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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 PhysXWrapper;
32using Quaternion=Axiom.Math.Quaternion;
33
34namespace OpenSim.Region.Physics.PhysXPlugin
35{
36 /// <summary>
37 /// Will be the PhysX plugin but for now will be a very basic physics engine
38 /// </summary>
39 public class PhysXPlugin : IPhysicsPlugin
40 {
41 private PhysXScene _mScene;
42
43 public PhysXPlugin()
44 {
45
46 }
47
48 public bool Init()
49 {
50 return true;
51 }
52
53 public PhysicsScene GetScene()
54 {
55 if(_mScene == null)
56 {
57 _mScene = new PhysXScene();
58 }
59 return(_mScene);
60 }
61
62 public string GetName()
63 {
64 return("RealPhysX");
65 }
66
67 public void Dispose()
68 {
69
70 }
71 }
72
73 public class PhysXScene :PhysicsScene
74 {
75 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
76 private List<PhysXPrim> _prims = new List<PhysXPrim>();
77 private float[] _heightMap = null;
78 private NxPhysicsSDK mySdk;
79 private NxScene scene;
80
81 public PhysXScene()
82 {
83 mySdk = NxPhysicsSDK.CreateSDK();
84 Console.WriteLine("Sdk created - now creating scene");
85 scene = mySdk.CreateScene();
86
87 }
88
89 public override PhysicsActor AddAvatar(PhysicsVector position)
90 {
91 Vec3 pos = new Vec3();
92 pos.X = position.X;
93 pos.Y = position.Y;
94 pos.Z = position.Z;
95 PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
96 act.Position = position;
97 _characters.Add(act);
98 return act;
99 }
100
101 public override void RemoveAvatar(PhysicsActor actor)
102 {
103
104 }
105
106 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
107 {
108 Vec3 pos = new Vec3();
109 pos.X = position.X;
110 pos.Y = position.Y;
111 pos.Z = position.Z;
112 Vec3 siz = new Vec3();
113 siz.X = size.X;
114 siz.Y = size.Y;
115 siz.Z = size.Z;
116 PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
117 _prims.Add(act);
118 return act;
119 }
120 public override void Simulate(float timeStep)
121 {
122 try
123 {
124 foreach (PhysXCharacter actor in _characters)
125 {
126 actor.Move(timeStep);
127 }
128 scene.Simulate(timeStep);
129 scene.FetchResults();
130 scene.UpdateControllers();
131
132 foreach (PhysXCharacter actor in _characters)
133 {
134 actor.UpdatePosition();
135 }
136 }
137 catch (Exception e)
138 {
139 Console.WriteLine(e.Message);
140 }
141
142 }
143
144 public override void GetResults()
145 {
146
147 }
148
149 public override bool IsThreaded
150 {
151 get
152 {
153 return(false); // for now we won't be multithreaded
154 }
155 }
156
157 public override void SetTerrain(float[] heightMap)
158 {
159 if (this._heightMap != null)
160 {
161 Console.WriteLine("PhysX - deleting old terrain");
162 this.scene.DeleteTerrain();
163 }
164 this._heightMap = heightMap;
165 this.scene.AddTerrain(heightMap);
166 }
167
168 public override void DeleteTerrain()
169 {
170 this.scene.DeleteTerrain();
171 }
172 }
173
174 public class PhysXCharacter : PhysicsActor
175 {
176 private PhysicsVector _position;
177 private PhysicsVector _velocity;
178 private PhysicsVector _acceleration;
179 private NxCharacter _character;
180 private bool flying;
181 private float gravityAccel;
182
183 public PhysXCharacter(NxCharacter character)
184 {
185 _velocity = new PhysicsVector();
186 _position = new PhysicsVector();
187 _acceleration = new PhysicsVector();
188 _character = character;
189 }
190
191 public override bool Flying
192 {
193 get
194 {
195 return flying;
196 }
197 set
198 {
199 flying = value;
200 }
201 }
202
203 public override PhysicsVector Position
204 {
