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authordan miller2007-09-01 11:01:11 +0000
committerdan miller2007-09-01 11:01:11 +0000
commit0901dfded17bc22e81301be8f3dd1b30b8da4305 (patch)
tree9c77e4da1889725adde3813545c7b81911a68bfe /OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
parentoops -- restoring opensim.ini (diff)
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umm, nevermind all that -- this is the real ODE region fix. I'll get subversion someday
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/OdePlugin.cs')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs55
1 files changed, 33 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 62b6fb7..7141f09 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -73,20 +73,22 @@ namespace OpenSim.Region.Physics.OdePlugin
73 73
74 public class OdeScene : PhysicsScene 74 public class OdeScene : PhysicsScene
75 { 75 {
76 static public IntPtr world; 76 private IntPtr contactgroup;
77 static public IntPtr space; 77 private IntPtr LandGeom;
78 static private IntPtr contactgroup;
79 static private IntPtr LandGeom;
80 //static private IntPtr Land;
81 private double[] _heightmap; 78 private double[] _heightmap;
82 static private d.NearCallback nearCallback = near; 79 private d.NearCallback nearCallback;
83 private List<OdeCharacter> _characters = new List<OdeCharacter>(); 80 private List<OdeCharacter> _characters = new List<OdeCharacter>();
84 private List<OdePrim> _prims = new List<OdePrim>(); 81 private List<OdePrim> _prims = new List<OdePrim>();
85 private static d.ContactGeom[] contacts = new d.ContactGeom[30]; 82 private d.ContactGeom[] contacts = new d.ContactGeom[30];
86 private static d.Contact contact; 83 private d.Contact contact;
84
85 public IntPtr world;
86 public IntPtr space;
87 public static Object OdeLock = new Object(); 87 public static Object OdeLock = new Object();
88
88 public OdeScene() 89 public OdeScene()
89 { 90 {
91 nearCallback = near;
90 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP; 92 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
91 contact.surface.mu = 10.0f; 93 contact.surface.mu = 10.0f;
92 contact.surface.bounce = 0.9f; 94 contact.surface.bounce = 0.9f;
@@ -103,11 +105,11 @@ namespace OpenSim.Region.Physics.OdePlugin
103 d.WorldSetContactSurfaceLayer(world, 0.001f); 105 d.WorldSetContactSurfaceLayer(world, 0.001f);
104 } 106 }
105 107
106 this._heightmap = new double[65536]; 108 _heightmap = new double[65536];
107 } 109 }
108 110
109 // This function blatantly ripped off from BoxStack.cs 111 // This function blatantly ripped off from BoxStack.cs
110 static private void near(IntPtr space, IntPtr g1, IntPtr g2) 112 private void near(IntPtr space, IntPtr g1, IntPtr g2)
111 { 113 {
112 // no lock here! It's invoked from within Simulate(), which is thread-locked 114 // no lock here! It's invoked from within Simulate(), which is thread-locked
113 IntPtr b1 = d.GeomGetBody(g1); 115 IntPtr b1 = d.GeomGetBody(g1);
@@ -116,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
116 return; 118 return;
117 119
118 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); 120 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
119 for (int i = 0; i < count; ++i) 121 for (int i = 0; i < count; i++)
120 { 122 {
121 contact.geom = contacts[i]; 123 contact.geom = contacts[i];
122 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); 124 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
@@ -125,6 +127,14 @@ namespace OpenSim.Region.Physics.OdePlugin
125 127
126 } 128 }
127 129
130 private void collision_optimized()
131 {
132 foreach (OdeCharacter chr in _characters)
133 {
134 d.SpaceCollide2(space, _characters[_characters.Count - 1].capsule_geom, IntPtr.Zero, nearCallback);
135 }
136 }
137
128 public override PhysicsActor AddAvatar(PhysicsVector position) 138 public override PhysicsActor AddAvatar(PhysicsVector position)
129 { 139 {
130 PhysicsVector pos = new PhysicsVector(); 140 PhysicsVector pos = new PhysicsVector();
@@ -132,7 +142,7 @@ namespace OpenSim.Region.Physics.OdePlugin
132 pos.Y = position.Y; 142 pos.Y = position.Y;
133 pos.Z = position.Z; 143 pos.Z = position.Z;
134 OdeCharacter newAv = new OdeCharacter(this, pos); 144 OdeCharacter newAv = new OdeCharacter(this, pos);
135 this._characters.Add(newAv); 145 _characters.Add(newAv);
