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-rw-r--r--OpenSim.Physics/OdePlugin/OdePlugin.cs908
1 files changed, 456 insertions, 452 deletions
diff --git a/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim.Physics/OdePlugin/OdePlugin.cs
index 599dea8..137e44d 100644
--- a/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim.Physics/OdePlugin/OdePlugin.cs
@@ -1,452 +1,456 @@
1/* 1/*
2* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ 2* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
3* 3*
4* Redistribution and use in source and binary forms, with or without 4* Redistribution and use in source and binary forms, with or without
5* modification, are permitted provided that the following conditions are met: 5* modification, are permitted provided that the following conditions are met:
6* * Redistributions of source code must retain the above copyright 6* * Redistributions of source code must retain the above copyright
7* notice, this list of conditions and the following disclaimer. 7* notice, this list of conditions and the following disclaimer.
8* * Redistributions in binary form must reproduce the above copyright 8* * Redistributions in binary form must reproduce the above copyright
9* notice, this list of conditions and the following disclaimer in the 9* notice, this list of conditions and the following disclaimer in the
10* documentation and/or other materials provided with the distribution. 10* documentation and/or other materials provided with the distribution.
11* * Neither the name of the <organization> nor the 11* * Neither the name of the <organization> nor the
12* names of its contributors may be used to endorse or promote products 12* names of its contributors may be used to endorse or promote products
13* derived from this software without specific prior written permission. 13* derived from this software without specific prior written permission.
14* 14*
15* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY 15* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
16* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 16* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
17* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
18* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY 18* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
19* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 19* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
20* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 20* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
21* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 21* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
22* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 22* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 23* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
24* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 24* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25* 25*
26*/ 26*/
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using OpenSim.Physics.Manager; 29using OpenSim.Physics.Manager;
30using Ode.NET; 30using Ode.NET;
31 31
32namespace OpenSim.Physics.OdePlugin 32namespace OpenSim.Physics.OdePlugin
33{ 33{
34 /// <summary> 34 /// <summary>
35 /// ODE plugin 35 /// ODE plugin
36 /// </summary> 36 /// </summary>
37 public class OdePlugin : IPhysicsPlugin 37 public class OdePlugin : IPhysicsPlugin
38 { 38 {
39 private OdeScene _mScene; 39 private OdeScene _mScene;
40 40
41 public OdePlugin() 41 public OdePlugin()
42 { 42 {
43 43
44 } 44 }
45 45
46 public bool Init() 46 public bool Init()
47 { 47 {
48 return true; 48 return true;
49 } 49 }
50 50
51 public PhysicsScene GetScene() 51 public PhysicsScene GetScene()
52 { 52 {
53 if (_mScene == null) 53 if (_mScene == null)
54 { 54 {
55 _mScene = new OdeScene(); 55 _mScene = new OdeScene();
56 } 56 }
57 return (_mScene); 57 return (_mScene);
58 } 58 }
59 59
60 public string GetName() 60 public string GetName()
61 { 61 {
62 return ("OpenDynamicsEngine"); 62 return ("OpenDynamicsEngine");
63 } 63 }
64 64
65 public void Dispose() 65 public void Dispose()
66 { 66 {
67 67
68 } 68 }
69 } 69 }
