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• OpenDynamicsEngine
• ODEPhysicsScene

C# Class Universe.Physics.OpenDynamicsEngine.ODEPhysicsScene

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Public Properties

Property	Type	Description
AllowAvGravity	bool
AllowAvsToEscapeGravity	bool
AllowUnderwaterPhysics	bool
AvGravityHeight	int
MeshSculptphysicalLOD	float
ODE_STEPSIZE	float
PID_D	float
PID_P	float
RegionTerrain	System.IntPtr
SimulationChangesQueue	ConcurrentQueue
WorldExtents	System.Vector2
actor_name_map	PhysicsActor>.Dictionary
avCapRadius	float
avDensity	float
avHeightFudgeFactor	float
avMovementDivisorRun	float
avMovementDivisorWalk	float
bodyFramesAutoDisable	int
forceSimplePrimMeshing	bool
geomContactPointsStartthrottle	int
geomCrossingFailuresBeforeOutofbounds	int
gravityVector	System.Vector3
gravityVectorNormalized	System.Vector3
gravityx	float
gravityy	float
gravityz	float
m_AvFlySpeed	float
m_allowJump	bool
m_flightCeilingHeight	float
m_preJumpForceMultiplierX	float
m_preJumpForceMultiplierY	float
m_preJumpForceMultiplierZ	float
m_preJumpTime	int
m_useFlightCeilingHeight	bool
m_usepreJump	bool
maximumMassObject	float
meshSculptLOD	float
meshSculptedPrim	bool
mesher	IMesher
space	System.IntPtr
staticPrimspace	].IntPtr[
world	System.IntPtr

Protected Properties

Property	Type	Description
AvatarContactBounce	float
ContactgeomsArray	System.IntPtr
DoPhyWind	bool
FrictionMovementMultiplier	float
FrictionScale	float
GlobalContactsArray	System.IntPtr
GridSpaceScaleBits	int
HashspaceHigh	int
HashspaceLow	int
IsLocked	bool
ODETerrainHeightFieldHeights	float[]
PANull	Universe.Framework.Physics.PhysicsActor
RemoveQueue	ConcurrentQueue
TerrainHeightFieldHeights	short[]
WaterHeight	double
_activeprims	HashSet
_activeprimsLock	object
_characters	HashSet
_collisionEventDictionary	PhysicsActor>.ConcurrentDictionary
_collisionEventListLock	object
_contactcountLock	object
_perloopContact	List
_prims	HashSet
contactgroup	System.IntPtr
contactsPerCollision	int
contactsurfacelayer	float
m_channel	ITerrainChannel
m_config	IConfigSource
m_currentmaxContactsbeforedeath	int
m_filterCollisions	bool
m_global_contactcount	int
m_physicsiterations	int
m_rayCastManager	ODERayCastRequestManager
m_region	Universe.Framework.SceneInfo.RegionInfo
m_scene	IScene
m_timeDilation	float
m_windModule	IWindModule
minimumGroundFlightOffset	float
nearCallback	d.NearCallback
newGlobalcontact	d.Contact
nspacesPerSideX	int
nspacesPerSideY	int
step_time	float

