public d.Contact GetContactPoint (ActorTypes actorType)
{
d.Contact contact = new d.Contact ();
//Defaults
contact.surface.mode |= d.ContactFlags.SoftERP;
contact.surface.soft_cfm = 0.010f;
contact.surface.soft_erp = 0.010f;
float restSquared = _parent_entity.Restitution * _parent_entity.Restitution;
contact.surface.bounce = _parent_entity.Restitution * (Velocity.Z * -(restSquared));//Its about 1:1 surprisingly, even though this constant was for havok
if (contact.surface.bounce > 1.5f)
contact.surface.bounce = 0.75f; //Limit the bouncing please...
contact.surface.bounce_vel = 0.05f * _parent_entity.Restitution * (-Velocity.Z * restSquared); //give it a good amount of bounce and have it depend on how much velocity is there too
contact.surface.mode |= d.ContactFlags.Bounce; //Add bounce
contact.surface.mu = 800;
if(actorType == ActorTypes.Prim)
contact.surface.mu *= _parent_entity.Friction;
if (m_vehicle.Type != Vehicle.TYPE_NONE)
contact.surface.mu *= 0.05f;
contact.surface.mu2 = contact.surface.mu;
return contact;
}
private void AddODECollision(d.ContactGeom curContact, PhysicsActor p1, PhysicsActor p2, IntPtr b1, IntPtr b2,
ContactPoint maxDepthContact, ref int NotSkipedCount)
{
IntPtr joint = IntPtr.Zero;
bool p2col = true;
// We only need to test p2 for 'jump crouch purposes'
if (p2 is WhiteCoreODECharacter && p1.PhysicsActorType == (int) ActorTypes.Prim)
{
// Testing if the collision is at the feet of the avatar
if ((p2.Position.Z - maxDepthContact.Position.Z) < (p2.Size.Z*0.5f))
p2col = false;
}
p2.IsTruelyColliding = true;
p2.IsColliding = p2col;
// Logic for collision handling
// Note, that if *all* contacts are skipped (VolumeDetect)
// The prim still detects (and forwards) collision events but
// appears to be phantom for the world
// No collision on volume detect prims
if ((p1 is WhiteCoreODEPrim && p1.VolumeDetect) ||
(p2 is WhiteCoreODEPrim && p2.VolumeDetect))
return;
if (curContact.depth < 0f)
return; //Has to be penetrating
if (m_filterCollisions &&
checkDupe(curContact, p2.PhysicsActorType))
return;
if (m_filterCollisions)
_perloopContact.Add(curContact);
NotSkipedCount++;
// If we're colliding against terrain
if (p1.PhysicsActorType == (int) ActorTypes.Ground)
{
if (p2.PhysicsActorType == (int) ActorTypes.Prim)
{
((WhiteCoreODEPrim) p2).GetContactParam(p2, ref newGlobalcontact);
joint = CreateContacJoint(curContact);
}
else
{
newGlobalcontact = new d.Contact();
newGlobalcontact.surface.mode |= d.ContactFlags.SoftERP;
newGlobalcontact.surface.mu = 75;
newGlobalcontact.surface.bounce = 0.1f;
newGlobalcontact.surface.soft_erp = 0.05025f;
//GetContactParam(0.0f, AvatarContactBounce, ref newGlobalcontact);
joint = CreateContacJoint(curContact);
}
//Can't collide against anything else, agents do their own ground checks
}
else if ((p1.PhysicsActorType == (int) ActorTypes.Agent) &&
(p2.PhysicsActorType == (int) ActorTypes.Agent))
{
GetContactParam(0.0f, AvatarContactBounce, ref newGlobalcontact);
joint = CreateContacJoint(curContact);
}
else if (p1.PhysicsActorType == (int) ActorTypes.Prim)
{
//Add restitution and friction changes
((WhiteCoreODEPrim) p1).GetContactParam(p2, ref newGlobalcontact);
joint = CreateContacJoint(curContact);
}
if (ContinueCollisionProcessing && joint != IntPtr.Zero)
{
d.JointAttach(joint, b1, b2);
m_global_contactcount++;
joint = IntPtr.Zero;
}
}
