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authorMW2007-07-13 17:52:11 +0000
committerMW2007-07-13 17:52:11 +0000
commit07b0e2df6fadf6b2ce720a13d555028f03f73fe8 (patch)
tree8c49605b06948dc35707a5b817518714aeed53e5 /OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
parent* Moved LSL-style functions to ScriptInterpretedAPI.cs and put a XML remark c... (diff)
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Part two of Darok's Bullet physics plugin: added the actual plugin, although haven't added the project to prebuild.xml yet.
Also might have messed up some of the SVN properties on some of the folders, so if the cleaning lady has to come in again, I just hope she doesn't moan.
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1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28#region References
29using System;
30using System.Collections.Generic;
31using OpenSim.Physics.Manager;
32using Axiom.Math;
33//Specific References for BulletXPlugin
34using MonoXnaCompactMaths;
35using XnaDevRu.BulletX;
36using XnaDevRu.BulletX.Dynamics;
37#endregion
38
39namespace OpenSim.Region.Physics.BulletXPlugin
40{
41 /// <summary>
42 /// This Class converts objects and types for BulletX
43 /// </summary>
44 public class BulletXConversions
45 {
46 public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
47 {
48 return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
49 }
50 public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
51 {
52 XnaVector3.X = physicsVector.X;
53 XnaVector3.Y = physicsVector.Y;
54 XnaVector3.Z = physicsVector.Z;
55 }
56 public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
57 {
58 return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
59 }
60 /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
61 {
62 xnaVector3.X = physicsVector.X;
63 xnaVector3.Y = physicsVector.Y;
64 xnaVector3.Z = physicsVector.Z;
65 }*/
66 #region Axiom and Xna
67 ///// <summary>
68 ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
69 ///// </summary>
70 ///// <param name="AxiomVector3"></param>
71 ///// <returns></returns>
72 //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
73 //{
74 // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
75 //}
76 #endregion
77 }
78 /// <summary>
79 /// PhysicsPlugin Class for BulletX
80 /// </summary>
81 public class BulletXPlugin : IPhysicsPlugin
82 {
83 private BulletXScene _mScene;
84
85 public BulletXPlugin()
86 {
87 }
88 public bool Init()
89 {
90 return true;
91 }
92 public PhysicsScene GetScene()
93 {
94 if (_mScene == null)
95 {
96 _mScene = new BulletXScene();
97 }
98 return (_mScene);
99 }
100 public string GetName()
101 {
102 return ("BulletXEngine");
103 }
104 public void Dispose()
105 {
106 }
107 }
108 /// <summary>
109 /// PhysicsScene Class for BulletX
110 /// </summary>
111 public class BulletXScene : PhysicsScene
112 {
113 public DiscreteDynamicsWorld ddWorld;
114 private CollisionDispatcher cDispatcher;
115 private OverlappingPairCache opCache;
116 private SequentialImpulseConstraintSolver sicSolver;
117
118 private const int minXY = 0;
119 private const int minZ = 0;
120 private const int maxXY = 256;
121 private const int maxZ = 4096;
122 private const int maxHandles = 32766; //Why? I don't know
123 private static float gravity = 9.8f;
124 private static float heightLevel0 = 77.0f;
125 private static float heightLevel1 = 200.0f;
126 private static float lowGravityFactor = 0.2f;
127
128 private float[] _heightmap;
129 private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
130
131 public static float Gravity { get { return gravity; } }
132 public static float HeightLevel0 { get { return heightLevel0; } }
133 public static float HeightLevel1 { get { return heightLevel1; } }
134 public static float LowGravityFactor { get { return lowGravityFactor; } }
135
136 public BulletXScene()
137 {
138 cDispatcher = new CollisionDispatcher();
139 MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
140 MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
141 opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
142 sicSolver = new SequentialImpulseConstraintSolver();
143
144 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
145 ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
146
147 this._heightmap = new float[65536];
148 }
149
150 public override PhysicsActor AddAvatar(PhysicsVector position)
151 {
152 PhysicsVector pos = new PhysicsVector();
153 pos.X = position.X;
154 pos.Y = position.Y;
155 pos.Z = position.Z + 20;
156 BulletXCharacter newAv = new BulletXCharacter(this, pos);
157 this._characters.Add(newAv);
158 return newAv;
159 }
160
161 public override void RemoveAvatar(PhysicsActor actor)
162 {
163
164 }
165
166 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
167 {
168 PhysicsVector pos = new PhysicsVector();
169 pos.X = position.X;
170 pos.Y = position.Y;
171 pos.Z = position.Z;
