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https://github.com/opensim/opensim.git
synced 2026-08-08 02:05:34 +08:00
ODE plugin now can fly but sinks through ground when walking (?!!!??!??!)
This commit is contained in:
gareth
@@ -70,31 +70,54 @@ namespace OpenSim.Physics.OdePlugin
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public class OdeScene :PhysicsScene
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{
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public IntPtr world;
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public IntPtr space;
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private IntPtr contactgroup;
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static public IntPtr world;
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static public IntPtr space;
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static private IntPtr contactgroup;
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static private IntPtr LandGeom;
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static private IntPtr Land;
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private double[] _heightmap;
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static private d.NearCallback nearCallback = near;
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private List<OdeCharacter> _characters = new List<OdeCharacter>();
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private static d.ContactGeom[] contacts = new d.ContactGeom[500];
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private static d.Contact contact;
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public OdeScene()
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{
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public OdeScene() {
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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contactgroup = d.JointGroupCreate(0);
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d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
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d.WorldSetCFM(world, 1e-5f);
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d.WorldSetAutoDisableFlag(world, true);
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d.WorldSetContactMaxCorrectingVel(world, 0.1f);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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d.WorldSetAutoDisableFlag(world, false);
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this._heightmap=new double[65536];
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}
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// This function blatantly ripped off from BoxStack.cs
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static private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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IntPtr b1 = d.GeomGetBody(g1);
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IntPtr b2 = d.GeomGetBody(g2);
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if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
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return;
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int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
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for (int i = 0; i < count; ++i)
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{
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contact.geom = contacts[i];
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IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
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d.JointAttach(joint, b1, b2);
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}
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}
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public override PhysicsActor AddAvatar(PhysicsVector position)
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{
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PhysicsVector pos = new PhysicsVector();
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pos.X = position.X;
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pos.Y = position.Y;
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pos.Z = position.Z;
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return new OdeCharacter(this,pos);
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OdeCharacter newAv= new OdeCharacter(this,pos);
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this._characters.Add(newAv);
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return newAv;
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}
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public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
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@@ -112,7 +135,16 @@ namespace OpenSim.Physics.OdePlugin
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public override void Simulate(float timeStep)
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{
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foreach (OdeCharacter actor in _characters) {
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actor.Move(timeStep*5f);
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}
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d.SpaceCollide(space, IntPtr.Zero, nearCallback);
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d.WorldQuickStep(world, timeStep*5f);
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foreach (OdeCharacter actor in _characters)
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{
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actor.UpdatePosition();
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}
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}
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public override void GetResults()
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@@ -135,7 +167,8 @@ namespace OpenSim.Physics.OdePlugin
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}
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IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
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d.GeomHeightfieldDataBuildDouble(HeightmapData,_heightmap,1,256,256,256,256,1.0f,0.0f,2.0f,0);
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d.CreateHeightfield(space, HeightmapData, 0);
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LandGeom=d.CreateHeightfield(space, HeightmapData, 1);
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d.GeomSetPosition(LandGeom,0,0,0);
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}
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}
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@@ -156,7 +189,10 @@ namespace OpenSim.Physics.OdePlugin
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_position = pos;
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_acceleration = new PhysicsVector();
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d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
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capsule_geom = d.CreateCapsule(parent_scene.space, 0.5f, 2f);
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capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
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this.BoundingCapsule=d.BodyCreate(OdeScene.world);
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d.BodySetMass(BoundingCapsule, ref capsule_mass);
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d.BodySetPosition(BoundingCapsule,pos.X,pos.Y,pos.Z);
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}
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public override bool Flying
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@@ -249,12 +285,7 @@ namespace OpenSim.Physics.OdePlugin
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vec.Y = this._velocity.Y * timeStep;
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if(flying)
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{
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vec.Z = ( this._velocity.Z) * timeStep;
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}
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else
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{
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gravityAccel+= -9.8f;
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vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
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vec.Z = ( this._velocity.Z+0.5f) * timeStep;
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}
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d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
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}
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@@ -265,7 +296,6 @@ namespace OpenSim.Physics.OdePlugin
