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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 = null;
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 void RemoveAvatar(PhysicsActor actor)
126 {
127
128 }
129
130 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
131 {
132 Vec3 pos = new Vec3();
133 pos.X = position.X;
134 pos.Y = position.Y;
135 pos.Z = position.Z;
136 Vec3 siz = new Vec3();
137 siz.X = size.X;
138 siz.Y = size.Y;
139 siz.Z = size.Z;
140 PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
141 _prims.Add(act);
142 return act;
143 }
144 public override void Simulate(float timeStep)
145 {
146 try
147 {
148 foreach (PhysXCharacter actor in _characters)
149 {
150 actor.Move(timeStep);
151 }
152 scene.Simulate(timeStep);
153 scene.FetchResults();
154 scene.UpdateControllers();
155
156 foreach (PhysXCharacter actor in _characters)
157 {
158 actor.UpdatePosition();
159 }
160 }
161 catch (Exception e)
162 {
163 Console.WriteLine(e.Message);
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 if (this._heightMap != null)
184 {
185 Console.WriteLine("PhysX - deleting old terrain");
186 this.scene.DeleteTerrain();
187 }
188 this._heightMap = heightMap;
189 this.scene.AddTerrain(heightMap);
190 }
191
192 public override void DeleteTerrain()
193 {
194 this.scene.DeleteTerrain();
195 }
196 }
197
198 public class PhysXCharacter : PhysicsActor
199 {
200 private PhysicsVector _position;
201 private PhysicsVector _velocity;
202 private PhysicsVector _acceleration;
203 private NxCharacter _character;
204 private bool flying;
205 private float gravityAccel;
206
207 public PhysXCharacter(NxCharacter character)
208 {
209 _velocity = new PhysicsVector();
210 _position = new PhysicsVector();
211 _acceleration = new PhysicsVector();
212 _character = character;
213 }
214
215 public override bool Flying
216 {
217 get
218 {
219 return flying;
220 }
221 set
222 {
223 flying = value;
224 }
225 }
226
227 public override PhysicsVector Position
228 {
229 get
230 {
231 return _position;
232 }
233 set
234 {
235 _position = value;
236 Vec3 ps = new Vec3();
237 ps.X = value.X;
238 ps.Y = value.Y;
239 ps.Z = value.Z;
240 this._character.Position = ps;
241 }
242 }
243
244 public override PhysicsVector Velocity
245 {
246 get
247 {
248 return _velocity;
249 }
250 set
251 {
252 _velocity = value;
253 }
254 }
255
256 public override bool Kinematic
257 {
258 get
259 {
260 return false;
261 }
262 set
263 {
264
265 }
266 }
267
268 public override Axiom.MathLib.Quaternion Orientation
269 {
270 get
271 {
272 return Axiom.MathLib.Quaternion.Identity;
273 }
274 set
275 {
276
277 }
278 }
279
280 public override PhysicsVector Acceleration
281 {
282 get
283 {
284 return _acceleration;
285 }
286
287 }
288 public void SetAcceleration (PhysicsVector accel)
289 {
290 this._acceleration = accel;
291 }
292
293 public override void AddForce(PhysicsVector force)
294 {
295
296 }
297
298 public override void SetMomentum(PhysicsVector momentum)
299 {
300
301 }
302
303 public void Move(float timeStep)
304 {
305 Vec3 vec = new Vec3();
306 vec.X = this._velocity.X * timeStep;
307 vec.Y = this._velocity.Y * timeStep;
308 if(flying)
309 {
310 vec.Z = ( this._velocity.Z) * timeStep;
311 }
312 else
313 {
314 gravityAccel+= -9.8f;
315 vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
316 }
317 int res = this._character.Move(vec);
318 if(res == 1)
319 {
320 gravityAccel = 0;
321 }
322 }
323
324 public void UpdatePosition()
325 {
326 Vec3 vec = this._character.Position;
327 this._position.X = vec.X;
328 this._position.Y = vec.Y;
329 this._position.Z = vec.Z;
330 }
331 }
332
333 public class PhysXPrim : PhysicsActor
334 {
335 private PhysicsVector _position;
336 private PhysicsVector _velocity;
337 private PhysicsVector _acceleration;
338 private NxActor _prim;
339
340 public PhysXPrim(NxActor prim)
341 {
342 _velocity = new PhysicsVector();
343 _position = new PhysicsVector();
344 _acceleration = new PhysicsVector();
345 _prim = prim;
346 }
347 public override bool Flying
348 {
349 get
350 {
351 return false; //no flying prims for you
352 }
353 set
354 {
355
356 }
357 }
358 public override PhysicsVector Position
359 {
360 get
361 {
362 PhysicsVector pos = new PhysicsVector();
363 Vec3 vec = this._prim.Position;
364 pos.X = vec.X;
365 pos.Y = vec.Y;
366 pos.Z = vec.Z;
367 return pos;
368
369 }
370 set
371 {
372 PhysicsVector vec = value;
373 Vec3 pos = new Vec3();
374 pos.X = vec.X;
375 pos.Y = vec.Y;
376 pos.Z = vec.Z;
377 this._prim.Position = pos;
378 }
379 }
380
381 public override PhysicsVector Velocity
382 {
383 get
384 {
385 return _velocity;
386 }
387 set
388 {
389 _velocity = value;
390 }
391 }
392
393 public override bool Kinematic
394 {
395 get
396 {
397 return this._prim.Kinematic;
398 }
399 set
400 {
401 this._prim.Kinematic = value;
402 }
403 }
404
405 public override Axiom.MathLib.Quaternion Orientation
406 {
407 get
408 {
409 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
410 PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
411 res.w = quat.W;
412 res.x = quat.X;
413 res.y = quat.Y;
414 res.z = quat.Z;
415 return res;
416 }
417 set
418 {
419
420 }
421 }
422
423 public override PhysicsVector Acceleration
424 {
425 get
426 {
427 return _acceleration;
428 }
429
430 }
431 public void SetAcceleration (PhysicsVector accel)
432 {
433 this._acceleration = accel;
434 }
435
436 public override void AddForce(PhysicsVector force)
437 {
438
439 }
440
441 public override void SetMomentum(PhysicsVector momentum)
442 {
443
444 }
445
446
447 }
448
449}
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