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author | Adam Frisby | 2007-07-11 08:02:47 +0000 |
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committer | Adam Frisby | 2007-07-11 08:02:47 +0000 |
commit | 5c7ffdde0b9642a42e8f5987e06eb01220ff7776 (patch) | |
tree | 4b825dc642cb6eb9a060e54bf8d69288fbee4904 /OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs | |
parent | Who would have known that the only way of specifying utf-8 without preamble, ... (diff) | |
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* Wiping trunk in prep for Sugilite
Diffstat (limited to '')
-rw-r--r-- | OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs | 457 |
1 files changed, 0 insertions, 457 deletions
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs deleted file mode 100644 index 6758f76..0000000 --- a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs +++ /dev/null | |||
@@ -1,457 +0,0 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://www.openmetaverse.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyright | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSim Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | * | ||
27 | */ | ||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using OpenSim.Physics.Manager; | ||
31 | using Ode.NET; | ||
32 | |||
33 | namespace OpenSim.Physics.OdePlugin | ||
34 | { | ||
35 | /// <summary> | ||
36 | /// ODE plugin | ||
37 | /// </summary> | ||
38 | public class OdePlugin : IPhysicsPlugin | ||
39 | { | ||
40 | private OdeScene _mScene; | ||
41 | |||
42 | public OdePlugin() | ||
43 | { | ||
44 | |||
45 | } | ||
46 | |||
47 | public bool Init() | ||
48 | { | ||
49 | return true; | ||
50 | } | ||
51 | |||
52 | public PhysicsScene GetScene() | ||
53 | { | ||
54 | if (_mScene == null) | ||
55 | { | ||
56 | _mScene = new OdeScene(); | ||
57 | } | ||
58 | return (_mScene); | ||
59 | } | ||
60 | |||
61 | public string GetName() | ||
62 | { | ||
63 | return ("OpenDynamicsEngine"); | ||
64 | } | ||
65 | |||
66 | public void Dispose() | ||
67 | { | ||
68 | |||
69 | } | ||
70 | } | ||
71 | |||
72 | public class OdeScene : PhysicsScene | ||
73 | { | ||
74 | static public IntPtr world; | ||
75 | static public IntPtr space; | ||
76 | static private IntPtr contactgroup; | ||
77 | static private IntPtr LandGeom; | ||
78 | //static private IntPtr Land; | ||
79 | private double[] _heightmap; | ||
80 | static private d.NearCallback nearCallback = near; | ||
81 | private List<OdeCharacter> _characters = new List<OdeCharacter>(); | ||
82 | private static d.ContactGeom[] contacts = new d.ContactGeom[30]; | ||
83 | private static d.Contact contact; | ||
84 | |||
85 | public OdeScene() | ||
86 | { | ||
87 | contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP; | ||
88 | contact.surface.mu = 10.0f; | ||
89 | contact.surface.bounce = 0.9f; | ||
90 | contact.surface.soft_erp = 0.005f; | ||
91 | contact.surface.soft_cfm = 0.00003f; | ||
92 | |||
93 | world = d.WorldCreate(); | ||
94 | space = d.HashSpaceCreate(IntPtr.Zero); | ||
95 | contactgroup = d.JointGroupCreate(0); | ||
96 | d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f); | ||
97 | d.WorldSetAutoDisableFlag(world, false); | ||
98 | d.WorldSetContactSurfaceLayer(world, 0.001f); | ||
99 | this._heightmap = new double[65536]; | ||
100 | } | ||
101 | |||
102 | // This function blatantly ripped off from BoxStack.cs | ||
103 | static private void near(IntPtr space, IntPtr g1, IntPtr g2) | ||
104 | { | ||
105 | IntPtr b1 = d.GeomGetBody(g1); | ||
106 | IntPtr b2 = d.GeomGetBody(g2); | ||
107 | if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) | ||
108 | return; | ||
109 | |||
110 | int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf); | ||
111 | for (int i = 0; i < count; ++i) | ||
112 | { | ||
113 | contact.geom = contacts[i]; | ||
114 | IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); | ||
115 | d.JointAttach(joint, b1, b2); | ||
116 | } | ||
117 | |||
118 | } | ||
119 | |||
120 | public override PhysicsActor AddAvatar(PhysicsVector position) | ||
121 | { | ||
122 | PhysicsVector pos = new PhysicsVector(); | ||
123 | pos.X = position.X; | ||
124 | pos.Y = position.Y; | ||
125 | pos.Z = position.Z + 20; | ||
126 | OdeCharacter newAv = new OdeCharacter(this, pos); | ||
127 | this._characters.Add(newAv); | ||
128 | return newAv; | ||
129 | } | ||
130 | |||
131 | public override void RemoveAvatar(PhysicsActor actor) | ||
132 | { | ||
133 | |||
134 | } | ||
