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-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs2
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs8
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs184
3 files changed, 133 insertions, 61 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 17e041d..606b13e 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -780,7 +780,7 @@ namespace OpenSim.Region.Physics.OdePlugin
780 } 780 }
781 if (flying) 781 if (flying)
782 { 782 {
783 vec.Z += (9.8f*m_mass); 783 vec.Z += ((-1 * _parent_scene.gravityz)*m_mass);
784 } 784 }
785 785
786 786
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index d1f1074..37a8b77 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1155,14 +1155,14 @@ namespace OpenSim.Region.Physics.OdePlugin
1155 1155
1156 if (m_buoyancy > 0) 1156 if (m_buoyancy > 0)
1157 { 1157 {
1158 fz = ((9.8f * m_buoyancy) * m_mass); 1158 fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass);
1159 1159
1160 //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); 1160 //d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
1161 //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (9.8f * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); 1161 //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
1162 } 1162 }
1163 else 1163 else
1164 { 1164 {
1165 fz = (-1 * ((9.8f * (-1 * m_buoyancy)) * m_mass)); 1165 fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass));
1166 } 1166 }
1167 1167
1168 1168
@@ -1171,7 +1171,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1171 if (m_usePID) 1171 if (m_usePID)
1172 { 1172 {
1173 // If we're using the PID controller, then we have no gravity 1173 // If we're using the PID controller, then we have no gravity
1174 fz = 9.8f * this.Mass; 1174 fz = (-1 * _parent_scene.gravityz) * this.Mass;
1175 1175
1176 // no lock; for now it's only called from within Simulate() 1176 // no lock; for now it's only called from within Simulate()
1177 1177
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0dc865d..873abc7 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -127,8 +127,20 @@ namespace OpenSim.Region.Physics.OdePlugin
127 private const uint m_regionWidth = Constants.RegionSize; 127 private const uint m_regionWidth = Constants.RegionSize;
128 private const uint m_regionHeight = Constants.RegionSize; 128 private const uint m_regionHeight = Constants.RegionSize;
129 129
130 private static float ODE_STEPSIZE = 0.020f; 130 private float ODE_STEPSIZE = 0.020f;
131 private static float metersInSpace = 29.9f; 131 private float metersInSpace = 29.9f;
132
133 public float gravityx = 0f;
134 public float gravityy = 0f;
135 public float gravityz = -9.8f;
136
137 private float contactsurfacelayer = 0.001f;
138
139 private int worldHashspaceLow = -4;
140 private int worldHashspaceHigh = 128;
141
142 private int smallHashspaceLow = -4;
143 private int smallHashspaceHigh = 66;
132 144
133 private float waterlevel = 0f; 145 private float waterlevel = 0f;
134 private int framecount = 0; 146 private int framecount = 0;
@@ -139,6 +151,21 @@ namespace OpenSim.Region.Physics.OdePlugin
139 151
140 private IntPtr WaterGeom = (IntPtr)0; 152 private IntPtr WaterGeom = (IntPtr)0;
141 153
154 private float nmTerrainContactFriction = 255.0f;
155 private float nmTerrainContactBounce = 0.1f;
156 private float nmTerrainContactERP = 0.1025f;
157
158 private float mTerrainContactFriction = 75f;
159 private float mTerrainContactBounce = 0.1f;
160 private float mTerrainContactERP = 0.05025f;
161
162 private float nmAvatarObjectContactFriction = 250f;
163 private float nmAvatarObjectContactBounce = 0.1f;
164
165 private float mAvatarObjectContactFriction = 75f;
166 private float mAvatarObjectContactBounce = 0.1f;
167
168
142 private float[] _heightmap; 169 private float[] _heightmap;
143 170
144 private float[] _watermap; 171 private float[] _watermap;
@@ -188,7 +215,7 @@ namespace OpenSim.Region.Physics.OdePlugin
188 215
189 //private IntPtr tmpSpace; 216 //private IntPtr tmpSpace;
190 // split static geometry collision handling into spaces of 30 meters 217 // split static geometry collision handling into spaces of 30 meters
191 public IntPtr[,] staticPrimspace = new IntPtr[(int) (300/metersInSpace),(int) (300/metersInSpace)]; 218 public IntPtr[,] staticPrimspace;
192 219
193 public static Object OdeLock = new Object(); 220 public static Object OdeLock = new Object();
194 221
@@ -208,25 +235,94 @@ namespace OpenSim.Region.Physics.OdePlugin
208 nearCallback = near; 235 nearCallback = near;
209 triCallback = TriCallback; 236 triCallback = TriCallback;
210 triArrayCallback = TriArrayCallback; 237 triArrayCallback = TriArrayCallback;
