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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*/
27/*
28* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
29*
30* Redistribution and use in source and binary forms, with or without
31* modification, are permitted provided that the following conditions are met:
32* * Redistributions of source code must retain the above copyright
33* notice, this list of conditions and the following disclaimer.
34* * Redistributions in binary form must reproduce the above copyright
35* notice, this list of conditions and the following disclaimer in the
36* documentation and/or other materials provided with the distribution.
37* * Neither the name of the <organization> nor the
38* names of its contributors may be used to endorse or promote products
39* derived from this software without specific prior written permission.
40*
41* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
42* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
43* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
44* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
45* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
46* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
47* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
48* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
49* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
50* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
51*
52*/
53using System;
54using System.Collections.Generic;
55using OpenSim.Physics.Manager;
56using PhysXWrapper;
57
58namespace OpenSim.Physics.PhysXPlugin
59{
60 /// <summary>
61 /// Will be the PhysX plugin but for now will be a very basic physics engine
62 /// </summary>
63 public class PhysXPlugin : IPhysicsPlugin
64 {
65 private PhysXScene _mScene;
66
67 public PhysXPlugin()
68 {
69
70 }
71
72 public bool Init()
73 {
74 return true;
75 }
76
77 public PhysicsScene GetScene()
78 {
79 if(_mScene == null)
80 {
81 _mScene = new PhysXScene();
82 }
83 return(_mScene);
84 }
85
86 public string GetName()
87 {
88 return("RealPhysX");
89 }
90
91 public void Dispose()
92 {
93
94 }
95 }
96
97 public class PhysXScene :PhysicsScene
98 {
99 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
100 private List<PhysXPrim> _prims = new List<PhysXPrim>();
101 private float[] _heightMap;
102 private NxPhysicsSDK mySdk;
103 private NxScene scene;
104
105 public PhysXScene()
106 {
107 mySdk = NxPhysicsSDK.CreateSDK();
108 Console.WriteLine("Sdk created - now creating scene");
109 scene = mySdk.CreateScene();
110
111 }
112
113 public override PhysicsActor AddAvatar(PhysicsVector position)
114 {
115 Vec3 pos = new Vec3();
116 pos.X = position.X;
117 pos.Y = position.Y;
118 pos.Z = position.Z;
119 PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
120 act.Position = position;
121 _characters.Add(act);
122 return act;
123 }
124
125 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
126 {
127 Vec3 pos = new Vec3();
128 pos.X = position.X;
129 pos.Y = position.Y;
130 pos.Z = position.Z;
131 Vec3 siz = new Vec3();
132 siz.X = size.X;
133 siz.Y = size.Y;
134 siz.Z = size.Z;
135 PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
136 _prims.Add(act);
137 return act;
138 }
139 public override void Simulate(float timeStep)
140 {
141 foreach (PhysXCharacter actor in _characters)
142 {
143 actor.Move(timeStep);
144 }
145 scene.Simulate(timeStep);
146 scene.FetchResults();
147 scene.UpdateControllers();
148
149 foreach (PhysXCharacter actor in _characters)
150 {
151 actor.UpdatePosition();
152 }
153
154 }
155
156 public override void GetResults()
157 {
158
159 }
160
161 public override bool IsThreaded
162 {
163 get
164 {
165 return(false); // for now we won't be multithreaded
166 }
167 }
168
169 public override void SetTerrain(float[] heightMap)
170 {
171 this._heightMap = heightMap;
172 this.scene.AddTerrain(heightMap);
173 }
174 }
175
176 public class PhysXCharacter : PhysicsActor
177 {
178 private PhysicsVector _position;