136 return newAv; 146 return newAv;
137 } 147 }
138 148
@@ -147,13 +157,14 @@ namespace OpenSim.Region.Physics.OdePlugin
147 lock (OdeLock) 157 lock (OdeLock)
148 { 158 {
149 d.GeomDestroy(((OdePrim)prim).prim_geom); 159 d.GeomDestroy(((OdePrim)prim).prim_geom);
150 this._prims.Remove((OdePrim)prim); 160 _prims.Remove((OdePrim)prim);
151 } 161 }
152 } 162 }
153 } 163 }
154 164
155 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) 165 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
156 { 166 {
167 Console.WriteLine("++++++++++++++++++++++++++++++++++ AddPrim: " + position);
157 PhysicsVector pos = new PhysicsVector(); 168 PhysicsVector pos = new PhysicsVector();
158 pos.X = position.X; 169 pos.X = position.X;
159 pos.Y = position.Y; 170 pos.Y = position.Y;
@@ -172,7 +183,7 @@ namespace OpenSim.Region.Physics.OdePlugin
172 { 183 {
173 newPrim = new OdePrim(this, pos, siz, rot); 184 newPrim = new OdePrim(this, pos, siz, rot);
174 } 185 }
175 this._prims.Add(newPrim); 186 _prims.Add(newPrim);
176 return newPrim; 187 return newPrim;
177 } 188 }
178 189
@@ -187,7 +198,7 @@ namespace OpenSim.Region.Physics.OdePlugin
187 { 198 {
188 actor.Move(timeStep); 199 actor.Move(timeStep);
189 } 200 }
190 d.SpaceCollide(space, IntPtr.Zero, nearCallback); 201 collision_optimized();
191 for (int i = 0; i < 50; i++) 202 for (int i = 0; i < 50; i++)
192 { 203 {
193 d.WorldQuickStep(world, timeStep * 0.02f); 204 d.WorldQuickStep(world, timeStep * 0.02f);
@@ -222,7 +233,7 @@ namespace OpenSim.Region.Physics.OdePlugin
222 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) 233 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
223 int x = i & 0xff; 234 int x = i & 0xff;
224 int y = i >> 8; 235 int y = i >> 8;
225 this._heightmap[i] = (double)heightMap[x * 256 + y]; 236 _heightmap[i] = (double)heightMap[x * 256 + y];
226 } 237 }
227 238
228 lock (OdeLock) 239 lock (OdeLock)
@@ -263,9 +274,9 @@ namespace OpenSim.Region.Physics.OdePlugin
263 private bool flying = false; 274 private bool flying = false;
264 //private float gravityAccel; 275 //private float gravityAccel;
265 private IntPtr BoundingCapsule; 276 private IntPtr BoundingCapsule;
266 IntPtr capsule_geom;
267 d.Mass capsule_mass;
268 private OdeScene _parent_scene; 277 private OdeScene _parent_scene;
278 public IntPtr capsule_geom;
279 public d.Mass capsule_mass;
269 280
270 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) 281 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
271 { 282 {
@@ -276,8 +287,8 @@ namespace OpenSim.Region.Physics.OdePlugin
276 lock (OdeScene.OdeLock) 287 lock (OdeScene.OdeLock)
277 { 288 {
278 d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f); 289 d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
279 capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble 290 capsule_geom = d.CreateSphere(parent_scene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
280 this.BoundingCapsule = d.BodyCreate(OdeScene.world); 291 BoundingCapsule = d.BodyCreate(parent_scene.world);
281 d.BodySetMass(BoundingCapsule, ref capsule_mass); 292 d.BodySetMass(BoundingCapsule, ref capsule_mass);
282 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); 293 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
283 d.GeomSetBody(capsule_geom, BoundingCapsule); 294 d.GeomSetBody(capsule_geom, BoundingCapsule);
@@ -370,7 +381,7 @@ namespace OpenSim.Region.Physics.OdePlugin
370 } 381 }
371 public void SetAcceleration(PhysicsVector accel) 382 public void SetAcceleration(PhysicsVector accel)
372 { 383 {
373 this._acceleration = accel; 384 _acceleration = accel;
374 } 385 }
375 386
376 public override void AddForce(PhysicsVector force) 387 public override void AddForce(PhysicsVector force)
@@ -432,7 +443,7 @@ namespace OpenSim.Region.Physics.OdePlugin
432 _orientation = rotation; 443 _orientation = rotation;
433 lock (OdeScene.OdeLock) 444 lock (OdeScene.OdeLock)
434 { 445 {
435 prim_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z); 446 prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z);
436 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); 447 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
437 d.Quaternion myrot = new d.Quaternion(); 448 d.Quaternion myrot = new d.Quaternion();
438 myrot.W = rotation.w; 449 myrot.W = rotation.w;