public override void PostInitialize(IConfigSource config)
{
m_rayCastManager = new ODERayCastRequestManager(this);
m_config = config;
PID_D = 2200.0f;
PID_P = 900.0f;
if (m_config != null)
{
IConfig physicsconfig = m_config.Configs["ODEPhysicsSettings"];
if (physicsconfig != null)
{
gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
//Set the vectors as well
gravityVector = new Vector3(gravityx, gravityy, gravityz);
gravityVectorNormalized = gravityVector;
gravityVectorNormalized.Normalize();
AvDecayTime = physicsconfig.GetFloat("avDecayTime", AvDecayTime);
AllowUnderwaterPhysics = physicsconfig.GetBoolean("useUnderWaterPhysics", false);
AllowAvGravity = physicsconfig.GetBoolean("useAvGravity", true);
AvGravityHeight = physicsconfig.GetInt("avGravityHeight", 4096);
AllowAvsToEscapeGravity = physicsconfig.GetBoolean("aviesCanEscapeGravity", true);
m_AvFlySpeed = physicsconfig.GetFloat("AvFlySpeed", m_AvFlySpeed);
m_allowJump = physicsconfig.GetBoolean("AllowJump", m_allowJump);
m_usepreJump = physicsconfig.GetBoolean("UsePreJump", m_usepreJump);
m_preJumpTime = physicsconfig.GetInt("PreJumpTime", m_preJumpTime);
m_preJumpForceMultiplierX = physicsconfig.GetFloat("PreJumpMultiplierX", m_preJumpForceMultiplierX);
m_preJumpForceMultiplierY = physicsconfig.GetFloat("PreJumpMultiplierY", m_preJumpForceMultiplierY);
m_preJumpForceMultiplierZ = physicsconfig.GetFloat("PreJumpMultiplierZ", m_preJumpForceMultiplierZ);
contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
AvatarContactBounce = physicsconfig.GetFloat("AvatarContactBounce", AvatarContactBounce);
FrictionMovementMultiplier = physicsconfig.GetFloat("FrictionMovementMultiplier",
FrictionMovementMultiplier);
FrictionScale = physicsconfig.GetFloat("FrictionMovementMultiplier", FrictionScale);
ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", 0.020f);
m_physicsiterations = physicsconfig.GetInt("world_internal_steps_without_collisions", 10);
avDensity = physicsconfig.GetFloat("av_density", 80f);
avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
avMovementDivisorWalk = (physicsconfig.GetFloat("WalkSpeed", 1.3f)*2);
avMovementDivisorRun = (physicsconfig.GetFloat("RunSpeed", 0.8f)*2);
avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
geomCrossingFailuresBeforeOutofbounds =
physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 10);
forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing",
forceSimplePrimMeshing);
meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
m_filterCollisions = physicsconfig.GetBoolean("filter_collisions", false);
PID_D = physicsconfig.GetFloat("av_pid_derivative", PID_D);
PID_P = physicsconfig.GetFloat("av_pid_proportional", PID_P);
m_useFlightCeilingHeight = physicsconfig.GetBoolean("Use_Flight_Ceiling_Height_Max",
m_useFlightCeilingHeight);
m_flightCeilingHeight = physicsconfig.GetFloat("Flight_Ceiling_Height_Max", m_flightCeilingHeight);
//Rex
minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 6f);
maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 100000.01f);
DoPhyWind = physicsconfig.GetBoolean("do_physics_wind", false);
}
}
// alloc unmanaged memory to receive information from colision contact joints
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision*d.ContactGeom.unmanagedSizeOf);
// alloc unmanaged memory to pass information to colision contact joints
GlobalContactsArray = Marshal.AllocHGlobal(maxContactsbeforedeath*d.Contact.unmanagedSizeOf);
//UnmanagedODE.UnmanagedODEPhysics.Initialize(world, m_currentmaxContactsbeforedeath, ContactgeomsArray, GlobalContactsArray, contactgroup);
newGlobalcontact.surface.mode = CommumContactFlags;
newGlobalcontact.surface.soft_cfm = 0.0001f;
newGlobalcontact.surface.soft_erp = 0.6f;
// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
d.WorldSetGravity(world, gravityx, gravityy, gravityz);
d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
d.WorldSetLinearDamping(world, 0.001f);
d.WorldSetAngularDamping(world, 0.001f);
d.WorldSetAngularDampingThreshold(world, 0f);
d.WorldSetLinearDampingThreshold(world, 0f);
d.WorldSetMaxAngularSpeed(world, 256f);
d.WorldSetCFM(world, 1e-6f); // a bit harder than default
d.WorldSetERP(world, 0.6f); // higher than original
d.WorldSetContactMaxCorrectingVel(world, 30.0f);
// Set how many steps we go without running collision testing
// This is in addition to the step size.
// Essentially Steps * m_physicsiterations
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
//d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
if (staticPrimspace != null)
return; //Reloading config, don't mess with this stuff
d.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);
// spaces grid for static objects
if (WorldExtents.X < WorldExtents.Y)
// // constant is 1/log(2), -3 for division by 8 plus 0.5 for rounding
GridSpaceScaleBits = (int) (Math.Log(WorldExtents.X)*1.4426950f - 2.5f);
else
GridSpaceScaleBits = (int) (Math.Log(WorldExtents.Y)*1.4426950f - 2.5f);
if (GridSpaceScaleBits < 4) // no less than 16m side
GridSpaceScaleBits = 4;
else if (GridSpaceScaleBits > 10)
GridSpaceScaleBits = 10; // no more than 1Km side
int nspacesPerSideX2 = (int) (WorldExtents.X) >> GridSpaceScaleBits;
int nspacesPerSideY2 = (int) (WorldExtents.Y) >> GridSpaceScaleBits;
if ((int) (WorldExtents.X) > nspacesPerSideX2 << GridSpaceScaleBits)
nspacesPerSideX2++;
if ((int) (WorldExtents.Y) > nspacesPerSideY2 << GridSpaceScaleBits)
nspacesPerSideY2++;
staticPrimspace = new IntPtr[nspacesPerSideX2,nspacesPerSideY2];
IntPtr aSpace;
for (int i = 0; i < nspacesPerSideX2; i++)
{
for (int j = 0; j < nspacesPerSideY2; j++)
{
aSpace = d.HashSpaceCreate(space);
staticPrimspace[i, j] = aSpace;
d.GeomSetCategoryBits(aSpace, (int) CollisionCategories.Space);
d.HashSpaceSetLevels(aSpace, -2, 8);
d.SpaceSetSublevel(aSpace, 1);
}
}
}
public override void Dispose()
{
lock (_prims)
{
foreach (ODEPrim prm in _prims)
{
RemovePrim(prm);
}
}
//foreach (OdeCharacter act in _characters)
//{
//RemoveAvatar(act);
//}
if (ContactgeomsArray != IntPtr.Zero)
Marshal.FreeHGlobal(ContactgeomsArray);
if (GlobalContactsArray != IntPtr.Zero)
Marshal.FreeHGlobal(GlobalContactsArray);
d.WorldDestroy(world);
//d.CloseODE();
m_rayCastManager.Dispose();
m_rayCastManager = null;
}