A PhysX physics plugin (that actually uses physX now but currently only works on windows)

Can now change direction when walking without stopping
Flying works when using the Physx dll 

3 files changed, 169 insertions, 26 deletions

diff --git a/src/world/Avatar.cs b/src/world/Avatar.cs
index c09c008..facfeee 100644
--- a/src/world/Avatar.cs
+++ b/src/world/Avatar.cs
@@ -11,15 +11,17 @@ namespace OpenSim.world
 {

     public class Avatar : Entity

     {

+        public static bool PhysicsEngineFlying;

         public string firstname;

         public string lastname;

         public OpenSimClient ControllingClient;

         private PhysicsActor _physActor;

         private static libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock AvatarTemplate;

                 private bool updateflag;

-                private bool walking;

+                private byte movementflag;

                 private List<NewForce> forcesList = new List<NewForce>();

                 private short _updateCount;

+                private Axiom.MathLib.Quaternion bodyRot;

                 

         public Avatar(OpenSimClient TheClient) {

                 ServerConsole.MainConsole.Instance.WriteLine("Avatar.cs - Loading details from grid (DUMMY)");

@@ -77,14 +79,14 @@ namespace OpenSim.world
                         }

                         

                         updateflag =false;

-                        this._updateCount = 0;

+                        //this._updateCount = 0;

                 }

                 else

                 {

-                        if(walking)

-                        {

+                        //if((movementflag & 1) !=0)

+                        //{

                                 _updateCount++;

-                                if(_updateCount>3)

+                                if(( (!PhysicsEngineFlying) && (_updateCount>3)) || (_updateCount>0))

                                 {

                                         //It has been a while since last update was sent so lets send one.

                                         ImprovedTerseObjectUpdatePacket.ObjectDataBlock terseBlock = CreateTerseBlock();

@@ -98,7 +100,7 @@ namespace OpenSim.world
                                         }

                                         _updateCount = 0;

                                 }

-                        }

+                        //}

                 }

         }

 

@@ -249,36 +251,111 @@ namespace OpenSim.world
                 }

         

         public void HandleUpdate(AgentUpdatePacket pack) {

-           if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_POS) !=0) {

-                        if(!walking)

+                if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_FLY) !=0)

+                {

+                        this._physActor.Flying = true;

+                }

+                else

+                {

+                        this._physActor.Flying = false;

+                }

+                if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_POS) !=0) {

+                        Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);

+                        if(((movementflag & 1) ==0) || (q!= this.bodyRot))

                         {

-                                //we should add a new force to the list 

+                                //we should add a new force to the list

                                 // but for now we will deal with velocities

                                 NewForce newVelocity = new NewForce();

                                 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(1, 0, 0);

-                                Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);

                                 Axiom.MathLib.Vector3 direc = q * v3;

                                 direc.Normalize();

                                 

                                 //work out velocity for sim physics system

                                 direc = direc * ((0.03f) * 128f);

+                                if(this._physActor.Flying)

+                                        direc *=2;

+                                

+                                newVelocity.X = direc.x;

+                                newVelocity.Y = direc.y;

+                                newVelocity.Z = direc.z;

+                                this.forcesList.Add(newVelocity);

+                                movementflag = 1;

+                                this.bodyRot = q;

+                        }

+                }

+                else if((((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_UP_POS) !=0) &&(PhysicsEngineFlying)) {

+                        if(((movementflag & 2) ==0) && this._physActor.Flying)

+                        {

+                                //we should add a new force to the list

+                                // but for now we will deal with velocities

+                                NewForce newVelocity = new NewForce();

+                                Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(0, 0, 1);

+                                Axiom.MathLib.Vector3 direc = v3;

+                                direc.Normalize();

+                                

+                                //work out velocity for sim physics system

+                                direc = direc * ((0.03f) * 128f *2);

+                                newVelocity.X = direc.x;

+                                newVelocity.Y = direc.y;

+                                newVelocity.Z = direc.z;

+                                this.forcesList.Add(newVelocity);

+                                movementflag = 2;

+                        }

+                }

+                else if((((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_UP_NEG) !=0) && (PhysicsEngineFlying)) {

+                        if(((movementflag & 4) ==0) && this._physActor.Flying)

+                        {

+                                //we should add a new force to the list

+                                // but for now we will deal with velocities

+                                NewForce newVelocity = new NewForce();

+                                Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(0, 0, -1);

+                                //Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);

+                                Axiom.MathLib.Vector3 direc = v3;

+                                direc.Normalize();

+                                

+                                //work out velocity for sim physics system

+                                direc = direc * ((0.03f) * 128f *2);

+                                newVelocity.X = direc.x;

+                                newVelocity.Y = direc.y;

+                                newVelocity.Z = direc.z;

+                                this.forcesList.Add(newVelocity);

+                                movementflag = 4;

+                        }

+                }

+                else if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_NEG) !=0) {

+                        Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);

