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/AssemblyInfo.cs | 58 +++
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 456 +++++++++++++++++++++
.../OpenSim.Region.Physics.OdePlugin.csproj | 97 +++++
.../OpenSim.Region.Physics.OdePlugin.csproj.user | 12 +
4 files changed, 623 insertions(+)
create mode 100644 OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
create mode 100644 OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
create mode 100644 OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj
create mode 100644 OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user
(limited to 'OpenSim/Region/Physics/OdePlugin')
diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..b49c8da
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
+/*
+* 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.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly: AssemblyTitle("RealPhysXplugin")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("RealPhysXplugin")]
+[assembly: AssemblyCopyright("")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+[assembly: ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[assembly: AssemblyVersion("1.0.*")]
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)
+ {
+
+ }
+
+
+ }
+
+}
diff --git a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj
new file mode 100644
index 0000000..490c681
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj
@@ -0,0 +1,97 @@
+
+
+ Local
+ 8.0.50727
+ 2.0
+ {90620634-0000-0000-0000-000000000000}
+ Debug
+ AnyCPU
+
+
+
+ OpenSim.Region.Physics.OdePlugin
+ JScript
+ Grid
+ IE50
+ false
+ Library
+
+ OpenSim.Region.Physics.OdePlugin
+
+
+
+
+
+ False
+ 285212672
+ False
+
+
+ TRACE;DEBUG
+
+ True
+ 4096
+ False
+ ..\..\..\..\bin\Physics\
+ False
+ False
+ False
+ 4
+
+
+
+ False
+ 285212672
+ False
+
+
+ TRACE
+
+ False
+ 4096
+ True
+ ..\..\..\..\bin\Physics\
+ False
+ False
+ False
+ 4
+
+
+
+
+ ..\..\..\..\bin\Axiom.MathLib.dll
+ False
+
+
+ ..\..\..\..\bin\Ode.NET.dll
+ False
+
+
+ System.dll
+ False
+
+
+
+
+ OpenSim.Region.Physics.Manager
+ {F4FF31EB-0000-0000-0000-000000000000}
+ {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}
+ False
+
+
+
+
+ Code
+
+
+ Code
+
+
+
+
+
+
+
+
+
+
diff --git a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user
new file mode 100644
index 0000000..6841907
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user
@@ -0,0 +1,12 @@
+
+
+ Debug
+ AnyCPU
+ C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-06\NameSpaceChanges\bin\
+ 8.0.50727
+ ProjectFiles
+ 0
+
+
+
+
--
cgit v1.1
From fe120533efd0ec6b2248d96b9a1f8b7637c5dadd Mon Sep 17 00:00:00 2001
From: mingchen
Date: Wed, 27 Jun 2007 17:12:32 +0000
Subject: *Updated prebuild.xml and ran prebuild again *Removed .user, .suo,
and unneccessary files in /bin/Physics/ *OpenSim.sln should compile with nant
and on windows now
---
.../OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user | 12 ------------
1 file changed, 12 deletions(-)
delete mode 100644 OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user
(limited to 'OpenSim/Region/Physics/OdePlugin')
diff --git a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user
deleted file mode 100644
index 6841907..0000000
--- a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj.user
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
- Debug
- AnyCPU
- C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-06\NameSpaceChanges\bin\
- 8.0.50727
- ProjectFiles
- 0
-
-
-
-
--
cgit v1.1
From 3456d951d89fbc83f742d40ca8ca2a1a79d414eb Mon Sep 17 00:00:00 2001
From: MW
Date: Thu, 28 Jun 2007 13:13:17 +0000
Subject: Imported the scripting changes, so now should be up to date with
sugilite.
---
.../OpenSim.Region.Physics.OdePlugin.dll.build | 43 ++++++++++++++++++++++
1 file changed, 43 insertions(+)
create mode 100644 OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build
(limited to 'OpenSim/Region/Physics/OdePlugin')
diff --git a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build
new file mode 100644
index 0000000..07b9386
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build
@@ -0,0 +1,43 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
--
cgit v1.1