From b253f3db48022cead7755eaabbb217c7ed60e213 Mon Sep 17 00:00:00 2001 From: gareth Date: Mon, 21 May 2007 19:05:09 +0000 Subject: Merged the new ODE stuff --- OpenSim.Physics/OdePlugin/OdePlugin.cs | 908 +++++++++++++++++---------------- 1 file changed, 456 insertions(+), 452 deletions(-) (limited to 'OpenSim.Physics/OdePlugin/OdePlugin.cs') 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 @@ -/* -* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of the nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY ``AS IS'' AND ANY -* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -*/ -using System; -using System.Collections.Generic; -using OpenSim.Physics.Manager; -using Ode.NET; - -namespace OpenSim.Physics.OdePlugin -{ - /// - /// ODE plugin - /// - public class OdePlugin : IPhysicsPlugin - { - private OdeScene _mScene; - - public OdePlugin() - { - - } - - public bool Init() - { - return true; - } - - public PhysicsScene GetScene() - { - if (_mScene == null) - { - _mScene = new OdeScene(); - } - return (_mScene); - } - - public string GetName() - { - return ("OpenDynamicsEngine"); - } - - public void Dispose() - { - - } - } - - public class OdeScene : PhysicsScene - { - static public IntPtr world; - static public IntPtr space; - static private IntPtr contactgroup; - static private IntPtr LandGeom; - //static private IntPtr Land; - private double[] _heightmap; - static private d.NearCallback nearCallback = near; - private List _characters = new List(); - private static d.ContactGeom[] contacts = new d.ContactGeom[30]; - private static d.Contact contact; - - public OdeScene() - { - contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; - contact.surface.mu = d.Infinity; - contact.surface.mu2 = 0.0f; - contact.surface.bounce = 0.1f; - contact.surface.bounce_vel = 0.1f; - contact.surface.soft_cfm = 0.01f; - - world = d.WorldCreate(); - space = d.HashSpaceCreate(IntPtr.Zero); - contactgroup = d.JointGroupCreate(0); - d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); - //d.WorldSetCFM(world, 1e-5f); - d.WorldSetAutoDisableFlag(world, false); - d.WorldSetContactSurfaceLayer(world, 0.001f); - // d.CreatePlane(space, 0, 0, 1, 0); - this._heightmap = new double[65536]; - } - - // This function blatantly ripped off from BoxStack.cs - static private void near(IntPtr space, IntPtr g1, IntPtr g2) - { - //Console.WriteLine("collision callback"); - IntPtr b1 = d.GeomGetBody(g1); - IntPtr b2 = d.GeomGetBody(g2); - if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) - return; - - int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); - for (int i = 0; i < count; ++i) - { - contact.geom = contacts[i]; - IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); - d.JointAttach(joint, b1, b2); - } - - } - - public override PhysicsActor AddAvatar(PhysicsVector position) - { - PhysicsVector pos = new PhysicsVector(); - pos.X = position.X; - pos.Y = position.Y; - pos.Z = position.Z + 20; - OdeCharacter newAv = new OdeCharacter(this, pos); - this._characters.Add(newAv); - return newAv; - } - - public override void RemoveAvatar(PhysicsActor actor) - { - - } - - public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) - { - PhysicsVector pos = new PhysicsVector(); - pos.X = position.X; - pos.Y = position.Y; - pos.Z = position.Z; - PhysicsVector siz = new PhysicsVector(); - siz.X = size.X; - siz.Y = size.Y; - siz.Z = size.Z; - return new OdePrim(); - } - - public override void Simulate(float timeStep) - { - foreach (OdeCharacter actor in _characters) - { - actor.Move(timeStep * 5f); - } - d.SpaceCollide(space, IntPtr.Zero, nearCallback); - d.WorldQuickStep(world, timeStep * 5f); - d.JointGroupEmpty(contactgroup); - foreach (OdeCharacter actor in _characters) - { - actor.UpdatePosition(); - } - - } - - public override void GetResults() - { - - } - - public override bool IsThreaded - { - get - { - return (false); // for now we won't be multithreaded - } - } - - public override void SetTerrain(float[] heightMap) - { - for (int i = 0; i < 65536; i++) - { - this._heightmap[i] = (double)heightMap[i]; - } - IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); - d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); - d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); - LandGeom = d.CreateHeightfield(space, HeightmapData, 1); - d.Matrix3 R = new d.Matrix3(); - - Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0)); - Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0)); - //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1)); - - q1 = q1 * q2; - //q1 = q1 * q3; - Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(); - float angle = 0; - q1.ToAngleAxis(ref angle, ref v3); - - d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); - d.GeomSetRotation(LandGeom, ref R); - d.GeomSetPosition(LandGeom, 128, 128, 0); - } - - public override void DeleteTerrain() - { - - } - } - - public class OdeCharacter : PhysicsActor - { - private PhysicsVector _position; - private PhysicsVector _velocity; - private PhysicsVector _acceleration; - private bool flying; - //private float gravityAccel; - private IntPtr BoundingCapsule; - IntPtr capsule_geom; - d.Mass capsule_mass; - - public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) - { - _velocity = new PhysicsVector(); - _position = pos; - _acceleration = new PhysicsVector(); - d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); - capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); - this.BoundingCapsule = d.BodyCreate(OdeScene.world); - d.BodySetMass(BoundingCapsule, ref capsule_mass); - d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); - d.GeomSetBody(capsule_geom, BoundingCapsule); - } - - public override bool Flying - { - get - { - return flying; - } - set - { - flying = value; - } - } - - public override PhysicsVector Position - { - get - { - return _position; - } - set - { - _position = value; - } - } - - public override PhysicsVector Velocity - { - get - { - return _velocity; - } - set - { - _velocity = value; - } - } - - public override bool Kinematic - { - get - { - return false; - } - set - { - - } - } - - public override Axiom.MathLib.Quaternion Orientation - { - get - { - return Axiom.MathLib.Quaternion.Identity; - } - set - { - - } - } - - public override PhysicsVector Acceleration - { - get - { - return _acceleration; - } - - } - public void SetAcceleration(PhysicsVector accel) - { - this._acceleration = accel; - } - - public override void AddForce(PhysicsVector force) - { - - } - - public override void SetMomentum(PhysicsVector momentum) - { - - } - - public void Move(float timeStep) - { - PhysicsVector vec = new PhysicsVector(); - vec.X = this._velocity.X * timeStep; - vec.Y = this._velocity.Y * timeStep; - if (flying) - { - vec.Z = (this._velocity.Z + 0.5f) * timeStep; - } - d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); - } - - public void UpdatePosition() - { - d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); - this._position.X = vec.X; - this._position.Y = vec.Y; - this._position.Z = vec.Z; - } - } - - public class OdePrim : PhysicsActor - { - private PhysicsVector _position; - private PhysicsVector _velocity; - private PhysicsVector _acceleration; - - public OdePrim() - { - _velocity = new PhysicsVector(); - _position = new PhysicsVector(); - _acceleration = new PhysicsVector(); - } - public override bool Flying - { - get - { - return false; //no flying prims for you - } - set - { - - } - } - public override PhysicsVector Position - { - get - { - PhysicsVector pos = new PhysicsVector(); - // PhysicsVector vec = this._prim.Position; - //pos.X = vec.X; - //pos.Y = vec.Y; - //pos.Z = vec.Z; - return pos; - - } - set - { - /*PhysicsVector vec = value; - PhysicsVector pos = new PhysicsVector(); - pos.X = vec.X; - pos.Y = vec.Y; - pos.Z = vec.Z; - this._prim.Position = pos;*/ - } - } - - public override PhysicsVector Velocity - { - get - { - return _velocity; - } - set - { - _velocity = value; - } - } - - public override bool Kinematic - { - get - { - return false; - //return this._prim.Kinematic; - } - set - { - //this._prim.Kinematic = value; - } - } - - public override Axiom.MathLib.Quaternion Orientation - { - get - { - Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); - return res; - } - set - { - - } - } - - public override PhysicsVector Acceleration - { - get - { - return _acceleration; - } - - } - public void SetAcceleration(PhysicsVector