From 646bbbc84b8010e0dacbeed5342cdb045f46cc49 Mon Sep 17 00:00:00 2001
From: MW
Date: Wed, 27 Jun 2007 15:28:52 +0000
Subject: Some work on restructuring the namespaces / project names. Note this
doesn't compile yet as not all the code has been changed to use the new
namespaces. Am committing it now for feedback on the namespaces.
---
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 456 ++++++++++++++++++++++++++
1 file changed, 456 insertions(+)
create mode 100644 OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
(limited to 'OpenSim/Region/Physics/OdePlugin/OdePlugin.cs')
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..8aca851
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -0,0 +1,456 @@
+/*
+* Copyright (c) Contributors, http://www.openmetaverse.org/
+* See CONTRIBUTORS.TXT for a full list of copyright holders.
+*
+* 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 OpenSim Project 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 THE DEVELOPERS ``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 THE CONTRIBUTORS 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.Region.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)
+ {
+ 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
From 9b6b6d05d45cf0f754a0b26bf6240ef50be66563 Mon Sep 17 00:00:00 2001
From: lbsa71
Date: Tue, 3 Jul 2007 14:37:29 +0000
Subject: * Optimized usings (the 'LL ate my scripts' commit) * added some
licensing info
---
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
(limited to 'OpenSim/Region/Physics/OdePlugin/OdePlugin.cs')
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 8aca851..b85c052 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -27,8 +27,9 @@
*/
using System;
using System.Collections.Generic;
-using OpenSim.Physics.Manager;
+using Axiom.MathLib;
using Ode.NET;
+using OpenSim.Physics.Manager;
namespace OpenSim.Region.Physics.OdePlugin
{
@@ -194,13 +195,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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));
+ Quaternion q1 =Quaternion.FromAngleAxis(1.5707f, new Vector3(1,0,0));
+ Quaternion q2 =Quaternion.FromAngleAxis(1.5707f, new 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();
+ Vector3 v3 = new Vector3();
float angle = 0;
q1.ToAngleAxis(ref angle, ref v3);
@@ -287,11 +288,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override Axiom.MathLib.Quaternion Orientation
+ public override Quaternion Orientation
{
get
{
- return Axiom.MathLib.Quaternion.Identity;
+ return Quaternion.Identity;
}
set
{
@@ -414,11 +415,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- public override Axiom.MathLib.Quaternion Orientation
+ public override Quaternion Orientation
{
get
{
- Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
+ Quaternion res = new Quaternion();
return res;
}
set
--
cgit v1.1
From beb3073bec9438a439e13eaec40a8320a9279adc Mon Sep 17 00:00:00 2001
From: MW
Date: Wed, 4 Jul 2007 19:07:27 +0000
Subject: A bit more work on Building tools/support. updated Axiom.MathLib.dll.
---
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
(limited to 'OpenSim/Region/Physics/OdePlugin/OdePlugin.cs')
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index b85c052..2780188 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -27,7 +27,7 @@
*/
using System;
using System.Collections.Generic;
-using Axiom.MathLib;
+using Axiom.Math;
using Ode.NET;
using OpenSim.Physics.Manager;
@@ -197,7 +197,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Quaternion q1 =Quaternion.FromAngleAxis(1.5707f, new Vector3(1,0,0));
Quaternion q2 =Quaternion.FromAngleAxis(1.5707f, new Vector3(0,1,0));
- //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
+ //Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
q1 = q1 * q2;
//q1 = q1 * q3;
--
cgit v1.1