211 /* 238
212 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP; 239
213 contact.surface.mu = 10.0f; 240
214 contact.surface.bounce = 0.9f; 241
215 contact.surface.soft_erp = 0.005f; 242 lock (OdeLock)
216 contact.surface.soft_cfm = 0.00003f; 243 {
217 */ 244
245 // Creat the world and the first space
246 world = d.WorldCreate();
247 space = d.HashSpaceCreate(IntPtr.Zero);
248
249 contactgroup = d.JointGroupCreate(0);
250 //contactgroup
251
252
253
254
255 d.WorldSetAutoDisableFlag(world, false);
256
257 }
258
259 // zero out a heightmap array float array (single dimention [flattened]))
260 _heightmap = new float[514*514];
261 _watermap = new float[258 * 258];
262
263 // Zero out the prim spaces array (we split our space into smaller spaces so
264 // we can hit test less.
265
266 }
267
268
269 // Initialize the mesh plugin
270 public override void Initialise(IMesher meshmerizer, IConfigSource config)
271 {
272 mesher = meshmerizer;
273 m_config = config;
274 if (m_config != null)
275 {
276 IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
277 if (physicsconfig != null)
278 {
279 gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
280 gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
281 gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
282
283 worldHashspaceLow = physicsconfig.GetInt("world_hashspace_low", -4);
284 worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_high", 128);
285
286 metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
287 smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
288 smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
289
290 contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
291
292 nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
293 nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
294 nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
295
296 mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
297 mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.1f);
298 mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
299
300 nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
301 nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
302
303 mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
304 mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
305
306 ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
307 m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
308
309 }
310
311 }
312
313 staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
218 314
219 // Centeral contact friction and bounce 315 // Centeral contact friction and bounce
220 contact.surface.mu = 250.0f; 316 contact.surface.mu = nmAvatarObjectContactFriction;
221 contact.surface.bounce = 0.2f; 317 contact.surface.bounce = nmAvatarObjectContactBounce;
222 318
223 // Terrain contact friction and Bounce 319 // Terrain contact friction and Bounce
224 // This is the *non* moving version. Use this when an avatar 320 // This is the *non* moving version. Use this when an avatar
225 // isn't moving to keep it in place better 321 // isn't moving to keep it in place better
226 TerrainContact.surface.mode |= d.ContactFlags.SoftERP; 322 TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
227 TerrainContact.surface.mu = 255.0f; 323 TerrainContact.surface.mu = nmTerrainContactFriction;
228 TerrainContact.surface.bounce = 0.1f; 324 TerrainContact.surface.bounce = nmTerrainContactBounce;
229 TerrainContact.surface.soft_erp = 0.1025f; 325 TerrainContact.surface.soft_erp = nmTerrainContactERP;
230 326
231 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM); 327 WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
232 WaterContact.surface.mu = 0f; // No friction 328 WaterContact.surface.mu = 0f; // No friction
@@ -238,46 +334,29 @@ namespace OpenSim.Region.Physics.OdePlugin
238 // THis is the *non* moving version of friction and bounce 334 // THis is the *non* moving version of friction and bounce
239 // Use this when an avatar comes in contact with a prim 335 // Use this when an avatar comes in contact with a prim
240 // and is moving 336 // and is moving
241 AvatarMovementprimContact.surface.mu = 75.0f; 337 AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
242 AvatarMovementprimContact.surface.bounce = 0.1f; 338 AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
243 339
244 // Terrain contact friction bounce and various error correcting calculations 340 // Terrain contact friction bounce and various error correcting calculations
245 // Use this when an avatar is in contact with the terrain and moving. 341 // Use this when an avatar is in contact with the terrain and moving.
