From 23eeeaae0396dab2fe76d274414139fa892b6a3d Mon Sep 17 00:00:00 2001 From: dan miller Date: Thu, 11 Oct 2007 05:54:56 +0000 Subject: fixes for nebadon"s terrain bugs; includes patched 0.9 ode.dll, libode.so --- OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 53 +++++++++++++++++++++++++-- 1 file changed, 49 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/OdePlugin/OdePlugin.cs') diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index ac784cf..e9ac642 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs @@ -81,8 +81,9 @@ namespace OpenSim.Region.Physics.OdePlugin public class OdeScene : PhysicsScene { private static float ODE_STEPSIZE = 0.004f; + private static bool RENDER_FLAG = false; private IntPtr contactgroup; - private IntPtr LandGeom; + private IntPtr LandGeom=(IntPtr)0; private double[] _heightmap; private d.NearCallback nearCallback; public d.TriCallback triCallback; @@ -316,8 +317,23 @@ namespace OpenSim.Region.Physics.OdePlugin step_time += timeStep; lock (OdeLock) { + if (_characters.Count > 0 & RENDER_FLAG) + { + Console.WriteLine("RENDER: frame"); + } foreach (OdePrim p in _prims) { + if (_characters.Count > 0 & RENDER_FLAG) + { + Vector3 rx, ry, rz; + p.Orientation.ToAxes(out rx, out ry, out rz); + Console.WriteLine("RENDER: block; " + p.Size.X + ", " + p.Size.Y + ", " + p.Size.Z + "; " + + " 0, 0, 1; " + //shape, size, color + (p.Position.X - 128.0f) + ", " + (p.Position.Y - 128.0f) + ", " + (p.Position.Z - 33.0f) + "; " + // position + rx.x + "," + ry.x + "," + rz.x + ", " + // rotation + rx.y + "," + ry.y + "," + rz.y + ", " + + rx.z + "," + ry.z + "," + rz.z); + } } int i = 0; while (step_time > 0.0f) @@ -336,6 +352,29 @@ namespace OpenSim.Region.Physics.OdePlugin foreach (OdeCharacter actor in _characters) { actor.UpdatePositionAndVelocity(); + if (RENDER_FLAG) + { + /// debugging code + float Zoff = -33.0f; + d.Matrix3 temp = d.BodyGetRotation(actor.Body); + Console.WriteLine("RENDER: cylinder; " + // shape + OdeCharacter.CAPSULE_RADIUS + ", " + OdeCharacter.CAPSULE_LENGTH + //size + "; 0, 1, 0; " + // color + (actor.Position.X - 128.0f) + ", " + (actor.Position.Y - 128.0f) + ", " + (actor.Position.Z + Zoff) + "; " + // position + temp.M00 + "," + temp.M10 + "," + temp.M20 + ", " + // rotation + temp.M01 + "," + temp.M11 + "," + temp.M21 + ", " + + temp.M02 + "," + temp.M12 + "," + temp.M22); + d.Vector3 caphead; d.BodyGetRelPointPos(actor.Body, 0, 0, OdeCharacter.CAPSULE_LENGTH * .5f, out caphead); + d.Vector3 capfoot; d.BodyGetRelPointPos(actor.Body, 0, 0, -OdeCharacter.CAPSULE_LENGTH * .5f, out capfoot); + Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size + "; 1, 0, 1; " + //color + (caphead.X - 128.0f) + ", " + (caphead.Y - 128.0f) + ", " + (caphead.Z + Zoff) + "; " + // position + "1,0,0, 0,1,0, 0,0,1"); // rotation + Console.WriteLine("RENDER: sphere; " + OdeCharacter.CAPSULE_RADIUS + // shape, size + "; 1, 0, 0; " + //color + (capfoot.X - 128.0f) + ", " + (capfoot.Y - 128.0f) + ", " + (capfoot.Z + Zoff) + "; " + // position + "1,0,0, 0,1,0, 0,0,1"); // rotation + } } } } @@ -366,6 +405,10 @@ namespace OpenSim.Region.Physics.OdePlugin lock (OdeLock) { + if (!(LandGeom == (IntPtr)0)) + { + d.SpaceRemove(space, LandGeom); + } IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); @@ -407,6 +450,8 @@ namespace OpenSim.Region.Physics.OdePlugin private static float PID_D=4000.0f; private static float PID_P=7000.0f; private static float POSTURE_SERVO = 10000.0f; + public static float CAPSULE_RADIUS = 0.5f; + public static float CAPSULE_LENGTH = 0.9f; private bool flying = false; //private float gravityAccel; public IntPtr Body; @@ -423,7 +468,7 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene = parent_scene; lock (OdeScene.OdeLock) { - Shell = d.CreateCapsule(parent_scene.space, 0.4f, 1.0f); + Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f); Body = d.BodyCreate(parent_scene.world); d.BodySetMass(Body, ref ShellMass); @@ -628,11 +673,11 @@ namespace OpenSim.Region.Physics.OdePlugin public class OdePrim : PhysicsActor { - private PhysicsVector _position; + public PhysicsVector _position; private PhysicsVector _velocity; private PhysicsVector _size; private PhysicsVector _acceleration; - private Quaternion _orientation; + public Quaternion _orientation; private Mesh _mesh; private PrimitiveBaseShape _pbs; private OdeScene _parent_scene; -- cgit v1.1