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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.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}
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