246 AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP; 342 AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
247 AvatarMovementTerrainContact.surface.mu = 75.0f; 343 AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
248 AvatarMovementTerrainContact.surface.bounce = 0.05f; 344 AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
249 AvatarMovementTerrainContact.surface.soft_erp = 0.05025f; 345 AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
250
251 lock (OdeLock)
252 {
253 346
254 // Creat the world and the first space 347 d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
255 world = d.WorldCreate();
256 space = d.HashSpaceCreate(IntPtr.Zero);
257 d.HashSpaceSetLevels(space, -4, 128);
258 contactgroup = d.JointGroupCreate(0);
259 //contactgroup
260 348
349 // Set the gravity,, don't disable things automatically (we set it explicitly on some things)
261 350
262 // Set the gravity,, don't disable things automatically (we set it explicitly on some things) 351 d.WorldSetGravity(world, gravityx, gravityy, gravityz);
352 d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
263 353
264 d.WorldSetGravity(world, 0.0f, 0.0f, -9.8f); 354 // Set how many steps we go without running collision testing
265 d.WorldSetAutoDisableFlag(world, false); 355 // This is in addition to the step size.
266 d.WorldSetContactSurfaceLayer(world, 0.001f); 356 // Essentially Steps * m_physicsiterations
267 357 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
268 // Set how many steps we go without running collision testing 358 //d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
269 // This is in addition to the step size.
270 // Essentially Steps * m_physicsiterations
271 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
272 ///d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
273 }
274 359
275 // zero out a heightmap array float array (single dimention [flattened]))
276 _heightmap = new float[514*514];
277 _watermap = new float[258 * 258];
278
279 // Zero out the prim spaces array (we split our space into smaller spaces so
280 // we can hit test less.
281 for (int i = 0; i < staticPrimspace.GetLength(0); i++) 360 for (int i = 0; i < staticPrimspace.GetLength(0); i++)
282 { 361 {
283 for (int j = 0; j < staticPrimspace.GetLength(1); j++) 362 for (int j = 0; j < staticPrimspace.GetLength(1); j++)
@@ -285,14 +364,7 @@ namespace OpenSim.Region.Physics.OdePlugin
285 staticPrimspace[i, j] = IntPtr.Zero; 364 staticPrimspace[i, j] = IntPtr.Zero;
286 } 365 }
287 } 366 }
288 }
289 367
290
291 // Initialize the mesh plugin
292 public override void Initialise(IMesher meshmerizer, IConfigSource config)
293 {
294 mesher = meshmerizer;
295 m_config = config;
296 } 368 }
297 369
298 internal void waitForSpaceUnlock(IntPtr space) 370 internal void waitForSpaceUnlock(IntPtr space)
@@ -649,8 +721,8 @@ namespace OpenSim.Region.Physics.OdePlugin
649 { 721 {
650 722
651 } 723 }
652 WaterContact.surface.soft_cfm = 0.0000f; 724 //WaterContact.surface.soft_cfm = 0.0000f;
653 WaterContact.surface.soft_erp = 0.00000f; 725 //WaterContact.surface.soft_erp = 0.00000f;
654 if (contacts[i].depth > 0.1f) 726 if (contacts[i].depth > 0.1f)
655 { 727 {
656 contacts[i].depth *= 52; 728 contacts[i].depth *= 52;
@@ -1345,7 +1417,7 @@ namespace OpenSim.Region.Physics.OdePlugin
1345 if (newspace == IntPtr.Zero) 1417 if (newspace == IntPtr.Zero)
1346 { 1418 {
1347 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]); 1419 newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
1348 d.HashSpaceSetLevels(newspace, -4, 66); 1420 d.HashSpaceSetLevels(newspace, smallHashspaceLow, smallHashspaceHigh);
1349 } 1421 }
1350 1422
1351 return newspace; 1423 return newspace;