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authorMW2007-05-24 12:16:50 +0000
committerMW2007-05-24 12:16:50 +0000
commit3376b82501000692d6dac24b051af738cdaf2737 (patch)
tree90ed0a5d4955236f011fa63fce9d555186b0d179 /OpenSim.Physics/OdePlugin
parentAdded "terrain save grdmap <filename> <gradientmap>" function to console. Gra... (diff)
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Some more code refactoring, plus a restructuring of the directories so that the Grid servers can be a separate solution to the region server.
Diffstat (limited to 'OpenSim.Physics/OdePlugin')
-rw-r--r--OpenSim.Physics/OdePlugin/AssemblyInfo.cs31
-rw-r--r--OpenSim.Physics/OdePlugin/OdePlugin.cs456
-rw-r--r--OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj97
-rw-r--r--OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build43
4 files changed, 0 insertions, 627 deletions
diff --git a/OpenSim.Physics/OdePlugin/AssemblyInfo.cs b/OpenSim.Physics/OdePlugin/AssemblyInfo.cs
deleted file mode 100644
index 913aae7..0000000
--- a/OpenSim.Physics/OdePlugin/AssemblyInfo.cs
+++ /dev/null
@@ -1,31 +0,0 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// Information about this assembly is defined by the following
6// attributes.
7//
8// change them to the information which is associated with the assembly
9// you compile.
10
11[assembly: AssemblyTitle("RealPhysXplugin")]
12[assembly: AssemblyDescription("")]
13[assembly: AssemblyConfiguration("")]
14[assembly: AssemblyCompany("")]
15[assembly: AssemblyProduct("RealPhysXplugin")]
16[assembly: AssemblyCopyright("")]
17[assembly: AssemblyTrademark("")]
18[assembly: AssemblyCulture("")]
19
20// This sets the default COM visibility of types in the assembly to invisible.
21// If you need to expose a type to COM, use [ComVisible(true)] on that type.
22[assembly: ComVisible(false)]
23
24// The assembly version has following format :
25//
26// Major.Minor.Build.Revision
27//
28// You can specify all values by your own or you can build default build and revision
29// numbers with the '*' character (the default):
30
31[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim.Physics/OdePlugin/OdePlugin.cs
deleted file mode 100644
index 137e44d..0000000
--- a/OpenSim.Physics/OdePlugin/OdePlugin.cs
+++ /dev/null
@@ -1,456 +0,0 @@
1/*
2* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
3*
4* Redistribution and use in source and binary forms, with or without
5* modification, are permitted provided that the following conditions are met:
6* * Redistributions of source code must retain the above copyright
7* notice, this list of conditions and the following disclaimer.
8* * Redistributions in binary form must reproduce the above copyright
9* notice, this list of conditions and the following disclaimer in the
10* documentation and/or other materials provided with the distribution.
11* * Neither the name of the <organization> nor the
12* names of its contributors may be used to endorse or promote products
13* derived from this software without specific prior written permission.
14*
15* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
16* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
17* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
18* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
19* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
20* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
21* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
22* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
24* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25*
26*/
27using System;
28using System.Collections.Generic;
29using OpenSim.Physics.Manager;
30using Ode.NET;
31
32namespace OpenSim.Physics.OdePlugin
33{
34 /// <summary>
35 /// ODE plugin
36 /// </summary>
37 public class OdePlugin : IPhysicsPlugin
38 {
39 private OdeScene _mScene;
40
41 public OdePlugin()
42 {
43
44 }
45
46 public bool Init()
47 {
48 return true;
49 }
50
51 public PhysicsScene GetScene()
52 {
53 if (_mScene == null)
54 {
55 _mScene = new OdeScene();
56 }
57 return (_mScene);
58 }
59
60 public string GetName()
61 {
62 return ("OpenDynamicsEngine");
63 }
64
65 public void Dispose()
66 {
67
68 }
69 }
70
71 public class OdeScene : PhysicsScene
72 {
73 static public IntPtr world;
74 static public IntPtr space;
75 static private IntPtr contactgroup;
