From e8671a2c05334f8d4d2ad9e9f7b868ccdd59f39a Mon Sep 17 00:00:00 2001 From: Adam Frisby Date: Fri, 6 Jul 2007 05:41:22 +0000 Subject: * Maintainence: Applying Dan's ODE Patch to Trunk --- OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs | 41 +++++++++++++------------- 1 file changed, 21 insertions(+), 20 deletions(-) (limited to 'OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs') 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; } } -- cgit v1.1