172 PhysicsVector siz = new PhysicsVector();
173 siz.X = size.X;
174 siz.Y = size.Y;
175 siz.Z = size.Z;
176 return new BulletXPrim();
177 }
178
179 public override void Simulate(float timeStep)
180 {
181 foreach (BulletXCharacter actor in _characters)
182 {
183 actor.Move(timeStep);
184
185 }
186 ddWorld.StepSimulation(timeStep, 0, timeStep);
187 foreach (BulletXCharacter actor in _characters)
188 {
189 actor.ValidateHeight(this._heightmap[
190 (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
191 + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
192 }
193 foreach (BulletXCharacter actor in _characters)
194 {
195 actor.UpdatePosition();
196 }
197
198 }
199
200 public override void GetResults()
201 {
202
203 }
204
205 public override bool IsThreaded
206 {
207 get
208 {
209 return (false); // for now we won't be multithreaded
210 }
211 }
212
213 public override void SetTerrain(float[] heightMap)
214 {
215 //As the same as ODE, heightmap (x,y) must be swapped for BulletX
216 for (int i = 0; i < 65536; i++)
217 {
218 // this._heightmap[i] = (double)heightMap[i];
219 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
220 int x = i & 0xff;
221 int y = i >> 8;
222 this._heightmap[i] = heightMap[x * 256 + y];
223 }
224 }
225
226 public override void DeleteTerrain()
227 {
228
229 }
230 }
231 /// <summary>
232 /// PhysicsActor Character Class for BulletX
233 /// </summary>
234 public class BulletXCharacter : PhysicsActor
235 {
236 private PhysicsVector _position;
237 private PhysicsVector _velocity;
238 private PhysicsVector _acceleration;
239 private bool flying;
240 private RigidBody rigidBody;
241 public Axiom.Math.Vector2 RigidBodyHorizontalPosition
242 {
243 get
244 {
245 return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
246 }
247 }
248 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
249 {
250 _velocity = new PhysicsVector();
251 _position = pos;
252 _acceleration = new PhysicsVector();
253 float _mass = 50.0f; //This depends of avatar's dimensions
254 Matrix _startTransform = Matrix.Identity;
255 _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
256 Matrix _centerOfMassOffset = Matrix.Identity;
257 CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
258 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
259 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
260 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
261
262 //The next values might change
263 float _linearDamping = 0.0f;
264 float _angularDamping = 0.0f;
265 float _friction = 0.5f;
266 float _restitution = 0.0f;
267
268 rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
269 rigidBody.ActivationState = ActivationState.DisableDeactivation;
270
271 parent_scene.ddWorld.AddRigidBody(rigidBody);
272 }
273
274 public override bool Flying
275 {
276 get
277 {
278 return flying;
279 }
280 set
281 {
282 flying = value;
283 }
284 }
285
286 public override PhysicsVector Position
287 {
288 get
289 {
290 return _position;
291 }
292 set
293 {
294 _position = value;
295 }
296 }
297
298 public override PhysicsVector Velocity
299 {
300 get
301 {
302 return _velocity;
303 }
304 set
305 {
306 _velocity = value;
307 }
308 }
309
310 public override bool Kinematic
311 {
312 get
313 {
314 return false;
315 }
316 set
317 {
318
319 }
320 }
321
322 public override Axiom.Math.Quaternion Orientation
323 {
324 get
325 {
326 return Axiom.Math.Quaternion.Identity;
327 }
328 set
329 {
330
331 }
332 }
333
334 public override PhysicsVector Acceleration
335 {
336 get
337 {
338 return _acceleration;
339 }
340
341 }
342 public void SetAcceleration(PhysicsVector accel)
343 {
344 this._acceleration = accel;
345 }
346
347 public override void AddForce(PhysicsVector force)
348 {
349
350 }
351
352 public override void SetMomentum(PhysicsVector momentum)
353 {
354
355 }
356
357 public void Move(float timeStep)
358 {
359 MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
360 //if (this._velocity.X == 0.0f)
361 // vec.X = this.rigidBody.LinearVelocity.X; //current velocity
362 //else
363 vec.X = this._velocity.X; //overrides current velocity
364
365 //if (this._velocity.Y == 0.0f)
366 // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
367 //else
368 vec.Y = this._velocity.Y; //overrides current velocity
369
370 float nextZVelocity;
371 //if (this._velocity.Z == 0.0f)
372 // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
373 //else
374 nextZVelocity = this._velocity.Z; //overrides current velocity
375
376 if (flying)
377 {
378 //Antigravity with movement
379 if (this._position.Z <= BulletXScene.HeightLevel0)
380 {
381 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
382 }
383 //Lowgravity with movement
384 else if((this._position.Z > BulletXScene.HeightLevel0)
385 && (this._position.Z <= BulletXScene.HeightLevel1))
386 {
387 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
388 }
389 //Lowgravity with...