70 70
71 public class OdeScene : PhysicsScene 71 public class OdeScene : PhysicsScene
72 { 72 {
73 static public IntPtr world; 73 static public IntPtr world;
74 static public IntPtr space; 74 static public IntPtr space;
75 static private IntPtr contactgroup; 75 static private IntPtr contactgroup;
76 static private IntPtr LandGeom; 76 static private IntPtr LandGeom;
77 //static private IntPtr Land; 77 //static private IntPtr Land;
78 private double[] _heightmap; 78 private double[] _heightmap;
79 static private d.NearCallback nearCallback = near; 79 static private d.NearCallback nearCallback = near;
80 private List<OdeCharacter> _characters = new List<OdeCharacter>(); 80 private List<OdeCharacter> _characters = new List<OdeCharacter>();
81 private static d.ContactGeom[] contacts = new d.ContactGeom[30]; 81 private static d.ContactGeom[] contacts = new d.ContactGeom[30];
82 private static d.Contact contact; 82 private static d.Contact contact;
83 83
84 public OdeScene() 84 public OdeScene()
85 { 85 {
86 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; 86 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
87 contact.surface.mu = d.Infinity; 87 contact.surface.mu = d.Infinity;
88 contact.surface.mu2 = 0.0f; 88 contact.surface.mu2 = 0.0f;
89 contact.surface.bounce = 0.1f; 89 contact.surface.bounce = 0.1f;
90 contact.surface.bounce_vel = 0.1f; 90 contact.surface.bounce_vel = 0.1f;
91 contact.surface.soft_cfm = 0.01f; 91 contact.surface.soft_cfm = 0.01f;
92 92
93 world = d.WorldCreate(); 93 world = d.WorldCreate();
94 space = d.HashSpaceCreate(IntPtr.Zero); 94 space = d.HashSpaceCreate(IntPtr.Zero);
95 contactgroup = d.JointGroupCreate(0); 95 contactgroup = d.JointGroupCreate(0);
96 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); 96 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
97 //d.WorldSetCFM(world, 1e-5f); 97 //d.WorldSetCFM(world, 1e-5f);
98 d.WorldSetAutoDisableFlag(world, false); 98 d.WorldSetAutoDisableFlag(world, false);
99 d.WorldSetContactSurfaceLayer(world, 0.001f); 99 d.WorldSetContactSurfaceLayer(world, 0.001f);
100 // d.CreatePlane(space, 0, 0, 1, 0); 100 // d.CreatePlane(space, 0, 0, 1, 0);
101 this._heightmap = new double[65536]; 101 this._heightmap = new double[65536];
102 } 102 }
103 103
104 // This function blatantly ripped off from BoxStack.cs 104 // This function blatantly ripped off from BoxStack.cs
105 static private void near(IntPtr space, IntPtr g1, IntPtr g2) 105 static private void near(IntPtr space, IntPtr g1, IntPtr g2)
106 { 106 {
107 //Console.WriteLine("collision callback"); 107 //Console.WriteLine("collision callback");
108 IntPtr b1 = d.GeomGetBody(g1); 108 IntPtr b1 = d.GeomGetBody(g1);
109 IntPtr b2 = d.GeomGetBody(g2); 109 IntPtr b2 = d.GeomGetBody(g2);
110 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) 110 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
111 return; 111 return;
112 112
113 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); 113 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
114 for (int i = 0; i < count; ++i) 114 for (int i = 0; i < count; ++i)
115 { 115 {
116 contact.geom = contacts[i]; 116 contact.geom = contacts[i];
117 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); 117 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
118 d.JointAttach(joint, b1, b2); 118 d.JointAttach(joint, b1, b2);
119 } 119 }
120 120
121 } 121 }
122 122
123 public override PhysicsActor AddAvatar(PhysicsVector position) 123 public override PhysicsActor AddAvatar(PhysicsVector position)
124 { 124 {
125 PhysicsVector pos = new PhysicsVector(); 125 PhysicsVector pos = new PhysicsVector();
126 pos.X = position.X; 126 pos.X = position.X;
127 pos.Y = position.Y; 127 pos.Y = position.Y;
128 pos.Z = position.Z + 20; 128 pos.Z = position.Z + 20;
129 OdeCharacter newAv = new OdeCharacter(this, pos); 129 OdeCharacter newAv = new OdeCharacter(this, pos);
130 this._characters.Add(newAv); 130 this._characters.Add(newAv);
131 return newAv; 131 return newAv;
132 } 132 }
133 133
134 public override void RemoveAvatar(PhysicsActor actor) 134 public override void RemoveAvatar(PhysicsActor actor)
135 { 135 {
