From 0901dfded17bc22e81301be8f3dd1b30b8da4305 Mon Sep 17 00:00:00 2001 From: dan miller Date: Sat, 1 Sep 2007 11:01:11 +0000 Subject: umm, nevermind all that -- this is the real ODE region fix. I'll get subversion someday --- OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 55 ++++++++++++++++----------- 1 file changed, 33 insertions(+), 22 deletions(-) (limited to 'OpenSim') 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 public class OdeScene : PhysicsScene { - static public IntPtr world; - static public IntPtr space; - static private IntPtr contactgroup; - static private IntPtr LandGeom; - //static private IntPtr Land; + private IntPtr contactgroup; + private IntPtr LandGeom; private double[] _heightmap; - static private d.NearCallback nearCallback = near; + private d.NearCallback nearCallback; private List _characters = new List(); private List _prims = new List(); - private static d.ContactGeom[] contacts = new d.ContactGeom[30]; - private static d.Contact contact; + private d.ContactGeom[] contacts = new d.ContactGeom[30]; + private d.Contact contact; + + public IntPtr world; + public IntPtr space; public static Object OdeLock = new Object(); + public OdeScene() { + nearCallback = near; contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP; contact.surface.mu = 10.0f; contact.surface.bounce = 0.9f; @@ -103,11 +105,11 @@ namespace OpenSim.Region.Physics.OdePlugin d.WorldSetContactSurfaceLayer(world, 0.001f); } - this._heightmap = new double[65536]; + _heightmap = new double[65536]; } // This function blatantly ripped off from BoxStack.cs - static private void near(IntPtr space, IntPtr g1, IntPtr g2) + private void near(IntPtr space, IntPtr g1, IntPtr g2) { // no lock here! It's invoked from within Simulate(), which is thread-locked IntPtr b1 = d.GeomGetBody(g1); @@ -116,7 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin return; int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); - for (int i = 0; i < count; ++i) + for (int i = 0; i < count; i++) { contact.geom = contacts[i]; IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); @@ -125,6 +127,14 @@ namespace OpenSim.Region.Physics.OdePlugin } + private void collision_optimized() + { + foreach (OdeCharacter chr in _characters) + { + d.SpaceCollide2(space, _characters[_characters.Count - 1].capsule_geom, IntPtr.Zero, nearCallback); + } + } + public override PhysicsActor AddAvatar(PhysicsVector position) { PhysicsVector pos = new PhysicsVector(); @@ -132,7 +142,7 @@ namespace OpenSim.Region.Physics.OdePlugin pos.Y = position.Y; pos.Z = position.Z; OdeCharacter newAv = new OdeCharacter(this, pos); - this._characters.Add(newAv); + _characters.Add(newAv); return newAv; } @@ -147,13 +157,14 @@ namespace OpenSim.Region.Physics.OdePlugin lock (OdeLock) { d.GeomDestroy(((OdePrim)prim).prim_geom); - this._prims.Remove((OdePrim)prim); + _prims.Remove((OdePrim)prim); } } } public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) { + Console.WriteLine("++++++++++++++++++++++++++++++++++ AddPrim: " + position); PhysicsVector pos = new PhysicsVector(); pos.X = position.X; pos.Y = position.Y; @@ -172,7 +183,7 @@ namespace OpenSim.Region.Physics.OdePlugin { newPrim = new OdePrim(this, pos, siz, rot); } - this._prims.Add(newPrim); + _prims.Add(newPrim); return newPrim; } @@ -187,7 +198,7 @@ namespace OpenSim.Region.Physics.OdePlugin { actor.Move(timeStep); } - d.SpaceCollide(space, IntPtr.Zero, nearCallback); + collision_optimized(); for (int i = 0; i < 50; i++) { d.WorldQuickStep(world, timeStep * 0.02f); @@ -222,7 +233,7 @@ namespace OpenSim.Region.Physics.OdePlugin // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) int x = i & 0xff; int y = i >> 8; - this._heightmap[i] = (double)heightMap[x * 256 + y]; + _heightmap[i] = (double)heightMap[x * 256 + y]; } lock (OdeLock) @@ -263,9 +274,9 @@ namespace OpenSim.Region.Physics.OdePlugin private bool flying = false; //private float gravityAccel; private IntPtr BoundingCapsule; - IntPtr capsule_geom; - d.Mass capsule_mass; private OdeScene _parent_scene; + public IntPtr capsule_geom; + public d.Mass capsule_mass; public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) { @@ -276,8 +287,8 @@ namespace OpenSim.Region.Physics.OdePlugin lock (OdeScene.OdeLock) { 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); + capsule_geom = d.CreateSphere(parent_scene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble + BoundingCapsule = d.BodyCreate(parent_scene.world); d.BodySetMass(BoundingCapsule, ref capsule_mass); d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); d.GeomSetBody(capsule_geom, BoundingCapsule); @@ -370,7 +381,7 @@ namespace OpenSim.Region.Physics.OdePlugin } public void SetAcceleration(PhysicsVector accel) { - this._acceleration = accel; + _acceleration = accel; } public override void AddForce(PhysicsVector force) @@ -432,7 +443,7 @@ namespace OpenSim.Region.Physics.OdePlugin _orientation = rotation; lock (OdeScene.OdeLock) { - prim_geom = d.CreateBox(OdeScene.space, _size.X, _size.Y, _size.Z); + prim_geom = d.CreateBox(parent_scene.space, _size.X, _size.Y, _size.Z); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); myrot.W = rotation.w; -- cgit v1.1