update UbitOde

5 files changed, 69 insertions, 65 deletions

diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index f525e9e..25aa4dc 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -158,9 +158,10 @@ namespace OpenSim.Region.Physics.Manager
    
         public virtual bool Building { get; set; }
 
-        public virtual ContactData ContactData
+        public virtual void getContactData(ref ContactData cdata)
         {
-            get { return new ContactData(0, 0); }
+            cdata.mu = 0;
+            cdata.bounce = 0;
         }
 
         public abstract bool Stopped { get; }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
index 793e281..94cadb2 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
@@ -136,7 +136,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         public UUID m_uuid;
         public bool bad = false;
 
-        public ContactData AvatarContactData = new ContactData(10f, 0.3f);
+        float mu;
+        float bounce;
 
         public OdeCharacter(String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float density, float walk_divisor, float rundivisor)
         {
@@ -168,8 +169,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_density = density;
             m_mass = 80f; // sure we have a default
 
-            AvatarContactData.mu = parent_scene.AvatarFriction;
-            AvatarContactData.bounce = parent_scene.AvatarBounce;
+            mu = parent_scene.AvatarFriction;
+            bounce = parent_scene.AvatarBounce;
 
             walkDivisor = walk_divisor;
             runDivisor = rundivisor;
@@ -190,9 +191,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             set { return; }
         }
 
-        public override ContactData ContactData
+        public override void getContactData(ref ContactData cdata)
         {
-            get { return AvatarContactData; }
+            cdata.mu = mu;
+            cdata.bounce = bounce;
         }
 
         public override bool Building { get; set; }
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index 0fabb56..d0b4546 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -119,25 +119,22 @@ namespace OpenSim.Region.Physics.OdePlugin
         // auxiliar
         private float m_lmEfect = 0;                                            // current linear motor eficiency
         private float m_amEfect = 0;                                            // current angular motor eficiency
+        private float m_ffactor = 1.0f;
 
-        public bool EngineActive
+        public float FrictionFactor
         {
             get
             {
-                if (m_lmEfect > 0.01)
-                    return true;
-                return false;
+                return m_ffactor;
             }
         }
 
-
         public ODEDynamics(OdePrim rootp)
         {
             rootPrim = rootp;
             _pParentScene = rootPrim._parent_scene;
         }
 
-
         public void DoSetVehicle(VehicleData vd)
         {
 
@@ -212,6 +209,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             m_lmEfect = 0;
             m_amEfect = 0;
+            m_ffactor = 1.0f;
         }
 
         internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
@@ -329,6 +327,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     if (len > 30.0f)
                         m_linearMotorDirection *= (30.0f / len);
                     m_lmEfect = 1.0f; // turn it on
+                    m_ffactor = 0.01f;
                     if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
                             && !rootPrim.m_isSelected && !rootPrim.m_disabled)
                         d.BodyEnable(rootPrim.Body);
@@ -379,6 +378,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     if (len > 30.0f)
                         m_linearMotorDirection *= (30.0f / len);
                     m_lmEfect = 1.0f; // turn it on
+                    m_ffactor = 0.01f;
                     if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
                             && !rootPrim.m_isSelected && !rootPrim.m_disabled)
                         d.BodyEnable(rootPrim.Body);
@@ -425,6 +425,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             float invtimestep = _pParentScene.ODE_STEPSIZE;
             m_lmEfect = 0;
             m_amEfect = 0;
+            m_ffactor = 1f;
 
             m_linearMotorDirection = Vector3.Zero;
             m_angularMotorDirection = Vector3.Zero;
@@ -602,6 +603,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         {
             m_lmEfect = 0;
             m_amEfect = 0;
+            m_ffactor = 1f;
         }
 
         public static Vector3 Xrot(Quaternion rot)
@@ -752,9 +754,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                     force.Z += tmpV.Z;
                 }
                 m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
+
+                m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
             }
             else
+            {
                 m_lmEfect = 0;
+                m_ffactor = 1f;
+            }
 
             // friction
             if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index e5fa1d7..db07565 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -187,7 +187,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         public ODEDynamics m_vehicle;
 
         internal int m_material = (int)Material.Wood;
-        protected ContactData primContactData = new ContactData { mu = 0f, bounce = 0.1f };
+        private float mu;
+        private float bounce;
 
         /// <summary>
         /// Is this prim subject to physics?  Even if not, it's still solid for collision purposes.
@@ -218,25 +219,23 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override ContactData ContactData
+        public override void getContactData(ref ContactData cdata)
         {
-            get
+            cdata.mu = mu;
+            cdata.bounce = bounce;
+
+            if (m_isphysical)
             {
-                if (m_isphysical)
-                {
-                    ODEDynamics veh;
-                    if (_parent != null)
-                        veh = ((OdePrim)_parent).m_vehicle;
-                    else
-                        veh = m_vehicle;
+                ODEDynamics veh;
+                if (_parent != null)
+                    veh = ((OdePrim)_parent).m_vehicle;
+                else
+                    veh = m_vehicle;
 
-                    if (veh != null)
-                        if (veh.Type != Vehicle.TYPE_NONE && veh.EngineActive)
-                            return new ContactData(0, 0);
-                }
-                return primContactData;
+                if (veh != null && veh.Type != Vehicle.TYPE_NONE)
+                    cdata.mu *= veh.FrictionFactor;
             }
-        }
+        }    
 
         public override int PhysicsActorType
         {
@@ -745,8 +744,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         public override void SetMaterial(int pMaterial)
         {
             m_material = pMaterial;
-            primContactData.mu = _parent_scene.m_materialContactsData[pMaterial].mu;
-            primContactData.bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
+            mu = _parent_scene.m_materialContactsData[pMaterial].mu;
+            bounce = _parent_scene.m_materialContactsData[pMaterial].bounce;
         }
 
         public void setPrimForRemoval()
@@ -899,8 +898,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_isSelected = false;
             m_delaySelect = false;
 