76 static private IntPtr LandGeom;
77 //static private IntPtr Land;
78 private double[] _heightmap;
79 static private d.NearCallback nearCallback = near;
80 private List<OdeCharacter> _characters = new List<OdeCharacter>();
81 private static d.ContactGeom[] contacts = new d.ContactGeom[30];
82 private static d.Contact contact;
83
84 public OdeScene()
85 {
86 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
87 contact.surface.mu = d.Infinity;
88 contact.surface.mu2 = 0.0f;
89 contact.surface.bounce = 0.1f;
90 contact.surface.bounce_vel = 0.1f;
91 contact.surface.soft_cfm = 0.01f;
92
93 world = d.WorldCreate();
94 space = d.HashSpaceCreate(IntPtr.Zero);
95 contactgroup = d.JointGroupCreate(0);
96 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
97 //d.WorldSetCFM(world, 1e-5f);
98 d.WorldSetAutoDisableFlag(world, false);
99 d.WorldSetContactSurfaceLayer(world, 0.001f);
100 // d.CreatePlane(space, 0, 0, 1, 0);
101 this._heightmap = new double[65536];
102 }
103
104 // This function blatantly ripped off from BoxStack.cs
105 static private void near(IntPtr space, IntPtr g1, IntPtr g2)
106 {
107 //Console.WriteLine("collision callback");
108 IntPtr b1 = d.GeomGetBody(g1);
109 IntPtr b2 = d.GeomGetBody(g2);
110 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
111 return;
112
113 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
114 for (int i = 0; i < count; ++i)
115 {
116 contact.geom = contacts[i];
117 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
118 d.JointAttach(joint, b1, b2);
119 }
120
121 }
122
123 public override PhysicsActor AddAvatar(PhysicsVector position)
124 {
125 PhysicsVector pos = new PhysicsVector();
126 pos.X = position.X;
127 pos.Y = position.Y;
128 pos.Z = position.Z + 20;
129 OdeCharacter newAv = new OdeCharacter(this, pos);
130 this._characters.Add(newAv);
131 return newAv;
132 }
133
134 public override void RemoveAvatar(PhysicsActor actor)
135 {
136
137 }
138
139 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
140 {
141 PhysicsVector pos = new PhysicsVector();
142 pos.X = position.X;
143 pos.Y = position.Y;
144 pos.Z = position.Z;
145 PhysicsVector siz = new PhysicsVector();
146 siz.X = size.X;
147 siz.Y = size.Y;
148 siz.Z = size.Z;
149 return new OdePrim();
150 }
151
152 public override void Simulate(float timeStep)
153 {
154 foreach (OdeCharacter actor in _characters)
155 {
156 actor.Move(timeStep * 5f);
157 }
158 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
159 d.WorldQuickStep(world, timeStep * 5f);
160 d.JointGroupEmpty(contactgroup);
161 foreach (OdeCharacter actor in _characters)
162 {
163 actor.UpdatePosition();
164 }
165
166 }
167
168 public override void GetResults()
169 {
170
171 }
172
173 public override bool IsThreaded
174 {
175 get
176 {
177 return (false); // for now we won't be multithreaded
178 }
179 }
180
181 public override void SetTerrain(float[] heightMap)
182 {
183 for (int i = 0; i < 65536; i++)
184 {
185 // this._heightmap[i] = (double)heightMap[i];
186 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
187 int x = i & 0xff;
188 int y = i >> 8;
189 this._heightmap[i] = (double)heightMap[x * 256 + y];
190 }
191 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
192 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
193 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
194 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
195 d.Matrix3 R = new d.Matrix3();
196
197 Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
198 Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
199 //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
200
201 q1 = q1 * q2;
202 //q1 = q1 * q3;
203 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
204 float angle = 0;
205 q1.ToAngleAxis(ref angle, ref v3);
206
207 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
208 d.GeomSetRotation(LandGeom, ref R);
209 d.GeomSetPosition(LandGeom, 128, 128, 0);
210 }
211
212 public override void DeleteTerrain()
213 {
214
215 }
216 }
217
218 public class OdeCharacter : PhysicsActor
219 {
220 private PhysicsVector _position;
221 private PhysicsVector _velocity;
222 private PhysicsVector _acceleration;
223 private bool flying;
224 //private float gravityAccel;
225 private IntPtr BoundingCapsule;
226 IntPtr capsule_geom;
227 d.Mass capsule_mass;
228
229 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
