brought zircon branch into trunk

1 files changed, 65 insertions, 4 deletions

diff --git a/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs b/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs
index 9576a40..043c2f1 100644
--- a/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs
+++ b/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs
@@ -52,10 +52,10 @@
 */

 using System;

 using System.Collections.Generic;

-using PhysicsSystem;

+using OpenSim.Physics.Manager;

 using PhysXWrapper;

 

-namespace PhysXplugin

+namespace OpenSim.Physics.PhysXPlugin

 {

         /// <summary>

         /// Will be the PhysX plugin but for now will be a very basic physics engine

@@ -105,6 +105,7 @@ namespace PhysXplugin
                 public PhysXScene()

                 {

                         mySdk = NxPhysicsSDK.CreateSDK();

+                        Console.WriteLine("Sdk created - now creating scene");

                         scene = mySdk.CreateScene();

                 

                 }

@@ -179,6 +180,7 @@ namespace PhysXplugin
                 private PhysicsVector _acceleration;

                 private NxCharacter _character;

                 private bool flying;

+                private float gravityAccel;

                 

                 public PhysXCharacter(NxCharacter character)

                 {

@@ -224,6 +226,30 @@ namespace PhysXplugin
                         }

                 }

                 

+                public override bool Kinematic

+                {

+                        get

+                        {

+                                return false;

+                        }

+                        set

+                        {

+                                

+                        }

+                }

+                

+                public override Axiom.MathLib.Quaternion Orientation

+                {

+                        get

+                        {

+                                return Axiom.MathLib.Quaternion.Identity;

+                        }

+                        set

+                        {

+                                

+                        }

+                }

+                

                 public override PhysicsVector Acceleration

                 {

                         get

@@ -258,9 +284,14 @@ namespace PhysXplugin
                         }

                         else

                         {

-                                vec.Z = (-9.8f + this._velocity.Z) * timeStep;

+                                gravityAccel+= -9.8f;

+                                vec.Z = (gravityAccel + this._velocity.Z) * timeStep;

+                        }

+                        int res = this._character.Move(vec);

+                        if(res == 1)

+                        {

+                                gravityAccel = 0;

                         }

-                        this._character.Move(vec);

                 }

                 

                 public void UpdatePosition()

@@ -332,6 +363,36 @@ namespace PhysXplugin
                         }

                 }

                 

+                public override bool Kinematic

+                {

+                        get

+                        {

+                                return this._prim.Kinematic;

+                        }

+                        set

+                        {

+                                this._prim.Kinematic = value;

+                        }

+                }

+                

+                public override Axiom.MathLib.Quaternion Orientation

+                {

+                        get

+                        {

+                                Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();

+                                PhysXWrapper.Quaternion quat = this._prim.GetOrientation();

+                                res.w = quat.W;

+                                res.x = quat.X;

+                                res.y = quat.Y;

+                                res.z = quat.Z;

+                                return res;

+                        }

+                        set

+                        {

+                                

+                        }

+                }

+                

                 public override PhysicsVector Acceleration

                 {

                         get