/// <summary>
/// Get a physics scene for the given physics engine and mesher.
/// </summary>
/// <param name="physEngineName"></param>
/// <param name="voxMesherName"></param>
/// <param name="meshEngineName"></param>
/// <param name="config"></param>
/// <returns></returns>
public PhysicsScene GetPhysicsScene(string physEngineName, string voxMesherName, string meshEngineName, IConfigSource config, string regionName)
{
if (String.IsNullOrEmpty(physEngineName))
{
return(PhysicsScene.Null);
}
if (String.IsNullOrEmpty(meshEngineName))
{
return(PhysicsScene.Null);
}
if (String.IsNullOrEmpty(voxMesherName))
{
return(PhysicsScene.Null);
}
IMesher meshEngine = null;
if (_MeshPlugins.ContainsKey(meshEngineName))
{
m_log.Info("[PHYSICS]: creating meshing engine " + meshEngineName);
meshEngine = _MeshPlugins[meshEngineName].GetMesher(config);
}
else
{
m_log.WarnFormat("[PHYSICS]: couldn't find meshingEngine: {0}", meshEngineName);
throw new ArgumentException(String.Format("couldn't find meshingEngine: {0}", meshEngineName));
}
IVoxelMesher voxelMesher = null;
if (_VoxMeshPlugins.ContainsKey(voxMesherName))
{
m_log.Info("[PHYSICS]: creating voxel meshing engine " + voxMesherName);
voxelMesher = _VoxMeshPlugins[voxMesherName].GetMesher(config);
}
else
{
m_log.WarnFormat("[PHYSICS]: couldn't find meshingEngine: {0}", voxMesherName);
throw new ArgumentException(String.Format("couldn't find meshingEngine: {0}", voxMesherName));
}
if (_PhysPlugins.ContainsKey(physEngineName))
{
m_log.Info("[PHYSICS]: creating " + physEngineName);
PhysicsScene result = _PhysPlugins[physEngineName].GetScene(regionName);
result.Initialise(meshEngine, voxelMesher, config);
return(result);
}
else
{
m_log.WarnFormat("[PHYSICS]: couldn't find physicsEngine: {0}", physEngineName);
throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}", physEngineName));
}
}
public override void Initialise(IMesher meshmerizer, IVoxelMesher voxmesh, IConfigSource config)
{
mesher = meshmerizer;
// m_config = config;
/*
* if (Environment.OSVersion.Platform == PlatformID.Unix)
* {
* m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
* Thread.Sleep(5000);
* Environment.Exit(0);
* }
*/
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
EnableCollisionInterface();
voxmesher = voxmesh;
}
public override void Initialise(IMesher meshmerizer, IVoxelMesher voxmesh, IConfigSource config)
{
}
public abstract void Initialise(IMesher meshmerizer, IVoxelMesher voxmesher, IConfigSource config);
public override void Initialise(IMesher meshmerizer, IVoxelMesher derp, IConfigSource config)
{
// Does nothing right now
}
// Initialize the mesh plugin
public override void Initialise(IMesher meshmerizer, IVoxelMesher voxmesh, IConfigSource config)
{
mesher = meshmerizer;
voxmesher = voxmesh;
m_config = config;
// Defaults
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
avPIDD = 3200.0f;
avPIDP = 1400.0f;
avStandupTensor = 2000000f;
}
else
{
avPIDD = 2200.0f;
avPIDP = 900.0f;
avStandupTensor = 550000f;
}
int contactsPerCollision = 80;
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);
worldHashspaceLow = physicsconfig.GetInt("world_hashspace_size_low", -4);
worldHashspaceHigh = physicsconfig.GetInt("world_hashspace_size_high", 128);
metersInSpace = physicsconfig.GetFloat("meters_in_small_space", 29.9f);