+                        if(((movementflag & 8) ==0) || (q!= this.bodyRot))

+                        {

+                                //we should add a new force to the list

+                                // but for now we will deal with velocities

+                                NewForce newVelocity = new NewForce();

+                                Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(-1, 0, 0);

+                                Axiom.MathLib.Vector3 direc = q * v3;

+                                direc.Normalize();

+                                

+                                //work out velocity for sim physics system

+                                direc = direc * ((0.03f) * 128f);

+                                if(this._physActor.Flying)

+                                        direc *=2;

+                                

                                 newVelocity.X = direc.x;

                                 newVelocity.Y = direc.y;

                                 newVelocity.Z = direc.z;

                                 this.forcesList.Add(newVelocity);

-                                walking=true;

+                                movementflag = 8;

+                                this.bodyRot = q;

                         }

                 }

                 else

                 {

-                        if(walking)

+                        if((movementflag) !=0)

                         {

                                 NewForce newVelocity = new NewForce();

                                 newVelocity.X = 0;

                                 newVelocity.Y = 0;

                                 newVelocity.Z = 0;

                                 this.forcesList.Add(newVelocity);

-                                walking = false;

+                                movementflag = 0;

                         }

                 }

         }

diff --git a/src/world/Primitive.cs b/src/world/Primitive.cs
index 0d7d951..6be33ef 100644
--- a/src/world/Primitive.cs
+++ b/src/world/Primitive.cs
@@ -5,6 +5,7 @@ using OpenSim.types;
 using libsecondlife;

 using libsecondlife.Packets;

 using GridInterfaces;

+using PhysicsSystem;

 

 namespace OpenSim.world

 {

@@ -16,8 +17,21 @@ namespace OpenSim.world
         protected bool newPrimFlag;

         protected bool updateFlag;

         protected bool dirtyFlag;

-        protected ObjectUpdatePacket OurPacket;

+        private ObjectUpdatePacket OurPacket;

+        private PhysicsActor _physActor;

+        private bool physicsEnabled;

        

+        public bool PhysicsEnabled

+        {

+                get

+                {

+                        return physicsEnabled;

+                }

+                set

+                {

+                        physicsEnabled = value;

+                }

+        }

         public bool UpdateFlag

         {

                 get

@@ -41,6 +55,14 @@ namespace OpenSim.world
                         return this.primData.Scale;

                 }

         }

+        public PhysicsActor PhysActor

+        {

+                set

+                {

+                        this._physActor = value;

+                }

+        }

+        

         public Primitive()

         {

             mesh_cutbegin = 0.0f;

@@ -61,6 +83,16 @@ namespace OpenSim.world
             return mesh;

         }

         

+        public void UpdatePosition( LLVector3 pos)

+        {

+                this.position = pos;

+                if(this._physActor != null && this.physicsEnabled)

+                {

+                        this._physActor.Position = new PhysicsVector(pos.X, pos.Y, pos.Z);

+                }

+                this.updateFlag = true;

+        }

+        

         public override void update()

         {

                 if(this.newPrimFlag)

@@ -89,13 +121,39 @@ namespace OpenSim.world
                         }

                         this.dirtyFlag = false;

                 }

-                

+                else

+                {

+                        if(this._physActor != null && this.physicsEnabled) 

+                        {

+                                ImprovedTerseObjectUpdatePacket terse = new ImprovedTerseObjectUpdatePacket();

+                                terse.RegionData.RegionHandle = OpenSim_Main.cfg.RegionHandle; // FIXME

+                                terse.RegionData.TimeDilation = 64096;

+                                terse.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[1];

+                                terse.ObjectData[0] = this.CreateImprovedBlock();

+                                foreach(OpenSimClient client in OpenSim_Main.sim.ClientThreads.Values) {

+                                        client.OutPacket(terse);

+                                }

+                        }

+                }

         }

         

         public void UpdateClient(OpenSimClient RemoteClient)

         {

-                byte[] pb = this.position.GetBytes();

+                

+                LLVector3 lPos; 

+                if( this._physActor != null && this.physicsEnabled)

+                {

+                        PhysicsVector pPos = this._physActor.Position; 

+                                lPos = new LLVector3( pPos.X, pPos.Y, pPos.Z);

+                }

+                else

+                {

+                        lPos = this.position;

+                }

+                        byte[] pb = lPos.GetBytes();

                 Array.Copy(pb, 0, OurPacket.ObjectData[0].ObjectData, 0, pb.Length);

+                

+                // OurPacket should be update with the follwing in updateShape() rather than having to do it here

                 OurPacket.ObjectData[0].OwnerID = this.primData.OwnerID;

                 OurPacket.ObjectData[0].PCode = this.primData.PCode;

                 OurPacket.ObjectData[0].PathBegin = this.primData.PathBegin;

@@ -137,7 +195,6 @@ namespace OpenSim.world
                 this.primData.PathCurve = addPacket.PathCurve;

                 this.primData.ProfileCurve = addPacket.ProfileCurve;

                 this.primData.ProfileHollow = addPacket.ProfileHollow;