179 private PhysicsVector _velocity;
180 private PhysicsVector _acceleration;
181 private NxCharacter _character;
182 private bool flying;
183 private float gravityAccel;
184
185 public PhysXCharacter(NxCharacter character)
186 {
187 _velocity = new PhysicsVector();
188 _position = new PhysicsVector();
189 _acceleration = new PhysicsVector();
190 _character = character;
191 }
192
193 public override bool Flying
194 {
195 get
196 {
197 return flying;
198 }
199 set
200 {
201 flying = value;
202 }
203 }
204
205 public override PhysicsVector Position
206 {
207 get
208 {
209 return _position;
210 }
211 set
212 {
213 _position = value;
214 }
215 }
216
217 public override PhysicsVector Velocity
218 {
219 get
220 {
221 return _velocity;
222 }
223 set
224 {
225 _velocity = value;
226 }
227 }
228
229 public override bool Kinematic
230 {
231 get
232 {
233 return false;
234 }
235 set
236 {
237
238 }
239 }
240
241 public override Axiom.MathLib.Quaternion Orientation
242 {
243 get
244 {
245 return Axiom.MathLib.Quaternion.Identity;
246 }
247 set
248 {
249
250 }
251 }
252
253 public override PhysicsVector Acceleration
254 {
255 get
256 {
257 return _acceleration;
258 }
259
260 }
261 public void SetAcceleration (PhysicsVector accel)
262 {
263 this._acceleration = accel;
264 }
265
266 public override void AddForce(PhysicsVector force)
267 {
268
269 }
270
271 public override void SetMomentum(PhysicsVector momentum)
272 {
273
274 }
275
276 public void Move(float timeStep)
277 {
278 Vec3 vec = new Vec3();
279 vec.X = this._velocity.X * timeStep;
280 vec.Y = this._velocity.Y * timeStep;
281 if(flying)
282 {
283 vec.Z = ( this._velocity.Z) * timeStep;
284 }
285 else
286 {
287 gravityAccel+= -9.8f;
288 vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
289 }
290 int res = this._character.Move(vec);
291 if(res == 1)
292 {
293 gravityAccel = 0;
294 }
295 }
296
297 public void UpdatePosition()
298 {
299 Vec3 vec = this._character.Position;
300 this._position.X = vec.X;
301 this._position.Y = vec.Y;
302 this._position.Z = vec.Z;
303 }
304 }
305
306 public class PhysXPrim : PhysicsActor
307 {
308 private PhysicsVector _position;
309 private PhysicsVector _velocity;
310 private PhysicsVector _acceleration;
311 private NxActor _prim;
312
313 public PhysXPrim(NxActor prim)
314 {
315 _velocity = new PhysicsVector();
316 _position = new PhysicsVector();
317 _acceleration = new PhysicsVector();
318 _prim = prim;
319 }
320 public override bool Flying
321 {
322 get
323 {
324 return false; //no flying prims for you
325 }
326 set
327 {
328
329 }
330 }
331 public override PhysicsVector Position
332 {
333 get
334 {
335 PhysicsVector pos = new PhysicsVector();
336 Vec3 vec = this._prim.Position;
337 pos.X = vec.X;
338 pos.Y = vec.Y;
339 pos.Z = vec.Z;
340 return pos;
341
342 }
343 set
344 {
345 PhysicsVector vec = value;
346 Vec3 pos = new Vec3();
347 pos.X = vec.X;
348 pos.Y = vec.Y;
349 pos.Z = vec.Z;
350 this._prim.Position = pos;
351 }
352 }
353
354 public override PhysicsVector Velocity
355 {
356 get
357 {
358 return _velocity;
359 }
360 set
361 {
362 _velocity = value;
363 }
364 }
365
366 public override bool Kinematic
367 {
368 get
369 {
370 return this._prim.Kinematic;
371 }
372 set
373 {
374 this._prim.Kinematic = value;
375 }
376 }
377
378 public override Axiom.MathLib.Quaternion Orientation
379 {
380 get
381 {
382 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
383 PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
384 res.w = quat.W;
385 res.x = quat.X;
386 res.y = quat.Y;
387 res.z = quat.Z;
388 return res;
389 }
390 set
391 {
392
393 }
394 }
395
396 public override PhysicsVector Acceleration
397 {
398 get
399 {
400 return _acceleration;
401 }
402
403 }
404 public void SetAcceleration (PhysicsVector accel)
405 {
406 this._acceleration = accel;
407 }
408
409 public override void AddForce(PhysicsVector force)
410 {
411
412 }
413
414 public override void SetMomentum(PhysicsVector momentum)
415 {
416
417 }
418
419
420 }
421
422}
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