コード例 #1
0
        public override void PostInitialise(IConfigSource config)
        {
            m_rayCastManager = new AuroraODERayCastRequestManager(this);
            RemoveQueue = new List<PhysicsObject>();
            DeleteQueue = new List<PhysicsObject>();
            m_config = config;
            // Defaults
/*
            if (Environment.OSVersion.Platform == PlatformID.Unix)
            {
                PID_D = 3200.0f;
                PID_P = 1400.0f;
            }
            else
            {
 */
            PID_D = 2200.0f;
            PID_P = 900.0f;
//            }

            if (m_config != null)
            {
                IConfig physicsconfig = m_config.Configs["AuroraODEPhysicsSettings"];
                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();

                    m_avDecayTime = physicsconfig.GetFloat("avDecayTime", m_avDecayTime);
                    m_avStopDecaying = physicsconfig.GetFloat("avStopDecaying", m_avStopDecaying);

                    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);
                    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", 10);

                    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)
                    {
                        PID_D = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
                        PID_P = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
                    }
                    else
                    {
                        PID_D = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
                        PID_P = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
                    }
                    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_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", 3f);
                    maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 100000.01f);
                    DoPhyWind = physicsconfig.GetBoolean("do_physics_wind", false);
                }
            }

            lock (OdeLock)
            {
                // 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);

                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);
                        waitForSpaceUnlock(aSpace);
                        d.HashSpaceSetLevels(aSpace, -2, 8);
                        d.SpaceSetSublevel(aSpace, 1);
                    }
                }
            }
        }
コード例 #2
0
        public override void Dispose()
        {
            lock (OdeLock)
            {
                lock (_prims)
                {
                    foreach (AuroraODEPrim 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;
        }
コード例 #3
0
        public override void Dispose()
        {
            lock (OdeLock)
            {
                lock (_prims)
                {
                    foreach (AuroraODEPrim prm in _prims)
                    {
                        RemovePrim(prm);
                    }
                }

                //foreach (OdeCharacter act in _characters)
                //{
                //RemoveAvatar(act);
                //}
                d.WorldDestroy(world);
                //d.CloseODE();
            }
            m_rayCastManager.Dispose();
            m_rayCastManager = null;
        }
コード例 #4
0
        public override void PostInitialise(IConfigSource config)
        {
            m_rayCastManager = new AuroraODERayCastRequestManager(this);
            RemoveQueue = new List<PhysicsActor>();
            m_config = config;
            // Defaults

            if (Environment.OSVersion.Platform == PlatformID.Unix)
            {
                PID_D = 3200.0f;
                PID_P = 1400.0f;
            }
            else
            {
                PID_D = 2200.0f;
                PID_P = 900.0f;
            }

            if (m_config != null)
            {
                IConfig physicsconfig = m_config.Configs["AuroraODEPhysicsSettings"];
                if (physicsconfig != null)
                {
                    gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
                    gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
                    gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);

                    m_avDecayTime = physicsconfig.GetFloat("avDecayTime", m_avDecayTime);
                    m_avStopDecaying = physicsconfig.GetFloat("avStopDecaying", m_avStopDecaying);

                    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_preJumpForceMultiplier = physicsconfig.GetFloat("PreJumpMultiplier", m_preJumpForceMultiplier);

                    contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", 0.001f);

                    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("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);
                    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", 10);

                    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)
                    {
                        PID_D = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
                        PID_P = physicsconfig.GetFloat("av_pid_proportional_linux", 900.0f);
                    }
                    else
                    {
                        PID_D = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
                        PID_P = physicsconfig.GetFloat("av_pid_proportional_win", 900.0f);
                    }
                    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_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", 3f);
                    maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 100000.01f);
                }
            }

            lock (OdeLock)
            {
                contacts = new d.ContactGeom[contactsPerCollision];

                // 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;

                // 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;

                // 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);

                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 ((double)WorldExtents.X) * 1.4426950f - 2.5f);
                else
                    GridSpaceScaleBits = (int)(Math.Log ((double)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 nspacesPerSideX = (int)(WorldExtents.X) >> GridSpaceScaleBits;
                int nspacesPerSideY = (int)(WorldExtents.Y) >> GridSpaceScaleBits;

                if ((int)(WorldExtents.X) > nspacesPerSideX << GridSpaceScaleBits)
                    nspacesPerSideX++;
                if ((int)(WorldExtents.Y) > nspacesPerSideY << GridSpaceScaleBits)
                    nspacesPerSideY++;

                staticPrimspace = new IntPtr[nspacesPerSideX, nspacesPerSideY];