smallHashspaceLow = physicsconfig.GetInt("small_hashspace_size_low", -4);
smallHashspaceHigh = physicsconfig.GetInt("small_hashspace_size_high", 66);
contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);
nmTerrainContactFriction = physicsconfig.GetFloat("nm_terraincontact_friction", 255.0f);
nmTerrainContactBounce = physicsconfig.GetFloat("nm_terraincontact_bounce", 0.1f);
nmTerrainContactERP = physicsconfig.GetFloat("nm_terraincontact_erp", 0.1025f);
mTerrainContactFriction = physicsconfig.GetFloat("m_terraincontact_friction", 75f);
mTerrainContactBounce = physicsconfig.GetFloat("m_terraincontact_bounce", 0.05f);
mTerrainContactERP = physicsconfig.GetFloat("m_terraincontact_erp", 0.05025f);
nmAvatarObjectContactFriction = physicsconfig.GetFloat("objectcontact_friction", 250f);
nmAvatarObjectContactBounce = physicsconfig.GetFloat("objectcontact_bounce", 0.2f);
mAvatarObjectContactFriction = physicsconfig.GetFloat("m_avatarobjectcontact_friction", 75f);
mAvatarObjectContactBounce = physicsconfig.GetFloat("m_avatarobjectcontact_bounce", 0.1f);
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("av_movement_divisor_walk", 1.3f);
avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", false);
contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
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);
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 550000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 5f);
}
else
{
avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
}
physics_logging = physicsconfig.GetBoolean("physics_logging", false);
physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
}
}
contacts = new d.ContactGeom[contactsPerCollision];
staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
// Centeral contact friction and bounce
// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
// an avatar falls through in Z but not in X or Y when walking on a prim.
contact.surface.mode |= d.ContactFlags.SoftERP;
contact.surface.mu = nmAvatarObjectContactFriction;
contact.surface.bounce = nmAvatarObjectContactBounce;
contact.surface.soft_cfm = 0.010f;
contact.surface.soft_erp = 0.010f;
// Terrain contact friction and Bounce
// This is the *non* moving version. Use this when an avatar
// isn't moving to keep it in place better
TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
TerrainContact.surface.mu = nmTerrainContactFriction;
TerrainContact.surface.bounce = nmTerrainContactBounce;
TerrainContact.surface.soft_erp = nmTerrainContactERP;
WaterContact.surface.mode |= (d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM);
WaterContact.surface.mu = 0f; // No friction
WaterContact.surface.bounce = 0.0f; // No bounce
WaterContact.surface.soft_cfm = 0.010f;
WaterContact.surface.soft_erp = 0.010f;
// Prim contact friction and bounce
// THis is the *non* moving version of friction and bounce
// Use this when an avatar comes in contact with a prim
// and is moving
AvatarMovementprimContact.surface.mu = mAvatarObjectContactFriction;
AvatarMovementprimContact.surface.bounce = mAvatarObjectContactBounce;
// Terrain contact friction bounce and various error correcting calculations
// Use this when an avatar is in contact with the terrain and moving.