accel) - { - this._acceleration = accel; - } - - public override void AddForce(PhysicsVector force) - { - - } - - public override void SetMomentum(PhysicsVector momentum) - { - - } - - - } - -} +/* +* Copyright (c) OpenSim project, http://sim.opensecondlife.org/ +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* * Neither the name of the nor the +* names of its contributors may be used to endorse or promote products +* derived from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY ``AS IS'' AND ANY +* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY +* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +*/ +using System; +using System.Collections.Generic; +using OpenSim.Physics.Manager; +using Ode.NET; + +namespace OpenSim.Physics.OdePlugin +{ + /// + /// ODE plugin + /// + public class OdePlugin : IPhysicsPlugin + { + private OdeScene _mScene; + + public OdePlugin() + { + + } + + public bool Init() + { + return true; + } + + public PhysicsScene GetScene() + { + if (_mScene == null) + { + _mScene = new OdeScene(); + } + return (_mScene); + } + + public string GetName() + { + return ("OpenDynamicsEngine"); + } + + public void Dispose() + { + + } + } + + public class OdeScene : PhysicsScene + { + static public IntPtr world; + static public IntPtr space; + static private IntPtr contactgroup; + static private IntPtr LandGeom; + //static private IntPtr Land; + private double[] _heightmap; + static private d.NearCallback nearCallback = near; + private List _characters = new List(); + private static d.ContactGeom[] contacts = new d.ContactGeom[30]; + private static d.Contact contact; + + public OdeScene() + { + contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; + contact.surface.mu = d.Infinity; + contact.surface.mu2 = 0.0f; + contact.surface.bounce = 0.1f; + contact.surface.bounce_vel = 0.1f; + contact.surface.soft_cfm = 0.01f; + + world = d.WorldCreate(); + space = d.HashSpaceCreate(IntPtr.Zero); + contactgroup = d.JointGroupCreate(0); + d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); + //d.WorldSetCFM(world, 1e-5f); + d.WorldSetAutoDisableFlag(world, false); + d.WorldSetContactSurfaceLayer(world, 0.001f); + // d.CreatePlane(space, 0, 0, 1, 0); + this._heightmap = new double[65536]; + } + + // This function blatantly ripped off from BoxStack.cs + static private void near(IntPtr space, IntPtr g1, IntPtr g2) + { + //Console.WriteLine("collision callback"); + IntPtr b1 = d.GeomGetBody(g1); + IntPtr b2 = d.GeomGetBody(g2); + if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) + return; + + int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); + for (int i = 0; i < count; ++i) + { + contact.geom = contacts[i]; + IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); + d.JointAttach(joint, b1, b2); + } + + } + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + PhysicsVector pos = new PhysicsVector(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z + 20; + OdeCharacter newAv = new OdeCharacter(this, pos); + this._characters.Add(newAv); + return newAv; + } + + public override void RemoveAvatar(PhysicsActor actor) + { + + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + PhysicsVector pos = new PhysicsVector(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z; + PhysicsVector siz = new PhysicsVector(); + siz.X = size.X; + siz.Y = size.Y; + siz.Z = size.Z; + return new OdePrim(); + } + + public override void Simulate(float timeStep) + { + foreach (OdeCharacter actor in _characters) + { + actor.Move(timeStep * 5f); + } + d.SpaceCollide(space, IntPtr.Zero, nearCallback); + d.WorldQuickStep(world, timeStep * 5f); + d.JointGroupEmpty(contactgroup); + foreach (OdeCharacter actor in _characters) + { + actor.UpdatePosition(); + } + + } + + public override void GetResults() + { + + } + + public override bool IsThreaded + { + get + { + return (false); // for now we won't be multithreaded + } + } + + public override void SetTerrain(float[] heightMap) + { + for (int i = 0; i < 65536; i++) + { + // this._heightmap[i] = (double)heightMap[i]; + // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) + int x = i & 0xff; + int y = i >> 8; + this._heightmap[i] = (double)heightMap[x * 256 + y]; + } + IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); + d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0); + d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256); + LandGeom = d.CreateHeightfield(space, HeightmapData, 1); + d.Matrix3 R = new d.Matrix3(); + + Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0)); + Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0)); + //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1)); + + q1 = q1 * q2; + //q1 = q1 * q3; + Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(); + float angle = 0; + q1.ToAngleAxis(ref angle, ref v3); + + d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle); + d.GeomSetRotation(LandGeom, ref R); + d.GeomSetPosition(LandGeom, 128, 128, 0); + } + + public override void DeleteTerrain() + { + + } + } + + public class OdeCharacter : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private bool flying; + //private float gravityAccel; + private IntPtr BoundingCapsule; + IntPtr capsule_geom; + d.Mass capsule_mass; + + public OdeCharacter(OdeScene parent_scene, PhysicsVector pos) + { + _velocity = new PhysicsVector(); + _position = pos; + _acceleration = new PhysicsVector(); + d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f); + capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f); + this.BoundingCapsule = d.BodyCreate(OdeScene.world); + d.BodySetMass(BoundingCapsule, ref capsule_mass); + d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z); + d.GeomSetBody(capsule_geom, BoundingCapsule); + } + + public override bool Flying + { + get + { + return flying; + } + set + { + flying = value; + } + } + + public override PhysicsVector Position + { + get + { + return _position; + } + set + { + _position = value; + } + } + + public override PhysicsVector Velocity + { + get + { + return _velocity; + } + set + { + _velocity = value; + } + } + + public override bool Kinematic + { + get + { + return false; + } + set + { + + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + return Axiom.MathLib.Quaternion.Identity; + } + set + { + + } + } + + public override PhysicsVector Acceleration + { + get + { + return _acceleration; + } + + } + public void SetAcceleration(PhysicsVector accel) + { + this._acceleration = accel; + } + + public override void AddForce(PhysicsVector force) + { + + } + + public override void SetMomentum(PhysicsVector momentum) + { + + } + + public void Move(float timeStep) + { + PhysicsVector vec = new PhysicsVector(); + vec.X = this._velocity.X * timeStep; + vec.Y = this._velocity.Y * timeStep; + if (flying) + { + vec.Z = (this._velocity.Z + 0.5f) * timeStep; + } + d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z); + } + + public void UpdatePosition() + { + d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); + this._position.X = vec.X; + this._position.Y = vec.Y; + this._position.Z = vec.Z+1.0f; + } + } + + public class OdePrim : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + + public OdePrim() + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + } + public override bool Flying + { + get + { + return false; //no flying prims for you + } + set + { + + } + } + public override PhysicsVector Position + { + get + { + PhysicsVector pos = new PhysicsVector(); + // PhysicsVector vec = this._prim.Position; + //pos.X = vec.X; + //pos.Y = vec.Y; + //pos.Z = vec.Z; + return pos; + + } + set + { + /*PhysicsVector vec = value; + PhysicsVector pos = new PhysicsVector(); + pos.X = vec.X; + pos.Y = vec.Y; + pos.Z = vec.Z; + this._prim.Position = pos;*/ + } + } + + public override PhysicsVector Velocity + { + get + { + return _velocity; + } + set + { + _velocity = value; + } + } + + public override bool Kinematic + { + get + { + return false; + //return this._prim.Kinematic; + } + set + { + //this._prim.Kinematic = value; + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); + return res; + } + set + { + + } + } + + public override PhysicsVector Acceleration + { + get + { + return _acceleration; + } + + } + public void SetAcceleration(PhysicsVector accel) + { + this._acceleration = accel; + } + + public override void AddForce(PhysicsVector force) + { + + } + + public override void SetMomentum(PhysicsVector momentum) + { + + } + + + } + +} -- cgit v1.1