/*/* * Copyright (c) Contributors, http://opensimulator.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 Nini.Config; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; using PhysXWrapper; using Quaternion=Axiom.Math.Quaternion; namespace OpenSim.Region.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 void Initialise(IMesher meshmerizer, IConfigSource config) { // Does nothing right now } public override void Dispose() { } public override void SetWaterLevel(float baseheight) { } public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size) { 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 void RemovePrim(PhysicsActor prim) { } public override void RemoveAvatar(PhysicsActor actor) { } private PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation) { 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 PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation) //To be removed { return AddPrimShape(primName, pbs, position, size, rotation, false); } public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical) { return AddPrim(position, size, rotation); } public override void AddPhysicsActorTaint(PhysicsActor prim) { } public override float Simulate(float timeStep) { float fps = 0f; 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); } return fps; } 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 (_heightMap != null) { Console.WriteLine("PhysX - deleting old terrain"); scene.DeleteTerrain(); } _heightMap = heightMap; scene.AddTerrain(heightMap); } public override void DeleteTerrain() { scene.DeleteTerrain(); } public override Dictionary<uint, float> GetTopColliders() { Dictionary<uint, float> returncolliders = new Dictionary<uint, float>(); return returncolliders; } } public class PhysXCharacter : PhysicsActor { private PhysicsVector _position; private PhysicsVector _velocity; private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero; private PhysicsVector _acceleration; private NxCharacter _character; private bool flying; private bool iscolliding = false; private float gravityAccel; public PhysXCharacter(NxCharacter character) { _velocity = new PhysicsVector(); _position = new PhysicsVector(); _acceleration = new PhysicsVector(); _character = character; } public override int PhysicsActorType { get { return (int) ActorTypes.Agent; } set { return; } } public override bool SetAlwaysRun { get { return false; } set { return; } } public override uint LocalID { set { return; } } public override bool Grabbed { set { return; } } public override bool Selected { set { return; } } public override float Buoyancy { get { return 0f; } set { return; } } public override bool FloatOnWater { set { return; } } public override bool IsPhysical { get { return false; } set { return; } } public override bool ThrottleUpdates { get { return false; } set { return; } } public override bool Flying { get { return flying; } set { flying = value; } } public override bool IsColliding { get { return iscolliding; } set { iscolliding = value; } } public override bool CollidingGround { get { return false; } set { return; } } public override bool CollidingObj { get { return false; } set { return; } } public override PhysicsVector RotationalVelocity { get { return m_rotationalVelocity; } set { m_rotationalVelocity = value; } } public override bool Stopped { get { return false; } } 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; _character.Position = ps; } } public override PhysicsVector Size { get { return PhysicsVector.Zero; } set { } } public override float Mass { get { return 0f; } } public override PhysicsVector Force { get { return PhysicsVector.Zero; } set { return; } } public override PhysicsVector CenterOfMass { get { return PhysicsVector.Zero; } } public override PhysicsVector GeometricCenter { get { return PhysicsVector.Zero; } } public override PhysicsVector Velocity { get { return _velocity; } set { _velocity = value; } } public override float CollisionScore { get { return 0f; } set { } } public override bool Kinematic { get { return false; } set { } } public override Quaternion Orientation { get { return Quaternion.Identity; } set { } } public override PhysicsVector Acceleration { get { return _acceleration; } } public void SetAcceleration(PhysicsVector accel) { _acceleration = accel; } public override void AddForce(PhysicsVector force, bool pushforce) { } public override void link(PhysicsActor obj) { } public override void delink() { } public override void LockAngularMotion(PhysicsVector axis) { } public override void SetMomentum(PhysicsVector momentum) { } public void Move(float timeStep) { Vec3 vec = new Vec3(); vec.X = _velocity.X*timeStep; vec.Y = _velocity.Y*timeStep; if (flying) { vec.Z = (_velocity.Z)*timeStep; } else { gravityAccel += -9.8f; vec.Z = (gravityAccel + _velocity.Z)*timeStep; } int res = _character.Move(vec); if (res == 1) { gravityAccel = 0; } } public override PrimitiveBaseShape Shape { set { return; } } public void UpdatePosition() { Vec3 vec = _character.Position; _position.X = vec.X; _position.Y = vec.Y; _position.Z = vec.Z; } public override void CrossingFailure() { } public override PhysicsVector PIDTarget { set { return; } } public override bool PIDActive { set { return; } } public override float PIDTau { set { return; } } public override void SubscribeEvents(int ms) { } public override void UnSubscribeEvents() { } public override bool SubscribedEvents() { return false; } } public class PhysXPrim : PhysicsActor { private PhysicsVector _velocity; private PhysicsVector _acceleration; private PhysicsVector m_rotationalVelocity; private NxActor _prim; public PhysXPrim(NxActor prim) { _velocity = new PhysicsVector(); _acceleration = new PhysicsVector(); _prim = prim; } public override int PhysicsActorType { get { return (int) ActorTypes.Prim; } set { return; } } public override bool IsPhysical { get { return false; } set { return; } } public override bool SetAlwaysRun { get { return false; } set { return; } } public override uint LocalID { set { return; } } public override bool Grabbed { set { return; } } public override bool Selected { set { return; } } public override float Buoyancy { get { return 0f; } set { return; } } public override bool FloatOnWater { set { return; } } public override bool ThrottleUpdates { get { return false; } set { return; } } public override PhysicsVector RotationalVelocity { get { return m_rotationalVelocity; } set { m_rotationalVelocity = value; } } public override bool Flying { get { return false; //no flying prims for you } set { } } public override bool IsColliding { get { return false; } set { } } public override bool CollidingGround { get { return false; } set { return; } } public override bool CollidingObj { get { return false; } set { return; } } public override bool Stopped { get { return false; } } public override PhysicsVector Position { get { PhysicsVector pos = new PhysicsVector(); Vec3 vec = _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; _prim.Position = pos; } } public override PrimitiveBaseShape Shape { set { return; } } public override PhysicsVector Velocity { get { return _velocity; } set { _velocity = value; } } public override float CollisionScore { get { return 0f; } set { } } public override bool Kinematic { get { return _prim.Kinematic; } set { _prim.Kinematic = value; } } public override Quaternion Orientation { get { Quaternion res = new Quaternion(); PhysXWrapper.Quaternion quat = _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) { _acceleration = accel; } public override void AddForce(PhysicsVector force, bool pushforce) { } public override void SetMomentum(PhysicsVector momentum) { } public override PhysicsVector Size { get { return PhysicsVector.Zero; } set { } } public override void link(PhysicsActor obj) { } public override void delink() { } public override void LockAngularMotion(PhysicsVector axis) { } public override float Mass { get { return 0f; } } public override PhysicsVector Force { get { return PhysicsVector.Zero; } set { return; } } public override PhysicsVector CenterOfMass { get { return PhysicsVector.Zero; } } public override PhysicsVector GeometricCenter { get { return PhysicsVector.Zero; } } public override void CrossingFailure() { } public override PhysicsVector PIDTarget { set { return; } } public override bool PIDActive { set { return; } } public override float PIDTau { set { return; } } public override void SubscribeEvents(int ms) { } public override void UnSubscribeEvents() { } public override bool SubscribedEvents() { return false; } } }