136 136
137 } 137 }
138 138
139 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) 139 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
140 { 140 {
141 PhysicsVector pos = new PhysicsVector(); 141 PhysicsVector pos = new PhysicsVector();
142 pos.X = position.X; 142 pos.X = position.X;
143 pos.Y = position.Y; 143 pos.Y = position.Y;
144 pos.Z = position.Z; 144 pos.Z = position.Z;
145 PhysicsVector siz = new PhysicsVector(); 145 PhysicsVector siz = new PhysicsVector();
146 siz.X = size.X; 146 siz.X = size.X;
147 siz.Y = size.Y; 147 siz.Y = size.Y;
148 siz.Z = size.Z; 148 siz.Z = size.Z;
149 return new OdePrim(); 149 return new OdePrim();
150 } 150 }
151 151
152 public override void Simulate(float timeStep) 152 public override void Simulate(float timeStep)
153 { 153 {
154 foreach (OdeCharacter actor in _characters) 154 foreach (OdeCharacter actor in _characters)
155 { 155 {
156 actor.Move(timeStep * 5f); 156 actor.Move(timeStep * 5f);
157 } 157 }
158 d.SpaceCollide(space, IntPtr.Zero, nearCallback); 158 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
159 d.WorldQuickStep(world, timeStep * 5f); 159 d.WorldQuickStep(world, timeStep * 5f);
160 d.JointGroupEmpty(contactgroup); 160 d.JointGroupEmpty(contactgroup);
161 foreach (OdeCharacter actor in _characters) 161 foreach (OdeCharacter actor in _characters)
162 { 162 {
163 actor.UpdatePosition(); 163 actor.UpdatePosition();
164 } 164 }
165 165
166 } 166 }
167 167
168 public override void GetResults() 168 public override void GetResults()
169 { 169 {
170 170
171 } 171 }
172 172
173 public override bool IsThreaded 173 public override bool IsThreaded
174 { 174 {
175 get 175 get
176 { 176 {
177 return (false); // for now we won't be multithreaded 177 return (false); // for now we won't be multithreaded
178 } 178 }
179 } 179 }
180 180
181 public override void SetTerrain(float[] heightMap) 181 public override void SetTerrain(float[] heightMap)
182 { 182 {
183 for (int i = 0; i < 65536; i++) 183 for (int i = 0; i < 65536; i++)
184 { 184 {
185 this._heightmap[i] = (double)heightMap[i]; 185 // this._heightmap[i] = (double)heightMap[i];
186 } 186 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
187 IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); 187 int x = i & 0xff;
188 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); 188 int y = i >> 8;
189 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); 189 this._heightmap[i] = (double)heightMap[x * 256 + y];
190 LandGeom = d.CreateHeightfield(space, HeightmapData, 1); 190 }
191 d.Matrix3 R = new d.Matrix3(); 191 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
192 192 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
193 Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0)); 193 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
194 Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0)); 194 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
195 //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1)); 195 d.Matrix3 R = new d.Matrix3();
196 196
197 q1 = q1 * q2; 197 Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
198 //q1 = q1 * q3; 198 Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
199 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(); 199 //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
200 float angle = 0; 200
201 q1.ToAngleAxis(ref angle, ref v3); 201 q1 = q1 * q2;
202 202 //q1 = q1 * q3;
203 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); 203 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
204 d.GeomSetRotation(LandGeom, ref R); 204 float angle = 0;
205 d.GeomSetPosition(LandGeom, 128, 128, 0); 205 q1.ToAngleAxis(ref angle, ref v3);
206 } 206
207 207 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
208 public override void DeleteTerrain() 208 d.GeomSetRotation(LandGeom, ref R);
209 { 209 d.GeomSetPosition(LandGeom, 128, 128, 0);
210 210 }
211 } 211
212 } 212 public override void DeleteTerrain()
213 213 {
214 public class OdeCharacter : PhysicsActor 214
215 { 215 }
216 private PhysicsVector _position; 216 }
217 private PhysicsVector _velocity; 217
