public ODERayCastRequestManager(ODEPhysicsScene pScene)
{
m_scene = pScene;
nearCallback = NearSpace;
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
}
public AuroraODERayCastRequestManager(AuroraODEPhysicsScene pScene)
{
m_scene = pScene;
nearCallback = near;
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
}
public ODERayCastRequestManager(ODEScene pScene)
{
m_scene = pScene;
nearCallback = near;
ray = d.CreateRay(IntPtr.Zero, 1.0f);
d.GeomSetCategoryBits(ray, 0);
Box = d.CreateBox(IntPtr.Zero, 1.0f, 1.0f, 1.0f);
d.GeomSetCategoryBits(Box, 0);
Sphere = d.CreateSphere(IntPtr.Zero, 1.0f);
d.GeomSetCategoryBits(Sphere, 0);
Plane = d.CreatePlane(IntPtr.Zero, 0f, 0f, 1f, 1f);
d.GeomSetCategoryBits(Sphere, 0);
}
/* maybe needed if ode uses tls
private void checkThread()
{
int th = Thread.CurrentThread.ManagedThreadId;
if(th != threadid)
{
threadid = th;
d.AllocateODEDataForThread(~0U);
}
}
*/
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public OdeScene(string sceneIdentifier)
{
m_log
= LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
// checkThread();
Name = sceneIdentifier;
OdeLock = new Object();
SimulationLock = new Object();
nearCallback = near;
m_rayCastManager = new ODERayCastRequestManager(this);
lock (OdeLock)
{
// Create the world and the first space
try
{
world = d.WorldCreate();
TopSpace = d.HashSpaceCreate(IntPtr.Zero);
// now the major subspaces
ActiveSpace = d.HashSpaceCreate(TopSpace);
StaticSpace = d.HashSpaceCreate(TopSpace);
}
catch
{
// i must RtC#FM
}
d.HashSpaceSetLevels(TopSpace, -2, 8); // cell sizes from .25 to 256 ?? need check what this really does
d.HashSpaceSetLevels(ActiveSpace, -2, 8);
d.HashSpaceSetLevels(StaticSpace, -2, 8);
// demote to second level
d.SpaceSetSublevel(ActiveSpace, 1);
d.SpaceSetSublevel(StaticSpace, 1);
contactgroup = d.JointGroupCreate(0);
//contactgroup
d.WorldSetAutoDisableFlag(world, false);
#if USE_DRAWSTUFF
Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
viewthread.Start();
#endif
}
_watermap = new float[258 * 258];
}
/// <summary>
/// Initializes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public ODEPhysicsScene()
{
MainConsole.Instance.WarnFormat("[ODE Physics]: Selected engine -> Open Dynamics");
nearCallback = IsNearBody;
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetAutoDisableFlag(world, false);
}
public ODERayCastRequestManager(OdeScene pScene)
{
m_scene = pScene;
nearCallback = near;
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public AuroraODEPhysicsScene(string sceneIdentifier)
{
OdeLock = new Object();
nearCallback = near;
lock (OdeLock)
{
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
//contactgroup
d.WorldSetAutoDisableFlag(world, false);
#if USE_DRAWSTUFF
Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
viewthread.Start();
#endif
}
}
public ODERayCastRequestManager(OdeScene pScene)
{
m_scene = pScene;
nearCallback = near;
}
public AuroraODERayCastRequestManager(AuroraODEPhysicsScene pScene)
{
m_scene = pScene;
nearCallback = near;
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
private void Initialise(Vector3 regionExtent)
{
WorldExtents.X = regionExtent.X;
m_regionWidth = (uint)regionExtent.X;
WorldExtents.Y = regionExtent.Y;
m_regionHeight = (uint)regionExtent.Y;
m_suportCombine = false;
nearCallback = near;
triCallback = TriCallback;
triArrayCallback = TriArrayCallback;
m_rayCastManager = new ODERayCastRequestManager(this);
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetAutoDisableFlag(world, false);
#if USE_DRAWSTUFF
Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
viewthread.Start();
#endif
// _watermap = new float[258 * 258];
// Zero out the prim spaces array (we split our space into smaller spaces so
// we can hit test less.
