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authorMW2007-06-27 15:28:52 +0000
committerMW2007-06-27 15:28:52 +0000
commit646bbbc84b8010e0dacbeed5342cdb045f46cc49 (patch)
tree770b34d19855363c3c113ab9a0af9a56d821d887 /OpenSim/Region/Physics/PhysXPlugin
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Some work on restructuring the namespaces / project names. Note this doesn't compile yet as not all the code has been changed to use the new namespaces. Am committing it now for feedback on the namespaces.
Diffstat (limited to 'OpenSim/Region/Physics/PhysXPlugin')
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj97
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj.user12
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs424
4 files changed, 591 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..b49c8da
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
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*/
28using System.Reflection;
29using System.Runtime.CompilerServices;
30using System.Runtime.InteropServices;
31
32// Information about this assembly is defined by the following
33// attributes.
34//
35// change them to the information which is associated with the assembly
36// you compile.
37
38[assembly: AssemblyTitle("RealPhysXplugin")]
39[assembly: AssemblyDescription("")]
40[assembly: AssemblyConfiguration("")]
41[assembly: AssemblyCompany("")]
42[assembly: AssemblyProduct("RealPhysXplugin")]
43[assembly: AssemblyCopyright("")]
44[assembly: AssemblyTrademark("")]
45[assembly: AssemblyCulture("")]
46
47// This sets the default COM visibility of types in the assembly to invisible.
48// If you need to expose a type to COM, use [ComVisible(true)] on that type.
49[assembly: ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj
new file mode 100644
index 0000000..77da908
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj
@@ -0,0 +1,97 @@
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>{A6D191D8-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Region.Physics.PhysXPlugin</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.Region.Physics.PhysXPlugin</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="Axiom.MathLib.dll" >
62 <HintPath>..\..\..\..\bin\Axiom.MathLib.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="PhysX_Wrapper_Dotnet.dll" >
66 <HintPath>..\..\..\..\bin\PhysX_Wrapper_Dotnet.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="System" >
70 <HintPath>System.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\Manager\OpenSim.Region.Physics.Manager.csproj">
76 <Name>OpenSim.Region.Physics.Manager</Name>
77 <Project>{F4FF31EB-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="PhysXPlugin.cs">
87 <SubType>Code</SubType>
88 </Compile>
89 </ItemGroup>
90 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
91 <PropertyGroup>
92 <PreBuildEvent>
93 </PreBuildEvent>
94 <PostBuildEvent>
95 </PostBuildEvent>
96 </PropertyGroup>
97</Project>
diff --git a/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj.user b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj.user
new file mode 100644
index 0000000..6841907
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj.user
@@ -0,0 +1,12 @@
1<Project xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
4 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
5 <ReferencePath>C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-06\NameSpaceChanges\bin\</ReferencePath>
6 <LastOpenVersion>8.0.50727</LastOpenVersion>
7 <ProjectView>ProjectFiles</ProjectView>
8 <ProjectTrust>0</ProjectTrust>
9 </PropertyGroup>
10 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' " />
11 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Release|AnyCPU' " />
12</Project>
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
new file mode 100644
index 0000000..8bf794b
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -0,0 +1,424 @@
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*/
28using System;
29using System.Collections.Generic;
30using OpenSim.Physics.Manager;
31using PhysXWrapper;
32
33namespace OpenSim.Region.Physics.PhysXPlugin
34{
35 /// <summary>
36 /// Will be the PhysX plugin but for now will be a very basic physics engine
37 /// </summary>
38 public class PhysXPlugin : IPhysicsPlugin
39 {
40 private PhysXScene _mScene;
41
42 public PhysXPlugin()
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 PhysXScene();
57 }
58 return(_mScene);
59 }
60
61 public string GetName()
62 {
63 return("RealPhysX");
64 }
65
66 public void Dispose()
67 {
68
69 }
70 }
71
72 public class PhysXScene :PhysicsScene
73 {
74 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
75 private List<PhysXPrim> _prims = new List<PhysXPrim>();
76 private float[] _heightMap = null;
77 private NxPhysicsSDK mySdk;
78 private NxScene scene;
79
80 public PhysXScene()
81 {
82 mySdk = NxPhysicsSDK.CreateSDK();
83 Console.WriteLine("Sdk created - now creating scene");
84 scene = mySdk.CreateScene();
85
86 }
87
88 public override PhysicsActor AddAvatar(PhysicsVector position)
89 {
90 Vec3 pos = new Vec3();
91 pos.X = position.X;
92 pos.Y = position.Y;
93 pos.Z = position.Z;
94 PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
95 act.Position = position;
96 _characters.Add(act);
97 return act;
98 }
99
100 public override void RemoveAvatar(PhysicsActor actor)
101 {
102
103 }
104
105 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
106 {
107 Vec3 pos = new Vec3();
108 pos.X = position.X;