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
AvatarMovementTerrainContact.surface.mu = mTerrainContactFriction;
AvatarMovementTerrainContact.surface.bounce = mTerrainContactBounce;
AvatarMovementTerrainContact.surface.soft_erp = mTerrainContactERP;
/*
<summary></summary>
Stone = 0,
/// <summary></summary>
Metal = 1,
/// <summary></summary>
Glass = 2,
/// <summary></summary>
Wood = 3,
/// <summary></summary>
Flesh = 4,
/// <summary></summary>
Plastic = 5,
/// <summary></summary>
Rubber = 6
*/
m_materialContacts = new d.Contact[7,2];
m_materialContacts[(int)Material.Stone, 0] = new d.Contact();
m_materialContacts[(int)Material.Stone, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Stone, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Stone, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Stone, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Stone, 1] = new d.Contact();
m_materialContacts[(int)Material.Stone, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Stone, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Stone, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Stone, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Stone, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Metal, 0] = new d.Contact();
m_materialContacts[(int)Material.Metal, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Metal, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Metal, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Metal, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Metal, 1] = new d.Contact();
m_materialContacts[(int)Material.Metal, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Metal, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Metal, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Metal, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Metal, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Glass, 0] = new d.Contact();
m_materialContacts[(int)Material.Glass, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 0].surface.mu = 1f;
m_materialContacts[(int)Material.Glass, 0].surface.bounce = 0.5f;
m_materialContacts[(int)Material.Glass, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Glass, 0].surface.soft_erp = 0.010f;
/*
private float nmAvatarObjectContactFriction = 250f;
private float nmAvatarObjectContactBounce = 0.1f;
private float mAvatarObjectContactFriction = 75f;
private float mAvatarObjectContactBounce = 0.1f;
*/
m_materialContacts[(int)Material.Glass, 1] = new d.Contact();
m_materialContacts[(int)Material.Glass, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Glass, 1].surface.mu = 1f;
m_materialContacts[(int)Material.Glass, 1].surface.bounce = 0.5f;
m_materialContacts[(int)Material.Glass, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Glass, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Wood, 0] = new d.Contact();
m_materialContacts[(int)Material.Wood, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Wood, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Wood, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Wood, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Wood, 1] = new d.Contact();
m_materialContacts[(int)Material.Wood, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Wood, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Wood, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Wood, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Wood, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Flesh, 0] = new d.Contact();
m_materialContacts[(int)Material.Flesh, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Flesh, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Flesh, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Flesh, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Flesh, 1] = new d.Contact();
m_materialContacts[(int)Material.Flesh, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Flesh, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Flesh, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Flesh, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Flesh, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Plastic, 0] = new d.Contact();
m_materialContacts[(int)Material.Plastic, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Plastic, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Plastic, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Plastic, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Plastic, 1] = new d.Contact();
m_materialContacts[(int)Material.Plastic, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Plastic, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Plastic, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Plastic, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Plastic, 1].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Rubber, 0] = new d.Contact();
m_materialContacts[(int)Material.Rubber, 0].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 0].surface.mu = nmAvatarObjectContactFriction;
m_materialContacts[(int)Material.Rubber, 0].surface.bounce = nmAvatarObjectContactBounce;
m_materialContacts[(int)Material.Rubber, 0].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Rubber, 0].surface.soft_erp = 0.010f;
m_materialContacts[(int)Material.Rubber, 1] = new d.Contact();
m_materialContacts[(int)Material.Rubber, 1].surface.mode |= d.ContactFlags.SoftERP;
m_materialContacts[(int)Material.Rubber, 1].surface.mu = mAvatarObjectContactFriction;
m_materialContacts[(int)Material.Rubber, 1].surface.bounce = mAvatarObjectContactBounce;
m_materialContacts[(int)Material.Rubber, 1].surface.soft_cfm = 0.010f;
m_materialContacts[(int)Material.Rubber, 1].surface.soft_erp = 0.010f;
d.HashSpaceSetLevels(space, worldHashspaceLow, worldHashspaceHigh);
// 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, 256f);
d.WorldSetAngularDamping(world, 256f);
d.WorldSetAngularDampingThreshold(world, 256f);
d.WorldSetLinearDampingThreshold(world, 256f);
d.WorldSetMaxAngularSpeed(world, 256f);
// 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);
for (int i = 0; i < staticPrimspace.GetLength(0); i++)
{
for (int j = 0; j < staticPrimspace.GetLength(1); j++)
{
staticPrimspace[i, j] = IntPtr.Zero;
}
}
}
public override void Initialise(IMesher meshmerizer, IVoxelMesher voxmesh, IConfigSource config)
{
}
public abstract void Initialise(IMesher meshmerizer, IVoxelMesher voxmesher, IConfigSource config);
public override void Initialise(IMesher meshmerizer, IVoxelMesher derp, IConfigSource config)
{
// Does nothing right now
}
public override void Initialise(IMesher meshmerizer, IVoxelMesher voxmesh, IConfigSource config)
{
mesher = meshmerizer;
// m_config = config;
/*
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
Thread.Sleep(5000);
Environment.Exit(0);
}
*/
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
EnableCollisionInterface();
voxmesher = voxmesh;
}
