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);
}
}
}
}
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;
}
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;
}
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);
}
}
}
}
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);
}
}
}