-            primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
-            primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
+            mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
+            bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
 
             CalcPrimBodyData();
 
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 129db5d..884a5a7 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -163,8 +163,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         const float comumSoftContactERP = 0.1f;
         const float comumContactCFM = 0.0001f;
         
-        float frictionScale = 1.0f;
-        
         float frictionMovementMult = 0.3f;
 
         float TerrainBounce = 0.1f;
@@ -450,33 +448,30 @@ namespace OpenSim.Region.Physics.OdePlugin
             ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
             GlobalContactsArray = GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath * d.Contact.unmanagedSizeOf);
 
-            m_materialContactsData[(int)Material.Stone].mu = frictionScale * 0.8f;
+            m_materialContactsData[(int)Material.Stone].mu = 0.8f;
             m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
 
-            m_materialContactsData[(int)Material.Metal].mu = frictionScale * 0.3f;
+            m_materialContactsData[(int)Material.Metal].mu = 0.3f;
             m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
 
-            m_materialContactsData[(int)Material.Glass].mu = frictionScale * 0.2f;
+            m_materialContactsData[(int)Material.Glass].mu = 0.2f;
             m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
 
-            m_materialContactsData[(int)Material.Wood].mu = frictionScale * 0.6f;
+            m_materialContactsData[(int)Material.Wood].mu = 0.6f;
             m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
 
-            m_materialContactsData[(int)Material.Flesh].mu = frictionScale * 0.9f;
+            m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
             m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
 
-            m_materialContactsData[(int)Material.Plastic].mu = frictionScale * 0.4f;
+            m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
             m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
 
-            m_materialContactsData[(int)Material.Rubber].mu = frictionScale * 0.9f;
+            m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
             m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
 
             m_materialContactsData[(int)Material.light].mu = 0.0f;
             m_materialContactsData[(int)Material.light].bounce = 0.0f;
 
-            TerrainFriction *= frictionScale;
-//            AvatarFriction *= frictionScale;
-
             // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
 
             d.WorldSetGravity(world, gravityx, gravityy, gravityz);
@@ -562,13 +557,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
 
-        /// <summary>
-        /// This is our near callback.  A geometry is near a body
-        /// </summary>
-        /// <param name="space">The space that contains the geoms.  Remember, spaces are also geoms</param>
-        /// <param name="g1">a geometry or space</param>
-        /// <param name="g2">another geometry or space</param>
-        /// 
 
         private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
         {
@@ -580,7 +568,13 @@ namespace OpenSim.Region.Physics.OdePlugin
             return true;
         }
 
-
+        /// <summary>
+        /// This is our near callback.  A geometry is near a body
+        /// </summary>
+        /// <param name="space">The space that contains the geoms.  Remember, spaces are also geoms</param>
+        /// <param name="g1">a geometry or space</param>
+        /// <param name="g2">another geometry or space</param>
+        /// 
 
         private void near(IntPtr space, IntPtr g1, IntPtr g2)
         {
@@ -699,8 +693,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             // big messy collision analises
             float mu = 0;
             float bounce = 0;
-            ContactData contactdata1;
-            ContactData contactdata2;
+            ContactData contactdata1 = new ContactData(0, 0);
+            ContactData contactdata2 = new ContactData(0, 0);
             bool erpSoft = false;
 
             String name = null;
@@ -714,8 +708,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     switch (p2.PhysicsActorType)
                     {
                         case (int)ActorTypes.Agent:
-                            contactdata1 = p1.ContactData;
-                            contactdata2 = p2.ContactData;
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
+                            
                             bounce = contactdata1.bounce * contactdata2.bounce;
                             
                             mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -727,8 +722,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             p2.CollidingObj = true;
                             break;
                         case (int)ActorTypes.Prim:
-                            contactdata1 = p1.ContactData;
-                            contactdata2 = p2.ContactData;
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
                             bounce = contactdata1.bounce * contactdata2.bounce;
                             
                             mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -749,8 +744,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                     switch (p2.PhysicsActorType)
                     {
                         case (int)ActorTypes.Agent:
-                            contactdata1 = p1.ContactData;
-                            contactdata2 = p2.ContactData;
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
                             bounce = contactdata1.bounce * contactdata2.bounce;
                             
                             mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -768,8 +763,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 p1.CollidingObj = true;
                                 p2.CollidingObj = true;
                             }
-                            contactdata1 = p1.ContactData;
-                            contactdata2 = p2.ContactData;
+                            p1.getContactData(ref contactdata1);
+                            p2.getContactData(ref contactdata2);
                             bounce = contactdata1.bounce * contactdata2.bounce;
                             erpSoft = true;
                             mu = (float)Math.Sqrt(contactdata1.mu * contactdata2.mu);
@@ -784,7 +779,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 if (name == "Terrain")
                                 {
                                     erpSoft = true;
-                                    contactdata1 = p1.ContactData;
+                                    p1.getContactData(ref contactdata1);
                                     bounce = contactdata1.bounce * TerrainBounce;
                                     mu = (float)Math.Sqrt(contactdata1.mu * TerrainFriction);
                                     if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
@@ -811,7 +806,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             {
                                 erpSoft = true;
                                 p2.CollidingGround = true;
-                                contactdata2 = p2.ContactData;
+                                p2.getContactData(ref contactdata2);
                                 bounce = contactdata2.bounce * TerrainBounce;
                                 mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);