public override void InitData(SimulatorData data)
{
base.InitData(data);
// Create ODE world.
//world = new World();
world = Tao.Ode.Ode.dWorldCreate();
// Set default gravity.
Gravity = Defaults.Gravity;
// Create the root ODE space.
if (data.UseOctreeInsteadHash)
{
//space = new QuadTreeSpace(data.worldCenter, data.worldSize, data.octreeDepth);
space = Tao.Ode.Ode.dQuadTreeSpaceCreate(IntPtr.Zero, OdeHelper.ToOdeVector3(data.WorldCenter), OdeHelper.ToOdeVector3(data.WorldSize), data.OctreeDepth);
}
else
{
space = Tao.Ode.Ode.dHashSpaceCreate(IntPtr.Zero);
Tao.Ode.Ode.dHashSpaceSetLevels(space, data.HashMinLevel, data.HashMaxLevel); // (KleMiX) ...
}
//space.Collider = OdeHelper.CollisionCallback;
rootSpace = new OdeSpace(space);
// Create the ODE contact joint group.
//contactJointGroup = new ODE.Joints.JointGroup();
contactJointGroup = Tao.Ode.Ode.dJointGroupCreate(0);
// Set the ODE global CFM value that will be used by all Joints
// (including contacts). This affects normal Joint constraint
// operation and Joint limits. The user cannot adjust CFM, but
// they can adjust ERP (a.k.a. bounciness/restitution) for materials
// (i.e. contact settings) and Joint limits.
//dWorldSetCFM( mWorldID, Defaults.Ode.globalCFM );
//world.CFM = Defaults.Ode.globalCFM;
Tao.Ode.Ode.dWorldSetCFM(world, Defaults.Ode.GlobalCFM);
// Set the ODE global ERP value. This will only be used for Joints
// under normal conditions, not at their limits. Also, it will not
// affect contacts at all since they use material properties to
// calculate ERP.
//dWorldSetERP( mWorldID, ( real ) 0.5 * ( defaults::ode::maxERP +defaults::ode::minERP ) );
//world.ERP = 0.5f * (Defaults.Ode.maxERP + Defaults.Ode.minERP);
Tao.Ode.Ode.dWorldSetERP(world, 0.5f * (Defaults.Ode.MaxERP + Defaults.Ode.MinERP));
Tao.Ode.Ode.dWorldSetContactSurfaceLayer(world, Defaults.Ode.SurfaceLayer);
SolverAccuracy = Defaults.SolverAccuracy;
collisionCount = 0;
// "mRaycastResult" is initialized in its own constructor.
sensorSolid = null;
rayContactGroup = Defaults.Shape.ContactGroup;
}
public override SpaceBase CreateSpace()
{
OdeSpace newSpace = new OdeSpace();
// Add this new Space as a child of the Simulator's root Space.
//space.Add((ODE.Geoms.Geom)newSpace.InternalGetSpaceID());
Tao.Ode.Ode.dSpaceAdd(space, newSpace.InternalGetSpaceID());
AddSpace(newSpace);
return(newSpace);
}