/* * 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 <organization> 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 <copyright holder> ``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 <copyright holder> 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 <organization> 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 <copyright holder> ``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 <copyright holder> 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 PhysXWrapper; namespace OpenSim.Physics.PhysXPlugin { /// <summary> /// Will be the PhysX plugin but for now will be a very basic physics engine /// </summary> 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<PhysXCharacter> _characters = new List<PhysXCharacter>(); private List<PhysXPrim> _prims = new List<PhysXPrim>(); private float[] _heightMap = null; private NxPhysicsSDK mySdk; private NxScene scene; public PhysXScene() { mySdk = NxPhysicsSDK.CreateSDK(); Console.WriteLine("Sdk created - now creating scene"); 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) { try { foreach (PhysXCharacter actor in _characters) { actor.Move(timeStep); } scene.Simulate(timeStep); scene.FetchResults(); scene.UpdateControllers(); foreach (PhysXCharacter actor in _characters) { actor.UpdatePosition(); } } catch (Exception e) { Console.WriteLine(e.Message); } } public override void GetResults() { } public override bool IsThreaded { get { return(false); // for now we won't be multithreaded } } public override void SetTerrain(float[] heightMap) { if (this._heightMap != null) { Console.WriteLine("PhysX - deleting old terrain"); this.scene.DeleteTerrain(); } this._heightMap = heightMap; this.scene.AddTerrain(heightMap); } public override void DeleteTerrain() { this.scene.DeleteTerrain(); } } public class PhysXCharacter : PhysicsActor { private PhysicsVector _position; private PhysicsVector _velocity; private PhysicsVector _acceleration; private NxCharacter _character; private bool flying; private float gravityAccel; 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; Vec3 ps = new Vec3(); ps.X = value.X; ps.Y = value.Y; ps.Z = value.Z; this._character.Position = ps; } } 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) { 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 { gravityAccel+= -9.8f; vec.Z = (gravityAccel + this._velocity.Z) * timeStep; } int res = this._character.Move(vec); if(res == 1) { gravityAccel = 0; } } 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 bool Kinematic { get { return this._prim.Kinematic; } set { this._prim.Kinematic = value; } } public override Axiom.MathLib.Quaternion Orientation { get { Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); PhysXWrapper.Quaternion quat = this._prim.GetOrientation(); res.w = quat.W; res.x = quat.X; res.y = quat.Y; res.z = quat.Z; 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) { } } }