390 else if (this._position.Z > BulletXScene.HeightLevel1)
391 {
392 if(nextZVelocity > 0) //no movement
393 vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
394 else
395 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
396
397 }
398 }
399 else
400 {
401 vec.Z = nextZVelocity;
402 }
403 rigidBody.LinearVelocity = vec;
404 }
405
406 public void UpdatePosition()
407 {
408 this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
409 }
410
411 //This validation is very basic
412 internal void ValidateHeight(float heighmapPositionValue)
413 {
414 if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
415 {
416 Matrix m = rigidBody.WorldTransform;
417 MonoXnaCompactMaths.Vector3 v3 = m.Translation;
418 v3.Z = heighmapPositionValue;
419 m.Translation = v3;
420 rigidBody.WorldTransform = m;
421 }
422 }
423 }
424 /// <summary>
425 /// PhysicsActor Prim Class for BulletX
426 /// </summary>
427 public class BulletXPrim : PhysicsActor
428 {
429 private PhysicsVector _position;
430 private PhysicsVector _velocity;
431 private PhysicsVector _acceleration;
432
433 public BulletXPrim()
434 {
435 _velocity = new PhysicsVector();
436 _position = new PhysicsVector();
437 _acceleration = new PhysicsVector();
438 }
439 public override bool Flying
440 {
441 get
442 {
443 return false; //no flying prims for you
444 }
445 set
446 {
447
448 }
449 }
450 public override PhysicsVector Position
451 {
452 get
453 {
454 PhysicsVector pos = new PhysicsVector();
455 // PhysicsVector vec = this._prim.Position;
456 //pos.X = vec.X;
457 //pos.Y = vec.Y;
458 //pos.Z = vec.Z;
459 return pos;
460
461 }
462 set
463 {
464 /*PhysicsVector vec = value;
465 PhysicsVector pos = new PhysicsVector();
466 pos.X = vec.X;
467 pos.Y = vec.Y;
468 pos.Z = vec.Z;
469 this._prim.Position = pos;*/
470 }
471 }
472
473 public override PhysicsVector Velocity
474 {
475 get
476 {
477 return _velocity;
478 }
479 set
480 {
481 _velocity = value;
482 }
483 }
484
485 public override bool Kinematic
486 {
487 get
488 {
489 return false;
490 //return this._prim.Kinematic;
491 }
492 set
493 {
494 //this._prim.Kinematic = value;
495 }
496 }
497
498 public override Axiom.Math.Quaternion Orientation
499 {
500 get
501 {
502 Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();
503 return res;
504 }
505 set
506 {
507
508 }
509 }
510
511 public override PhysicsVector Acceleration
512 {
513 get
514 {
515 return _acceleration;
516 }
517
518 }
519 public void SetAcceleration(PhysicsVector accel)
520 {
521 this._acceleration = accel;
522 }
523
524 public override void AddForce(PhysicsVector force)
525 {
526
527 }
528
529 public override void SetMomentum(PhysicsVector momentum)
530 {
531
532 }
533 }
534}
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