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public WhiteCoreODEPhysicsScene()
{
nearCallback = near;
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetAutoDisableFlag(world, false);
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
private void Initialise(Vector3 regionExtent)
{
WorldExtents.X = regionExtent.X;
m_regionWidth = (uint)regionExtent.X;
WorldExtents.Y = regionExtent.Y;
m_regionHeight = (uint)regionExtent.Y;
m_suportCombine = false;
nearCallback = near;
m_rayCastManager = new ODERayCastRequestManager(this);
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
d.WorldSetAutoDisableFlag(world, false);
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public OdeScene(CollisionLocker dode, string sceneIdentifier)
{
m_log
= LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
OdeLock = new Object();
ode = dode;
nearCallback = near;
triCallback = TriCallback;
triArrayCallback = TriArrayCallback;
m_rayCastManager = new ODERayCastRequestManager(this);
lock (OdeLock)
{
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
//contactgroup
d.WorldSetAutoDisableFlag(world, false);
#if USE_DRAWSTUFF
Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
viewthread.Start();
#endif
}
_watermap = new float[258 * 258];
// Zero out the prim spaces array (we split our space into smaller spaces so
// we can hit test less.
}
public ODERayCastRequestManager(OdeScene pScene)
{
m_scene = pScene;
nearCallback = near;
ray = d.CreateRay(IntPtr.Zero, 1.0f);
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
public AuroraODEPhysicsScene(CollisionLocker dode, string sceneIdentifier)
{
m_log
= LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType.ToString() + "." + sceneIdentifier);
OdeLock = new Object();
ode = dode;
nearCallback = near;
triCallback = TriCallback;
lock (OdeLock)
{
// Create the world and the first space
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
contactgroup = d.JointGroupCreate(0);
//contactgroup
d.WorldSetAutoDisableFlag(world, false);
#if USE_DRAWSTUFF
Thread viewthread = new Thread(new ParameterizedThreadStart(startvisualization));
viewthread.Start();
#endif
}
}
public AuroraODERayCastRequestManager(AuroraODEPhysicsScene pScene)
{
m_scene = pScene;
nearCallback = near;
}
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
private void Initialization()
{
d.AllocateODEDataForThread(~0U);
SimulationLock = new Object();
nearCallback = near;
m_rayCastManager = new ODERayCastRequestManager(this);
WorldExtents.X = m_frameWorkScene.RegionInfo.RegionSizeX;
m_regionWidth = (uint)WorldExtents.X;
WorldExtents.Y = m_frameWorkScene.RegionInfo.RegionSizeY;
m_regionHeight = (uint)WorldExtents.Y;
m_suportCombine = false;
lock (OdeLock)
{
// Create the world and the first space
try
{
world = d.WorldCreate();
TopSpace = d.HashSpaceCreate(IntPtr.Zero);
// now the major subspaces
ActiveSpace = d.HashSpaceCreate(TopSpace);
CharsSpace = d.HashSpaceCreate(TopSpace);
StaticSpace = d.HashSpaceCreate(TopSpace);
GroundSpace = d.HashSpaceCreate(TopSpace);
}
catch
{
// i must RtC#FM
// i did!
}
d.HashSpaceSetLevels(TopSpace, -5, 12);
d.HashSpaceSetLevels(ActiveSpace, -5, 10);
d.HashSpaceSetLevels(CharsSpace, -4, 3);
d.HashSpaceSetLevels(StaticSpace, -5, 12);
d.HashSpaceSetLevels(GroundSpace, 0, 8);
// demote to second level
d.SpaceSetSublevel(ActiveSpace, 1);
d.SpaceSetSublevel(CharsSpace, 1);
d.SpaceSetSublevel(StaticSpace, 1);
d.SpaceSetSublevel(GroundSpace, 1);
d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Character |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(ActiveSpace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Character |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCategoryBits(CharsSpace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Character |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(CharsSpace, 0);
d.GeomSetCategoryBits(StaticSpace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
// CollisionCategories.Land |
// CollisionCategories.Water |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(StaticSpace, 0);
d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land));
d.GeomSetCollideBits(GroundSpace, 0);
contactgroup = d.JointGroupCreate(maxContactsbeforedeath + 1);
//contactgroup
d.WorldSetAutoDisableFlag(world, false);
}
// checkThread();
// Defaults
int contactsPerCollision = 80;
physicsconfig = null;
if (m_config != null)
{
physicsconfig = m_config.Configs["ODEPhysicsSettings"];
if (physicsconfig != null)
{
gravityx = physicsconfig.GetFloat("world_gravityx", gravityx);
gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
// contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
