ODESpace::ODESpace()
{
// Create the Space without adding it to another Space.
if (false)
mSpaceID = dSimpleSpaceCreate(0);
else
{
mSpaceID = dHashSpaceCreate(0);
dHashSpaceSetLevels(mSpaceID, 3, 9);
}
mParentSpaceID = NULL;
}
void PhysicsHashSpace::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
Inherited::changed(whichField, origin, details);
//Do not respond to changes that have a Sync origin
if(origin & ChangedOrigin::Sync)
{
return;
}
if(whichField & LevelsFieldMask)
{
dHashSpaceSetLevels(_SpaceID, (Int32)getLevels().x(), (Int32)getLevels().y());
}
}
void ODESimulator::initData(SimulatorData data)
{
Simulator::initData(data);
// We can only init ODE once.
if (0 == mInitCounter)
{
dInitODE();
}
++mInitCounter;
// Create ODE world.
mWorldID = dWorldCreate();
// Set default gravity.
setGravity(defaults::gravity);
// Create the root ODE space.
//mRootSpaceID = dSimpleSpaceCreate(0);
//dVector3 center = {0, 0, 0};
//dVector3 extents = {200, 100, 200};
//mRootSpaceID = dQuadTreeSpaceCreate(0, center, extents, 5);
if (data.useOctreeInsteadHash)
{
dVector3 center = { data.worldCenter[0],
data.worldCenter[1],
data.worldCenter[2] };
dVector3 extents = { data.worldSize[0],
data.worldSize[1],
data.worldSize[2] };
mRootSpaceID = dQuadTreeSpaceCreate(0, center, extents, data.octreeDepth);
}
else
{
mRootSpaceID = dHashSpaceCreate(0);
dHashSpaceSetLevels(mRootSpaceID, data.hashMinLevel, data.hashMaxLevel);
}
mRootSpace = new ODESpace(mRootSpaceID);
// Create the ODE contact joint group.
mContactJointGroupID = 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);
// 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));
dWorldSetContactSurfaceLayer(mWorldID, defaults::ode::surfaceLayer);
setSolverAccuracy(defaults::solverAccuracy);
mCollisionCount = 0;
// "mRaycastResult" is initialized in its own constructor.
mSensorSolid = NULL;
mRayContactGroup = defaults::shape::contactGroup;
}