218 private PhysicsVector _acceleration; 218 public class OdeCharacter : PhysicsActor
219 private bool flying; 219 {
220 //private float gravityAccel; 220 private PhysicsVector _position;
221 private IntPtr BoundingCapsule; 221 private PhysicsVector _velocity;
222 IntPtr capsule_geom; 222 private PhysicsVector _acceleration;
223 d.Mass capsule_mass; 223 private bool flying;
224 224 //private float gravityAccel;
225 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) 225 private IntPtr BoundingCapsule;
226 { 226 IntPtr capsule_geom;
227 _velocity = new PhysicsVector(); 227 d.Mass capsule_mass;
228 _position = pos; 228
229 _acceleration = new PhysicsVector(); 229 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
230 d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); 230 {
231 capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); 231 _velocity = new PhysicsVector();
232 this.BoundingCapsule = d.BodyCreate(OdeScene.world); 232 _position = pos;
233 d.BodySetMass(BoundingCapsule, ref capsule_mass); 233 _acceleration = new PhysicsVector();
234 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); 234 d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
235 d.GeomSetBody(capsule_geom, BoundingCapsule); 235 capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
236 } 236 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
237 237 d.BodySetMass(BoundingCapsule, ref capsule_mass);
238 public override bool Flying 238 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
239 { 239 d.GeomSetBody(capsule_geom, BoundingCapsule);
240 get 240 }
241 { 241
242 return flying; 242 public override bool Flying
243 } 243 {
244 set 244 get
245 { 245 {
246 flying = value; 246 return flying;
247 } 247 }
248 } 248 set
249 249 {
250 public override PhysicsVector Position 250 flying = value;
251 { 251 }
252 get 252 }
253 { 253
254 return _position; 254 public override PhysicsVector Position
255 } 255 {
256 set 256 get
257 { 257 {
258 _position = value; 258 return _position;
259 } 259 }
260 } 260 set
261 261 {
262 public override PhysicsVector Velocity 262 _position = value;
263 { 263 }
264 get 264 }
265 { 265
266 return _velocity; 266 public override PhysicsVector Velocity
267 } 267 {
268 set 268 get
269 { 269 {
270 _velocity = value; 270 return _velocity;
271 } 271 }
272 } 272 set
273 273 {
274 public override bool Kinematic 274 _velocity = value;
275 { 275 }
276 get 276 }
277 { 277
278 return false; 278 public override bool Kinematic
279 } 279 {
280 set 280 get
281 { 281 {
282 282 return false;
283 } 283 }
284 } 284 set
285 285 {
286 public override Axiom.MathLib.Quaternion Orientation 286
287 { 287 }
288 get 288 }
289 { 289
290 return Axiom.MathLib.Quaternion.Identity; 290 public override Axiom.MathLib.Quaternion Orientation
291 } 291 {
292 set 292 get
293 { 293 {
294 294 return Axiom.MathLib.Quaternion.Identity;
295 } 295 }
296 } 296 set
297 297 {
298 public override PhysicsVector Acceleration 298
299 { 299 }
300 get 300 }
301 { 301
302 return _acceleration; 302 public override PhysicsVector Acceleration
303 } 303 {
304 304 get
305 } 305 {
306 public void SetAcceleration(PhysicsVector accel) 306 return _acceleration;
307 { 307 }
308 this._acceleration = accel; 308
309 } 309 }
310 310 public void SetAcceleration(PhysicsVector accel)
311 public override void AddForce(PhysicsVector force) 311 {
312 { 312 this._acceleration = accel;
313 313 }
314 } 314
315 315 public override void AddForce(PhysicsVector force)
316 public override void SetMomentum(PhysicsVector momentum) 316 {
317 { 317
318 318 }
319 } 319
320 320 public override void SetMomentum(PhysicsVector momentum)
321 public void Move(float timeStep) 321 {
322 { 322
323 PhysicsVector vec = new PhysicsVector(); 323 }
324 vec.X = this._velocity.X * timeStep; 324
325 vec.Y = this._velocity.Y * timeStep; 325 public void Move(float timeStep)
326 if (flying) 326 {
327 { 327 PhysicsVector vec = new PhysicsVector();
328 vec.Z = (this._velocity.Z + 0.5f) * timeStep; 328 vec.X = this._velocity.X * timeStep;
329 } 329 vec.Y = this._velocity.Y * timeStep;
330 d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); 330 if (flying)
331 } 331 {