-                

                 this.primData.PathRadiusOffset = addPacket.PathRadiusOffset;

                 this.primData.PathRevolutions = addPacket.PathRevolutions;

                 this.primData.PathTaperX = addPacket.PathTaperX;

@@ -145,7 +202,6 @@ namespace OpenSim.world
                 this.primData.PathTwist = addPacket.PathTwist;

                 this.primData.PathTwistBegin =addPacket.PathTwistBegin;

                 this.dirtyFlag = true;

-                

         }

         

         public void CreateFromPacket( ObjectAddPacket addPacket, LLUUID agentID, uint localID)

@@ -162,7 +218,6 @@ namespace OpenSim.world
                 objupdate.ObjectData[0].ExtraParams = new byte[1];

                 objupdate.ObjectData[0].MediaURL = new byte[0];

                 objupdate.ObjectData[0].NameValue = new byte[0];

-                objupdate.ObjectData[0].PSBlock = new byte[0];

                 objupdate.ObjectData[0].Text = new byte[0];

                 objupdate.ObjectData[0].TextColor = new byte[4];

                 objupdate.ObjectData[0].JointAxisOrAnchor = new LLVector3(0,0,0);

@@ -232,7 +287,6 @@ namespace OpenSim.world
                 objupdate.ObjectData[0].ExtraParams = new byte[1];

                 objupdate.ObjectData[0].MediaURL = new byte[0];

                 objupdate.ObjectData[0].NameValue = new byte[0];

-                objupdate.ObjectData[0].PSBlock = new byte[0];

                 objupdate.ObjectData[0].Text = new byte[0];

                 objupdate.ObjectData[0].TextColor = new byte[4];

                 objupdate.ObjectData[0].JointAxisOrAnchor = new LLVector3(0,0,0);

@@ -291,7 +345,6 @@ namespace OpenSim.world
                 uint ID = this.localid;

                 byte[] bytes = new byte[60];

                         

-                        

                         int i = 0;

                         ImprovedTerseObjectUpdatePacket.ObjectDataBlock dat = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock();

                         dat.TextureEntry = this.OurPacket.ObjectData[0].TextureEntry;

@@ -302,8 +355,18 @@ namespace OpenSim.world
                         bytes[i++] = (byte)((ID >> 24) % 256);

                         bytes[i++]= 0;

                         bytes[i++]= 0;

-

-                        byte[] pb = this.position.GetBytes();

+                        

+                        LLVector3 lPos; 

+                if( this._physActor != null && this.physicsEnabled)

+                {

+                        PhysicsVector pPos = this._physActor.Position; 

+                                lPos = new LLVector3( pPos.X, pPos.Y, pPos.Z);

+                }

+                else

+                {

+                        lPos = this.position;

+                }

+                        byte[] pb = lPos.GetBytes();

                         Array.Copy(pb, 0, bytes, i, pb.Length);

                         i += 12;

                         ushort ac = 32767;

diff --git a/src/world/World.cs b/src/world/World.cs
index fb78819..e1c84bc 100644
--- a/src/world/World.cs
+++ b/src/world/World.cs
@@ -176,9 +176,8 @@ namespace OpenSim.world
                 ServerConsole.MainConsole.Instance.WriteLine("World.cs:AddViewerAgent() - Adding new avatar to world");

                 ServerConsole.MainConsole.Instance.WriteLine("World.cs:AddViewerAgent() - Starting RegionHandshake ");

                 NewAvatar.SendRegionHandshake(this);

-                

-                NewAvatar.PhysActor = this.phyScene.AddAvatar(new PhysicsVector(NewAvatar.position.X, NewAvatar.position.Y, NewAvatar.position.Z));

-                //this.Update();                // will work for now, but needs to be optimised so we don't update everything in the sim for each new user

+                PhysicsVector pVec = new PhysicsVector(NewAvatar.position.X, NewAvatar.position.Y, NewAvatar.position.Z);

+                NewAvatar.PhysActor = this.phyScene.AddAvatar(pVec);

                 this.Entities.Add(AgentClient.AgentID, NewAvatar);

         }

         

@@ -187,6 +186,10 @@ namespace OpenSim.world
                 ServerConsole.MainConsole.Instance.WriteLine("World.cs: AddNewPrim() - Creating new prim");

                 Primitive prim = new Primitive();

                 prim.CreateFromPacket(addPacket, AgentClient.AgentID, this._primCount);

+                PhysicsVector pVec = new PhysicsVector(prim.position.X, prim.position.Y, prim.position.Z);

+                PhysicsVector pSize = new PhysicsVector( 0.25f, 0.25f, 0.25f);

+                //prim.PhysActor = this.phyScene.AddPrim(pVec, pSize );

+                //prim.PhysicsEnabled = true;

                 this.Entities.Add(prim.uuid, prim);

                 this._primCount++;

         }