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-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs457
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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*/
28using System;
29using System.Collections.Generic;
30using OpenSim.Physics.Manager;
31using Ode.NET;
32
33namespace OpenSim.Physics.OdePlugin
34{
35 /// <summary>
36 /// ODE plugin
37 /// </summary>
38 public class OdePlugin : IPhysicsPlugin
39 {
40 private OdeScene _mScene;
41
42 public OdePlugin()
43 {
44
45 }
46
47 public bool Init()
48 {
49 return true;
50 }
51
52 public PhysicsScene GetScene()
53 {
54 if (_mScene == null)
55 {
56 _mScene = new OdeScene();
57 }
58 return (_mScene);
59 }
60
61 public string GetName()
62 {
63 return ("OpenDynamicsEngine");
64 }
65
66 public void Dispose()
67 {
68
69 }
70 }
71
72 public class OdeScene : PhysicsScene
73 {
74 static public IntPtr world;
75 static public IntPtr space;
76 static private IntPtr contactgroup;
77 static private IntPtr LandGeom;
78 //static private IntPtr Land;
79 private double[] _heightmap;
80 static private d.NearCallback nearCallback = near;
81 private List<OdeCharacter> _characters = new List<OdeCharacter>();
82 private static d.ContactGeom[] contacts = new d.ContactGeom[30];
83 private static d.Contact contact;
84
85 public OdeScene()
86 {
87 contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
88 contact.surface.mu = 10.0f;
89 contact.surface.bounce = 0.9f;
90 contact.surface.soft_erp = 0.005f;
91 contact.surface.soft_cfm = 0.00003f;
92
93 world = d.WorldCreate();
94 space = d.HashSpaceCreate(IntPtr.Zero);
95 contactgroup = d.JointGroupCreate(0);
96 d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
97 d.WorldSetAutoDisableFlag(world, false);
98 d.WorldSetContactSurfaceLayer(world, 0.001f);
99 this._heightmap = new double[65536];
100 }
101
102 // This function blatantly ripped off from BoxStack.cs
103 static private void near(IntPtr space, IntPtr g1, IntPtr g2)
104 {
105 IntPtr b1 = d.GeomGetBody(g1);
106 IntPtr b2 = d.GeomGetBody(g2);
107 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
108 return;
109
110 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
111 for (int i = 0; i < count; ++i)
112 {
113 contact.geom = contacts[i];
114 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
115 d.JointAttach(joint, b1, b2);
116 }
117
118 }
119
120 public override PhysicsActor AddAvatar(PhysicsVector position)
121 {
122 PhysicsVector pos = new PhysicsVector();
123 pos.X = position.X;
124 pos.Y = position.Y;
125 pos.Z = position.Z + 20;
126 OdeCharacter newAv = new OdeCharacter(this, pos);
127 this._characters.Add(newAv);
128 return newAv;
129 }
130
131 public override void RemoveAvatar(PhysicsActor actor)
132 {
133
134 }
135
136 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
137 {
138 PhysicsVector pos = new PhysicsVector();
139 pos.X = position.X;
140 pos.Y = position.Y;
141 pos.Z = position.Z;
142 PhysicsVector siz = new PhysicsVector();
143 siz.X = size.X;
144 siz.Y = size.Y;
145 siz.Z = size.Z;
146 return new OdePrim();
147 }
148
149 public override void Simulate(float timeStep)
150 {
151 foreach (OdeCharacter actor in _characters)
152 {
153 actor.Move(timeStep);
154 }
155 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
156 for (int i = 0; i < 50; i++)
157 {
158 d.WorldQuickStep(world, timeStep * 0.02f);
159 }
160
161 d.JointGroupEmpty(contactgroup);
162 foreach (OdeCharacter actor in _characters)
163 {
164 actor.UpdatePosition();
165 }
166 }
167
168 public override void GetResults()
169 {
170
171 }
172
173 public override bool IsThreaded
174 {
175 get
176 {
177 return (false); // for now we won't be multithreaded
178 }
179 }
180
181 public override void SetTerrain(float[] heightMap)
182 {
183 for (int i = 0; i < 65536; i++)
184 {
185 // this._heightmap[i] = (double)heightMap[i];
186 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
187 int x = i & 0xff;
188 int y = i >> 8;
189 this._heightmap[i] = (double)heightMap[x * 256 + y];
190 }
191 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
192 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
193 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
194 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
195 d.Matrix3 R = new d.Matrix3();
196
197 Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
198 Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
199 //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
200
201 q1 = q1 * q2;
202 //q1 = q1 * q3;
203 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
204 float angle = 0;