avDensity = physicsconfig.GetFloat("av_density", avDensity);
avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", avMovementDivisorWalk);
avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", avMovementDivisorRun);
contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", contactsPerCollision);
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", geomDefaultDensity);
bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", bodyFramesAutoDisable);
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);
minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", minimumGroundFlightOffset);
maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", maximumMassObject);
avDensity *= 3f / 80f; // scale other engines density option to this
}
}
float heartbeat = 1/m_frameWorkScene.FrameTime;
maximumAngularVelocity = 0.49f * heartbeat *(float)Math.PI;
maxAngVelocitySQ = maximumAngularVelocity * maximumAngularVelocity;
d.WorldSetCFM(world, comumContactCFM);
d.WorldSetERP(world, comumContactERP);
d.WorldSetGravity(world, gravityx, gravityy, gravityz);
d.WorldSetLinearDamping(world, 0.002f);
d.WorldSetAngularDamping(world, 0.002f);
d.WorldSetAngularDampingThreshold(world, 0f);
d.WorldSetLinearDampingThreshold(world, 0f);
d.WorldSetMaxAngularSpeed(world, maximumAngularVelocity);
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
d.WorldSetContactSurfaceLayer(world, contactsurfacelayer);
d.WorldSetContactMaxCorrectingVel(world, 60.0f);
HalfOdeStep = ODE_STEPSIZE * 0.5f;
odetimestepMS = (int)(1000.0f * ODE_STEPSIZE + 0.5f);
ContactgeomsArray = Marshal.AllocHGlobal(contactsPerCollision * d.ContactGeom.unmanagedSizeOf);
GlobalContactsArray = Marshal.AllocHGlobal((maxContactsbeforedeath + 100) * d.Contact.unmanagedSizeOf);
SharedTmpcontact.geom.g1 = IntPtr.Zero;
SharedTmpcontact.geom.g2 = IntPtr.Zero;
SharedTmpcontact.geom.side1 = -1;
SharedTmpcontact.geom.side2 = -1;
SharedTmpcontact.surface.mode = comumContactFlags;
SharedTmpcontact.surface.mu = 0;
SharedTmpcontact.surface.bounce = 0;
SharedTmpcontact.surface.soft_cfm = comumContactCFM;
SharedTmpcontact.surface.soft_erp = comumContactERP;
SharedTmpcontact.surface.slip1 = comumContactSLIP;
SharedTmpcontact.surface.slip2 = comumContactSLIP;
m_materialContactsData[(int)Material.Stone].mu = 0.8f;
m_materialContactsData[(int)Material.Stone].bounce = 0.4f;
m_materialContactsData[(int)Material.Metal].mu = 0.3f;
m_materialContactsData[(int)Material.Metal].bounce = 0.4f;
m_materialContactsData[(int)Material.Glass].mu = 0.2f;
m_materialContactsData[(int)Material.Glass].bounce = 0.7f;
m_materialContactsData[(int)Material.Wood].mu = 0.6f;
m_materialContactsData[(int)Material.Wood].bounce = 0.5f;
m_materialContactsData[(int)Material.Flesh].mu = 0.9f;
m_materialContactsData[(int)Material.Flesh].bounce = 0.3f;
m_materialContactsData[(int)Material.Plastic].mu = 0.4f;
m_materialContactsData[(int)Material.Plastic].bounce = 0.7f;
m_materialContactsData[(int)Material.Rubber].mu = 0.9f;
m_materialContactsData[(int)Material.Rubber].bounce = 0.95f;
m_materialContactsData[(int)Material.light].mu = 0.0f;
m_materialContactsData[(int)Material.light].bounce = 0.0f;
spacesPerMeterX = 1.0f / metersInSpace;
spacesPerMeterY = spacesPerMeterX;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
if (spaceGridMaxX > 24)
{
spaceGridMaxX = 24;
spacesPerMeterX = spaceGridMaxX / WorldExtents.X;
}
if (spaceGridMaxY > 24)
{
spaceGridMaxY = 24;
spacesPerMeterY = spaceGridMaxY / WorldExtents.Y;
}
staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
// create all spaces now
int i, j;
IntPtr newspace;
for (i = 0; i < spaceGridMaxX; i++)
for (j = 0; j < spaceGridMaxY; j++)
{
newspace = d.HashSpaceCreate(StaticSpace);
d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
waitForSpaceUnlock(newspace);
d.SpaceSetSublevel(newspace, 2);
d.HashSpaceSetLevels(newspace, -2, 8);
d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Land |
CollisionCategories.Water |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(newspace, 0);
staticPrimspace[i, j] = newspace;
}
// let this now be index limit
spaceGridMaxX--;
spaceGridMaxY--;
// create 4 off world spaces (x<0,x>max,y<0,y>max)
staticPrimspaceOffRegion = new IntPtr[4];
for (i = 0; i < 4; i++)
{
newspace = d.HashSpaceCreate(StaticSpace);
d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
waitForSpaceUnlock(newspace);
d.SpaceSetSublevel(newspace, 2);
d.HashSpaceSetLevels(newspace, -2, 8);
d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Land |
CollisionCategories.Water |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(newspace, 0);
staticPrimspaceOffRegion[i] = newspace;
}
m_lastframe = DateTime.UtcNow;
m_lastMeshExpire = m_lastframe;
}