205 get
206 {
207 return _position;
208 }
209 set
210 {
211 _position = value;
212 Vec3 ps = new Vec3();
213 ps.X = value.X;
214 ps.Y = value.Y;
215 ps.Z = value.Z;
216 this._character.Position = ps;
217 }
218 }
219
220 public override PhysicsVector Velocity
221 {
222 get
223 {
224 return _velocity;
225 }
226 set
227 {
228 _velocity = value;
229 }
230 }
231
232 public override bool Kinematic
233 {
234 get
235 {
236 return false;
237 }
238 set
239 {
240
241 }
242 }
243
244 public override Quaternion Orientation
245 {
246 get
247 {
248 return Quaternion.Identity;
249 }
250 set
251 {
252
253 }
254 }
255
256 public override PhysicsVector Acceleration
257 {
258 get
259 {
260 return _acceleration;
261 }
262
263 }
264 public void SetAcceleration (PhysicsVector accel)
265 {
266 this._acceleration = accel;
267 }
268
269 public override void AddForce(PhysicsVector force)
270 {
271
272 }
273
274 public override void SetMomentum(PhysicsVector momentum)
275 {
276
277 }
278
279 public void Move(float timeStep)
280 {
281 Vec3 vec = new Vec3();
282 vec.X = this._velocity.X * timeStep;
283 vec.Y = this._velocity.Y * timeStep;
284 if(flying)
285 {
286 vec.Z = ( this._velocity.Z) * timeStep;
287 }
288 else
289 {
290 gravityAccel+= -9.8f;
291 vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
292 }
293 int res = this._character.Move(vec);
294 if(res == 1)
295 {
296 gravityAccel = 0;
297 }
298 }
299
300 public void UpdatePosition()
301 {
302 Vec3 vec = this._character.Position;
303 this._position.X = vec.X;
304 this._position.Y = vec.Y;
305 this._position.Z = vec.Z;
306 }
307 }
308
309 public class PhysXPrim : PhysicsActor
310 {
311 private PhysicsVector _position;
312 private PhysicsVector _velocity;
313 private PhysicsVector _acceleration;
314 private NxActor _prim;
315
316 public PhysXPrim(NxActor prim)
317 {
318 _velocity = new PhysicsVector();
319 _position = new PhysicsVector();
320 _acceleration = new PhysicsVector();
321 _prim = prim;
322 }
323 public override bool Flying
324 {
325 get
326 {
327 return false; //no flying prims for you
328 }
329 set
330 {
331
332 }
333 }
334 public override PhysicsVector Position
335 {
336 get
337 {
338 PhysicsVector pos = new PhysicsVector();
339 Vec3 vec = this._prim.Position;
340 pos.X = vec.X;
341 pos.Y = vec.Y;
342 pos.Z = vec.Z;
343 return pos;
344
345 }
346 set
347 {
348 PhysicsVector vec = value;
349 Vec3 pos = new Vec3();
350 pos.X = vec.X;
351 pos.Y = vec.Y;
352 pos.Z = vec.Z;
353 this._prim.Position = pos;
354 }
355 }
356
357 public override PhysicsVector Velocity
358 {
359 get
360 {
361 return _velocity;
362 }
363 set
364 {
365 _velocity = value;
366 }
367 }
368
369 public override bool Kinematic
370 {
371 get
372 {
373 return this._prim.Kinematic;
374 }
375 set
376 {
377 this._prim.Kinematic = value;
378 }
379 }
380
381 public override Quaternion Orientation
382 {
383 get
384 {
385 Quaternion res = new Quaternion();
386 PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
387 res.w = quat.W;
388 res.x = quat.X;
389 res.y = quat.Y;
390 res.z = quat.Z;
391 return res;
392 }
393 set
394 {
395
396 }
397 }
398
399 public override PhysicsVector Acceleration
400 {
401 get
402 {
403 return _acceleration;
404 }
405
406 }
407 public void SetAcceleration (PhysicsVector accel)
408 {
409 this._acceleration = accel;
410 }
411
412 public override void AddForce(PhysicsVector force)
413 {
414
415 }
416
417 public override void SetMomentum(PhysicsVector momentum)
418 {
419
420 }
421
422
423 }
424
425}
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