From 76569ff4fba09f22ed4a06b8073deaed7f64a2e3 Mon Sep 17 00:00:00 2001 From: MW Date: Sat, 10 Mar 2007 20:30:25 +0000 Subject: A PhysX physics plugin (that actually uses physX now but currently only works on windows) Can now change direction when walking without stopping Flying works when using the Physx dll --- src/physics/PhysicsManager.cs | 7 + .../RealPhysX/RealPhysXplugin/AssemblyInfo.cs | 31 ++ src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs | 361 +++++++++++++++++++++ .../RealPhysXplugin/RealPhysXplugin.csproj | 45 +++ .../RealPhysX/RealPhysXplugin/RealPhysXplugin.sln | 7 + src/physics/plugins/PhysXplugin.cs | 38 ++- 6 files changed, 484 insertions(+), 5 deletions(-) create mode 100644 src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs create mode 100644 src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs create mode 100644 src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj create mode 100644 src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln (limited to 'src/physics') diff --git a/src/physics/PhysicsManager.cs b/src/physics/PhysicsManager.cs index 0986501..e5d5bd6 100644 --- a/src/physics/PhysicsManager.cs +++ b/src/physics/PhysicsManager.cs @@ -110,6 +110,8 @@ namespace PhysicsSystem { public abstract PhysicsActor AddAvatar(PhysicsVector position); + public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size); + public abstract void Simulate(float timeStep); public abstract void GetResults(); @@ -140,6 +142,11 @@ namespace PhysicsSystem { get; } + public abstract bool Flying + { + get; + set; + } public abstract void AddForce(PhysicsVector force); diff --git a/src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs b/src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs new file mode 100644 index 0000000..913aae7 --- /dev/null +++ b/src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs @@ -0,0 +1,31 @@ +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/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs b/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs new file mode 100644 index 0000000..9576a40 --- /dev/null +++ b/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs @@ -0,0 +1,361 @@ +/* +* 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. +* +*/ +/* +* 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 PhysicsSystem; +using PhysXWrapper; + +namespace PhysXplugin +{ + /// + /// Will be the PhysX plugin but for now will be a very basic physics engine + /// + public class PhysXPlugin : IPhysicsPlugin + { + private PhysXScene _mScene; + + public PhysXPlugin() + { + + } + + public bool Init() + { + return true; + } + + public PhysicsScene GetScene() + { + if(_mScene == null) + { + _mScene = new PhysXScene(); + } + return(_mScene); + } + + public string GetName() + { + return("RealPhysX"); + } + + public void Dispose() + { + + } + } + + public class PhysXScene :PhysicsScene + { + private List _characters = new List(); + private List _prims = new List(); + private float[] _heightMap; + private NxPhysicsSDK mySdk; + private NxScene scene; + + public PhysXScene() + { + mySdk = NxPhysicsSDK.CreateSDK(); + scene = mySdk.CreateScene(); + + } + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + Vec3 pos = new Vec3(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z; + PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos)); + act.Position = position; + _characters.Add(act); + return act; + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + Vec3 pos = new Vec3(); + pos.X = position.X; + pos.Y = position.Y; + pos.Z = position.Z; + Vec3 siz = new Vec3(); + siz.X = size.X; + siz.Y = size.Y; + siz.Z = size.Z; + PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz)); + _prims.Add(act); + return act; + } + public override void Simulate(float timeStep) + { + foreach (PhysXCharacter actor in _characters) + { + actor.Move(timeStep); + } + scene.Simulate(timeStep); + scene.FetchResults(); + scene.UpdateControllers(); + + foreach (PhysXCharacter 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) + { + this._heightMap = heightMap; + this.scene.AddTerrain(heightMap); + } + } + + public class PhysXCharacter : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private NxCharacter _character; + private bool flying; + + public PhysXCharacter(NxCharacter character) + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + _character = character; + } + + 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 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) + { + Vec3 vec = new Vec3(); + vec.X = this._velocity.X * timeStep; + vec.Y = this._velocity.Y * timeStep; + if(flying) + { + vec.Z = ( this._velocity.Z) * timeStep; + } + else + { + vec.Z = (-9.8f + this._velocity.Z) * timeStep; + } + this._character.Move(vec); + } + + public void UpdatePosition() + { + Vec3 vec = this._character.Position; + this._position.X = vec.X; + this._position.Y = vec.Y; + this._position.Z = vec.Z; + } + } + + public class PhysXPrim : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private NxActor _prim; + + public PhysXPrim(NxActor prim) + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + _prim = prim; + } + public override bool Flying + { + get + { + return false; //no flying prims for you + } + set + { + + } + } + public override PhysicsVector Position + { + get + { + PhysicsVector pos = new PhysicsVector(); + Vec3 vec = this._prim.Position; + pos.X = vec.X; + pos.Y = vec.Y; + pos.Z = vec.Z; + return pos; + + } + set + { + PhysicsVector vec = value; + Vec3 pos = new Vec3(); + 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 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/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj new file mode 100644 index 0000000..ae7bb79 --- /dev/null +++ b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj @@ -0,0 +1,45 @@ + + + Library + RealPhysXplugin + RealPhysXplugin + Debug + AnyCPU + {56C1D214-F389-4228-921A-0A3A0712C159} + + + bin\Debug\ + False + DEBUG;TRACE + True + Full + True + + + bin\Release\ + True + TRACE + False + None + False + + + + + + ..\..\..\..\bin\PhysX_Wrapper_Dotnet.dll + False + + + + + + + + + {3C86A846-7977-4EE7-A8DC-DD487FA5DC2B} + PhysicsManager + + + + \ No newline at end of file diff --git a/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln new file mode 100644 index 0000000..34f87e6 --- /dev/null +++ b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln @@ -0,0 +1,7 @@ + +Microsoft Visual Studio Solution File, Format Version 9.00 +# SharpDevelop 2.1.0.2017 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RealPhysXplugin", "RealPhysXplugin.csproj", "{56C1D214-F389-4228-921A-0A3A0712C159}" +EndProject +Global +EndGlobal diff --git a/src/physics/plugins/PhysXplugin.cs b/src/physics/plugins/PhysXplugin.cs index 58a82fb..8c09dc8 100644 --- a/src/physics/plugins/PhysXplugin.cs +++ b/src/physics/plugins/PhysXplugin.cs @@ -85,14 +85,30 @@ namespace PhysXplugin return act; } + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + return null; + } + public override void Simulate(float timeStep) { foreach (PhysXActor actor in _actors) { - actor.Position.X = actor.Position.X + actor.Velocity.X * timeStep; - actor.Position.Y = actor.Position.Y + actor.Velocity.Y * timeStep; - actor.Position.Z = actor.Position.Z + actor.Velocity.Z * timeStep; - actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1; + actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep); + actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep); + actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); + /*if(actor.Flying) + { + actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep); + } + else + { + actor.Position.Z = actor.Position.Z + ((-9.8f + actor.Velocity.Z) * timeStep); + } + if(actor.Position.Z < (_heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1)) + {*/ + actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1; + //} if(actor.Position.X<0) { actor.Position.X = 0; @@ -140,7 +156,7 @@ namespace PhysXplugin private PhysicsVector _position; private PhysicsVector _velocity; private PhysicsVector _acceleration; - + private bool flying; public PhysXActor() { _velocity = new PhysicsVector(); @@ -148,6 +164,18 @@ namespace PhysXplugin _acceleration = new PhysicsVector(); } + public override bool Flying + { + get + { + return false; + } + set + { + flying= value; + } + } + public override PhysicsVector Position { get -- cgit v1.1