50; i++)
157 {
158 d.WorldQuickStep(world, timeStep * 0.02f);
159 }
160
160 d.JointGroupEmpty(contactgroup); 161 d.JointGroupEmpty(contactgroup);
161 foreach (OdeCharacter actor in _characters) 162 foreach (OdeCharacter actor in _characters)
162 { 163 {
163 actor.UpdatePosition(); 164 actor.UpdatePosition();
164 } 165 }
165
166 } 166 }
167 167
168 public override void GetResults() 168 public override void GetResults()
@@ -220,7 +220,7 @@ namespace OpenSim.Physics.OdePlugin
220 private PhysicsVector _position; 220 private PhysicsVector _position;
221 private PhysicsVector _velocity; 221 private PhysicsVector _velocity;
222 private PhysicsVector _acceleration; 222 private PhysicsVector _acceleration;
223 private bool flying; 223 private bool flying = false;
224 //private float gravityAccel; 224 //private float gravityAccel;
225 private IntPtr BoundingCapsule; 225 private IntPtr BoundingCapsule;
226 IntPtr capsule_geom; 226 IntPtr capsule_geom;
@@ -231,8 +231,8 @@ namespace OpenSim.Physics.OdePlugin
231 _velocity = new PhysicsVector(); 231 _velocity = new PhysicsVector();
232 _position = pos; 232 _position = pos;
233 _acceleration = new PhysicsVector(); 233 _acceleration = new PhysicsVector();
234 d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); 234 d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
235 capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); 235 capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
236 this.BoundingCapsule = d.BodyCreate(OdeScene.world); 236 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
237 d.BodySetMass(BoundingCapsule, ref capsule_mass); 237 d.BodySetMass(BoundingCapsule, ref capsule_mass);
238 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); 238 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
@@ -325,13 +325,14 @@ namespace OpenSim.Physics.OdePlugin
325 public void Move(float timeStep) 325 public void Move(float timeStep)
326 { 326 {
327 PhysicsVector vec = new PhysicsVector(); 327 PhysicsVector vec = new PhysicsVector();
328 vec.X = this._velocity.X * timeStep; 328 d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
329 vec.Y = this._velocity.Y * timeStep; 329 vec.X = (vel.X - this._velocity.X) * -75000.0f;
330 vec.Y = (vel.Y - this._velocity.Y) * -75000.0f;
330 if (flying) 331 if (flying)
331 { 332 {
332 vec.Z = (this._velocity.Z + 0.5f) * timeStep; 333 vec.Z = (vel.Z - this._velocity.Z) * -75000.0f;
333 } 334 }
334 d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); 335 d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
335 } 336 }
336 337
337 public void UpdatePosition() 338 public void UpdatePosition()
@@ -339,7 +340,7 @@ namespace OpenSim.Physics.OdePlugin
339 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); 340 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
340 this._position.X = vec.X; 341 this._position.X = vec.X;
341 this._position.Y = vec.Y; 342 this._position.Y = vec.Y;
342 this._position.Z = vec.Z+1.0f; 343 this._position.Z = vec.Z;
343 } 344 }
344 } 345 }
345 346