Пример #1
0
// Called by Physics::Server when the Level is attached to the server.
void CLevel::Activate()
{
	TimeToSim = 0.0;

	// Initialize ODE //???per-Level?
	dInitODE();
	ODEWorldID = dWorldCreate();
	dWorldSetQuickStepNumIterations(ODEWorldID, 20);

	// FIXME(enno): is a quadtree significantly faster? -- can't count geoms with quadtree
	ODECommonSpaceID  = dSimpleSpaceCreate(NULL);
	ODEDynamicSpaceID = dSimpleSpaceCreate(ODECommonSpaceID);
	ODEStaticSpaceID  = dSimpleSpaceCreate(ODECommonSpaceID);

	dWorldSetGravity(ODEWorldID, Gravity.x, Gravity.y, Gravity.z);
	dWorldSetContactSurfaceLayer(ODEWorldID, 0.001f);
	dWorldSetContactMaxCorrectingVel(ODEWorldID, 100.0f);
	dWorldSetERP(ODEWorldID, 0.2f);     // ODE's default value
	dWorldSetCFM(ODEWorldID, 0.001f);    // the default is 10^-5

	// setup autodisabling
	dWorldSetAutoDisableFlag(ODEWorldID, 1);
	dWorldSetAutoDisableSteps(ODEWorldID, 5);
	//dWorldSetAutoDisableTime(ODEWorldID, 1.f);
	dWorldSetAutoDisableLinearThreshold(ODEWorldID, 0.05f);   // default is 0.01
	dWorldSetAutoDisableAngularThreshold(ODEWorldID, 0.1f);  // default is 0.01

	// create a Contact group for joints
	ContactJointGroup = dJointGroupCreate(0);
}
Пример #2
0
bool physics_init(void)
{
	printlog(0, "Initiating physics");
	dInitODE2(0);
	dAllocateODEDataForThread(dAllocateFlagBasicData | dAllocateFlagCollisionData);

	world = dWorldCreate();

	//TODO: move to "dQuadTreeSpaceCreate()" - much better performance!!!
	printlog(1, "TODO: create world space using dQuadTreeSpaceCreate() - much better performance!");
	space = dHashSpaceCreate(0);
	contactgroup = dJointGroupCreate(0);

	dWorldSetQuickStepNumIterations (world, internal.iterations);

	//autodisable
	dWorldSetAutoDisableFlag (world, 1);
	dWorldSetAutoDisableLinearThreshold (world, internal.dis_linear);
	dWorldSetAutoDisableAngularThreshold (world, internal.dis_angular);
	dWorldSetAutoDisableSteps (world, internal.dis_steps);
	dWorldSetAutoDisableTime (world, internal.dis_time);
	
	return true;
}
Пример #3
0
signed ODE_Init()
{
	Quit = SDL_FALSE;
	dInitODE2(dInitFlagManualThreadCleanup);
	dSetMessageHandler(Error);
	dSetDebugHandler(Error);
	dSetErrorHandler(Error);

	World = dWorldCreate();
	Space = dHashSpaceCreate(0);
	Group = dJointGroupCreate(0);
	Step = 1.0/50.0;

	lua_getglobal(State, "World");
	int table = lua_gettop(State);

	if (!lua_isnil(State, table))
	{
	 lua_pushnil(State);
	 while (lua_next(State, table))
	 {
		const char *key = lua_tostring(State, -2);
		#define tointeger lua_tointeger(State, -1)
		#define toboolean lua_toboolean(State, -1)
		#define tonumber  lua_tonumber(State, -1)

		if (!SDL_strcasecmp(key, "FPS"))
		{
		 Step = 1.0/tonumber;
		}
		else
		if (!SDL_strcasecmp(key, "ERP"))
		{
		 dWorldSetERP(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "CFM"))
		{
		 dWorldSetCFM(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "LINEAR_DAMPING"))
		{
		 dWorldSetLinearDamping(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "LINEAR_DAMPING_THRESHOLD"))
		{
		 dWorldSetLinearDampingThreshold(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "ANGULAR_DAMPING"))
		{
		 dWorldSetAngularDamping(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "ANGULAR_DAMPING_THRESHOLD"))
		{
		 dWorldSetAngularDampingThreshold(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "MAX_ANGULAR_SPEED"))
		{
		 dWorldSetMaxAngularSpeed(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "CONTACT_MAX_CORRECTING_VELOCITY"))
		{
		 dWorldSetContactMaxCorrectingVel(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "CONTACT_SURFACE_LAYER"))
		{
		 dWorldSetContactSurfaceLayer(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "AUTO_DISABLE"))
		{
		 dWorldSetAutoDisableFlag(World, toboolean);
		}
		else
		if (!SDL_strcasecmp(key, "AUTO_DISABLE_LINEAR_THRESHOLD"))
		{
		 dWorldSetAutoDisableLinearThreshold(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "AUTO_DISABLE_ANGULAR_THRESHOLD"))
		{
		 dWorldSetAutoDisableAngularThreshold(World, tonumber);
		}
		else
		if (!SDL_strcasecmp(key, "AUTO_DISABLE_STEPS"))
		{
		 dWorldSetAutoDisableSteps(World, tointeger);
		}
		else
		if (!SDL_strcasecmp(key, "AUTO_DISABLE_TIME"))
		{
		 dWorldSetAutoDisableTime(World, tonumber);
		}
		else
		{
		 SDL_Log("World: %s does not match", key);
		}
		lua_pop(State, 1);
	 }
	}
	lua_pop(State, 1);

	Cond = SDL_CreateCond();
	if (!Cond)
	{
	 dWorldDestroy(World);
	 dSpaceDestroy(Space);
	 dJointGroupDestroy(Group);
	 SDL_perror("SDL_CreateCond");
	 return SDL_SetError("cannot create simulation signal");
	}
	Mutex = SDL_CreateMutex();
	if (!Mutex)
	{
	 dWorldDestroy(World);
	 dSpaceDestroy(Space);
	 dJointGroupDestroy(Group);
	 SDL_DestroyCond(Cond);
	 SDL_perror("SDL_CreateMutex");
	 return SDL_SetError("cannot create simulation mutex");
	}
	Thread = SDL_CreateThread(SimulationThread, "ODE", NULL);
	if (!Thread)
	{
	 dWorldDestroy(World);
	 dSpaceDestroy(Space);
	 dJointGroupDestroy(Group);
	 SDL_DestroyCond(Cond);
	 SDL_DestroyMutex(Mutex);
	 SDL_perror("SDL_CreateThread");
	 return SDL_SetError("cannot create simulation thread");
	}
	TimerID = SDL_AddTimer(Uint32(1000*Step), SimulationTimer, NULL);
	if (!TimerID)
	{
	 dWorldDestroy(World);
	 dSpaceDestroy(Space);
	 dJointGroupDestroy(Group);
	 SDL_DestroyCond(Cond);
	 SDL_DestroyMutex(Mutex);
	 SDL_perror("SDL_AddTimer");
	 return SDL_SetError("cannot create simulation timer");
	}
	return 0;
}