230 {
231 _velocity = new PhysicsVector();
232 _position = pos;
233 _acceleration = new PhysicsVector();
234 d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
235 capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
236 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
237 d.BodySetMass(BoundingCapsule, ref capsule_mass);
238 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
239 d.GeomSetBody(capsule_geom, BoundingCapsule);
240 }
241
242 public override bool Flying
243 {
244 get
245 {
246 return flying;
247 }
248 set
249 {
250 flying = value;
251 }
252 }
253
254 public override PhysicsVector Position
255 {
256 get
257 {
258 return _position;
259 }
260 set
261 {
262 _position = value;
263 }
264 }
265
266 public override PhysicsVector Velocity
267 {
268 get
269 {
270 return _velocity;
271 }
272 set
273 {
274 _velocity = value;
275 }
276 }
277
278 public override bool Kinematic
279 {
280 get
281 {
282 return false;
283 }
284 set
285 {
286
287 }
288 }
289
290 public override Axiom.MathLib.Quaternion Orientation
291 {
292 get
293 {
294 return Axiom.MathLib.Quaternion.Identity;
295 }
296 set
297 {
298
299 }
300 }
301
302 public override PhysicsVector Acceleration
303 {
304 get
305 {
306 return _acceleration;
307 }
308
309 }
310 public void SetAcceleration(PhysicsVector accel)
311 {
312 this._acceleration = accel;
313 }
314
315 public override void AddForce(PhysicsVector force)
316 {
317
318 }
319
320 public override void SetMomentum(PhysicsVector momentum)
321 {
322
323 }
324
325 public void Move(float timeStep)
326 {
327 PhysicsVector vec = new PhysicsVector();
328 vec.X = this._velocity.X * timeStep;
329 vec.Y = this._velocity.Y * timeStep;
330 if (flying)
331 {
332 vec.Z = (this._velocity.Z + 0.5f) * timeStep;
333 }
334 d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
335 }
336
337 public void UpdatePosition()
338 {
339 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
340 this._position.X = vec.X;
341 this._position.Y = vec.Y;
342 this._position.Z = vec.Z+1.0f;
343 }
344 }
345
346 public class OdePrim : PhysicsActor
347 {
348 private PhysicsVector _position;
349 private PhysicsVector _velocity;
350 private PhysicsVector _acceleration;
351
352 public OdePrim()
353 {
354 _velocity = new PhysicsVector();
355 _position = new PhysicsVector();
356 _acceleration = new PhysicsVector();
357 }
358 public override bool Flying
359 {
360 get
361 {
362 return false; //no flying prims for you
363 }
364 set
365 {
366
367 }
368 }
369 public override PhysicsVector Position
370 {
371 get
372 {
373 PhysicsVector pos = new PhysicsVector();
374 // PhysicsVector vec = this._prim.Position;
375 //pos.X = vec.X;
376 //pos.Y = vec.Y;
377 //pos.Z = vec.Z;
378 return pos;
379
380 }
381 set
382 {
383 /*PhysicsVector vec = value;
384 PhysicsVector pos = new PhysicsVector();
385 pos.X = vec.X;
386 pos.Y = vec.Y;
387 pos.Z = vec.Z;
388 this._prim.Position = pos;*/
389 }
390 }
391
392 public override PhysicsVector Velocity
393 {
394 get
395 {
396 return _velocity;
397 }
398 set
399 {
400 _velocity = value;
401 }
402 }
403
404 public override bool Kinematic
405 {
406 get
407 {
408 return false;
409 //return this._prim.Kinematic;
410 }
411 set
412 {
413 //this._prim.Kinematic = value;
414 }
415 }
416
417 public override Axiom.MathLib.Quaternion Orientation
418 {
419 get
420 {
421 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
422 return res;
423 }
424 set
425 {
426
427 }
428 }
429
430 public override PhysicsVector Acceleration
431 {
432 get
433 {
434 return _acceleration;
435 }
436
437 }
438 public void SetAcceleration(PhysicsVector accel)
439 {
440 this._acceleration = accel;
441 }
442
443 public override void AddForce(PhysicsVector force)
444 {
445
446 }
447
448 public override void SetMomentum(PhysicsVector momentum)
449 {
450
451 }
452
453
454 }
455
456}
diff --git a/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj b/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj
deleted file mode 100644
index 68f1aa1..0000000
--- a/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj
+++ /dev/null
@@ -1,97 +0,0 @@
1<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <ProjectType>Local</ProjectType>
4 <ProductVersion>8.0.50727</ProductVersion>
5 <SchemaVersion>2.0</SchemaVersion>