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this._position.X = vec.X;
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this._position.Y = vec.Y;
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this._position.Z = vec.Z;
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}
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}
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@@ -297,7 +327,7 @@ namespace OpenSim.Physics.OdePlugin
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get
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{
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PhysicsVector pos = new PhysicsVector();
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//PhysicsVector vec = this._prim.Position;
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// PhysicsVector vec = this._prim.Position;
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//pos.X = vec.X;
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//pos.Y = vec.Y;
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//pos.Z = vec.Z;
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@@ -1,43 +1,43 @@
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<?xml version="1.0" ?>
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<project name="OpenSim.Physics.OdePlugin" default="build">
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<target name="build">
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<echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
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<mkdir dir="${project::get-base-directory()}/${build.dir}" />
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<copy todir="${project::get-base-directory()}/${build.dir}">
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<fileset basedir="${project::get-base-directory()}">
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</fileset>
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</copy>
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<csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
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<resources prefix="OpenSim.Physics.OdePlugin" dynamicprefix="true" >
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</resources>
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<sources failonempty="true">
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<include name="AssemblyInfo.cs" />
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<include name="OdePlugin.cs" />
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</sources>
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<references basedir="${project::get-base-directory()}">
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<lib>
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<include name="${project::get-base-directory()}" />
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<include name="${project::get-base-directory()}/${build.dir}" />
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</lib>
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<include name="System.dll" />
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<include name="../../bin/Axiom.MathLib.dll" />
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<include name="../Manager/${build.dir}/OpenSim.Physics.Manager.dll" />
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<include name="../../bin/../lib/Ode.NET.dll" />
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</references>
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</csc>
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<echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../bin/Physics/" />
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<mkdir dir="${project::get-base-directory()}/../../bin/Physics/"/>
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<copy todir="${project::get-base-directory()}/../../bin/Physics/">
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<fileset basedir="${project::get-base-directory()}/${build.dir}/" >
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<include name="*.dll"/>
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<include name="*.exe"/>
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</fileset>
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</copy>
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</target>
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<target name="clean">
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<delete dir="${bin.dir}" failonerror="false" />
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<delete dir="${obj.dir}" failonerror="false" />
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</target>
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<target name="doc" description="Creates documentation.">
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</target>
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</project>
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<?xml version="1.0" ?>
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<project name="OpenSim.Physics.OdePlugin" default="build">
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<target name="build">
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<echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
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<mkdir dir="${project::get-base-directory()}/${build.dir}" />
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<copy todir="${project::get-base-directory()}/${build.dir}">
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<fileset basedir="${project::get-base-directory()}">
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</fileset>
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</copy>
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<csc target="library" debug="${build.debug}" unsafe="False" define="TRACE" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
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<resources prefix="OpenSim.Physics.OdePlugin" dynamicprefix="true" >
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</resources>
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<sources failonempty="true">
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<include name="AssemblyInfo.cs" />
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<include name="OdePlugin.cs" />
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</sources>
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<references basedir="${project::get-base-directory()}">
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<lib>
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<include name="${project::get-base-directory()}" />
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<include name="${project::get-base-directory()}/${build.dir}" />
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</lib>
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<include name="System.dll" />
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<include name="../../bin/Axiom.MathLib.dll" />
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<include name="../Manager/${build.dir}/OpenSim.Physics.Manager.dll" />
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<include name="../../bin/../lib/Ode.NET.dll" />
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</references>
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</csc>
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<echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../bin/Physics/" />
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<mkdir dir="${project::get-base-directory()}/../../bin/Physics/"/>
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<copy todir="${project::get-base-directory()}/../../bin/Physics/">
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<fileset basedir="${project::get-base-directory()}/${build.dir}/" >
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<include name="*.dll"/>
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<include name="*.exe"/>
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</fileset>
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</copy>
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</target>
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<target name="clean">
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<delete dir="${bin.dir}" failonerror="false" />
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<delete dir="${obj.dir}" failonerror="false" />
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</target>
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<target name="doc" description="Creates documentation.">
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</target>
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</project>
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