                IntPtr aSpace;

                for (int i = 0; i < nspacesPerSideX; i++)
                {
                    for (int j = 0; j < nspacesPerSideY; j++)
                    {
                        aSpace = d.HashSpaceCreate (IntPtr.Zero);
                        staticPrimspace[i, j] = aSpace;
                        d.GeomSetCategoryBits (aSpace, (int)CollisionCategories.Space);
                        waitForSpaceUnlock (aSpace);
                        d.SpaceSetSublevel (aSpace, 1);
                        d.SpaceAdd (space, aSpace);
                    }
                }
            }
        }
コード例 #5
0
        public override void PostInitialise(IConfigSource config)
        {
            m_rayCastManager = new AuroraODERayCastRequestManager(this);
            RemoveQueue = new List<PhysicsActor>();
            m_config = config;
            // Defaults

            if (Environment.OSVersion.Platform == PlatformID.Unix)
            {
                PID_D = 3200.0f;
                PID_P = 1400.0f;
                avStandupTensor = 2000000f;
            }
            else
            {
                PID_D = 2200.0f;
                PID_P = 900.0f;
                avStandupTensor = 550000f;
            }

            if (m_config != null)
            {
                IConfig physicsconfig = m_config.Configs["AuroraODEPhysicsSettings"];
                if (physicsconfig != null)
                {
                    gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
                    gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
                    gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);

                    m_avDecayTime = physicsconfig.GetFloat("avDecayTime", m_avDecayTime);
                    m_avStopDecaying = physicsconfig.GetFloat("avStopDecaying", m_avStopDecaying);

                    AllowUnderwaterPhysics = physicsconfig.GetBoolean("useUnderWaterPhysics", false);
                    AllowAvGravity = physicsconfig.GetBoolean("useAvGravity", true);
                    AvGravityHeight = physicsconfig.GetInt("avGravityHeight", 4096);
                    AllowAvsToEscapeGravity = physicsconfig.GetBoolean("aviesCanEscapeGravity", true);

                    UsePointGravity = physicsconfig.GetBoolean("usePointGravity", false);
                    m_PointOfGravity.X = physicsconfig.GetFloat("point_gravityx", 0);
                    m_PointOfGravity.Y = physicsconfig.GetFloat("point_gravityy", 0);
                    m_PointOfGravity.Z = physicsconfig.GetFloat("point_gravityz", 0);


                    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) * 2);
                    avMovementDivisorRun = (physicsconfig.GetFloat("av_movement_divisor_run", 0.8f) * 2);
                    avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
                    avCapsuleTilted = physicsconfig.GetBoolean("av_capsule_tilted", true);

                    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)
                    {
                        PID_D = physicsconfig.GetFloat("av_pid_derivative_linux", 2200.0f);
                        PID_P = 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
                    {
                        PID_D = physicsconfig.GetFloat("av_pid_derivative_win", 2200.0f);
                        PID_P = 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_useFlightCeilingHeight = physicsconfig.GetBoolean("Use_Flight_Ceiling_Height_Max", m_useFlightCeilingHeight);
                    m_flightCeilingHeight = physicsconfig.GetFloat("Flight_Ceiling_Height_Max", m_flightCeilingHeight); //Rex

                    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];


            // 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;

            

            // 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);



            d.HashSpaceSetLevels(space, HashspaceLow, HashspaceHigh);

            //  spaces grid for static objects

            // get area in 8m multiples and in parts so it fits in integer and scales so 256m get similar sizes as previus
            GridSpaceScaleBits = (int)WorldExtents.X / 8;
            GridSpaceScaleBits *= (int)WorldExtents.Y / 8;

            // // constant is 1/log(2), plus 0.5 for rounding
            GridSpaceScaleBits = (int)(Math.Log((double)GridSpaceScaleBits) * 1.4426950f - 0.5f);
            GridSpaceScaleBits /= 2; // side take half as many bits

            if (GridSpaceScaleBits < 4) // no less than 16m side
                GridSpaceScaleBits = 4;
            else if (GridSpaceScaleBits > 8)
                GridSpaceScaleBits = 8;   // no more than 256m side

            int nspacesPerSideX = (int)(WorldExtents.X) >> GridSpaceScaleBits;
            int nspacesPerSideY = (int)(WorldExtents.Y) >> GridSpaceScaleBits;

            staticPrimspace = new IntPtr[nspacesPerSideX, nspacesPerSideY];

            IntPtr aSpace;

            for (int i = 0; i < nspacesPerSideX; i++)
                {
                for (int j = 0; j < nspacesPerSideY; j++)
                    {
                    aSpace = d.HashSpaceCreate(IntPtr.Zero);
                    staticPrimspace[i, j] = aSpace;
                    d.GeomSetCategoryBits(aSpace, (int)CollisionCategories.Space);
                    waitForSpaceUnlock(aSpace);
                    d.SpaceSetSublevel(aSpace, 1);
                    d.SpaceAdd(space, aSpace);
                    }
                }
        }