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