6 <ProjectGuid>{63A05FE9-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Physics.OdePlugin</AssemblyName>
13 <DefaultClientScript>JScript</DefaultClientScript>
14 <DefaultHTMLPageLayout>Grid</DefaultHTMLPageLayout>
15 <DefaultTargetSchema>IE50</DefaultTargetSchema>
16 <DelaySign>false</DelaySign>
17 <OutputType>Library</OutputType>
18 <AppDesignerFolder></AppDesignerFolder>
19 <RootNamespace>OpenSim.Physics.OdePlugin</RootNamespace>
20 <StartupObject></StartupObject>
21 <FileUpgradeFlags>
22 </FileUpgradeFlags>
23 </PropertyGroup>
24 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
25 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
26 <BaseAddress>285212672</BaseAddress>
27 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
28 <ConfigurationOverrideFile>
29 </ConfigurationOverrideFile>
30 <DefineConstants>TRACE;DEBUG</DefineConstants>
31 <DocumentationFile></DocumentationFile>
32 <DebugSymbols>True</DebugSymbols>
33 <FileAlignment>4096</FileAlignment>
34 <Optimize>False</Optimize>
35 <OutputPath>..\..\bin\Physics\</OutputPath>
36 <RegisterForComInterop>False</RegisterForComInterop>
37 <RemoveIntegerChecks>False</RemoveIntegerChecks>
38 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
39 <WarningLevel>4</WarningLevel>
40 <NoWarn></NoWarn>
41 </PropertyGroup>
42 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
43 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
44 <BaseAddress>285212672</BaseAddress>
45 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
46 <ConfigurationOverrideFile>
47 </ConfigurationOverrideFile>
48 <DefineConstants>TRACE</DefineConstants>
49 <DocumentationFile></DocumentationFile>
50 <DebugSymbols>False</DebugSymbols>
51 <FileAlignment>4096</FileAlignment>
52 <Optimize>True</Optimize>
53 <OutputPath>..\..\bin\Physics\</OutputPath>
54 <RegisterForComInterop>False</RegisterForComInterop>
55 <RemoveIntegerChecks>False</RemoveIntegerChecks>
56 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
57 <WarningLevel>4</WarningLevel>
58 <NoWarn></NoWarn>
59 </PropertyGroup>
60 <ItemGroup>
61 <Reference Include="System" >
62 <HintPath>System.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="Axiom.MathLib.dll" >
66 <HintPath>..\..\bin\Axiom.MathLib.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="Ode.NET.dll" >
70 <HintPath>..\..\bin\Ode.NET.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\Manager\OpenSim.Physics.Manager.csproj">
76 <Name>OpenSim.Physics.Manager</Name>
77 <Project>{8BE16150-0000-0000-0000-000000000000}</Project>
78 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
79 <Private>False</Private>
80 </ProjectReference>
81 </ItemGroup>
82 <ItemGroup>
83 <Compile Include="AssemblyInfo.cs">
84 <SubType>Code</SubType>
85 </Compile>
86 <Compile Include="OdePlugin.cs">
87 <SubType>Code</SubType>
88 </Compile>
89 </ItemGroup>
90 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
91 <PropertyGroup>
92 <PreBuildEvent>
93 </PreBuildEvent>
94 <PostBuildEvent>
95 </PostBuildEvent>
96 </PropertyGroup>
97</Project>
diff --git a/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build b/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
deleted file mode 100644
index f25361a..0000000
--- a/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
+++ /dev/null
@@ -1,43 +0,0 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Physics.OdePlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Physics.OdePlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="OdePlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="System.dll" />
23 <include name="../../bin/Axiom.MathLib.dll" />
24 <include name="../../bin/OpenSim.Physics.Manager.dll" />
25 <include name="../../bin/Ode.NET.dll" />
26 </references>
27 </csc>
28 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../bin/Physics/" />
29 <mkdir dir="${project::get-base-directory()}/../../bin/Physics/"/>
30 <copy todir="${project::get-base-directory()}/../../bin/Physics/">
31 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
32 <include name="*.dll"/>
33 <include name="*.exe"/>
34 </fileset>
35 </copy>
36 </target>
37 <target name="clean">
38 <delete dir="${bin.dir}" failonerror="false" />
39 <delete dir="${obj.dir}" failonerror="false" />
40 </target>
41 <target name="doc" description="Creates documentation.">
42 </target>
43</project>
generated by cgit v1.1 at 2024-11-12 15:24:05 +0000