109 pos.Y = position.Y;
110 pos.Z = position.Z;
111 Vec3 siz = new Vec3();
112 siz.X = size.X;
113 siz.Y = size.Y;
114 siz.Z = size.Z;
115 PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
116 _prims.Add(act);
117 return act;
118 }
119 public override void Simulate(float timeStep)
120 {
121 try
122 {
123 foreach (PhysXCharacter actor in _characters)
124 {
125 actor.Move(timeStep);
126 }
127 scene.Simulate(timeStep);
128 scene.FetchResults();
129 scene.UpdateControllers();
130
131 foreach (PhysXCharacter actor in _characters)
132 {
133 actor.UpdatePosition();
134 }
135 }
136 catch (Exception e)
137 {
138 Console.WriteLine(e.Message);
139 }
140
141 }
142
143 public override void GetResults()
144 {
145
146 }
147
148 public override bool IsThreaded
149 {
150 get
151 {
152 return(false); // for now we won't be multithreaded
153 }
154 }
155
156 public override void SetTerrain(float[] heightMap)
157 {
158 if (this._heightMap != null)
159 {
160 Console.WriteLine("PhysX - deleting old terrain");
161 this.scene.DeleteTerrain();
162 }
163 this._heightMap = heightMap;
164 this.scene.AddTerrain(heightMap);
165 }
166
167 public override void DeleteTerrain()
168 {
169 this.scene.DeleteTerrain();
170 }
171 }
172
173 public class PhysXCharacter : PhysicsActor
174 {
175 private PhysicsVector _position;
176 private PhysicsVector _velocity;
177 private PhysicsVector _acceleration;
178 private NxCharacter _character;
179 private bool flying;
180 private float gravityAccel;
181
182 public PhysXCharacter(NxCharacter character)
183 {
184 _velocity = new PhysicsVector();
185 _position = new PhysicsVector();
186 _acceleration = new PhysicsVector();
187 _character = character;
188 }
189
190 public override bool Flying
191 {
192 get
193 {
194 return flying;
195 }
196 set
197 {
198 flying = value;
199 }
200 }
201
202 public override PhysicsVector Position
203 {
204 get
205 {
206 return _position;
207 }
208 set
209 {
210 _position = value;
211 Vec3 ps = new Vec3();
212 ps.X = value.X;
213 ps.Y = value.Y;
214 ps.Z = value.Z;
215 this._character.Position = ps;
216 }
217 }
218
219 public override PhysicsVector Velocity
220 {
221 get
222 {
223 return _velocity;
224 }
225 set
226 {
227 _velocity = value;
228 }
229 }
230
231 public override bool Kinematic
232 {
233 get
234 {
235 return false;
236 }
237 set
238 {
239
240 }
241 }
242
243 public override Axiom.MathLib.Quaternion Orientation
244 {
245 get
246 {
247 return Axiom.MathLib.Quaternion.Identity;
248 }
249 set
250 {
251
252 }
253 }
254
255 public override PhysicsVector Acceleration
256 {
257 get
258 {
259 return _acceleration;
260 }
261
262 }
263 public void SetAcceleration (PhysicsVector accel)
264 {
265 this._acceleration = accel;
266 }
267
268 public override void AddForce(PhysicsVector force)
269 {
270
271 }
272
273 public override void SetMomentum(PhysicsVector momentum)
274 {
275
276 }
277
278 public void Move(float timeStep)
279 {
280 Vec3 vec = new Vec3();
281 vec.X = this._velocity.X * timeStep;
282 vec.Y = this._velocity.Y * timeStep;
283 if(flying)
284 {
285 vec.Z = ( this._velocity.Z) * timeStep;
286 }
287 else
288 {
289 gravityAccel+= -9.8f;
290 vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
291 }
292 int res = this._character.Move(vec);
293 if(res == 1)
294 {
295 gravityAccel = 0;
296 }
297 }
298
299 public void UpdatePosition()
300 {
301 Vec3 vec = this._character.Position;
302 this._position.X = vec.X;
303 this._position.Y = vec.Y;
304 this._position.Z = vec.Z;
305 }
306 }
307
308 public class PhysXPrim : PhysicsActor
309 {
310 private PhysicsVector _position;
311 private PhysicsVector _velocity;
312 private PhysicsVector _acceleration;
313 private NxActor _prim;
314
315 public PhysXPrim(NxActor prim)
316 {
317 _velocity = new PhysicsVector();
318 _position = new PhysicsVector();
319 _acceleration = new PhysicsVector();
320 _prim = prim;
321 }
322 public override bool Flying
323 {
324 get
325 {
326 return false; //no flying prims for you
327 }
328 set
329 {
330
331 }
332 }
333 public override PhysicsVector Position
334 {
335 get
336 {
337 PhysicsVector pos = new PhysicsVector();
338 Vec3 vec = this._prim.Position;
339 pos.X = vec.X;
340 pos.Y = vec.Y;
341 pos.Z = vec.Z;
342 return pos;
343
344 }
345 set
346 {
347 PhysicsVector vec = value;
348 Vec3 pos = new Vec3();
349 pos.X = vec.X;
350 pos.Y = vec.Y;
351 pos.Z = vec.Z;
352 this._prim.Position = pos;
353 }
354 }
355
356 public override PhysicsVector Velocity
357 {
358 get
359 {
360 return _velocity;
361 }
362 set
363 {
364 _velocity = value;
365 }
366 }
367
368 public override bool Kinematic
369 {
370 get
371 {
372 return this._prim.Kinematic;
373 }
374 set
375 {
376 this._prim.Kinematic = value;
377 }
378 }
379
380 public override Axiom.MathLib.Quaternion Orientation
381 {
382 get
383 {
384 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
385 PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
386 res.w = quat.W;
387 res.x = quat.X;
388 res.y = quat.Y;
389 res.z = quat.Z;
390 return res;
391 }
392 set
393 {
394
395 }
396 }
397
398 public override PhysicsVector Acceleration
399 {
400 get
401 {
402 return _acceleration;
403 }
404
405 }
406 public void SetAcceleration (PhysicsVector accel)
407 {
408 this._acceleration = accel;
409 }
410
411 public override void AddForce(PhysicsVector force)
412 {
413
414 }
415
416 public override void SetMomentum(PhysicsVector momentum)
417 {
418
419 }
420
421
422 }
423
424}
generated by cgit v1.1 at 2024-07-03 07:36:10 +0000