205 q1.ToAngleAxis(ref angle, ref v3);
206
207 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
208 d.GeomSetRotation(LandGeom, ref R);
209 d.GeomSetPosition(LandGeom, 128, 128, 0);
210 }
211
212 public override void DeleteTerrain()
213 {
214
215 }
216 }
217
218 public class OdeCharacter : PhysicsActor
219 {
220 private PhysicsVector _position;
221 private PhysicsVector _velocity;
222 private PhysicsVector _acceleration;
223 private bool flying = false;
224 //private float gravityAccel;
225 private IntPtr BoundingCapsule;
226 IntPtr capsule_geom;
227 d.Mass capsule_mass;
228
229 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
230 {
231 _velocity = new PhysicsVector();
232 _position = pos;
233 _acceleration = new PhysicsVector();
234 d.MassSetCapsule(out capsule_mass, 50.0f, 3, 0.5f, 2f);
235 capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble
236 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
237 d.BodySetMass(BoundingCapsule, ref capsule_mass);
238 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
239 d.GeomSetBody(capsule_geom, BoundingCapsule);
240 }
241
242 public override bool Flying
243 {
244 get
245 {
246 return flying;
247 }
248 set
249 {
250 flying = value;
251 }
252 }
253
254 public override PhysicsVector Position
255 {
256 get
257 {
258 return _position;
259 }
260 set
261 {
262 _position = value;
263 }
264 }
265
266 public override PhysicsVector Velocity
267 {
268 get
269 {
270 return _velocity;
271 }
272 set
273 {
274 _velocity = value;
275 }
276 }
277
278 public override bool Kinematic
279 {
280 get
281 {
282 return false;
283 }
284 set
285 {
286
287 }
288 }
289
290 public override Axiom.MathLib.Quaternion Orientation
291 {
292 get
293 {
294 return Axiom.MathLib.Quaternion.Identity;
295 }
296 set
297 {
298
299 }
300 }
301
302 public override PhysicsVector Acceleration
303 {
304 get
305 {
306 return _acceleration;
307 }
308
309 }
310 public void SetAcceleration(PhysicsVector accel)
311 {
312 this._acceleration = accel;
313 }
314
315 public override void AddForce(PhysicsVector force)
316 {
317
318 }
319
320 public override void SetMomentum(PhysicsVector momentum)
321 {
322
323 }
324
325 public void Move(float timeStep)
326 {
327 PhysicsVector vec = new PhysicsVector();
328 d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule);
329 vec.X = (vel.X - this._velocity.X) * -75000.0f;
330 vec.Y = (vel.Y - this._velocity.Y) * -75000.0f;
331 if (flying)
332 {
333 vec.Z = (vel.Z - this._velocity.Z) * -75000.0f;
334 }
335 d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
336 }
337
338 public void UpdatePosition()
339 {
340 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
341 this._position.X = vec.X;
342 this._position.Y = vec.Y;
343 this._position.Z = vec.Z;
344 }
345 }
346
347 public class OdePrim : PhysicsActor
348 {
349 private PhysicsVector _position;
350 private PhysicsVector _velocity;
351 private PhysicsVector _acceleration;
352
353 public OdePrim()
354 {
355 _velocity = new PhysicsVector();
356 _position = new PhysicsVector();
357 _acceleration = new PhysicsVector();
358 }
359 public override bool Flying
360 {
361 get
362 {
363 return false; //no flying prims for you
364 }
365 set
366 {
367
368 }
369 }
370 public override PhysicsVector Position
371 {
372 get
373 {
374 PhysicsVector pos = new PhysicsVector();
375 // PhysicsVector vec = this._prim.Position;
376 //pos.X = vec.X;
377 //pos.Y = vec.Y;
378 //pos.Z = vec.Z;
379 return pos;
380
381 }
382 set
383 {
384 /*PhysicsVector vec = value;
385 PhysicsVector pos = new PhysicsVector();
386 pos.X = vec.X;
387 pos.Y = vec.Y;
388 pos.Z = vec.Z;
389 this._prim.Position = pos;*/
390 }
391 }
392
393 public override PhysicsVector Velocity
394 {
395 get
396 {
397 return _velocity;
398 }
399 set
400 {
401 _velocity = value;
402 }
403 }
404
405 public override bool Kinematic
406 {
407 get
408 {
409 return false;
410 //return this._prim.Kinematic;
411 }
412 set
413 {
414 //this._prim.Kinematic = value;
415 }
416 }
417
418 public override Axiom.MathLib.Quaternion Orientation
419 {
420 get
421 {
422 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
423 return res;
424 }
425 set
426 {
427
428 }
429 }
430
431 public override PhysicsVector Acceleration
432 {
433 get
434 {
435 return _acceleration;
436 }
437
438 }
439 public void SetAcceleration(PhysicsVector accel)
440 {
441 this._acceleration = accel;
442 }
443
444 public override void AddForce(PhysicsVector force)
445 {
446
447 }
448
449 public override void SetMomentum(PhysicsVector momentum)
450 {
451
452 }
453
454
455 }
456
457}
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