332 332 vec.Z = (this._velocity.Z + 0.5f) * timeStep;
333 public void UpdatePosition() 333 }
334 { 334 d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
335 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); 335 }
336 this._position.X = vec.X; 336
337 this._position.Y = vec.Y; 337 public void UpdatePosition()
338 this._position.Z = vec.Z; 338 {
339 } 339 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
340 } 340 this._position.X = vec.X;
341 341 this._position.Y = vec.Y;
342 public class OdePrim : PhysicsActor 342 this._position.Z = vec.Z+1.0f;
343 { 343 }
344 private PhysicsVector _position; 344 }
345 private PhysicsVector _velocity; 345
346 private PhysicsVector _acceleration; 346 public class OdePrim : PhysicsActor
347 347 {
348 public OdePrim() 348 private PhysicsVector _position;
349 { 349 private PhysicsVector _velocity;
350 _velocity = new PhysicsVector(); 350 private PhysicsVector _acceleration;
351 _position = new PhysicsVector(); 351
352 _acceleration = new PhysicsVector(); 352 public OdePrim()
353 } 353 {
354 public override bool Flying 354 _velocity = new PhysicsVector();
355 { 355 _position = new PhysicsVector();
356 get 356 _acceleration = new PhysicsVector();
357 { 357 }
358 return false; //no flying prims for you 358 public override bool Flying
359 } 359 {
360 set 360 get
361 { 361 {
362 362 return false; //no flying prims for you
363 } 363 }
364 } 364 set
365 public override PhysicsVector Position 365 {
366 { 366
367 get 367 }
368 { 368 }
369 PhysicsVector pos = new PhysicsVector(); 369 public override PhysicsVector Position
370 // PhysicsVector vec = this._prim.Position; 370 {
371 //pos.X = vec.X; 371 get
372 //pos.Y = vec.Y; 372 {
373 //pos.Z = vec.Z; 373 PhysicsVector pos = new PhysicsVector();
374 return pos; 374 // PhysicsVector vec = this._prim.Position;
375 375 //pos.X = vec.X;
376 } 376 //pos.Y = vec.Y;
377 set 377 //pos.Z = vec.Z;
378 { 378 return pos;
379 /*PhysicsVector vec = value; 379
380 PhysicsVector pos = new PhysicsVector(); 380 }
381 pos.X = vec.X; 381 set
382 pos.Y = vec.Y; 382 {
383 pos.Z = vec.Z; 383 /*PhysicsVector vec = value;
384 this._prim.Position = pos;*/ 384 PhysicsVector pos = new PhysicsVector();
385 } 385 pos.X = vec.X;
386 } 386 pos.Y = vec.Y;
387 387 pos.Z = vec.Z;
388 public override PhysicsVector Velocity 388 this._prim.Position = pos;*/
389 { 389 }
390 get 390 }
391 { 391
392 return _velocity; 392 public override PhysicsVector Velocity
393 } 393 {
394 set 394 get
395 { 395 {
396 _velocity = value; 396 return _velocity;
397 } 397 }
398 } 398 set
399 399 {
400 public override bool Kinematic 400 _velocity = value;
401 { 401 }
402 get 402 }
403 { 403
404 return false; 404 public override bool Kinematic
405 //return this._prim.Kinematic; 405 {
406 } 406 get
407 set 407 {
408 { 408 return false;
409 //this._prim.Kinematic = value; 409 //return this._prim.Kinematic;
410 } 410 }
411 } 411 set
412 412 {
413 public override Axiom.MathLib.Quaternion Orientation 413 //this._prim.Kinematic = value;
414 { 414 }
415 get 415 }
416 { 416
417 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); 417 public override Axiom.MathLib.Quaternion Orientation
418 return res; 418 {
419 } 419 get
420 set 420 {
421 { 421 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
422 422 return res;
423 } 423 }
424 } 424 set
425 425 {
426 public override PhysicsVector Acceleration 426
427 { 427 }
428 get 428 }
429 { 429
430 return _acceleration; 430 public override PhysicsVector Acceleration
431 } 431 {
432 432 get
433 } 433 {
434 public void SetAcceleration(PhysicsVector accel) 434 return _acceleration;
435 { 435 }
436 this._acceleration = accel; 436
437 } 437 }
438 438 public void SetAcceleration(PhysicsVector accel)
439 public override void AddForce(PhysicsVector force) 439 {
440 { 440 this._acceleration = accel;
441 441 }
442 } 442
443 443 public override void AddForce(PhysicsVector force)
444 public override void SetMomentum(PhysicsVector momentum) 444 {
445 { 445
446 446 }
447 } 447
448 448 public override void SetMomentum(PhysicsVector momentum)
449 449 {
450 } 450
451 451 }
452} 452
453
454 }
455
456}
generated by cgit v1.1 at 2024-12-22 15:13:40 +0000