135 | |||
136 | public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) | ||
137 | { | ||
138 | PhysicsVector pos = new PhysicsVector(); | ||
139 | pos.X = position.X; | ||
140 | pos.Y = position.Y; | ||
141 | pos.Z = position.Z; | ||
142 | PhysicsVector siz = new PhysicsVector(); | ||
143 | siz.X = size.X; | ||
144 | siz.Y = size.Y; | ||
145 | siz.Z = size.Z; | ||
146 | return new OdePrim(); | ||
147 | } | ||
148 | |||
149 | public override void Simulate(float timeStep) | ||
150 | { | ||
151 | foreach (OdeCharacter actor in _characters) | ||
152 | { | ||
153 | actor.Move(timeStep); | ||
154 | } | ||
155 | d.SpaceCollide(space, IntPtr.Zero, nearCallback); | ||
156 | for (int i = 0; i < 50; i++) | ||
157 | { | ||
158 | d.WorldQuickStep(world, timeStep * 0.02f); | ||
159 | } | ||
160 | |||
161 | d.JointGroupEmpty(contactgroup); | ||
162 | foreach (OdeCharacter actor in _characters) | ||
163 | { | ||
164 | actor.UpdatePosition(); | ||
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 = false; | ||
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, 50.0f, 3, 0.5f, 2f); | ||
235 | capsule_geom = d.CreateSphere(OdeScene.space, 1.0f); /// not a typo! Spheres roll, capsules tumble | ||
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 | d.Vector3 vel = d.BodyGetLinearVel(BoundingCapsule); | ||
329 | vec.X = (vel.X - this._velocity.X) * -75000.0f; | ||
330 | vec.Y = (vel.Y - this._velocity.Y) * -75000.0f; | ||
331 | if (flying) | ||
332 | { | ||
333 | vec.Z = (vel.Z - this._velocity.Z) * -75000.0f; | ||
334 | } | ||
335 | d.BodyAddForce(this.BoundingCapsule, vec.X, vec.Y, vec.Z); | ||
336 | } | ||
337 | |||
338 | public void UpdatePosition() | ||
339 | { | ||
340 | d.Vector3 vec = d.BodyGetPosition(BoundingCapsule); | ||
341 | this._position.X = vec.X; | ||
342 | this._position.Y = vec.Y; | ||
343 | this._position.Z = vec.Z; | ||
344 | } | ||
345 | } | ||
346 | |||
347 | public class OdePrim : PhysicsActor | ||
348 | { | ||
349 | private PhysicsVector _position; | ||
350 | private PhysicsVector _velocity; | ||
351 | private PhysicsVector _acceleration; | ||
352 | |||
353 | public OdePrim() | ||
354 | { | ||
355 | _velocity = new PhysicsVector(); | ||
356 | _position = new PhysicsVector(); | ||
357 | _acceleration = new PhysicsVector(); | ||
358 | } | ||
359 | public override bool Flying | ||
360 | { | ||
361 | get | ||
362 | { | ||
363 | return false; //no flying prims for you | ||
364 | } | ||
365 | set | ||
366 | { | ||
367 | |||
368 | } | ||
369 | } | ||
370 | public override PhysicsVector Position | ||
371 | { | ||
372 | get | ||
373 | { | ||
374 | PhysicsVector pos = new PhysicsVector(); | ||
375 | // PhysicsVector vec = this._prim.Position; | ||
376 | //pos.X = vec.X; | ||
377 | //pos.Y = vec.Y; | ||
378 | //pos.Z = vec.Z; | ||
379 | return pos; | ||
380 | |||
381 | } | ||
382 | set | ||
383 | { | ||
384 | /*PhysicsVector vec = value; | ||
385 | PhysicsVector pos = new PhysicsVector(); | ||
386 | pos.X = vec.X; | ||
387 | pos.Y = vec.Y; | ||
388 | pos.Z = vec.Z; | ||
389 | this._prim.Position = pos;*/ | ||
390 | } | ||
391 | } | ||
392 | |||
393 | public override PhysicsVector Velocity | ||
394 | { | ||
395 | get | ||
396 | { | ||
397 | return _velocity; | ||
398 | } | ||
399 | set | ||
400 | { | ||
401 | _velocity = value; | ||
402 | } | ||
403 | } | ||
404 | |||
405 | public override bool Kinematic | ||
406 | { | ||
407 | get | ||
408 | { | ||
409 | return false; | ||
410 | //return this._prim.Kinematic; | ||
411 | } | ||
412 | set | ||
413 | { | ||
414 | //this._prim.Kinematic = value; | ||
415 | } | ||
416 | } | ||
417 | |||
418 | public override Axiom.MathLib.Quaternion Orientation | ||
419 | { | ||
420 | get | ||
421 | { | ||
422 | Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); | ||
423 | return res; | ||
424 | } | ||
425 | set | ||
426 | { | ||
427 | |||
428 | } | ||
429 | } | ||
430 | |||
431 | public override PhysicsVector Acceleration | ||
432 | { | ||
433 | get | ||
434 | { | ||
435 | return _acceleration; | ||
436 | } | ||
437 | |||
438 | } | ||
439 | public void SetAcceleration(PhysicsVector accel) | ||
440 | { | ||
441 | this._acceleration = accel; | ||
442 | } | ||
443 | |||
444 | public override void AddForce(PhysicsVector force) | ||
445 | { | ||
446 | |||
447 | } | ||
448 | |||
449 | public override void SetMomentum(PhysicsVector momentum) | ||
450 | { | ||
451 | |||
452 | } | ||
453 | |||
454 | |||
455 | } | ||
456 | |||
457 | } | ||