Public Methods

Method	Description
AddAvatar ( string avName, System.Vector3 position, Quaternion rotation, System.Vector3 size, bool isFlying, uint localID, UUID UUID ) : PhysicsActor
AddCollisionEventReporting ( PhysicsActor obj ) : void
AddGravityPoint ( bool isApplyingForces, System.Vector3 position, float forceX, float forceY, float forceZ, float gravForce, float radius, int identifier ) : void
AddODECollision ( d curContact, PhysicsActor p1, PhysicsActor p2, IntPtr b1, IntPtr b2, ContactPoint maxDepthContact, int &NotSkipedCount ) : void
AddPrimShape ( UUID primID, uint localID, string name, byte physicsType, PrimitiveBaseShape shape, System.Vector3 position, System.Vector3 size, Quaternion rotation, bool isPhysical, int material, float friction, float restitution, float gravityMultiplier, float density ) : PhysicsActor
AddSimulationChange ( NoParam del ) : void	Called to queue a change to a prim to use in place of old taint mechanism so changes do have a time sequence
CalculateGravity ( float mass, System.Vector3 position, bool allowNormalGravity, float gravityModifier, System.Vector3 &forceVector ) : void
CalculateSpaceArrayItemFromPos ( System.Vector3 pos ) : int[]	Holds the space allocation logic
CalculateSpaceForGeom ( System.Vector3 pos ) : IntPtr	Calculates the space the prim should be in by its position
Collision_optimized ( float timeStep ) : void	This is our collision testing routine in ODE
Dispose ( ) : void
GetContactParam ( float mu, float AvatarContactBounce, d &newGlobalcontact ) : void
GetGravityForce ( ) : float[]
GetTerrainHeightAtXY ( float x, float y ) : float
GetTopColliders ( ) : float>.Dictionary
GetWaterLevel ( float x, float y ) : double
Initialize ( IMesher meshmerizer, IScene scene ) : void
IsNearBody ( IntPtr gspace, IntPtr g1, IntPtr g2 ) : void	This is our near callback. A geometry is near a body
ODEPhysicsScene ( ) : System	Initializes the scene Sets many properties that ODE requires to be stable These settings need to be tweaked 'exactly' right or weird stuff happens.
PostInitialize ( IConfigSource config ) : void
RaycastWorld ( System.Vector3 position, System.Vector3 direction, float length, int Count ) : List
RaycastWorld ( System.Vector3 position, System.Vector3 direction, float length, RaycastCallback retMethod ) : void
RaycastWorld ( System.Vector3 position, System.Vector3 direction, float length, int Count, RayCallback retMethod ) : void
RecalculateSpaceForGeom ( IntPtr geom, System.Vector3 pos, IntPtr currentspace ) : IntPtr	Called when a static prim moves. Allocates a space for the prim based on its position
RemCollisionEventReporting ( PhysicsActor obj ) : void
RemoveAvatar ( PhysicsActor actor ) : void
RemovePrim ( PhysicsActor prim ) : void
SetGravityForce ( bool enabled, float forceX, float forceY, float forceZ ) : void	Sets gravity parameters in the single axis, if you want a point, use the gravity point pieces
SetTerrain ( ITerrainChannel channel, short heightMap ) : void
SetWaterLevel ( double height, short map ) : void
Simulate ( float timeElapsed ) : void	This is our main simulate loop It's thread locked by a Mutex in the scene. It holds Collisions, it instructs ODE to step through the physical reactions It moves the objects around in memory It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
SupportsRayCast ( ) : bool
WhichSpaceAmIIn ( System.Vector3 pos ) : string	Debug space message for printing the space that a prim/avatar is in.
command ( int cmd ) : void
start ( int unused ) : void
step ( int pause ) : void

Private Methods

Method	Description
AddActivePrim ( ODEPrim activatePrim ) : void
AddCharacter ( ODECharacter chr ) : void	Adds a character to the list of avatars in the scene Internally locked, as it is called only in the Simulation Changes loop
BadCharacter ( ODECharacter chr ) : void
BadPrim ( ODEPrim universeODEPrim ) : void
CheckDupe ( d contactGeom, int atype ) : bool
Collision_accounting_events ( PhysicsActor p1, PhysicsActor p2, ContactPoint contact ) : void
CreateContacJoint ( d geom ) : IntPtr
GetCurContactGeom ( int index, d &newcontactgeom ) : bool
NeedsMeshing ( ODEPrim prim, byte physicalType ) : bool	Routine to figure out if we need to mesh this prim with our mesher
RemoveActivePrim ( ODEPrim deactivatePrim ) : void
RemoveCharacter ( ODECharacter chr ) : void	Removes a character from the list of avatars currently in the scene Internally locked, as it is called only in the Simulation Changes loop
RemovePrimThreadLocked ( ODEPrim prim ) : void	This is called from within simulate but outside the locked portion We need to do our own locking here Essentially, we need to remove the prim from our space segment, whatever segment it's in. If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory that the space was using.

Method Details

Property Details